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source: code/branches/pickups2/src/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h @ 3085

Last change on this file since 3085 was 2882, checked in by rgrieder, 16 years ago

Update from Bullet 2.73 to 2.74.

  • Property svn:eol-style set to native
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SOLVER_BODY_H
17#define BT_SOLVER_BODY_H
18
19class   btRigidBody;
20#include "LinearMath/btVector3.h"
21#include "LinearMath/btMatrix3x3.h"
22#include "BulletDynamics/Dynamics/btRigidBody.h"
23#include "LinearMath/btAlignedAllocator.h"
24#include "LinearMath/btTransformUtil.h"
25
26///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
27#ifdef BT_USE_SSE
28#define USE_SIMD 1
29#endif //
30
31
32#ifdef USE_SIMD
33
34struct  btSimdScalar
35{
36        SIMD_FORCE_INLINE       btSimdScalar()
37        {
38
39        }
40
41        SIMD_FORCE_INLINE       btSimdScalar(float      fl)
42        :m_vec128 (_mm_set1_ps(fl))
43        {
44        }
45
46        SIMD_FORCE_INLINE       btSimdScalar(__m128 v128)
47                :m_vec128(v128)
48        {
49        }
50        union
51        {
52                __m128          m_vec128;
53                float           m_floats[4];
54                int                     m_ints[4];
55                btScalar        m_unusedPadding;
56        };
57        SIMD_FORCE_INLINE       __m128  get128()
58        {
59                return m_vec128;
60        }
61
62        SIMD_FORCE_INLINE       const __m128    get128() const
63        {
64                return m_vec128;
65        }
66
67        SIMD_FORCE_INLINE       void    set128(__m128 v128)
68        {
69                m_vec128 = v128;
70        }
71
72        SIMD_FORCE_INLINE       operator       __m128()       
73        { 
74                return m_vec128; 
75        }
76        SIMD_FORCE_INLINE       operator const __m128() const 
77        { 
78                return m_vec128; 
79        }
80       
81        SIMD_FORCE_INLINE       operator float() const 
82        { 
83                return m_floats[0]; 
84        }
85
86};
87
88///@brief Return the elementwise product of two btSimdScalar
89SIMD_FORCE_INLINE btSimdScalar
90operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
91{
92        return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
93}
94
95///@brief Return the elementwise product of two btSimdScalar
96SIMD_FORCE_INLINE btSimdScalar
97operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
98{
99        return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
100}
101
102
103#else
104#define btSimdScalar btScalar
105#endif
106
107///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
108ATTRIBUTE_ALIGNED16 (struct)    btSolverBody
109{
110        BT_DECLARE_ALIGNED_ALLOCATOR();
111        btVector3               m_deltaLinearVelocity;
112        btVector3               m_deltaAngularVelocity;
113        btScalar                m_angularFactor;
114        btScalar                m_invMass;
115        btScalar                m_friction;
116        btRigidBody*    m_originalBody;
117        btVector3               m_pushVelocity;
118        //btVector3             m_turnVelocity;
119
120       
121        SIMD_FORCE_INLINE void  getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
122        {
123                if (m_originalBody)
124                        velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
125                else
126                        velocity.setValue(0,0,0);
127        }
128
129        SIMD_FORCE_INLINE void  getAngularVelocity(btVector3& angVel) const
130        {
131                if (m_originalBody)
132                        angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
133                else
134                        angVel.setValue(0,0,0);
135        }
136
137
138        //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
139        SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
140        {
141                //if (m_invMass)
142                {
143                        m_deltaLinearVelocity += linearComponent*impulseMagnitude;
144                        m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
145                }
146        }
147
148       
149/*
150       
151        void    writebackVelocity()
152        {
153                if (m_invMass)
154                {
155                        m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
156                        m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
157                       
158                        //m_originalBody->setCompanionId(-1);
159                }
160        }
161        */
162
163        void    writebackVelocity(btScalar timeStep=0)
164        {
165                if (m_invMass)
166                {
167                        m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+m_deltaLinearVelocity);
168                        m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
169                        //m_originalBody->setCompanionId(-1);
170                }
171        }
172       
173
174
175};
176
177#endif //BT_SOLVER_BODY_H
178
179
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