Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp (modified) (7 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -22 +22 @@
 #include "btConvexPointCloudShape.h"
 
+///not supported on IBM SDK, until we fix the alignment of btVector3
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+#include <spu_intrinsics.h>
+static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
+{
+    vec_float4 result;
+    result = spu_mul( vec0, vec1 );
+    result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
+    return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
+}
+#endif //__SPU__
+
 btConvexShape::btConvexShape ()
 {
@@ -33 +45 @@
 
 
-static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
-{
-        btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
-        btScalar newDot,maxDot = btScalar(-1e30);
-
-        btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
-        btVector3 vec = vec0;
-        btScalar lenSqr = vec.length2();
-        if (lenSqr < btScalar(0.0001))
-        {
-                vec.setValue(1,0,0);
-        } else {
-                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
-                vec *= rlen;
-        }
-
+static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
+{       
+
+        btVector3 vec = localDirOrg * localScaling;
+
+#if defined (__CELLOS_LV2__) && defined (__SPU__)
+
+        btVector3 localDir = vec;
+
+        vec_float4 v_distMax = {-FLT_MAX,0,0,0};
+        vec_int4 v_idxMax = {-999,0,0,0};
+        int v=0;
+        int numverts = numPoints;
+
+        for(;v<(int)numverts-4;v+=4) {
+                vec_float4 p0 = vec_dot3(points[v  ].get128(),localDir.get128());
+                vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
+                vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
+                vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
+                const vec_int4 i0 = {v  ,0,0,0};
+                const vec_int4 i1 = {v+1,0,0,0};
+                const vec_int4 i2 = {v+2,0,0,0};
+                const vec_int4 i3 = {v+3,0,0,0};
+                vec_uint4  retGt01 = spu_cmpgt(p0,p1);
+                vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
+                vec_int4   imax01 = spu_sel(i1,i0,retGt01);
+                vec_uint4  retGt23 = spu_cmpgt(p2,p3);
+                vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
+                vec_int4   imax23 = spu_sel(i3,i2,retGt23);
+                vec_uint4  retGt0123 = spu_cmpgt(pmax01,pmax23);
+                vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
+                vec_int4   imax0123 = spu_sel(imax23,imax01,retGt0123);
+                vec_uint4  retGtMax = spu_cmpgt(v_distMax,pmax0123);
+                v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
+                v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
+        }
+        for(;v<(int)numverts;v++) {
+                vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
+                const vec_int4 i = {v,0,0,0};
+                vec_uint4  retGtMax = spu_cmpgt(v_distMax,p);
+                v_distMax = spu_sel(p,v_distMax,retGtMax);
+                v_idxMax = spu_sel(i,v_idxMax,retGtMax);
+        }
+        int ptIndex = spu_extract(v_idxMax,0);
+        const btVector3& supVec= points[ptIndex] * localScaling;
+        return supVec;
+#else
+
+        btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
+        int ptIndex = -1;
 
         for (int i=0;i<numPoints;i++)
         {
-                btVector3 vtx = points[i] * localScaling;
-
-                newDot = vec.dot(vtx);
+
+                newDot = vec.dot(points[i]);
                 if (newDot > maxDot)
                 {
                         maxDot = newDot;
-                        supVec = vtx;
-                }
-        }
-        return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
+                        ptIndex = i;
+                }
+        }
+        btAssert(ptIndex >= 0);
+        btVector3 supVec = points[ptIndex] * localScaling;
+        return supVec;
+#endif //__SPU__
 }
 
@@ -161 +209 @@
                 btVector3 supVec(0,0,0);
 
-                btScalar maxDot(btScalar(-1e30));
+                btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
 
                 btVector3 vec = vec0;
@@ -293 +341 @@
         return btScalar(0.0f);
 }
-
+#ifndef __SPU__
 void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 {
@@ -361 +409 @@
         case CONVEX_HULL_SHAPE_PROXYTYPE:
         {
-                btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
+                btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
                 btScalar margin = convexHullShape->getMarginNonVirtual();
                 convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
@@ -378 +426 @@
         btAssert (0);
 }
+
+#endif //__SPU__