1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. 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
19 class 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
34 struct btSimdScalar
35 {
btSimdScalarbtSimdScalar36 SIMD_FORCE_INLINE btSimdScalar()
37 {
38
39 }
40
btSimdScalarbtSimdScalar41 SIMD_FORCE_INLINE btSimdScalar(float fl)
42 :m_vec128 (_mm_set1_ps(fl))
43 {
44 }
45
btSimdScalarbtSimdScalar46 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 };
get128btSimdScalar57 SIMD_FORCE_INLINE __m128 get128()
58 {
59 return m_vec128;
60 }
61
get128btSimdScalar62 SIMD_FORCE_INLINE const __m128 get128() const
63 {
64 return m_vec128;
65 }
66
set128btSimdScalar67 SIMD_FORCE_INLINE void set128(__m128 v128)
68 {
69 m_vec128 = v128;
70 }
71
__m128btSimdScalar72 SIMD_FORCE_INLINE operator __m128()
73 {
74 return m_vec128;
75 }
__m128btSimdScalar76 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
89 SIMD_FORCE_INLINE btSimdScalar
90 operator*(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
96 SIMD_FORCE_INLINE btSimdScalar
97 operator+(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.
ATTRIBUTE_ALIGNED64(struct)108 ATTRIBUTE_ALIGNED64 (struct) btSolverBodyObsolete
109 {
110 BT_DECLARE_ALIGNED_ALLOCATOR();
111 btVector3 m_deltaLinearVelocity;
112 btVector3 m_deltaAngularVelocity;
113 btVector3 m_angularFactor;
114 btVector3 m_invMass;
115 btRigidBody* m_originalBody;
116 btVector3 m_pushVelocity;
117 btVector3 m_turnVelocity;
118
119
120 SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
121 {
122 if (m_originalBody)
123 velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
124 else
125 velocity.setValue(0,0,0);
126 }
127
128 SIMD_FORCE_INLINE void getAngularVelocity(btVector3& angVel) const
129 {
130 if (m_originalBody)
131 angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
132 else
133 angVel.setValue(0,0,0);
134 }
135
136
137 //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
138 SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
139 {
140 //if (m_invMass)
141 {
142 m_deltaLinearVelocity += linearComponent*impulseMagnitude;
143 m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
144 }
145 }
146
147 SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
148 {
149 if (m_originalBody)
150 {
151 m_pushVelocity += linearComponent*impulseMagnitude;
152 m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
153 }
154 }
155
156 void writebackVelocity()
157 {
158 if (m_originalBody)
159 {
160 m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
161 m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
162
163 //m_originalBody->setCompanionId(-1);
164 }
165 }
166
167
168 void writebackVelocity(btScalar timeStep)
169 {
170 (void) timeStep;
171 if (m_originalBody)
172 {
173 m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
174 m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
175
176 //correct the position/orientation based on push/turn recovery
177 btTransform newTransform;
178 btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
179 m_originalBody->setWorldTransform(newTransform);
180
181 //m_originalBody->setCompanionId(-1);
182 }
183 }
184
185
186
187 };
188
189 #endif //BT_SOLVER_BODY_H
190
191
192