16 #if defined (_WIN32) || defined (__i386__) 17 #define BT_USE_SSE_IN_API 30 #if defined (__CELLOS_LV2__) && defined (__SPU__) 31 #include <spu_intrinsics.h> 32 static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
35 result = spu_mul( vec0, vec1 );
36 result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
37 return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
76 btVector3 vec = localDirOrg * localScaling;
78 #if defined (__CELLOS_LV2__) && defined (__SPU__) 82 vec_float4 v_distMax = {-FLT_MAX,0,0,0};
83 vec_int4 v_idxMax = {-999,0,0,0};
85 int numverts = numPoints;
87 for(;v<(int)numverts-4;v+=4) {
88 vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
89 vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
90 vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
91 vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
92 const vec_int4 i0 = {v ,0,0,0};
93 const vec_int4 i1 = {v+1,0,0,0};
94 const vec_int4 i2 = {v+2,0,0,0};
95 const vec_int4 i3 = {v+3,0,0,0};
96 vec_uint4 retGt01 = spu_cmpgt(p0,p1);
97 vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
98 vec_int4 imax01 = spu_sel(i1,i0,retGt01);
99 vec_uint4 retGt23 = spu_cmpgt(p2,p3);
100 vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
101 vec_int4 imax23 = spu_sel(i3,i2,retGt23);
102 vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
103 vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
104 vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
105 vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
106 v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
107 v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
109 for(;v<(int)numverts;v++) {
110 vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
111 const vec_int4 i = {v,0,0,0};
112 vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
113 v_distMax = spu_sel(p,v_distMax,retGtMax);
114 v_idxMax = spu_sel(i,v_idxMax,retGtMax);
116 int ptIndex = spu_extract(v_idxMax,0);
117 const btVector3& supVec= points[ptIndex] * localScaling;
122 long ptIndex = vec.
maxDot( points, numPoints, maxDot);
128 btVector3 supVec = points[ptIndex] * localScaling;
146 #if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) 147 #if defined( BT_USE_SSE ) 148 return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
149 #elif defined( BT_USE_NEON ) 150 return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
152 #error unknown vector arch 156 btFsels(localDir.
y(), halfExtents.
y(), -halfExtents.
y()),
157 btFsels(localDir.
z(), halfExtents.
z(), -halfExtents.
z()));
165 btVector3 dots = dir.
dot3(vertices[0], vertices[1], vertices[2]);
176 int cylinderUpAxis = cylShape->
getUpAxis();
177 int XX(1),YY(0),ZZ(2);
179 switch (cylinderUpAxis)
209 btScalar halfHeight = halfExtents[cylinderUpAxis];
219 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
224 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
235 int capsuleUpAxis = capsuleShape->getUpAxis();
255 pos[capsuleUpAxis] = halfHeight;
258 newDot = vec.
dot(vtx);
269 pos[capsuleUpAxis] = -halfHeight;
272 newDot = vec.
dot(vtx);
386 aabbMin = center - extent;
387 aabbMax = center + extent;
397 halfExtents +=
btVector3(margin,margin,margin);
400 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
402 aabbMin = center - extent;
403 aabbMax = center + extent;
410 for (
int i=0;i<3;i++)
418 aabbMax[i] = tmp[i]+margin;
421 aabbMin[i] = tmp[i]-margin;
429 int m_upAxis = capsuleShape->
getUpAxis();
433 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
434 aabbMin = center - extent;
435 aabbMax = center + extent;
448 this->
getAabb (t, aabbMin, aabbMax);
const btVector3 & getLocalScalingNV() const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
static btVector3 convexHullSupport(const btVector3 &localDirOrg, const btVector3 *points, int numPoints, const btVector3 &localScaling)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar btSqrt(btScalar y)
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
btScalar getRadius() const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btScalar getMarginNonVirtual() const
btScalar dot(const btVector3 &v) const
Return the dot product.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
const btScalar & x() const
Return the x value.
const btScalar & getZ() const
Return the z value.
btVector3 * getUnscaledPoints()
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
const btScalar & getY() const
Return the y value.
const btScalar & getX() const
Return the x value.
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
virtual btScalar getMargin() const =0
const btScalar & y() const
Return the y value.
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
btVector3 can be used to represent 3D points and vectors.
btScalar length2() const
Return the length of the vector squared.
btScalar getMarginNV() const
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
const btVector3 & getImplicitShapeDimensions() const
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
btVector3 * getUnscaledPoints()
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
btScalar getRadius() const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
btScalar getHalfHeight() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
const btScalar & z() const
Return the z value.