mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-23 12:26:59 +01:00
282 lines
7.3 KiB
C++
282 lines
7.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef B3_SOLVER_BODY_H
|
|
#define B3_SOLVER_BODY_H
|
|
|
|
#include "Bullet3Common/b3Vector3.h"
|
|
#include "Bullet3Common/b3Matrix3x3.h"
|
|
|
|
#include "Bullet3Common/b3AlignedAllocator.h"
|
|
#include "Bullet3Common/b3TransformUtil.h"
|
|
|
|
///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
|
|
#ifdef B3_USE_SSE
|
|
#define USE_SIMD 1
|
|
#endif //
|
|
|
|
#ifdef USE_SIMD
|
|
|
|
struct b3SimdScalar
|
|
{
|
|
B3_FORCE_INLINE b3SimdScalar()
|
|
{
|
|
}
|
|
|
|
B3_FORCE_INLINE b3SimdScalar(float fl)
|
|
: m_vec128(_mm_set1_ps(fl))
|
|
{
|
|
}
|
|
|
|
B3_FORCE_INLINE b3SimdScalar(__m128 v128)
|
|
: m_vec128(v128)
|
|
{
|
|
}
|
|
union {
|
|
__m128 m_vec128;
|
|
float m_floats[4];
|
|
float x, y, z, w;
|
|
int m_ints[4];
|
|
b3Scalar m_unusedPadding;
|
|
};
|
|
B3_FORCE_INLINE __m128 get128()
|
|
{
|
|
return m_vec128;
|
|
}
|
|
|
|
B3_FORCE_INLINE const __m128 get128() const
|
|
{
|
|
return m_vec128;
|
|
}
|
|
|
|
B3_FORCE_INLINE void set128(__m128 v128)
|
|
{
|
|
m_vec128 = v128;
|
|
}
|
|
|
|
B3_FORCE_INLINE operator __m128()
|
|
{
|
|
return m_vec128;
|
|
}
|
|
B3_FORCE_INLINE operator const __m128() const
|
|
{
|
|
return m_vec128;
|
|
}
|
|
|
|
B3_FORCE_INLINE operator float() const
|
|
{
|
|
return m_floats[0];
|
|
}
|
|
};
|
|
|
|
///@brief Return the elementwise product of two b3SimdScalar
|
|
B3_FORCE_INLINE b3SimdScalar
|
|
operator*(const b3SimdScalar& v1, const b3SimdScalar& v2)
|
|
{
|
|
return b3SimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
|
|
}
|
|
|
|
///@brief Return the elementwise product of two b3SimdScalar
|
|
B3_FORCE_INLINE b3SimdScalar
|
|
operator+(const b3SimdScalar& v1, const b3SimdScalar& v2)
|
|
{
|
|
return b3SimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
|
|
}
|
|
|
|
#else
|
|
#define b3SimdScalar b3Scalar
|
|
#endif
|
|
|
|
///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
|
|
B3_ATTRIBUTE_ALIGNED16(struct)
|
|
b3SolverBody
|
|
{
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
|
b3Transform m_worldTransform;
|
|
b3Vector3 m_deltaLinearVelocity;
|
|
b3Vector3 m_deltaAngularVelocity;
|
|
b3Vector3 m_angularFactor;
|
|
b3Vector3 m_linearFactor;
|
|
b3Vector3 m_invMass;
|
|
b3Vector3 m_pushVelocity;
|
|
b3Vector3 m_turnVelocity;
|
|
b3Vector3 m_linearVelocity;
|
|
b3Vector3 m_angularVelocity;
|
|
|
|
union {
|
|
void* m_originalBody;
|
|
int m_originalBodyIndex;
|
|
};
|
|
|
|
int padding[3];
|
|
|
|
void setWorldTransform(const b3Transform& worldTransform)
|
|
{
|
|
m_worldTransform = worldTransform;
|
|
}
|
|
|
|
const b3Transform& getWorldTransform() const
|
|
{
|
|
return m_worldTransform;
|
|
}
|
|
|
|
B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
|
|
{
|
|
if (m_originalBody)
|
|
velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
|
|
else
|
|
velocity.setValue(0, 0, 0);
|
|
}
|
|
|
|
B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
|
|
{
|
|
if (m_originalBody)
|
|
angVel = m_angularVelocity + m_deltaAngularVelocity;
|
|
else
|
|
angVel.setValue(0, 0, 0);
|
|
}
|
|
|
|
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
|
|
B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
|
|
{
|
|
if (m_originalBody)
|
|
{
|
|
m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
|
|
m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
|
|
}
|
|
}
|
|
|
|
B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
|
|
{
|
|
if (m_originalBody)
|
|
{
|
|
m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
|
|
m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
|
|
}
|
|
}
|
|
|
|
const b3Vector3& getDeltaLinearVelocity() const
|
|
{
|
|
return m_deltaLinearVelocity;
|
|
}
|
|
|
|
const b3Vector3& getDeltaAngularVelocity() const
|
|
{
|
|
return m_deltaAngularVelocity;
|
|
}
|
|
|
|
const b3Vector3& getPushVelocity() const
|
|
{
|
|
return m_pushVelocity;
|
|
}
|
|
|
|
const b3Vector3& getTurnVelocity() const
|
|
{
|
|
return m_turnVelocity;
|
|
}
|
|
|
|
////////////////////////////////////////////////
|
|
///some internal methods, don't use them
|
|
|
|
b3Vector3& internalGetDeltaLinearVelocity()
|
|
{
|
|
return m_deltaLinearVelocity;
|
|
}
|
|
|
|
b3Vector3& internalGetDeltaAngularVelocity()
|
|
{
|
|
return m_deltaAngularVelocity;
|
|
}
|
|
|
|
const b3Vector3& internalGetAngularFactor() const
|
|
{
|
|
return m_angularFactor;
|
|
}
|
|
|
|
const b3Vector3& internalGetInvMass() const
|
|
{
|
|
return m_invMass;
|
|
}
|
|
|
|
void internalSetInvMass(const b3Vector3& invMass)
|
|
{
|
|
m_invMass = invMass;
|
|
}
|
|
|
|
b3Vector3& internalGetPushVelocity()
|
|
{
|
|
return m_pushVelocity;
|
|
}
|
|
|
|
b3Vector3& internalGetTurnVelocity()
|
|
{
|
|
return m_turnVelocity;
|
|
}
|
|
|
|
B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
|
|
{
|
|
velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
|
|
}
|
|
|
|
B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
|
|
{
|
|
angVel = m_angularVelocity + m_deltaAngularVelocity;
|
|
}
|
|
|
|
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
|
|
B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
|
|
{
|
|
//if (m_originalBody)
|
|
{
|
|
m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
|
|
m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
|
|
}
|
|
}
|
|
|
|
void writebackVelocity()
|
|
{
|
|
//if (m_originalBody>=0)
|
|
{
|
|
m_linearVelocity += m_deltaLinearVelocity;
|
|
m_angularVelocity += m_deltaAngularVelocity;
|
|
|
|
//m_originalBody->setCompanionId(-1);
|
|
}
|
|
}
|
|
|
|
void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
|
|
{
|
|
(void)timeStep;
|
|
if (m_originalBody)
|
|
{
|
|
m_linearVelocity += m_deltaLinearVelocity;
|
|
m_angularVelocity += m_deltaAngularVelocity;
|
|
|
|
//correct the position/orientation based on push/turn recovery
|
|
b3Transform newTransform;
|
|
if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
|
|
{
|
|
// b3Quaternion orn = m_worldTransform.getRotation();
|
|
b3TransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
|
|
m_worldTransform = newTransform;
|
|
}
|
|
//m_worldTransform.setRotation(orn);
|
|
//m_originalBody->setCompanionId(-1);
|
|
}
|
|
}
|
|
};
|
|
|
|
#endif //B3_SOLVER_BODY_H
|