From 99146430a4c8ab96672a788a8bb59e511c36d3eb Mon Sep 17 00:00:00 2001 From: Robin Engman Date: Sun, 9 Feb 2014 21:24:09 +0100 Subject: [PATCH] Major overhaul --- Code/DanBias.sln | 298 + .../DanBiasGame/GameClientState/Camera.cpp | 2 +- .../DanBiasGame/GameClientState/GameState.cpp | 5 +- Code/Game/GameLogic/AttatchmentMassDriver.cpp | 10 +- Code/Game/GameLogic/CollisionManager.cpp | 4 +- Code/Game/GameLogic/Game.cpp | 12 +- Code/Game/GameLogic/Game_PlayerData.cpp | 24 +- Code/Game/GameLogic/Level.cpp | 78 +- Code/Game/GameLogic/Object.cpp | 98 +- Code/Game/GameLogic/Player.cpp | 20 +- Code/Game/GameLogic/StaticObject.cpp | 4 +- Code/GamePhysics/GamePhysics.vcxproj | 5 +- Code/GamePhysics/Implementation/Octree.cpp | 6 +- .../Implementation/PhysicsAPI_Impl.cpp | 642 +- .../Implementation/PhysicsAPI_Impl.h | 45 +- .../Implementation/SimpleRigidBody.cpp | 495 +- .../Implementation/SimpleRigidBody.h | 70 +- .../Implementation/SphericalRigidBody.cpp | 408 - 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mode 100644 Code/Physics/src/vectormath/scalar/boolInVec.h create mode 100644 Code/Physics/src/vectormath/scalar/floatInVec.h create mode 100644 Code/Physics/src/vectormath/scalar/mat_aos.h create mode 100644 Code/Physics/src/vectormath/scalar/quat_aos.h create mode 100644 Code/Physics/src/vectormath/scalar/vec_aos.h create mode 100644 Code/Physics/src/vectormath/scalar/vectormath_aos.h create mode 100644 Code/Physics/src/vectormath/sse/boolInVec.h create mode 100644 Code/Physics/src/vectormath/sse/floatInVec.h create mode 100644 Code/Physics/src/vectormath/sse/mat_aos.h create mode 100644 Code/Physics/src/vectormath/sse/quat_aos.h create mode 100644 Code/Physics/src/vectormath/sse/vec_aos.h create mode 100644 Code/Physics/src/vectormath/sse/vecidx_aos.h create mode 100644 Code/Physics/src/vectormath/sse/vectormath_aos.h create mode 100644 Code/Physics/src/vectormath/vmInclude.h diff --git a/Code/DanBias.sln b/Code/DanBias.sln index 4dedaaa2..b02fd49b 100644 --- a/Code/DanBias.sln +++ b/Code/DanBias.sln @@ -24,6 +24,11 @@ EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "NetworkDependencies", "Network\NetworkDependencies\NetworkDependencies.vcxproj", "{C5AA09D0-6594-4CD3-BD92-1D380C7B3B50}" EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GamePhysics", "GamePhysics\GamePhysics.vcxproj", "{104FA3E9-94D9-4E1D-A941-28A03BC8A095}" + ProjectSection(ProjectDependencies) = postProject + {6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} = {6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} + {B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} = {B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} + {22C0C4D8-6C43-406A-9CDB-76A4F800971A} = {22C0C4D8-6C43-406A-9CDB-76A4F800971A} + EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "DanBiasGame", "Game\DanBiasGame\DanBiasGame.vcxproj", "{2A1BC987-AF42-4500-802D-89CD32FC1309}" EndProject @@ -45,14 +50,28 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "GameServer", "Game\GameServ EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "aDanBiasGameLauncher", "Game\aDanBiasGameLauncher\aDanBiasGameLauncher.vcxproj", "{666FEA52-975F-41CD-B224-B19AF3C0ABBA}" EndProject +Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Physics", "Physics", "{0D86E569-9C74-47F0-BDB2-390C0C9A084B}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletCollision", "Physics\BulletCollision\BulletCollision.vcxproj", "{B84D4C8B-DF9F-4B41-994D-A6FFFA64F274}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BulletDynamics", "Physics\BulletDynamics\BulletDynamics.vcxproj", "{6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "LinearMath", "Physics\LinearMath\LinearMath.vcxproj", "{22C0C4D8-6C43-406A-9CDB-76A4F800971A}" +EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution Debug|Mixed Platforms = Debug|Mixed Platforms Debug|Win32 = Debug|Win32 Debug|x64 = Debug|x64 + MinSizeRel|Mixed Platforms = MinSizeRel|Mixed Platforms + MinSizeRel|Win32 = MinSizeRel|Win32 + MinSizeRel|x64 = MinSizeRel|x64 Release|Mixed Platforms = Release|Mixed Platforms Release|Win32 = Release|Win32 Release|x64 = Release|x64 + RelWithDebInfo|Mixed Platforms = RelWithDebInfo|Mixed Platforms + RelWithDebInfo|Win32 = RelWithDebInfo|Win32 + RelWithDebInfo|x64 = RelWithDebInfo|x64 EndGlobalSection GlobalSection(ProjectConfigurationPlatforms) = postSolution {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.Debug|Mixed Platforms.ActiveCfg = Debug|Win32 @@ -61,240 +80,516 @@ Global {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.Debug|Win32.Build.0 = Debug|Win32 {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.Debug|x64.ActiveCfg = Debug|x64 {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.Debug|x64.Build.0 = Debug|x64 + {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.MinSizeRel|Mixed Platforms.ActiveCfg = Release|Win32 + {0EC83E64-230E-48EF-B08C-6AC9651B4F82}.MinSizeRel|Mixed Platforms.Build.0 = Release|Win32 + 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{22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Debug|Mixed Platforms.Build.0 = Debug|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Debug|Win32.ActiveCfg = Debug|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Debug|Win32.Build.0 = Debug|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Debug|x64.ActiveCfg = Debug|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|Mixed Platforms.ActiveCfg = MinSizeRel|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|Mixed Platforms.Build.0 = MinSizeRel|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|Win32.ActiveCfg = MinSizeRel|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|Win32.Build.0 = MinSizeRel|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.MinSizeRel|x64.ActiveCfg = MinSizeRel|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Mixed Platforms.ActiveCfg = Release|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Mixed Platforms.Build.0 = Release|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Win32.ActiveCfg = Release|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|Win32.Build.0 = Release|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.Release|x64.ActiveCfg = Release|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Mixed Platforms.ActiveCfg = RelWithDebInfo|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Mixed Platforms.Build.0 = RelWithDebInfo|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Win32.ActiveCfg = RelWithDebInfo|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|Win32.Build.0 = RelWithDebInfo|Win32 + {22C0C4D8-6C43-406A-9CDB-76A4F800971A}.RelWithDebInfo|x64.ActiveCfg = RelWithDebInfo|Win32 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE @@ -311,5 +606,8 @@ Global {060B1890-CBF3-4808-BA99-A4776222093B} = {20720CA7-795C-45AD-A302-9383A6DD503A} {143BD516-20A1-4890-A3E4-F8BFD02220E7} = {20720CA7-795C-45AD-A302-9383A6DD503A} {666FEA52-975F-41CD-B224-B19AF3C0ABBA} = {20720CA7-795C-45AD-A302-9383A6DD503A} + {B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B} + {6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B} + {22C0C4D8-6C43-406A-9CDB-76A4F800971A} = {0D86E569-9C74-47F0-BDB2-390C0C9A084B} EndGlobalSection EndGlobal diff --git a/Code/Game/DanBiasGame/GameClientState/Camera.cpp b/Code/Game/DanBiasGame/GameClientState/Camera.cpp index 13b5a70f..afdf2eab 100644 --- a/Code/Game/DanBiasGame/GameClientState/Camera.cpp +++ b/Code/Game/DanBiasGame/GameClientState/Camera.cpp @@ -2,7 +2,7 @@ Camera::Camera() { - this->m_position = Oyster::Math::Float3(0, 50, 0); + this->m_position = Oyster::Math::Float3(0, 600, 0); this->mRight = Oyster::Math::Float3(1, 0, 0); this->mUp = Oyster::Math::Float3(0, 1, 0); this->mLook = Oyster::Math::Float3(0, 0, 1); diff --git a/Code/Game/DanBiasGame/GameClientState/GameState.cpp b/Code/Game/DanBiasGame/GameClientState/GameState.cpp index 06def943..a7d04f86 100644 --- a/Code/Game/DanBiasGame/GameClientState/GameState.cpp +++ b/Code/Game/DanBiasGame/GameClientState/GameState.cpp @@ -465,13 +465,14 @@ void GameState::Protocol( ObjPos* pos ) if(privData->object[i]->GetId() == pos->object_ID) { privData->object[i]->setPos(world); - + if(i == myId) // playerobj { Oyster::Math::Float3 right = Oyster::Math::Float3(world[0], world[1], world[2]); Oyster::Math::Float3 up = Oyster::Math::Float3(world[4], world[5], world[6]); Oyster::Math::Float3 objForward = (Oyster::Math::Float3(world[8], world[9], world[10])); Oyster::Math::Float3 pos = Oyster::Math::Float3(world[12], world[13], world[14]); + Oyster::Math::Float3 cameraLook = camera->GetLook(); Oyster::Math::Float3 cameraUp = camera->GetUp(); @@ -490,7 +491,7 @@ void GameState::Protocol( ObjPos* pos ) up *= 1; objForward *= -2; - Oyster::Math::Float3 cameraPos = up + pos + objForward; + Oyster::Math::Float3 cameraPos = pos + up + objForward; camera->SetPosition(cameraPos); camera->UpdateViewMatrix(); diff --git a/Code/Game/GameLogic/AttatchmentMassDriver.cpp b/Code/Game/GameLogic/AttatchmentMassDriver.cpp index 59be4542..a2002566 100644 --- a/Code/Game/GameLogic/AttatchmentMassDriver.cpp +++ b/Code/Game/GameLogic/AttatchmentMassDriver.cpp @@ -64,11 +64,11 @@ void AttatchmentMassDriver::Update(float dt) state = heldObject->GetState(); Oyster::Math::Float3 ownerPos = owner->GetPosition(); Oyster::Physics::ICustomBody::State ownerState = owner->GetRigidBody()->GetState(); - Oyster::Math::Float3 up = -ownerState.GetGravityNormal(); + Oyster::Math::Float3 up = -ownerState.GetOrientation().v[2]; up *= -0.3; Oyster::Math::Float3 pos = ownerPos + up + (owner->GetLookDir().GetNormalized()*5); - state.SetCenterPosition(pos); + state.centerPos = pos; heldObject->SetState(state); } @@ -88,7 +88,7 @@ void AttatchmentMassDriver::ForcePush(const GameLogic::WEAPON_FIRE &usage, float Oyster::Physics::API::Instance().ReleaseFromLimbo(heldObject); pushForce = Oyster::Math::Float4(this->owner->GetLookDir()) * (700); Oyster::Physics::ICustomBody::State state = heldObject->GetState(); - state.ApplyLinearImpulse((Oyster::Math::Float3)pushForce); + //state.ApplyLinearImpulse((Oyster::Math::Float3)pushForce); heldObject->SetState(state); hasObject = false; @@ -118,7 +118,7 @@ void AttatchmentMassDriver::ForceZip(const WEAPON_FIRE &usage, float dt) Oyster::Physics::Struct::CustomBodyState state = this->owner->GetRigidBody()->GetState(); //do something with state - state.ApplyLinearImpulse(Oyster::Math::Float3(this->owner->GetLookDir()) * (500 * dt)); + //state.ApplyLinearImpulse(Oyster::Math::Float3(this->owner->GetLookDir()) * (500 * dt)); this->owner->GetRigidBody()->SetState(state); } @@ -135,7 +135,7 @@ void AttatchmentMassDriver::ForcePull(const WEAPON_FIRE &usage, float dt) //if no object has been picked up then suck objects towards you Oyster::Math::Float4 pushForce = Oyster::Math::Float4(this->owner->GetLookDir()) * (100 * dt); - Oyster::Math::Float4x4 aim = Oyster::Math3D::ViewMatrix_LookAtDirection(owner->GetLookDir(), owner->GetRigidBody()->GetGravityNormal(), owner->GetPosition()); + Oyster::Math::Float4x4 aim = Oyster::Math3D::ViewMatrix_LookAtDirection(owner->GetLookDir(), owner->GetRigidBody()->GetState().GetOrientation().v[2].xyz, owner->GetPosition()); Oyster::Math::Float4x4 hitSpace = Oyster::Math3D::ProjectionMatrix_Perspective(Oyster::Math::pi/4,1,1,20); Oyster::Collision3D::Frustrum hitFrustum = Oyster::Collision3D::Frustrum(Oyster::Math3D::ViewProjectionMatrix(aim,hitSpace)); diff --git a/Code/Game/GameLogic/CollisionManager.cpp b/Code/Game/GameLogic/CollisionManager.cpp index 21c073f8..922ab7fe 100644 --- a/Code/Game/GameLogic/CollisionManager.cpp +++ b/Code/Game/GameLogic/CollisionManager.cpp @@ -68,7 +68,7 @@ using namespace GameLogic; Oyster::Physics::ICustomBody::State state; state = obj.GetState(); - state.ApplyLinearImpulse(force); + //state.ApplyLinearImpulse(force); obj.SetState(state); } @@ -130,7 +130,7 @@ using namespace GameLogic; return; state = obj->GetState(); - state.ApplyLinearImpulse(((forcePushData*)(args))->pushForce); + //state.ApplyLinearImpulse(((forcePushData*)(args))->pushForce); obj->SetState(state); } diff --git a/Code/Game/GameLogic/Game.cpp b/Code/Game/GameLogic/Game.cpp index 6aecc900..fe7a41c7 100644 --- a/Code/Game/GameLogic/Game.cpp +++ b/Code/Game/GameLogic/Game.cpp @@ -71,7 +71,7 @@ Game::PlayerData* Game::CreatePlayer() int id = InsertObject(this->players, (PlayerData*)0); this->players[id] = new PlayerData(); - this->players[id]->player->GetRigidBody()->SetSubscription(Game::PhysicsOnMove); + //this->players[id]->player->GetRigidBody()->SetSubscription(Game::PhysicsOnMove); return this->players[id]; } @@ -99,7 +99,7 @@ bool Game::NewFrame() if(this->players[i]->player) this->players[i]->player->BeginFrame(); } - API::Instance().Update(); + API::Instance().UpdateWorld(); for (unsigned int i = 0; i < this->players.Size(); i++) { @@ -110,7 +110,7 @@ bool Game::NewFrame() if(this->players[i]->player) this->players[i]->player->BeginFrame(); } - API::Instance().Update(); + API::Instance().UpdateWorld(); for (unsigned int i = 0; i < this->players.Size(); i++) { @@ -121,7 +121,7 @@ bool Game::NewFrame() if(this->players[i]->player) this->players[i]->player->BeginFrame(); } - API::Instance().Update(); + API::Instance().UpdateWorld(); for (unsigned int i = 0; i < this->players.Size(); i++) { @@ -159,8 +159,8 @@ void Game::SetSubscription(GameEvent::ObjectEventFunctionType type, GameEvent::O bool Game::Initiate() { - API::Instance().Init((int)pow(2u, 9u), 1u, Oyster::Math::Float3()); - API::Instance().SetSubscription(Game::PhysicsOnDestroy); + API::Instance().Init(); + //API::Instance().SetSubscription(Game::PhysicsOnDestroy); this->initiated = true; return true; } diff --git a/Code/Game/GameLogic/Game_PlayerData.cpp b/Code/Game/GameLogic/Game_PlayerData.cpp index e4b54f9a..0cb4e4bd 100644 --- a/Code/Game/GameLogic/Game_PlayerData.cpp +++ b/Code/Game/GameLogic/Game_PlayerData.cpp @@ -6,26 +6,26 @@ using namespace GameLogic; Game::PlayerData::PlayerData() { //set some stats that are appropriate to a player - Oyster::Physics::API::SimpleBodyDescription sbDesc; - sbDesc.centerPosition = Oyster::Math::Float3(0,608,0); - sbDesc.size = Oyster::Math::Float3(0.5f,2,1); - sbDesc.mass = 70; - sbDesc.restitutionCoeff = 0.5; - sbDesc.frictionCoeff_Static = 0.4; - sbDesc.frictionCoeff_Dynamic = 0.3; - sbDesc.rotation = Oyster::Math::Float3(0, Oyster::Math::pi, 0); + Oyster::Math::Float3 centerPosition = Oyster::Math::Float3(0,608,-5); + Oyster::Math::Float3 size = Oyster::Math::Float3(0.25f,1.0f,0.5f); + Oyster::Math::Float mass = 15; + Oyster::Math::Float restitutionCoeff = 0.5; + Oyster::Math::Float frictionCoeff_Static = 0.4; + Oyster::Math::Float frictionCoeff_Dynamic = 0.3; + //sbDesc.quaternion = Oyster::Math::Float3(0, Oyster::Math::pi, 0); //create rigid body - Oyster::Physics::ICustomBody *rigidBody = Oyster::Physics::API::Instance().CreateRigidBody(sbDesc).Release(); + Oyster::Physics::ICustomBody* rigidBody = Oyster::Physics::API::Instance().AddCollisionBox(size, Oyster::Math::Float4(0, 0, 0, 1), centerPosition, mass); //create player with this rigid body this->player = new Player(rigidBody,Player::DefaultCollisionAfter, Player::PlayerCollision, OBJECT_TYPE::OBJECT_TYPE_PLAYER); this->player->GetRigidBody()->SetCustomTag(this); - /*Oyster::Physics::ICustomBody::State state; + + Oyster::Physics::ICustomBody::State state; this->player->GetRigidBody()->GetState(state); - state.SetRotation(Oyster::Math::Float3(0, Oyster::Math::pi, 0)); + //state.SetRotation(Oyster::Math::Float3(0, Oyster::Math::pi, 0)); this->player->GetRigidBody()->SetState(state); - player->EndFrame();*/ + player->EndFrame(); } Game::PlayerData::PlayerData(int playerID,int teamID) { diff --git a/Code/Game/GameLogic/Level.cpp b/Code/Game/GameLogic/Level.cpp index 82ba5def..9c735c48 100644 --- a/Code/Game/GameLogic/Level.cpp +++ b/Code/Game/GameLogic/Level.cpp @@ -51,33 +51,17 @@ void Level::InitiateLevel(float radius) } // add level sphere - API::SphericalBodyDescription sbDesc; - sbDesc.centerPosition = Oyster::Math::Float4(0,0,0,1); - sbDesc.ignoreGravity = true; - sbDesc.radius = 600; - sbDesc.mass = 70; - sbDesc.frictionCoeff_Static = 0; - sbDesc.frictionCoeff_Dynamic = 0; - //sbDesc.rotation = - ICustomBody* rigidBody = API::Instance().CreateRigidBody(sbDesc).Release(); + ICustomBody* rigidBody = API::Instance().AddCollisionSphere(599.2f, Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0); ICustomBody::State state; rigidBody->GetState(state); - state.SetRestitutionCoeff(0.2); + state.restitutionCoeff = 0.2f; rigidBody->SetState(state); - levelObj = new StaticObject(rigidBody, LevelCollisionBefore, LevelCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_WORLD); rigidBody->SetCustomTag(levelObj); - - //this->dynamicObjects = new DynamicArray< DynamicObject>; - // add box - API::SimpleBodyDescription sbDesc_TestBox; - sbDesc_TestBox.centerPosition = Oyster::Math::Float4(10,320,0,1); - sbDesc_TestBox.ignoreGravity = false; - sbDesc_TestBox.mass = 15; - sbDesc_TestBox.size = Oyster::Math::Float4(1, 1, 1, 0); - sbDesc_TestBox.inertiaTensor.Cuboid(15, 1, 1, 1); + + ICustomBody* rigidBody_TestBox; @@ -86,9 +70,7 @@ void Level::InitiateLevel(float radius) int offset = 0; for(int i =0; i< nrOfBoxex; i ++) { - sbDesc_TestBox.centerPosition = Oyster::Math::Float4(0,605 + i*5,5,1); - rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release(); - rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel); + rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 605 + i*5, 5), 5); this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX)); rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i]); @@ -96,32 +78,28 @@ void Level::InitiateLevel(float radius) offset += nrOfBoxex; for(int i =0; i< nrOfBoxex; i ++) { - sbDesc_TestBox.centerPosition = Oyster::Math::Float4(-20,620, -200 +( i*7),0); - rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release(); - rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel); + rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0,5, -605 -( i*5)), 5); this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX)); rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]); + } offset += nrOfBoxex; for(int i =0; i< nrOfBoxex; i ++) { - sbDesc_TestBox.centerPosition = Oyster::Math::Float4(200,620 + ( i*7),0,0); - rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release(); - rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel); + rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(200, 620 + ( i*7), 0), 5); this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX)); - rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]); + rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i+offset]); } offset += nrOfBoxex; for(int i =0; i< nrOfBoxex; i ++) { - sbDesc_TestBox.centerPosition = Oyster::Math::Float4(5,605 + i*5,0,0); - rigidBody_TestBox = API::Instance().CreateRigidBody(sbDesc_TestBox).Release(); - rigidBody_TestBox->SetSubscription(Level::PhysicsOnMoveLevel); + rigidBody_TestBox = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(5, 605 + i*5, 0), 5); this->dynamicObjects.Push(new DynamicObject(rigidBody_TestBox,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX)); rigidBody_TestBox->SetCustomTag(this->dynamicObjects[i]); + } @@ -129,43 +107,19 @@ void Level::InitiateLevel(float radius) // add crystal - API::SimpleBodyDescription sbDesc_Crystal; - sbDesc_Crystal.centerPosition = Oyster::Math::Float4(10, 605, 0, 1); - sbDesc_Crystal.ignoreGravity = false; - sbDesc_Crystal.mass = 15; - sbDesc_Crystal.size = Oyster::Math::Float3(1, 2, 1); - sbDesc_Crystal.inertiaTensor.Cuboid(15, 1, 2, 1); - ICustomBody* rigidBody_Crystal = API::Instance().CreateRigidBody(sbDesc_Crystal).Release(); - rigidBody_Crystal->SetSubscription(Level::PhysicsOnMoveLevel); + ICustomBody* rigidBody_Crystal = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(10, 605, 0), 5); + this->dynamicObjects.Push(new DynamicObject(rigidBody_Crystal,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_BOX)); rigidBody_Crystal->SetCustomTag(this->dynamicObjects[nrOfBoxex]); + + // add house - API::SimpleBodyDescription sbDesc_House; - //sbDesc_House.centerPosition = Oyster::Math::Float4(212, 212, 0, 0); - sbDesc_House.centerPosition = Oyster::Math::Float4(-50, 690, 0, 1); - sbDesc_House.ignoreGravity = false; - sbDesc_House.rotation = Oyster::Math::Float3(0 ,Utility::Value::Radian(90.0f), 0); - sbDesc_House.mass = 90; - sbDesc_House.size = Oyster::Math::Float3(40,40,40); - - - ICustomBody* rigidBody_House = API::Instance().CreateRigidBody(sbDesc_House).Release(); - rigidBody_House->SetSubscription(Level::PhysicsOnMoveLevel); + ICustomBody* rigidBody_House =API::Instance().AddCollisionBox(Oyster::Math::Float3(0.5f, 0.5f, 0.5f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(10, 905, 0), 0); this->staticObjects.Push(new StaticObject(rigidBody_House,Object::DefaultCollisionBefore, Object::DefaultCollisionAfter, OBJECT_TYPE::OBJECT_TYPE_GENERIC)); rigidBody_House->SetCustomTag(this->staticObjects[0]); - rigidBody_House->GetState(state); - Oyster::Math::Float4x4 world = state.GetOrientation(); - - - // add gravitation - API::Gravity gravityWell; - gravityWell.gravityType = API::Gravity::GravityType_Well; - gravityWell.well.mass = 1e17f; - gravityWell.well.position = Oyster::Math::Float4(0,0,0,1); - API::Instance().AddGravity(gravityWell); } void Level::AddPlayerToTeam(Player *player, int teamID) diff --git a/Code/Game/GameLogic/Object.cpp b/Code/Game/GameLogic/Object.cpp index b7e392fe..e6a554f8 100644 --- a/Code/Game/GameLogic/Object.cpp +++ b/Code/Game/GameLogic/Object.cpp @@ -15,10 +15,8 @@ const Game *Object::gameInstance = (Game*)(&Game::Instance()); Object::Object() { - API::SimpleBodyDescription sbDesc; - this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release(); - Oyster::Physics::API::Instance().AddObject(rigidBody); + this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0); this->type = OBJECT_TYPE::OBJECT_TYPE_UNKNOWN; this->objectID = GID(); @@ -28,10 +26,7 @@ Object::Object() Object::Object(OBJECT_TYPE type) { - API::SimpleBodyDescription sbDesc; - - this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release(); - Oyster::Physics::API::Instance().AddObject(rigidBody); + this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0); this->type = type; this->objectID = GID(); this->currPhysicsState = this->rigidBody->GetState(); @@ -40,7 +35,6 @@ Object::Object(OBJECT_TYPE type) Object::Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type) { - Oyster::Physics::API::Instance().AddObject(rigidBody); this->rigidBody = rigidBody; this->type = type; this->objectID = GID(); @@ -50,10 +44,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type) Object::Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type) { - API::SimpleBodyDescription sbDesc; - - this->rigidBody = API::Instance().CreateRigidBody(sbDesc).Release(); - Oyster::Physics::API::Instance().AddObject(rigidBody); + this->rigidBody = API::Instance().AddCollisionBox(Oyster::Math::Float3(0.0f, 0.0f, 0.0f), Oyster::Math::Float4(0, 0, 0, 1), Oyster::Math::Float3(0, 0, 0), 0); this->type = type; this->objectID = GID(); @@ -63,11 +54,7 @@ Object::Object(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE Object::Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type) { - Oyster::Physics::API::Instance().AddObject(rigidBody); - this->rigidBody = rigidBody; - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore)); - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter)); this->type = type; this->objectID = GID(); @@ -77,11 +64,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody ,void* collisionFuncBefor Object::Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter), Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss), OBJECT_TYPE type) { - Oyster::Physics::API::Instance().AddObject(rigidBody); - this->rigidBody = rigidBody; - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore)); - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse)(collisionFuncAfter)); this->type = type; @@ -92,7 +75,7 @@ Object::Object(Oyster::Physics::ICustomBody *rigidBody ,Oyster::Physics::ICustom void Object::ApplyLinearImpulse(Oyster::Math::Float3 force) { - newPhysicsState.ApplyLinearImpulse(force); + } @@ -119,86 +102,19 @@ Oyster::Physics::ICustomBody* Object::GetRigidBody() void Object::BeginFrame() { + - if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum()) - { - //error - int i =0 ; - } - if(currPhysicsState.GetCenterPosition() !=currPhysicsState.GetCenterPosition()) - { - //error - int i =0 ; - } - if(currPhysicsState.GetAngularAxis() !=currPhysicsState.GetAngularAxis()) - { - //error - int i =0 ; - } this->rigidBody->SetState(this->newPhysicsState); } // update physic void Object::EndFrame() { - if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum()) - { - //error - int i =0 ; - } - this->currPhysicsState = this->rigidBody->GetState(); - if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum()) - { - //error - int i =0 ; - } - if(currPhysicsState.GetGravityNormal() !=currPhysicsState.GetGravityNormal()) - { - //error - int i =0 ; - } - - - //if(currPhysicsState.GetGravityNormal()!= Float3::null) - { - Oyster::Math::Float4 axis; - Oyster::Math3D::SnapAngularAxis(Oyster::Math::Float4(currPhysicsState.GetAngularAxis(), 0), Oyster::Math::Float4::standard_unit_y, Oyster::Math::Float4(currPhysicsState.GetCenterPosition().GetNormalized(), 0), axis); - if(axis !=axis) - { - //error - int i =0 ; - } - axis.Normalize(); - currPhysicsState.SetRotation(axis.xyz); - currPhysicsState.SetAngularMomentum(Float3::null); - //Oyster::Math::Float3 debug = ::LinearAlgebra3D::WorldAxisOf(::LinearAlgebra3D::Rotation(axis.xyz), Oyster::Math::Float3::standard_unit_y); - //debug += currPhysicsState.GetGravityNormal(); - } - //Oyster::Math::Float3 pos = currPhysicsState.GetCenterPosition(); - //Oyster::Math::Float3 up = -currPhysicsState.GetGravityNormal(); - //300, 0,0, - //1,0,0 - - /*if( pos.GetLength() < 301.5f) - { - Oyster::Math::Float moveUp = 301.5 - pos.GetLength(); - up *= moveUp; - - currPhysicsState.SetCenterPosition(pos + up); - }*/ - - - if(currPhysicsState.GetLinearMomentum() !=currPhysicsState.GetLinearMomentum()) - { - //error - int i =0 ; - } - this->newPhysicsState = this->currPhysicsState; } void Object::setBeforeCollisonFunc(Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncBefore)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter)) { - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore)); + //this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(collisionFuncBefore)); } void Object::setAfterCollisonFunc(Oyster::Physics::ICustomBody::SubscriptMessage (*collisionFuncAfter)(Oyster::Physics::ICustomBody *proto,Oyster::Physics::ICustomBody *deuter,Oyster::Math::Float kineticEnergyLoss)) { @@ -209,7 +125,7 @@ Oyster::Math::Float3 Object::GetPosition() { Oyster::Physics::ICustomBody::State state; state = this->rigidBody->GetState(); - return state.GetCenterPosition(); + return state.centerPos; } Oyster::Math::Float4x4 Object::GetOrientation() { diff --git a/Code/Game/GameLogic/Player.cpp b/Code/Game/GameLogic/Player.cpp index 9b0c29ee..40102d2d 100644 --- a/Code/Game/GameLogic/Player.cpp +++ b/Code/Game/GameLogic/Player.cpp @@ -73,7 +73,7 @@ void Player::EndFrame() Oyster::Math::Float3 up = currPhysicsState.GetOrientation().v[1]; Oyster::Math::Float3 deltaAxis = up * (-dx * 0.02) ; - currPhysicsState.AddRotation(deltaAxis); + //currPhysicsState.AddRotation(deltaAxis); dx = 0; this->newPhysicsState = this->currPhysicsState; } @@ -108,21 +108,21 @@ void Player::MoveForward() { Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2]; //Oyster::Math::Float3 forward = lookDir; - newPhysicsState.ApplyLinearImpulse(forward * (MOVE_FORCE * this->gameInstance->GetFrameTime())); + //newPhysicsState.ApplyLinearImpulse(forward * (MOVE_FORCE * this->gameInstance->GetFrameTime())); } void Player::MoveBackwards() { Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2]; //Oyster::Math::Float3 forward = lookDir; - newPhysicsState.ApplyLinearImpulse(-forward * MOVE_FORCE * this->gameInstance->GetFrameTime()); + //newPhysicsState.ApplyLinearImpulse(-forward * MOVE_FORCE * this->gameInstance->GetFrameTime()); } void Player::MoveRight() { //Do cross product with forward vector and negative gravity vector Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2]; //Oyster::Math::Float3 forward = lookDir; - Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward); - newPhysicsState.ApplyLinearImpulse(-r * MOVE_FORCE * this->gameInstance->GetFrameTime()); + //Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward); + //newPhysicsState.ApplyLinearImpulse(-r * MOVE_FORCE * this->gameInstance->GetFrameTime()); } void Player::MoveLeft() @@ -130,8 +130,8 @@ void Player::MoveLeft() //Do cross product with forward vector and negative gravity vector Oyster::Math::Float3 forward = currPhysicsState.GetOrientation().v[2]; //Oyster::Math::Float3 forward = lookDir; - Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward); //Still get zero - newPhysicsState.ApplyLinearImpulse(r * MOVE_FORCE * this->gameInstance->GetFrameTime()); + //Oyster::Math::Float3 r = (-currPhysicsState.GetGravityNormal()).Cross(forward); //Still get zero + //newPhysicsState.ApplyLinearImpulse(r * MOVE_FORCE * this->gameInstance->GetFrameTime()); } void Player::UseWeapon(const WEAPON_FIRE &usage) @@ -144,7 +144,7 @@ void Player::Respawn(Oyster::Math::Float3 spawnPoint) this->life = 100; this->playerState = PLAYER_STATE::PLAYER_STATE_IDLE; this->lookDir = Oyster::Math::Float4(1,0,0); - this->newPhysicsState.SetCenterPosition(spawnPoint); + this->newPhysicsState.centerPos = spawnPoint; } void Player::Rotate(const Oyster::Math3D::Float4 lookDir) @@ -162,7 +162,7 @@ void Player::Rotate(const Oyster::Math3D::Float4 lookDir) void Player::Jump() { Oyster::Math::Float3 up = currPhysicsState.GetOrientation().v[1]; - newPhysicsState.ApplyLinearImpulse(up * MOVE_FORCE * this->gameInstance->GetFrameTime()); + //newPhysicsState.ApplyLinearImpulse(up * MOVE_FORCE * this->gameInstance->GetFrameTime()); } bool Player::IsWalking() @@ -180,7 +180,7 @@ bool Player::IsIdle() Oyster::Math::Float3 Player::GetPosition() const { - return (Oyster::Math::Float3)currPhysicsState.GetCenterPosition(); + return (Oyster::Math::Float3)currPhysicsState.centerPos; } Oyster::Math::Float4x4 Player::GetOrientation() const { diff --git a/Code/Game/GameLogic/StaticObject.cpp b/Code/Game/GameLogic/StaticObject.cpp index c007b919..65cc0577 100644 --- a/Code/Game/GameLogic/StaticObject.cpp +++ b/Code/Game/GameLogic/StaticObject.cpp @@ -18,8 +18,8 @@ StaticObject::StaticObject(OBJECT_TYPE type) StaticObject::StaticObject(Oyster::Physics::ICustomBody *rigidBody, OBJECT_TYPE type) :Object(rigidBody,type) { - this->rigidBody->SetGravity(true); - this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(CollisionManager::IgnoreCollision)); + //this->rigidBody->SetGravity(true); + //this->rigidBody->SetSubscription((Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse)(CollisionManager::IgnoreCollision)); } StaticObject::StaticObject(void* collisionFuncBefore, void* collisionFuncAfter, OBJECT_TYPE type) diff --git a/Code/GamePhysics/GamePhysics.vcxproj b/Code/GamePhysics/GamePhysics.vcxproj index 1abcc6f8..813d87c6 100644 --- a/Code/GamePhysics/GamePhysics.vcxproj +++ b/Code/GamePhysics/GamePhysics.vcxproj @@ -89,7 +89,7 @@ Level3 Disabled - $(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories) + $(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) _WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions) false @@ -97,6 +97,7 @@ true + $(SolutionDir)Physics/Debug/BulletCollision_Debug.lib;$(SolutionDir)Physics/Debug/BulletDynamics_Debug.lib;$(SolutionDir)Physics/Debug/LinearMath_Debug.lib;%(AdditionalDependencies) @@ -119,7 +120,7 @@ MaxSpeed true true - $(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;%(AdditionalIncludeDirectories) + $(SolutionDir)Misc;$(SolutionDir)OysterMath;$(SolutionDir)OysterPhysics3D;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) _WINDLL;PHYSICS_DLL_EXPORT;%(PreprocessorDefinitions) false diff --git a/Code/GamePhysics/Implementation/Octree.cpp b/Code/GamePhysics/Implementation/Octree.cpp index e615df63..4778e5f1 100644 --- a/Code/GamePhysics/Implementation/Octree.cpp +++ b/Code/GamePhysics/Implementation/Octree.cpp @@ -31,11 +31,11 @@ Octree& Octree::operator=(const Octree& orig) void Octree::AddObject(UniquePointer< ICustomBody > customBodyRef) { - customBodyRef->SetScene( this ); + //customBodyRef->SetScene( this ); Data data; //Data* tempPtr = this->worldNode.dataPtr; - data.container = customBodyRef->GetBoundingSphere(); + //data.container = customBodyRef->GetBoundingSphere(); data.queueRef = -1; data.next = NULL; data.prev = NULL; @@ -216,7 +216,7 @@ unsigned int Octree::GetTemporaryReferenceOf( const ICustomBody* objRef ) const void Octree::SetAsAltered( unsigned int tempRef ) { - this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere(); + //this->leafData[tempRef].container = this->leafData[tempRef].customBodyRef->GetBoundingSphere(); //! @todo TODO: implement stub } diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp index 7e14c01b..4c07cc24 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp @@ -12,274 +12,6 @@ using namespace ::Utility::Value; API_Impl API_instance; -namespace -{ - /*void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef ) - { - auto proto = worldScene.GetCustomBody( protoTempRef ); - auto deuter = worldScene.GetCustomBody( deuterTempRef ); - - Float4 worldPointOfContact; - if( proto->Intersects(*deuter, worldPointOfContact) ) - { - // Apply CollisionResponse in pure gather pattern - ICustomBody::State protoState; proto->GetState( protoState ); - ICustomBody::State deuterState; deuter->GetState( deuterState ); - - // calc from perspective of deuter. - Float4 normal = (worldPointOfContact - Float4(deuterState.GetCenterPosition(), 1.0f )); // Init value is only borrowed - //if( normal.Dot(normal) > 0.0f ) - { - deuter->GetNormalAt( worldPointOfContact, normal ); - } - //else - //{ // special case: deuter is completly contained within proto or they have overlapping centers. - - // normal = Float4( protoState.GetCenterPosition() - deuterState.GetCenterPosition(), 0.0f ); - // if( normal.Dot(normal) == 0.0f ) - // { // they have overlapping centers. Rebound at least - // // calculate and store time interpolation value, for later rebound. - // proto->SetTimeOfContact( worldPointOfContact ); - // return; - // } - // - // // borrowing the negated normal of proto. - // proto->GetNormalAt( worldPointOfContact, normal ); - // normal = -normal; - //} - normal.Normalize(); - - Float4 protoG = Float4(protoState.GetLinearMomentum( worldPointOfContact.xyz ), 0), - deuterG = Float4(deuterState.GetLinearMomentum( worldPointOfContact.xyz ), 0); - - if( normal != normal ) // debug: trap - const char *breakpoint = "This should never happen"; - - if( protoG != protoG ) // debug: trap - const char *breakpoint = "This should never happen"; - - if( deuterG != deuterG ) // debug: trap - const char *breakpoint = "This should never happen"; - - Float protoG_Magnitude = protoG.Dot( normal ), - deuterG_Magnitude = deuterG.Dot( normal ); - - // if they are not relatively moving towards eachother, there is no collision - Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) ); - if( deltaPos < 0.0f ) - { - if( protoG_Magnitude >= deuterG_Magnitude ) - { - return; - } - } - else if( deltaPos > 0.0f ) - { - if( protoG_Magnitude <= deuterG_Magnitude ) - { - return; - } - } - else - { - return; - } - - if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response ) - { - return; - } - - // PLayerHAck - if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_player_collision_response ) - { - //Float3 linearMomentum = protoState.GetLinearMomentum(); - //Float3 up = -protoState.GetGravityNormal(); - //Float3 upForce = (linearMomentum.Dot(up) * up); - - //Float3 noBounceForce = linearMomentum - upForce; - //protoState.SetLinearMomentum(noBounceForce); - //proto->SetState(protoState); - return; - } - // calculate and store time interpolation value, for later rebound. - proto->SetTimeOfContact( worldPointOfContact ); - - // bounce - Float4 bounceD = normal * -Formula::CollisionResponse::Bounce( deuterState.GetRestitutionCoeff(), - deuterState.GetMass(), deuterG_Magnitude, - protoState.GetMass(), protoG_Magnitude ); - - - // calc from perspective of proto - - normal = (worldPointOfContact - Float4(protoState.GetCenterPosition(), 1.0f )).GetNormalized(); - //if( normal.Dot(normal) > 0.0f ) - { - proto->GetNormalAt( worldPointOfContact, normal ); - protoG_Magnitude = protoG.Dot( normal ); - deuterG_Magnitude = deuterG.Dot( normal ); - normal.Normalize(); - } - //else - //{ // special case: proto is completly contained within deuter. - // // borrowing the negated normal of deuter. - // deuter->GetNormalAt( worldPointOfContact, normal ); - // normal = -normal; - // protoG_Magnitude = -protoG_Magnitude; - // deuterG_Magnitude = -deuterG_Magnitude; - //} - - if( normal != normal ) // debug: trap - const char *breakpoint = "This should never happen"; - - // bounce - Float4 bounceP = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), - protoState.GetMass(), protoG_Magnitude, - deuterState.GetMass(), deuterG_Magnitude ); - - Float4 bounce = Average( bounceD, bounceP ); - - Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal, - Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(), - Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass()); - - if(protoState.GetMass() == 70) - { - const char* breakPoint = "here"; - } - - Float kineticEnergyPBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() ); - - protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz ); - proto->SetState( protoState ); - - Float kineticEnergyPAFter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() ); - - proto->CallSubscription_AfterCollisionResponse( deuter, kineticEnergyPBefore - kineticEnergyPAFter ); - } - - - }*/ - void OnPossibleCollision( Octree& worldScene, unsigned int protoTempRef, unsigned int deuterTempRef ) - { - auto proto = worldScene.GetCustomBody( protoTempRef ); - auto deuter = worldScene.GetCustomBody( deuterTempRef ); - - Float4 worldPointOfContact; - if( proto->Intersects(*deuter, worldPointOfContact) ) - { - // Apply CollisionResponse in pure gather pattern - ICustomBody::State protoState; proto->GetState( protoState ); - ICustomBody::State deuterState; deuter->GetState( deuterState ); - - - - Float4 normal = deuter->GetNormalAt(worldPointOfContact); - if(normal == Float4::null) - { - normal = Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1); - } - normal.Normalize(); - - Float4 protoG = Float4(protoState.GetLinearMomentum( worldPointOfContact.xyz ), 0), - deuterG = Float4(deuterState.GetLinearMomentum( worldPointOfContact.xyz ), 0); - - Float protoG_Magnitude = protoG.Dot( normal ), - deuterG_Magnitude = deuterG.Dot( normal ); - - // If true the object is inside the world - if(worldPointOfContact.GetLength() < 600 && protoState.GetCenterPosition().GetLength() != 0) - { - Float overlap = 600 - worldPointOfContact.GetLength(); - Float3 newPos = overlap*worldPointOfContact.GetNormalized(); - protoState.SetCenterPosition(protoState.GetCenterPosition() + newPos); - protoState.SetLinearMomentum(Float3(0, 0, 0)); - } - - // If they are not relatively moving towards eachother, there is no collision - Float deltaPos = normal.Dot( Float4(deuterState.GetCenterPosition(), 1) - Float4(protoState.GetCenterPosition(), 1) ); - if( deltaPos < 0.0f ) - { - if( protoG_Magnitude >= deuterG_Magnitude ) - { - return; - } - } - else if( deltaPos > 0.0f ) - { - if( protoG_Magnitude <= deuterG_Magnitude ) - { - return; - } - } - else - { - return; - } - - // Proto - normal = -proto->GetNormalAt(worldPointOfContact); - if(normal == Float4::null) - { - normal = Float4(protoState.GetCenterPosition(), 1) - Float4(deuterState.GetCenterPosition(), 1); - } - normal.Normalize(); - - // Calculate and apply friction to rigid body - Float4 friction = Formula::CollisionResponse::Friction( protoG_Magnitude, normal, - Float4(protoState.GetLinearMomentum(), 0), protoState.GetFrictionCoeff_Static(), protoState.GetFrictionCoeff_Kinetic(), protoState.GetMass(), - Float4(deuterState.GetLinearMomentum(), 0), deuterState.GetFrictionCoeff_Static(), deuterState.GetFrictionCoeff_Kinetic(), deuterState.GetMass()); - - //protoState.ApplyFriction( -friction.xyz ); - - // If no other collision response is wanted then this will stop the bounce - if( proto->CallSubscription_BeforeCollisionResponse(proto) == ICustomBody::SubscriptMessage_ignore_collision_response ) - { - return; - } - - - - // Calaculate bounce - Float4 bounce = normal * Formula::CollisionResponse::Bounce( protoState.GetRestitutionCoeff(), - protoState.GetMass(), protoG_Magnitude, - deuterState.GetMass(), deuterG_Magnitude ); - // If bounce is not big enough to matter, set to 0 - if( abs(bounce.x) < 0.001 ) - { - bounce.x = 0; - } - if( abs(bounce.y) < 0.001 ) - { - bounce.y = 0; - } - if( abs(bounce.z) < 0.001 ) - { - bounce.z = 0; - } - - if( bounce != bounce) - { - const char* breakpoint = "STOP"; - } - - // Calculate kinetic energy before impulse is applied - Float kineticEnergyBefore = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), protoState.GetLinearMomentum()/protoState.GetMass() ); - - // Apply the bounce as impulse - protoState.ApplyImpulse( bounce.xyz, worldPointOfContact.xyz, normal.xyz ); - proto->SetState( protoState ); - - // Calculate kinetic energy after impulse is applied - Float kineticEnergyAfter = Oyster::Physics3D::Formula::LinearKineticEnergy( protoState.GetMass(), (protoState.GetLinearMomentum() + protoState.GetLinearImpulse())/protoState.GetMass() ); - - // Call a collision function with kinetic energy loss - proto->CallSubscription_AfterCollisionResponse( deuter, kineticEnergyBefore - kineticEnergyAfter ); - } - } -} - API & API::Instance() { return API_instance; @@ -287,280 +19,186 @@ API & API::Instance() API_Impl::API_Impl() { - this->gravityConstant = Constant::gravity_constant; - this->epsilon = Constant::epsilon; - this->updateFrameLength = 1.0f / 120.0f; - this->destructionAction = Default::EventAction_Destruction; - this->gravity = ::std::vector(); - this->worldScene = Octree(); + this->broadphase = NULL; + this->collisionConfiguration = NULL; + this->dispatcher = NULL; + this->solver = NULL; + this->dynamicsWorld = NULL; } -API_Impl::~API_Impl() {} - -void API_Impl::Init( unsigned int numObjects, unsigned int numGravityWells , const Float3 &worldSize ) +API_Impl::~API_Impl() { - unsigned char numLayers = 4; //!< @todo TODO: calc numLayers from worldSize - this->gravity.resize( 0 ); - this->gravity.reserve( numGravityWells ); - this->worldScene = Octree( numObjects, numLayers, worldSize ); -} + delete this->dynamicsWorld; + this->dynamicsWorld = NULL; + delete this->solver; + this->solver = NULL; + delete this->dispatcher; + this->dispatcher = NULL; + delete this->collisionConfiguration; + this->collisionConfiguration = NULL; + delete this->broadphase; + this->broadphase = NULL; -void API_Impl::SetFrameTimeLength( float deltaTime ) -{ - this->updateFrameLength = deltaTime; -} - -void API_Impl::SetGravityConstant( float g ) -{ - this->gravityConstant = g; -} - -void API_Impl::SetEpsilon( float e ) -{ - this->epsilon = e; -} - -void API_Impl::SetSubscription( API::EventAction_Destruction functionPointer ) -{ - if( functionPointer ) + for(int i = 0; i < this->customBodies.size(); i++) { - this->destructionAction = functionPointer; - } - else - { - this->destructionAction = Default::EventAction_Destruction; + delete this->customBodies[i]; + this->customBodies[i] = NULL; } } -float API_Impl::GetFrameTimeLength() const +// Bullet physics +ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) { - return this->updateFrameLength; + SimpleRigidBody* body = new SimpleRigidBody; + + // Add collision shape + btCollisionShape* collisionShape = new btSphereShape(radius); + body->SetCollisionShape(collisionShape); + + // Add motion state + btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z))); + body->SetMotionState(motionState); + + // Add rigid body + btVector3 fallInertia(0, 0, 0); + collisionShape->calculateLocalInertia(mass, fallInertia); + btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia); + btRigidBody* rigidBody = new btRigidBody(rigidBodyCI); + rigidBody->setUserPointer(body); + body->SetRigidBody(rigidBody); + + // Add rigid body to world + this->dynamicsWorld->addRigidBody(rigidBody); + this->customBodies.push_back(body); + + return body; +} +ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) +{ + SimpleRigidBody* body = new SimpleRigidBody; + + // Add collision shape + btCollisionShape* collisionShape = new btBoxShape(btVector3(halfSize.x, halfSize.y, halfSize.z)); + body->SetCollisionShape(collisionShape); + + // Add motion state + btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z))); + body->SetMotionState(motionState); + + // Add rigid body + btVector3 fallInertia(0, 0, 0); + collisionShape->calculateLocalInertia(mass, fallInertia); + btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia); + btRigidBody* rigidBody = new btRigidBody(rigidBodyCI); + rigidBody->setUserPointer(body); + body->SetRigidBody(rigidBody); + + // Add rigid body to world + this->dynamicsWorld->addRigidBody(rigidBody); + this->customBodies.push_back(body); + + return body; } -void API_Impl::Update() -{ +void API_Impl::UpdateWorld() +{ + this->dynamicsWorld->stepSimulation(1.0f/120.0f, 1.0f, 1.0f/120.0f); + ICustomBody::State state; - ::std::vector updateList; - // Fetch objects in universe - this->worldScene.Sample( Universe(), updateList ); - - // Change momentum for all rigid bodies - for( unsigned int i = 0; i < updateList.size(); i++ ) + for(unsigned int i = 0; i < this->customBodies.size(); i++ ) { - ICustomBody* proto = updateList[i]; - // Step 1: Apply gravity to rigid body - Float4 gravityImpulse = Float4::null; - proto->GetState( state ); + this->customBodies[i]->GetState(state); - Float4 deltaPosGrav = Float4( this->gravity[0].well.position, 1.0f ) - Float4( state.GetCenterPosition(), 1.0f ); - Float rSquared = deltaPosGrav.Dot( deltaPosGrav ); - if( rSquared != 0.0 ) - { - Float force = 9.82f*10.0f; - gravityImpulse += (this->updateFrameLength*force)*deltaPosGrav.GetNormalized(); - } + btTransform trans; + dynamic_cast(this->customBodies[i])->GetMotionState()->getWorldTransform(trans); + state.centerPos = Float3(trans.getOrigin().x(), trans.getOrigin().y(), trans.getOrigin().z()); + state.quaternion = Quaternion(Float3(trans.getRotation().x(), trans.getRotation().y(), trans.getRotation().z()), trans.getRotation().w()); + - Float posLength = state.GetCenterPosition().GetLength(); - if( gravityImpulse != Float4::null && posLength - 600 > state.GetReach().GetLength() ) - { - state.ApplyLinearImpulse( gravityImpulse.xyz ); - state.SetGravityNormal( gravityImpulse.GetNormalized().xyz ); - proto->SetState( state ); - } - - // Step 2: Step through octree and apply collision responses to rigid body - this->worldScene.Visit( proto, OnPossibleCollision ); + this->customBodies[i]->SetState(state); } - // Go through all rigid bodies and move them according to their momentums - for( unsigned int i = 0; i < updateList.size(); i++ ) + int numManifolds = this->dynamicsWorld->getDispatcher()->getNumManifolds(); + for (int i=0;idynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i); + const btCollisionObject* obA = contactManifold->getBody0(); + const btCollisionObject* obB = contactManifold->getBody1(); - switch( proto->Update(this->updateFrameLength) ) + ICustomBody* bodyA = (ICustomBody*)obA->getUserPointer(); + ICustomBody* bodyB = (ICustomBody*)obB->getUserPointer(); + + dynamic_cast(bodyA)->CallSubsciptMessage(bodyA, bodyB, 0.0f); + dynamic_cast(bodyB)->CallSubsciptMessage(bodyB, bodyA, 0.0f); + + int numContacts = contactManifold->getNumContacts(); + for (int j=0;jworldScene.SetAsAltered( this->worldScene.GetTemporaryReferenceOf(proto) ); - proto->CallSubscription_Move(); - case UpdateState_resting: - default: - break; + btManifoldPoint& pt = contactManifold->getContactPoint(j); + if (pt.getDistance()<0.f) + { + const btVector3& ptA = pt.getPositionWorldOnA(); + const btVector3& ptB = pt.getPositionWorldOnB(); + const btVector3& normalOnB = pt.m_normalWorldOnB; + } } } + } +void API_Impl::Init() +{ + this->broadphase = new btDbvtBroadphase(); + this->collisionConfiguration = new btDefaultCollisionConfiguration(); + this->dispatcher = new btCollisionDispatcher(this->collisionConfiguration); + this->solver = new btSequentialImpulseConstraintSolver; + this->dynamicsWorld = new btDiscreteDynamicsWorld(this->dispatcher,this->broadphase,this->solver,this->collisionConfiguration); + this->dynamicsWorld->setGravity(btVector3(0,-10,0)); +} + + bool API_Impl::IsInLimbo( const ICustomBody* objRef ) { - return this->worldScene.IsInLimbo( objRef ); + return true; } void API_Impl::MoveToLimbo( const ICustomBody* objRef ) { - this->worldScene.MoveToLimbo( objRef ); + } + void API_Impl::ReleaseFromLimbo( const ICustomBody* objRef ) { - this->worldScene.ReleaseFromLimbo( objRef ); -} - -void API_Impl::AddObject( ::Utility::DynamicMemory::UniquePointer handle ) -{ - this->worldScene.AddObject( handle ); -} - -UniquePointer API_Impl::ExtractObject( const ICustomBody* objRef ) -{ - return this->worldScene.Extract( objRef ); -} - -void API_Impl::DestroyObject( const ICustomBody* objRef ) -{ - UniquePointer object = this->worldScene.Extract( objRef ); - if( object ) - { - this->destructionAction( object ); - } -} - -void API_Impl::AddGravity( const API::Gravity &g ) -{ - this->gravity.push_back( g ); -} - -void API_Impl::RemoveGravity( const API::Gravity &g ) -{ - for( ::std::vector::size_type i = this->gravity.size() - 1; i >= 0; --i ) - { - if( g == this->gravity[i] ) - { - int end = this->gravity.size() - 1; - this->gravity[i] = this->gravity[end]; - this->gravity.resize( end ); - } - } + } void API_Impl::ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) ) { - this->worldScene.Visit(collideable, args, hitAction); + } -//void API_Impl::ApplyForceAt( const ICustomBody* objRef, const Float3 &worldPos, const Float3 &worldF ) -//{ -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// //this->worldScene.GetCustomBody( tempRef )->Apply //!< @todo TODO: need function -// this->worldScene.SetAsAltered( tempRef ); -// } -//} -// -//void API_Impl::SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const Float4x4 &localI ) -//{ // deprecated -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepVelocity( localI ); -// } -//} -// -//void API_Impl::SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const Float4x4 &localI ) -//{ // deprecated -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetMomentOfInertiaTensor_KeepMomentum( localI ); -// } -//} -// -//void API_Impl::SetMass_KeepVelocity( const ICustomBody* objRef, Float m ) -//{ // deprecated -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepVelocity( m ); -// } -//} -// -//void API_Impl::SetMass_KeepMomentum( const ICustomBody* objRef, Float m ) -//{ // deprecated -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetMass_KeepMomentum( m ); -// } -//} -// -//void API_Impl::SetCenter( const ICustomBody* objRef, const Float3 &worldPos ) -//{ -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// //this->worldScene.GetCustomBody( tempRef )->Set //!< @todo TODO: need function -// this->worldScene.EvaluatePosition( tempRef ); -// } -//} -// -//void API_Impl::SetRotation( const ICustomBody* objRef, const Float4x4 &rotation ) -//{ -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetRotation( rotation ); -// this->worldScene.EvaluatePosition( tempRef ); -// } -//} -// -//void API_Impl::SetOrientation( const ICustomBody* objRef, const Float4x4 &orientation ) -//{ -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetOrientation( orientation ); -// this->worldScene.EvaluatePosition( tempRef ); -// } -//} -// -//void API_Impl::SetSize( const ICustomBody* objRef, const Float3 &size ) -//{ -// unsigned int tempRef = this->worldScene.GetTemporaryReferenceOf( objRef ); -// if( tempRef != this->worldScene.invalid_ref ) -// { -// this->worldScene.GetCustomBody( tempRef )->SetSize( size ); -// this->worldScene.EvaluatePosition( tempRef ); -// } -//} - -UniquePointer API_Impl::CreateRigidBody( const API::SimpleBodyDescription &desc ) const -{ - return new SimpleRigidBody( desc ); -} - -UniquePointer API_Impl::CreateRigidBody( const API::SphericalBodyDescription &desc ) const -{ - return new SphericalRigidBody( desc ); -} - -namespace Oyster { namespace Physics -{ - namespace Default +namespace Oyster +{ + namespace Physics { - void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto ) - { /* Do nothing except allowing the proto uniquePointer destroy itself. */ } + namespace Default + { + void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto ) + { /* Do nothing except allowing the proto uniquePointer destroy itself. */ } - ::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter ) - { /* Do nothing except returning business as usual. */ - return ::Oyster::Physics::ICustomBody::SubscriptMessage_none; + ::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter ) + { /* Do nothing except returning business as usual. */ + return ::Oyster::Physics::ICustomBody::SubscriptMessage_none; + } + + void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) + { /* Do nothing except returning business as usual. */ + + } + + void EventAction_Move( const ::Oyster::Physics::ICustomBody *object ) + { /* Do nothing. */ } } - - void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) - { /* Do nothing except returning business as usual. */ - - } - - void EventAction_Move( const ::Oyster::Physics::ICustomBody *object ) - { /* Do nothing. */ } - } -} } \ No newline at end of file + } +} \ No newline at end of file diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h index 21460944..03d1d3c6 100644 --- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h +++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h @@ -3,6 +3,7 @@ #include "../PhysicsAPI.h" #include "Octree.h" +#include namespace Oyster { @@ -14,49 +15,27 @@ namespace Oyster API_Impl(); virtual ~API_Impl(); - void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ); - - void SetFrameTimeLength( float deltaTime ); - void SetGravityConstant( float g ); - void SetEpsilon( float e ); - void SetSubscription( EventAction_Destruction functionPointer ); - - float GetFrameTimeLength() const; - - void Update(); + void Init(); bool IsInLimbo( const ICustomBody* objRef ); void MoveToLimbo( const ICustomBody* objRef ); void ReleaseFromLimbo( const ICustomBody* objRef ); - void AddObject( ::Utility::DynamicMemory::UniquePointer handle ); - ::Utility::DynamicMemory::UniquePointer ExtractObject( const ICustomBody* objRef ); - void DestroyObject( const ICustomBody* objRef ); + // Bullet physics + ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass); + ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass); - void AddGravity( const API::Gravity &g ); - void RemoveGravity( const API::Gravity &g ); + void UpdateWorld(); void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) ); - //void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ); - - //void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); - //void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ); - //void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ); - //void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ); - //void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ); - //void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ); - //void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ); - //void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ); - - ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SimpleBodyDescription &desc ) const; - ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SphericalBodyDescription &desc ) const; - private: - ::Oyster::Math::Float gravityConstant, updateFrameLength, epsilon; - EventAction_Destruction destructionAction; - ::std::vector gravity; - Octree worldScene; + btBroadphaseInterface* broadphase; + btDefaultCollisionConfiguration* collisionConfiguration; + btCollisionDispatcher* dispatcher; + btSequentialImpulseConstraintSolver* solver; + btDiscreteDynamicsWorld* dynamicsWorld; + std::vector customBodies; }; namespace Default diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp index 68759398..ca18dc1c 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp @@ -8,296 +8,87 @@ using namespace ::Oyster::Collision3D; using namespace ::Utility::DynamicMemory; using namespace ::Utility::Value; -namespace Private -{ - const Float epsilon = (const Float)1e-20; - - // Float calculations can suffer roundingerrors. Which is where epsilon = 1e-20 comes into the picture - inline bool EqualsZero( const Float &value ) - { // by Dan Andersson - return Abs( value ) < epsilon; - } - - inline bool Contains( const Plane &container, const Float4 &pos ) - { // by Dan Andersson - return EqualsZero( container.normal.Dot( pos ) + container.phasing ); - } - - // revision of Ray Vs Plane intersect test, there ray is more of an axis - bool Intersects( const Ray &axis, const Plane &plane, Float &connectDistance ) - { // by Dan Andersson - Float c = plane.normal.Dot(axis.direction); - if( EqualsZero(c) ) - { // axis is parallell with the plane. (axis direction orthogonal with the planar normal) - connectDistance = 0.0f; - return Contains( plane, axis.origin ); - } - - connectDistance = -plane.phasing; - connectDistance -= plane.normal.Dot( axis.origin ); - connectDistance /= c; - - return true; - } -} - SimpleRigidBody::SimpleRigidBody() { - this->rigid = RigidBody(); - this->rigid.SetMass_KeepMomentum( 16.0f ); - this->gravityNormal = Float3::null; - this->onCollision = Default::EventAction_BeforeCollisionResponse; - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - this->onMovement = Default::EventAction_Move; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; + this->collisionShape = NULL; + this->motionState = NULL; + this->rigidBody = NULL; + + this->state.centerPos = Float3(0.0f, 0.0f, 0.0f); + this->state.quaternion = Quaternion(Float3(0.0f, 0.0f, 0.0f), 1.0f); + this->state.dynamicFrictionCoeff = 0.0f; + this->state.staticFrictionCoeff = 0.0f; + this->state.mass = 0.0f; + this->state.restitutionCoeff = 0.0f; + this->state.reach = Float3(0.0f, 0.0f, 0.0f); - this->scene = nullptr; this->customTag = nullptr; - this->ignoreGravity = this->isForwarded = false; } SimpleRigidBody::SimpleRigidBody( const API::SimpleBodyDescription &desc ) { - this->rigid = RigidBody(); - this->rigid.SetRotation( desc.rotation ); - this->rigid.centerPos = desc.centerPosition; - this->rigid.SetSize( desc.size ); - this->rigid.restitutionCoeff = desc.restitutionCoeff; - this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static; - this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic; - this->rigid.SetMass_KeepMomentum( desc.mass ); - this->rigid.SetMomentOfInertia_KeepMomentum( desc.inertiaTensor ); - this->deltaPos = Float4::null; - this->deltaAxis = Float4::null; + this->collisionShape = NULL; + this->motionState = NULL; + this->rigidBody = NULL; - this->gravityNormal = Float3::null; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; - - if( desc.subscription_onCollision ) - { - this->onCollision = desc.subscription_onCollision; - } - else - { - this->onCollision = Default::EventAction_BeforeCollisionResponse; - } - - if( desc.subscription_onCollisionResponse ) - { - this->onCollisionResponse = desc.subscription_onCollisionResponse; - } - else - { - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - } - - if( desc.subscription_onMovement ) - { - this->onMovement= desc.subscription_onMovement; - } - else - { - this->onMovement = Default::EventAction_Move; - } - - this->scene = nullptr; this->customTag = nullptr; - this->ignoreGravity = desc.ignoreGravity; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; } -SimpleRigidBody::~SimpleRigidBody() {} - -UniquePointer SimpleRigidBody::Clone() const +SimpleRigidBody::~SimpleRigidBody() { - return new SimpleRigidBody( *this ); + delete this->motionState; + this->motionState = NULL; + delete this->collisionShape; + this->collisionShape = NULL; + delete this->rigidBody; + this->rigidBody = NULL; +} + +void SimpleRigidBody::SetCollisionShape(btCollisionShape* shape) +{ + this->collisionShape = shape; +} + +void SimpleRigidBody::SetMotionState(btDefaultMotionState* motionState) +{ + this->motionState = motionState; +} + +void SimpleRigidBody::SetRigidBody(btRigidBody* rigidBody) +{ + this->rigidBody = rigidBody; + +} + +void SimpleRigidBody::SetSubscription(EventAction_AfterCollisionResponse function) +{ + this->afterCollision = function; +} + +void SimpleRigidBody::CallSubsciptMessage(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss) +{ + this->CallSubsciptMessage(bodyA, bodyB, kineticEnergyLoss); +} + +btDefaultMotionState* SimpleRigidBody::GetMotionState() const +{ + return this->motionState; } SimpleRigidBody::State SimpleRigidBody::GetState() const { - return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, - this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, - this->rigid.centerPos, this->rigid.axis, - this->rigid.momentum_Linear, this->rigid.momentum_Angular, - this->rigid.gravityNormal ); + return this->state; } SimpleRigidBody::State & SimpleRigidBody::GetState( SimpleRigidBody::State &targetMem ) const { - return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, - this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, - this->rigid.centerPos, this->rigid.axis, - this->rigid.momentum_Linear, this->rigid.momentum_Angular, - this->rigid.gravityNormal ); + targetMem = this->state; + return targetMem; } void SimpleRigidBody::SetState( const SimpleRigidBody::State &state ) { - this->rigid.centerPos = state.GetCenterPosition(); - this->rigid.axis = state.GetAngularAxis(); - this->rigid.boundingReach = state.GetReach(); - this->rigid.momentum_Linear = state.GetLinearMomentum(); - this->rigid.momentum_Angular = state.GetAngularMomentum(); - this->rigid.impulse_Linear += state.GetLinearImpulse(); - this->rigid.impulse_Angular += state.GetAngularImpulse(); - this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); - this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); - this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); - this->rigid.SetMass_KeepMomentum( state.GetMass() ); - this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() ); - this->rigid.gravityNormal = state.GetGravityNormal(); - - if( state.IsForwarded() ) - { - this->deltaPos += Float4(state.GetForward_DeltaPos(), 0); - this->deltaAxis += Float4(state.GetForward_DeltaAxis(), 0); - this->isForwarded; - } - - if( this->scene ) - { - if( state.IsSpatiallyAltered() ) - { - unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this ); - this->scene->SetAsAltered( tempRef ); - this->scene->EvaluatePosition( tempRef ); - } - else if( state.IsDisturbed() ) - { - this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) ); - } - } -} - -ICustomBody::SubscriptMessage SimpleRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) -{ - return this->onCollision( this, deuter ); -} - -void SimpleRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss ) -{ - return this->onCollisionResponse( this, deuter, kineticEnergyLoss ); -} - -void SimpleRigidBody::CallSubscription_Move() -{ - this->onMovement( this ); -} - -bool SimpleRigidBody::IsAffectedByGravity() const -{ - return !this->ignoreGravity; -} - -bool SimpleRigidBody::Intersects( const ICollideable &shape ) const -{ - return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape ); -} - -bool SimpleRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const -{ - return Box( this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize() ).Intersects( shape, worldPointOfContact ); -} - -bool SimpleRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const -{ - return object.Intersects( Box(this->rigid.GetRotationMatrix(), this->rigid.centerPos, this->rigid.GetSize()), worldPointOfContact ); -} - -void SimpleRigidBody::SetTimeOfContact( Float4 &worldPointOfContact ) -{ - Point pointOfContact = Point( worldPointOfContact ); - Box start = Box(); - { - start.rotation = RotationMatrix( this->collisionRebound.previousSpatial.axis ); - start.center = this->collisionRebound.previousSpatial.center; - start.boundingOffset = this->collisionRebound.previousSpatial.reach; - } - Box end = Box(); - { - end.rotation = RotationMatrix( this->rigid.axis ); - end.center = this->rigid.centerPos; - end.boundingOffset = this->rigid.boundingReach; - } - Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact ); - - this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact ); -} - -Sphere & SimpleRigidBody::GetBoundingSphere( Sphere &targetMem ) const -{ - return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.GetMagnitude() ); -} - -Float4 & SimpleRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const -{ - Float4 offset = worldPos.xyz - this->rigid.centerPos; - Float distance = offset.Dot( offset ); - Float3 normal = Float3::null; - - if( distance != 0.0f ) - { // sanity check - Ray axis( Float4::standard_unit_w, offset / (Float)::std::sqrt(distance) ); - Float minDistance = numeric_limits::max(); - Float4x4 rotationMatrix = this->rigid.GetRotationMatrix(); - - if( Private::Intersects(axis, Plane(rotationMatrix.v[0], -this->rigid.boundingReach.x), axis.collisionDistance) ) - { // check along x-axis - if( axis.collisionDistance < 0.0f ) - normal = -rotationMatrix.v[0].xyz; - else - normal = rotationMatrix.v[0].xyz; - - minDistance = Abs( axis.collisionDistance ); - } - - if( Private::Intersects(axis, Plane(rotationMatrix.v[1], -this->rigid.boundingReach.y), axis.collisionDistance) ) - { // check along y-axis - distance = Abs( axis.collisionDistance ); // recycling memory - if( minDistance > distance ) - { - if( axis.collisionDistance < 0.0f ) - normal = -rotationMatrix.v[1].xyz; - else - normal = rotationMatrix.v[1].xyz; - - minDistance = distance; - } - } - - if( Private::Intersects(axis, Plane(rotationMatrix.v[2], -this->rigid.boundingReach.z), axis.collisionDistance) ) - { // check along z-axis - if( minDistance > Abs( axis.collisionDistance ) ) - { - if( axis.collisionDistance < 0.0f ) - normal = -rotationMatrix.v[2].xyz; - else - normal = rotationMatrix.v[2].xyz; - } - } - } - targetMem.xyz = normal; - targetMem.w = 0.0f; - return targetMem; -} - -Float3 & SimpleRigidBody::GetGravityNormal( Float3 &targetMem ) const -{ - return targetMem = this->gravityNormal; + this->state = state; } void * SimpleRigidBody::GetCustomTag() const @@ -305,182 +96,10 @@ void * SimpleRigidBody::GetCustomTag() const return this->customTag; } -//Float3 & SimpleRigidBody::GetCenter( Float3 &targetMem ) const -//{ -// return targetMem = this->rigid.centerPos; -//} -// -//Float4x4 & SimpleRigidBody::GetRotation( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.box.rotation; -//} -// -//Float4x4 & SimpleRigidBody::GetOrientation( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.GetOrientation(); -//} -// -//Float4x4 & SimpleRigidBody::GetView( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.GetView(); -//} - -//Float3 SimpleRigidBody::GetRigidLinearVelocity() const -//{ -// return this->rigid.GetLinearVelocity(); -//} - -UpdateState SimpleRigidBody::Update( Float timeStepLength ) -{ - if( this->collisionRebound.timeOfContact < 1.0f ) - { // Rebound if needed - this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); - this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); - this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact ); - timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time - this->collisionRebound.timeOfContact = 1.0f; - } - - // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) - Float4 temp; - ::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz ); - this->rigid.axis -= ((2.0f * pi) * temp).xyz; - - // Update rebound data - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - - // Check if this is close enough to be set resting - temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f ); - if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) ) - { - unsigned char resting = 0; - if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) ) - { - this->rigid.momentum_Linear = Float3::null; - resting = 1; - } - if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) ) - { - this->rigid.momentum_Angular = Float3::null; - ++resting; - } - if( resting == 2 ) - { - this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null; - return UpdateState_resting; - } - } - - this->rigid.Update_LeapFrog( timeStepLength ); - return UpdateState_altered; -} - -void SimpleRigidBody::Predict( Float4 &outDeltaPos, Float4 &outDeltaAxis, const Float4 &actingLinearImpulse, const Float4 &actingAngularImpulse, Float deltaTime ) -{ - this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime ); -} - -void SimpleRigidBody::SetScene( void *scene ) -{ - this->scene = (Octree*)scene; -} - -void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer ) -{ - if( functionPointer ) - { - this->onCollision = functionPointer; - } - else - { - this->onCollision = Default::EventAction_BeforeCollisionResponse; - } -} - -void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer ) -{ - if( functionPointer ) - { - this->onCollisionResponse = functionPointer; - } - else - { - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - } -} - -void SimpleRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer ) -{ - if( functionPointer ) - { - this->onMovement = functionPointer; - } - else - { - this->onMovement = Default::EventAction_Move; - } -} - -void SimpleRigidBody::SetGravity( bool ignore) -{ - this->ignoreGravity = ignore; - this->gravityNormal = Float3::null; -} - -void SimpleRigidBody::SetGravityNormal( const Float3 &normalizedVector ) -{ - this->gravityNormal = normalizedVector; - this->rigid.gravityNormal = Float4( this->gravityNormal, 0 ); -} void SimpleRigidBody::SetCustomTag( void *ref ) { this->customTag = ref; } -//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -//{ -// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -//} -// -//void SimpleRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -//{ -// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -//} -// -//void SimpleRigidBody::SetMass_KeepVelocity( Float m ) -//{ -// this->rigid.SetMass_KeepVelocity( m ); -//} -// -//void SimpleRigidBody::SetMass_KeepMomentum( Float m ) -//{ -// this->rigid.SetMass_KeepMomentum( m ); -//} -// -//void SimpleRigidBody::SetCenter( const Float3 &worldPos ) -//{ -// this->rigid.SetCenter( worldPos ); -//} -// -//void SimpleRigidBody::SetRotation( const Float4x4 &rotation ) -//{ -// this->rigid.SetRotation( rotation ); -//} -// -//void SimpleRigidBody::SetOrientation( const Float4x4 &orientation ) -//{ -// this->rigid.SetOrientation( orientation ); -//} -// -//void SimpleRigidBody::SetSize( const Float3 &size ) -//{ -// this->rigid.SetSize( size ); -//} -// -//void SimpleRigidBody::SetMomentum( const Float3 &worldG ) -//{ -// this->rigid.SetLinearMomentum( worldG ); -//} + diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h index 1811c911..1b699e9a 100644 --- a/Code/GamePhysics/Implementation/SimpleRigidBody.h +++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h @@ -2,8 +2,7 @@ #define OYSTER_PHYSICS_SIMPLE_RIGIDBODY_H #include "..\PhysicsAPI.h" -#include "RigidBody.h" -#include "Octree.h" +#include namespace Oyster { namespace Physics { @@ -14,73 +13,32 @@ namespace Oyster { namespace Physics SimpleRigidBody( const API::SimpleBodyDescription &desc ); virtual ~SimpleRigidBody(); - ::Utility::DynamicMemory::UniquePointer Clone() const; + void SetCollisionShape(btCollisionShape* shape); + void SetMotionState(btDefaultMotionState* motionState); + void SetRigidBody(btRigidBody* rigidBody); + void SetSubscription(EventAction_AfterCollisionResponse function); + void CallSubsciptMessage(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss); + State GetState() const; State & GetState( State &targetMem ) const; void SetState( const State &state ); - //::Oyster::Math::Float3 GetRigidLinearVelocity() const; - SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ); - void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); - void CallSubscription_Move(); + btDefaultMotionState* GetMotionState() const; - bool IsAffectedByGravity() const; - bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const; - bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const; - bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const; - - void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact ); - - ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; - ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; - ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - void * GetCustomTag() const; - //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - - UpdateState Update( ::Oyster::Math::Float timeStepLength ); - void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ); - - void SetScene( void *scene ); - - void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ); - void SetSubscription( EventAction_AfterCollisionResponse functionPointer ); - void SetSubscription( EventAction_Move functionPointer ); - - void SetGravity( bool ignore); - void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); void SetCustomTag( void *ref ); - //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - //void SetSize( const ::Oyster::Math::Float3 &size ); - //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); + void* GetCustomTag() const; private: - ::Oyster::Physics3D::RigidBody rigid; - ::Oyster::Math::Float4 deltaPos, deltaAxis; - ::Oyster::Math::Float3 gravityNormal; + btCollisionShape* collisionShape; + btDefaultMotionState* motionState; + btRigidBody* rigidBody; - struct - { - struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial; - ::Oyster::Math::Float timeOfContact; - } collisionRebound; + Struct::CustomBodyState state; - EventAction_BeforeCollisionResponse onCollision; - EventAction_AfterCollisionResponse onCollisionResponse; - EventAction_Move onMovement; + EventAction_AfterCollisionResponse afterCollision; - Octree *scene; void *customTag; - bool ignoreGravity, isForwarded; }; } } diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp index b27d3a78..e69de29b 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.cpp +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.cpp @@ -1,408 +0,0 @@ -#include "SphericalRigidBody.h" -#include "PhysicsAPI_Impl.h" - -using namespace ::Oyster::Physics; -using namespace ::Oyster::Physics3D; -using namespace ::Oyster::Math3D; -using namespace ::Oyster::Collision3D; -using namespace ::Utility::DynamicMemory; -using namespace ::Utility::Value; - -SphericalRigidBody::SphericalRigidBody() -{ - this->rigid = RigidBody(); - this->rigid.SetMass_KeepMomentum( 16.0f ); - this->gravityNormal = Float3::null; - this->onCollision = Default::EventAction_BeforeCollisionResponse; - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - this->onMovement = Default::EventAction_Move; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; - - this->scene = nullptr; - this->customTag = nullptr; - this->ignoreGravity = this->isForwarded = false; -} - -SphericalRigidBody::SphericalRigidBody( const API::SphericalBodyDescription &desc ) -{ - this->rigid = RigidBody(); - this->rigid.SetRotation( desc.rotation ); - this->rigid.centerPos = desc.centerPosition; - this->rigid.boundingReach = Float4( desc.radius, desc.radius, desc.radius, 0.0f ); - this->rigid.restitutionCoeff = desc.restitutionCoeff; - this->rigid.frictionCoeff_Static = desc.frictionCoeff_Static; - this->rigid.frictionCoeff_Kinetic = desc.frictionCoeff_Dynamic; - this->rigid.SetMass_KeepMomentum( desc.mass ); - this->rigid.SetMomentOfInertia_KeepMomentum( MomentOfInertia::Sphere(desc.mass, desc.radius) ); - this->deltaPos = Float4::null; - this->deltaAxis = Float4::null; - - this->gravityNormal = Float3::null; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; - - if( desc.subscription_onCollision ) - { - this->onCollision = desc.subscription_onCollision; - } - else - { - this->onCollision = Default::EventAction_BeforeCollisionResponse; - } - - if( desc.subscription_onCollisionResponse ) - { - this->onCollisionResponse = desc.subscription_onCollisionResponse; - } - else - { - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - } - - if( desc.subscription_onMovement ) - { - this->onMovement= desc.subscription_onMovement; - } - else - { - this->onMovement = Default::EventAction_Move; - } - - this->scene = nullptr; - this->customTag = nullptr; - this->ignoreGravity = desc.ignoreGravity; - - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - this->collisionRebound.timeOfContact = 1.0f; -} - -SphericalRigidBody::~SphericalRigidBody() {} - -UniquePointer SphericalRigidBody::Clone() const -{ - return new SphericalRigidBody( *this ); -} - -SphericalRigidBody::State SphericalRigidBody::GetState() const -{ - return State( this->rigid.GetMass(), this->rigid.restitutionCoeff, - this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, - this->rigid.centerPos, this->rigid.axis, - this->rigid.momentum_Linear, this->rigid.momentum_Angular, - this->gravityNormal ); -} - -SphericalRigidBody::State & SphericalRigidBody::GetState( SphericalRigidBody::State &targetMem ) const -{ - return targetMem = State( this->rigid.GetMass(), this->rigid.restitutionCoeff, - this->rigid.frictionCoeff_Static, this->rigid.frictionCoeff_Kinetic, - this->rigid.GetMomentOfInertia(), this->rigid.boundingReach, - this->rigid.centerPos, this->rigid.axis, - this->rigid.momentum_Linear, this->rigid.momentum_Angular, - this->gravityNormal ); -} - -void SphericalRigidBody::SetState( const SphericalRigidBody::State &state ) -{ - this->rigid.centerPos = state.GetCenterPosition(); - this->rigid.axis = state.GetAngularAxis(); - this->rigid.boundingReach = state.GetReach(); - this->rigid.momentum_Linear = state.GetLinearMomentum(); - this->rigid.momentum_Angular = state.GetAngularMomentum(); - this->rigid.impulse_Linear += state.GetLinearImpulse(); - this->rigid.impulse_Angular += state.GetAngularImpulse(); - this->rigid.restitutionCoeff = state.GetRestitutionCoeff(); - this->rigid.frictionCoeff_Static = state.GetFrictionCoeff_Static(); - this->rigid.frictionCoeff_Kinetic = state.GetFrictionCoeff_Kinetic(); - this->rigid.SetMass_KeepMomentum( state.GetMass() ); - this->rigid.SetMomentOfInertia_KeepMomentum( state.GetMomentOfInertia() ); - this->rigid.gravityNormal = state.GetGravityNormal(); - - if( state.IsForwarded() ) - { - this->deltaPos += Float4(state.GetForward_DeltaPos(), 0); - this->deltaAxis += Float4(state.GetForward_DeltaAxis()); - this->isForwarded = false; - } - - if( this->scene ) - { - if( state.IsSpatiallyAltered() ) - { - unsigned int tempRef = this->scene->GetTemporaryReferenceOf( this ); - this->scene->SetAsAltered( tempRef ); - this->scene->EvaluatePosition( tempRef ); - } - else if( state.IsDisturbed() ) - { - this->scene->SetAsAltered( this->scene->GetTemporaryReferenceOf(this) ); - } - } -} - -ICustomBody::SubscriptMessage SphericalRigidBody::CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) -{ - return this->onCollision( this, deuter ); -} - -void SphericalRigidBody::CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, Float kineticEnergyLoss ) -{ - this->onCollisionResponse( this, deuter, kineticEnergyLoss); -} - - -void SphericalRigidBody::CallSubscription_Move() -{ - this->onMovement( this ); -} - -bool SphericalRigidBody::IsAffectedByGravity() const -{ - return !this->ignoreGravity; -} - -bool SphericalRigidBody::Intersects( const ICollideable &shape ) const -{ - return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape ); -} - -bool SphericalRigidBody::Intersects( const ICollideable &shape, Float4 &worldPointOfContact ) const -{ - return Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ).Intersects( shape, worldPointOfContact ); -} - -bool SphericalRigidBody::Intersects( const ICustomBody &object, Float4 &worldPointOfContact ) const -{ - return object.Intersects( Sphere(this->rigid.centerPos, this->rigid.boundingReach.x), worldPointOfContact ); -} - -void SphericalRigidBody::SetTimeOfContact( Float4 &worldPointOfContact ) -{ - Point pointOfContact = Point( worldPointOfContact ); - Sphere start = Sphere( this->collisionRebound.previousSpatial.center, this->collisionRebound.previousSpatial.reach.x ); - Sphere end = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ); - - Float timeOfContact = ::Oyster::Collision3D::Utility::TimeOfContact( start, end, pointOfContact ); - - this->collisionRebound.timeOfContact = Min( this->collisionRebound.timeOfContact, timeOfContact ); -} - -Sphere & SphericalRigidBody::GetBoundingSphere( Sphere &targetMem ) const -{ - return targetMem = Sphere( this->rigid.centerPos, this->rigid.boundingReach.x ); -} - -Float4 & SphericalRigidBody::GetNormalAt( const Float4 &worldPos, Float4 &targetMem ) const -{ - targetMem = Float4( worldPos.xyz - this->rigid.centerPos, 0); - Float magnitude = targetMem.GetMagnitude(); - if( magnitude != 0.0f ) - { // sanity check - targetMem.Normalize(); - } - - return targetMem; -} - -Float3 & SphericalRigidBody::GetGravityNormal( Float3 &targetMem ) const -{ - return targetMem = this->gravityNormal; -} - -void * SphericalRigidBody::GetCustomTag() const -{ - return this->customTag; -} - -//Float3 & SphericalRigidBody::GetCenter( Float3 &targetMem ) const -//{ -// return targetMem = this->rigid.centerPos; -//} -// -//Float4x4 & SphericalRigidBody::GetRotation( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.box.rotation; -//} -// -//Float4x4 & SphericalRigidBody::GetOrientation( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.GetOrientation(); -//} -// -//Float4x4 & SphericalRigidBody::GetView( Float4x4 &targetMem ) const -//{ -// return targetMem = this->rigid.GetView(); -//} - -//Float3 SphericalRigidBody::GetRigidLinearVelocity() const -//{ -// return this->rigid.GetLinearVelocity(); -//} - -UpdateState SphericalRigidBody::Update( Float timeStepLength ) -{ - if( this->collisionRebound.timeOfContact < 1.0f ) - { // Rebound if needed - this->rigid.centerPos = Lerp( this->collisionRebound.previousSpatial.center, this->rigid.centerPos, this->collisionRebound.timeOfContact ); - this->rigid.SetRotation( Lerp(this->collisionRebound.previousSpatial.axis, this->rigid.axis, this->collisionRebound.timeOfContact) ); - this->rigid.boundingReach = Lerp( this->collisionRebound.previousSpatial.reach, this->rigid.boundingReach, this->collisionRebound.timeOfContact ); - timeStepLength *= 2.0f - this->collisionRebound.timeOfContact; // compensate for rebounded time - this->collisionRebound.timeOfContact = 1.0f; - } - - // Maintain rotation resolution by keeping axis within [0, 2pi] (trigonometric methods gets faster too) - Float4 temp; - ::std::modf( this->rigid.axis * (0.5f / pi), temp.xyz ); - this->rigid.axis -= ((2.0f * pi) * temp).xyz; - - // Update rebound data - this->collisionRebound.previousSpatial.center = this->rigid.centerPos; - this->collisionRebound.previousSpatial.axis = this->rigid.axis; - this->collisionRebound.previousSpatial.reach = this->rigid.boundingReach; - - // Check if this is close enough to be set resting - temp = Float4( this->rigid.impulse_Linear, 0.0f ) + Float4( this->rigid.impulse_Angular, 0.0f ); - if( temp.Dot(temp) <= (Constant::epsilon * Constant::epsilon) ) - { - unsigned char resting = 0; - if( this->rigid.momentum_Linear.Dot(this->rigid.momentum_Linear) <= (Constant::epsilon * Constant::epsilon) ) - { - this->rigid.momentum_Linear = Float3::null; - resting = 1; - } - if( this->rigid.momentum_Angular.Dot(this->rigid.momentum_Angular) <= (Constant::epsilon * Constant::epsilon) ) - { - this->rigid.momentum_Angular = Float3::null; - ++resting; - } - if( resting == 2 ) - { - this->rigid.impulse_Linear = this->rigid.impulse_Angular = Float3::null; - return UpdateState_resting; - } - } - - this->rigid.Update_LeapFrog( timeStepLength ); - return UpdateState_altered; -} - -void SphericalRigidBody::Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ) -{ - this->rigid.Predict_LeapFrog( outDeltaPos.xyz, outDeltaAxis.xyz, actingLinearImpulse.xyz, actingAngularImpulse.xyz, deltaTime ); -} - -void SphericalRigidBody::SetScene( void *scene ) -{ - this->scene = (Octree*)scene; -} - -void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_BeforeCollisionResponse functionPointer ) -{ - if( functionPointer ) - { - this->onCollision = functionPointer; - } - else - { - this->onCollision = Default::EventAction_BeforeCollisionResponse; - } -} - -void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_AfterCollisionResponse functionPointer ) -{ - if( functionPointer ) - { - this->onCollisionResponse = functionPointer; - } - else - { - this->onCollisionResponse = Default::EventAction_AfterCollisionResponse; - } -} - -void SphericalRigidBody::SetSubscription( ICustomBody::EventAction_Move functionPointer ) -{ - if( functionPointer ) - { - this->onMovement = functionPointer; - } - else - { - this->onMovement = Default::EventAction_Move; - } -} - -void SphericalRigidBody::SetGravity( bool ignore ) -{ - this->ignoreGravity = ignore; - this->gravityNormal = Float3::null; -} - -void SphericalRigidBody::SetGravityNormal( const Float3 &normalizedVector ) -{ - this->gravityNormal = normalizedVector; - this->rigid.gravityNormal = Float4( this->gravityNormal, 0 ); -} - -void SphericalRigidBody::SetCustomTag( void *ref ) -{ - this->customTag = ref; -} - -//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepVelocity( const Float4x4 &localI ) -//{ -// this->rigid.SetMomentOfInertia_KeepVelocity( localI ); -//} -// -//void SphericalRigidBody::SetMomentOfInertiaTensor_KeepMomentum( const Float4x4 &localI ) -//{ -// this->rigid.SetMomentOfInertia_KeepMomentum( localI ); -//} -// -//void SphericalRigidBody::SetMass_KeepVelocity( Float m ) -//{ -// this->rigid.SetMass_KeepVelocity( m ); -//} -// -//void SphericalRigidBody::SetMass_KeepMomentum( Float m ) -//{ -// this->rigid.SetMass_KeepMomentum( m ); -//} -// -//void SphericalRigidBody::SetCenter( const Float3 &worldPos ) -//{ -// this->rigid.SetCenter( worldPos ); -// this->body.center = worldPos; -//} -// -//void SphericalRigidBody::SetRotation( const Float4x4 &rotation ) -//{ -// this->rigid.SetRotation( rotation ); -//} -// -//void SphericalRigidBody::SetOrientation( const Float4x4 &orientation ) -//{ -// this->rigid.SetOrientation( orientation ); -// this->body.center = orientation.v[3].xyz; -//} -// -//void SphericalRigidBody::SetSize( const Float3 &size ) -//{ -// this->rigid.SetSize( size ); -// this->body.radius = 0.5f * Min( Min( size.x, size.y ), size.z ); // inline Min( FloatN )? -//} -// -//void SphericalRigidBody::SetMomentum( const Float3 &worldG ) -//{ -// this->rigid.SetLinearMomentum( worldG ); -//} diff --git a/Code/GamePhysics/Implementation/SphericalRigidBody.h b/Code/GamePhysics/Implementation/SphericalRigidBody.h index c2dc8131..e69de29b 100644 --- a/Code/GamePhysics/Implementation/SphericalRigidBody.h +++ b/Code/GamePhysics/Implementation/SphericalRigidBody.h @@ -1,87 +0,0 @@ -#ifndef OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H -#define OYSTER_PHYSICS_SPHERICAL_RIGIDBODY_H - -#include "..\PhysicsAPI.h" -#include "RigidBody.h" -#include "Sphere.h" -#include "Octree.h" - -namespace Oyster { namespace Physics -{ - class SphericalRigidBody : public ICustomBody - { - public: - SphericalRigidBody(); - SphericalRigidBody( const API::SphericalBodyDescription &desc ); - virtual ~SphericalRigidBody(); - - ::Utility::DynamicMemory::UniquePointer Clone() const; - - State GetState() const; - State & GetState( State &targetMem = State() ) const; - void SetState( const State &state ); - //::Oyster::Math::Float3 GetRigidLinearVelocity() const; - - SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ); - void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); - void CallSubscription_Move(); - - bool IsAffectedByGravity() const; - bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const; - bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const; - bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const; - - void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact ); - - ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const; - ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const; - ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - void * GetCustomTag() const; - //::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const; - //::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - //::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - //::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const; - - UpdateState Update( ::Oyster::Math::Float timeStepLength ); - void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ); - - void SetScene( void *scene ); - - void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ); - void SetSubscription( EventAction_AfterCollisionResponse functionPointer ); - void SetSubscription( EventAction_Move functionPointer ); - - void SetGravity( bool ignore); - void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ); - void SetCustomTag( void *ref ); - //void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ); - //void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ); - //void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - //void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - //void SetCenter( const ::Oyster::Math::Float3 &worldPos ); - //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - //void SetSize( const ::Oyster::Math::Float3 &size ); - //void SetMomentum( const ::Oyster::Math::Float3 &worldG ); - - private: - ::Oyster::Physics3D::RigidBody rigid; - ::Oyster::Math::Float4 deltaPos, deltaAxis; - ::Oyster::Math::Float3 gravityNormal; - - struct - { - struct { ::Oyster::Math::Float3 center, axis, reach; } previousSpatial; - ::Oyster::Math::Float timeOfContact; - } collisionRebound; - - EventAction_BeforeCollisionResponse onCollision; - EventAction_AfterCollisionResponse onCollisionResponse; - EventAction_Move onMovement; - Octree *scene; - void *customTag; - bool ignoreGravity, isForwarded; - }; -} } - -#endif \ No newline at end of file diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h index c3efef3e..9af0e256 100644 --- a/Code/GamePhysics/PhysicsAPI.h +++ b/Code/GamePhysics/PhysicsAPI.h @@ -55,35 +55,7 @@ namespace Oyster * @param numGravityWells: The predicted max number of active gravity wells. * @param worldSize: The size of acceptable physics space. ********************************************************/ - virtual void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ) = 0; - - /******************************************************** - * Sets the time length of each physics update frame. - ********************************************************/ - virtual void SetFrameTimeLength( float seconds ) = 0; - - /******************************************************** - * Sets the Gravityconstant in the physics that will be - * used in ForceField calculations. - * @param g: Default is the real world Constant::gravity_constant [N(m/kg)^2] - ********************************************************/ - virtual void SetGravityConstant( float g ) = 0; - - /******************************************************** - * Sets the function that will be called by the engine - * whenever an object is being destroyed for some reason. - * - Because DestroyObject(...) were called. - * - Out of memory forced engine to destroy an object. - * @param functionPointer: If NULL, an empty default function will be set. - ********************************************************/ - virtual void SetSubscription( EventAction_Destruction functionPointer ) = 0; - - /******************************************************** - * Triggers the engine to run next update frame. - * All accumulated forces and changes will be consumed. - * EventAction functions might be called. - ********************************************************/ - virtual void Update() = 0; + virtual void Init() = 0; /******************************************************** * An object in limbo state will be ignored during the physics frame Update. @@ -106,36 +78,15 @@ namespace Oyster ********************************************************/ virtual void ReleaseFromLimbo( const ICustomBody* objRef ) = 0; - /******************************************************** - * Introduces a new object into the engine. - * @param handle: A pointer along with the responsibility to delete. - ********************************************************/ - virtual void AddObject( ::Utility::DynamicMemory::UniquePointer handle ) = 0; - /******************************************************** - * Fetches and removes an object from the engine. - * Will not call the provided EventAction_Destruction method. - * @param objRef: A pointer to the ICustomBody representing a physical object. - * @return A pointer along with the responsibility to delete. NULL if faulty objRef. - ********************************************************/ - virtual ::Utility::DynamicMemory::UniquePointer ExtractObject( const ICustomBody* objRef ) = 0; + // Bullet physics + virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0; - /******************************************************** - * Removes an object from the engine. - * Will call the provided EventAction_Destruction method. Not if objRef is faulty. - * @param objRef: A pointer to the ICustomBody representing a physical object. - ********************************************************/ - virtual void DestroyObject( const ICustomBody* objRef ) = 0; + virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0; + + virtual void UpdateWorld() = 0; - /******************************************************** - * TODO: @todo doc - ********************************************************/ - virtual void AddGravity( const API::Gravity &g ) = 0; - /******************************************************** - * TODO: @todo doc - ********************************************************/ - virtual void RemoveGravity( const API::Gravity &g ) = 0; /******************************************************** * Applies an effect to objects that collide with the set volume. @@ -146,88 +97,6 @@ namespace Oyster ********************************************************/ virtual void ApplyEffect( const Oyster::Collision3D::ICollideable& collideable, void* args, void(hitAction)(ICustomBody*, void*) ) = 0; - ///******************************************************** - // * Apply force on an object. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param worldPos: Relative to the world origo. (Not relative to object) [m] - // * @param worldF: Vector with the direction and magnitude of the force. [N] - // ********************************************************/ - //virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0; - - ///******************************************************** - // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity. - // * Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - // ********************************************************/ - //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - // - ///******************************************************** - // * Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum. - // * Noticeable effect: The angular velocity will change. Can be used to create slow effects. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace. - // ********************************************************/ - //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0; - // - ///******************************************************** - // * Sets the mass of an object without changing it's linear velocity. - // * Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param m: [kg] - // ********************************************************/ - //virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - // - ///******************************************************** - // * Sets the mass of an object without changing it's linear velocity. - // * Noticeable effect: The linear velocity will change. Can be used to create slow effects. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param m: [kg] - // ********************************************************/ - //virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0; - // - ///******************************************************** - // * Instantly moves an object. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param worldPos: Relative to the world origo. (Not relative to object) [m] - // ********************************************************/ - //virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0; - // - ///******************************************************** - // * Instantly redirects object. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param rotation: New rotation. - // ********************************************************/ - //virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0; - // - ///******************************************************** - // * Instantly moves and redirects object. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param orientation: New orientation. - // ********************************************************/ - //virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0; - // - ///******************************************************** - // * Resizes the boundingBox. - // * @param objRef: A pointer to the ICustomBody representing a physical object. - // * @param size: New size of this [m] - // ********************************************************/ - //virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0; - - /******************************************************** - * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies. - * @param desc: @see API::SimpleBodyDescription - * @return A pointer along with the responsibility to delete. - ********************************************************/ - virtual ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SimpleBodyDescription &desc ) const = 0; - - /******************************************************** - * Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies. - * @param desc: @see API::SphericalBodyDescription - * @return A pointer along with the responsibility to delete. - ********************************************************/ - virtual ::Utility::DynamicMemory::UniquePointer CreateRigidBody( const SphericalBodyDescription &desc ) const = 0; - protected: virtual ~API() {} }; @@ -246,190 +115,39 @@ namespace Oyster SubscriptMessage_player_collision_response }; + typedef SubscriptMessage (*EventAction_BeforeCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter ); typedef void (*EventAction_AfterCollisionResponse)( const ICustomBody *proto, const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ); typedef void (*EventAction_Move)( const ICustomBody *object ); - typedef Struct::SimpleBodyDescription SimpleBodyDescription; - typedef Struct::SphericalBodyDescription SphericalBodyDescription; typedef Struct::CustomBodyState State; virtual ~ICustomBody() {}; /******************************************************** - * Creates a complete copy of the current (type)object. - * @return An ICustomBody pointer along with the responsibility to delete. - ********************************************************/ - virtual ::Utility::DynamicMemory::UniquePointer Clone() const = 0; - - /******************************************************** - * @todo TODO: need doc - ********************************************************/ - virtual SubscriptMessage CallSubscription_BeforeCollisionResponse( const ICustomBody *deuter ) = 0; - - /******************************************************** - * @todo TODO: need doc - ********************************************************/ - virtual void CallSubscription_AfterCollisionResponse( const ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss ) = 0; - - /******************************************************** - * @todo TODO: need doc - ********************************************************/ - virtual void CallSubscription_Move() = 0; - - /******************************************************** - * @todo TODO: need doc + * Gets the current state of the rigid body + * @return the current state of the rigid body ********************************************************/ virtual State GetState() const = 0; /******************************************************** - * @todo TODO: need doc + * Gets the current state of the rigid body + * @param targetMem: The state is copied into targetMem + * @return the current state of the rigid body ********************************************************/ virtual State & GetState( State &targetMem ) const = 0; /******************************************************** - * @return the linear velocity of the rigid body in a vector. + * Sets the current state of the rigid body ********************************************************/ - //virtual Math::Float3 GetRigidLinearVelocity() const = 0; + virtual void SetState( const State &state ) = 0; - /******************************************************** - * @todo TODO: need doc - ********************************************************/ - virtual void SetState( const State &state ) = 0; - - /******************************************************** - * @return true if Engine should apply gravity on this object. - ********************************************************/ - virtual bool IsAffectedByGravity() const = 0; - - /******************************************************** - * param shape: Any defined sample shape. - * @return true if this truly intersects with shape. - ********************************************************/ - virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 0; - - /******************************************************** - * Performs a detailed Intersect test and returns if, when and where. - * @param shape: Any defined sample shape. - * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother. - * @return true if this truly intersects with object. - ********************************************************/ - virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0; - - /******************************************************** - * Performs a detailed Intersect test and returns if, when and where. - * @param object: What this is intersect testing against. - * @param worldPointOfContact: Where at timeOfContact, this and object touches eachother. - * @return true if this truly intersects with object. - ********************************************************/ - virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float4 &worldPointOfContact ) const = 0; - - /******************************************************** - * Sets how far back it needs to be interpolated to not be overlapping worldPointOfContact. - ********************************************************/ - virtual void SetTimeOfContact( ::Oyster::Math::Float4 &worldPointOfContact ) = 0; - - /******************************************************** - * Required by Engine's Collision Search. - * @param targetMem: Provided memory that written into and then returned. - * @return a sphere shape that contains the ICustomBody. - ********************************************************/ - virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0; - - /******************************************************** - * Required by Engine's Collision Responsing. - * @param worldPos: Should be worldPointOfContact from Intersects( ... ) - * @param targetMem: Provided memory that written into and then returned. - * @return a surface normal in worldSpace. - ********************************************************/ - virtual ::Oyster::Math::Float4 & GetNormalAt( const ::Oyster::Math::Float4 &worldPos, ::Oyster::Math::Float4 &targetMem = ::Oyster::Math::Float4() ) const = 0; - - /******************************************************** - * The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f. - * @param targetMem: Provided memory that written into and then returned. - * @return a normalized vector in worldSpace. Exception: Null vector if no gravity been applied. - ********************************************************/ - virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; + virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0; /******************************************************** * @return the void pointer set by SetCustomTag. * nullptr if none is set. ********************************************************/ - virtual void * GetCustomTag() const = 0; - - ///******************************************************** - // * The world position of this center of gravity. - // * @param targetMem: Provided memory that written into and then returned. - // * @return a position in worldSpace. - // ********************************************************/ - //virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0; - // - ///******************************************************** - // * @param targetMem: Provided memory that written into and then returned. - // * @return a copy of this's rotation matrix. - // ********************************************************/ - //virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - // - ///******************************************************** - // * @param targetMem: Provided memory that written into and then returned. - // * @return a copy of this's orientation matrix. - // ********************************************************/ - //virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - // - ///******************************************************** - // * @param targetMem: Provided memory that written into and then returned. - // * @return a copy of this's view matrix. - // ********************************************************/ - //virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0; - - /******************************************************** - * To not be called if is in Engine - * Is called during API::Update - ********************************************************/ - virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0; - - /******************************************************** - * @todo TODO: add doc - ********************************************************/ - virtual void Predict( ::Oyster::Math::Float4 &outDeltaPos, ::Oyster::Math::Float4 &outDeltaAxis, const ::Oyster::Math::Float4 &actingLinearImpulse, const ::Oyster::Math::Float4 &actingAngularImpulse, ::Oyster::Math::Float deltaTime ) = 0; - - /******************************************************** - * Sets which scene this ICustomBody is within. - * Reserved to only be used by the scene. - * @todo TODO: create an IScene interface - ********************************************************/ - virtual void SetScene( void *scene ) = 0; - - /******************************************************** - * Sets the function that will be called by the engine - * whenever a collision occurs. - * @param functionPointer: If NULL, an empty default function will be set. - ********************************************************/ - virtual void SetSubscription( EventAction_BeforeCollisionResponse functionPointer ) = 0; - - /******************************************************** - * Sets the function that will be called by the engine - * whenever a collision has finished. - * @param functionPointer: If NULL, an empty default function will be set. - ********************************************************/ - virtual void SetSubscription( EventAction_AfterCollisionResponse functionPointer ) = 0; - - /******************************************************** - * Sets the function that will be called by the engine - * whenever an object have moved. - * @param functionPointer: If NULL, an empty default function will be set. - ********************************************************/ - virtual void SetSubscription( EventAction_Move functionPointer ) = 0; - - /******************************************************** - * @param ignore: True if Engine should not apply Gravity. - ********************************************************/ - virtual void SetGravity( bool ignore) = 0; - - /******************************************************** - * Used by Engine - * @param normalizedVector: Should have same direction as the pullinggravity. - ********************************************************/ - virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0; + virtual void* GetCustomTag() const = 0; /******************************************************** * Not used by the engine itself. Just a quality of life feature @@ -437,60 +155,6 @@ namespace Oyster * @param ref: Anything castable to a void pointer, the engine won't care. ********************************************************/ virtual void SetCustomTag( void *ref ) = 0; - - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead - // ********************************************************/ - //virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetMomentOfInertiaTensor_KeepMomentum(...) - // ********************************************************/ - //virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetMass_KeepVelocity(...) - // ********************************************************/ - //virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetMass_KeepMomentum(...) - // ********************************************************/ - //virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetCenter(...) - // ********************************************************/ - //virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetRotation(...) - // ********************************************************/ - //virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0; - // - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetOrientation(...) - // ********************************************************/ - //virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0; - - ///******************************************************** - // * To not be called if is in Engine - // * Use API::SetSize(...) - // ********************************************************/ - //virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0; - - ///******************************************************** - // * To not be called if is in Engine - // * Use API::?? @todo TODO: - // ********************************************************/ - //virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0; }; } } diff --git a/Code/GamePhysics/PhysicsStructs-Impl.h b/Code/GamePhysics/PhysicsStructs-Impl.h index eae72623..928c5099 100644 --- a/Code/GamePhysics/PhysicsStructs-Impl.h +++ b/Code/GamePhysics/PhysicsStructs-Impl.h @@ -10,53 +10,14 @@ namespace Oyster { namespace Struct { - inline SimpleBodyDescription::SimpleBodyDescription() - { - this->rotation = ::Oyster::Math::Float3::null; - this->centerPosition = ::Oyster::Math::Float3::null; - this->size = ::Oyster::Math::Float3( 1.0f ); - this->mass = 6.0f; - this->restitutionCoeff = 1.0f; - this->frictionCoeff_Dynamic = 0.5f; - this->frictionCoeff_Static = 0.5f; - this->inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(); - this->subscription_onCollision = NULL; - this->subscription_onCollisionResponse = NULL; - this->subscription_onMovement = NULL; - this->ignoreGravity = false; - } - - inline SphericalBodyDescription::SphericalBodyDescription() - { - this->rotation = ::Oyster::Math::Float3::null; - this->centerPosition = ::Oyster::Math::Float3::null; - this->radius = 0.5f; - this->mass = 10.0f; - this->restitutionCoeff = 1.0f; - this->frictionCoeff_Dynamic = 0.5f; - this->frictionCoeff_Static = 0.5f; - this->subscription_onCollision = NULL; - this->subscription_onCollisionResponse = NULL; - this->subscription_onMovement = NULL; - this->ignoreGravity = false; - } - - inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float kineticFrictionCoeff, const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor, const ::Oyster::Math::Float3 &reach, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Float3 &rotation, const ::Oyster::Math::Float3 &linearMomentum, const ::Oyster::Math::Float3 &angularMomentum, const ::Oyster::Math::Float3 &gravityNormal ) + inline CustomBodyState::CustomBodyState( ::Oyster::Math::Float mass, ::Oyster::Math::Float restitutionCoeff, ::Oyster::Math::Float staticFrictionCoeff, ::Oyster::Math::Float dynamicFrictionCoeff, const ::Oyster::Math::Float3 ¢erPos, const ::Oyster::Math::Quaternion& quaternion) { this->mass = mass; this->restitutionCoeff = restitutionCoeff; this->staticFrictionCoeff = staticFrictionCoeff; - this->kineticFrictionCoeff = kineticFrictionCoeff; - this->inertiaTensor = inertiaTensor; - this->reach = reach; + this->dynamicFrictionCoeff = dynamicFrictionCoeff; this->centerPos = centerPos; - this->angularAxis = rotation; - this->linearMomentum = linearMomentum; - this->angularMomentum = angularMomentum; - this->linearImpulse = this->angularImpulse = ::Oyster::Math::Float3::null; - this->deltaPos = this->deltaAxis = ::Oyster::Math::Float3::null; - this->isSpatiallyAltered = this->isDisturbed = this->isForwarded = false; - this->gravityNormal = gravityNormal; + this->quaternion = quaternion; } inline CustomBodyState & CustomBodyState::operator = ( const CustomBodyState &state ) @@ -64,488 +25,32 @@ namespace Oyster this->mass = state.mass; this->restitutionCoeff = state.restitutionCoeff; this->staticFrictionCoeff = state.staticFrictionCoeff; - this->kineticFrictionCoeff = state.kineticFrictionCoeff; - this->inertiaTensor = state.inertiaTensor; - this->reach = state.reach; + this->dynamicFrictionCoeff = state.dynamicFrictionCoeff; this->centerPos = state.centerPos; - this->angularAxis = state.angularAxis; - this->linearMomentum = state.linearMomentum; - this->angularMomentum = state.angularMomentum; - this->linearImpulse = state.linearImpulse; - this->angularImpulse = state.angularImpulse; - this->deltaPos = state.deltaPos; - this->deltaAxis = state.deltaAxis; - this->isSpatiallyAltered = state.isSpatiallyAltered; - this->isDisturbed = state.isDisturbed; - this->isForwarded = state.isForwarded; - this->gravityNormal = state.gravityNormal; + this->quaternion = state.quaternion; + return *this; } - inline const ::Oyster::Math::Float CustomBodyState::GetMass() const - { - return this->mass; - } - - inline const ::Oyster::Math::Float CustomBodyState::GetRestitutionCoeff() const - { - return this->restitutionCoeff; - } - - inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Static() const - { - return this->staticFrictionCoeff; - } - - inline const ::Oyster::Math::Float CustomBodyState::GetFrictionCoeff_Kinetic() const - { - return this->kineticFrictionCoeff; - } - - inline const ::Oyster::Physics3D::MomentOfInertia & CustomBodyState::GetMomentOfInertia() const - { - return this->inertiaTensor; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetReach() const - { - return this->reach; - } - - inline ::Oyster::Math::Float3 CustomBodyState::GetSize() const - { - return 2.0f * this->GetReach(); - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetCenterPosition() const - { - return this->centerPos; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularAxis() const - { - return this->angularAxis; - } inline ::Oyster::Math::Float4x4 CustomBodyState::GetRotation() const { - return ::Oyster::Math3D::RotationMatrix( this->GetAngularAxis() ); + return ::Oyster::Math3D::RotationMatrix( this->quaternion ); } inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation() const { - return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, this->centerPos ); - } - - inline ::Oyster::Math::Float4x4 CustomBodyState::GetOrientation( const ::Oyster::Math::Float3 &offset ) const - { - return ::Oyster::Math3D::OrientationMatrix( this->angularAxis, (this->centerPos + offset) ); + return ::Oyster::Math3D::OrientationMatrix( this->quaternion, this->centerPos ); } inline ::Oyster::Math::Float4x4 CustomBodyState::GetView() const { - return ::Oyster::Math3D::ViewMatrix( this->angularAxis, this->centerPos ); + return ::Oyster::Math3D::ViewMatrix( this->quaternion, this->centerPos ); } inline ::Oyster::Math::Float4x4 CustomBodyState::GetView( const ::Oyster::Math::Float3 &offset ) const { - return ::Oyster::Math3D::ViewMatrix( this->angularAxis, (this->centerPos + offset) ); - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearMomentum() const - { - return this->linearMomentum; - } - - inline ::Oyster::Math::Float3 CustomBodyState::GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const - { - ::Oyster::Math::Float3 offset = at - this->centerPos; - if( offset.Dot(offset) > 0.0f ) - { - return this->linearMomentum + ::Oyster::Physics3D::Formula::TangentialLinearMomentum( this->angularMomentum, offset ); - } - return this->linearMomentum; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularMomentum() const - { - return this->angularMomentum; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetLinearImpulse() const - { - return this->linearImpulse; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetAngularImpulse() const - { - return this->angularImpulse; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaPos() const - { - return this->deltaPos; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetForward_DeltaAxis() const - { - return this->deltaAxis; - } - - inline const ::Oyster::Math::Float3 & CustomBodyState::GetGravityNormal() const - { - return this->gravityNormal; - } - - inline void CustomBodyState::SetMass_KeepMomentum( ::Oyster::Math::Float m ) - { - this->mass = m; - } - - inline void CustomBodyState::SetMass_KeepVelocity( ::Oyster::Math::Float m ) - { - if( m != 0.0f ) - { // sanity block! - this->linearMomentum *= (m / this->mass); - this->mass = m; - } - } - - inline void CustomBodyState::SetRestitutionCoeff( ::Oyster::Math::Float e ) - { - this->restitutionCoeff = e; - } - - inline void CustomBodyState::SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU ) - { - this->staticFrictionCoeff = staticU; - this->kineticFrictionCoeff = kineticU; - } - - inline void CustomBodyState::SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor ) - { - this->inertiaTensor = tensor; - } - - inline void CustomBodyState::SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor ) - { - ::Oyster::Math::Quaternion rotation = ::Oyster::Math3D::Rotation(this->angularAxis); - ::Oyster::Math::Float3 w = this->inertiaTensor.CalculateAngularVelocity( rotation, this->angularMomentum ); - this->inertiaTensor = tensor; - this->angularMomentum = this->inertiaTensor.CalculateAngularMomentum( rotation, w ); - } - - inline void CustomBodyState::SetSize( const ::Oyster::Math::Float3 &size ) - { - this->SetReach( 0.5f * size ); - } - - inline void CustomBodyState::SetReach( const ::Oyster::Math::Float3 &halfSize ) - { - this->reach = halfSize; - this->reach = ::Utility::Value::Max( this->reach, ::Oyster::Math::Float3::null ); - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ) - { - this->centerPos = centerPos; - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::SetRotation( const ::Oyster::Math::Float3 &angularAxis ) - { - this->angularAxis = angularAxis; - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation ) - { - this->angularAxis = angularAxis ; - this->centerPos = translation; - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::SetLinearMomentum( const ::Oyster::Math::Float3 &g ) - { - this->linearMomentum = g; - this->isDisturbed = true; - } - - inline void CustomBodyState::SetAngularMomentum( const ::Oyster::Math::Float3 &h ) - { - this->angularMomentum = h; - this->isDisturbed = true; - } - - inline void CustomBodyState::SetLinearImpulse( const ::Oyster::Math::Float3 &j ) - { - this->linearImpulse = j; - this->isDisturbed = true; - } - - inline void CustomBodyState::SetAngularImpulse( const ::Oyster::Math::Float3 &j ) - { - this->angularImpulse = j; - this->isDisturbed = true; - } - - inline void CustomBodyState::SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal ) - { - this->gravityNormal = gravityNormal; - } - - inline void CustomBodyState::AddRotation( const ::Oyster::Math::Float3 &angularAxis ) - { - this->angularAxis += angularAxis; - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::AddTranslation( const ::Oyster::Math::Float3 &deltaPos ) - { - this->centerPos += deltaPos; - this->isSpatiallyAltered = this->isDisturbed = true; - } - - inline void CustomBodyState::ApplyLinearImpulse( const ::Oyster::Math::Float3 &j ) - { - this->linearImpulse += j; - this->isDisturbed = true; - } - - inline void CustomBodyState::ApplyAngularImpulse( const ::Oyster::Math::Float3 &j ) - { - this->angularImpulse += j; - this->isDisturbed = true; - } - - inline void CustomBodyState::ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal ) - { - ::Oyster::Math::Float3 offset = at - this->centerPos; - if( offset.Dot(offset) > 0.0f ) - { - ::Oyster::Math::Float3 deltaAngularImpulse = ::Oyster::Physics3D::Formula::AngularMomentum( j, offset ); - - this->linearImpulse -= ::Oyster::Physics3D::Formula::TangentialLinearMomentum( deltaAngularImpulse, offset ); - this->angularImpulse += deltaAngularImpulse; - } - this->linearImpulse += j; - this->isDisturbed = true; - } - - inline void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j ) - { - this->linearImpulse += j; - this->isDisturbed = true; - } - - inline void CustomBodyState::ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis ) - { - this->deltaPos += deltaPos; - this->deltaAxis += deltaAxis; - this->isDisturbed = this->isForwarded = true; - } - - inline bool CustomBodyState::IsSpatiallyAltered() const - { - return this->isSpatiallyAltered; - } - - inline bool CustomBodyState::IsDisturbed() const - { - return this->isDisturbed; - } - - inline bool CustomBodyState::IsForwarded() const - { - return this->isForwarded; - } - - inline GravityWell::GravityWell( ) - { - this->position = ::Oyster::Math::Float3::null; - this->mass = 0.0f; - } - - inline GravityWell::GravityWell( const GravityWell &gravityWell ) - { - this->position = gravityWell.position; - this->mass = gravityWell.mass; - } - - inline GravityWell & GravityWell::operator = ( const GravityWell &gravityWell ) - { - this->position = gravityWell.position; - this->mass = gravityWell.mass; - - return *this; - } - - inline bool GravityWell::operator == ( const GravityWell &gravity ) const - { - if( this->position == gravity.position ) - if( this->mass == gravity.mass ) - { - return true; - } - return false; - } - - inline bool GravityWell::operator != ( const GravityWell &gravity ) const - { - if( this->position == gravity.position ) - if( this->mass == gravity.mass ) - { - return false; - } - return true; - } - - inline GravityDirected::GravityDirected( ) - { - this->impulse = ::Oyster::Math::Float3::null; - } - - inline GravityDirected::GravityDirected( const GravityDirected &gravityDirected ) - { - this->impulse = gravityDirected.impulse; - } - - inline GravityDirected & GravityDirected::operator = ( const GravityDirected &gravityDirected ) - { - this->impulse = gravityDirected.impulse; - - return *this; - } - - inline bool GravityDirected::operator == ( const GravityDirected &gravity ) const - { - return this->impulse == gravity.impulse; - } - - inline bool GravityDirected::operator != ( const GravityDirected &gravity ) const - { - return this->impulse != gravity.impulse; - } - - inline GravityDirectedField::GravityDirectedField( ) - { - this->normalizedDirection = ::Oyster::Math::Float3::null; - this->mass = 0.0f; - this->magnitude = 0.0f; - } - - inline GravityDirectedField::GravityDirectedField( const GravityDirectedField &gravityDirectedField ) - { - this->normalizedDirection = gravityDirectedField.normalizedDirection; - this->mass = gravityDirectedField.mass; - this->magnitude = gravityDirectedField.magnitude; - } - - inline GravityDirectedField & GravityDirectedField::operator = ( const GravityDirectedField &gravityDirectedField ) - { - this->normalizedDirection = gravityDirectedField.normalizedDirection; - this->mass = gravityDirectedField.mass; - this->magnitude = gravityDirectedField.magnitude; - - return *this; - } - - inline bool GravityDirectedField::operator == ( const GravityDirectedField &gravity ) const - { - if( this->normalizedDirection == gravity.normalizedDirection ) - if( this->mass == gravity.mass ) - if( this->magnitude == gravity.magnitude ) - { - return true; - } - return false; - } - - inline bool GravityDirectedField::operator != ( const GravityDirectedField &gravity ) const - { - if( this->normalizedDirection == gravity.normalizedDirection ) - if( this->mass == gravity.mass ) - if( this->magnitude == gravity.magnitude ) - { - return false; - } - return true; - } - - inline Gravity::Gravity() - { - this->gravityType = GravityType_Undefined; - } - - inline Gravity::Gravity( const Gravity &gravity ) - { - this->gravityType = gravity.gravityType; - - switch( gravity.gravityType ) - { - case GravityType_Well: - this->well = gravity.well; - break; - case GravityType_Directed: - this->directed = gravity.directed; - break; - case GravityType_DirectedField: - this->directedField = gravity.directedField; - break; - default: break; - } - } - - inline Gravity & Gravity::operator = ( const Gravity &gravity ) - { - this->gravityType = gravity.gravityType; - - switch( gravity.gravityType ) - { - case GravityType_Well: - this->well = gravity.well; - break; - case GravityType_Directed: - this->directed = gravity.directed; - break; - case GravityType_DirectedField: - this->directedField = gravity.directedField; - break; - default: break; - } - - return *this; - } - - inline bool Gravity::operator == ( const Gravity &gravity ) const - { - if( this->gravityType == gravity.gravityType ) - { - switch( this->gravityType ) - { - case GravityType_Well: return this->well == gravity.well; - case GravityType_Directed: return this->directed == gravity.directed; - case GravityType_DirectedField: return this->directedField == gravity.directedField; - default: return true; - } - } - return false; - } - - inline bool Gravity::operator != ( const Gravity &gravity ) const - { - if( this->gravityType == gravity.gravityType ) - { - switch( this->gravityType ) - { - case GravityType_Well: return this->well != gravity.well; - case GravityType_Directed: return this->directed != gravity.directed; - case GravityType_DirectedField: return this->directedField != gravity.directedField; - default: return false; - } - } - return true; + return ::Oyster::Math3D::ViewMatrix( this->quaternion, (this->centerPos + offset) ); } } } diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h index 6bf39a67..d4ca7b99 100644 --- a/Code/GamePhysics/PhysicsStructs.h +++ b/Code/GamePhysics/PhysicsStructs.h @@ -5,212 +5,40 @@ #include "PhysicsAPI.h" #include "Inertia.h" -namespace Oyster { namespace Physics -{ - namespace Struct +namespace Oyster +{ + namespace Physics { - struct SimpleBodyDescription + namespace Struct { - ::Oyster::Math::Float3 rotation; - ::Oyster::Math::Float3 centerPosition; - ::Oyster::Math::Float3 size; - ::Oyster::Math::Float mass; - ::Oyster::Math::Float restitutionCoeff; - ::Oyster::Math::Float frictionCoeff_Static; - ::Oyster::Math::Float frictionCoeff_Dynamic; - ::Oyster::Physics3D::MomentOfInertia inertiaTensor; - ::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision; - ::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse; - ::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement; - bool ignoreGravity; - - SimpleBodyDescription(); - }; - - struct SphericalBodyDescription - { - ::Oyster::Math::Float3 rotation; - ::Oyster::Math::Float3 centerPosition; - ::Oyster::Math::Float radius; - ::Oyster::Math::Float mass; - ::Oyster::Math::Float restitutionCoeff; - ::Oyster::Math::Float frictionCoeff_Static; - ::Oyster::Math::Float frictionCoeff_Dynamic; - ::Oyster::Physics::ICustomBody::EventAction_BeforeCollisionResponse subscription_onCollision; - ::Oyster::Physics::ICustomBody::EventAction_AfterCollisionResponse subscription_onCollisionResponse; - ::Oyster::Physics::ICustomBody::EventAction_Move subscription_onMovement; - bool ignoreGravity; - - SphericalBodyDescription(); - }; - - struct CustomBodyState - { - public: - CustomBodyState( ::Oyster::Math::Float mass = 1.0f, - ::Oyster::Math::Float restitutionCoeff = 1.0f, - ::Oyster::Math::Float staticFrictionCoeff = 1.0f, - ::Oyster::Math::Float kineticFrictionCoeff = 1.0f, - const ::Oyster::Physics3D::MomentOfInertia &inertiaTensor = ::Oyster::Physics3D::MomentOfInertia(), - const ::Oyster::Math::Float3 &reach = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 ¢erPos = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &rotation = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &linearMomentum = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &angularMomentum = ::Oyster::Math::Float3::null, - const ::Oyster::Math::Float3 &gravityNormal = ::Oyster::Math::Float3::null); - - CustomBodyState & operator = ( const CustomBodyState &state ); - - const ::Oyster::Math::Float GetMass() const; - const ::Oyster::Math::Float GetRestitutionCoeff() const; - const ::Oyster::Math::Float GetFrictionCoeff_Static() const; - const ::Oyster::Math::Float GetFrictionCoeff_Kinetic() const; - const ::Oyster::Physics3D::MomentOfInertia & GetMomentOfInertia() const; - const ::Oyster::Math::Float3 & GetReach() const; - ::Oyster::Math::Float3 GetSize() const; - const ::Oyster::Math::Float3 & GetCenterPosition() const; - const ::Oyster::Math::Float3 & GetAngularAxis() const; - ::Oyster::Math::Float4x4 GetRotation() const; - ::Oyster::Math::Float4x4 GetOrientation() const; - ::Oyster::Math::Float4x4 GetOrientation( const ::Oyster::Math::Float3 &offset ) const; - ::Oyster::Math::Float4x4 GetView() const; - ::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const; - const ::Oyster::Math::Float3 & GetLinearMomentum() const; - ::Oyster::Math::Float3 GetLinearMomentum( const ::Oyster::Math::Float3 &at ) const; - const ::Oyster::Math::Float3 & GetAngularMomentum() const; - const ::Oyster::Math::Float3 & GetLinearImpulse() const; - const ::Oyster::Math::Float3 & GetAngularImpulse() const; - const ::Oyster::Math::Float3 & GetForward_DeltaPos() const; - const ::Oyster::Math::Float3 & GetForward_DeltaAxis() const; - const ::Oyster::Math::Float3 & GetGravityNormal() const; - - void SetMass_KeepMomentum( ::Oyster::Math::Float m ); - void SetMass_KeepVelocity( ::Oyster::Math::Float m ); - void SetRestitutionCoeff( ::Oyster::Math::Float e ); - void SetFrictionCoeff( ::Oyster::Math::Float staticU, ::Oyster::Math::Float kineticU ); - void SetMomentOfInertia_KeepMomentum( const ::Oyster::Physics3D::MomentOfInertia &tensor ); - void SetMomentOfInertia_KeepVelocity( const ::Oyster::Physics3D::MomentOfInertia &tensor ); - void SetSize( const ::Oyster::Math::Float3 &size ); - void SetReach( const ::Oyster::Math::Float3 &halfSize ); - void SetCenterPosition( const ::Oyster::Math::Float3 ¢erPos ); - void SetRotation( const ::Oyster::Math::Float3 &angularAxis ); - //void SetRotation( const ::Oyster::Math::Float4x4 &rotation ); - //void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ); - void SetOrientation( const ::Oyster::Math::Float3 &angularAxis, const ::Oyster::Math::Float3 &translation ); - void SetLinearMomentum( const ::Oyster::Math::Float3 &g ); - void SetAngularMomentum( const ::Oyster::Math::Float3 &h ); - void SetLinearImpulse( const ::Oyster::Math::Float3 &j ); - void SetAngularImpulse( const ::Oyster::Math::Float3 &j ); - void SetGravityNormal( const ::Oyster::Math::Float3 &gravityNormal ); - - void AddRotation( const ::Oyster::Math::Float3 &angularAxis ); - void AddTranslation( const ::Oyster::Math::Float3 &deltaPos ); - - void ApplyLinearImpulse( const ::Oyster::Math::Float3 &j ); - void ApplyAngularImpulse( const ::Oyster::Math::Float3 &j ); - void ApplyImpulse( const ::Oyster::Math::Float3 &j, const ::Oyster::Math::Float3 &at, const ::Oyster::Math::Float3 &normal ); - void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j); - void ApplyForwarding( const ::Oyster::Math::Float3 &deltaPos, const ::Oyster::Math::Float3 &deltaAxis ); - - bool IsSpatiallyAltered() const; - bool IsDisturbed() const; - bool IsForwarded() const; - - ::Oyster::Math::Float3 linearMomentum; - - private: - ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, kineticFrictionCoeff; - ::Oyster::Physics3D::MomentOfInertia inertiaTensor; - ::Oyster::Math::Float3 reach, centerPos, angularAxis; - ::Oyster::Math::Float3 angularMomentum; - ::Oyster::Math::Float3 linearImpulse, angularImpulse; - ::Oyster::Math::Float3 deltaPos, deltaAxis; // Forwarding data sum - ::Oyster::Math::Float3 gravityNormal; - - bool isSpatiallyAltered, isDisturbed, isForwarded; - }; - - /** - ############################################################################### - Can't define structs inside structs in a union therefor they are declared here. - ############################################################################### - */ - struct GravityWell - { - ::Oyster::Math::Float3 position; - ::Oyster::Math::Float mass; - - GravityWell( ); - GravityWell( const GravityWell &gravityWell ); - GravityWell & operator = ( const GravityWell &gravityWell ); - - bool operator == ( const GravityWell &gravity ) const; - bool operator != ( const GravityWell &gravity ) const; - }; - - struct GravityDirected - { - ::Oyster::Math::Float3 impulse; - - GravityDirected( ); - GravityDirected( const GravityDirected &gravityDirected ); - GravityDirected & operator = ( const GravityDirected &gravityDirected ); - - bool operator == ( const GravityDirected &gravity ) const; - bool operator != ( const GravityDirected &gravity ) const; - }; - - struct GravityDirectedField - { - ::Oyster::Math::Float3 normalizedDirection; - ::Oyster::Math::Float mass; - ::Oyster::Math::Float magnitude; - - GravityDirectedField( ); - GravityDirectedField( const GravityDirectedField &gravityDirectedField ); - GravityDirectedField & operator = ( const GravityDirectedField &gravityDirectedField ); - - bool operator == ( const GravityDirectedField &gravity ) const; - bool operator != ( const GravityDirectedField &gravity ) const; - }; - - struct Gravity - { - enum GravityType + struct CustomBodyState { - GravityType_Undefined = -1, - GravityType_Well = 0, - GravityType_Directed = 1, - GravityType_DirectedField = 2, - } gravityType; + public: + // Default constructor + CustomBodyState( ::Oyster::Math::Float mass = 1.0f, + ::Oyster::Math::Float restitutionCoeff = 1.0f, + ::Oyster::Math::Float staticFrictionCoeff = 1.0f, + ::Oyster::Math::Float dynamicFrictionCoeff = 1.0f, + const ::Oyster::Math::Float3 ¢erPos = ::Oyster::Math::Float3::null, + const ::Oyster::Math::Quaternion &quaternion = ::Oyster::Math::Quaternion(::Oyster::Math::Float3(0, 0, 0), 1)); - union - { - struct - { - GravityWell well; - }; + // Assignment operator + CustomBodyState & operator = ( const CustomBodyState &state ); - struct - { - GravityDirected directed; - }; + // Get functions that calculate matrices that do not exist as variables + ::Oyster::Math::Float4x4 GetRotation() const; + ::Oyster::Math::Float4x4 GetOrientation() const; + ::Oyster::Math::Float4x4 GetView() const; + ::Oyster::Math::Float4x4 GetView( const ::Oyster::Math::Float3 &offset ) const; - struct - { - GravityDirectedField directedField; - }; - }; - - Gravity( ); - Gravity( const Gravity &gravity ); - Gravity & operator = ( const Gravity &gravity ); - - bool operator == ( const Gravity &gravity ) const; - bool operator != ( const Gravity &gravity ) const; - }; - } -} } + // Variables for state + ::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff; + ::Oyster::Math::Float3 reach, centerPos; + ::Oyster::Math::Quaternion quaternion; + }; + } + } +} #include "PhysicsStructs-Impl.h" diff --git a/Code/OysterPhysics3D/RigidBody.cpp b/Code/OysterPhysics3D/RigidBody.cpp index ab0b1a18..43d6f9a4 100644 --- a/Code/OysterPhysics3D/RigidBody.cpp +++ b/Code/OysterPhysics3D/RigidBody.cpp @@ -13,7 +13,7 @@ using namespace ::Utility::Value; RigidBody::RigidBody( ) { // by Dan Andersson this->centerPos = Float4::standard_unit_w; - this->axis = Float4::null; + this->quaternion = Quaternion(Float3(0, 0, 0), 1); this->boundingReach = Float4( 0.5f, 0.5f, 0.5f, 0.0f ); this->momentum_Linear = Float4::null; this->momentum_Angular = Float4::null; @@ -24,13 +24,12 @@ RigidBody::RigidBody( ) this->frictionCoeff_Kinetic = 1.0f; this->mass = 10; this->momentOfInertiaTensor = MomentOfInertia(); - this->rotation = Quaternion::identity; } RigidBody & RigidBody::operator = ( const RigidBody &body ) { // by Dan Andersson this->centerPos = body.centerPos; - this->axis = body.axis; + this->quaternion = body.quaternion; this->boundingReach = body.boundingReach; this->momentum_Linear = body.momentum_Linear; this->momentum_Angular = body.momentum_Angular; @@ -41,7 +40,6 @@ RigidBody & RigidBody::operator = ( const RigidBody &body ) this->frictionCoeff_Kinetic = body.frictionCoeff_Kinetic; this->mass = body.mass; this->momentOfInertiaTensor = body.momentOfInertiaTensor; - this->rotation = body.rotation; return *this; } @@ -55,19 +53,14 @@ void RigidBody::Update_LeapFrog( Float updateFrameLength ) this->momentum_Angular = this->momentum_Angular*0.99f; // ds = dt * Formula::LinearVelocity( m, avg_G ) = dt * avg_G / m = (dt / m) * avg_G - Float3 delta = AverageWithDelta( this->momentum_Linear, this->impulse_Linear ); - Float3 newPos = updateFrameLength*this->momentum_Linear; + Float3 delta = this->momentum_Linear; + Float3 newPos = (updateFrameLength)*this->momentum_Linear; this->centerPos += newPos; - - if(this->mass == 70) - { - const char *breakpoint = "STOP"; - } // updating the angular // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H - this->axis += updateFrameLength*this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); - this->rotation = Rotation( this->axis ); + /*this->axis += updateFrameLength*this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); + this->rotation = Rotation( this->axis );*/ // update momentums and clear impulse_Linear and impulse_Angular this->momentum_Linear += this->impulse_Linear; @@ -89,14 +82,14 @@ void RigidBody::Predict_LeapFrog( Float3 &outDeltaPos, Float3 &outDeltaAxis, con // dO = dt * Formula::AngularVelocity( (RI)^-1, avg_H ) = dt * (RI)^-1 * avg_H //outDeltaAxis = Formula::AngularVelocity( wMomentOfInertiaTensor.GetInverse(), AverageWithDelta(this->momentum_Angular, actingAngularImpulse) ); - outDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); + //utDeltaAxis = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, AverageWithDelta(this->momentum_Angular, this->impulse_Angular) ); } void RigidBody::Move( const Float3 &deltaPos, const Float3 &deltaAxis ) { - this->centerPos += deltaPos; - this->axis += deltaAxis; - this->rotation = Rotation( this->axis ); + //this->centerPos += deltaPos; + //this->axis += deltaAxis; + //this->rotation = Rotation( this->axis ); } void RigidBody::ApplyImpulse( const Float3 &worldJ, const Float3 &atWorldPos ) @@ -125,22 +118,22 @@ Float RigidBody::GetMass() const const Quaternion & RigidBody::GetRotationQuaternion() const { // by Dan Andersson - return this->rotation; + return this->quaternion; } Float4x4 RigidBody::GetRotationMatrix() const { // by Dan Andersson - return RotationMatrix( this->rotation ); + return RotationMatrix( quaternion ); } Float4x4 RigidBody::GetOrientation() const { // by Dan Andersson - return ::Oyster::Math3D::OrientationMatrix( this->rotation, this->centerPos ); + return ::Oyster::Math3D::OrientationMatrix( this->quaternion, this->centerPos ); } Float4x4 RigidBody::GetView() const { // by Dan Andersson - return ViewMatrix( this->rotation, this->centerPos ); + return ViewMatrix( this->quaternion, this->centerPos ); } Float3 RigidBody::GetVelocity_Linear() const @@ -150,7 +143,7 @@ Float3 RigidBody::GetVelocity_Linear() const Float3 RigidBody::GetVelocity_Angular() const { // by Dan Andersson - return this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); + return Float3(0, 0, 0); } Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const @@ -165,9 +158,7 @@ Float3 RigidBody::GetLinearMomentum( const Float3 &atWorldPos ) const void RigidBody::SetMomentOfInertia_KeepVelocity( const MomentOfInertia &localTensorI ) { // by Dan Andersson - Float3 w = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, this->momentum_Angular ); - this->momentOfInertiaTensor = localTensorI; - this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularVelocity( this->rotation, w ); + } void RigidBody::SetMomentOfInertia_KeepMomentum( const MomentOfInertia &localTensorI ) @@ -193,10 +184,9 @@ void RigidBody::SetMass_KeepMomentum( const Float &m ) } } -void RigidBody::SetRotation( const Float3 &axis ) +void RigidBody::SetRotation( const ::Oyster::Math::Quaternion &quaternion ) { // by Dan Andersson - this->axis = axis; - this->rotation = Rotation( this->axis ); + this->quaternion = quaternion; } void RigidBody::SetMomentum_Linear( const Float3 &worldG, const Float3 &atWorldPos ) @@ -215,12 +205,12 @@ void RigidBody::SetVelocity_Linear( const Float3 &worldV, const Float3 &atWorldP { // by Dan Andersson Float3 worldOffset = atWorldPos - this->centerPos; this->momentum_Linear = Formula::LinearMomentum( this->mass, VectorProjection(worldV, worldOffset) ); - this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, Formula::AngularVelocity(worldV, worldOffset) ); + this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->quaternion, Formula::AngularVelocity(worldV, worldOffset) ); } void RigidBody::SetVelocity_Angular( const Float3 &worldW ) { // by Dan Andersson - this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->rotation, worldW ); + this->momentum_Angular = this->momentOfInertiaTensor.CalculateAngularMomentum( this->quaternion, worldW ); } void RigidBody::SetImpulse_Linear( const Float3 &worldJ, const Float3 &atWorldPos ) diff --git a/Code/OysterPhysics3D/RigidBody.h b/Code/OysterPhysics3D/RigidBody.h index f7aebd22..2d2226cf 100644 --- a/Code/OysterPhysics3D/RigidBody.h +++ b/Code/OysterPhysics3D/RigidBody.h @@ -15,8 +15,8 @@ namespace Oyster { namespace Physics3D struct RigidBody { //! A struct of a simple rigid body. public: + ::Oyster::Math::Quaternion quaternion; ::Oyster::Math::Float3 centerPos, //!< Location of the body's center in the world. - axis, //!< Euler rotationAxis of the body. boundingReach, //!< momentum_Linear, //!< The linear momentum G (kg*m/s). momentum_Angular, //!< The angular momentum H (Nm*s) around an parallell axis. @@ -64,7 +64,7 @@ namespace Oyster { namespace Physics3D void SetMass_KeepMomentum( const ::Oyster::Math::Float &m ); //void SetOrientation( const ::Oyster::Math::Float4x4 &o ); - void SetRotation( const ::Oyster::Math::Float3 &axis ); + void SetRotation( const ::Oyster::Math::Quaternion &quaternion ); void SetSize( const ::Oyster::Math::Float3 &widthHeight ); void SetMomentum_Linear( const ::Oyster::Math::Float3 &worldG, const ::Oyster::Math::Float3 &atWorldPos ); @@ -81,7 +81,7 @@ namespace Oyster { namespace Physics3D ::Oyster::Math::Float mass; //!< m (kg) //::Oyster::Math::Float4x4 momentOfInertiaTensor; //!< I (Nm*s) Tensor matrix ( only need to be 3x3 matrix, but is 4x4 for future hardware acceleration ) (localValue) ::Oyster::Physics3D::MomentOfInertia momentOfInertiaTensor; - ::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body. + //::Oyster::Math::Quaternion rotation; //!< RotationAxis of the body. }; } } diff --git a/Code/Physics/BulletCollision/BulletCollision.vcxproj b/Code/Physics/BulletCollision/BulletCollision.vcxproj new file mode 100644 index 00000000..28c24c6e --- /dev/null +++ b/Code/Physics/BulletCollision/BulletCollision.vcxproj @@ -0,0 +1,487 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {B84D4C8B-DF9F-4B41-994D-A6FFFA64F274} + Win32Proj + Win32 + BulletCollision + + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + 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WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + RelWithDebInfo/ + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletCollision\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\generate.stamp + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/Physics/BulletCollision/BulletCollision.vcxproj.user b/Code/Physics/BulletCollision/BulletCollision.vcxproj.user new file mode 100644 index 00000000..a375ae35 --- /dev/null +++ b/Code/Physics/BulletCollision/BulletCollision.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Code/Physics/BulletCollision/CMakeFiles/generate.stamp b/Code/Physics/BulletCollision/CMakeFiles/generate.stamp new file mode 100644 index 00000000..9b5f49fa --- /dev/null +++ b/Code/Physics/BulletCollision/CMakeFiles/generate.stamp @@ -0,0 +1 @@ +# CMake generation timestamp file for this directory. diff --git a/Code/Physics/BulletCollision/CMakeFiles/generate.stamp.depend b/Code/Physics/BulletCollision/CMakeFiles/generate.stamp.depend new file mode 100644 index 00000000..d667b1b5 --- /dev/null +++ b/Code/Physics/BulletCollision/CMakeFiles/generate.stamp.depend @@ -0,0 +1,2 @@ +# CMake generation dependency list for this directory. +C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision/CMakeLists.txt diff --git a/Code/Physics/BulletCollision/INSTALL.vcxproj b/Code/Physics/BulletCollision/INSTALL.vcxproj new file mode 100644 index 00000000..f8528ea7 --- /dev/null +++ b/Code/Physics/BulletCollision/INSTALL.vcxproj @@ -0,0 +1,217 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {0A758B62-DE3C-493C-985D-39E48A384A7C} + Win32Proj + Win32 + INSTALL + + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/2488fbf1c07ab778f5bdaf8ca8459122/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletCollision\CMakeFiles\INSTALL_force + false + + + + + F5149B3B-C2B1-4522-9FFD-121CED456BD3 + + + + + + \ No newline at end of file diff --git a/Code/Physics/BulletCollision/cmake_install.cmake b/Code/Physics/BulletCollision/cmake_install.cmake new file mode 100644 index 00000000..20924d01 --- /dev/null +++ b/Code/Physics/BulletCollision/cmake_install.cmake @@ -0,0 +1,29 @@ +# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletCollision + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + diff --git a/Code/Physics/BulletDynamics/BulletDynamics.vcxproj b/Code/Physics/BulletDynamics/BulletDynamics.vcxproj new file mode 100644 index 00000000..fed75f6d --- /dev/null +++ b/Code/Physics/BulletDynamics/BulletDynamics.vcxproj @@ -0,0 +1,343 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {6BCE5708-BFA3-4DE3-9942-E521A8A4EFE2} + Win32Proj + Win32 + BulletDynamics + + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + $(SolutionDir)Physics\Debug\ + BulletDynamics.dir\Debug\ + BulletDynamics_Debug + .lib + $(SolutionDir)Physics\Release + BulletDynamics.dir\Release\ + BulletDynamics + .lib + C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\MinSizeRel\ + BulletDynamics.dir\MinSizeRel\ + BulletDynamics_MinsizeRel + .lib + C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\RelWithDebInfo\ + BulletDynamics.dir\RelWithDebInfo\ + BulletDynamics_RelWithDebugInfo + .lib + + + + $(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) + Debug/ + EnableFastChecks + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + Disabled + Disabled + NotUsing + MultiThreadedDebugDLL + true + Level3 + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + $(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) + Release/ + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + AnySuitable + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Release";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + MinSizeRel/ + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MinSpace + NotUsing + MultiThreadedDLL + true + Level3 + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + RelWithDebInfo/ + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\BulletDynamics\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\generate.stamp + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/Physics/BulletDynamics/BulletDynamics.vcxproj.user b/Code/Physics/BulletDynamics/BulletDynamics.vcxproj.user new file mode 100644 index 00000000..a375ae35 --- /dev/null +++ b/Code/Physics/BulletDynamics/BulletDynamics.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp b/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp new file mode 100644 index 00000000..9b5f49fa --- /dev/null +++ b/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp @@ -0,0 +1 @@ +# CMake generation timestamp file for this directory. diff --git a/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp.depend b/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp.depend new file mode 100644 index 00000000..89a4cf45 --- /dev/null +++ b/Code/Physics/BulletDynamics/CMakeFiles/generate.stamp.depend @@ -0,0 +1,2 @@ +# CMake generation dependency list for this directory. +C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics/CMakeLists.txt diff --git a/Code/Physics/BulletDynamics/INSTALL.vcxproj b/Code/Physics/BulletDynamics/INSTALL.vcxproj new file mode 100644 index 00000000..8480d320 --- /dev/null +++ b/Code/Physics/BulletDynamics/INSTALL.vcxproj @@ -0,0 +1,217 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {0A758B62-DE3C-493C-985D-39E48A384A7C} + Win32Proj + Win32 + INSTALL + + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/26c1e2c959f534a1cd3ce71328ceef74/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\BulletDynamics\CMakeFiles\INSTALL_force + false + + + + + F5149B3B-C2B1-4522-9FFD-121CED456BD3 + + + + + + \ No newline at end of file diff --git a/Code/Physics/BulletDynamics/cmake_install.cmake b/Code/Physics/BulletDynamics/cmake_install.cmake new file mode 100644 index 00000000..3cf003da --- /dev/null +++ b/Code/Physics/BulletDynamics/cmake_install.cmake @@ -0,0 +1,29 @@ +# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/BulletDynamics + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + diff --git a/Code/Physics/Glut/EmptyGL/GL/egl_cpx.h b/Code/Physics/Glut/EmptyGL/GL/egl_cpx.h new file mode 100644 index 00000000..16a685aa --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/egl_cpx.h @@ -0,0 +1,13 @@ +// todo - implement these as you see fit. +inline GLint glRenderMode(GLenum a0) { return GL_RENDER; }; // ymmv. should return previous mode +inline GLenum glGetError() { return GL_NO_ERROR; }; +inline GLboolean glIsList(GLuint a0) { return GL_TRUE; }; +inline GLuint glGenLists(GLsizei a0) { return (GLuint)a0; }; +inline const GLubyte* glGetString(GLenum a0) { return (const GLubyte *)"egl-xyzzy"; }; +inline GLboolean glIsEnabled(GLenum a0) { return GL_TRUE; }; +inline GLboolean glAreTexturesResident(GLsizei a0,const GLuint * a1,GLboolean * a2) { return GL_TRUE; }; +inline GLboolean glIsTexture(GLuint a0) { return GL_TRUE; }; +inline void glGetBooleanv(GLenum a0,GLboolean * a1) { *a1 = GL_TRUE; }; +inline void glGetDoublev(GLenum a0,GLdouble * a1) { *a1 = 0.0; }; +inline void glGetFloatv(GLenum a0,GLfloat * a1) { *a1 = 0.0f; }; +inline void glGetIntegerv(GLenum a0,GLint * a1) { *a1 = 0; }; diff --git a/Code/Physics/Glut/EmptyGL/GL/egl_defs.h b/Code/Physics/Glut/EmptyGL/GL/egl_defs.h new file mode 100644 index 00000000..cbd57114 --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/egl_defs.h @@ -0,0 +1,706 @@ +#ifndef EGL_DEFS_H +#define EGL_DEFS_H + +typedef unsigned int GLenum; +typedef unsigned char GLboolean; +typedef unsigned int GLbitfield; +typedef void GLvoid; +typedef signed char GLbyte; +typedef short GLshort; +typedef int GLint; +typedef unsigned char GLubyte; +typedef unsigned short GLushort; +typedef unsigned int GLuint; +typedef int GLsizei; +typedef float GLfloat; +typedef float GLclampf; +typedef double GLdouble; +typedef double GLclampd; + +#define __gl_h_ +#define GL_VERSION_1_1 1 +#define GL_VERSION_1_2 1 +#define GL_VERSION_1_3 1 +#define GL_ARB_imaging 1 +#define GL_FALSE 0x0 +#define GL_TRUE 0x1 +#define GL_BYTE 0x1400 +#define GL_UNSIGNED_BYTE 0x1401 +#define GL_SHORT 0x1402 +#define GL_UNSIGNED_SHORT 0x1403 +#define GL_INT 0x1404 +#define GL_UNSIGNED_INT 0x1405 +#define GL_FLOAT 0x1406 +#define GL_2_BYTES 0x1407 +#define GL_3_BYTES 0x1408 +#define GL_4_BYTES 0x1409 +#define GL_DOUBLE 0x140A +#define GL_POINTS 0x0000 +#define GL_LINES 0x0001 +#define GL_LINE_LOOP 0x0002 +#define GL_LINE_STRIP 0x0003 +#define GL_TRIANGLES 0x0004 +#define GL_TRIANGLE_STRIP 0x0005 +#define GL_TRIANGLE_FAN 0x0006 +#define GL_QUADS 0x0007 +#define GL_QUAD_STRIP 0x0008 +#define GL_POLYGON 0x0009 +#define GL_VERTEX_ARRAY 0x8074 +#define GL_NORMAL_ARRAY 0x8075 +#define GL_COLOR_ARRAY 0x8076 +#define GL_INDEX_ARRAY 0x8077 +#define GL_TEXTURE_COORD_ARRAY 0x8078 +#define GL_EDGE_FLAG_ARRAY 0x8079 +#define GL_VERTEX_ARRAY_SIZE 0x807A +#define GL_VERTEX_ARRAY_TYPE 0x807B +#define GL_VERTEX_ARRAY_STRIDE 0x807C +#define GL_NORMAL_ARRAY_TYPE 0x807E +#define GL_NORMAL_ARRAY_STRIDE 0x807F +#define GL_COLOR_ARRAY_SIZE 0x8081 +#define GL_COLOR_ARRAY_TYPE 0x8082 +#define GL_COLOR_ARRAY_STRIDE 0x8083 +#define GL_INDEX_ARRAY_TYPE 0x8085 +#define GL_INDEX_ARRAY_STRIDE 0x8086 +#define GL_TEXTURE_COORD_ARRAY_SIZE 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE 0x808A +#define GL_EDGE_FLAG_ARRAY_STRIDE 0x808C +#define GL_VERTEX_ARRAY_POINTER 0x808E +#define GL_NORMAL_ARRAY_POINTER 0x808F +#define GL_COLOR_ARRAY_POINTER 0x8090 +#define GL_INDEX_ARRAY_POINTER 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER 0x8093 +#define GL_V2F 0x2A20 +#define GL_V3F 0x2A21 +#define GL_C4UB_V2F 0x2A22 +#define GL_C4UB_V3F 0x2A23 +#define GL_C3F_V3F 0x2A24 +#define GL_N3F_V3F 0x2A25 +#define GL_C4F_N3F_V3F 0x2A26 +#define GL_T2F_V3F 0x2A27 +#define GL_T4F_V4F 0x2A28 +#define GL_T2F_C4UB_V3F 0x2A29 +#define GL_T2F_C3F_V3F 0x2A2A +#define GL_T2F_N3F_V3F 0x2A2B +#define GL_T2F_C4F_N3F_V3F 0x2A2C +#define GL_T4F_C4F_N3F_V4F 0x2A2D +#define GL_MATRIX_MODE 0x0BA0 +#define GL_MODELVIEW 0x1700 +#define GL_PROJECTION 0x1701 +#define GL_TEXTURE 0x1702 +#define GL_POINT_SMOOTH 0x0B10 +#define GL_POINT_SIZE 0x0B11 +#define GL_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_POINT_SIZE_RANGE 0x0B12 +#define GL_LINE_SMOOTH 0x0B20 +#define GL_LINE_STIPPLE 0x0B24 +#define GL_LINE_STIPPLE_PATTERN 0x0B25 +#define GL_LINE_STIPPLE_REPEAT 0x0B26 +#define GL_LINE_WIDTH 0x0B21 +#define GL_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_LINE_WIDTH_RANGE 0x0B22 +#define GL_POINT 0x1B00 +#define GL_LINE 0x1B01 +#define GL_FILL 0x1B02 +#define GL_CW 0x0900 +#define GL_CCW 0x0901 +#define GL_FRONT 0x0404 +#define GL_BACK 0x0405 +#define GL_POLYGON_MODE 0x0B40 +#define GL_POLYGON_SMOOTH 0x0B41 +#define GL_POLYGON_STIPPLE 0x0B42 +#define GL_EDGE_FLAG 0x0B43 +#define GL_CULL_FACE 0x0B44 +#define GL_CULL_FACE_MODE 0x0B45 +#define GL_FRONT_FACE 0x0B46 +#define GL_POLYGON_OFFSET_FACTOR 0x8038 +#define GL_POLYGON_OFFSET_UNITS 0x2A00 +#define GL_POLYGON_OFFSET_POINT 0x2A01 +#define GL_POLYGON_OFFSET_LINE 0x2A02 +#define GL_POLYGON_OFFSET_FILL 0x8037 +#define GL_COMPILE 0x1300 +#define GL_COMPILE_AND_EXECUTE 0x1301 +#define GL_LIST_BASE 0x0B32 +#define GL_LIST_INDEX 0x0B33 +#define GL_LIST_MODE 0x0B30 +#define GL_NEVER 0x0200 +#define GL_LESS 0x0201 +#define GL_EQUAL 0x0202 +#define GL_LEQUAL 0x0203 +#define GL_GREATER 0x0204 +#define GL_NOTEQUAL 0x0205 +#define GL_GEQUAL 0x0206 +#define GL_ALWAYS 0x0207 +#define GL_DEPTH_TEST 0x0B71 +#define GL_DEPTH_BITS 0x0D56 +#define GL_DEPTH_CLEAR_VALUE 0x0B73 +#define GL_DEPTH_FUNC 0x0B74 +#define GL_DEPTH_RANGE 0x0B70 +#define GL_DEPTH_WRITEMASK 0x0B72 +#define GL_DEPTH_COMPONENT 0x1902 +#define GL_LIGHTING 0x0B50 +#define GL_LIGHT0 0x4000 +#define GL_LIGHT1 0x4001 +#define GL_LIGHT2 0x4002 +#define GL_LIGHT3 0x4003 +#define GL_LIGHT4 0x4004 +#define GL_LIGHT5 0x4005 +#define GL_LIGHT6 0x4006 +#define GL_LIGHT7 0x4007 +#define GL_SPOT_EXPONENT 0x1205 +#define GL_SPOT_CUTOFF 0x1206 +#define GL_CONSTANT_ATTENUATION 0x1207 +#define GL_LINEAR_ATTENUATION 0x1208 +#define GL_QUADRATIC_ATTENUATION 0x1209 +#define GL_AMBIENT 0x1200 +#define GL_DIFFUSE 0x1201 +#define GL_SPECULAR 0x1202 +#define GL_SHININESS 0x1601 +#define GL_EMISSION 0x1600 +#define GL_POSITION 0x1203 +#define GL_SPOT_DIRECTION 0x1204 +#define GL_AMBIENT_AND_DIFFUSE 0x1602 +#define GL_COLOR_INDEXES 0x1603 +#define GL_LIGHT_MODEL_TWO_SIDE 0x0B52 +#define GL_LIGHT_MODEL_LOCAL_VIEWER 0x0B51 +#define GL_LIGHT_MODEL_AMBIENT 0x0B53 +#define GL_FRONT_AND_BACK 0x0408 +#define GL_SHADE_MODEL 0x0B54 +#define GL_FLAT 0x1D00 +#define GL_SMOOTH 0x1D01 +#define GL_COLOR_MATERIAL 0x0B57 +#define GL_COLOR_MATERIAL_FACE 0x0B55 +#define GL_COLOR_MATERIAL_PARAMETER 0x0B56 +#define GL_NORMALIZE 0x0BA1 +#define GL_CLIP_PLANE0 0x3000 +#define GL_CLIP_PLANE1 0x3001 +#define GL_CLIP_PLANE2 0x3002 +#define GL_CLIP_PLANE3 0x3003 +#define GL_CLIP_PLANE4 0x3004 +#define GL_CLIP_PLANE5 0x3005 +#define GL_ACCUM_RED_BITS 0x0D58 +#define GL_ACCUM_GREEN_BITS 0x0D59 +#define GL_ACCUM_BLUE_BITS 0x0D5A +#define GL_ACCUM_ALPHA_BITS 0x0D5B +#define GL_ACCUM_CLEAR_VALUE 0x0B80 +#define GL_ACCUM 0x0100 +#define GL_ADD 0x0104 +#define GL_LOAD 0x0101 +#define GL_MULT 0x0103 +#define GL_RETURN 0x0102 +#define GL_ALPHA_TEST 0x0BC0 +#define GL_ALPHA_TEST_REF 0x0BC2 +#define GL_ALPHA_TEST_FUNC 0x0BC1 +#define GL_BLEND 0x0BE2 +#define GL_BLEND_SRC 0x0BE1 +#define GL_BLEND_DST 0x0BE0 +#define GL_ZERO 0x0 +#define GL_ONE 0x1 +#define GL_SRC_COLOR 0x0300 +#define GL_ONE_MINUS_SRC_COLOR 0x0301 +#define GL_SRC_ALPHA 0x0302 +#define GL_ONE_MINUS_SRC_ALPHA 0x0303 +#define GL_DST_ALPHA 0x0304 +#define GL_ONE_MINUS_DST_ALPHA 0x0305 +#define GL_DST_COLOR 0x0306 +#define GL_ONE_MINUS_DST_COLOR 0x0307 +#define GL_SRC_ALPHA_SATURATE 0x0308 +#define GL_FEEDBACK 0x1C01 +#define GL_RENDER 0x1C00 +#define GL_SELECT 0x1C02 +#define GL_2D 0x0600 +#define GL_3D 0x0601 +#define GL_3D_COLOR 0x0602 +#define GL_3D_COLOR_TEXTURE 0x0603 +#define GL_4D_COLOR_TEXTURE 0x0604 +#define GL_POINT_TOKEN 0x0701 +#define GL_LINE_TOKEN 0x0702 +#define GL_LINE_RESET_TOKEN 0x0707 +#define GL_POLYGON_TOKEN 0x0703 +#define GL_BITMAP_TOKEN 0x0704 +#define GL_DRAW_PIXEL_TOKEN 0x0705 +#define GL_COPY_PIXEL_TOKEN 0x0706 +#define GL_PASS_THROUGH_TOKEN 0x0700 +#define GL_FEEDBACK_BUFFER_POINTER 0x0DF0 +#define GL_FEEDBACK_BUFFER_SIZE 0x0DF1 +#define GL_FEEDBACK_BUFFER_TYPE 0x0DF2 +#define GL_SELECTION_BUFFER_POINTER 0x0DF3 +#define GL_SELECTION_BUFFER_SIZE 0x0DF4 +#define GL_FOG 0x0B60 +#define GL_FOG_MODE 0x0B65 +#define GL_FOG_DENSITY 0x0B62 +#define GL_FOG_COLOR 0x0B66 +#define GL_FOG_INDEX 0x0B61 +#define GL_FOG_START 0x0B63 +#define GL_FOG_END 0x0B64 +#define GL_LINEAR 0x2601 +#define GL_EXP 0x0800 +#define GL_EXP2 0x0801 +#define GL_LOGIC_OP 0x0BF1 +#define GL_INDEX_LOGIC_OP 0x0BF1 +#define GL_COLOR_LOGIC_OP 0x0BF2 +#define GL_LOGIC_OP_MODE 0x0BF0 +#define GL_CLEAR 0x1500 +#define GL_SET 0x150F +#define GL_COPY 0x1503 +#define GL_COPY_INVERTED 0x150C +#define GL_NOOP 0x1505 +#define GL_INVERT 0x150A +#define GL_AND 0x1501 +#define GL_NAND 0x150E +#define GL_OR 0x1507 +#define GL_NOR 0x1508 +#define GL_XOR 0x1506 +#define GL_EQUIV 0x1509 +#define GL_AND_REVERSE 0x1502 +#define GL_AND_INVERTED 0x1504 +#define GL_OR_REVERSE 0x150B +#define GL_OR_INVERTED 0x150D +#define GL_STENCIL_BITS 0x0D57 +#define GL_STENCIL_TEST 0x0B90 +#define GL_STENCIL_CLEAR_VALUE 0x0B91 +#define GL_STENCIL_FUNC 0x0B92 +#define GL_STENCIL_VALUE_MASK 0x0B93 +#define GL_STENCIL_FAIL 0x0B94 +#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 +#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 +#define GL_STENCIL_REF 0x0B97 +#define GL_STENCIL_WRITEMASK 0x0B98 +#define GL_STENCIL_INDEX 0x1901 +#define GL_KEEP 0x1E00 +#define GL_REPLACE 0x1E01 +#define GL_INCR 0x1E02 +#define GL_DECR 0x1E03 +#define GL_NONE 0x0 +#define GL_LEFT 0x0406 +#define GL_RIGHT 0x0407 +#define GL_FRONT_LEFT 0x0400 +#define GL_FRONT_RIGHT 0x0401 +#define GL_BACK_LEFT 0x0402 +#define GL_BACK_RIGHT 0x0403 +#define GL_AUX0 0x0409 +#define GL_AUX1 0x040A +#define GL_AUX2 0x040B +#define GL_AUX3 0x040C +#define GL_COLOR_INDEX 0x1900 +#define GL_RED 0x1903 +#define GL_GREEN 0x1904 +#define GL_BLUE 0x1905 +#define GL_ALPHA 0x1906 +#define GL_LUMINANCE 0x1909 +#define GL_LUMINANCE_ALPHA 0x190A +#define GL_ALPHA_BITS 0x0D55 +#define GL_RED_BITS 0x0D52 +#define GL_GREEN_BITS 0x0D53 +#define GL_BLUE_BITS 0x0D54 +#define GL_INDEX_BITS 0x0D51 +#define GL_SUBPIXEL_BITS 0x0D50 +#define GL_AUX_BUFFERS 0x0C00 +#define GL_READ_BUFFER 0x0C02 +#define GL_DRAW_BUFFER 0x0C01 +#define GL_DOUBLEBUFFER 0x0C32 +#define GL_STEREO 0x0C33 +#define GL_BITMAP 0x1A00 +#define GL_COLOR 0x1800 +#define GL_DEPTH 0x1801 +#define GL_STENCIL 0x1802 +#define GL_DITHER 0x0BD0 +#define GL_RGB 0x1907 +#define GL_RGBA 0x1908 +#define GL_MAX_LIST_NESTING 0x0B31 +#define GL_MAX_EVAL_ORDER 0x0D30 +#define GL_MAX_LIGHTS 0x0D31 +#define GL_MAX_CLIP_PLANES 0x0D32 +#define GL_MAX_TEXTURE_SIZE 0x0D33 +#define GL_MAX_PIXEL_MAP_TABLE 0x0D34 +#define GL_MAX_ATTRIB_STACK_DEPTH 0x0D35 +#define GL_MAX_MODELVIEW_STACK_DEPTH 0x0D36 +#define GL_MAX_NAME_STACK_DEPTH 0x0D37 +#define GL_MAX_PROJECTION_STACK_DEPTH 0x0D38 +#define GL_MAX_TEXTURE_STACK_DEPTH 0x0D39 +#define GL_MAX_VIEWPORT_DIMS 0x0D3A +#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH 0x0D3B +#define GL_ATTRIB_STACK_DEPTH 0x0BB0 +#define GL_CLIENT_ATTRIB_STACK_DEPTH 0x0BB1 +#define GL_COLOR_CLEAR_VALUE 0x0C22 +#define GL_COLOR_WRITEMASK 0x0C23 +#define GL_CURRENT_INDEX 0x0B01 +#define GL_CURRENT_COLOR 0x0B00 +#define GL_CURRENT_NORMAL 0x0B02 +#define GL_CURRENT_RASTER_COLOR 0x0B04 +#define GL_CURRENT_RASTER_DISTANCE 0x0B09 +#define GL_CURRENT_RASTER_INDEX 0x0B05 +#define GL_CURRENT_RASTER_POSITION 0x0B07 +#define GL_CURRENT_RASTER_TEXTURE_COORDS 0x0B06 +#define GL_CURRENT_RASTER_POSITION_VALID 0x0B08 +#define GL_CURRENT_TEXTURE_COORDS 0x0B03 +#define GL_INDEX_CLEAR_VALUE 0x0C20 +#define GL_INDEX_MODE 0x0C30 +#define GL_INDEX_WRITEMASK 0x0C21 +#define GL_MODELVIEW_MATRIX 0x0BA6 +#define GL_MODELVIEW_STACK_DEPTH 0x0BA3 +#define GL_NAME_STACK_DEPTH 0x0D70 +#define GL_PROJECTION_MATRIX 0x0BA7 +#define GL_PROJECTION_STACK_DEPTH 0x0BA4 +#define GL_RENDER_MODE 0x0C40 +#define GL_RGBA_MODE 0x0C31 +#define GL_TEXTURE_MATRIX 0x0BA8 +#define GL_TEXTURE_STACK_DEPTH 0x0BA5 +#define GL_VIEWPORT 0x0BA2 +#define GL_AUTO_NORMAL 0x0D80 +#define GL_MAP1_COLOR_4 0x0D90 +#define GL_MAP1_INDEX 0x0D91 +#define GL_MAP1_NORMAL 0x0D92 +#define GL_MAP1_TEXTURE_COORD_1 0x0D93 +#define GL_MAP1_TEXTURE_COORD_2 0x0D94 +#define GL_MAP1_TEXTURE_COORD_3 0x0D95 +#define GL_MAP1_TEXTURE_COORD_4 0x0D96 +#define GL_MAP1_VERTEX_3 0x0D97 +#define GL_MAP1_VERTEX_4 0x0D98 +#define GL_MAP2_COLOR_4 0x0DB0 +#define GL_MAP2_INDEX 0x0DB1 +#define GL_MAP2_NORMAL 0x0DB2 +#define GL_MAP2_TEXTURE_COORD_1 0x0DB3 +#define GL_MAP2_TEXTURE_COORD_2 0x0DB4 +#define GL_MAP2_TEXTURE_COORD_3 0x0DB5 +#define GL_MAP2_TEXTURE_COORD_4 0x0DB6 +#define GL_MAP2_VERTEX_3 0x0DB7 +#define GL_MAP2_VERTEX_4 0x0DB8 +#define GL_MAP1_GRID_DOMAIN 0x0DD0 +#define GL_MAP1_GRID_SEGMENTS 0x0DD1 +#define GL_MAP2_GRID_DOMAIN 0x0DD2 +#define GL_MAP2_GRID_SEGMENTS 0x0DD3 +#define GL_COEFF 0x0A00 +#define GL_ORDER 0x0A01 +#define GL_DOMAIN 0x0A02 +#define GL_PERSPECTIVE_CORRECTION_HINT 0x0C50 +#define GL_POINT_SMOOTH_HINT 0x0C51 +#define GL_LINE_SMOOTH_HINT 0x0C52 +#define GL_POLYGON_SMOOTH_HINT 0x0C53 +#define GL_FOG_HINT 0x0C54 +#define GL_DONT_CARE 0x1100 +#define GL_FASTEST 0x1101 +#define GL_NICEST 0x1102 +#define GL_SCISSOR_BOX 0x0C10 +#define GL_SCISSOR_TEST 0x0C11 +#define GL_MAP_COLOR 0x0D10 +#define GL_MAP_STENCIL 0x0D11 +#define GL_INDEX_SHIFT 0x0D12 +#define GL_INDEX_OFFSET 0x0D13 +#define GL_RED_SCALE 0x0D14 +#define GL_RED_BIAS 0x0D15 +#define GL_GREEN_SCALE 0x0D18 +#define GL_GREEN_BIAS 0x0D19 +#define GL_BLUE_SCALE 0x0D1A +#define GL_BLUE_BIAS 0x0D1B +#define GL_ALPHA_SCALE 0x0D1C +#define GL_ALPHA_BIAS 0x0D1D +#define GL_DEPTH_SCALE 0x0D1E +#define GL_DEPTH_BIAS 0x0D1F +#define GL_PIXEL_MAP_S_TO_S_SIZE 0x0CB1 +#define GL_PIXEL_MAP_I_TO_I_SIZE 0x0CB0 +#define GL_PIXEL_MAP_I_TO_R_SIZE 0x0CB2 +#define GL_PIXEL_MAP_I_TO_G_SIZE 0x0CB3 +#define GL_PIXEL_MAP_I_TO_B_SIZE 0x0CB4 +#define GL_PIXEL_MAP_I_TO_A_SIZE 0x0CB5 +#define GL_PIXEL_MAP_R_TO_R_SIZE 0x0CB6 +#define GL_PIXEL_MAP_G_TO_G_SIZE 0x0CB7 +#define GL_PIXEL_MAP_B_TO_B_SIZE 0x0CB8 +#define GL_PIXEL_MAP_A_TO_A_SIZE 0x0CB9 +#define GL_PIXEL_MAP_S_TO_S 0x0C71 +#define GL_PIXEL_MAP_I_TO_I 0x0C70 +#define GL_PIXEL_MAP_I_TO_R 0x0C72 +#define GL_PIXEL_MAP_I_TO_G 0x0C73 +#define GL_PIXEL_MAP_I_TO_B 0x0C74 +#define GL_PIXEL_MAP_I_TO_A 0x0C75 +#define GL_PIXEL_MAP_R_TO_R 0x0C76 +#define GL_PIXEL_MAP_G_TO_G 0x0C77 +#define GL_PIXEL_MAP_B_TO_B 0x0C78 +#define GL_PIXEL_MAP_A_TO_A 0x0C79 +#define GL_PACK_ALIGNMENT 0x0D05 +#define GL_PACK_LSB_FIRST 0x0D01 +#define GL_PACK_ROW_LENGTH 0x0D02 +#define GL_PACK_SKIP_PIXELS 0x0D04 +#define GL_PACK_SKIP_ROWS 0x0D03 +#define GL_PACK_SWAP_BYTES 0x0D00 +#define GL_UNPACK_ALIGNMENT 0x0CF5 +#define GL_UNPACK_LSB_FIRST 0x0CF1 +#define GL_UNPACK_ROW_LENGTH 0x0CF2 +#define GL_UNPACK_SKIP_PIXELS 0x0CF4 +#define GL_UNPACK_SKIP_ROWS 0x0CF3 +#define GL_UNPACK_SWAP_BYTES 0x0CF0 +#define GL_ZOOM_X 0x0D16 +#define GL_ZOOM_Y 0x0D17 +#define GL_TEXTURE_ENV 0x2300 +#define GL_TEXTURE_ENV_MODE 0x2200 +#define GL_TEXTURE_1D 0x0DE0 +#define GL_TEXTURE_2D 0x0DE1 +#define GL_TEXTURE_WRAP_S 0x2802 +#define GL_TEXTURE_WRAP_T 0x2803 +#define GL_TEXTURE_MAG_FILTER 0x2800 +#define GL_TEXTURE_MIN_FILTER 0x2801 +#define GL_TEXTURE_ENV_COLOR 0x2201 +#define GL_TEXTURE_GEN_S 0x0C60 +#define GL_TEXTURE_GEN_T 0x0C61 +#define GL_TEXTURE_GEN_MODE 0x2500 +#define GL_TEXTURE_BORDER_COLOR 0x1004 +#define GL_TEXTURE_WIDTH 0x1000 +#define GL_TEXTURE_HEIGHT 0x1001 +#define GL_TEXTURE_BORDER 0x1005 +#define GL_TEXTURE_COMPONENTS 0x1003 +#define GL_TEXTURE_RED_SIZE 0x805C +#define GL_TEXTURE_GREEN_SIZE 0x805D +#define GL_TEXTURE_BLUE_SIZE 0x805E +#define GL_TEXTURE_ALPHA_SIZE 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE 0x8061 +#define GL_NEAREST_MIPMAP_NEAREST 0x2700 +#define GL_NEAREST_MIPMAP_LINEAR 0x2702 +#define GL_LINEAR_MIPMAP_NEAREST 0x2701 +#define GL_LINEAR_MIPMAP_LINEAR 0x2703 +#define GL_OBJECT_LINEAR 0x2401 +#define GL_OBJECT_PLANE 0x2501 +#define GL_EYE_LINEAR 0x2400 +#define GL_EYE_PLANE 0x2502 +#define GL_SPHERE_MAP 0x2402 +#define GL_DECAL 0x2101 +#define GL_MODULATE 0x2100 +#define GL_NEAREST 0x2600 +#define GL_REPEAT 0x2901 +#define GL_CLAMP 0x2900 +#define GL_S 0x2000 +#define GL_T 0x2001 +#define GL_R 0x2002 +#define GL_Q 0x2003 +#define GL_TEXTURE_GEN_R 0x0C62 +#define GL_TEXTURE_GEN_Q 0x0C63 +#define GL_VENDOR 0x1F00 +#define GL_RENDERER 0x1F01 +#define GL_VERSION 0x1F02 +#define GL_EXTENSIONS 0x1F03 +#define GL_NO_ERROR 0x0 +#define GL_INVALID_ENUM 0x0500 +#define GL_INVALID_VALUE 0x0501 +#define GL_INVALID_OPERATION 0x0502 +#define GL_STACK_OVERFLOW 0x0503 +#define GL_STACK_UNDERFLOW 0x0504 +#define GL_OUT_OF_MEMORY 0x0505 +#define GL_CURRENT_BIT 0x00000001 +#define GL_POINT_BIT 0x00000002 +#define GL_LINE_BIT 0x00000004 +#define GL_POLYGON_BIT 0x00000008 +#define GL_POLYGON_STIPPLE_BIT 0x00000010 +#define GL_PIXEL_MODE_BIT 0x00000020 +#define GL_LIGHTING_BIT 0x00000040 +#define GL_FOG_BIT 0x00000080 +#define GL_DEPTH_BUFFER_BIT 0x00000100 +#define GL_ACCUM_BUFFER_BIT 0x00000200 +#define GL_STENCIL_BUFFER_BIT 0x00000400 +#define GL_VIEWPORT_BIT 0x00000800 +#define GL_TRANSFORM_BIT 0x00001000 +#define GL_ENABLE_BIT 0x00002000 +#define GL_COLOR_BUFFER_BIT 0x00004000 +#define GL_HINT_BIT 0x00008000 +#define GL_EVAL_BIT 0x00010000 +#define GL_LIST_BIT 0x00020000 +#define GL_TEXTURE_BIT 0x00040000 +#define GL_SCISSOR_BIT 0x00080000 +#define GL_ALL_ATTRIB_BITS 0x000FFFFF +#define GL_PROXY_TEXTURE_1D 0x8063 +#define GL_PROXY_TEXTURE_2D 0x8064 +#define GL_TEXTURE_PRIORITY 0x8066 +#define GL_TEXTURE_RESIDENT 0x8067 +#define GL_TEXTURE_BINDING_1D 0x8068 +#define GL_TEXTURE_BINDING_2D 0x8069 +#define GL_TEXTURE_INTERNAL_FORMAT 0x1003 +#define GL_ALPHA4 0x803B +#define GL_ALPHA8 0x803C +#define GL_ALPHA12 0x803D +#define GL_ALPHA16 0x803E +#define GL_LUMINANCE4 0x803F +#define GL_LUMINANCE8 0x8040 +#define GL_LUMINANCE12 0x8041 +#define GL_LUMINANCE16 0x8042 +#define GL_LUMINANCE4_ALPHA4 0x8043 +#define GL_LUMINANCE6_ALPHA2 0x8044 +#define GL_LUMINANCE8_ALPHA8 0x8045 +#define GL_LUMINANCE12_ALPHA4 0x8046 +#define GL_LUMINANCE12_ALPHA12 0x8047 +#define GL_LUMINANCE16_ALPHA16 0x8048 +#define GL_INTENSITY 0x8049 +#define GL_INTENSITY4 0x804A +#define GL_INTENSITY8 0x804B +#define GL_INTENSITY12 0x804C +#define GL_INTENSITY16 0x804D +#define GL_R3_G3_B2 0x2A10 +#define GL_RGB4 0x804F +#define GL_RGB5 0x8050 +#define GL_RGB8 0x8051 +#define GL_RGB10 0x8052 +#define GL_RGB12 0x8053 +#define GL_RGB16 0x8054 +#define GL_RGBA2 0x8055 +#define GL_RGBA4 0x8056 +#define GL_RGB5_A1 0x8057 +#define GL_RGBA8 0x8058 +#define GL_RGB10_A2 0x8059 +#define GL_RGBA12 0x805A +#define GL_RGBA16 0x805B +#define GL_CLIENT_PIXEL_STORE_BIT 0x00000001 +#define GL_CLIENT_VERTEX_ARRAY_BIT 0x00000002 +#define GL_ALL_CLIENT_ATTRIB_BITS 0xFFFFFFFF +#define GL_CLIENT_ALL_ATTRIB_BITS 0xFFFFFFFF +#define GL_RESCALE_NORMAL 0x803A +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_MAX_ELEMENTS_VERTICES 0x80E8 +#define GL_MAX_ELEMENTS_INDICES 0x80E9 +#define GL_BGR 0x80E0 +#define GL_BGRA 0x80E1 +#define GL_UNSIGNED_BYTE_3_3_2 0x8032 +#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 +#define GL_UNSIGNED_INT_8_8_8_8 0x8035 +#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 +#define GL_UNSIGNED_INT_10_10_10_2 0x8036 +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 +#define GL_SINGLE_COLOR 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR 0x81FA +#define GL_TEXTURE_MIN_LOD 0x813A +#define GL_TEXTURE_MAX_LOD 0x813B +#define GL_TEXTURE_BASE_LEVEL 0x813C +#define GL_TEXTURE_MAX_LEVEL 0x813D +#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 +#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 +#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_ALIASED_POINT_SIZE_RANGE 0x846D +#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E +#define GL_PACK_SKIP_IMAGES 0x806B +#define GL_PACK_IMAGE_HEIGHT 0x806C +#define GL_UNPACK_SKIP_IMAGES 0x806D +#define GL_UNPACK_IMAGE_HEIGHT 0x806E +#define GL_TEXTURE_3D 0x806F +#define GL_PROXY_TEXTURE_3D 0x8070 +#define GL_TEXTURE_DEPTH 0x8071 +#define GL_TEXTURE_WRAP_R 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE 0x8073 +#define GL_TEXTURE_BINDING_3D 0x806A +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_COLOR_TABLE 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 +#define GL_PROXY_COLOR_TABLE 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 +#define GL_COLOR_TABLE_SCALE 0x80D6 +#define GL_COLOR_TABLE_BIAS 0x80D7 +#define GL_COLOR_TABLE_FORMAT 0x80D8 +#define GL_COLOR_TABLE_WIDTH 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF +#define GL_CONVOLUTION_1D 0x8010 +#define GL_CONVOLUTION_2D 0x8011 +#define GL_SEPARABLE_2D 0x8012 +#define GL_CONVOLUTION_BORDER_MODE 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS 0x8015 +#define GL_REDUCE 0x8016 +#define GL_CONVOLUTION_FORMAT 0x8017 +#define GL_CONVOLUTION_WIDTH 0x8018 +#define GL_CONVOLUTION_HEIGHT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 +#define GL_CONSTANT_BORDER 0x8151 +#define GL_REPLICATE_BORDER 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR 0x8154 +#define GL_COLOR_MATRIX 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB +#define GL_HISTOGRAM 0x8024 +#define GL_PROXY_HISTOGRAM 0x8025 +#define GL_HISTOGRAM_WIDTH 0x8026 +#define GL_HISTOGRAM_FORMAT 0x8027 +#define GL_HISTOGRAM_RED_SIZE 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C +#define GL_HISTOGRAM_SINK 0x802D +#define GL_MINMAX 0x802E +#define GL_MINMAX_FORMAT 0x802F +#define GL_MINMAX_SINK 0x8030 +#define GL_TABLE_TOO_LARGE 0x8031 +#define GL_BLEND_EQUATION 0x8009 +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +#define GL_FUNC_ADD 0x8006 +#define GL_FUNC_SUBTRACT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_BLEND_COLOR 0x8005 +#define GL_TEXTURE0_ARB 0x84C0 +#define GL_TEXTURE1_ARB 0x84C1 +#define GL_TEXTURE2_ARB 0x84C2 +#define GL_TEXTURE3_ARB 0x84C3 +#define GL_TEXTURE4_ARB 0x84C4 +#define GL_TEXTURE5_ARB 0x84C5 +#define GL_TEXTURE6_ARB 0x84C6 +#define GL_TEXTURE7_ARB 0x84C7 +#define GL_TEXTURE8_ARB 0x84C8 +#define GL_TEXTURE9_ARB 0x84C9 +#define GL_TEXTURE10_ARB 0x84CA +#define GL_TEXTURE11_ARB 0x84CB +#define GL_TEXTURE12_ARB 0x84CC +#define GL_TEXTURE13_ARB 0x84CD +#define GL_TEXTURE14_ARB 0x84CE +#define GL_TEXTURE15_ARB 0x84CF +#define GL_TEXTURE16_ARB 0x84D0 +#define GL_TEXTURE17_ARB 0x84D1 +#define GL_TEXTURE18_ARB 0x84D2 +#define GL_TEXTURE19_ARB 0x84D3 +#define GL_TEXTURE20_ARB 0x84D4 +#define GL_TEXTURE21_ARB 0x84D5 +#define GL_TEXTURE22_ARB 0x84D6 +#define GL_TEXTURE23_ARB 0x84D7 +#define GL_TEXTURE24_ARB 0x84D8 +#define GL_TEXTURE25_ARB 0x84D9 +#define GL_TEXTURE26_ARB 0x84DA +#define GL_TEXTURE27_ARB 0x84DB +#define GL_TEXTURE28_ARB 0x84DC +#define GL_TEXTURE29_ARB 0x84DD +#define GL_TEXTURE30_ARB 0x84DE +#define GL_TEXTURE31_ARB 0x84DF +#define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 + +#endif diff --git a/Code/Physics/Glut/EmptyGL/GL/egl_logged.h b/Code/Physics/Glut/EmptyGL/GL/egl_logged.h new file mode 100644 index 00000000..67efcafe --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/egl_logged.h @@ -0,0 +1,20 @@ +inline void glFinish() {xGLL(EGL_TOKEN_glFinish);}; +inline void glClear(GLbitfield a0) {xGLL(EGL_TOKEN_glClear);xGLL(a0);}; +inline void glFlush() {xGLL(EGL_TOKEN_glFlush);}; +inline void glMatrixMode(GLenum a0) {xGLL(EGL_TOKEN_glMatrixMode);xGLL(a0);}; +inline void glOrtho(GLdouble a0,GLdouble a1,GLdouble a2,GLdouble a3,GLdouble a4,GLdouble a5) {xGLL(EGL_TOKEN_glOrtho);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);xGLL(a4);xGLL(a5);}; +inline void glFrustum(GLdouble a0,GLdouble a1,GLdouble a2,GLdouble a3,GLdouble a4,GLdouble a5) {xGLL(EGL_TOKEN_glFrustum);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);xGLL(a4);xGLL(a5);}; +inline void glViewport(GLint a0,GLint a1,GLsizei a2,GLsizei a3) {xGLL(EGL_TOKEN_glViewport);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);}; +inline void glPushMatrix() {xGLL(EGL_TOKEN_glPushMatrix);}; +inline void glPopMatrix() {xGLL(EGL_TOKEN_glPopMatrix);}; +inline void glLoadIdentity() {xGLL(EGL_TOKEN_glLoadIdentity);}; +inline void glLoadMatrixd(const GLdouble * a0) {xGLL(EGL_TOKEN_glLoadMatrixd);xGLL(a0);}; +inline void glLoadMatrixf(const GLfloat * a0) {xGLL(EGL_TOKEN_glLoadMatrixf);xGLL(a0);}; +inline void glMultMatrixd(const GLdouble * a0) {xGLL(EGL_TOKEN_glMultMatrixd);xGLL(a0);}; +inline void glMultMatrixf(const GLfloat * a0) {xGLL(EGL_TOKEN_glMultMatrixf);xGLL(a0);}; +inline void glRotated(GLdouble a0,GLdouble a1,GLdouble a2,GLdouble a3) {xGLL(EGL_TOKEN_glRotated);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);}; +inline void glRotatef(GLfloat a0,GLfloat a1,GLfloat a2,GLfloat a3) {xGLL(EGL_TOKEN_glRotatef);xGLL(a0);xGLL(a1);xGLL(a2);xGLL(a3);}; +inline void glScaled(GLdouble a0,GLdouble a1,GLdouble a2) {xGLL(EGL_TOKEN_glScaled);xGLL(a0);xGLL(a1);xGLL(a2);}; +inline void glScalef(GLfloat a0,GLfloat a1,GLfloat a2) {xGLL(EGL_TOKEN_glScalef);xGLL(a0);xGLL(a1);xGLL(a2);}; +inline void glTranslated(GLdouble a0,GLdouble a1,GLdouble a2) {xGLL(EGL_TOKEN_glTranslated);xGLL(a0);xGLL(a1);xGLL(a2);}; +inline void glTranslatef(GLfloat a0,GLfloat a1,GLfloat a2) {xGLL(EGL_TOKEN_glTranslatef);xGLL(a0);xGLL(a1);xGLL(a2);}; diff --git a/Code/Physics/Glut/EmptyGL/GL/egl_tokens.h b/Code/Physics/Glut/EmptyGL/GL/egl_tokens.h new file mode 100644 index 00000000..9678adcd --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/egl_tokens.h @@ -0,0 +1,459 @@ +#ifndef EGL_TOKENS_H +#define EGL_TOKENS_H + +#define EGL_TOKEN_glClearIndex 0x0 +#define EGL_TOKEN_glClearColor 0x1 +#define EGL_TOKEN_glClear 0x2 +#define EGL_TOKEN_glIndexMask 0x3 +#define EGL_TOKEN_glColorMask 0x4 +#define EGL_TOKEN_glAlphaFunc 0x5 +#define EGL_TOKEN_glBlendFunc 0x6 +#define EGL_TOKEN_glLogicOp 0x7 +#define EGL_TOKEN_glCullFace 0x8 +#define EGL_TOKEN_glFrontFace 0x9 +#define EGL_TOKEN_glPointSize 0xa +#define EGL_TOKEN_glLineWidth 0xb +#define EGL_TOKEN_glLineStipple 0xc +#define EGL_TOKEN_glPolygonMode 0xd +#define EGL_TOKEN_glPolygonOffset 0xe +#define EGL_TOKEN_glPolygonStipple 0xf +#define EGL_TOKEN_glGetPolygonStipple 0x10 +#define EGL_TOKEN_glEdgeFlag 0x11 +#define EGL_TOKEN_glEdgeFlagv 0x12 +#define EGL_TOKEN_glScissor 0x13 +#define EGL_TOKEN_glClipPlane 0x14 +#define EGL_TOKEN_glGetClipPlane 0x15 +#define EGL_TOKEN_glDrawBuffer 0x16 +#define EGL_TOKEN_glReadBuffer 0x17 +#define EGL_TOKEN_glEnable 0x18 +#define EGL_TOKEN_glDisable 0x19 +#define EGL_TOKEN_glIsEnabled 0x1a +#define EGL_TOKEN_glEnableClientState 0x1b +#define EGL_TOKEN_glDisableClientState 0x1c +#define EGL_TOKEN_glGetBooleanv 0x1d +#define EGL_TOKEN_glGetDoublev 0x1e +#define EGL_TOKEN_glGetFloatv 0x1f +#define EGL_TOKEN_glGetIntegerv 0x20 +#define EGL_TOKEN_glPushAttrib 0x21 +#define EGL_TOKEN_glPopAttrib 0x22 +#define EGL_TOKEN_glPushClientAttrib 0x23 +#define EGL_TOKEN_glPopClientAttrib 0x24 +#define EGL_TOKEN_glRenderMode 0x25 +#define EGL_TOKEN_glGetError 0x26 +#define EGL_TOKEN_glGetString 0x27 +#define EGL_TOKEN_glFinish 0x28 +#define EGL_TOKEN_glFlush 0x29 +#define EGL_TOKEN_glHint 0x2a +#define EGL_TOKEN_glClearDepth 0x2b +#define EGL_TOKEN_glDepthFunc 0x2c +#define EGL_TOKEN_glDepthMask 0x2d +#define EGL_TOKEN_glDepthRange 0x2e +#define EGL_TOKEN_glClearAccum 0x2f +#define EGL_TOKEN_glAccum 0x30 +#define EGL_TOKEN_glMatrixMode 0x31 +#define EGL_TOKEN_glOrtho 0x32 +#define EGL_TOKEN_glFrustum 0x33 +#define EGL_TOKEN_glViewport 0x34 +#define EGL_TOKEN_glPushMatrix 0x35 +#define EGL_TOKEN_glPopMatrix 0x36 +#define EGL_TOKEN_glLoadIdentity 0x37 +#define EGL_TOKEN_glLoadMatrixd 0x38 +#define EGL_TOKEN_glLoadMatrixf 0x39 +#define EGL_TOKEN_glMultMatrixd 0x3a +#define EGL_TOKEN_glMultMatrixf 0x3b +#define EGL_TOKEN_glRotated 0x3c +#define EGL_TOKEN_glRotatef 0x3d +#define EGL_TOKEN_glScaled 0x3e +#define EGL_TOKEN_glScalef 0x3f +#define EGL_TOKEN_glTranslated 0x40 +#define EGL_TOKEN_glTranslatef 0x41 +#define EGL_TOKEN_glIsList 0x42 +#define EGL_TOKEN_glDeleteLists 0x43 +#define EGL_TOKEN_glGenLists 0x44 +#define EGL_TOKEN_glNewList 0x45 +#define EGL_TOKEN_glEndList 0x46 +#define EGL_TOKEN_glCallList 0x47 +#define EGL_TOKEN_glCallLists 0x48 +#define EGL_TOKEN_glListBase 0x49 +#define EGL_TOKEN_glBegin 0x4a +#define EGL_TOKEN_glEnd 0x4b +#define EGL_TOKEN_glVertex2d 0x4c +#define EGL_TOKEN_glVertex2f 0x4d +#define EGL_TOKEN_glVertex2i 0x4e +#define EGL_TOKEN_glVertex2s 0x4f +#define EGL_TOKEN_glVertex3d 0x50 +#define EGL_TOKEN_glVertex3f 0x51 +#define EGL_TOKEN_glVertex3i 0x52 +#define EGL_TOKEN_glVertex3s 0x53 +#define EGL_TOKEN_glVertex4d 0x54 +#define EGL_TOKEN_glVertex4f 0x55 +#define EGL_TOKEN_glVertex4i 0x56 +#define EGL_TOKEN_glVertex4s 0x57 +#define EGL_TOKEN_glVertex2dv 0x58 +#define EGL_TOKEN_glVertex2fv 0x59 +#define EGL_TOKEN_glVertex2iv 0x5a +#define EGL_TOKEN_glVertex2sv 0x5b +#define EGL_TOKEN_glVertex3dv 0x5c +#define EGL_TOKEN_glVertex3fv 0x5d +#define EGL_TOKEN_glVertex3iv 0x5e +#define EGL_TOKEN_glVertex3sv 0x5f +#define EGL_TOKEN_glVertex4dv 0x60 +#define EGL_TOKEN_glVertex4fv 0x61 +#define EGL_TOKEN_glVertex4iv 0x62 +#define EGL_TOKEN_glVertex4sv 0x63 +#define EGL_TOKEN_glNormal3b 0x64 +#define EGL_TOKEN_glNormal3d 0x65 +#define EGL_TOKEN_glNormal3f 0x66 +#define EGL_TOKEN_glNormal3i 0x67 +#define EGL_TOKEN_glNormal3s 0x68 +#define EGL_TOKEN_glNormal3bv 0x69 +#define EGL_TOKEN_glNormal3dv 0x6a +#define EGL_TOKEN_glNormal3fv 0x6b +#define EGL_TOKEN_glNormal3iv 0x6c +#define EGL_TOKEN_glNormal3sv 0x6d +#define EGL_TOKEN_glIndexd 0x6e +#define EGL_TOKEN_glIndexf 0x6f +#define EGL_TOKEN_glIndexi 0x70 +#define EGL_TOKEN_glIndexs 0x71 +#define EGL_TOKEN_glIndexub 0x72 +#define EGL_TOKEN_glIndexdv 0x73 +#define EGL_TOKEN_glIndexfv 0x74 +#define EGL_TOKEN_glIndexiv 0x75 +#define EGL_TOKEN_glIndexsv 0x76 +#define EGL_TOKEN_glIndexubv 0x77 +#define EGL_TOKEN_glColor3b 0x78 +#define EGL_TOKEN_glColor3d 0x79 +#define EGL_TOKEN_glColor3f 0x7a +#define EGL_TOKEN_glColor3i 0x7b +#define EGL_TOKEN_glColor3s 0x7c +#define EGL_TOKEN_glColor3ub 0x7d +#define EGL_TOKEN_glColor3ui 0x7e +#define EGL_TOKEN_glColor3us 0x7f +#define EGL_TOKEN_glColor4b 0x80 +#define EGL_TOKEN_glColor4d 0x81 +#define EGL_TOKEN_glColor4f 0x82 +#define EGL_TOKEN_glColor4i 0x83 +#define EGL_TOKEN_glColor4s 0x84 +#define EGL_TOKEN_glColor4ub 0x85 +#define EGL_TOKEN_glColor4ui 0x86 +#define EGL_TOKEN_glColor4us 0x87 +#define EGL_TOKEN_glColor3bv 0x88 +#define EGL_TOKEN_glColor3dv 0x89 +#define EGL_TOKEN_glColor3fv 0x8a +#define EGL_TOKEN_glColor3iv 0x8b +#define EGL_TOKEN_glColor3sv 0x8c +#define EGL_TOKEN_glColor3ubv 0x8d +#define EGL_TOKEN_glColor3uiv 0x8e +#define EGL_TOKEN_glColor3usv 0x8f +#define EGL_TOKEN_glColor4bv 0x90 +#define EGL_TOKEN_glColor4dv 0x91 +#define EGL_TOKEN_glColor4fv 0x92 +#define EGL_TOKEN_glColor4iv 0x93 +#define EGL_TOKEN_glColor4sv 0x94 +#define EGL_TOKEN_glColor4ubv 0x95 +#define EGL_TOKEN_glColor4uiv 0x96 +#define EGL_TOKEN_glColor4usv 0x97 +#define EGL_TOKEN_glTexCoord1d 0x98 +#define EGL_TOKEN_glTexCoord1f 0x99 +#define EGL_TOKEN_glTexCoord1i 0x9a +#define EGL_TOKEN_glTexCoord1s 0x9b +#define EGL_TOKEN_glTexCoord2d 0x9c +#define EGL_TOKEN_glTexCoord2f 0x9d +#define EGL_TOKEN_glTexCoord2i 0x9e +#define EGL_TOKEN_glTexCoord2s 0x9f +#define EGL_TOKEN_glTexCoord3d 0xa0 +#define EGL_TOKEN_glTexCoord3f 0xa1 +#define EGL_TOKEN_glTexCoord3i 0xa2 +#define EGL_TOKEN_glTexCoord3s 0xa3 +#define EGL_TOKEN_glTexCoord4d 0xa4 +#define EGL_TOKEN_glTexCoord4f 0xa5 +#define EGL_TOKEN_glTexCoord4i 0xa6 +#define EGL_TOKEN_glTexCoord4s 0xa7 +#define EGL_TOKEN_glTexCoord1dv 0xa8 +#define EGL_TOKEN_glTexCoord1fv 0xa9 +#define EGL_TOKEN_glTexCoord1iv 0xaa +#define EGL_TOKEN_glTexCoord1sv 0xab +#define EGL_TOKEN_glTexCoord2dv 0xac +#define EGL_TOKEN_glTexCoord2fv 0xad +#define EGL_TOKEN_glTexCoord2iv 0xae +#define EGL_TOKEN_glTexCoord2sv 0xaf +#define EGL_TOKEN_glTexCoord3dv 0xb0 +#define EGL_TOKEN_glTexCoord3fv 0xb1 +#define EGL_TOKEN_glTexCoord3iv 0xb2 +#define EGL_TOKEN_glTexCoord3sv 0xb3 +#define EGL_TOKEN_glTexCoord4dv 0xb4 +#define EGL_TOKEN_glTexCoord4fv 0xb5 +#define EGL_TOKEN_glTexCoord4iv 0xb6 +#define EGL_TOKEN_glTexCoord4sv 0xb7 +#define EGL_TOKEN_glRasterPos2d 0xb8 +#define EGL_TOKEN_glRasterPos2f 0xb9 +#define EGL_TOKEN_glRasterPos2i 0xba +#define EGL_TOKEN_glRasterPos2s 0xbb +#define EGL_TOKEN_glRasterPos3d 0xbc +#define EGL_TOKEN_glRasterPos3f 0xbd +#define EGL_TOKEN_glRasterPos3i 0xbe +#define EGL_TOKEN_glRasterPos3s 0xbf +#define EGL_TOKEN_glRasterPos4d 0xc0 +#define EGL_TOKEN_glRasterPos4f 0xc1 +#define EGL_TOKEN_glRasterPos4i 0xc2 +#define EGL_TOKEN_glRasterPos4s 0xc3 +#define EGL_TOKEN_glRasterPos2dv 0xc4 +#define EGL_TOKEN_glRasterPos2fv 0xc5 +#define EGL_TOKEN_glRasterPos2iv 0xc6 +#define EGL_TOKEN_glRasterPos2sv 0xc7 +#define EGL_TOKEN_glRasterPos3dv 0xc8 +#define EGL_TOKEN_glRasterPos3fv 0xc9 +#define EGL_TOKEN_glRasterPos3iv 0xca +#define EGL_TOKEN_glRasterPos3sv 0xcb +#define EGL_TOKEN_glRasterPos4dv 0xcc +#define EGL_TOKEN_glRasterPos4fv 0xcd +#define EGL_TOKEN_glRasterPos4iv 0xce +#define EGL_TOKEN_glRasterPos4sv 0xcf +#define EGL_TOKEN_glRectd 0xd0 +#define EGL_TOKEN_glRectf 0xd1 +#define EGL_TOKEN_glRecti 0xd2 +#define EGL_TOKEN_glRects 0xd3 +#define EGL_TOKEN_glRectdv 0xd4 +#define EGL_TOKEN_glRectfv 0xd5 +#define EGL_TOKEN_glRectiv 0xd6 +#define EGL_TOKEN_glRectsv 0xd7 +#define EGL_TOKEN_glVertexPointer 0xd8 +#define EGL_TOKEN_glNormalPointer 0xd9 +#define EGL_TOKEN_glColorPointer 0xda +#define EGL_TOKEN_glIndexPointer 0xdb +#define EGL_TOKEN_glTexCoordPointer 0xdc +#define EGL_TOKEN_glEdgeFlagPointer 0xdd +#define EGL_TOKEN_glGetPointerv 0xde +#define EGL_TOKEN_glArrayElement 0xdf +#define EGL_TOKEN_glDrawArrays 0xe0 +#define EGL_TOKEN_glDrawElements 0xe1 +#define EGL_TOKEN_glInterleavedArrays 0xe2 +#define EGL_TOKEN_glShadeModel 0xe3 +#define EGL_TOKEN_glLightf 0xe4 +#define EGL_TOKEN_glLighti 0xe5 +#define EGL_TOKEN_glLightfv 0xe6 +#define EGL_TOKEN_glLightiv 0xe7 +#define EGL_TOKEN_glGetLightfv 0xe8 +#define EGL_TOKEN_glGetLightiv 0xe9 +#define EGL_TOKEN_glLightModelf 0xea +#define EGL_TOKEN_glLightModeli 0xeb +#define EGL_TOKEN_glLightModelfv 0xec +#define EGL_TOKEN_glLightModeliv 0xed +#define EGL_TOKEN_glMaterialf 0xee +#define EGL_TOKEN_glMateriali 0xef +#define EGL_TOKEN_glMaterialfv 0xf0 +#define EGL_TOKEN_glMaterialiv 0xf1 +#define EGL_TOKEN_glGetMaterialfv 0xf2 +#define EGL_TOKEN_glGetMaterialiv 0xf3 +#define EGL_TOKEN_glColorMaterial 0xf4 +#define EGL_TOKEN_glPixelZoom 0xf5 +#define EGL_TOKEN_glPixelStoref 0xf6 +#define EGL_TOKEN_glPixelStorei 0xf7 +#define EGL_TOKEN_glPixelTransferf 0xf8 +#define EGL_TOKEN_glPixelTransferi 0xf9 +#define EGL_TOKEN_glPixelMapfv 0xfa +#define EGL_TOKEN_glPixelMapuiv 0xfb +#define EGL_TOKEN_glPixelMapusv 0xfc +#define EGL_TOKEN_glGetPixelMapfv 0xfd +#define EGL_TOKEN_glGetPixelMapuiv 0xfe +#define EGL_TOKEN_glGetPixelMapusv 0xff +#define EGL_TOKEN_glBitmap 0x100 +#define EGL_TOKEN_glReadPixels 0x101 +#define EGL_TOKEN_glDrawPixels 0x102 +#define EGL_TOKEN_glCopyPixels 0x103 +#define EGL_TOKEN_glStencilFunc 0x104 +#define EGL_TOKEN_glStencilMask 0x105 +#define EGL_TOKEN_glStencilOp 0x106 +#define EGL_TOKEN_glClearStencil 0x107 +#define EGL_TOKEN_glTexGend 0x108 +#define EGL_TOKEN_glTexGenf 0x109 +#define EGL_TOKEN_glTexGeni 0x10a +#define EGL_TOKEN_glTexGendv 0x10b +#define EGL_TOKEN_glTexGenfv 0x10c +#define EGL_TOKEN_glTexGeniv 0x10d +#define EGL_TOKEN_glGetTexGendv 0x10e +#define EGL_TOKEN_glGetTexGenfv 0x10f +#define EGL_TOKEN_glGetTexGeniv 0x110 +#define EGL_TOKEN_glTexEnvf 0x111 +#define EGL_TOKEN_glTexEnvi 0x112 +#define EGL_TOKEN_glTexEnvfv 0x113 +#define EGL_TOKEN_glTexEnviv 0x114 +#define EGL_TOKEN_glGetTexEnvfv 0x115 +#define EGL_TOKEN_glGetTexEnviv 0x116 +#define EGL_TOKEN_glTexParameterf 0x117 +#define EGL_TOKEN_glTexParameteri 0x118 +#define EGL_TOKEN_glTexParameterfv 0x119 +#define EGL_TOKEN_glTexParameteriv 0x11a +#define EGL_TOKEN_glGetTexParameterfv 0x11b +#define EGL_TOKEN_glGetTexParameteriv 0x11c +#define EGL_TOKEN_glGetTexLevelParameterfv 0x11d +#define EGL_TOKEN_glGetTexLevelParameteriv 0x11e +#define EGL_TOKEN_glTexImage1D 0x11f +#define EGL_TOKEN_glTexImage2D 0x120 +#define EGL_TOKEN_glGetTexImage 0x121 +#define EGL_TOKEN_glGenTextures 0x122 +#define EGL_TOKEN_glDeleteTextures 0x123 +#define EGL_TOKEN_glBindTexture 0x124 +#define EGL_TOKEN_glPrioritizeTextures 0x125 +#define EGL_TOKEN_glAreTexturesResident 0x126 +#define EGL_TOKEN_glIsTexture 0x127 +#define EGL_TOKEN_glTexSubImage1D 0x128 +#define EGL_TOKEN_glTexSubImage2D 0x129 +#define EGL_TOKEN_glCopyTexImage1D 0x12a +#define EGL_TOKEN_glCopyTexImage2D 0x12b +#define EGL_TOKEN_glCopyTexSubImage1D 0x12c +#define EGL_TOKEN_glCopyTexSubImage2D 0x12d +#define EGL_TOKEN_glMap1d 0x12e +#define EGL_TOKEN_glMap1f 0x12f +#define EGL_TOKEN_glMap2d 0x130 +#define EGL_TOKEN_glMap2f 0x131 +#define EGL_TOKEN_glGetMapdv 0x132 +#define EGL_TOKEN_glGetMapfv 0x133 +#define EGL_TOKEN_glGetMapiv 0x134 +#define EGL_TOKEN_glEvalCoord1d 0x135 +#define EGL_TOKEN_glEvalCoord1f 0x136 +#define EGL_TOKEN_glEvalCoord1dv 0x137 +#define EGL_TOKEN_glEvalCoord1fv 0x138 +#define EGL_TOKEN_glEvalCoord2d 0x139 +#define EGL_TOKEN_glEvalCoord2f 0x13a +#define EGL_TOKEN_glEvalCoord2dv 0x13b +#define EGL_TOKEN_glEvalCoord2fv 0x13c +#define EGL_TOKEN_glMapGrid1d 0x13d +#define EGL_TOKEN_glMapGrid1f 0x13e +#define EGL_TOKEN_glMapGrid2d 0x13f +#define EGL_TOKEN_glMapGrid2f 0x140 +#define EGL_TOKEN_glEvalPoint1 0x141 +#define EGL_TOKEN_glEvalPoint2 0x142 +#define EGL_TOKEN_glEvalMesh1 0x143 +#define EGL_TOKEN_glEvalMesh2 0x144 +#define EGL_TOKEN_glFogf 0x145 +#define EGL_TOKEN_glFogi 0x146 +#define EGL_TOKEN_glFogfv 0x147 +#define EGL_TOKEN_glFogiv 0x148 +#define EGL_TOKEN_glFeedbackBuffer 0x149 +#define EGL_TOKEN_glPassThrough 0x14a +#define EGL_TOKEN_glSelectBuffer 0x14b +#define EGL_TOKEN_glInitNames 0x14c +#define EGL_TOKEN_glLoadName 0x14d +#define EGL_TOKEN_glPushName 0x14e +#define EGL_TOKEN_glPopName 0x14f +#define EGL_TOKEN_glDrawRangeElements 0x150 +#define EGL_TOKEN_glTexImage3D 0x151 +#define EGL_TOKEN_glTexSubImage3D 0x152 +#define EGL_TOKEN_glCopyTexSubImage3D 0x153 +#define EGL_TOKEN_glColorTable 0x154 +#define EGL_TOKEN_glColorSubTable 0x155 +#define EGL_TOKEN_glColorTableParameteriv 0x156 +#define EGL_TOKEN_glColorTableParameterfv 0x157 +#define EGL_TOKEN_glCopyColorSubTable 0x158 +#define EGL_TOKEN_glCopyColorTable 0x159 +#define EGL_TOKEN_glGetColorTable 0x15a +#define EGL_TOKEN_glGetColorTableParameterfv 0x15b +#define EGL_TOKEN_glGetColorTableParameteriv 0x15c +#define EGL_TOKEN_glBlendEquation 0x15d +#define EGL_TOKEN_glBlendColor 0x15e +#define EGL_TOKEN_glHistogram 0x15f +#define EGL_TOKEN_glResetHistogram 0x160 +#define EGL_TOKEN_glGetHistogram 0x161 +#define EGL_TOKEN_glGetHistogramParameterfv 0x162 +#define EGL_TOKEN_glGetHistogramParameteriv 0x163 +#define EGL_TOKEN_glMinmax 0x164 +#define EGL_TOKEN_glResetMinmax 0x165 +#define EGL_TOKEN_glGetMinmax 0x166 +#define EGL_TOKEN_glGetMinmaxParameterfv 0x167 +#define EGL_TOKEN_glGetMinmaxParameteriv 0x168 +#define EGL_TOKEN_glConvolutionFilter1D 0x169 +#define EGL_TOKEN_glConvolutionFilter2D 0x16a +#define EGL_TOKEN_glConvolutionParameterf 0x16b +#define EGL_TOKEN_glConvolutionParameterfv 0x16c +#define EGL_TOKEN_glConvolutionParameteri 0x16d +#define EGL_TOKEN_glConvolutionParameteriv 0x16e +#define EGL_TOKEN_glCopyConvolutionFilter1D 0x16f +#define EGL_TOKEN_glCopyConvolutionFilter2D 0x170 +#define EGL_TOKEN_glGetConvolutionFilter 0x171 +#define EGL_TOKEN_glGetConvolutionParameterfv 0x172 +#define EGL_TOKEN_glGetConvolutionParameteriv 0x173 +#define EGL_TOKEN_glSeparableFilter2D 0x174 +#define EGL_TOKEN_glGetSeparableFilter 0x175 +#define EGL_TOKEN_glActiveTexture 0x176 +#define EGL_TOKEN_glClientActiveTexture 0x177 +#define EGL_TOKEN_glCompressedTexImage1D 0x178 +#define EGL_TOKEN_glCompressedTexImage2D 0x179 +#define EGL_TOKEN_glCompressedTexImage3D 0x17a +#define EGL_TOKEN_glCompressedTexSubImage1D 0x17b +#define EGL_TOKEN_glCompressedTexSubImage2D 0x17c +#define EGL_TOKEN_glCompressedTexSubImage3D 0x17d +#define EGL_TOKEN_glGetCompressedTexImage 0x17e +#define EGL_TOKEN_glMultiTexCoord1d 0x17f +#define EGL_TOKEN_glMultiTexCoord1dv 0x180 +#define EGL_TOKEN_glMultiTexCoord1f 0x181 +#define EGL_TOKEN_glMultiTexCoord1fv 0x182 +#define EGL_TOKEN_glMultiTexCoord1i 0x183 +#define EGL_TOKEN_glMultiTexCoord1iv 0x184 +#define EGL_TOKEN_glMultiTexCoord1s 0x185 +#define EGL_TOKEN_glMultiTexCoord1sv 0x186 +#define EGL_TOKEN_glMultiTexCoord2d 0x187 +#define EGL_TOKEN_glMultiTexCoord2dv 0x188 +#define EGL_TOKEN_glMultiTexCoord2f 0x189 +#define EGL_TOKEN_glMultiTexCoord2fv 0x18a +#define EGL_TOKEN_glMultiTexCoord2i 0x18b +#define EGL_TOKEN_glMultiTexCoord2iv 0x18c +#define EGL_TOKEN_glMultiTexCoord2s 0x18d +#define EGL_TOKEN_glMultiTexCoord2sv 0x18e +#define EGL_TOKEN_glMultiTexCoord3d 0x18f +#define EGL_TOKEN_glMultiTexCoord3dv 0x190 +#define EGL_TOKEN_glMultiTexCoord3f 0x191 +#define EGL_TOKEN_glMultiTexCoord3fv 0x192 +#define EGL_TOKEN_glMultiTexCoord3i 0x193 +#define EGL_TOKEN_glMultiTexCoord3iv 0x194 +#define EGL_TOKEN_glMultiTexCoord3s 0x195 +#define EGL_TOKEN_glMultiTexCoord3sv 0x196 +#define EGL_TOKEN_glMultiTexCoord4d 0x197 +#define EGL_TOKEN_glMultiTexCoord4dv 0x198 +#define EGL_TOKEN_glMultiTexCoord4f 0x199 +#define EGL_TOKEN_glMultiTexCoord4fv 0x19a +#define EGL_TOKEN_glMultiTexCoord4i 0x19b +#define EGL_TOKEN_glMultiTexCoord4iv 0x19c +#define EGL_TOKEN_glMultiTexCoord4s 0x19d +#define EGL_TOKEN_glMultiTexCoord4sv 0x19e +#define EGL_TOKEN_glLoadTransposeMatrixd 0x19f +#define EGL_TOKEN_glLoadTransposeMatrixf 0x1a0 +#define EGL_TOKEN_glMultTransposeMatrixd 0x1a1 +#define EGL_TOKEN_glMultTransposeMatrixf 0x1a2 +#define EGL_TOKEN_glSampleCoverage 0x1a3 +#define EGL_TOKEN_glActiveTextureARB 0x1a4 +#define EGL_TOKEN_glClientActiveTextureARB 0x1a5 +#define EGL_TOKEN_glMultiTexCoord1dARB 0x1a6 +#define EGL_TOKEN_glMultiTexCoord1dvARB 0x1a7 +#define EGL_TOKEN_glMultiTexCoord1fARB 0x1a8 +#define EGL_TOKEN_glMultiTexCoord1fvARB 0x1a9 +#define EGL_TOKEN_glMultiTexCoord1iARB 0x1aa +#define EGL_TOKEN_glMultiTexCoord1ivARB 0x1ab +#define EGL_TOKEN_glMultiTexCoord1sARB 0x1ac +#define EGL_TOKEN_glMultiTexCoord1svARB 0x1ad +#define EGL_TOKEN_glMultiTexCoord2dARB 0x1ae +#define EGL_TOKEN_glMultiTexCoord2dvARB 0x1af +#define EGL_TOKEN_glMultiTexCoord2fARB 0x1b0 +#define EGL_TOKEN_glMultiTexCoord2fvARB 0x1b1 +#define EGL_TOKEN_glMultiTexCoord2iARB 0x1b2 +#define EGL_TOKEN_glMultiTexCoord2ivARB 0x1b3 +#define EGL_TOKEN_glMultiTexCoord2sARB 0x1b4 +#define EGL_TOKEN_glMultiTexCoord2svARB 0x1b5 +#define EGL_TOKEN_glMultiTexCoord3dARB 0x1b6 +#define EGL_TOKEN_glMultiTexCoord3dvARB 0x1b7 +#define EGL_TOKEN_glMultiTexCoord3fARB 0x1b8 +#define EGL_TOKEN_glMultiTexCoord3fvARB 0x1b9 +#define EGL_TOKEN_glMultiTexCoord3iARB 0x1ba +#define EGL_TOKEN_glMultiTexCoord3ivARB 0x1bb +#define EGL_TOKEN_glMultiTexCoord3sARB 0x1bc +#define EGL_TOKEN_glMultiTexCoord3svARB 0x1bd +#define EGL_TOKEN_glMultiTexCoord4dARB 0x1be +#define EGL_TOKEN_glMultiTexCoord4dvARB 0x1bf +#define EGL_TOKEN_glMultiTexCoord4fARB 0x1c0 +#define EGL_TOKEN_glMultiTexCoord4fvARB 0x1c1 +#define EGL_TOKEN_glMultiTexCoord4iARB 0x1c2 +#define EGL_TOKEN_glMultiTexCoord4ivARB 0x1c3 +#define EGL_TOKEN_glMultiTexCoord4sARB 0x1c4 +#define EGL_TOKEN_glMultiTexCoord4svARB 0x1c5 + +#endif diff --git a/Code/Physics/Glut/EmptyGL/GL/egl_void.h b/Code/Physics/Glut/EmptyGL/GL/egl_void.h new file mode 100644 index 00000000..82cb7e36 --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/egl_void.h @@ -0,0 +1,422 @@ +#define glClearIndex(_a0) {(void)(_a0);} +#define glClearColor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glIndexMask(_a0) {(void)(_a0);} +#define glColorMask(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glAlphaFunc(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glBlendFunc(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glLogicOp(_a0) {(void)(_a0);} +#define glCullFace(_a0) {(void)(_a0);} +#define glFrontFace(_a0) {(void)(_a0);} +#define glPointSize(_a0) {(void)(_a0);} +#define glLineWidth(_a0) {(void)(_a0);} +#define glLineStipple(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPolygonMode(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPolygonOffset(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPolygonStipple(_a0) {(void)(_a0);} +#define glGetPolygonStipple(_a0) {(void)(_a0);} +#define glEdgeFlag(_a0) {(void)(_a0);} +#define glEdgeFlagv(_a0) {(void)(_a0);} +#define glScissor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glClipPlane(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glGetClipPlane(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glDrawBuffer(_a0) {(void)(_a0);} +#define glReadBuffer(_a0) {(void)(_a0);} +#define glEnable(_a0) {(void)(_a0);} +#define glDisable(_a0) {(void)(_a0);} +#define glEnableClientState(_a0) {(void)(_a0);} +#define glDisableClientState(_a0) {(void)(_a0);} +#define glPushAttrib(_a0) {(void)(_a0);} +#define glPopAttrib() {} +#define glPushClientAttrib(_a0) {(void)(_a0);} +#define glPopClientAttrib() {} +#define glHint(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glClearDepth(_a0) {(void)(_a0);} +#define glDepthFunc(_a0) {(void)(_a0);} +#define glDepthMask(_a0) {(void)(_a0);} +#define glDepthRange(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glClearAccum(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glAccum(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glDeleteLists(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glNewList(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glEndList() {} +#define glCallList(_a0) {(void)(_a0);} +#define glCallLists(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glListBase(_a0) {(void)(_a0);} +#define glBegin(_a0) {(void)(_a0);} +#define glEnd() {} +#define glVertex2d(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glVertex2f(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glVertex2i(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glVertex2s(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glVertex3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glVertex3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glVertex3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glVertex3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glVertex4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glVertex4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glVertex4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glVertex4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glVertex2dv(_a0) {(void)(_a0);} +#define glVertex2fv(_a0) {(void)(_a0);} +#define glVertex2iv(_a0) {(void)(_a0);} +#define glVertex2sv(_a0) {(void)(_a0);} +#define glVertex3dv(_a0) {(void)(_a0);} +#define glVertex3fv(_a0) {(void)(_a0);} +#define glVertex3iv(_a0) {(void)(_a0);} +#define glVertex3sv(_a0) {(void)(_a0);} +#define glVertex4dv(_a0) {(void)(_a0);} +#define glVertex4fv(_a0) {(void)(_a0);} +#define glVertex4iv(_a0) {(void)(_a0);} +#define glVertex4sv(_a0) {(void)(_a0);} +#define glNormal3b(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glNormal3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glNormal3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glNormal3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glNormal3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glNormal3bv(_a0) {(void)(_a0);} +#define glNormal3dv(_a0) {(void)(_a0);} +#define glNormal3fv(_a0) {(void)(_a0);} +#define glNormal3iv(_a0) {(void)(_a0);} +#define glNormal3sv(_a0) {(void)(_a0);} +#define glIndexd(_a0) {(void)(_a0);} +#define glIndexf(_a0) {(void)(_a0);} +#define glIndexi(_a0) {(void)(_a0);} +#define glIndexs(_a0) {(void)(_a0);} +#define glIndexub(_a0) {(void)(_a0);} +#define glIndexdv(_a0) {(void)(_a0);} +#define glIndexfv(_a0) {(void)(_a0);} +#define glIndexiv(_a0) {(void)(_a0);} +#define glIndexsv(_a0) {(void)(_a0);} +#define glIndexubv(_a0) {(void)(_a0);} +#define glColor3b(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3ub(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3ui(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor3us(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColor4b(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4ub(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4ui(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor4us(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glColor3bv(_a0) {(void)(_a0);} +#define glColor3dv(_a0) {(void)(_a0);} +#define glColor3fv(_a0) {(void)(_a0);} +#define glColor3iv(_a0) {(void)(_a0);} +#define glColor3sv(_a0) {(void)(_a0);} +#define glColor3ubv(_a0) {(void)(_a0);} +#define glColor3uiv(_a0) {(void)(_a0);} +#define glColor3usv(_a0) {(void)(_a0);} +#define glColor4bv(_a0) {(void)(_a0);} +#define glColor4dv(_a0) {(void)(_a0);} +#define glColor4fv(_a0) {(void)(_a0);} +#define glColor4iv(_a0) {(void)(_a0);} +#define glColor4sv(_a0) {(void)(_a0);} +#define glColor4ubv(_a0) {(void)(_a0);} +#define glColor4uiv(_a0) {(void)(_a0);} +#define glColor4usv(_a0) {(void)(_a0);} +#define glTexCoord1d(_a0) {(void)(_a0);} +#define glTexCoord1f(_a0) {(void)(_a0);} +#define glTexCoord1i(_a0) {(void)(_a0);} +#define glTexCoord1s(_a0) {(void)(_a0);} +#define glTexCoord2d(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glTexCoord2f(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glTexCoord2i(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glTexCoord2s(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glTexCoord3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexCoord3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexCoord3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexCoord3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexCoord4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glTexCoord4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glTexCoord4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glTexCoord4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glTexCoord1dv(_a0) {(void)(_a0);} +#define glTexCoord1fv(_a0) {(void)(_a0);} +#define glTexCoord1iv(_a0) {(void)(_a0);} +#define glTexCoord1sv(_a0) {(void)(_a0);} +#define glTexCoord2dv(_a0) {(void)(_a0);} +#define glTexCoord2fv(_a0) {(void)(_a0);} +#define glTexCoord2iv(_a0) {(void)(_a0);} +#define glTexCoord2sv(_a0) {(void)(_a0);} +#define glTexCoord3dv(_a0) {(void)(_a0);} +#define glTexCoord3fv(_a0) {(void)(_a0);} +#define glTexCoord3iv(_a0) {(void)(_a0);} +#define glTexCoord3sv(_a0) {(void)(_a0);} +#define glTexCoord4dv(_a0) {(void)(_a0);} +#define glTexCoord4fv(_a0) {(void)(_a0);} +#define glTexCoord4iv(_a0) {(void)(_a0);} +#define glTexCoord4sv(_a0) {(void)(_a0);} +#define glRasterPos2d(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRasterPos2f(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRasterPos2i(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRasterPos2s(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRasterPos3d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glRasterPos3f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glRasterPos3i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glRasterPos3s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glRasterPos4d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRasterPos4f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRasterPos4i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRasterPos4s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRasterPos2dv(_a0) {(void)(_a0);} +#define glRasterPos2fv(_a0) {(void)(_a0);} +#define glRasterPos2iv(_a0) {(void)(_a0);} +#define glRasterPos2sv(_a0) {(void)(_a0);} +#define glRasterPos3dv(_a0) {(void)(_a0);} +#define glRasterPos3fv(_a0) {(void)(_a0);} +#define glRasterPos3iv(_a0) {(void)(_a0);} +#define glRasterPos3sv(_a0) {(void)(_a0);} +#define glRasterPos4dv(_a0) {(void)(_a0);} +#define glRasterPos4fv(_a0) {(void)(_a0);} +#define glRasterPos4iv(_a0) {(void)(_a0);} +#define glRasterPos4sv(_a0) {(void)(_a0);} +#define glRectd(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRectf(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRecti(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRects(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glRectdv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRectfv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRectiv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glRectsv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glVertexPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glNormalPointer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColorPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glIndexPointer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexCoordPointer(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glEdgeFlagPointer(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glGetPointerv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glArrayElement(_a0) {(void)(_a0);} +#define glDrawArrays(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glDrawElements(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glInterleavedArrays(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glShadeModel(_a0) {(void)(_a0);} +#define glLightf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glLighti(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glLightfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glLightiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetLightfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetLightiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glLightModelf(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glLightModeli(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glLightModelfv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glLightModeliv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMaterialf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMateriali(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMaterialfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMaterialiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetMaterialfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetMaterialiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColorMaterial(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelZoom(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelStoref(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelStorei(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelTransferf(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelTransferi(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPixelMapfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glPixelMapuiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glPixelMapusv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetPixelMapfv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glGetPixelMapuiv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glGetPixelMapusv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glBitmap(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glReadPixels(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glDrawPixels(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glCopyPixels(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glStencilFunc(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glStencilMask(_a0) {(void)(_a0);} +#define glStencilOp(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glClearStencil(_a0) {(void)(_a0);} +#define glTexGend(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexGenf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexGeni(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexGendv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexGenfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexGeniv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexGendv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexGenfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexGeniv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexEnvf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexEnvi(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexEnvfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexEnviv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexEnvfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexEnviv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexParameterf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexParameteri(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetTexLevelParameterfv(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glGetTexLevelParameteriv(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);} +#define glTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);} +#define glGetTexImage(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glGenTextures(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glDeleteTextures(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glBindTexture(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glPrioritizeTextures(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);} +#define glCopyTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glCopyTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);} +#define glCopyTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glCopyTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);} +#define glMap1d(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glMap1f(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glMap2d(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);} +#define glMap2f(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);} +#define glGetMapdv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetMapfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetMapiv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glEvalCoord1d(_a0) {(void)(_a0);} +#define glEvalCoord1f(_a0) {(void)(_a0);} +#define glEvalCoord1dv(_a0) {(void)(_a0);} +#define glEvalCoord1fv(_a0) {(void)(_a0);} +#define glEvalCoord2d(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glEvalCoord2f(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glEvalCoord2dv(_a0) {(void)(_a0);} +#define glEvalCoord2fv(_a0) {(void)(_a0);} +#define glMapGrid1d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMapGrid1f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMapGrid2d(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glMapGrid2f(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glEvalPoint1(_a0) {(void)(_a0);} +#define glEvalPoint2(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glEvalMesh1(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glEvalMesh2(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glFogf(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glFogi(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glFogfv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glFogiv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glFeedbackBuffer(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glPassThrough(_a0) {(void)(_a0);} +#define glSelectBuffer(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glInitNames() {} +#define glLoadName(_a0) {(void)(_a0);} +#define glPushName(_a0) {(void)(_a0);} +#define glPopName() {} +#define glDrawRangeElements(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glTexImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);} +#define glTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9,_a10) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);(void)(_a10);} +#define glCopyTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);} +#define glColorTable(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glColorSubTable(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glColorTableParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glColorTableParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glCopyColorSubTable(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glCopyColorTable(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glGetColorTable(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glGetColorTableParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetColorTableParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glBlendEquation(_a0) {(void)(_a0);} +#define glBlendColor(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glHistogram(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glResetHistogram(_a0) {(void)(_a0);} +#define glGetHistogram(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glGetHistogramParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetHistogramParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMinmax(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glResetMinmax(_a0) {(void)(_a0);} +#define glGetMinmax(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glGetMinmaxParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetMinmaxParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glConvolutionFilter1D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glConvolutionFilter2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glConvolutionParameterf(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glConvolutionParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glConvolutionParameteri(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glConvolutionParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glCopyConvolutionFilter1D(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glCopyConvolutionFilter2D(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glGetConvolutionFilter(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glGetConvolutionParameterfv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glGetConvolutionParameteriv(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glSeparableFilter2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);} +#define glGetSeparableFilter(_a0,_a1,_a2,_a3,_a4,_a5) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);} +#define glActiveTexture(_a0) {(void)(_a0);} +#define glClientActiveTexture(_a0) {(void)(_a0);} +#define glCompressedTexImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glCompressedTexImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);} +#define glCompressedTexImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);} +#define glCompressedTexSubImage1D(_a0,_a1,_a2,_a3,_a4,_a5,_a6) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);} +#define glCompressedTexSubImage2D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);} +#define glCompressedTexSubImage3D(_a0,_a1,_a2,_a3,_a4,_a5,_a6,_a7,_a8,_a9,_a10) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);(void)(_a5);(void)(_a6);(void)(_a7);(void)(_a8);(void)(_a9);(void)(_a10);} +#define glGetCompressedTexImage(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord1d(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1dv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1f(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1fv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1i(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1iv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1s(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1sv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2d(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2dv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2f(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2fv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2i(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2iv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2s(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2sv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3d(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3dv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3f(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3fv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3i(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3iv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3s(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3sv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4d(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4dv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4f(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4fv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4i(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4iv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4s(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4sv(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glLoadTransposeMatrixd(_a0) {(void)(_a0);} +#define glLoadTransposeMatrixf(_a0) {(void)(_a0);} +#define glMultTransposeMatrixd(_a0) {(void)(_a0);} +#define glMultTransposeMatrixf(_a0) {(void)(_a0);} +#define glSampleCoverage(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glActiveTextureARB(_a0) {(void)(_a0);} +#define glClientActiveTextureARB(_a0) {(void)(_a0);} +#define glMultiTexCoord1dARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1fARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1iARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1sARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord1svARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2dARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2fARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2iARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord2sARB(_a0,_a1,_a2) {(void)(_a0);(void)(_a1);(void)(_a2);} +#define glMultiTexCoord2svARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3dARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3fARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3iARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord3sARB(_a0,_a1,_a2,_a3) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);} +#define glMultiTexCoord3svARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4dARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4dvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4fARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4fvARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4iARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4ivARB(_a0,_a1) {(void)(_a0);(void)(_a1);} +#define glMultiTexCoord4sARB(_a0,_a1,_a2,_a3,_a4) {(void)(_a0);(void)(_a1);(void)(_a2);(void)(_a3);(void)(_a4);} +#define glMultiTexCoord4svARB(_a0,_a1) {(void)(_a0);(void)(_a1);} diff --git a/Code/Physics/Glut/EmptyGL/GL/gl.h b/Code/Physics/Glut/EmptyGL/GL/gl.h new file mode 100644 index 00000000..ee588a60 --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/gl.h @@ -0,0 +1,47 @@ +#ifndef __EGL_H +#define __EGL_H + +// include types and defines + +#include + +// include log tokens + +#include + +// include simple void functions we ignore + +#include + +// include functions that need a bit of work, but we don't log + +#include + +// include functions we log + +#ifdef EGL_LOG_PTR + +extern unsigned int *EGL_LOG_PTR; + +inline void xGLL(int a) { *EGL_LOG_PTR=(unsigned int)a; EGL_LOG_PTR++; }; +inline void xGLL(unsigned int a) { *EGL_LOG_PTR=a; EGL_LOG_PTR++; }; +inline void xGLL(float a) { *(float *)EGL_LOG_PTR=a; EGL_LOG_PTR++; }; +inline void xGLL(double a) { *(float *)EGL_LOG_PTR=(float)a; EGL_LOG_PTR++; }; +inline void xGLL(const float *a) { for(int t=0;t!=16;t++) xGLL(a[t]); }; +inline void xGLL(const double *a) { for(int t=0;t!=16;t++) xGLL(a[t]); }; +#else + +inline void xGLL(int a) {}; +inline void xGLL(unsigned int a) {}; +inline void xGLL(float a) {}; +inline void xGLL(double a) {}; +inline void xGLL(const float *a) {}; +inline void xGLL(const double *a) {}; + +#endif + +// functions we might log + +#include + +#endif diff --git a/Code/Physics/Glut/EmptyGL/GL/glu.h b/Code/Physics/Glut/EmptyGL/GL/glu.h new file mode 100644 index 00000000..95a40b2c --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/glu.h @@ -0,0 +1,23 @@ +#ifndef EMPTY_GLU +#define EMPTY_GLU + +inline void gluOrtho2D( int a,int b, int c ,int d ) { } ; +inline void gluLookAt( + GLfloat a,GLfloat b, GLfloat c, + GLfloat d,GLfloat e, GLfloat f, + GLfloat g,GLfloat h, GLfloat i ) { }; + +#define GLU_FILL 1 +#define GLU_SMOOTH 2 + +typedef int GLUquadric; +typedef GLUquadric GLUquadricObj; + +inline GLUquadric *gluNewQuadric() { return (GLUquadric *)1; }; +inline void gluQuadricDrawStyle( GLUquadric *o, int mode) {}; +inline void gluQuadricNormals( GLUquadric *o, int mode) {}; +inline void gluDeleteQuadric( GLUquadric *q) {}; +inline void gluDisk (GLUquadric* quad, GLdouble inner, GLdouble outer, GLint slices, GLint loops) {}; +inline void gluCylinder (GLUquadric* quad, GLdouble base, GLdouble top, GLdouble height, GLint slices, GLint stacks) {}; +inline int gluBuild2DMipmaps (GLenum target, GLint components, GLint width, GLint height, GLenum format, GLenum type, const void *data) { return 0;} +#endif diff --git a/Code/Physics/Glut/EmptyGL/GL/glut.h b/Code/Physics/Glut/EmptyGL/GL/glut.h new file mode 100644 index 00000000..9007ecda --- /dev/null +++ b/Code/Physics/Glut/EmptyGL/GL/glut.h @@ -0,0 +1,60 @@ +#ifndef EMPTY_GLUT_H +#define EMPTY_GLUT_H + +#include +#include + + +#define GLUT_KEY_F1 0 +#define GLUT_KEY_F2 1 +#define GLUT_KEY_END 2 +#define GLUT_KEY_LEFT 3 +#define GLUT_KEY_RIGHT 4 +#define GLUT_KEY_UP 5 +#define GLUT_KEY_DOWN 6 +#define GLUT_KEY_PAGE_UP 7 +#define GLUT_KEY_PAGE_DOWN 8 +#define GLUT_KEY_HOME 9 +#define GLUT_KEY_F3 10 +#define GLUT_KEY_F4 11 +#define GLUT_KEY_F5 12 +#define GLUT_ACTIVE_SHIFT 13 + + +#define GLUT_DOUBLE 1 +#define GLUT_RGBA 2 +#define GLUT_DEPTH 4 +#define GLUT_STENCIL 8 +#define GLUT_WINDOW_WIDTH 16 +#define GLUT_WINDOW_HEIGHT 32 +#define GLUT_RGB 64 + + + + +inline void glutSwapBuffers() {} +inline void glutShowWindow() {} +inline void glutPostRedisplay() {} +inline void glutInit(int *argc, char **argv) {} +inline void glutInitDisplayMode( unsigned int ) {} +inline void glutInitWindowPosition(int x, int y) {} +inline void glutInitWindowSize(int x, int y) {} +inline int glutCreateWindow( const char *str) {return 0;} +inline void glutKeyboardFunc( void (*func)(unsigned char, int ,int ) ) {} +inline void glutSpecialFunc( void (*func)(int key, int x,int y) ) {} +inline void glutSpecialUpFunc( void (*func)(int key, int x,int y) ) {} +inline void glutReshapeFunc( void (*func)(int w,int h) ) {} +inline void glutDisplayFunc( void (*func)() ) {} +inline void glutIdleFunc( void (*func)() ) {} +inline void glutMotionFunc( void (*func)(int x,int y) ) {} +inline void glutMouseFunc( void (*func)(int button,int state,int x,int y) ) {} +inline void glutMainLoop() {} +inline void glutSetWindow(int bla) {} + +inline void glutSolidCube(GLfloat ) {} +inline void glutSolidSphere(GLfloat , int a , int b) {} +inline void glutSolidCone(GLfloat ,GLfloat , int a , int b) {} +inline int glutGetModifiers() { return 0;} +inline void gluPerspective(float a,float b,float c,float d) {} +inline float glutGet(int code) { return 0.f;} +#endif diff --git a/Code/Physics/Glut/GL/glew.h b/Code/Physics/Glut/GL/glew.h new file mode 100644 index 00000000..f70103d1 --- /dev/null +++ b/Code/Physics/Glut/GL/glew.h @@ -0,0 +1,15507 @@ +/* +** The OpenGL Extension Wrangler Library +** Copyright (C) 2002-2008, Milan Ikits +** Copyright (C) 2002-2008, Marcelo E. Magallon +** Copyright (C) 2002, Lev Povalahev +** All rights reserved. +** +** Redistribution and use in source and binary forms, with or without +** modification, are permitted provided that the following conditions are met: +** +** * Redistributions of source code must retain the above copyright notice, +** this list of conditions and the following disclaimer. +** * Redistributions in binary form must reproduce the above copyright notice, +** this list of conditions and the following disclaimer in the documentation +** and/or other materials provided with the distribution. +** * The name of the author may be used to endorse or promote products +** derived from this software without specific prior written permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +** ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +** LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +** CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +** SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +** INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +** CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +** ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF +** THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* + * Mesa 3-D graphics library + * Version: 7.0 + * + * Copyright (C) 1999-2007 Brian Paul All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN + * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* +** Copyright (c) 2007 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +#ifndef __glew_h__ +#define __glew_h__ +#define __GLEW_H__ + +#if defined(__gl_h_) || defined(__GL_H__) || defined(__X_GL_H) +#error gl.h included before glew.h +#endif +#if defined(__glext_h_) || defined(__GLEXT_H_) +#error glext.h included before glew.h +#endif +#if defined(__gl_ATI_h_) +#error glATI.h included before glew.h +#endif + +#define __gl_h_ +#define __GL_H__ +#define __X_GL_H +#define __glext_h_ +#define __GLEXT_H_ +#define __gl_ATI_h_ + +#if defined(_WIN32) + +/* + * GLEW does not include to avoid name space pollution. + * GL needs GLAPI and GLAPIENTRY, GLU needs APIENTRY, CALLBACK, and wchar_t + * defined properly. + */ +/* */ +#ifndef APIENTRY +#define GLEW_APIENTRY_DEFINED +# if defined(__MINGW32__) || defined(__CYGWIN__) +# define APIENTRY __stdcall +# elif (_MSC_VER >= 800) || defined(_STDCALL_SUPPORTED) || defined(__BORLANDC__) +# define APIENTRY __stdcall +# else +# define APIENTRY +# endif +#endif +#ifndef GLAPI +# if defined(__MINGW32__) || defined(__CYGWIN__) +# define GLAPI extern +# endif +#endif +/* */ +#ifndef CALLBACK +#define GLEW_CALLBACK_DEFINED +# if defined(__MINGW32__) || defined(__CYGWIN__) +# define CALLBACK __attribute__ ((__stdcall__)) +# elif (defined(_M_MRX000) || defined(_M_IX86) || defined(_M_ALPHA) || defined(_M_PPC)) && !defined(MIDL_PASS) +# define CALLBACK __stdcall +# else +# define CALLBACK +# endif +#endif +/* and */ +#ifndef WINGDIAPI +#define GLEW_WINGDIAPI_DEFINED +#define WINGDIAPI __declspec(dllimport) +#endif +/* */ +#if (defined(_MSC_VER) || defined(__BORLANDC__)) && !defined(_WCHAR_T_DEFINED) +typedef unsigned short wchar_t; +# define _WCHAR_T_DEFINED +#endif +/* */ +#if !defined(_W64) +# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && defined(_MSC_VER) && _MSC_VER >= 1300 +# define _W64 __w64 +# else +# define _W64 +# endif +#endif +#if !defined(_PTRDIFF_T_DEFINED) && !defined(_PTRDIFF_T_) && !defined(__MINGW64__) +# ifdef _WIN64 +typedef __int64 ptrdiff_t; +# else +typedef _W64 int ptrdiff_t; +# endif +# define _PTRDIFF_T_DEFINED +# define _PTRDIFF_T_ +#endif + +#ifndef GLAPI +# if defined(__MINGW32__) || defined(__CYGWIN__) +# define GLAPI extern +# else +# define GLAPI WINGDIAPI +# endif +#endif + +#ifndef GLAPIENTRY +#define GLAPIENTRY APIENTRY +#endif + +/* + * GLEW_STATIC is defined for static library. + * GLEW_BUILD is defined for building the DLL library. + */ + +#ifdef GLEW_STATIC +# define GLEWAPI extern +#else +# ifdef GLEW_BUILD +# define GLEWAPI extern __declspec(dllexport) +# else +# define GLEWAPI extern __declspec(dllimport) +# endif +#endif + +#else /* _UNIX */ + +/* + * Needed for ptrdiff_t in turn needed by VBO. This is defined by ISO + * C. On my system, this amounts to _3 lines_ of included code, all of + * them pretty much harmless. If you know of a way of detecting 32 vs + * 64 _targets_ at compile time you are free to replace this with + * something that's portable. For now, _this_ is the portable solution. + * (mem, 2004-01-04) + */ + +#include + +/* SGI MIPSPro doesn't like stdint.h in C++ mode */ + +#if defined(__sgi) && !defined(__GNUC__) +#include +#else +#include +#endif + +#define GLEW_APIENTRY_DEFINED +#define APIENTRY + +/* + * GLEW_STATIC is defined for static library. + */ + +#ifdef GLEW_STATIC +# define GLEWAPI extern +#else +# if defined(__GNUC__) && __GNUC__>=4 +# define GLEWAPI extern __attribute__ ((visibility("default"))) +# elif defined(__SUNPRO_C) || defined(__SUNPRO_CC) +# define GLEWAPI extern __global +# else +# define GLEWAPI extern +# endif +#endif + +/* */ +#ifndef GLAPI +#define GLAPI extern +#endif +#ifndef GLAPIENTRY +#define GLAPIENTRY +#endif + +#endif /* _WIN32 */ + +#ifdef __cplusplus +extern "C" { +#endif + +/* ----------------------------- GL_VERSION_1_1 ---------------------------- */ + +#ifndef GL_VERSION_1_1 +#define GL_VERSION_1_1 1 + +typedef unsigned int GLenum; +typedef unsigned int GLbitfield; +typedef unsigned int GLuint; +typedef int GLint; +typedef int GLsizei; +typedef unsigned char GLboolean; +typedef signed char GLbyte; +typedef short GLshort; +typedef unsigned char GLubyte; +typedef unsigned short GLushort; +typedef unsigned long GLulong; +typedef float GLfloat; +typedef float GLclampf; +typedef double GLdouble; +typedef double GLclampd; +typedef void GLvoid; +#if defined(_MSC_VER) && _MSC_VER < 1400 +typedef __int64 GLint64EXT; +typedef unsigned __int64 GLuint64EXT; +#elif defined(_MSC_VER) || defined(__BORLANDC__) +typedef signed long long GLint64EXT; +typedef unsigned long long GLuint64EXT; +#else +# if defined(__MINGW32__) || defined(__CYGWIN__) +#include +# endif +typedef int64_t GLint64EXT; +typedef uint64_t GLuint64EXT; +#endif +typedef GLint64EXT GLint64; +typedef GLuint64EXT GLuint64; +typedef struct __GLsync *GLsync; + +typedef char GLchar; + +#define GL_ZERO 0 +#define GL_FALSE 0 +#define GL_LOGIC_OP 0x0BF1 +#define GL_NONE 0 +#define GL_TEXTURE_COMPONENTS 0x1003 +#define GL_NO_ERROR 0 +#define GL_POINTS 0x0000 +#define GL_CURRENT_BIT 0x00000001 +#define GL_TRUE 1 +#define GL_ONE 1 +#define GL_CLIENT_PIXEL_STORE_BIT 0x00000001 +#define GL_LINES 0x0001 +#define GL_LINE_LOOP 0x0002 +#define GL_POINT_BIT 0x00000002 +#define GL_CLIENT_VERTEX_ARRAY_BIT 0x00000002 +#define GL_LINE_STRIP 0x0003 +#define GL_LINE_BIT 0x00000004 +#define GL_TRIANGLES 0x0004 +#define GL_TRIANGLE_STRIP 0x0005 +#define GL_TRIANGLE_FAN 0x0006 +#define GL_QUADS 0x0007 +#define GL_QUAD_STRIP 0x0008 +#define GL_POLYGON_BIT 0x00000008 +#define GL_POLYGON 0x0009 +#define GL_POLYGON_STIPPLE_BIT 0x00000010 +#define GL_PIXEL_MODE_BIT 0x00000020 +#define GL_LIGHTING_BIT 0x00000040 +#define GL_FOG_BIT 0x00000080 +#define GL_DEPTH_BUFFER_BIT 0x00000100 +#define GL_ACCUM 0x0100 +#define GL_LOAD 0x0101 +#define GL_RETURN 0x0102 +#define GL_MULT 0x0103 +#define GL_ADD 0x0104 +#define GL_NEVER 0x0200 +#define GL_ACCUM_BUFFER_BIT 0x00000200 +#define GL_LESS 0x0201 +#define GL_EQUAL 0x0202 +#define GL_LEQUAL 0x0203 +#define GL_GREATER 0x0204 +#define GL_NOTEQUAL 0x0205 +#define GL_GEQUAL 0x0206 +#define GL_ALWAYS 0x0207 +#define GL_SRC_COLOR 0x0300 +#define GL_ONE_MINUS_SRC_COLOR 0x0301 +#define GL_SRC_ALPHA 0x0302 +#define GL_ONE_MINUS_SRC_ALPHA 0x0303 +#define GL_DST_ALPHA 0x0304 +#define GL_ONE_MINUS_DST_ALPHA 0x0305 +#define GL_DST_COLOR 0x0306 +#define GL_ONE_MINUS_DST_COLOR 0x0307 +#define GL_SRC_ALPHA_SATURATE 0x0308 +#define GL_STENCIL_BUFFER_BIT 0x00000400 +#define GL_FRONT_LEFT 0x0400 +#define GL_FRONT_RIGHT 0x0401 +#define GL_BACK_LEFT 0x0402 +#define GL_BACK_RIGHT 0x0403 +#define GL_FRONT 0x0404 +#define GL_BACK 0x0405 +#define GL_LEFT 0x0406 +#define GL_RIGHT 0x0407 +#define GL_FRONT_AND_BACK 0x0408 +#define GL_AUX0 0x0409 +#define GL_AUX1 0x040A +#define GL_AUX2 0x040B +#define GL_AUX3 0x040C +#define GL_INVALID_ENUM 0x0500 +#define GL_INVALID_VALUE 0x0501 +#define GL_INVALID_OPERATION 0x0502 +#define GL_STACK_OVERFLOW 0x0503 +#define GL_STACK_UNDERFLOW 0x0504 +#define GL_OUT_OF_MEMORY 0x0505 +#define GL_2D 0x0600 +#define GL_3D 0x0601 +#define GL_3D_COLOR 0x0602 +#define GL_3D_COLOR_TEXTURE 0x0603 +#define GL_4D_COLOR_TEXTURE 0x0604 +#define GL_PASS_THROUGH_TOKEN 0x0700 +#define GL_POINT_TOKEN 0x0701 +#define GL_LINE_TOKEN 0x0702 +#define GL_POLYGON_TOKEN 0x0703 +#define GL_BITMAP_TOKEN 0x0704 +#define GL_DRAW_PIXEL_TOKEN 0x0705 +#define GL_COPY_PIXEL_TOKEN 0x0706 +#define GL_LINE_RESET_TOKEN 0x0707 +#define GL_EXP 0x0800 +#define GL_VIEWPORT_BIT 0x00000800 +#define GL_EXP2 0x0801 +#define GL_CW 0x0900 +#define GL_CCW 0x0901 +#define GL_COEFF 0x0A00 +#define GL_ORDER 0x0A01 +#define GL_DOMAIN 0x0A02 +#define GL_CURRENT_COLOR 0x0B00 +#define GL_CURRENT_INDEX 0x0B01 +#define GL_CURRENT_NORMAL 0x0B02 +#define GL_CURRENT_TEXTURE_COORDS 0x0B03 +#define GL_CURRENT_RASTER_COLOR 0x0B04 +#define GL_CURRENT_RASTER_INDEX 0x0B05 +#define GL_CURRENT_RASTER_TEXTURE_COORDS 0x0B06 +#define GL_CURRENT_RASTER_POSITION 0x0B07 +#define GL_CURRENT_RASTER_POSITION_VALID 0x0B08 +#define GL_CURRENT_RASTER_DISTANCE 0x0B09 +#define GL_POINT_SMOOTH 0x0B10 +#define GL_POINT_SIZE 0x0B11 +#define GL_POINT_SIZE_RANGE 0x0B12 +#define GL_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_LINE_SMOOTH 0x0B20 +#define GL_LINE_WIDTH 0x0B21 +#define GL_LINE_WIDTH_RANGE 0x0B22 +#define GL_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_LINE_STIPPLE 0x0B24 +#define GL_LINE_STIPPLE_PATTERN 0x0B25 +#define GL_LINE_STIPPLE_REPEAT 0x0B26 +#define GL_LIST_MODE 0x0B30 +#define GL_MAX_LIST_NESTING 0x0B31 +#define GL_LIST_BASE 0x0B32 +#define GL_LIST_INDEX 0x0B33 +#define GL_POLYGON_MODE 0x0B40 +#define GL_POLYGON_SMOOTH 0x0B41 +#define GL_POLYGON_STIPPLE 0x0B42 +#define GL_EDGE_FLAG 0x0B43 +#define GL_CULL_FACE 0x0B44 +#define GL_CULL_FACE_MODE 0x0B45 +#define GL_FRONT_FACE 0x0B46 +#define GL_LIGHTING 0x0B50 +#define GL_LIGHT_MODEL_LOCAL_VIEWER 0x0B51 +#define GL_LIGHT_MODEL_TWO_SIDE 0x0B52 +#define GL_LIGHT_MODEL_AMBIENT 0x0B53 +#define GL_SHADE_MODEL 0x0B54 +#define GL_COLOR_MATERIAL_FACE 0x0B55 +#define GL_COLOR_MATERIAL_PARAMETER 0x0B56 +#define GL_COLOR_MATERIAL 0x0B57 +#define GL_FOG 0x0B60 +#define GL_FOG_INDEX 0x0B61 +#define GL_FOG_DENSITY 0x0B62 +#define GL_FOG_START 0x0B63 +#define GL_FOG_END 0x0B64 +#define GL_FOG_MODE 0x0B65 +#define GL_FOG_COLOR 0x0B66 +#define GL_DEPTH_RANGE 0x0B70 +#define GL_DEPTH_TEST 0x0B71 +#define GL_DEPTH_WRITEMASK 0x0B72 +#define GL_DEPTH_CLEAR_VALUE 0x0B73 +#define GL_DEPTH_FUNC 0x0B74 +#define GL_ACCUM_CLEAR_VALUE 0x0B80 +#define GL_STENCIL_TEST 0x0B90 +#define GL_STENCIL_CLEAR_VALUE 0x0B91 +#define GL_STENCIL_FUNC 0x0B92 +#define GL_STENCIL_VALUE_MASK 0x0B93 +#define GL_STENCIL_FAIL 0x0B94 +#define GL_STENCIL_PASS_DEPTH_FAIL 0x0B95 +#define GL_STENCIL_PASS_DEPTH_PASS 0x0B96 +#define GL_STENCIL_REF 0x0B97 +#define GL_STENCIL_WRITEMASK 0x0B98 +#define GL_MATRIX_MODE 0x0BA0 +#define GL_NORMALIZE 0x0BA1 +#define GL_VIEWPORT 0x0BA2 +#define GL_MODELVIEW_STACK_DEPTH 0x0BA3 +#define GL_PROJECTION_STACK_DEPTH 0x0BA4 +#define GL_TEXTURE_STACK_DEPTH 0x0BA5 +#define GL_MODELVIEW_MATRIX 0x0BA6 +#define GL_PROJECTION_MATRIX 0x0BA7 +#define GL_TEXTURE_MATRIX 0x0BA8 +#define GL_ATTRIB_STACK_DEPTH 0x0BB0 +#define GL_CLIENT_ATTRIB_STACK_DEPTH 0x0BB1 +#define GL_ALPHA_TEST 0x0BC0 +#define GL_ALPHA_TEST_FUNC 0x0BC1 +#define GL_ALPHA_TEST_REF 0x0BC2 +#define GL_DITHER 0x0BD0 +#define GL_BLEND_DST 0x0BE0 +#define GL_BLEND_SRC 0x0BE1 +#define GL_BLEND 0x0BE2 +#define GL_LOGIC_OP_MODE 0x0BF0 +#define GL_INDEX_LOGIC_OP 0x0BF1 +#define GL_COLOR_LOGIC_OP 0x0BF2 +#define GL_AUX_BUFFERS 0x0C00 +#define GL_DRAW_BUFFER 0x0C01 +#define GL_READ_BUFFER 0x0C02 +#define GL_SCISSOR_BOX 0x0C10 +#define GL_SCISSOR_TEST 0x0C11 +#define GL_INDEX_CLEAR_VALUE 0x0C20 +#define GL_INDEX_WRITEMASK 0x0C21 +#define GL_COLOR_CLEAR_VALUE 0x0C22 +#define GL_COLOR_WRITEMASK 0x0C23 +#define GL_INDEX_MODE 0x0C30 +#define GL_RGBA_MODE 0x0C31 +#define GL_DOUBLEBUFFER 0x0C32 +#define GL_STEREO 0x0C33 +#define GL_RENDER_MODE 0x0C40 +#define GL_PERSPECTIVE_CORRECTION_HINT 0x0C50 +#define GL_POINT_SMOOTH_HINT 0x0C51 +#define GL_LINE_SMOOTH_HINT 0x0C52 +#define GL_POLYGON_SMOOTH_HINT 0x0C53 +#define GL_FOG_HINT 0x0C54 +#define GL_TEXTURE_GEN_S 0x0C60 +#define GL_TEXTURE_GEN_T 0x0C61 +#define GL_TEXTURE_GEN_R 0x0C62 +#define GL_TEXTURE_GEN_Q 0x0C63 +#define GL_PIXEL_MAP_I_TO_I 0x0C70 +#define GL_PIXEL_MAP_S_TO_S 0x0C71 +#define GL_PIXEL_MAP_I_TO_R 0x0C72 +#define GL_PIXEL_MAP_I_TO_G 0x0C73 +#define GL_PIXEL_MAP_I_TO_B 0x0C74 +#define GL_PIXEL_MAP_I_TO_A 0x0C75 +#define GL_PIXEL_MAP_R_TO_R 0x0C76 +#define GL_PIXEL_MAP_G_TO_G 0x0C77 +#define GL_PIXEL_MAP_B_TO_B 0x0C78 +#define GL_PIXEL_MAP_A_TO_A 0x0C79 +#define GL_PIXEL_MAP_I_TO_I_SIZE 0x0CB0 +#define GL_PIXEL_MAP_S_TO_S_SIZE 0x0CB1 +#define GL_PIXEL_MAP_I_TO_R_SIZE 0x0CB2 +#define GL_PIXEL_MAP_I_TO_G_SIZE 0x0CB3 +#define GL_PIXEL_MAP_I_TO_B_SIZE 0x0CB4 +#define GL_PIXEL_MAP_I_TO_A_SIZE 0x0CB5 +#define GL_PIXEL_MAP_R_TO_R_SIZE 0x0CB6 +#define GL_PIXEL_MAP_G_TO_G_SIZE 0x0CB7 +#define GL_PIXEL_MAP_B_TO_B_SIZE 0x0CB8 +#define GL_PIXEL_MAP_A_TO_A_SIZE 0x0CB9 +#define GL_UNPACK_SWAP_BYTES 0x0CF0 +#define GL_UNPACK_LSB_FIRST 0x0CF1 +#define GL_UNPACK_ROW_LENGTH 0x0CF2 +#define GL_UNPACK_SKIP_ROWS 0x0CF3 +#define GL_UNPACK_SKIP_PIXELS 0x0CF4 +#define GL_UNPACK_ALIGNMENT 0x0CF5 +#define GL_PACK_SWAP_BYTES 0x0D00 +#define GL_PACK_LSB_FIRST 0x0D01 +#define GL_PACK_ROW_LENGTH 0x0D02 +#define GL_PACK_SKIP_ROWS 0x0D03 +#define GL_PACK_SKIP_PIXELS 0x0D04 +#define GL_PACK_ALIGNMENT 0x0D05 +#define GL_MAP_COLOR 0x0D10 +#define GL_MAP_STENCIL 0x0D11 +#define GL_INDEX_SHIFT 0x0D12 +#define GL_INDEX_OFFSET 0x0D13 +#define GL_RED_SCALE 0x0D14 +#define GL_RED_BIAS 0x0D15 +#define GL_ZOOM_X 0x0D16 +#define GL_ZOOM_Y 0x0D17 +#define GL_GREEN_SCALE 0x0D18 +#define GL_GREEN_BIAS 0x0D19 +#define GL_BLUE_SCALE 0x0D1A +#define GL_BLUE_BIAS 0x0D1B +#define GL_ALPHA_SCALE 0x0D1C +#define GL_ALPHA_BIAS 0x0D1D +#define GL_DEPTH_SCALE 0x0D1E +#define GL_DEPTH_BIAS 0x0D1F +#define GL_MAX_EVAL_ORDER 0x0D30 +#define GL_MAX_LIGHTS 0x0D31 +#define GL_MAX_CLIP_PLANES 0x0D32 +#define GL_MAX_TEXTURE_SIZE 0x0D33 +#define GL_MAX_PIXEL_MAP_TABLE 0x0D34 +#define GL_MAX_ATTRIB_STACK_DEPTH 0x0D35 +#define GL_MAX_MODELVIEW_STACK_DEPTH 0x0D36 +#define GL_MAX_NAME_STACK_DEPTH 0x0D37 +#define GL_MAX_PROJECTION_STACK_DEPTH 0x0D38 +#define GL_MAX_TEXTURE_STACK_DEPTH 0x0D39 +#define GL_MAX_VIEWPORT_DIMS 0x0D3A +#define GL_MAX_CLIENT_ATTRIB_STACK_DEPTH 0x0D3B +#define GL_SUBPIXEL_BITS 0x0D50 +#define GL_INDEX_BITS 0x0D51 +#define GL_RED_BITS 0x0D52 +#define GL_GREEN_BITS 0x0D53 +#define GL_BLUE_BITS 0x0D54 +#define GL_ALPHA_BITS 0x0D55 +#define GL_DEPTH_BITS 0x0D56 +#define GL_STENCIL_BITS 0x0D57 +#define GL_ACCUM_RED_BITS 0x0D58 +#define GL_ACCUM_GREEN_BITS 0x0D59 +#define GL_ACCUM_BLUE_BITS 0x0D5A +#define GL_ACCUM_ALPHA_BITS 0x0D5B +#define GL_NAME_STACK_DEPTH 0x0D70 +#define GL_AUTO_NORMAL 0x0D80 +#define GL_MAP1_COLOR_4 0x0D90 +#define GL_MAP1_INDEX 0x0D91 +#define GL_MAP1_NORMAL 0x0D92 +#define GL_MAP1_TEXTURE_COORD_1 0x0D93 +#define GL_MAP1_TEXTURE_COORD_2 0x0D94 +#define GL_MAP1_TEXTURE_COORD_3 0x0D95 +#define GL_MAP1_TEXTURE_COORD_4 0x0D96 +#define GL_MAP1_VERTEX_3 0x0D97 +#define GL_MAP1_VERTEX_4 0x0D98 +#define GL_MAP2_COLOR_4 0x0DB0 +#define GL_MAP2_INDEX 0x0DB1 +#define GL_MAP2_NORMAL 0x0DB2 +#define GL_MAP2_TEXTURE_COORD_1 0x0DB3 +#define GL_MAP2_TEXTURE_COORD_2 0x0DB4 +#define GL_MAP2_TEXTURE_COORD_3 0x0DB5 +#define GL_MAP2_TEXTURE_COORD_4 0x0DB6 +#define GL_MAP2_VERTEX_3 0x0DB7 +#define GL_MAP2_VERTEX_4 0x0DB8 +#define GL_MAP1_GRID_DOMAIN 0x0DD0 +#define GL_MAP1_GRID_SEGMENTS 0x0DD1 +#define GL_MAP2_GRID_DOMAIN 0x0DD2 +#define GL_MAP2_GRID_SEGMENTS 0x0DD3 +#define GL_TEXTURE_1D 0x0DE0 +#define GL_TEXTURE_2D 0x0DE1 +#define GL_FEEDBACK_BUFFER_POINTER 0x0DF0 +#define GL_FEEDBACK_BUFFER_SIZE 0x0DF1 +#define GL_FEEDBACK_BUFFER_TYPE 0x0DF2 +#define GL_SELECTION_BUFFER_POINTER 0x0DF3 +#define GL_SELECTION_BUFFER_SIZE 0x0DF4 +#define GL_TEXTURE_WIDTH 0x1000 +#define GL_TRANSFORM_BIT 0x00001000 +#define GL_TEXTURE_HEIGHT 0x1001 +#define GL_TEXTURE_INTERNAL_FORMAT 0x1003 +#define GL_TEXTURE_BORDER_COLOR 0x1004 +#define GL_TEXTURE_BORDER 0x1005 +#define GL_DONT_CARE 0x1100 +#define GL_FASTEST 0x1101 +#define GL_NICEST 0x1102 +#define GL_AMBIENT 0x1200 +#define GL_DIFFUSE 0x1201 +#define GL_SPECULAR 0x1202 +#define GL_POSITION 0x1203 +#define GL_SPOT_DIRECTION 0x1204 +#define GL_SPOT_EXPONENT 0x1205 +#define GL_SPOT_CUTOFF 0x1206 +#define GL_CONSTANT_ATTENUATION 0x1207 +#define GL_LINEAR_ATTENUATION 0x1208 +#define GL_QUADRATIC_ATTENUATION 0x1209 +#define GL_COMPILE 0x1300 +#define GL_COMPILE_AND_EXECUTE 0x1301 +#define GL_BYTE 0x1400 +#define GL_UNSIGNED_BYTE 0x1401 +#define GL_SHORT 0x1402 +#define GL_UNSIGNED_SHORT 0x1403 +#define GL_INT 0x1404 +#define GL_UNSIGNED_INT 0x1405 +#define GL_FLOAT 0x1406 +#define GL_2_BYTES 0x1407 +#define GL_3_BYTES 0x1408 +#define GL_4_BYTES 0x1409 +#define GL_DOUBLE 0x140A +#define GL_CLEAR 0x1500 +#define GL_AND 0x1501 +#define GL_AND_REVERSE 0x1502 +#define GL_COPY 0x1503 +#define GL_AND_INVERTED 0x1504 +#define GL_NOOP 0x1505 +#define GL_XOR 0x1506 +#define GL_OR 0x1507 +#define GL_NOR 0x1508 +#define GL_EQUIV 0x1509 +#define GL_INVERT 0x150A +#define GL_OR_REVERSE 0x150B +#define GL_COPY_INVERTED 0x150C +#define GL_OR_INVERTED 0x150D +#define GL_NAND 0x150E +#define GL_SET 0x150F +#define GL_EMISSION 0x1600 +#define GL_SHININESS 0x1601 +#define GL_AMBIENT_AND_DIFFUSE 0x1602 +#define GL_COLOR_INDEXES 0x1603 +#define GL_MODELVIEW 0x1700 +#define GL_PROJECTION 0x1701 +#define GL_TEXTURE 0x1702 +#define GL_COLOR 0x1800 +#define GL_DEPTH 0x1801 +#define GL_STENCIL 0x1802 +#define GL_COLOR_INDEX 0x1900 +#define GL_STENCIL_INDEX 0x1901 +#define GL_DEPTH_COMPONENT 0x1902 +#define GL_RED 0x1903 +#define GL_GREEN 0x1904 +#define GL_BLUE 0x1905 +#define GL_ALPHA 0x1906 +#define GL_RGB 0x1907 +#define GL_RGBA 0x1908 +#define GL_LUMINANCE 0x1909 +#define GL_LUMINANCE_ALPHA 0x190A +#define GL_BITMAP 0x1A00 +#define GL_POINT 0x1B00 +#define GL_LINE 0x1B01 +#define GL_FILL 0x1B02 +#define GL_RENDER 0x1C00 +#define GL_FEEDBACK 0x1C01 +#define GL_SELECT 0x1C02 +#define GL_FLAT 0x1D00 +#define GL_SMOOTH 0x1D01 +#define GL_KEEP 0x1E00 +#define GL_REPLACE 0x1E01 +#define GL_INCR 0x1E02 +#define GL_DECR 0x1E03 +#define GL_VENDOR 0x1F00 +#define GL_RENDERER 0x1F01 +#define GL_VERSION 0x1F02 +#define GL_EXTENSIONS 0x1F03 +#define GL_S 0x2000 +#define GL_ENABLE_BIT 0x00002000 +#define GL_T 0x2001 +#define GL_R 0x2002 +#define GL_Q 0x2003 +#define GL_MODULATE 0x2100 +#define GL_DECAL 0x2101 +#define GL_TEXTURE_ENV_MODE 0x2200 +#define GL_TEXTURE_ENV_COLOR 0x2201 +#define GL_TEXTURE_ENV 0x2300 +#define GL_EYE_LINEAR 0x2400 +#define GL_OBJECT_LINEAR 0x2401 +#define GL_SPHERE_MAP 0x2402 +#define GL_TEXTURE_GEN_MODE 0x2500 +#define GL_OBJECT_PLANE 0x2501 +#define GL_EYE_PLANE 0x2502 +#define GL_NEAREST 0x2600 +#define GL_LINEAR 0x2601 +#define GL_NEAREST_MIPMAP_NEAREST 0x2700 +#define GL_LINEAR_MIPMAP_NEAREST 0x2701 +#define GL_NEAREST_MIPMAP_LINEAR 0x2702 +#define GL_LINEAR_MIPMAP_LINEAR 0x2703 +#define GL_TEXTURE_MAG_FILTER 0x2800 +#define GL_TEXTURE_MIN_FILTER 0x2801 +#define GL_TEXTURE_WRAP_S 0x2802 +#define GL_TEXTURE_WRAP_T 0x2803 +#define GL_CLAMP 0x2900 +#define GL_REPEAT 0x2901 +#define GL_POLYGON_OFFSET_UNITS 0x2A00 +#define GL_POLYGON_OFFSET_POINT 0x2A01 +#define GL_POLYGON_OFFSET_LINE 0x2A02 +#define GL_R3_G3_B2 0x2A10 +#define GL_V2F 0x2A20 +#define GL_V3F 0x2A21 +#define GL_C4UB_V2F 0x2A22 +#define GL_C4UB_V3F 0x2A23 +#define GL_C3F_V3F 0x2A24 +#define GL_N3F_V3F 0x2A25 +#define GL_C4F_N3F_V3F 0x2A26 +#define GL_T2F_V3F 0x2A27 +#define GL_T4F_V4F 0x2A28 +#define GL_T2F_C4UB_V3F 0x2A29 +#define GL_T2F_C3F_V3F 0x2A2A +#define GL_T2F_N3F_V3F 0x2A2B +#define GL_T2F_C4F_N3F_V3F 0x2A2C +#define GL_T4F_C4F_N3F_V4F 0x2A2D +#define GL_CLIP_PLANE0 0x3000 +#define GL_CLIP_PLANE1 0x3001 +#define GL_CLIP_PLANE2 0x3002 +#define GL_CLIP_PLANE3 0x3003 +#define GL_CLIP_PLANE4 0x3004 +#define GL_CLIP_PLANE5 0x3005 +#define GL_LIGHT0 0x4000 +#define GL_COLOR_BUFFER_BIT 0x00004000 +#define GL_LIGHT1 0x4001 +#define GL_LIGHT2 0x4002 +#define GL_LIGHT3 0x4003 +#define GL_LIGHT4 0x4004 +#define GL_LIGHT5 0x4005 +#define GL_LIGHT6 0x4006 +#define GL_LIGHT7 0x4007 +#define GL_HINT_BIT 0x00008000 +#define GL_POLYGON_OFFSET_FILL 0x8037 +#define GL_POLYGON_OFFSET_FACTOR 0x8038 +#define GL_ALPHA4 0x803B +#define GL_ALPHA8 0x803C +#define GL_ALPHA12 0x803D +#define GL_ALPHA16 0x803E +#define GL_LUMINANCE4 0x803F +#define GL_LUMINANCE8 0x8040 +#define GL_LUMINANCE12 0x8041 +#define GL_LUMINANCE16 0x8042 +#define GL_LUMINANCE4_ALPHA4 0x8043 +#define GL_LUMINANCE6_ALPHA2 0x8044 +#define GL_LUMINANCE8_ALPHA8 0x8045 +#define GL_LUMINANCE12_ALPHA4 0x8046 +#define GL_LUMINANCE12_ALPHA12 0x8047 +#define GL_LUMINANCE16_ALPHA16 0x8048 +#define GL_INTENSITY 0x8049 +#define GL_INTENSITY4 0x804A +#define GL_INTENSITY8 0x804B +#define GL_INTENSITY12 0x804C +#define GL_INTENSITY16 0x804D +#define GL_RGB4 0x804F +#define GL_RGB5 0x8050 +#define GL_RGB8 0x8051 +#define GL_RGB10 0x8052 +#define GL_RGB12 0x8053 +#define GL_RGB16 0x8054 +#define GL_RGBA2 0x8055 +#define GL_RGBA4 0x8056 +#define GL_RGB5_A1 0x8057 +#define GL_RGBA8 0x8058 +#define GL_RGB10_A2 0x8059 +#define GL_RGBA12 0x805A +#define GL_RGBA16 0x805B +#define GL_TEXTURE_RED_SIZE 0x805C +#define GL_TEXTURE_GREEN_SIZE 0x805D +#define GL_TEXTURE_BLUE_SIZE 0x805E +#define GL_TEXTURE_ALPHA_SIZE 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE 0x8061 +#define GL_PROXY_TEXTURE_1D 0x8063 +#define GL_PROXY_TEXTURE_2D 0x8064 +#define GL_TEXTURE_PRIORITY 0x8066 +#define GL_TEXTURE_RESIDENT 0x8067 +#define GL_TEXTURE_BINDING_1D 0x8068 +#define GL_TEXTURE_BINDING_2D 0x8069 +#define GL_VERTEX_ARRAY 0x8074 +#define GL_NORMAL_ARRAY 0x8075 +#define GL_COLOR_ARRAY 0x8076 +#define GL_INDEX_ARRAY 0x8077 +#define GL_TEXTURE_COORD_ARRAY 0x8078 +#define GL_EDGE_FLAG_ARRAY 0x8079 +#define GL_VERTEX_ARRAY_SIZE 0x807A +#define GL_VERTEX_ARRAY_TYPE 0x807B +#define GL_VERTEX_ARRAY_STRIDE 0x807C +#define GL_NORMAL_ARRAY_TYPE 0x807E +#define GL_NORMAL_ARRAY_STRIDE 0x807F +#define GL_COLOR_ARRAY_SIZE 0x8081 +#define GL_COLOR_ARRAY_TYPE 0x8082 +#define GL_COLOR_ARRAY_STRIDE 0x8083 +#define GL_INDEX_ARRAY_TYPE 0x8085 +#define GL_INDEX_ARRAY_STRIDE 0x8086 +#define GL_TEXTURE_COORD_ARRAY_SIZE 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE 0x808A +#define GL_EDGE_FLAG_ARRAY_STRIDE 0x808C +#define GL_VERTEX_ARRAY_POINTER 0x808E +#define GL_NORMAL_ARRAY_POINTER 0x808F +#define GL_COLOR_ARRAY_POINTER 0x8090 +#define GL_INDEX_ARRAY_POINTER 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER 0x8093 +#define GL_COLOR_INDEX1_EXT 0x80E2 +#define GL_COLOR_INDEX2_EXT 0x80E3 +#define GL_COLOR_INDEX4_EXT 0x80E4 +#define GL_COLOR_INDEX8_EXT 0x80E5 +#define GL_COLOR_INDEX12_EXT 0x80E6 +#define GL_COLOR_INDEX16_EXT 0x80E7 +#define GL_EVAL_BIT 0x00010000 +#define GL_LIST_BIT 0x00020000 +#define GL_TEXTURE_BIT 0x00040000 +#define GL_SCISSOR_BIT 0x00080000 +#define GL_ALL_ATTRIB_BITS 0x000fffff +#define GL_CLIENT_ALL_ATTRIB_BITS 0xffffffff + +GLAPI void GLAPIENTRY glAccum (GLenum op, GLfloat value); +GLAPI void GLAPIENTRY glAlphaFunc (GLenum func, GLclampf ref); +GLAPI GLboolean GLAPIENTRY glAreTexturesResident (GLsizei n, const GLuint *textures, GLboolean *residences); +GLAPI void GLAPIENTRY glArrayElement (GLint i); +GLAPI void GLAPIENTRY glBegin (GLenum mode); +GLAPI void GLAPIENTRY glBindTexture (GLenum target, GLuint texture); +GLAPI void GLAPIENTRY glBitmap (GLsizei width, GLsizei height, GLfloat xorig, GLfloat yorig, GLfloat xmove, GLfloat ymove, const GLubyte *bitmap); +GLAPI void GLAPIENTRY glBlendFunc (GLenum sfactor, GLenum dfactor); +GLAPI void GLAPIENTRY glCallList (GLuint list); +GLAPI void GLAPIENTRY glCallLists (GLsizei n, GLenum type, const GLvoid *lists); +GLAPI void GLAPIENTRY glClear (GLbitfield mask); +GLAPI void GLAPIENTRY glClearAccum (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +GLAPI void GLAPIENTRY glClearColor (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha); +GLAPI void GLAPIENTRY glClearDepth (GLclampd depth); +GLAPI void GLAPIENTRY glClearIndex (GLfloat c); +GLAPI void GLAPIENTRY glClearStencil (GLint s); +GLAPI void GLAPIENTRY glClipPlane (GLenum plane, const GLdouble *equation); +GLAPI void GLAPIENTRY glColor3b (GLbyte red, GLbyte green, GLbyte blue); +GLAPI void GLAPIENTRY glColor3bv (const GLbyte *v); +GLAPI void GLAPIENTRY glColor3d (GLdouble red, GLdouble green, GLdouble blue); +GLAPI void GLAPIENTRY glColor3dv (const GLdouble *v); +GLAPI void GLAPIENTRY glColor3f (GLfloat red, GLfloat green, GLfloat blue); +GLAPI void GLAPIENTRY glColor3fv (const GLfloat *v); +GLAPI void GLAPIENTRY glColor3i (GLint red, GLint green, GLint blue); +GLAPI void GLAPIENTRY glColor3iv (const GLint *v); +GLAPI void GLAPIENTRY glColor3s (GLshort red, GLshort green, GLshort blue); +GLAPI void GLAPIENTRY glColor3sv (const GLshort *v); +GLAPI void GLAPIENTRY glColor3ub (GLubyte red, GLubyte green, GLubyte blue); +GLAPI void GLAPIENTRY glColor3ubv (const GLubyte *v); +GLAPI void GLAPIENTRY glColor3ui (GLuint red, GLuint green, GLuint blue); +GLAPI void GLAPIENTRY glColor3uiv (const GLuint *v); +GLAPI void GLAPIENTRY glColor3us (GLushort red, GLushort green, GLushort blue); +GLAPI void GLAPIENTRY glColor3usv (const GLushort *v); +GLAPI void GLAPIENTRY glColor4b (GLbyte red, GLbyte green, GLbyte blue, GLbyte alpha); +GLAPI void GLAPIENTRY glColor4bv (const GLbyte *v); +GLAPI void GLAPIENTRY glColor4d (GLdouble red, GLdouble green, GLdouble blue, GLdouble alpha); +GLAPI void GLAPIENTRY glColor4dv (const GLdouble *v); +GLAPI void GLAPIENTRY glColor4f (GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha); +GLAPI void GLAPIENTRY glColor4fv (const GLfloat *v); +GLAPI void GLAPIENTRY glColor4i (GLint red, GLint green, GLint blue, GLint alpha); +GLAPI void GLAPIENTRY glColor4iv (const GLint *v); +GLAPI void GLAPIENTRY glColor4s (GLshort red, GLshort green, GLshort blue, GLshort alpha); +GLAPI void GLAPIENTRY glColor4sv (const GLshort *v); +GLAPI void GLAPIENTRY glColor4ub (GLubyte red, GLubyte green, GLubyte blue, GLubyte alpha); +GLAPI void GLAPIENTRY glColor4ubv (const GLubyte *v); +GLAPI void GLAPIENTRY glColor4ui (GLuint red, GLuint green, GLuint blue, GLuint alpha); +GLAPI void GLAPIENTRY glColor4uiv (const GLuint *v); +GLAPI void GLAPIENTRY glColor4us (GLushort red, GLushort green, GLushort blue, GLushort alpha); +GLAPI void GLAPIENTRY glColor4usv (const GLushort *v); +GLAPI void GLAPIENTRY glColorMask (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +GLAPI void GLAPIENTRY glColorMaterial (GLenum face, GLenum mode); +GLAPI void GLAPIENTRY glColorPointer (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glCopyPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum type); +GLAPI void GLAPIENTRY glCopyTexImage1D (GLenum target, GLint level, GLenum internalFormat, GLint x, GLint y, GLsizei width, GLint border); +GLAPI void GLAPIENTRY glCopyTexImage2D (GLenum target, GLint level, GLenum internalFormat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +GLAPI void GLAPIENTRY glCopyTexSubImage1D (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +GLAPI void GLAPIENTRY glCopyTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void GLAPIENTRY glCullFace (GLenum mode); +GLAPI void GLAPIENTRY glDeleteLists (GLuint list, GLsizei range); +GLAPI void GLAPIENTRY glDeleteTextures (GLsizei n, const GLuint *textures); +GLAPI void GLAPIENTRY glDepthFunc (GLenum func); +GLAPI void GLAPIENTRY glDepthMask (GLboolean flag); +GLAPI void GLAPIENTRY glDepthRange (GLclampd zNear, GLclampd zFar); +GLAPI void GLAPIENTRY glDisable (GLenum cap); +GLAPI void GLAPIENTRY glDisableClientState (GLenum array); +GLAPI void GLAPIENTRY glDrawArrays (GLenum mode, GLint first, GLsizei count); +GLAPI void GLAPIENTRY glDrawBuffer (GLenum mode); +GLAPI void GLAPIENTRY glDrawElements (GLenum mode, GLsizei count, GLenum type, const GLvoid *indices); +GLAPI void GLAPIENTRY glDrawPixels (GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels); +GLAPI void GLAPIENTRY glEdgeFlag (GLboolean flag); +GLAPI void GLAPIENTRY glEdgeFlagPointer (GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glEdgeFlagv (const GLboolean *flag); +GLAPI void GLAPIENTRY glEnable (GLenum cap); +GLAPI void GLAPIENTRY glEnableClientState (GLenum array); +GLAPI void GLAPIENTRY glEnd (void); +GLAPI void GLAPIENTRY glEndList (void); +GLAPI void GLAPIENTRY glEvalCoord1d (GLdouble u); +GLAPI void GLAPIENTRY glEvalCoord1dv (const GLdouble *u); +GLAPI void GLAPIENTRY glEvalCoord1f (GLfloat u); +GLAPI void GLAPIENTRY glEvalCoord1fv (const GLfloat *u); +GLAPI void GLAPIENTRY glEvalCoord2d (GLdouble u, GLdouble v); +GLAPI void GLAPIENTRY glEvalCoord2dv (const GLdouble *u); +GLAPI void GLAPIENTRY glEvalCoord2f (GLfloat u, GLfloat v); +GLAPI void GLAPIENTRY glEvalCoord2fv (const GLfloat *u); +GLAPI void GLAPIENTRY glEvalMesh1 (GLenum mode, GLint i1, GLint i2); +GLAPI void GLAPIENTRY glEvalMesh2 (GLenum mode, GLint i1, GLint i2, GLint j1, GLint j2); +GLAPI void GLAPIENTRY glEvalPoint1 (GLint i); +GLAPI void GLAPIENTRY glEvalPoint2 (GLint i, GLint j); +GLAPI void GLAPIENTRY glFeedbackBuffer (GLsizei size, GLenum type, GLfloat *buffer); +GLAPI void GLAPIENTRY glFinish (void); +GLAPI void GLAPIENTRY glFlush (void); +GLAPI void GLAPIENTRY glFogf (GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glFogfv (GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glFogi (GLenum pname, GLint param); +GLAPI void GLAPIENTRY glFogiv (GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glFrontFace (GLenum mode); +GLAPI void GLAPIENTRY glFrustum (GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GLAPI GLuint GLAPIENTRY glGenLists (GLsizei range); +GLAPI void GLAPIENTRY glGenTextures (GLsizei n, GLuint *textures); +GLAPI void GLAPIENTRY glGetBooleanv (GLenum pname, GLboolean *params); +GLAPI void GLAPIENTRY glGetClipPlane (GLenum plane, GLdouble *equation); +GLAPI void GLAPIENTRY glGetDoublev (GLenum pname, GLdouble *params); +GLAPI GLenum GLAPIENTRY glGetError (void); +GLAPI void GLAPIENTRY glGetFloatv (GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetIntegerv (GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetLightfv (GLenum light, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetLightiv (GLenum light, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetMapdv (GLenum target, GLenum query, GLdouble *v); +GLAPI void GLAPIENTRY glGetMapfv (GLenum target, GLenum query, GLfloat *v); +GLAPI void GLAPIENTRY glGetMapiv (GLenum target, GLenum query, GLint *v); +GLAPI void GLAPIENTRY glGetMaterialfv (GLenum face, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetMaterialiv (GLenum face, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetPixelMapfv (GLenum map, GLfloat *values); +GLAPI void GLAPIENTRY glGetPixelMapuiv (GLenum map, GLuint *values); +GLAPI void GLAPIENTRY glGetPixelMapusv (GLenum map, GLushort *values); +GLAPI void GLAPIENTRY glGetPointerv (GLenum pname, GLvoid* *params); +GLAPI void GLAPIENTRY glGetPolygonStipple (GLubyte *mask); +GLAPI const GLubyte * GLAPIENTRY glGetString (GLenum name); +GLAPI void GLAPIENTRY glGetTexEnvfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetTexEnviv (GLenum target, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetTexGendv (GLenum coord, GLenum pname, GLdouble *params); +GLAPI void GLAPIENTRY glGetTexGenfv (GLenum coord, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetTexGeniv (GLenum coord, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetTexImage (GLenum target, GLint level, GLenum format, GLenum type, GLvoid *pixels); +GLAPI void GLAPIENTRY glGetTexLevelParameterfv (GLenum target, GLint level, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetTexLevelParameteriv (GLenum target, GLint level, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glGetTexParameterfv (GLenum target, GLenum pname, GLfloat *params); +GLAPI void GLAPIENTRY glGetTexParameteriv (GLenum target, GLenum pname, GLint *params); +GLAPI void GLAPIENTRY glHint (GLenum target, GLenum mode); +GLAPI void GLAPIENTRY glIndexMask (GLuint mask); +GLAPI void GLAPIENTRY glIndexPointer (GLenum type, GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glIndexd (GLdouble c); +GLAPI void GLAPIENTRY glIndexdv (const GLdouble *c); +GLAPI void GLAPIENTRY glIndexf (GLfloat c); +GLAPI void GLAPIENTRY glIndexfv (const GLfloat *c); +GLAPI void GLAPIENTRY glIndexi (GLint c); +GLAPI void GLAPIENTRY glIndexiv (const GLint *c); +GLAPI void GLAPIENTRY glIndexs (GLshort c); +GLAPI void GLAPIENTRY glIndexsv (const GLshort *c); +GLAPI void GLAPIENTRY glIndexub (GLubyte c); +GLAPI void GLAPIENTRY glIndexubv (const GLubyte *c); +GLAPI void GLAPIENTRY glInitNames (void); +GLAPI void GLAPIENTRY glInterleavedArrays (GLenum format, GLsizei stride, const GLvoid *pointer); +GLAPI GLboolean GLAPIENTRY glIsEnabled (GLenum cap); +GLAPI GLboolean GLAPIENTRY glIsList (GLuint list); +GLAPI GLboolean GLAPIENTRY glIsTexture (GLuint texture); +GLAPI void GLAPIENTRY glLightModelf (GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glLightModelfv (GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glLightModeli (GLenum pname, GLint param); +GLAPI void GLAPIENTRY glLightModeliv (GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glLightf (GLenum light, GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glLightfv (GLenum light, GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glLighti (GLenum light, GLenum pname, GLint param); +GLAPI void GLAPIENTRY glLightiv (GLenum light, GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glLineStipple (GLint factor, GLushort pattern); +GLAPI void GLAPIENTRY glLineWidth (GLfloat width); +GLAPI void GLAPIENTRY glListBase (GLuint base); +GLAPI void GLAPIENTRY glLoadIdentity (void); +GLAPI void GLAPIENTRY glLoadMatrixd (const GLdouble *m); +GLAPI void GLAPIENTRY glLoadMatrixf (const GLfloat *m); +GLAPI void GLAPIENTRY glLoadName (GLuint name); +GLAPI void GLAPIENTRY glLogicOp (GLenum opcode); +GLAPI void GLAPIENTRY glMap1d (GLenum target, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble *points); +GLAPI void GLAPIENTRY glMap1f (GLenum target, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat *points); +GLAPI void GLAPIENTRY glMap2d (GLenum target, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble *points); +GLAPI void GLAPIENTRY glMap2f (GLenum target, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat *points); +GLAPI void GLAPIENTRY glMapGrid1d (GLint un, GLdouble u1, GLdouble u2); +GLAPI void GLAPIENTRY glMapGrid1f (GLint un, GLfloat u1, GLfloat u2); +GLAPI void GLAPIENTRY glMapGrid2d (GLint un, GLdouble u1, GLdouble u2, GLint vn, GLdouble v1, GLdouble v2); +GLAPI void GLAPIENTRY glMapGrid2f (GLint un, GLfloat u1, GLfloat u2, GLint vn, GLfloat v1, GLfloat v2); +GLAPI void GLAPIENTRY glMaterialf (GLenum face, GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glMaterialfv (GLenum face, GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glMateriali (GLenum face, GLenum pname, GLint param); +GLAPI void GLAPIENTRY glMaterialiv (GLenum face, GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glMatrixMode (GLenum mode); +GLAPI void GLAPIENTRY glMultMatrixd (const GLdouble *m); +GLAPI void GLAPIENTRY glMultMatrixf (const GLfloat *m); +GLAPI void GLAPIENTRY glNewList (GLuint list, GLenum mode); +GLAPI void GLAPIENTRY glNormal3b (GLbyte nx, GLbyte ny, GLbyte nz); +GLAPI void GLAPIENTRY glNormal3bv (const GLbyte *v); +GLAPI void GLAPIENTRY glNormal3d (GLdouble nx, GLdouble ny, GLdouble nz); +GLAPI void GLAPIENTRY glNormal3dv (const GLdouble *v); +GLAPI void GLAPIENTRY glNormal3f (GLfloat nx, GLfloat ny, GLfloat nz); +GLAPI void GLAPIENTRY glNormal3fv (const GLfloat *v); +GLAPI void GLAPIENTRY glNormal3i (GLint nx, GLint ny, GLint nz); +GLAPI void GLAPIENTRY glNormal3iv (const GLint *v); +GLAPI void GLAPIENTRY glNormal3s (GLshort nx, GLshort ny, GLshort nz); +GLAPI void GLAPIENTRY glNormal3sv (const GLshort *v); +GLAPI void GLAPIENTRY glNormalPointer (GLenum type, GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glOrtho (GLdouble left, GLdouble right, GLdouble bottom, GLdouble top, GLdouble zNear, GLdouble zFar); +GLAPI void GLAPIENTRY glPassThrough (GLfloat token); +GLAPI void GLAPIENTRY glPixelMapfv (GLenum map, GLsizei mapsize, const GLfloat *values); +GLAPI void GLAPIENTRY glPixelMapuiv (GLenum map, GLsizei mapsize, const GLuint *values); +GLAPI void GLAPIENTRY glPixelMapusv (GLenum map, GLsizei mapsize, const GLushort *values); +GLAPI void GLAPIENTRY glPixelStoref (GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glPixelStorei (GLenum pname, GLint param); +GLAPI void GLAPIENTRY glPixelTransferf (GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glPixelTransferi (GLenum pname, GLint param); +GLAPI void GLAPIENTRY glPixelZoom (GLfloat xfactor, GLfloat yfactor); +GLAPI void GLAPIENTRY glPointSize (GLfloat size); +GLAPI void GLAPIENTRY glPolygonMode (GLenum face, GLenum mode); +GLAPI void GLAPIENTRY glPolygonOffset (GLfloat factor, GLfloat units); +GLAPI void GLAPIENTRY glPolygonStipple (const GLubyte *mask); +GLAPI void GLAPIENTRY glPopAttrib (void); +GLAPI void GLAPIENTRY glPopClientAttrib (void); +GLAPI void GLAPIENTRY glPopMatrix (void); +GLAPI void GLAPIENTRY glPopName (void); +GLAPI void GLAPIENTRY glPrioritizeTextures (GLsizei n, const GLuint *textures, const GLclampf *priorities); +GLAPI void GLAPIENTRY glPushAttrib (GLbitfield mask); +GLAPI void GLAPIENTRY glPushClientAttrib (GLbitfield mask); +GLAPI void GLAPIENTRY glPushMatrix (void); +GLAPI void GLAPIENTRY glPushName (GLuint name); +GLAPI void GLAPIENTRY glRasterPos2d (GLdouble x, GLdouble y); +GLAPI void GLAPIENTRY glRasterPos2dv (const GLdouble *v); +GLAPI void GLAPIENTRY glRasterPos2f (GLfloat x, GLfloat y); +GLAPI void GLAPIENTRY glRasterPos2fv (const GLfloat *v); +GLAPI void GLAPIENTRY glRasterPos2i (GLint x, GLint y); +GLAPI void GLAPIENTRY glRasterPos2iv (const GLint *v); +GLAPI void GLAPIENTRY glRasterPos2s (GLshort x, GLshort y); +GLAPI void GLAPIENTRY glRasterPos2sv (const GLshort *v); +GLAPI void GLAPIENTRY glRasterPos3d (GLdouble x, GLdouble y, GLdouble z); +GLAPI void GLAPIENTRY glRasterPos3dv (const GLdouble *v); +GLAPI void GLAPIENTRY glRasterPos3f (GLfloat x, GLfloat y, GLfloat z); +GLAPI void GLAPIENTRY glRasterPos3fv (const GLfloat *v); +GLAPI void GLAPIENTRY glRasterPos3i (GLint x, GLint y, GLint z); +GLAPI void GLAPIENTRY glRasterPos3iv (const GLint *v); +GLAPI void GLAPIENTRY glRasterPos3s (GLshort x, GLshort y, GLshort z); +GLAPI void GLAPIENTRY glRasterPos3sv (const GLshort *v); +GLAPI void GLAPIENTRY glRasterPos4d (GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void GLAPIENTRY glRasterPos4dv (const GLdouble *v); +GLAPI void GLAPIENTRY glRasterPos4f (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void GLAPIENTRY glRasterPos4fv (const GLfloat *v); +GLAPI void GLAPIENTRY glRasterPos4i (GLint x, GLint y, GLint z, GLint w); +GLAPI void GLAPIENTRY glRasterPos4iv (const GLint *v); +GLAPI void GLAPIENTRY glRasterPos4s (GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void GLAPIENTRY glRasterPos4sv (const GLshort *v); +GLAPI void GLAPIENTRY glReadBuffer (GLenum mode); +GLAPI void GLAPIENTRY glReadPixels (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLvoid *pixels); +GLAPI void GLAPIENTRY glRectd (GLdouble x1, GLdouble y1, GLdouble x2, GLdouble y2); +GLAPI void GLAPIENTRY glRectdv (const GLdouble *v1, const GLdouble *v2); +GLAPI void GLAPIENTRY glRectf (GLfloat x1, GLfloat y1, GLfloat x2, GLfloat y2); +GLAPI void GLAPIENTRY glRectfv (const GLfloat *v1, const GLfloat *v2); +GLAPI void GLAPIENTRY glRecti (GLint x1, GLint y1, GLint x2, GLint y2); +GLAPI void GLAPIENTRY glRectiv (const GLint *v1, const GLint *v2); +GLAPI void GLAPIENTRY glRects (GLshort x1, GLshort y1, GLshort x2, GLshort y2); +GLAPI void GLAPIENTRY glRectsv (const GLshort *v1, const GLshort *v2); +GLAPI GLint GLAPIENTRY glRenderMode (GLenum mode); +GLAPI void GLAPIENTRY glRotated (GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +GLAPI void GLAPIENTRY glRotatef (GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +GLAPI void GLAPIENTRY glScaled (GLdouble x, GLdouble y, GLdouble z); +GLAPI void GLAPIENTRY glScalef (GLfloat x, GLfloat y, GLfloat z); +GLAPI void GLAPIENTRY glScissor (GLint x, GLint y, GLsizei width, GLsizei height); +GLAPI void GLAPIENTRY glSelectBuffer (GLsizei size, GLuint *buffer); +GLAPI void GLAPIENTRY glShadeModel (GLenum mode); +GLAPI void GLAPIENTRY glStencilFunc (GLenum func, GLint ref, GLuint mask); +GLAPI void GLAPIENTRY glStencilMask (GLuint mask); +GLAPI void GLAPIENTRY glStencilOp (GLenum fail, GLenum zfail, GLenum zpass); +GLAPI void GLAPIENTRY glTexCoord1d (GLdouble s); +GLAPI void GLAPIENTRY glTexCoord1dv (const GLdouble *v); +GLAPI void GLAPIENTRY glTexCoord1f (GLfloat s); +GLAPI void GLAPIENTRY glTexCoord1fv (const GLfloat *v); +GLAPI void GLAPIENTRY glTexCoord1i (GLint s); +GLAPI void GLAPIENTRY glTexCoord1iv (const GLint *v); +GLAPI void GLAPIENTRY glTexCoord1s (GLshort s); +GLAPI void GLAPIENTRY glTexCoord1sv (const GLshort *v); +GLAPI void GLAPIENTRY glTexCoord2d (GLdouble s, GLdouble t); +GLAPI void GLAPIENTRY glTexCoord2dv (const GLdouble *v); +GLAPI void GLAPIENTRY glTexCoord2f (GLfloat s, GLfloat t); +GLAPI void GLAPIENTRY glTexCoord2fv (const GLfloat *v); +GLAPI void GLAPIENTRY glTexCoord2i (GLint s, GLint t); +GLAPI void GLAPIENTRY glTexCoord2iv (const GLint *v); +GLAPI void GLAPIENTRY glTexCoord2s (GLshort s, GLshort t); +GLAPI void GLAPIENTRY glTexCoord2sv (const GLshort *v); +GLAPI void GLAPIENTRY glTexCoord3d (GLdouble s, GLdouble t, GLdouble r); +GLAPI void GLAPIENTRY glTexCoord3dv (const GLdouble *v); +GLAPI void GLAPIENTRY glTexCoord3f (GLfloat s, GLfloat t, GLfloat r); +GLAPI void GLAPIENTRY glTexCoord3fv (const GLfloat *v); +GLAPI void GLAPIENTRY glTexCoord3i (GLint s, GLint t, GLint r); +GLAPI void GLAPIENTRY glTexCoord3iv (const GLint *v); +GLAPI void GLAPIENTRY glTexCoord3s (GLshort s, GLshort t, GLshort r); +GLAPI void GLAPIENTRY glTexCoord3sv (const GLshort *v); +GLAPI void GLAPIENTRY glTexCoord4d (GLdouble s, GLdouble t, GLdouble r, GLdouble q); +GLAPI void GLAPIENTRY glTexCoord4dv (const GLdouble *v); +GLAPI void GLAPIENTRY glTexCoord4f (GLfloat s, GLfloat t, GLfloat r, GLfloat q); +GLAPI void GLAPIENTRY glTexCoord4fv (const GLfloat *v); +GLAPI void GLAPIENTRY glTexCoord4i (GLint s, GLint t, GLint r, GLint q); +GLAPI void GLAPIENTRY glTexCoord4iv (const GLint *v); +GLAPI void GLAPIENTRY glTexCoord4s (GLshort s, GLshort t, GLshort r, GLshort q); +GLAPI void GLAPIENTRY glTexCoord4sv (const GLshort *v); +GLAPI void GLAPIENTRY glTexCoordPointer (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glTexEnvf (GLenum target, GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glTexEnvfv (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glTexEnvi (GLenum target, GLenum pname, GLint param); +GLAPI void GLAPIENTRY glTexEnviv (GLenum target, GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glTexGend (GLenum coord, GLenum pname, GLdouble param); +GLAPI void GLAPIENTRY glTexGendv (GLenum coord, GLenum pname, const GLdouble *params); +GLAPI void GLAPIENTRY glTexGenf (GLenum coord, GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glTexGenfv (GLenum coord, GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glTexGeni (GLenum coord, GLenum pname, GLint param); +GLAPI void GLAPIENTRY glTexGeniv (GLenum coord, GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glTexImage1D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +GLAPI void GLAPIENTRY glTexImage2D (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +GLAPI void GLAPIENTRY glTexParameterf (GLenum target, GLenum pname, GLfloat param); +GLAPI void GLAPIENTRY glTexParameterfv (GLenum target, GLenum pname, const GLfloat *params); +GLAPI void GLAPIENTRY glTexParameteri (GLenum target, GLenum pname, GLint param); +GLAPI void GLAPIENTRY glTexParameteriv (GLenum target, GLenum pname, const GLint *params); +GLAPI void GLAPIENTRY glTexSubImage1D (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const GLvoid *pixels); +GLAPI void GLAPIENTRY glTexSubImage2D (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels); +GLAPI void GLAPIENTRY glTranslated (GLdouble x, GLdouble y, GLdouble z); +GLAPI void GLAPIENTRY glTranslatef (GLfloat x, GLfloat y, GLfloat z); +GLAPI void GLAPIENTRY glVertex2d (GLdouble x, GLdouble y); +GLAPI void GLAPIENTRY glVertex2dv (const GLdouble *v); +GLAPI void GLAPIENTRY glVertex2f (GLfloat x, GLfloat y); +GLAPI void GLAPIENTRY glVertex2fv (const GLfloat *v); +GLAPI void GLAPIENTRY glVertex2i (GLint x, GLint y); +GLAPI void GLAPIENTRY glVertex2iv (const GLint *v); +GLAPI void GLAPIENTRY glVertex2s (GLshort x, GLshort y); +GLAPI void GLAPIENTRY glVertex2sv (const GLshort *v); +GLAPI void GLAPIENTRY glVertex3d (GLdouble x, GLdouble y, GLdouble z); +GLAPI void GLAPIENTRY glVertex3dv (const GLdouble *v); +GLAPI void GLAPIENTRY glVertex3f (GLfloat x, GLfloat y, GLfloat z); +GLAPI void GLAPIENTRY glVertex3fv (const GLfloat *v); +GLAPI void GLAPIENTRY glVertex3i (GLint x, GLint y, GLint z); +GLAPI void GLAPIENTRY glVertex3iv (const GLint *v); +GLAPI void GLAPIENTRY glVertex3s (GLshort x, GLshort y, GLshort z); +GLAPI void GLAPIENTRY glVertex3sv (const GLshort *v); +GLAPI void GLAPIENTRY glVertex4d (GLdouble x, GLdouble y, GLdouble z, GLdouble w); +GLAPI void GLAPIENTRY glVertex4dv (const GLdouble *v); +GLAPI void GLAPIENTRY glVertex4f (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +GLAPI void GLAPIENTRY glVertex4fv (const GLfloat *v); +GLAPI void GLAPIENTRY glVertex4i (GLint x, GLint y, GLint z, GLint w); +GLAPI void GLAPIENTRY glVertex4iv (const GLint *v); +GLAPI void GLAPIENTRY glVertex4s (GLshort x, GLshort y, GLshort z, GLshort w); +GLAPI void GLAPIENTRY glVertex4sv (const GLshort *v); +GLAPI void GLAPIENTRY glVertexPointer (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); +GLAPI void GLAPIENTRY glViewport (GLint x, GLint y, GLsizei width, GLsizei height); + +#define GLEW_VERSION_1_1 GLEW_GET_VAR(__GLEW_VERSION_1_1) + +#endif /* GL_VERSION_1_1 */ + +/* ---------------------------------- GLU ---------------------------------- */ + +#ifndef GLEW_NO_GLU +/* this is where we can safely include GLU */ +# if defined(__APPLE__) && defined(__MACH__) +# include +# else +# include +# endif +#endif + +/* ----------------------------- GL_VERSION_1_2 ---------------------------- */ + +#ifndef GL_VERSION_1_2 +#define GL_VERSION_1_2 1 + +#define GL_SMOOTH_POINT_SIZE_RANGE 0x0B12 +#define GL_SMOOTH_POINT_SIZE_GRANULARITY 0x0B13 +#define GL_SMOOTH_LINE_WIDTH_RANGE 0x0B22 +#define GL_SMOOTH_LINE_WIDTH_GRANULARITY 0x0B23 +#define GL_UNSIGNED_BYTE_3_3_2 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2 0x8036 +#define GL_RESCALE_NORMAL 0x803A +#define GL_TEXTURE_BINDING_3D 0x806A +#define GL_PACK_SKIP_IMAGES 0x806B +#define GL_PACK_IMAGE_HEIGHT 0x806C +#define GL_UNPACK_SKIP_IMAGES 0x806D +#define GL_UNPACK_IMAGE_HEIGHT 0x806E +#define GL_TEXTURE_3D 0x806F +#define GL_PROXY_TEXTURE_3D 0x8070 +#define GL_TEXTURE_DEPTH 0x8071 +#define GL_TEXTURE_WRAP_R 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE 0x8073 +#define GL_BGR 0x80E0 +#define GL_BGRA 0x80E1 +#define GL_MAX_ELEMENTS_VERTICES 0x80E8 +#define GL_MAX_ELEMENTS_INDICES 0x80E9 +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_TEXTURE_MIN_LOD 0x813A +#define GL_TEXTURE_MAX_LOD 0x813B +#define GL_TEXTURE_BASE_LEVEL 0x813C +#define GL_TEXTURE_MAX_LEVEL 0x813D +#define GL_LIGHT_MODEL_COLOR_CONTROL 0x81F8 +#define GL_SINGLE_COLOR 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR 0x81FA +#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 +#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_ALIASED_POINT_SIZE_RANGE 0x846D +#define GL_ALIASED_LINE_WIDTH_RANGE 0x846E + +typedef void (GLAPIENTRY * PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); +typedef void (GLAPIENTRY * PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (GLAPIENTRY * PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels); + +#define glCopyTexSubImage3D GLEW_GET_FUN(__glewCopyTexSubImage3D) +#define glDrawRangeElements GLEW_GET_FUN(__glewDrawRangeElements) +#define glTexImage3D GLEW_GET_FUN(__glewTexImage3D) +#define glTexSubImage3D GLEW_GET_FUN(__glewTexSubImage3D) + +#define GLEW_VERSION_1_2 GLEW_GET_VAR(__GLEW_VERSION_1_2) + +#endif /* GL_VERSION_1_2 */ + +/* ---------------------------- GL_VERSION_1_2_1 --------------------------- */ + +#ifndef GL_VERSION_1_2_1 +#define GL_VERSION_1_2_1 1 + +#define GLEW_VERSION_1_2_1 GLEW_GET_VAR(__GLEW_VERSION_1_2_1) + +#endif /* GL_VERSION_1_2_1 */ + +/* ----------------------------- GL_VERSION_1_3 ---------------------------- */ + +#ifndef GL_VERSION_1_3 +#define GL_VERSION_1_3 1 + +#define GL_MULTISAMPLE 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE 0x809F +#define GL_SAMPLE_COVERAGE 0x80A0 +#define GL_SAMPLE_BUFFERS 0x80A8 +#define GL_SAMPLES 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT 0x80AB +#define GL_CLAMP_TO_BORDER 0x812D +#define GL_TEXTURE0 0x84C0 +#define GL_TEXTURE1 0x84C1 +#define GL_TEXTURE2 0x84C2 +#define GL_TEXTURE3 0x84C3 +#define GL_TEXTURE4 0x84C4 +#define GL_TEXTURE5 0x84C5 +#define GL_TEXTURE6 0x84C6 +#define GL_TEXTURE7 0x84C7 +#define GL_TEXTURE8 0x84C8 +#define GL_TEXTURE9 0x84C9 +#define GL_TEXTURE10 0x84CA +#define GL_TEXTURE11 0x84CB +#define GL_TEXTURE12 0x84CC +#define GL_TEXTURE13 0x84CD +#define GL_TEXTURE14 0x84CE +#define GL_TEXTURE15 0x84CF +#define GL_TEXTURE16 0x84D0 +#define GL_TEXTURE17 0x84D1 +#define GL_TEXTURE18 0x84D2 +#define GL_TEXTURE19 0x84D3 +#define GL_TEXTURE20 0x84D4 +#define GL_TEXTURE21 0x84D5 +#define GL_TEXTURE22 0x84D6 +#define GL_TEXTURE23 0x84D7 +#define GL_TEXTURE24 0x84D8 +#define GL_TEXTURE25 0x84D9 +#define GL_TEXTURE26 0x84DA +#define GL_TEXTURE27 0x84DB +#define GL_TEXTURE28 0x84DC +#define GL_TEXTURE29 0x84DD +#define GL_TEXTURE30 0x84DE +#define GL_TEXTURE31 0x84DF +#define GL_ACTIVE_TEXTURE 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE 0x84E1 +#define GL_MAX_TEXTURE_UNITS 0x84E2 +#define GL_TRANSPOSE_MODELVIEW_MATRIX 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX 0x84E6 +#define GL_SUBTRACT 0x84E7 +#define GL_COMPRESSED_ALPHA 0x84E9 +#define GL_COMPRESSED_LUMINANCE 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA 0x84EB +#define GL_COMPRESSED_INTENSITY 0x84EC +#define GL_COMPRESSED_RGB 0x84ED +#define GL_COMPRESSED_RGBA 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT 0x84EF +#define GL_NORMAL_MAP 0x8511 +#define GL_REFLECTION_MAP 0x8512 +#define GL_TEXTURE_CUBE_MAP 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE 0x851C +#define GL_COMBINE 0x8570 +#define GL_COMBINE_RGB 0x8571 +#define GL_COMBINE_ALPHA 0x8572 +#define GL_RGB_SCALE 0x8573 +#define GL_ADD_SIGNED 0x8574 +#define GL_INTERPOLATE 0x8575 +#define GL_CONSTANT 0x8576 +#define GL_PRIMARY_COLOR 0x8577 +#define GL_PREVIOUS 0x8578 +#define GL_SOURCE0_RGB 0x8580 +#define GL_SOURCE1_RGB 0x8581 +#define GL_SOURCE2_RGB 0x8582 +#define GL_SOURCE0_ALPHA 0x8588 +#define GL_SOURCE1_ALPHA 0x8589 +#define GL_SOURCE2_ALPHA 0x858A +#define GL_OPERAND0_RGB 0x8590 +#define GL_OPERAND1_RGB 0x8591 +#define GL_OPERAND2_RGB 0x8592 +#define GL_OPERAND0_ALPHA 0x8598 +#define GL_OPERAND1_ALPHA 0x8599 +#define GL_OPERAND2_ALPHA 0x859A +#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE 0x86A0 +#define GL_TEXTURE_COMPRESSED 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS 0x86A3 +#define GL_DOT3_RGB 0x86AE +#define GL_DOT3_RGBA 0x86AF +#define GL_MULTISAMPLE_BIT 0x20000000 + +typedef void (GLAPIENTRY * PFNGLACTIVETEXTUREPROC) (GLenum texture); +typedef void (GLAPIENTRY * PFNGLCLIENTACTIVETEXTUREPROC) (GLenum texture); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE1DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE2DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE3DPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLGETCOMPRESSEDTEXIMAGEPROC) (GLenum target, GLint lod, GLvoid *img); +typedef void (GLAPIENTRY * PFNGLLOADTRANSPOSEMATRIXDPROC) (const GLdouble m[16]); +typedef void (GLAPIENTRY * PFNGLLOADTRANSPOSEMATRIXFPROC) (const GLfloat m[16]); +typedef void (GLAPIENTRY * PFNGLMULTTRANSPOSEMATRIXDPROC) (const GLdouble m[16]); +typedef void (GLAPIENTRY * PFNGLMULTTRANSPOSEMATRIXFPROC) (const GLfloat m[16]); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1DPROC) (GLenum target, GLdouble s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1DVPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1FPROC) (GLenum target, GLfloat s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1FVPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1IPROC) (GLenum target, GLint s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1IVPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1SPROC) (GLenum target, GLshort s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1SVPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2DPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2DVPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2FPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2FVPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2IPROC) (GLenum target, GLint s, GLint t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2IVPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2SPROC) (GLenum target, GLshort s, GLshort t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2SVPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3DVPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3FVPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3IPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3IVPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3SPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3SVPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4DPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4DVPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4FPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4FVPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4IPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4IVPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4SPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4SVPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLSAMPLECOVERAGEPROC) (GLclampf value, GLboolean invert); + +#define glActiveTexture GLEW_GET_FUN(__glewActiveTexture) +#define glClientActiveTexture GLEW_GET_FUN(__glewClientActiveTexture) +#define glCompressedTexImage1D GLEW_GET_FUN(__glewCompressedTexImage1D) +#define glCompressedTexImage2D GLEW_GET_FUN(__glewCompressedTexImage2D) +#define glCompressedTexImage3D GLEW_GET_FUN(__glewCompressedTexImage3D) +#define glCompressedTexSubImage1D GLEW_GET_FUN(__glewCompressedTexSubImage1D) +#define glCompressedTexSubImage2D GLEW_GET_FUN(__glewCompressedTexSubImage2D) +#define glCompressedTexSubImage3D GLEW_GET_FUN(__glewCompressedTexSubImage3D) +#define glGetCompressedTexImage GLEW_GET_FUN(__glewGetCompressedTexImage) +#define glLoadTransposeMatrixd GLEW_GET_FUN(__glewLoadTransposeMatrixd) +#define glLoadTransposeMatrixf GLEW_GET_FUN(__glewLoadTransposeMatrixf) +#define glMultTransposeMatrixd GLEW_GET_FUN(__glewMultTransposeMatrixd) +#define glMultTransposeMatrixf GLEW_GET_FUN(__glewMultTransposeMatrixf) +#define glMultiTexCoord1d GLEW_GET_FUN(__glewMultiTexCoord1d) +#define glMultiTexCoord1dv GLEW_GET_FUN(__glewMultiTexCoord1dv) +#define glMultiTexCoord1f GLEW_GET_FUN(__glewMultiTexCoord1f) +#define glMultiTexCoord1fv GLEW_GET_FUN(__glewMultiTexCoord1fv) +#define glMultiTexCoord1i GLEW_GET_FUN(__glewMultiTexCoord1i) +#define glMultiTexCoord1iv GLEW_GET_FUN(__glewMultiTexCoord1iv) +#define glMultiTexCoord1s GLEW_GET_FUN(__glewMultiTexCoord1s) +#define glMultiTexCoord1sv GLEW_GET_FUN(__glewMultiTexCoord1sv) +#define glMultiTexCoord2d GLEW_GET_FUN(__glewMultiTexCoord2d) +#define glMultiTexCoord2dv GLEW_GET_FUN(__glewMultiTexCoord2dv) +#define glMultiTexCoord2f GLEW_GET_FUN(__glewMultiTexCoord2f) +#define glMultiTexCoord2fv GLEW_GET_FUN(__glewMultiTexCoord2fv) +#define glMultiTexCoord2i GLEW_GET_FUN(__glewMultiTexCoord2i) +#define glMultiTexCoord2iv GLEW_GET_FUN(__glewMultiTexCoord2iv) +#define glMultiTexCoord2s GLEW_GET_FUN(__glewMultiTexCoord2s) +#define glMultiTexCoord2sv GLEW_GET_FUN(__glewMultiTexCoord2sv) +#define glMultiTexCoord3d GLEW_GET_FUN(__glewMultiTexCoord3d) +#define glMultiTexCoord3dv GLEW_GET_FUN(__glewMultiTexCoord3dv) +#define glMultiTexCoord3f GLEW_GET_FUN(__glewMultiTexCoord3f) +#define glMultiTexCoord3fv GLEW_GET_FUN(__glewMultiTexCoord3fv) +#define glMultiTexCoord3i GLEW_GET_FUN(__glewMultiTexCoord3i) +#define glMultiTexCoord3iv GLEW_GET_FUN(__glewMultiTexCoord3iv) +#define glMultiTexCoord3s GLEW_GET_FUN(__glewMultiTexCoord3s) +#define glMultiTexCoord3sv GLEW_GET_FUN(__glewMultiTexCoord3sv) +#define glMultiTexCoord4d GLEW_GET_FUN(__glewMultiTexCoord4d) +#define glMultiTexCoord4dv GLEW_GET_FUN(__glewMultiTexCoord4dv) +#define glMultiTexCoord4f GLEW_GET_FUN(__glewMultiTexCoord4f) +#define glMultiTexCoord4fv GLEW_GET_FUN(__glewMultiTexCoord4fv) +#define glMultiTexCoord4i GLEW_GET_FUN(__glewMultiTexCoord4i) +#define glMultiTexCoord4iv GLEW_GET_FUN(__glewMultiTexCoord4iv) +#define glMultiTexCoord4s GLEW_GET_FUN(__glewMultiTexCoord4s) +#define glMultiTexCoord4sv GLEW_GET_FUN(__glewMultiTexCoord4sv) +#define glSampleCoverage GLEW_GET_FUN(__glewSampleCoverage) + +#define GLEW_VERSION_1_3 GLEW_GET_VAR(__GLEW_VERSION_1_3) + +#endif /* GL_VERSION_1_3 */ + +/* ----------------------------- GL_VERSION_1_4 ---------------------------- */ + +#ifndef GL_VERSION_1_4 +#define GL_VERSION_1_4 1 + +#define GL_BLEND_DST_RGB 0x80C8 +#define GL_BLEND_SRC_RGB 0x80C9 +#define GL_BLEND_DST_ALPHA 0x80CA +#define GL_BLEND_SRC_ALPHA 0x80CB +#define GL_POINT_SIZE_MIN 0x8126 +#define GL_POINT_SIZE_MAX 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE 0x8128 +#define GL_POINT_DISTANCE_ATTENUATION 0x8129 +#define GL_GENERATE_MIPMAP 0x8191 +#define GL_GENERATE_MIPMAP_HINT 0x8192 +#define GL_DEPTH_COMPONENT16 0x81A5 +#define GL_DEPTH_COMPONENT24 0x81A6 +#define GL_DEPTH_COMPONENT32 0x81A7 +#define GL_MIRRORED_REPEAT 0x8370 +#define GL_FOG_COORDINATE_SOURCE 0x8450 +#define GL_FOG_COORDINATE 0x8451 +#define GL_FRAGMENT_DEPTH 0x8452 +#define GL_CURRENT_FOG_COORDINATE 0x8453 +#define GL_FOG_COORDINATE_ARRAY_TYPE 0x8454 +#define GL_FOG_COORDINATE_ARRAY_STRIDE 0x8455 +#define GL_FOG_COORDINATE_ARRAY_POINTER 0x8456 +#define GL_FOG_COORDINATE_ARRAY 0x8457 +#define GL_COLOR_SUM 0x8458 +#define GL_CURRENT_SECONDARY_COLOR 0x8459 +#define GL_SECONDARY_COLOR_ARRAY_SIZE 0x845A +#define GL_SECONDARY_COLOR_ARRAY_TYPE 0x845B +#define GL_SECONDARY_COLOR_ARRAY_STRIDE 0x845C +#define GL_SECONDARY_COLOR_ARRAY_POINTER 0x845D +#define GL_SECONDARY_COLOR_ARRAY 0x845E +#define GL_MAX_TEXTURE_LOD_BIAS 0x84FD +#define GL_TEXTURE_FILTER_CONTROL 0x8500 +#define GL_TEXTURE_LOD_BIAS 0x8501 +#define GL_INCR_WRAP 0x8507 +#define GL_DECR_WRAP 0x8508 +#define GL_TEXTURE_DEPTH_SIZE 0x884A +#define GL_DEPTH_TEXTURE_MODE 0x884B +#define GL_TEXTURE_COMPARE_MODE 0x884C +#define GL_TEXTURE_COMPARE_FUNC 0x884D +#define GL_COMPARE_R_TO_TEXTURE 0x884E + +typedef void (GLAPIENTRY * PFNGLBLENDCOLORPROC) (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha); +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONPROC) (GLenum mode); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCSEPARATEPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +typedef void (GLAPIENTRY * PFNGLFOGCOORDPOINTERPROC) (GLenum type, GLsizei stride, const GLvoid *pointer); +typedef void (GLAPIENTRY * PFNGLFOGCOORDDPROC) (GLdouble coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDDVPROC) (const GLdouble *coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDFPROC) (GLfloat coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDFVPROC) (const GLfloat *coord); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWARRAYSPROC) (GLenum mode, GLint *first, GLsizei *count, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWELEMENTSPROC) (GLenum mode, GLsizei *count, GLenum type, const GLvoid **indices, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFVPROC) (GLenum pname, const GLfloat *params); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERIPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERIVPROC) (GLenum pname, const GLint *params); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3BPROC) (GLbyte red, GLbyte green, GLbyte blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3BVPROC) (const GLbyte *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3DPROC) (GLdouble red, GLdouble green, GLdouble blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3DVPROC) (const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3FPROC) (GLfloat red, GLfloat green, GLfloat blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3FVPROC) (const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3IPROC) (GLint red, GLint green, GLint blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3IVPROC) (const GLint *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3SPROC) (GLshort red, GLshort green, GLshort blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3SVPROC) (const GLshort *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UBPROC) (GLubyte red, GLubyte green, GLubyte blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UBVPROC) (const GLubyte *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UIPROC) (GLuint red, GLuint green, GLuint blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UIVPROC) (const GLuint *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3USPROC) (GLushort red, GLushort green, GLushort blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3USVPROC) (const GLushort *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORPOINTERPROC) (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DPROC) (GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DVPROC) (const GLdouble *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FPROC) (GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FVPROC) (const GLfloat *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IPROC) (GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IVPROC) (const GLint *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SPROC) (GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SVPROC) (const GLshort *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DVPROC) (const GLdouble *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FVPROC) (const GLfloat *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IPROC) (GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IVPROC) (const GLint *p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SPROC) (GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SVPROC) (const GLshort *p); + +#define glBlendColor GLEW_GET_FUN(__glewBlendColor) +#define glBlendEquation GLEW_GET_FUN(__glewBlendEquation) +#define glBlendFuncSeparate GLEW_GET_FUN(__glewBlendFuncSeparate) +#define glFogCoordPointer GLEW_GET_FUN(__glewFogCoordPointer) +#define glFogCoordd GLEW_GET_FUN(__glewFogCoordd) +#define glFogCoorddv GLEW_GET_FUN(__glewFogCoorddv) +#define glFogCoordf GLEW_GET_FUN(__glewFogCoordf) +#define glFogCoordfv GLEW_GET_FUN(__glewFogCoordfv) +#define glMultiDrawArrays GLEW_GET_FUN(__glewMultiDrawArrays) +#define glMultiDrawElements GLEW_GET_FUN(__glewMultiDrawElements) +#define glPointParameterf GLEW_GET_FUN(__glewPointParameterf) +#define glPointParameterfv GLEW_GET_FUN(__glewPointParameterfv) +#define glPointParameteri GLEW_GET_FUN(__glewPointParameteri) +#define glPointParameteriv GLEW_GET_FUN(__glewPointParameteriv) +#define glSecondaryColor3b GLEW_GET_FUN(__glewSecondaryColor3b) +#define glSecondaryColor3bv GLEW_GET_FUN(__glewSecondaryColor3bv) +#define glSecondaryColor3d GLEW_GET_FUN(__glewSecondaryColor3d) +#define glSecondaryColor3dv GLEW_GET_FUN(__glewSecondaryColor3dv) +#define glSecondaryColor3f GLEW_GET_FUN(__glewSecondaryColor3f) +#define glSecondaryColor3fv GLEW_GET_FUN(__glewSecondaryColor3fv) +#define glSecondaryColor3i GLEW_GET_FUN(__glewSecondaryColor3i) +#define glSecondaryColor3iv GLEW_GET_FUN(__glewSecondaryColor3iv) +#define glSecondaryColor3s GLEW_GET_FUN(__glewSecondaryColor3s) +#define glSecondaryColor3sv GLEW_GET_FUN(__glewSecondaryColor3sv) +#define glSecondaryColor3ub GLEW_GET_FUN(__glewSecondaryColor3ub) +#define glSecondaryColor3ubv GLEW_GET_FUN(__glewSecondaryColor3ubv) +#define glSecondaryColor3ui GLEW_GET_FUN(__glewSecondaryColor3ui) +#define glSecondaryColor3uiv GLEW_GET_FUN(__glewSecondaryColor3uiv) +#define glSecondaryColor3us GLEW_GET_FUN(__glewSecondaryColor3us) +#define glSecondaryColor3usv GLEW_GET_FUN(__glewSecondaryColor3usv) +#define glSecondaryColorPointer GLEW_GET_FUN(__glewSecondaryColorPointer) +#define glWindowPos2d GLEW_GET_FUN(__glewWindowPos2d) +#define glWindowPos2dv GLEW_GET_FUN(__glewWindowPos2dv) +#define glWindowPos2f GLEW_GET_FUN(__glewWindowPos2f) +#define glWindowPos2fv GLEW_GET_FUN(__glewWindowPos2fv) +#define glWindowPos2i GLEW_GET_FUN(__glewWindowPos2i) +#define glWindowPos2iv GLEW_GET_FUN(__glewWindowPos2iv) +#define glWindowPos2s GLEW_GET_FUN(__glewWindowPos2s) +#define glWindowPos2sv GLEW_GET_FUN(__glewWindowPos2sv) +#define glWindowPos3d GLEW_GET_FUN(__glewWindowPos3d) +#define glWindowPos3dv GLEW_GET_FUN(__glewWindowPos3dv) +#define glWindowPos3f GLEW_GET_FUN(__glewWindowPos3f) +#define glWindowPos3fv GLEW_GET_FUN(__glewWindowPos3fv) +#define glWindowPos3i GLEW_GET_FUN(__glewWindowPos3i) +#define glWindowPos3iv GLEW_GET_FUN(__glewWindowPos3iv) +#define glWindowPos3s GLEW_GET_FUN(__glewWindowPos3s) +#define glWindowPos3sv GLEW_GET_FUN(__glewWindowPos3sv) + +#define GLEW_VERSION_1_4 GLEW_GET_VAR(__GLEW_VERSION_1_4) + +#endif /* GL_VERSION_1_4 */ + +/* ----------------------------- GL_VERSION_1_5 ---------------------------- */ + +#ifndef GL_VERSION_1_5 +#define GL_VERSION_1_5 1 + +#define GL_FOG_COORD_SRC GL_FOG_COORDINATE_SOURCE +#define GL_FOG_COORD GL_FOG_COORDINATE +#define GL_FOG_COORD_ARRAY GL_FOG_COORDINATE_ARRAY +#define GL_SRC0_RGB GL_SOURCE0_RGB +#define GL_FOG_COORD_ARRAY_POINTER GL_FOG_COORDINATE_ARRAY_POINTER +#define GL_FOG_COORD_ARRAY_TYPE GL_FOG_COORDINATE_ARRAY_TYPE +#define GL_SRC1_ALPHA GL_SOURCE1_ALPHA +#define GL_CURRENT_FOG_COORD GL_CURRENT_FOG_COORDINATE +#define GL_FOG_COORD_ARRAY_STRIDE GL_FOG_COORDINATE_ARRAY_STRIDE +#define GL_SRC0_ALPHA GL_SOURCE0_ALPHA +#define GL_SRC1_RGB GL_SOURCE1_RGB +#define GL_FOG_COORD_ARRAY_BUFFER_BINDING GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING +#define GL_SRC2_ALPHA GL_SOURCE2_ALPHA +#define GL_SRC2_RGB GL_SOURCE2_RGB +#define GL_BUFFER_SIZE 0x8764 +#define GL_BUFFER_USAGE 0x8765 +#define GL_QUERY_COUNTER_BITS 0x8864 +#define GL_CURRENT_QUERY 0x8865 +#define GL_QUERY_RESULT 0x8866 +#define GL_QUERY_RESULT_AVAILABLE 0x8867 +#define GL_ARRAY_BUFFER 0x8892 +#define GL_ELEMENT_ARRAY_BUFFER 0x8893 +#define GL_ARRAY_BUFFER_BINDING 0x8894 +#define GL_ELEMENT_ARRAY_BUFFER_BINDING 0x8895 +#define GL_VERTEX_ARRAY_BUFFER_BINDING 0x8896 +#define GL_NORMAL_ARRAY_BUFFER_BINDING 0x8897 +#define GL_COLOR_ARRAY_BUFFER_BINDING 0x8898 +#define GL_INDEX_ARRAY_BUFFER_BINDING 0x8899 +#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING 0x889A +#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING 0x889B +#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING 0x889C +#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING 0x889D +#define GL_WEIGHT_ARRAY_BUFFER_BINDING 0x889E +#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING 0x889F +#define GL_READ_ONLY 0x88B8 +#define GL_WRITE_ONLY 0x88B9 +#define GL_READ_WRITE 0x88BA +#define GL_BUFFER_ACCESS 0x88BB +#define GL_BUFFER_MAPPED 0x88BC +#define GL_BUFFER_MAP_POINTER 0x88BD +#define GL_STREAM_DRAW 0x88E0 +#define GL_STREAM_READ 0x88E1 +#define GL_STREAM_COPY 0x88E2 +#define GL_STATIC_DRAW 0x88E4 +#define GL_STATIC_READ 0x88E5 +#define GL_STATIC_COPY 0x88E6 +#define GL_DYNAMIC_DRAW 0x88E8 +#define GL_DYNAMIC_READ 0x88E9 +#define GL_DYNAMIC_COPY 0x88EA +#define GL_SAMPLES_PASSED 0x8914 + +typedef ptrdiff_t GLintptr; +typedef ptrdiff_t GLsizeiptr; + +typedef void (GLAPIENTRY * PFNGLBEGINQUERYPROC) (GLenum target, GLuint id); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERPROC) (GLenum target, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLBUFFERDATAPROC) (GLenum target, GLsizeiptr size, const GLvoid* data, GLenum usage); +typedef void (GLAPIENTRY * PFNGLBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, const GLvoid* data); +typedef void (GLAPIENTRY * PFNGLDELETEBUFFERSPROC) (GLsizei n, const GLuint* buffers); +typedef void (GLAPIENTRY * PFNGLDELETEQUERIESPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLENDQUERYPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLGENBUFFERSPROC) (GLsizei n, GLuint* buffers); +typedef void (GLAPIENTRY * PFNGLGENQUERIESPROC) (GLsizei n, GLuint* ids); +typedef void (GLAPIENTRY * PFNGLGETBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETBUFFERPOINTERVPROC) (GLenum target, GLenum pname, GLvoid** params); +typedef void (GLAPIENTRY * PFNGLGETBUFFERSUBDATAPROC) (GLenum target, GLintptr offset, GLsizeiptr size, GLvoid* data); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTIVPROC) (GLuint id, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTUIVPROC) (GLuint id, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETQUERYIVPROC) (GLenum target, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISBUFFERPROC) (GLuint buffer); +typedef GLboolean (GLAPIENTRY * PFNGLISQUERYPROC) (GLuint id); +typedef GLvoid* (GLAPIENTRY * PFNGLMAPBUFFERPROC) (GLenum target, GLenum access); +typedef GLboolean (GLAPIENTRY * PFNGLUNMAPBUFFERPROC) (GLenum target); + +#define glBeginQuery GLEW_GET_FUN(__glewBeginQuery) +#define glBindBuffer GLEW_GET_FUN(__glewBindBuffer) +#define glBufferData GLEW_GET_FUN(__glewBufferData) +#define glBufferSubData GLEW_GET_FUN(__glewBufferSubData) +#define glDeleteBuffers GLEW_GET_FUN(__glewDeleteBuffers) +#define glDeleteQueries GLEW_GET_FUN(__glewDeleteQueries) +#define glEndQuery GLEW_GET_FUN(__glewEndQuery) +#define glGenBuffers GLEW_GET_FUN(__glewGenBuffers) +#define glGenQueries GLEW_GET_FUN(__glewGenQueries) +#define glGetBufferParameteriv GLEW_GET_FUN(__glewGetBufferParameteriv) +#define glGetBufferPointerv GLEW_GET_FUN(__glewGetBufferPointerv) +#define glGetBufferSubData GLEW_GET_FUN(__glewGetBufferSubData) +#define glGetQueryObjectiv GLEW_GET_FUN(__glewGetQueryObjectiv) +#define glGetQueryObjectuiv GLEW_GET_FUN(__glewGetQueryObjectuiv) +#define glGetQueryiv GLEW_GET_FUN(__glewGetQueryiv) +#define glIsBuffer GLEW_GET_FUN(__glewIsBuffer) +#define glIsQuery GLEW_GET_FUN(__glewIsQuery) +#define glMapBuffer GLEW_GET_FUN(__glewMapBuffer) +#define glUnmapBuffer GLEW_GET_FUN(__glewUnmapBuffer) + +#define GLEW_VERSION_1_5 GLEW_GET_VAR(__GLEW_VERSION_1_5) + +#endif /* GL_VERSION_1_5 */ + +/* ----------------------------- GL_VERSION_2_0 ---------------------------- */ + +#ifndef GL_VERSION_2_0 +#define GL_VERSION_2_0 1 + +#define GL_BLEND_EQUATION_RGB GL_BLEND_EQUATION +#define GL_VERTEX_ATTRIB_ARRAY_ENABLED 0x8622 +#define GL_VERTEX_ATTRIB_ARRAY_SIZE 0x8623 +#define GL_VERTEX_ATTRIB_ARRAY_STRIDE 0x8624 +#define GL_VERTEX_ATTRIB_ARRAY_TYPE 0x8625 +#define GL_CURRENT_VERTEX_ATTRIB 0x8626 +#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE 0x8643 +#define GL_VERTEX_ATTRIB_ARRAY_POINTER 0x8645 +#define GL_STENCIL_BACK_FUNC 0x8800 +#define GL_STENCIL_BACK_FAIL 0x8801 +#define GL_STENCIL_BACK_PASS_DEPTH_FAIL 0x8802 +#define GL_STENCIL_BACK_PASS_DEPTH_PASS 0x8803 +#define GL_MAX_DRAW_BUFFERS 0x8824 +#define GL_DRAW_BUFFER0 0x8825 +#define GL_DRAW_BUFFER1 0x8826 +#define GL_DRAW_BUFFER2 0x8827 +#define GL_DRAW_BUFFER3 0x8828 +#define GL_DRAW_BUFFER4 0x8829 +#define GL_DRAW_BUFFER5 0x882A +#define GL_DRAW_BUFFER6 0x882B +#define GL_DRAW_BUFFER7 0x882C +#define GL_DRAW_BUFFER8 0x882D +#define GL_DRAW_BUFFER9 0x882E +#define GL_DRAW_BUFFER10 0x882F +#define GL_DRAW_BUFFER11 0x8830 +#define GL_DRAW_BUFFER12 0x8831 +#define GL_DRAW_BUFFER13 0x8832 +#define GL_DRAW_BUFFER14 0x8833 +#define GL_DRAW_BUFFER15 0x8834 +#define GL_BLEND_EQUATION_ALPHA 0x883D +#define GL_POINT_SPRITE 0x8861 +#define GL_COORD_REPLACE 0x8862 +#define GL_MAX_VERTEX_ATTRIBS 0x8869 +#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED 0x886A +#define GL_MAX_TEXTURE_COORDS 0x8871 +#define GL_MAX_TEXTURE_IMAGE_UNITS 0x8872 +#define GL_FRAGMENT_SHADER 0x8B30 +#define GL_VERTEX_SHADER 0x8B31 +#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS 0x8B49 +#define GL_MAX_VERTEX_UNIFORM_COMPONENTS 0x8B4A +#define GL_MAX_VARYING_FLOATS 0x8B4B +#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS 0x8B4C +#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS 0x8B4D +#define GL_SHADER_TYPE 0x8B4F +#define GL_FLOAT_VEC2 0x8B50 +#define GL_FLOAT_VEC3 0x8B51 +#define GL_FLOAT_VEC4 0x8B52 +#define GL_INT_VEC2 0x8B53 +#define GL_INT_VEC3 0x8B54 +#define GL_INT_VEC4 0x8B55 +#define GL_BOOL 0x8B56 +#define GL_BOOL_VEC2 0x8B57 +#define GL_BOOL_VEC3 0x8B58 +#define GL_BOOL_VEC4 0x8B59 +#define GL_FLOAT_MAT2 0x8B5A +#define GL_FLOAT_MAT3 0x8B5B +#define GL_FLOAT_MAT4 0x8B5C +#define GL_SAMPLER_1D 0x8B5D +#define GL_SAMPLER_2D 0x8B5E +#define GL_SAMPLER_3D 0x8B5F +#define GL_SAMPLER_CUBE 0x8B60 +#define GL_SAMPLER_1D_SHADOW 0x8B61 +#define GL_SAMPLER_2D_SHADOW 0x8B62 +#define GL_DELETE_STATUS 0x8B80 +#define GL_COMPILE_STATUS 0x8B81 +#define GL_LINK_STATUS 0x8B82 +#define GL_VALIDATE_STATUS 0x8B83 +#define GL_INFO_LOG_LENGTH 0x8B84 +#define GL_ATTACHED_SHADERS 0x8B85 +#define GL_ACTIVE_UNIFORMS 0x8B86 +#define GL_ACTIVE_UNIFORM_MAX_LENGTH 0x8B87 +#define GL_SHADER_SOURCE_LENGTH 0x8B88 +#define GL_ACTIVE_ATTRIBUTES 0x8B89 +#define GL_ACTIVE_ATTRIBUTE_MAX_LENGTH 0x8B8A +#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT 0x8B8B +#define GL_SHADING_LANGUAGE_VERSION 0x8B8C +#define GL_CURRENT_PROGRAM 0x8B8D +#define GL_POINT_SPRITE_COORD_ORIGIN 0x8CA0 +#define GL_LOWER_LEFT 0x8CA1 +#define GL_UPPER_LEFT 0x8CA2 +#define GL_STENCIL_BACK_REF 0x8CA3 +#define GL_STENCIL_BACK_VALUE_MASK 0x8CA4 +#define GL_STENCIL_BACK_WRITEMASK 0x8CA5 + +typedef void (GLAPIENTRY * PFNGLATTACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (GLAPIENTRY * PFNGLBINDATTRIBLOCATIONPROC) (GLuint program, GLuint index, const GLchar* name); +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONSEPARATEPROC) (GLenum, GLenum); +typedef void (GLAPIENTRY * PFNGLCOMPILESHADERPROC) (GLuint shader); +typedef GLuint (GLAPIENTRY * PFNGLCREATEPROGRAMPROC) (void); +typedef GLuint (GLAPIENTRY * PFNGLCREATESHADERPROC) (GLenum type); +typedef void (GLAPIENTRY * PFNGLDELETEPROGRAMPROC) (GLuint program); +typedef void (GLAPIENTRY * PFNGLDELETESHADERPROC) (GLuint shader); +typedef void (GLAPIENTRY * PFNGLDETACHSHADERPROC) (GLuint program, GLuint shader); +typedef void (GLAPIENTRY * PFNGLDISABLEVERTEXATTRIBARRAYPROC) (GLuint); +typedef void (GLAPIENTRY * PFNGLDRAWBUFFERSPROC) (GLsizei n, const GLenum* bufs); +typedef void (GLAPIENTRY * PFNGLENABLEVERTEXATTRIBARRAYPROC) (GLuint); +typedef void (GLAPIENTRY * PFNGLGETACTIVEATTRIBPROC) (GLuint program, GLuint index, GLsizei maxLength, GLsizei* length, GLint* size, GLenum* type, GLchar* name); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMPROC) (GLuint program, GLuint index, GLsizei maxLength, GLsizei* length, GLint* size, GLenum* type, GLchar* name); +typedef void (GLAPIENTRY * PFNGLGETATTACHEDSHADERSPROC) (GLuint program, GLsizei maxCount, GLsizei* count, GLuint* shaders); +typedef GLint (GLAPIENTRY * PFNGLGETATTRIBLOCATIONPROC) (GLuint program, const GLchar* name); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMINFOLOGPROC) (GLuint program, GLsizei bufSize, GLsizei* length, GLchar* infoLog); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMIVPROC) (GLuint program, GLenum pname, GLint* param); +typedef void (GLAPIENTRY * PFNGLGETSHADERINFOLOGPROC) (GLuint shader, GLsizei bufSize, GLsizei* length, GLchar* infoLog); +typedef void (GLAPIENTRY * PFNGLGETSHADERSOURCEPROC) (GLuint obj, GLsizei maxLength, GLsizei* length, GLchar* source); +typedef void (GLAPIENTRY * PFNGLGETSHADERIVPROC) (GLuint shader, GLenum pname, GLint* param); +typedef GLint (GLAPIENTRY * PFNGLGETUNIFORMLOCATIONPROC) (GLuint program, const GLchar* name); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMFVPROC) (GLuint program, GLint location, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMIVPROC) (GLuint program, GLint location, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBPOINTERVPROC) (GLuint, GLenum, GLvoid**); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBDVPROC) (GLuint, GLenum, GLdouble*); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBFVPROC) (GLuint, GLenum, GLfloat*); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIVPROC) (GLuint, GLenum, GLint*); +typedef GLboolean (GLAPIENTRY * PFNGLISPROGRAMPROC) (GLuint program); +typedef GLboolean (GLAPIENTRY * PFNGLISSHADERPROC) (GLuint shader); +typedef void (GLAPIENTRY * PFNGLLINKPROGRAMPROC) (GLuint program); +typedef void (GLAPIENTRY * PFNGLSHADERSOURCEPROC) (GLuint shader, GLsizei count, const GLchar** strings, const GLint* lengths); +typedef void (GLAPIENTRY * PFNGLSTENCILFUNCSEPARATEPROC) (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); +typedef void (GLAPIENTRY * PFNGLSTENCILMASKSEPARATEPROC) (GLenum, GLuint); +typedef void (GLAPIENTRY * PFNGLSTENCILOPSEPARATEPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); +typedef void (GLAPIENTRY * PFNGLUNIFORM1FPROC) (GLint location, GLfloat v0); +typedef void (GLAPIENTRY * PFNGLUNIFORM1FVPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM1IPROC) (GLint location, GLint v0); +typedef void (GLAPIENTRY * PFNGLUNIFORM1IVPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2FPROC) (GLint location, GLfloat v0, GLfloat v1); +typedef void (GLAPIENTRY * PFNGLUNIFORM2FVPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2IPROC) (GLint location, GLint v0, GLint v1); +typedef void (GLAPIENTRY * PFNGLUNIFORM2IVPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (GLAPIENTRY * PFNGLUNIFORM3FVPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3IPROC) (GLint location, GLint v0, GLint v1, GLint v2); +typedef void (GLAPIENTRY * PFNGLUNIFORM3IVPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4FPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (GLAPIENTRY * PFNGLUNIFORM4FVPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4IPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (GLAPIENTRY * PFNGLUNIFORM4IVPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUSEPROGRAMPROC) (GLuint program); +typedef void (GLAPIENTRY * PFNGLVALIDATEPROGRAMPROC) (GLuint program); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DPROC) (GLuint index, GLdouble x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FPROC) (GLuint index, GLfloat x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SPROC) (GLuint index, GLshort x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SPROC) (GLuint index, GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NBVPROC) (GLuint index, const GLbyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NIVPROC) (GLuint index, const GLint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NSVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUBVPROC) (GLuint index, const GLubyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUIVPROC) (GLuint index, const GLuint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUSVPROC) (GLuint index, const GLushort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4BVPROC) (GLuint index, const GLbyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4IVPROC) (GLuint index, const GLint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UBVPROC) (GLuint index, const GLubyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UIVPROC) (GLuint index, const GLuint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4USVPROC) (GLuint index, const GLushort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBPOINTERPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid* pointer); + +#define glAttachShader GLEW_GET_FUN(__glewAttachShader) +#define glBindAttribLocation GLEW_GET_FUN(__glewBindAttribLocation) +#define glBlendEquationSeparate GLEW_GET_FUN(__glewBlendEquationSeparate) +#define glCompileShader GLEW_GET_FUN(__glewCompileShader) +#define glCreateProgram GLEW_GET_FUN(__glewCreateProgram) +#define glCreateShader GLEW_GET_FUN(__glewCreateShader) +#define glDeleteProgram GLEW_GET_FUN(__glewDeleteProgram) +#define glDeleteShader GLEW_GET_FUN(__glewDeleteShader) +#define glDetachShader GLEW_GET_FUN(__glewDetachShader) +#define glDisableVertexAttribArray GLEW_GET_FUN(__glewDisableVertexAttribArray) +#define glDrawBuffers GLEW_GET_FUN(__glewDrawBuffers) +#define glEnableVertexAttribArray GLEW_GET_FUN(__glewEnableVertexAttribArray) +#define glGetActiveAttrib GLEW_GET_FUN(__glewGetActiveAttrib) +#define glGetActiveUniform GLEW_GET_FUN(__glewGetActiveUniform) +#define glGetAttachedShaders GLEW_GET_FUN(__glewGetAttachedShaders) +#define glGetAttribLocation GLEW_GET_FUN(__glewGetAttribLocation) +#define glGetProgramInfoLog GLEW_GET_FUN(__glewGetProgramInfoLog) +#define glGetProgramiv GLEW_GET_FUN(__glewGetProgramiv) +#define glGetShaderInfoLog GLEW_GET_FUN(__glewGetShaderInfoLog) +#define glGetShaderSource GLEW_GET_FUN(__glewGetShaderSource) +#define glGetShaderiv GLEW_GET_FUN(__glewGetShaderiv) +#define glGetUniformLocation GLEW_GET_FUN(__glewGetUniformLocation) +#define glGetUniformfv GLEW_GET_FUN(__glewGetUniformfv) +#define glGetUniformiv GLEW_GET_FUN(__glewGetUniformiv) +#define glGetVertexAttribPointerv GLEW_GET_FUN(__glewGetVertexAttribPointerv) +#define glGetVertexAttribdv GLEW_GET_FUN(__glewGetVertexAttribdv) +#define glGetVertexAttribfv GLEW_GET_FUN(__glewGetVertexAttribfv) +#define glGetVertexAttribiv GLEW_GET_FUN(__glewGetVertexAttribiv) +#define glIsProgram GLEW_GET_FUN(__glewIsProgram) +#define glIsShader GLEW_GET_FUN(__glewIsShader) +#define glLinkProgram GLEW_GET_FUN(__glewLinkProgram) +#define glShaderSource GLEW_GET_FUN(__glewShaderSource) +#define glStencilFuncSeparate GLEW_GET_FUN(__glewStencilFuncSeparate) +#define glStencilMaskSeparate GLEW_GET_FUN(__glewStencilMaskSeparate) +#define glStencilOpSeparate GLEW_GET_FUN(__glewStencilOpSeparate) +#define glUniform1f GLEW_GET_FUN(__glewUniform1f) +#define glUniform1fv GLEW_GET_FUN(__glewUniform1fv) +#define glUniform1i GLEW_GET_FUN(__glewUniform1i) +#define glUniform1iv GLEW_GET_FUN(__glewUniform1iv) +#define glUniform2f GLEW_GET_FUN(__glewUniform2f) +#define glUniform2fv GLEW_GET_FUN(__glewUniform2fv) +#define glUniform2i GLEW_GET_FUN(__glewUniform2i) +#define glUniform2iv GLEW_GET_FUN(__glewUniform2iv) +#define glUniform3f GLEW_GET_FUN(__glewUniform3f) +#define glUniform3fv GLEW_GET_FUN(__glewUniform3fv) +#define glUniform3i GLEW_GET_FUN(__glewUniform3i) +#define glUniform3iv GLEW_GET_FUN(__glewUniform3iv) +#define glUniform4f GLEW_GET_FUN(__glewUniform4f) +#define glUniform4fv GLEW_GET_FUN(__glewUniform4fv) +#define glUniform4i GLEW_GET_FUN(__glewUniform4i) +#define glUniform4iv GLEW_GET_FUN(__glewUniform4iv) +#define glUniformMatrix2fv GLEW_GET_FUN(__glewUniformMatrix2fv) +#define glUniformMatrix3fv GLEW_GET_FUN(__glewUniformMatrix3fv) +#define glUniformMatrix4fv GLEW_GET_FUN(__glewUniformMatrix4fv) +#define glUseProgram GLEW_GET_FUN(__glewUseProgram) +#define glValidateProgram GLEW_GET_FUN(__glewValidateProgram) +#define glVertexAttrib1d GLEW_GET_FUN(__glewVertexAttrib1d) +#define glVertexAttrib1dv GLEW_GET_FUN(__glewVertexAttrib1dv) +#define glVertexAttrib1f GLEW_GET_FUN(__glewVertexAttrib1f) +#define glVertexAttrib1fv GLEW_GET_FUN(__glewVertexAttrib1fv) +#define glVertexAttrib1s GLEW_GET_FUN(__glewVertexAttrib1s) +#define glVertexAttrib1sv GLEW_GET_FUN(__glewVertexAttrib1sv) +#define glVertexAttrib2d GLEW_GET_FUN(__glewVertexAttrib2d) +#define glVertexAttrib2dv GLEW_GET_FUN(__glewVertexAttrib2dv) +#define glVertexAttrib2f GLEW_GET_FUN(__glewVertexAttrib2f) +#define glVertexAttrib2fv GLEW_GET_FUN(__glewVertexAttrib2fv) +#define glVertexAttrib2s GLEW_GET_FUN(__glewVertexAttrib2s) +#define glVertexAttrib2sv GLEW_GET_FUN(__glewVertexAttrib2sv) +#define glVertexAttrib3d GLEW_GET_FUN(__glewVertexAttrib3d) +#define glVertexAttrib3dv GLEW_GET_FUN(__glewVertexAttrib3dv) +#define glVertexAttrib3f GLEW_GET_FUN(__glewVertexAttrib3f) +#define glVertexAttrib3fv GLEW_GET_FUN(__glewVertexAttrib3fv) +#define glVertexAttrib3s GLEW_GET_FUN(__glewVertexAttrib3s) +#define glVertexAttrib3sv GLEW_GET_FUN(__glewVertexAttrib3sv) +#define glVertexAttrib4Nbv GLEW_GET_FUN(__glewVertexAttrib4Nbv) +#define glVertexAttrib4Niv GLEW_GET_FUN(__glewVertexAttrib4Niv) +#define glVertexAttrib4Nsv GLEW_GET_FUN(__glewVertexAttrib4Nsv) +#define glVertexAttrib4Nub GLEW_GET_FUN(__glewVertexAttrib4Nub) +#define glVertexAttrib4Nubv GLEW_GET_FUN(__glewVertexAttrib4Nubv) +#define glVertexAttrib4Nuiv GLEW_GET_FUN(__glewVertexAttrib4Nuiv) +#define glVertexAttrib4Nusv GLEW_GET_FUN(__glewVertexAttrib4Nusv) +#define glVertexAttrib4bv GLEW_GET_FUN(__glewVertexAttrib4bv) +#define glVertexAttrib4d GLEW_GET_FUN(__glewVertexAttrib4d) +#define glVertexAttrib4dv GLEW_GET_FUN(__glewVertexAttrib4dv) +#define glVertexAttrib4f GLEW_GET_FUN(__glewVertexAttrib4f) +#define glVertexAttrib4fv GLEW_GET_FUN(__glewVertexAttrib4fv) +#define glVertexAttrib4iv GLEW_GET_FUN(__glewVertexAttrib4iv) +#define glVertexAttrib4s GLEW_GET_FUN(__glewVertexAttrib4s) +#define glVertexAttrib4sv GLEW_GET_FUN(__glewVertexAttrib4sv) +#define glVertexAttrib4ubv GLEW_GET_FUN(__glewVertexAttrib4ubv) +#define glVertexAttrib4uiv GLEW_GET_FUN(__glewVertexAttrib4uiv) +#define glVertexAttrib4usv GLEW_GET_FUN(__glewVertexAttrib4usv) +#define glVertexAttribPointer GLEW_GET_FUN(__glewVertexAttribPointer) + +#define GLEW_VERSION_2_0 GLEW_GET_VAR(__GLEW_VERSION_2_0) + +#endif /* GL_VERSION_2_0 */ + +/* ----------------------------- GL_VERSION_2_1 ---------------------------- */ + +#ifndef GL_VERSION_2_1 +#define GL_VERSION_2_1 1 + +#define GL_CURRENT_RASTER_SECONDARY_COLOR 0x845F +#define GL_PIXEL_PACK_BUFFER 0x88EB +#define GL_PIXEL_UNPACK_BUFFER 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING 0x88EF +#define GL_FLOAT_MAT2x3 0x8B65 +#define GL_FLOAT_MAT2x4 0x8B66 +#define GL_FLOAT_MAT3x2 0x8B67 +#define GL_FLOAT_MAT3x4 0x8B68 +#define GL_FLOAT_MAT4x2 0x8B69 +#define GL_FLOAT_MAT4x3 0x8B6A +#define GL_SRGB 0x8C40 +#define GL_SRGB8 0x8C41 +#define GL_SRGB_ALPHA 0x8C42 +#define GL_SRGB8_ALPHA8 0x8C43 +#define GL_SLUMINANCE_ALPHA 0x8C44 +#define GL_SLUMINANCE8_ALPHA8 0x8C45 +#define GL_SLUMINANCE 0x8C46 +#define GL_SLUMINANCE8 0x8C47 +#define GL_COMPRESSED_SRGB 0x8C48 +#define GL_COMPRESSED_SRGB_ALPHA 0x8C49 +#define GL_COMPRESSED_SLUMINANCE 0x8C4A +#define GL_COMPRESSED_SLUMINANCE_ALPHA 0x8C4B + +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3X4FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4X2FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4X3FVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat *value); + +#define glUniformMatrix2x3fv GLEW_GET_FUN(__glewUniformMatrix2x3fv) +#define glUniformMatrix2x4fv GLEW_GET_FUN(__glewUniformMatrix2x4fv) +#define glUniformMatrix3x2fv GLEW_GET_FUN(__glewUniformMatrix3x2fv) +#define glUniformMatrix3x4fv GLEW_GET_FUN(__glewUniformMatrix3x4fv) +#define glUniformMatrix4x2fv GLEW_GET_FUN(__glewUniformMatrix4x2fv) +#define glUniformMatrix4x3fv GLEW_GET_FUN(__glewUniformMatrix4x3fv) + +#define GLEW_VERSION_2_1 GLEW_GET_VAR(__GLEW_VERSION_2_1) + +#endif /* GL_VERSION_2_1 */ + +/* ----------------------------- GL_VERSION_3_0 ---------------------------- */ + +#ifndef GL_VERSION_3_0 +#define GL_VERSION_3_0 1 + +#define GL_MAX_CLIP_DISTANCES GL_MAX_CLIP_PLANES +#define GL_CLIP_DISTANCE5 GL_CLIP_PLANE5 +#define GL_CLIP_DISTANCE1 GL_CLIP_PLANE1 +#define GL_CLIP_DISTANCE3 GL_CLIP_PLANE3 +#define GL_COMPARE_REF_TO_TEXTURE GL_COMPARE_R_TO_TEXTURE_ARB +#define GL_CLIP_DISTANCE0 GL_CLIP_PLANE0 +#define GL_CLIP_DISTANCE4 GL_CLIP_PLANE4 +#define GL_CLIP_DISTANCE2 GL_CLIP_PLANE2 +#define GL_MAX_VARYING_COMPONENTS GL_MAX_VARYING_FLOATS +#define GL_CONTEXT_FLAG_FORWARD_COMPATIBLE_BIT 0x0001 +#define GL_MAJOR_VERSION 0x821B +#define GL_MINOR_VERSION 0x821C +#define GL_NUM_EXTENSIONS 0x821D +#define GL_CONTEXT_FLAGS 0x821E +#define GL_DEPTH_BUFFER 0x8223 +#define GL_STENCIL_BUFFER 0x8224 +#define GL_COMPRESSED_RED 0x8225 +#define GL_COMPRESSED_RG 0x8226 +#define GL_RGBA32F 0x8814 +#define GL_RGB32F 0x8815 +#define GL_RGBA16F 0x881A +#define GL_RGB16F 0x881B +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER 0x88FD +#define GL_MAX_ARRAY_TEXTURE_LAYERS 0x88FF +#define GL_MIN_PROGRAM_TEXEL_OFFSET 0x8904 +#define GL_MAX_PROGRAM_TEXEL_OFFSET 0x8905 +#define GL_CLAMP_VERTEX_COLOR 0x891A +#define GL_CLAMP_FRAGMENT_COLOR 0x891B +#define GL_CLAMP_READ_COLOR 0x891C +#define GL_FIXED_ONLY 0x891D +#define GL_TEXTURE_RED_TYPE 0x8C10 +#define GL_TEXTURE_GREEN_TYPE 0x8C11 +#define GL_TEXTURE_BLUE_TYPE 0x8C12 +#define GL_TEXTURE_ALPHA_TYPE 0x8C13 +#define GL_TEXTURE_LUMINANCE_TYPE 0x8C14 +#define GL_TEXTURE_INTENSITY_TYPE 0x8C15 +#define GL_TEXTURE_DEPTH_TYPE 0x8C16 +#define GL_UNSIGNED_NORMALIZED 0x8C17 +#define GL_TEXTURE_1D_ARRAY 0x8C18 +#define GL_PROXY_TEXTURE_1D_ARRAY 0x8C19 +#define GL_TEXTURE_2D_ARRAY 0x8C1A +#define GL_PROXY_TEXTURE_2D_ARRAY 0x8C1B +#define GL_TEXTURE_BINDING_1D_ARRAY 0x8C1C +#define GL_TEXTURE_BINDING_2D_ARRAY 0x8C1D +#define GL_R11F_G11F_B10F 0x8C3A +#define GL_UNSIGNED_INT_10F_11F_11F_REV 0x8C3B +#define GL_RGB9_E5 0x8C3D +#define GL_UNSIGNED_INT_5_9_9_9_REV 0x8C3E +#define GL_TEXTURE_SHARED_SIZE 0x8C3F +#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH 0x8C76 +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE 0x8C7F +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS 0x8C80 +#define GL_TRANSFORM_FEEDBACK_VARYINGS 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_START 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE 0x8C85 +#define GL_PRIMITIVES_GENERATED 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN 0x8C88 +#define GL_RASTERIZER_DISCARD 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS 0x8C8B +#define GL_INTERLEAVED_ATTRIBS 0x8C8C +#define GL_SEPARATE_ATTRIBS 0x8C8D +#define GL_TRANSFORM_FEEDBACK_BUFFER 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING 0x8C8F +#define GL_RGBA32UI 0x8D70 +#define GL_RGB32UI 0x8D71 +#define GL_RGBA16UI 0x8D76 +#define GL_RGB16UI 0x8D77 +#define GL_RGBA8UI 0x8D7C +#define GL_RGB8UI 0x8D7D +#define GL_RGBA32I 0x8D82 +#define GL_RGB32I 0x8D83 +#define GL_RGBA16I 0x8D88 +#define GL_RGB16I 0x8D89 +#define GL_RGBA8I 0x8D8E +#define GL_RGB8I 0x8D8F +#define GL_RED_INTEGER 0x8D94 +#define GL_GREEN_INTEGER 0x8D95 +#define GL_BLUE_INTEGER 0x8D96 +#define GL_ALPHA_INTEGER 0x8D97 +#define GL_RGB_INTEGER 0x8D98 +#define GL_RGBA_INTEGER 0x8D99 +#define GL_BGR_INTEGER 0x8D9A +#define GL_BGRA_INTEGER 0x8D9B +#define GL_SAMPLER_1D_ARRAY 0x8DC0 +#define GL_SAMPLER_2D_ARRAY 0x8DC1 +#define GL_SAMPLER_1D_ARRAY_SHADOW 0x8DC3 +#define GL_SAMPLER_2D_ARRAY_SHADOW 0x8DC4 +#define GL_SAMPLER_CUBE_SHADOW 0x8DC5 +#define GL_UNSIGNED_INT_VEC2 0x8DC6 +#define GL_UNSIGNED_INT_VEC3 0x8DC7 +#define GL_UNSIGNED_INT_VEC4 0x8DC8 +#define GL_INT_SAMPLER_1D 0x8DC9 +#define GL_INT_SAMPLER_2D 0x8DCA +#define GL_INT_SAMPLER_3D 0x8DCB +#define GL_INT_SAMPLER_CUBE 0x8DCC +#define GL_INT_SAMPLER_1D_ARRAY 0x8DCE +#define GL_INT_SAMPLER_2D_ARRAY 0x8DCF +#define GL_UNSIGNED_INT_SAMPLER_1D 0x8DD1 +#define GL_UNSIGNED_INT_SAMPLER_2D 0x8DD2 +#define GL_UNSIGNED_INT_SAMPLER_3D 0x8DD3 +#define GL_UNSIGNED_INT_SAMPLER_CUBE 0x8DD4 +#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY 0x8DD6 +#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY 0x8DD7 +#define GL_QUERY_WAIT 0x8E13 +#define GL_QUERY_NO_WAIT 0x8E14 +#define GL_QUERY_BY_REGION_WAIT 0x8E15 +#define GL_QUERY_BY_REGION_NO_WAIT 0x8E16 + +typedef void (GLAPIENTRY * PFNGLBEGINCONDITIONALRENDERPROC) (GLuint, GLenum); +typedef void (GLAPIENTRY * PFNGLBEGINTRANSFORMFEEDBACKPROC) (GLenum); +typedef void (GLAPIENTRY * PFNGLBINDFRAGDATALOCATIONPROC) (GLuint, GLuint, const GLchar*); +typedef void (GLAPIENTRY * PFNGLCLAMPCOLORPROC) (GLenum, GLenum); +typedef void (GLAPIENTRY * PFNGLCLEARBUFFERFIPROC) (GLenum, GLint, GLfloat, GLint); +typedef void (GLAPIENTRY * PFNGLCLEARBUFFERFVPROC) (GLenum, GLint, const GLfloat*); +typedef void (GLAPIENTRY * PFNGLCLEARBUFFERIVPROC) (GLenum, GLint, const GLint*); +typedef void (GLAPIENTRY * PFNGLCLEARBUFFERUIVPROC) (GLenum, GLint, const GLuint*); +typedef void (GLAPIENTRY * PFNGLCOLORMASKIPROC) (GLuint, GLboolean, GLboolean, GLboolean, GLboolean); +typedef void (GLAPIENTRY * PFNGLDISABLEIPROC) (GLenum, GLuint); +typedef void (GLAPIENTRY * PFNGLENABLEIPROC) (GLenum, GLuint); +typedef void (GLAPIENTRY * PFNGLENDCONDITIONALRENDERPROC) (void); +typedef void (GLAPIENTRY * PFNGLENDTRANSFORMFEEDBACKPROC) (void); +typedef void (GLAPIENTRY * PFNGLGETBOOLEANI_VPROC) (GLenum, GLuint, GLboolean*); +typedef GLint (GLAPIENTRY * PFNGLGETFRAGDATALOCATIONPROC) (GLuint, const GLchar*); +typedef const GLubyte* (GLAPIENTRY * PFNGLGETSTRINGIPROC) (GLenum, GLuint); +typedef void (GLAPIENTRY * PFNGLGETTEXPARAMETERIIVPROC) (GLenum, GLenum, GLint*); +typedef void (GLAPIENTRY * PFNGLGETTEXPARAMETERIUIVPROC) (GLenum, GLenum, GLuint*); +typedef void (GLAPIENTRY * PFNGLGETTRANSFORMFEEDBACKVARYINGPROC) (GLuint, GLuint, GLsizei, GLsizei *, GLsizei *, GLenum *, GLchar *); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMUIVPROC) (GLuint, GLint, GLuint*); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIIVPROC) (GLuint, GLenum, GLint*); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIUIVPROC) (GLuint, GLenum, GLuint*); +typedef GLboolean (GLAPIENTRY * PFNGLISENABLEDIPROC) (GLenum, GLuint); +typedef void (GLAPIENTRY * PFNGLTEXPARAMETERIIVPROC) (GLenum, GLenum, const GLint*); +typedef void (GLAPIENTRY * PFNGLTEXPARAMETERIUIVPROC) (GLenum, GLenum, const GLuint*); +typedef void (GLAPIENTRY * PFNGLTRANSFORMFEEDBACKVARYINGSPROC) (GLuint, GLsizei, const GLchar **, GLenum); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UIPROC) (GLint, GLuint); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UIVPROC) (GLint, GLsizei, const GLuint*); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UIPROC) (GLint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UIVPROC) (GLint, GLsizei, const GLuint*); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UIPROC) (GLint, GLuint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UIVPROC) (GLint, GLsizei, const GLuint*); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UIPROC) (GLint, GLuint, GLuint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UIVPROC) (GLint, GLsizei, const GLuint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1IPROC) (GLuint, GLint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1IVPROC) (GLuint, const GLint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1UIPROC) (GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1UIVPROC) (GLuint, const GLuint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2IPROC) (GLuint, GLint, GLint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2IVPROC) (GLuint, const GLint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2UIPROC) (GLuint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2UIVPROC) (GLuint, const GLuint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3IPROC) (GLuint, GLint, GLint, GLint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3IVPROC) (GLuint, const GLint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3UIPROC) (GLuint, GLuint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3UIVPROC) (GLuint, const GLuint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4BVPROC) (GLuint, const GLbyte*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4IPROC) (GLuint, GLint, GLint, GLint, GLint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4IVPROC) (GLuint, const GLint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4SVPROC) (GLuint, const GLshort*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UBVPROC) (GLuint, const GLubyte*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UIPROC) (GLuint, GLuint, GLuint, GLuint, GLuint); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UIVPROC) (GLuint, const GLuint*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4USVPROC) (GLuint, const GLushort*); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBIPOINTERPROC) (GLuint, GLint, GLenum, GLsizei, const GLvoid*); + +#define glBeginConditionalRender GLEW_GET_FUN(__glewBeginConditionalRender) +#define glBeginTransformFeedback GLEW_GET_FUN(__glewBeginTransformFeedback) +#define glBindFragDataLocation GLEW_GET_FUN(__glewBindFragDataLocation) +#define glClampColor GLEW_GET_FUN(__glewClampColor) +#define glClearBufferfi GLEW_GET_FUN(__glewClearBufferfi) +#define glClearBufferfv GLEW_GET_FUN(__glewClearBufferfv) +#define glClearBufferiv GLEW_GET_FUN(__glewClearBufferiv) +#define glClearBufferuiv GLEW_GET_FUN(__glewClearBufferuiv) +#define glColorMaski GLEW_GET_FUN(__glewColorMaski) +#define glDisablei GLEW_GET_FUN(__glewDisablei) +#define glEnablei GLEW_GET_FUN(__glewEnablei) +#define glEndConditionalRender GLEW_GET_FUN(__glewEndConditionalRender) +#define glEndTransformFeedback GLEW_GET_FUN(__glewEndTransformFeedback) +#define glGetBooleani_v GLEW_GET_FUN(__glewGetBooleani_v) +#define glGetFragDataLocation GLEW_GET_FUN(__glewGetFragDataLocation) +#define glGetStringi GLEW_GET_FUN(__glewGetStringi) +#define glGetTexParameterIiv GLEW_GET_FUN(__glewGetTexParameterIiv) +#define glGetTexParameterIuiv GLEW_GET_FUN(__glewGetTexParameterIuiv) +#define glGetTransformFeedbackVarying GLEW_GET_FUN(__glewGetTransformFeedbackVarying) +#define glGetUniformuiv GLEW_GET_FUN(__glewGetUniformuiv) +#define glGetVertexAttribIiv GLEW_GET_FUN(__glewGetVertexAttribIiv) +#define glGetVertexAttribIuiv GLEW_GET_FUN(__glewGetVertexAttribIuiv) +#define glIsEnabledi GLEW_GET_FUN(__glewIsEnabledi) +#define glTexParameterIiv GLEW_GET_FUN(__glewTexParameterIiv) +#define glTexParameterIuiv GLEW_GET_FUN(__glewTexParameterIuiv) +#define glTransformFeedbackVaryings GLEW_GET_FUN(__glewTransformFeedbackVaryings) +#define glUniform1ui GLEW_GET_FUN(__glewUniform1ui) +#define glUniform1uiv GLEW_GET_FUN(__glewUniform1uiv) +#define glUniform2ui GLEW_GET_FUN(__glewUniform2ui) +#define glUniform2uiv GLEW_GET_FUN(__glewUniform2uiv) +#define glUniform3ui GLEW_GET_FUN(__glewUniform3ui) +#define glUniform3uiv GLEW_GET_FUN(__glewUniform3uiv) +#define glUniform4ui GLEW_GET_FUN(__glewUniform4ui) +#define glUniform4uiv GLEW_GET_FUN(__glewUniform4uiv) +#define glVertexAttribI1i GLEW_GET_FUN(__glewVertexAttribI1i) +#define glVertexAttribI1iv GLEW_GET_FUN(__glewVertexAttribI1iv) +#define glVertexAttribI1ui GLEW_GET_FUN(__glewVertexAttribI1ui) +#define glVertexAttribI1uiv GLEW_GET_FUN(__glewVertexAttribI1uiv) +#define glVertexAttribI2i GLEW_GET_FUN(__glewVertexAttribI2i) +#define glVertexAttribI2iv GLEW_GET_FUN(__glewVertexAttribI2iv) +#define glVertexAttribI2ui GLEW_GET_FUN(__glewVertexAttribI2ui) +#define glVertexAttribI2uiv GLEW_GET_FUN(__glewVertexAttribI2uiv) +#define glVertexAttribI3i GLEW_GET_FUN(__glewVertexAttribI3i) +#define glVertexAttribI3iv GLEW_GET_FUN(__glewVertexAttribI3iv) +#define glVertexAttribI3ui GLEW_GET_FUN(__glewVertexAttribI3ui) +#define glVertexAttribI3uiv GLEW_GET_FUN(__glewVertexAttribI3uiv) +#define glVertexAttribI4bv GLEW_GET_FUN(__glewVertexAttribI4bv) +#define glVertexAttribI4i GLEW_GET_FUN(__glewVertexAttribI4i) +#define glVertexAttribI4iv GLEW_GET_FUN(__glewVertexAttribI4iv) +#define glVertexAttribI4sv GLEW_GET_FUN(__glewVertexAttribI4sv) +#define glVertexAttribI4ubv GLEW_GET_FUN(__glewVertexAttribI4ubv) +#define glVertexAttribI4ui GLEW_GET_FUN(__glewVertexAttribI4ui) +#define glVertexAttribI4uiv GLEW_GET_FUN(__glewVertexAttribI4uiv) +#define glVertexAttribI4usv GLEW_GET_FUN(__glewVertexAttribI4usv) +#define glVertexAttribIPointer GLEW_GET_FUN(__glewVertexAttribIPointer) + +#define GLEW_VERSION_3_0 GLEW_GET_VAR(__GLEW_VERSION_3_0) + +#endif /* GL_VERSION_3_0 */ + +/* ----------------------------- GL_VERSION_3_1 ---------------------------- */ + +#ifndef GL_VERSION_3_1 +#define GL_VERSION_3_1 1 + +#define GL_TEXTURE_RECTANGLE 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE 0x84F8 +#define GL_SAMPLER_2D_RECT 0x8B63 +#define GL_SAMPLER_2D_RECT_SHADOW 0x8B64 +#define GL_TEXTURE_BUFFER 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING 0x8C2D +#define GL_TEXTURE_BUFFER_FORMAT 0x8C2E +#define GL_SAMPLER_BUFFER 0x8DC2 +#define GL_INT_SAMPLER_2D_RECT 0x8DCD +#define GL_INT_SAMPLER_BUFFER 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_2D_RECT 0x8DD5 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER 0x8DD8 +#define GL_RED_SNORM 0x8F90 +#define GL_RG_SNORM 0x8F91 +#define GL_RGB_SNORM 0x8F92 +#define GL_RGBA_SNORM 0x8F93 +#define GL_R8_SNORM 0x8F94 +#define GL_RG8_SNORM 0x8F95 +#define GL_RGB8_SNORM 0x8F96 +#define GL_RGBA8_SNORM 0x8F97 +#define GL_R16_SNORM 0x8F98 +#define GL_RG16_SNORM 0x8F99 +#define GL_RGB16_SNORM 0x8F9A +#define GL_RGBA16_SNORM 0x8F9B +#define GL_SIGNED_NORMALIZED 0x8F9C +#define GL_PRIMITIVE_RESTART 0x8F9D +#define GL_PRIMITIVE_RESTART_INDEX 0x8F9E +#define GL_BUFFER_ACCESS_FLAGS 0x911F +#define GL_BUFFER_MAP_LENGTH 0x9120 +#define GL_BUFFER_MAP_OFFSET 0x9121 + +typedef void (GLAPIENTRY * PFNGLDRAWARRAYSINSTANCEDPROC) (GLenum, GLint, GLsizei, GLsizei); +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSINSTANCEDPROC) (GLenum, GLsizei, GLenum, const GLvoid*, GLsizei); +typedef void (GLAPIENTRY * PFNGLPRIMITIVERESTARTINDEXPROC) (GLuint); +typedef void (GLAPIENTRY * PFNGLTEXBUFFERPROC) (GLenum, GLenum, GLuint); + +#define glDrawArraysInstanced GLEW_GET_FUN(__glewDrawArraysInstanced) +#define glDrawElementsInstanced GLEW_GET_FUN(__glewDrawElementsInstanced) +#define glPrimitiveRestartIndex GLEW_GET_FUN(__glewPrimitiveRestartIndex) +#define glTexBuffer GLEW_GET_FUN(__glewTexBuffer) + +#define GLEW_VERSION_3_1 GLEW_GET_VAR(__GLEW_VERSION_3_1) + +#endif /* GL_VERSION_3_1 */ + +/* ----------------------------- GL_VERSION_3_2 ---------------------------- */ + +#ifndef GL_VERSION_3_2 +#define GL_VERSION_3_2 1 + +#define GL_CONTEXT_CORE_PROFILE_BIT 0x00000001 +#define GL_CONTEXT_COMPATIBILITY_PROFILE_BIT 0x00000002 +#define GL_LINES_ADJACENCY 0x000A +#define GL_LINE_STRIP_ADJACENCY 0x000B +#define GL_TRIANGLES_ADJACENCY 0x000C +#define GL_TRIANGLE_STRIP_ADJACENCY 0x000D +#define GL_PROGRAM_POINT_SIZE 0x8642 +#define GL_GEOMETRY_VERTICES_OUT 0x8916 +#define GL_GEOMETRY_INPUT_TYPE 0x8917 +#define GL_GEOMETRY_OUTPUT_TYPE 0x8918 +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS 0x8C29 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED 0x8DA7 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS 0x8DA8 +#define GL_GEOMETRY_SHADER 0x8DD9 +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS 0x8DE1 +#define GL_MAX_VERTEX_OUTPUT_COMPONENTS 0x9122 +#define GL_MAX_GEOMETRY_INPUT_COMPONENTS 0x9123 +#define GL_MAX_GEOMETRY_OUTPUT_COMPONENTS 0x9124 +#define GL_MAX_FRAGMENT_INPUT_COMPONENTS 0x9125 +#define GL_CONTEXT_PROFILE_MASK 0x9126 + +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTUREPROC) (GLenum, GLenum, GLuint, GLint); +typedef void (GLAPIENTRY * PFNGLGETBUFFERPARAMETERI64VPROC) (GLenum, GLenum, GLint64 *); +typedef void (GLAPIENTRY * PFNGLGETINTEGER64I_VPROC) (GLenum, GLuint, GLint64 *); + +#define glFramebufferTexture GLEW_GET_FUN(__glewFramebufferTexture) +#define glGetBufferParameteri64v GLEW_GET_FUN(__glewGetBufferParameteri64v) +#define glGetInteger64i_v GLEW_GET_FUN(__glewGetInteger64i_v) + +#define GLEW_VERSION_3_2 GLEW_GET_VAR(__GLEW_VERSION_3_2) + +#endif /* GL_VERSION_3_2 */ + +/* ----------------------------- GL_VERSION_3_3 ---------------------------- */ + +#ifndef GL_VERSION_3_3 +#define GL_VERSION_3_3 1 + +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR 0x88FE +#define GL_ANY_SAMPLES_PASSED 0x8C2F +#define GL_TEXTURE_SWIZZLE_R 0x8E42 +#define GL_TEXTURE_SWIZZLE_G 0x8E43 +#define GL_TEXTURE_SWIZZLE_B 0x8E44 +#define GL_TEXTURE_SWIZZLE_A 0x8E45 +#define GL_TEXTURE_SWIZZLE_RGBA 0x8E46 +#define GL_RGB10_A2UI 0x906F + +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBDIVISORPROC) (GLuint index, GLuint divisor); + +#define glVertexAttribDivisor GLEW_GET_FUN(__glewVertexAttribDivisor) + +#define GLEW_VERSION_3_3 GLEW_GET_VAR(__GLEW_VERSION_3_3) + +#endif /* GL_VERSION_3_3 */ + +/* ----------------------------- GL_VERSION_4_0 ---------------------------- */ + +#ifndef GL_VERSION_4_0 +#define GL_VERSION_4_0 1 + +#define GL_GEOMETRY_SHADER_INVOCATIONS 0x887F +#define GL_SAMPLE_SHADING 0x8C36 +#define GL_MIN_SAMPLE_SHADING_VALUE 0x8C37 +#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS 0x8E5A +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET 0x8E5C +#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS 0x8E5D +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET 0x8E5F +#define GL_MAX_PROGRAM_TEXTURE_GATHER_COMPONENTS 0x8F9F +#define GL_TEXTURE_CUBE_MAP_ARRAY 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY 0x900A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY 0x900B +#define GL_SAMPLER_CUBE_MAP_ARRAY 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY 0x900F + +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONSEPARATEIPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONIPROC) (GLuint buf, GLenum mode); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCSEPARATEIPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCIPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (GLAPIENTRY * PFNGLMINSAMPLESHADINGPROC) (GLclampf value); + +#define glBlendEquationSeparatei GLEW_GET_FUN(__glewBlendEquationSeparatei) +#define glBlendEquationi GLEW_GET_FUN(__glewBlendEquationi) +#define glBlendFuncSeparatei GLEW_GET_FUN(__glewBlendFuncSeparatei) +#define glBlendFunci GLEW_GET_FUN(__glewBlendFunci) +#define glMinSampleShading GLEW_GET_FUN(__glewMinSampleShading) + +#define GLEW_VERSION_4_0 GLEW_GET_VAR(__GLEW_VERSION_4_0) + +#endif /* GL_VERSION_4_0 */ + +/* ----------------------------- GL_VERSION_4_1 ---------------------------- */ + +#ifndef GL_VERSION_4_1 +#define GL_VERSION_4_1 1 + +#define GLEW_VERSION_4_1 GLEW_GET_VAR(__GLEW_VERSION_4_1) + +#endif /* GL_VERSION_4_1 */ + +/* -------------------------- GL_3DFX_multisample -------------------------- */ + +#ifndef GL_3DFX_multisample +#define GL_3DFX_multisample 1 + +#define GL_MULTISAMPLE_3DFX 0x86B2 +#define GL_SAMPLE_BUFFERS_3DFX 0x86B3 +#define GL_SAMPLES_3DFX 0x86B4 +#define GL_MULTISAMPLE_BIT_3DFX 0x20000000 + +#define GLEW_3DFX_multisample GLEW_GET_VAR(__GLEW_3DFX_multisample) + +#endif /* GL_3DFX_multisample */ + +/* ---------------------------- GL_3DFX_tbuffer ---------------------------- */ + +#ifndef GL_3DFX_tbuffer +#define GL_3DFX_tbuffer 1 + +typedef void (GLAPIENTRY * PFNGLTBUFFERMASK3DFXPROC) (GLuint mask); + +#define glTbufferMask3DFX GLEW_GET_FUN(__glewTbufferMask3DFX) + +#define GLEW_3DFX_tbuffer GLEW_GET_VAR(__GLEW_3DFX_tbuffer) + +#endif /* GL_3DFX_tbuffer */ + +/* -------------------- GL_3DFX_texture_compression_FXT1 ------------------- */ + +#ifndef GL_3DFX_texture_compression_FXT1 +#define GL_3DFX_texture_compression_FXT1 1 + +#define GL_COMPRESSED_RGB_FXT1_3DFX 0x86B0 +#define GL_COMPRESSED_RGBA_FXT1_3DFX 0x86B1 + +#define GLEW_3DFX_texture_compression_FXT1 GLEW_GET_VAR(__GLEW_3DFX_texture_compression_FXT1) + +#endif /* GL_3DFX_texture_compression_FXT1 */ + +/* ----------------------- GL_AMD_blend_minmax_factor ---------------------- */ + +#ifndef GL_AMD_blend_minmax_factor +#define GL_AMD_blend_minmax_factor 1 + +#define GL_FACTOR_MIN_AMD 0x901C +#define GL_FACTOR_MAX_AMD 0x901D + +#define GLEW_AMD_blend_minmax_factor GLEW_GET_VAR(__GLEW_AMD_blend_minmax_factor) + +#endif /* GL_AMD_blend_minmax_factor */ + +/* ----------------------- GL_AMD_conservative_depth ----------------------- */ + +#ifndef GL_AMD_conservative_depth +#define GL_AMD_conservative_depth 1 + +#define GLEW_AMD_conservative_depth GLEW_GET_VAR(__GLEW_AMD_conservative_depth) + +#endif /* GL_AMD_conservative_depth */ + +/* -------------------------- GL_AMD_debug_output -------------------------- */ + +#ifndef GL_AMD_debug_output +#define GL_AMD_debug_output 1 + +#define GL_MAX_DEBUG_MESSAGE_LENGTH_AMD 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES_AMD 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES_AMD 0x9145 +#define GL_DEBUG_SEVERITY_HIGH_AMD 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM_AMD 0x9147 +#define GL_DEBUG_SEVERITY_LOW_AMD 0x9148 +#define GL_DEBUG_CATEGORY_API_ERROR_AMD 0x9149 +#define GL_DEBUG_CATEGORY_WINDOW_SYSTEM_AMD 0x914A +#define GL_DEBUG_CATEGORY_DEPRECATION_AMD 0x914B +#define GL_DEBUG_CATEGORY_UNDEFINED_BEHAVIOR_AMD 0x914C +#define GL_DEBUG_CATEGORY_PERFORMANCE_AMD 0x914D +#define GL_DEBUG_CATEGORY_SHADER_COMPILER_AMD 0x914E +#define GL_DEBUG_CATEGORY_APPLICATION_AMD 0x914F +#define GL_DEBUG_CATEGORY_OTHER_AMD 0x9150 + +typedef void (APIENTRY *GLDEBUGPROCAMD)(GLuint id, GLenum category, GLenum severity, GLsizei length, const GLchar* message, GLvoid* userParam); + +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGECALLBACKAMDPROC) (GLDEBUGPROCAMD callback, void* userParam); +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGEENABLEAMDPROC) (GLenum category, GLenum severity, GLsizei count, const GLuint* ids, GLboolean enabled); +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGEINSERTAMDPROC) (GLenum category, GLenum severity, GLuint id, GLsizei length, const char* buf); +typedef GLuint (GLAPIENTRY * PFNGLGETDEBUGMESSAGELOGAMDPROC) (GLuint count, GLsizei bufsize, GLenum* categories, GLuint* severities, GLuint* ids, GLsizei* lengths, char* message); + +#define glDebugMessageCallbackAMD GLEW_GET_FUN(__glewDebugMessageCallbackAMD) +#define glDebugMessageEnableAMD GLEW_GET_FUN(__glewDebugMessageEnableAMD) +#define glDebugMessageInsertAMD GLEW_GET_FUN(__glewDebugMessageInsertAMD) +#define glGetDebugMessageLogAMD GLEW_GET_FUN(__glewGetDebugMessageLogAMD) + +#define GLEW_AMD_debug_output GLEW_GET_VAR(__GLEW_AMD_debug_output) + +#endif /* GL_AMD_debug_output */ + +/* ---------------------- GL_AMD_depth_clamp_separate ---------------------- */ + +#ifndef GL_AMD_depth_clamp_separate +#define GL_AMD_depth_clamp_separate 1 + +#define GL_DEPTH_CLAMP_NEAR_AMD 0x901E +#define GL_DEPTH_CLAMP_FAR_AMD 0x901F + +#define GLEW_AMD_depth_clamp_separate GLEW_GET_VAR(__GLEW_AMD_depth_clamp_separate) + +#endif /* GL_AMD_depth_clamp_separate */ + +/* ----------------------- GL_AMD_draw_buffers_blend ----------------------- */ + +#ifndef GL_AMD_draw_buffers_blend +#define GL_AMD_draw_buffers_blend 1 + +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONINDEXEDAMDPROC) (GLuint buf, GLenum mode); +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCINDEXEDAMDPROC) (GLuint buf, GLenum src, GLenum dst); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCSEPARATEINDEXEDAMDPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); + +#define glBlendEquationIndexedAMD GLEW_GET_FUN(__glewBlendEquationIndexedAMD) +#define glBlendEquationSeparateIndexedAMD GLEW_GET_FUN(__glewBlendEquationSeparateIndexedAMD) +#define glBlendFuncIndexedAMD GLEW_GET_FUN(__glewBlendFuncIndexedAMD) +#define glBlendFuncSeparateIndexedAMD GLEW_GET_FUN(__glewBlendFuncSeparateIndexedAMD) + +#define GLEW_AMD_draw_buffers_blend GLEW_GET_VAR(__GLEW_AMD_draw_buffers_blend) + +#endif /* GL_AMD_draw_buffers_blend */ + +/* ------------------------- GL_AMD_name_gen_delete ------------------------ */ + +#ifndef GL_AMD_name_gen_delete +#define GL_AMD_name_gen_delete 1 + +#define GL_DATA_BUFFER_AMD 0x9151 +#define GL_PERFORMANCE_MONITOR_AMD 0x9152 +#define GL_QUERY_OBJECT_AMD 0x9153 +#define GL_VERTEX_ARRAY_OBJECT_AMD 0x9154 +#define GL_SAMPLER_OBJECT_AMD 0x9155 + +typedef void (GLAPIENTRY * PFNGLDELETENAMESAMDPROC) (GLenum identifier, GLuint num, const GLuint* names); +typedef void (GLAPIENTRY * PFNGLGENNAMESAMDPROC) (GLenum identifier, GLuint num, GLuint* names); +typedef GLboolean (GLAPIENTRY * PFNGLISNAMEAMDPROC) (GLenum identifier, GLuint name); + +#define glDeleteNamesAMD GLEW_GET_FUN(__glewDeleteNamesAMD) +#define glGenNamesAMD GLEW_GET_FUN(__glewGenNamesAMD) +#define glIsNameAMD GLEW_GET_FUN(__glewIsNameAMD) + +#define GLEW_AMD_name_gen_delete GLEW_GET_VAR(__GLEW_AMD_name_gen_delete) + +#endif /* GL_AMD_name_gen_delete */ + +/* ----------------------- GL_AMD_performance_monitor ---------------------- */ + +#ifndef GL_AMD_performance_monitor +#define GL_AMD_performance_monitor 1 + +#define GL_UNSIGNED_INT 0x1405 +#define GL_FLOAT 0x1406 +#define GL_COUNTER_TYPE_AMD 0x8BC0 +#define GL_COUNTER_RANGE_AMD 0x8BC1 +#define GL_UNSIGNED_INT64_AMD 0x8BC2 +#define GL_PERCENTAGE_AMD 0x8BC3 +#define GL_PERFMON_RESULT_AVAILABLE_AMD 0x8BC4 +#define GL_PERFMON_RESULT_SIZE_AMD 0x8BC5 +#define GL_PERFMON_RESULT_AMD 0x8BC6 + +typedef void (GLAPIENTRY * PFNGLBEGINPERFMONITORAMDPROC) (GLuint monitor); +typedef void (GLAPIENTRY * PFNGLDELETEPERFMONITORSAMDPROC) (GLsizei n, GLuint* monitors); +typedef void (GLAPIENTRY * PFNGLENDPERFMONITORAMDPROC) (GLuint monitor); +typedef void (GLAPIENTRY * PFNGLGENPERFMONITORSAMDPROC) (GLsizei n, GLuint* monitors); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORCOUNTERDATAAMDPROC) (GLuint monitor, GLenum pname, GLsizei dataSize, GLuint* data, GLint *bytesWritten); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORCOUNTERINFOAMDPROC) (GLuint group, GLuint counter, GLenum pname, void* data); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC) (GLuint group, GLuint counter, GLsizei bufSize, GLsizei* length, char *counterString); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORCOUNTERSAMDPROC) (GLuint group, GLint* numCounters, GLint *maxActiveCounters, GLsizei countersSize, GLuint *counters); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORGROUPSTRINGAMDPROC) (GLuint group, GLsizei bufSize, GLsizei* length, char *groupString); +typedef void (GLAPIENTRY * PFNGLGETPERFMONITORGROUPSAMDPROC) (GLint* numGroups, GLsizei groupsSize, GLuint *groups); +typedef void (GLAPIENTRY * PFNGLSELECTPERFMONITORCOUNTERSAMDPROC) (GLuint monitor, GLboolean enable, GLuint group, GLint numCounters, GLuint* counterList); + +#define glBeginPerfMonitorAMD GLEW_GET_FUN(__glewBeginPerfMonitorAMD) +#define glDeletePerfMonitorsAMD GLEW_GET_FUN(__glewDeletePerfMonitorsAMD) +#define glEndPerfMonitorAMD GLEW_GET_FUN(__glewEndPerfMonitorAMD) +#define glGenPerfMonitorsAMD GLEW_GET_FUN(__glewGenPerfMonitorsAMD) +#define glGetPerfMonitorCounterDataAMD GLEW_GET_FUN(__glewGetPerfMonitorCounterDataAMD) +#define glGetPerfMonitorCounterInfoAMD GLEW_GET_FUN(__glewGetPerfMonitorCounterInfoAMD) +#define glGetPerfMonitorCounterStringAMD GLEW_GET_FUN(__glewGetPerfMonitorCounterStringAMD) +#define glGetPerfMonitorCountersAMD GLEW_GET_FUN(__glewGetPerfMonitorCountersAMD) +#define glGetPerfMonitorGroupStringAMD GLEW_GET_FUN(__glewGetPerfMonitorGroupStringAMD) +#define glGetPerfMonitorGroupsAMD GLEW_GET_FUN(__glewGetPerfMonitorGroupsAMD) +#define glSelectPerfMonitorCountersAMD GLEW_GET_FUN(__glewSelectPerfMonitorCountersAMD) + +#define GLEW_AMD_performance_monitor GLEW_GET_VAR(__GLEW_AMD_performance_monitor) + +#endif /* GL_AMD_performance_monitor */ + +/* ------------------------ GL_AMD_sample_positions ------------------------ */ + +#ifndef GL_AMD_sample_positions +#define GL_AMD_sample_positions 1 + +#define GL_SUBSAMPLE_DISTANCE_AMD 0x883F + +typedef void (GLAPIENTRY * PFNGLSETMULTISAMPLEFVAMDPROC) (GLenum pname, GLuint index, const GLfloat* val); + +#define glSetMultisamplefvAMD GLEW_GET_FUN(__glewSetMultisamplefvAMD) + +#define GLEW_AMD_sample_positions GLEW_GET_VAR(__GLEW_AMD_sample_positions) + +#endif /* GL_AMD_sample_positions */ + +/* ------------------ GL_AMD_seamless_cubemap_per_texture ------------------ */ + +#ifndef GL_AMD_seamless_cubemap_per_texture +#define GL_AMD_seamless_cubemap_per_texture 1 + +#define GL_TEXTURE_CUBE_MAP_SEAMLESS_ARB 0x884F + +#define GLEW_AMD_seamless_cubemap_per_texture GLEW_GET_VAR(__GLEW_AMD_seamless_cubemap_per_texture) + +#endif /* GL_AMD_seamless_cubemap_per_texture */ + +/* ---------------------- GL_AMD_shader_stencil_export --------------------- */ + +#ifndef GL_AMD_shader_stencil_export +#define GL_AMD_shader_stencil_export 1 + +#define GLEW_AMD_shader_stencil_export GLEW_GET_VAR(__GLEW_AMD_shader_stencil_export) + +#endif /* GL_AMD_shader_stencil_export */ + +/* ------------------------ GL_AMD_texture_texture4 ------------------------ */ + +#ifndef GL_AMD_texture_texture4 +#define GL_AMD_texture_texture4 1 + +#define GLEW_AMD_texture_texture4 GLEW_GET_VAR(__GLEW_AMD_texture_texture4) + +#endif /* GL_AMD_texture_texture4 */ + +/* --------------- GL_AMD_transform_feedback3_lines_triangles -------------- */ + +#ifndef GL_AMD_transform_feedback3_lines_triangles +#define GL_AMD_transform_feedback3_lines_triangles 1 + +#define GLEW_AMD_transform_feedback3_lines_triangles GLEW_GET_VAR(__GLEW_AMD_transform_feedback3_lines_triangles) + +#endif /* GL_AMD_transform_feedback3_lines_triangles */ + +/* -------------------- GL_AMD_vertex_shader_tessellator ------------------- */ + +#ifndef GL_AMD_vertex_shader_tessellator +#define GL_AMD_vertex_shader_tessellator 1 + +#define GL_SAMPLER_BUFFER_AMD 0x9001 +#define GL_INT_SAMPLER_BUFFER_AMD 0x9002 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_AMD 0x9003 +#define GL_TESSELLATION_MODE_AMD 0x9004 +#define GL_TESSELLATION_FACTOR_AMD 0x9005 +#define GL_DISCRETE_AMD 0x9006 +#define GL_CONTINUOUS_AMD 0x9007 + +typedef void (GLAPIENTRY * PFNGLTESSELLATIONFACTORAMDPROC) (GLfloat factor); +typedef void (GLAPIENTRY * PFNGLTESSELLATIONMODEAMDPROC) (GLenum mode); + +#define glTessellationFactorAMD GLEW_GET_FUN(__glewTessellationFactorAMD) +#define glTessellationModeAMD GLEW_GET_FUN(__glewTessellationModeAMD) + +#define GLEW_AMD_vertex_shader_tessellator GLEW_GET_VAR(__GLEW_AMD_vertex_shader_tessellator) + +#endif /* GL_AMD_vertex_shader_tessellator */ + +/* ----------------------- GL_APPLE_aux_depth_stencil ---------------------- */ + +#ifndef GL_APPLE_aux_depth_stencil +#define GL_APPLE_aux_depth_stencil 1 + +#define GL_AUX_DEPTH_STENCIL_APPLE 0x8A14 + +#define GLEW_APPLE_aux_depth_stencil GLEW_GET_VAR(__GLEW_APPLE_aux_depth_stencil) + +#endif /* GL_APPLE_aux_depth_stencil */ + +/* ------------------------ GL_APPLE_client_storage ------------------------ */ + +#ifndef GL_APPLE_client_storage +#define GL_APPLE_client_storage 1 + +#define GL_UNPACK_CLIENT_STORAGE_APPLE 0x85B2 + +#define GLEW_APPLE_client_storage GLEW_GET_VAR(__GLEW_APPLE_client_storage) + +#endif /* GL_APPLE_client_storage */ + +/* ------------------------- GL_APPLE_element_array ------------------------ */ + +#ifndef GL_APPLE_element_array +#define GL_APPLE_element_array 1 + +#define GL_ELEMENT_ARRAY_APPLE 0x8A0C +#define GL_ELEMENT_ARRAY_TYPE_APPLE 0x8A0D +#define GL_ELEMENT_ARRAY_POINTER_APPLE 0x8A0E + +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (GLAPIENTRY * PFNGLDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, GLint first, GLsizei count); +typedef void (GLAPIENTRY * PFNGLELEMENTPOINTERAPPLEPROC) (GLenum type, const void* pointer); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWELEMENTARRAYAPPLEPROC) (GLenum mode, const GLint* first, const GLsizei *count, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWRANGEELEMENTARRAYAPPLEPROC) (GLenum mode, GLuint start, GLuint end, const GLint* first, const GLsizei *count, GLsizei primcount); + +#define glDrawElementArrayAPPLE GLEW_GET_FUN(__glewDrawElementArrayAPPLE) +#define glDrawRangeElementArrayAPPLE GLEW_GET_FUN(__glewDrawRangeElementArrayAPPLE) +#define glElementPointerAPPLE GLEW_GET_FUN(__glewElementPointerAPPLE) +#define glMultiDrawElementArrayAPPLE GLEW_GET_FUN(__glewMultiDrawElementArrayAPPLE) +#define glMultiDrawRangeElementArrayAPPLE GLEW_GET_FUN(__glewMultiDrawRangeElementArrayAPPLE) + +#define GLEW_APPLE_element_array GLEW_GET_VAR(__GLEW_APPLE_element_array) + +#endif /* GL_APPLE_element_array */ + +/* ----------------------------- GL_APPLE_fence ---------------------------- */ + +#ifndef GL_APPLE_fence +#define GL_APPLE_fence 1 + +#define GL_DRAW_PIXELS_APPLE 0x8A0A +#define GL_FENCE_APPLE 0x8A0B + +typedef void (GLAPIENTRY * PFNGLDELETEFENCESAPPLEPROC) (GLsizei n, const GLuint* fences); +typedef void (GLAPIENTRY * PFNGLFINISHFENCEAPPLEPROC) (GLuint fence); +typedef void (GLAPIENTRY * PFNGLFINISHOBJECTAPPLEPROC) (GLenum object, GLint name); +typedef void (GLAPIENTRY * PFNGLGENFENCESAPPLEPROC) (GLsizei n, GLuint* fences); +typedef GLboolean (GLAPIENTRY * PFNGLISFENCEAPPLEPROC) (GLuint fence); +typedef void (GLAPIENTRY * PFNGLSETFENCEAPPLEPROC) (GLuint fence); +typedef GLboolean (GLAPIENTRY * PFNGLTESTFENCEAPPLEPROC) (GLuint fence); +typedef GLboolean (GLAPIENTRY * PFNGLTESTOBJECTAPPLEPROC) (GLenum object, GLuint name); + +#define glDeleteFencesAPPLE GLEW_GET_FUN(__glewDeleteFencesAPPLE) +#define glFinishFenceAPPLE GLEW_GET_FUN(__glewFinishFenceAPPLE) +#define glFinishObjectAPPLE GLEW_GET_FUN(__glewFinishObjectAPPLE) +#define glGenFencesAPPLE GLEW_GET_FUN(__glewGenFencesAPPLE) +#define glIsFenceAPPLE GLEW_GET_FUN(__glewIsFenceAPPLE) +#define glSetFenceAPPLE GLEW_GET_FUN(__glewSetFenceAPPLE) +#define glTestFenceAPPLE GLEW_GET_FUN(__glewTestFenceAPPLE) +#define glTestObjectAPPLE GLEW_GET_FUN(__glewTestObjectAPPLE) + +#define GLEW_APPLE_fence GLEW_GET_VAR(__GLEW_APPLE_fence) + +#endif /* GL_APPLE_fence */ + +/* ------------------------- GL_APPLE_float_pixels ------------------------- */ + +#ifndef GL_APPLE_float_pixels +#define GL_APPLE_float_pixels 1 + +#define GL_HALF_APPLE 0x140B +#define GL_RGBA_FLOAT32_APPLE 0x8814 +#define GL_RGB_FLOAT32_APPLE 0x8815 +#define GL_ALPHA_FLOAT32_APPLE 0x8816 +#define GL_INTENSITY_FLOAT32_APPLE 0x8817 +#define GL_LUMINANCE_FLOAT32_APPLE 0x8818 +#define GL_LUMINANCE_ALPHA_FLOAT32_APPLE 0x8819 +#define GL_RGBA_FLOAT16_APPLE 0x881A +#define GL_RGB_FLOAT16_APPLE 0x881B +#define GL_ALPHA_FLOAT16_APPLE 0x881C +#define GL_INTENSITY_FLOAT16_APPLE 0x881D +#define GL_LUMINANCE_FLOAT16_APPLE 0x881E +#define GL_LUMINANCE_ALPHA_FLOAT16_APPLE 0x881F +#define GL_COLOR_FLOAT_APPLE 0x8A0F + +#define GLEW_APPLE_float_pixels GLEW_GET_VAR(__GLEW_APPLE_float_pixels) + +#endif /* GL_APPLE_float_pixels */ + +/* ---------------------- GL_APPLE_flush_buffer_range ---------------------- */ + +#ifndef GL_APPLE_flush_buffer_range +#define GL_APPLE_flush_buffer_range 1 + +#define GL_BUFFER_SERIALIZED_MODIFY_APPLE 0x8A12 +#define GL_BUFFER_FLUSHING_UNMAP_APPLE 0x8A13 + +typedef void (GLAPIENTRY * PFNGLBUFFERPARAMETERIAPPLEPROC) (GLenum target, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLFLUSHMAPPEDBUFFERRANGEAPPLEPROC) (GLenum target, GLintptr offset, GLsizeiptr size); + +#define glBufferParameteriAPPLE GLEW_GET_FUN(__glewBufferParameteriAPPLE) +#define glFlushMappedBufferRangeAPPLE GLEW_GET_FUN(__glewFlushMappedBufferRangeAPPLE) + +#define GLEW_APPLE_flush_buffer_range GLEW_GET_VAR(__GLEW_APPLE_flush_buffer_range) + +#endif /* GL_APPLE_flush_buffer_range */ + +/* ----------------------- GL_APPLE_object_purgeable ----------------------- */ + +#ifndef GL_APPLE_object_purgeable +#define GL_APPLE_object_purgeable 1 + +#define GL_BUFFER_OBJECT_APPLE 0x85B3 +#define GL_RELEASED_APPLE 0x8A19 +#define GL_VOLATILE_APPLE 0x8A1A +#define GL_RETAINED_APPLE 0x8A1B +#define GL_UNDEFINED_APPLE 0x8A1C +#define GL_PURGEABLE_APPLE 0x8A1D + +typedef void (GLAPIENTRY * PFNGLGETOBJECTPARAMETERIVAPPLEPROC) (GLenum objectType, GLuint name, GLenum pname, GLint* params); +typedef GLenum (GLAPIENTRY * PFNGLOBJECTPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); +typedef GLenum (GLAPIENTRY * PFNGLOBJECTUNPURGEABLEAPPLEPROC) (GLenum objectType, GLuint name, GLenum option); + +#define glGetObjectParameterivAPPLE GLEW_GET_FUN(__glewGetObjectParameterivAPPLE) +#define glObjectPurgeableAPPLE GLEW_GET_FUN(__glewObjectPurgeableAPPLE) +#define glObjectUnpurgeableAPPLE GLEW_GET_FUN(__glewObjectUnpurgeableAPPLE) + +#define GLEW_APPLE_object_purgeable GLEW_GET_VAR(__GLEW_APPLE_object_purgeable) + +#endif /* GL_APPLE_object_purgeable */ + +/* ------------------------- GL_APPLE_pixel_buffer ------------------------- */ + +#ifndef GL_APPLE_pixel_buffer +#define GL_APPLE_pixel_buffer 1 + +#define GL_MIN_PBUFFER_VIEWPORT_DIMS_APPLE 0x8A10 + +#define GLEW_APPLE_pixel_buffer GLEW_GET_VAR(__GLEW_APPLE_pixel_buffer) + +#endif /* GL_APPLE_pixel_buffer */ + +/* ---------------------------- GL_APPLE_rgb_422 --------------------------- */ + +#ifndef GL_APPLE_rgb_422 +#define GL_APPLE_rgb_422 1 + +#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB +#define GL_RGB_422_APPLE 0x8A1F + +#define GLEW_APPLE_rgb_422 GLEW_GET_VAR(__GLEW_APPLE_rgb_422) + +#endif /* GL_APPLE_rgb_422 */ + +/* --------------------------- GL_APPLE_row_bytes -------------------------- */ + +#ifndef GL_APPLE_row_bytes +#define GL_APPLE_row_bytes 1 + +#define GL_PACK_ROW_BYTES_APPLE 0x8A15 +#define GL_UNPACK_ROW_BYTES_APPLE 0x8A16 + +#define GLEW_APPLE_row_bytes GLEW_GET_VAR(__GLEW_APPLE_row_bytes) + +#endif /* GL_APPLE_row_bytes */ + +/* ------------------------ GL_APPLE_specular_vector ----------------------- */ + +#ifndef GL_APPLE_specular_vector +#define GL_APPLE_specular_vector 1 + +#define GL_LIGHT_MODEL_SPECULAR_VECTOR_APPLE 0x85B0 + +#define GLEW_APPLE_specular_vector GLEW_GET_VAR(__GLEW_APPLE_specular_vector) + +#endif /* GL_APPLE_specular_vector */ + +/* ------------------------- GL_APPLE_texture_range ------------------------ */ + +#ifndef GL_APPLE_texture_range +#define GL_APPLE_texture_range 1 + +#define GL_TEXTURE_RANGE_LENGTH_APPLE 0x85B7 +#define GL_TEXTURE_RANGE_POINTER_APPLE 0x85B8 +#define GL_TEXTURE_STORAGE_HINT_APPLE 0x85BC +#define GL_STORAGE_PRIVATE_APPLE 0x85BD +#define GL_STORAGE_CACHED_APPLE 0x85BE +#define GL_STORAGE_SHARED_APPLE 0x85BF + +typedef void (GLAPIENTRY * PFNGLGETTEXPARAMETERPOINTERVAPPLEPROC) (GLenum target, GLenum pname, GLvoid **params); +typedef void (GLAPIENTRY * PFNGLTEXTURERANGEAPPLEPROC) (GLenum target, GLsizei length, GLvoid *pointer); + +#define glGetTexParameterPointervAPPLE GLEW_GET_FUN(__glewGetTexParameterPointervAPPLE) +#define glTextureRangeAPPLE GLEW_GET_FUN(__glewTextureRangeAPPLE) + +#define GLEW_APPLE_texture_range GLEW_GET_VAR(__GLEW_APPLE_texture_range) + +#endif /* GL_APPLE_texture_range */ + +/* ------------------------ GL_APPLE_transform_hint ------------------------ */ + +#ifndef GL_APPLE_transform_hint +#define GL_APPLE_transform_hint 1 + +#define GL_TRANSFORM_HINT_APPLE 0x85B1 + +#define GLEW_APPLE_transform_hint GLEW_GET_VAR(__GLEW_APPLE_transform_hint) + +#endif /* GL_APPLE_transform_hint */ + +/* ---------------------- GL_APPLE_vertex_array_object --------------------- */ + +#ifndef GL_APPLE_vertex_array_object +#define GL_APPLE_vertex_array_object 1 + +#define GL_VERTEX_ARRAY_BINDING_APPLE 0x85B5 + +typedef void (GLAPIENTRY * PFNGLBINDVERTEXARRAYAPPLEPROC) (GLuint array); +typedef void (GLAPIENTRY * PFNGLDELETEVERTEXARRAYSAPPLEPROC) (GLsizei n, const GLuint* arrays); +typedef void (GLAPIENTRY * PFNGLGENVERTEXARRAYSAPPLEPROC) (GLsizei n, const GLuint* arrays); +typedef GLboolean (GLAPIENTRY * PFNGLISVERTEXARRAYAPPLEPROC) (GLuint array); + +#define glBindVertexArrayAPPLE GLEW_GET_FUN(__glewBindVertexArrayAPPLE) +#define glDeleteVertexArraysAPPLE GLEW_GET_FUN(__glewDeleteVertexArraysAPPLE) +#define glGenVertexArraysAPPLE GLEW_GET_FUN(__glewGenVertexArraysAPPLE) +#define glIsVertexArrayAPPLE GLEW_GET_FUN(__glewIsVertexArrayAPPLE) + +#define GLEW_APPLE_vertex_array_object GLEW_GET_VAR(__GLEW_APPLE_vertex_array_object) + +#endif /* GL_APPLE_vertex_array_object */ + +/* ---------------------- GL_APPLE_vertex_array_range ---------------------- */ + +#ifndef GL_APPLE_vertex_array_range +#define GL_APPLE_vertex_array_range 1 + +#define GL_VERTEX_ARRAY_RANGE_APPLE 0x851D +#define GL_VERTEX_ARRAY_RANGE_LENGTH_APPLE 0x851E +#define GL_VERTEX_ARRAY_STORAGE_HINT_APPLE 0x851F +#define GL_MAX_VERTEX_ARRAY_RANGE_ELEMENT_APPLE 0x8520 +#define GL_VERTEX_ARRAY_RANGE_POINTER_APPLE 0x8521 +#define GL_STORAGE_CLIENT_APPLE 0x85B4 +#define GL_STORAGE_CACHED_APPLE 0x85BE +#define GL_STORAGE_SHARED_APPLE 0x85BF + +typedef void (GLAPIENTRY * PFNGLFLUSHVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void* pointer); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYPARAMETERIAPPLEPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYRANGEAPPLEPROC) (GLsizei length, void* pointer); + +#define glFlushVertexArrayRangeAPPLE GLEW_GET_FUN(__glewFlushVertexArrayRangeAPPLE) +#define glVertexArrayParameteriAPPLE GLEW_GET_FUN(__glewVertexArrayParameteriAPPLE) +#define glVertexArrayRangeAPPLE GLEW_GET_FUN(__glewVertexArrayRangeAPPLE) + +#define GLEW_APPLE_vertex_array_range GLEW_GET_VAR(__GLEW_APPLE_vertex_array_range) + +#endif /* GL_APPLE_vertex_array_range */ + +/* ------------------- GL_APPLE_vertex_program_evaluators ------------------ */ + +#ifndef GL_APPLE_vertex_program_evaluators +#define GL_APPLE_vertex_program_evaluators 1 + +#define GL_VERTEX_ATTRIB_MAP1_APPLE 0x8A00 +#define GL_VERTEX_ATTRIB_MAP2_APPLE 0x8A01 +#define GL_VERTEX_ATTRIB_MAP1_SIZE_APPLE 0x8A02 +#define GL_VERTEX_ATTRIB_MAP1_COEFF_APPLE 0x8A03 +#define GL_VERTEX_ATTRIB_MAP1_ORDER_APPLE 0x8A04 +#define GL_VERTEX_ATTRIB_MAP1_DOMAIN_APPLE 0x8A05 +#define GL_VERTEX_ATTRIB_MAP2_SIZE_APPLE 0x8A06 +#define GL_VERTEX_ATTRIB_MAP2_COEFF_APPLE 0x8A07 +#define GL_VERTEX_ATTRIB_MAP2_ORDER_APPLE 0x8A08 +#define GL_VERTEX_ATTRIB_MAP2_DOMAIN_APPLE 0x8A09 + +typedef void (GLAPIENTRY * PFNGLDISABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); +typedef void (GLAPIENTRY * PFNGLENABLEVERTEXATTRIBAPPLEPROC) (GLuint index, GLenum pname); +typedef GLboolean (GLAPIENTRY * PFNGLISVERTEXATTRIBENABLEDAPPLEPROC) (GLuint index, GLenum pname); +typedef void (GLAPIENTRY * PFNGLMAPVERTEXATTRIB1DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint stride, GLint order, const GLdouble* points); +typedef void (GLAPIENTRY * PFNGLMAPVERTEXATTRIB1FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint stride, GLint order, const GLfloat* points); +typedef void (GLAPIENTRY * PFNGLMAPVERTEXATTRIB2DAPPLEPROC) (GLuint index, GLuint size, GLdouble u1, GLdouble u2, GLint ustride, GLint uorder, GLdouble v1, GLdouble v2, GLint vstride, GLint vorder, const GLdouble* points); +typedef void (GLAPIENTRY * PFNGLMAPVERTEXATTRIB2FAPPLEPROC) (GLuint index, GLuint size, GLfloat u1, GLfloat u2, GLint ustride, GLint uorder, GLfloat v1, GLfloat v2, GLint vstride, GLint vorder, const GLfloat* points); + +#define glDisableVertexAttribAPPLE GLEW_GET_FUN(__glewDisableVertexAttribAPPLE) +#define glEnableVertexAttribAPPLE GLEW_GET_FUN(__glewEnableVertexAttribAPPLE) +#define glIsVertexAttribEnabledAPPLE GLEW_GET_FUN(__glewIsVertexAttribEnabledAPPLE) +#define glMapVertexAttrib1dAPPLE GLEW_GET_FUN(__glewMapVertexAttrib1dAPPLE) +#define glMapVertexAttrib1fAPPLE GLEW_GET_FUN(__glewMapVertexAttrib1fAPPLE) +#define glMapVertexAttrib2dAPPLE GLEW_GET_FUN(__glewMapVertexAttrib2dAPPLE) +#define glMapVertexAttrib2fAPPLE GLEW_GET_FUN(__glewMapVertexAttrib2fAPPLE) + +#define GLEW_APPLE_vertex_program_evaluators GLEW_GET_VAR(__GLEW_APPLE_vertex_program_evaluators) + +#endif /* GL_APPLE_vertex_program_evaluators */ + +/* --------------------------- GL_APPLE_ycbcr_422 -------------------------- */ + +#ifndef GL_APPLE_ycbcr_422 +#define GL_APPLE_ycbcr_422 1 + +#define GL_YCBCR_422_APPLE 0x85B9 +#define GL_UNSIGNED_SHORT_8_8_APPLE 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_APPLE 0x85BB + +#define GLEW_APPLE_ycbcr_422 GLEW_GET_VAR(__GLEW_APPLE_ycbcr_422) + +#endif /* GL_APPLE_ycbcr_422 */ + +/* ------------------------ GL_ARB_ES2_compatibility ----------------------- */ + +#ifndef GL_ARB_ES2_compatibility +#define GL_ARB_ES2_compatibility 1 + +#define GL_FIXED 0x140C +#define GL_IMPLEMENTATION_COLOR_READ_TYPE 0x8B9A +#define GL_IMPLEMENTATION_COLOR_READ_FORMAT 0x8B9B +#define GL_LOW_FLOAT 0x8DF0 +#define GL_MEDIUM_FLOAT 0x8DF1 +#define GL_HIGH_FLOAT 0x8DF2 +#define GL_LOW_INT 0x8DF3 +#define GL_MEDIUM_INT 0x8DF4 +#define GL_HIGH_INT 0x8DF5 +#define GL_SHADER_BINARY_FORMATS 0x8DF8 +#define GL_NUM_SHADER_BINARY_FORMATS 0x8DF9 +#define GL_SHADER_COMPILER 0x8DFA +#define GL_MAX_VERTEX_UNIFORM_VECTORS 0x8DFB +#define GL_MAX_VARYING_VECTORS 0x8DFC +#define GL_MAX_FRAGMENT_UNIFORM_VECTORS 0x8DFD + +typedef void (GLAPIENTRY * PFNGLCLEARDEPTHFPROC) (GLclampf d); +typedef void (GLAPIENTRY * PFNGLDEPTHRANGEFPROC) (GLclampf n, GLclampf f); +typedef void (GLAPIENTRY * PFNGLGETSHADERPRECISIONFORMATPROC) (GLenum shadertype, GLenum precisiontype, GLint* range, GLint *precision); +typedef void (GLAPIENTRY * PFNGLRELEASESHADERCOMPILERPROC) (void); +typedef void (GLAPIENTRY * PFNGLSHADERBINARYPROC) (GLsizei count, const GLuint* shaders, GLenum binaryformat, const GLvoid*binary, GLsizei length); + +#define glClearDepthf GLEW_GET_FUN(__glewClearDepthf) +#define glDepthRangef GLEW_GET_FUN(__glewDepthRangef) +#define glGetShaderPrecisionFormat GLEW_GET_FUN(__glewGetShaderPrecisionFormat) +#define glReleaseShaderCompiler GLEW_GET_FUN(__glewReleaseShaderCompiler) +#define glShaderBinary GLEW_GET_FUN(__glewShaderBinary) + +#define GLEW_ARB_ES2_compatibility GLEW_GET_VAR(__GLEW_ARB_ES2_compatibility) + +#endif /* GL_ARB_ES2_compatibility */ + +/* ----------------------- GL_ARB_blend_func_extended ---------------------- */ + +#ifndef GL_ARB_blend_func_extended +#define GL_ARB_blend_func_extended 1 + +#define GL_SRC1_COLOR 0x88F9 +#define GL_ONE_MINUS_SRC1_COLOR 0x88FA +#define GL_ONE_MINUS_SRC1_ALPHA 0x88FB +#define GL_MAX_DUAL_SOURCE_DRAW_BUFFERS 0x88FC + +typedef void (GLAPIENTRY * PFNGLBINDFRAGDATALOCATIONINDEXEDPROC) (GLuint program, GLuint colorNumber, GLuint index, const char * name); +typedef GLint (GLAPIENTRY * PFNGLGETFRAGDATAINDEXPROC) (GLuint program, const char * name); + +#define glBindFragDataLocationIndexed GLEW_GET_FUN(__glewBindFragDataLocationIndexed) +#define glGetFragDataIndex GLEW_GET_FUN(__glewGetFragDataIndex) + +#define GLEW_ARB_blend_func_extended GLEW_GET_VAR(__GLEW_ARB_blend_func_extended) + +#endif /* GL_ARB_blend_func_extended */ + +/* ---------------------------- GL_ARB_cl_event ---------------------------- */ + +#ifndef GL_ARB_cl_event +#define GL_ARB_cl_event 1 + +#define GL_SYNC_CL_EVENT_ARB 0x8240 +#define GL_SYNC_CL_EVENT_COMPLETE_ARB 0x8241 + +typedef struct _cl_context *cl_context; +typedef struct _cl_event *cl_event; + +typedef GLsync (GLAPIENTRY * PFNGLCREATESYNCFROMCLEVENTARBPROC) (cl_context context, cl_event event, GLbitfield flags); + +#define glCreateSyncFromCLeventARB GLEW_GET_FUN(__glewCreateSyncFromCLeventARB) + +#define GLEW_ARB_cl_event GLEW_GET_VAR(__GLEW_ARB_cl_event) + +#endif /* GL_ARB_cl_event */ + +/* ----------------------- GL_ARB_color_buffer_float ----------------------- */ + +#ifndef GL_ARB_color_buffer_float +#define GL_ARB_color_buffer_float 1 + +#define GL_RGBA_FLOAT_MODE_ARB 0x8820 +#define GL_CLAMP_VERTEX_COLOR_ARB 0x891A +#define GL_CLAMP_FRAGMENT_COLOR_ARB 0x891B +#define GL_CLAMP_READ_COLOR_ARB 0x891C +#define GL_FIXED_ONLY_ARB 0x891D + +typedef void (GLAPIENTRY * PFNGLCLAMPCOLORARBPROC) (GLenum target, GLenum clamp); + +#define glClampColorARB GLEW_GET_FUN(__glewClampColorARB) + +#define GLEW_ARB_color_buffer_float GLEW_GET_VAR(__GLEW_ARB_color_buffer_float) + +#endif /* GL_ARB_color_buffer_float */ + +/* -------------------------- GL_ARB_compatibility ------------------------- */ + +#ifndef GL_ARB_compatibility +#define GL_ARB_compatibility 1 + +#define GLEW_ARB_compatibility GLEW_GET_VAR(__GLEW_ARB_compatibility) + +#endif /* GL_ARB_compatibility */ + +/* --------------------------- GL_ARB_copy_buffer -------------------------- */ + +#ifndef GL_ARB_copy_buffer +#define GL_ARB_copy_buffer 1 + +#define GL_COPY_READ_BUFFER 0x8F36 +#define GL_COPY_WRITE_BUFFER 0x8F37 + +typedef void (GLAPIENTRY * PFNGLCOPYBUFFERSUBDATAPROC) (GLenum readtarget, GLenum writetarget, GLintptr readoffset, GLintptr writeoffset, GLsizeiptr size); + +#define glCopyBufferSubData GLEW_GET_FUN(__glewCopyBufferSubData) + +#define GLEW_ARB_copy_buffer GLEW_GET_VAR(__GLEW_ARB_copy_buffer) + +#endif /* GL_ARB_copy_buffer */ + +/* -------------------------- GL_ARB_debug_output -------------------------- */ + +#ifndef GL_ARB_debug_output +#define GL_ARB_debug_output 1 + +#define GL_DEBUG_OUTPUT_SYNCHRONOUS_ARB 0x8242 +#define GL_DEBUG_NEXT_LOGGED_MESSAGE_LENGTH_ARB 0x8243 +#define GL_DEBUG_CALLBACK_FUNCTION_ARB 0x8244 +#define GL_DEBUG_CALLBACK_USER_PARAM_ARB 0x8245 +#define GL_DEBUG_SOURCE_API_ARB 0x8246 +#define GL_DEBUG_SOURCE_WINDOW_SYSTEM_ARB 0x8247 +#define GL_DEBUG_SOURCE_SHADER_COMPILER_ARB 0x8248 +#define GL_DEBUG_SOURCE_THIRD_PARTY_ARB 0x8249 +#define GL_DEBUG_SOURCE_APPLICATION_ARB 0x824A +#define GL_DEBUG_SOURCE_OTHER_ARB 0x824B +#define GL_DEBUG_TYPE_ERROR_ARB 0x824C +#define GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR_ARB 0x824D +#define GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR_ARB 0x824E +#define GL_DEBUG_TYPE_PORTABILITY_ARB 0x824F +#define GL_DEBUG_TYPE_PERFORMANCE_ARB 0x8250 +#define GL_DEBUG_TYPE_OTHER_ARB 0x8251 +#define GL_MAX_DEBUG_MESSAGE_LENGTH_ARB 0x9143 +#define GL_MAX_DEBUG_LOGGED_MESSAGES_ARB 0x9144 +#define GL_DEBUG_LOGGED_MESSAGES_ARB 0x9145 +#define GL_DEBUG_SEVERITY_HIGH_ARB 0x9146 +#define GL_DEBUG_SEVERITY_MEDIUM_ARB 0x9147 +#define GL_DEBUG_SEVERITY_LOW_ARB 0x9148 + +typedef void (APIENTRY *GLDEBUGPROCARB)(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar* message, GLvoid* userParam); + +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGECALLBACKARBPROC) (GLDEBUGPROCARB callback, void* userParam); +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGECONTROLARBPROC) (GLenum source, GLenum type, GLenum severity, GLsizei count, const GLuint* ids, GLboolean enabled); +typedef void (GLAPIENTRY * PFNGLDEBUGMESSAGEINSERTARBPROC) (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const char* buf); +typedef GLuint (GLAPIENTRY * PFNGLGETDEBUGMESSAGELOGARBPROC) (GLuint count, GLsizei bufsize, GLenum* sources, GLenum* types, GLuint* ids, GLenum* severities, GLsizei* lengths, char* messageLog); + +#define glDebugMessageCallbackARB GLEW_GET_FUN(__glewDebugMessageCallbackARB) +#define glDebugMessageControlARB GLEW_GET_FUN(__glewDebugMessageControlARB) +#define glDebugMessageInsertARB GLEW_GET_FUN(__glewDebugMessageInsertARB) +#define glGetDebugMessageLogARB GLEW_GET_FUN(__glewGetDebugMessageLogARB) + +#define GLEW_ARB_debug_output GLEW_GET_VAR(__GLEW_ARB_debug_output) + +#endif /* GL_ARB_debug_output */ + +/* ----------------------- GL_ARB_depth_buffer_float ----------------------- */ + +#ifndef GL_ARB_depth_buffer_float +#define GL_ARB_depth_buffer_float 1 + +#define GL_DEPTH_COMPONENT32F 0x8CAC +#define GL_DEPTH32F_STENCIL8 0x8CAD +#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV 0x8DAD + +#define GLEW_ARB_depth_buffer_float GLEW_GET_VAR(__GLEW_ARB_depth_buffer_float) + +#endif /* GL_ARB_depth_buffer_float */ + +/* --------------------------- GL_ARB_depth_clamp -------------------------- */ + +#ifndef GL_ARB_depth_clamp +#define GL_ARB_depth_clamp 1 + +#define GL_DEPTH_CLAMP 0x864F + +#define GLEW_ARB_depth_clamp GLEW_GET_VAR(__GLEW_ARB_depth_clamp) + +#endif /* GL_ARB_depth_clamp */ + +/* -------------------------- GL_ARB_depth_texture ------------------------- */ + +#ifndef GL_ARB_depth_texture +#define GL_ARB_depth_texture 1 + +#define GL_DEPTH_COMPONENT16_ARB 0x81A5 +#define GL_DEPTH_COMPONENT24_ARB 0x81A6 +#define GL_DEPTH_COMPONENT32_ARB 0x81A7 +#define GL_TEXTURE_DEPTH_SIZE_ARB 0x884A +#define GL_DEPTH_TEXTURE_MODE_ARB 0x884B + +#define GLEW_ARB_depth_texture GLEW_GET_VAR(__GLEW_ARB_depth_texture) + +#endif /* GL_ARB_depth_texture */ + +/* -------------------------- GL_ARB_draw_buffers -------------------------- */ + +#ifndef GL_ARB_draw_buffers +#define GL_ARB_draw_buffers 1 + +#define GL_MAX_DRAW_BUFFERS_ARB 0x8824 +#define GL_DRAW_BUFFER0_ARB 0x8825 +#define GL_DRAW_BUFFER1_ARB 0x8826 +#define GL_DRAW_BUFFER2_ARB 0x8827 +#define GL_DRAW_BUFFER3_ARB 0x8828 +#define GL_DRAW_BUFFER4_ARB 0x8829 +#define GL_DRAW_BUFFER5_ARB 0x882A +#define GL_DRAW_BUFFER6_ARB 0x882B +#define GL_DRAW_BUFFER7_ARB 0x882C +#define GL_DRAW_BUFFER8_ARB 0x882D +#define GL_DRAW_BUFFER9_ARB 0x882E +#define GL_DRAW_BUFFER10_ARB 0x882F +#define GL_DRAW_BUFFER11_ARB 0x8830 +#define GL_DRAW_BUFFER12_ARB 0x8831 +#define GL_DRAW_BUFFER13_ARB 0x8832 +#define GL_DRAW_BUFFER14_ARB 0x8833 +#define GL_DRAW_BUFFER15_ARB 0x8834 + +typedef void (GLAPIENTRY * PFNGLDRAWBUFFERSARBPROC) (GLsizei n, const GLenum* bufs); + +#define glDrawBuffersARB GLEW_GET_FUN(__glewDrawBuffersARB) + +#define GLEW_ARB_draw_buffers GLEW_GET_VAR(__GLEW_ARB_draw_buffers) + +#endif /* GL_ARB_draw_buffers */ + +/* ----------------------- GL_ARB_draw_buffers_blend ----------------------- */ + +#ifndef GL_ARB_draw_buffers_blend +#define GL_ARB_draw_buffers_blend 1 + +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONSEPARATEIARBPROC) (GLuint buf, GLenum modeRGB, GLenum modeAlpha); +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONIARBPROC) (GLuint buf, GLenum mode); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCSEPARATEIARBPROC) (GLuint buf, GLenum srcRGB, GLenum dstRGB, GLenum srcAlpha, GLenum dstAlpha); +typedef void (GLAPIENTRY * PFNGLBLENDFUNCIARBPROC) (GLuint buf, GLenum src, GLenum dst); + +#define glBlendEquationSeparateiARB GLEW_GET_FUN(__glewBlendEquationSeparateiARB) +#define glBlendEquationiARB GLEW_GET_FUN(__glewBlendEquationiARB) +#define glBlendFuncSeparateiARB GLEW_GET_FUN(__glewBlendFuncSeparateiARB) +#define glBlendFunciARB GLEW_GET_FUN(__glewBlendFunciARB) + +#define GLEW_ARB_draw_buffers_blend GLEW_GET_VAR(__GLEW_ARB_draw_buffers_blend) + +#endif /* GL_ARB_draw_buffers_blend */ + +/* -------------------- GL_ARB_draw_elements_base_vertex ------------------- */ + +#ifndef GL_ARB_draw_elements_base_vertex +#define GL_ARB_draw_elements_base_vertex 1 + +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, void* indices, GLint basevertex); +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC) (GLenum mode, GLsizei count, GLenum type, const void* indices, GLsizei primcount, GLint basevertex); +typedef void (GLAPIENTRY * PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, void* indices, GLint basevertex); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC) (GLenum mode, GLsizei* count, GLenum type, GLvoid**indices, GLsizei primcount, GLint *basevertex); + +#define glDrawElementsBaseVertex GLEW_GET_FUN(__glewDrawElementsBaseVertex) +#define glDrawElementsInstancedBaseVertex GLEW_GET_FUN(__glewDrawElementsInstancedBaseVertex) +#define glDrawRangeElementsBaseVertex GLEW_GET_FUN(__glewDrawRangeElementsBaseVertex) +#define glMultiDrawElementsBaseVertex GLEW_GET_FUN(__glewMultiDrawElementsBaseVertex) + +#define GLEW_ARB_draw_elements_base_vertex GLEW_GET_VAR(__GLEW_ARB_draw_elements_base_vertex) + +#endif /* GL_ARB_draw_elements_base_vertex */ + +/* -------------------------- GL_ARB_draw_indirect ------------------------- */ + +#ifndef GL_ARB_draw_indirect +#define GL_ARB_draw_indirect 1 + +#define GL_DRAW_INDIRECT_BUFFER 0x8F3F +#define GL_DRAW_INDIRECT_BUFFER_BINDING 0x8F43 + +typedef void (GLAPIENTRY * PFNGLDRAWARRAYSINDIRECTPROC) (GLenum mode, const void* indirect); +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSINDIRECTPROC) (GLenum mode, GLenum type, const void* indirect); + +#define glDrawArraysIndirect GLEW_GET_FUN(__glewDrawArraysIndirect) +#define glDrawElementsIndirect GLEW_GET_FUN(__glewDrawElementsIndirect) + +#define GLEW_ARB_draw_indirect GLEW_GET_VAR(__GLEW_ARB_draw_indirect) + +#endif /* GL_ARB_draw_indirect */ + +/* ------------------------- GL_ARB_draw_instanced ------------------------- */ + +#ifndef GL_ARB_draw_instanced +#define GL_ARB_draw_instanced 1 + +#define GLEW_ARB_draw_instanced GLEW_GET_VAR(__GLEW_ARB_draw_instanced) + +#endif /* GL_ARB_draw_instanced */ + +/* -------------------- GL_ARB_explicit_attrib_location -------------------- */ + +#ifndef GL_ARB_explicit_attrib_location +#define GL_ARB_explicit_attrib_location 1 + +#define GLEW_ARB_explicit_attrib_location GLEW_GET_VAR(__GLEW_ARB_explicit_attrib_location) + +#endif /* GL_ARB_explicit_attrib_location */ + +/* ------------------- GL_ARB_fragment_coord_conventions ------------------- */ + +#ifndef GL_ARB_fragment_coord_conventions +#define GL_ARB_fragment_coord_conventions 1 + +#define GLEW_ARB_fragment_coord_conventions GLEW_GET_VAR(__GLEW_ARB_fragment_coord_conventions) + +#endif /* GL_ARB_fragment_coord_conventions */ + +/* ------------------------ GL_ARB_fragment_program ------------------------ */ + +#ifndef GL_ARB_fragment_program +#define GL_ARB_fragment_program 1 + +#define GL_FRAGMENT_PROGRAM_ARB 0x8804 +#define GL_PROGRAM_ALU_INSTRUCTIONS_ARB 0x8805 +#define GL_PROGRAM_TEX_INSTRUCTIONS_ARB 0x8806 +#define GL_PROGRAM_TEX_INDIRECTIONS_ARB 0x8807 +#define GL_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x8808 +#define GL_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x8809 +#define GL_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x880A +#define GL_MAX_PROGRAM_ALU_INSTRUCTIONS_ARB 0x880B +#define GL_MAX_PROGRAM_TEX_INSTRUCTIONS_ARB 0x880C +#define GL_MAX_PROGRAM_TEX_INDIRECTIONS_ARB 0x880D +#define GL_MAX_PROGRAM_NATIVE_ALU_INSTRUCTIONS_ARB 0x880E +#define GL_MAX_PROGRAM_NATIVE_TEX_INSTRUCTIONS_ARB 0x880F +#define GL_MAX_PROGRAM_NATIVE_TEX_INDIRECTIONS_ARB 0x8810 +#define GL_MAX_TEXTURE_COORDS_ARB 0x8871 +#define GL_MAX_TEXTURE_IMAGE_UNITS_ARB 0x8872 + +#define GLEW_ARB_fragment_program GLEW_GET_VAR(__GLEW_ARB_fragment_program) + +#endif /* GL_ARB_fragment_program */ + +/* --------------------- GL_ARB_fragment_program_shadow -------------------- */ + +#ifndef GL_ARB_fragment_program_shadow +#define GL_ARB_fragment_program_shadow 1 + +#define GLEW_ARB_fragment_program_shadow GLEW_GET_VAR(__GLEW_ARB_fragment_program_shadow) + +#endif /* GL_ARB_fragment_program_shadow */ + +/* ------------------------- GL_ARB_fragment_shader ------------------------ */ + +#ifndef GL_ARB_fragment_shader +#define GL_ARB_fragment_shader 1 + +#define GL_FRAGMENT_SHADER_ARB 0x8B30 +#define GL_MAX_FRAGMENT_UNIFORM_COMPONENTS_ARB 0x8B49 +#define GL_FRAGMENT_SHADER_DERIVATIVE_HINT_ARB 0x8B8B + +#define GLEW_ARB_fragment_shader GLEW_GET_VAR(__GLEW_ARB_fragment_shader) + +#endif /* GL_ARB_fragment_shader */ + +/* ----------------------- GL_ARB_framebuffer_object ----------------------- */ + +#ifndef GL_ARB_framebuffer_object +#define GL_ARB_framebuffer_object 1 + +#define GL_INVALID_FRAMEBUFFER_OPERATION 0x0506 +#define GL_FRAMEBUFFER_ATTACHMENT_COLOR_ENCODING 0x8210 +#define GL_FRAMEBUFFER_ATTACHMENT_COMPONENT_TYPE 0x8211 +#define GL_FRAMEBUFFER_ATTACHMENT_RED_SIZE 0x8212 +#define GL_FRAMEBUFFER_ATTACHMENT_GREEN_SIZE 0x8213 +#define GL_FRAMEBUFFER_ATTACHMENT_BLUE_SIZE 0x8214 +#define GL_FRAMEBUFFER_ATTACHMENT_ALPHA_SIZE 0x8215 +#define GL_FRAMEBUFFER_ATTACHMENT_DEPTH_SIZE 0x8216 +#define GL_FRAMEBUFFER_ATTACHMENT_STENCIL_SIZE 0x8217 +#define GL_FRAMEBUFFER_DEFAULT 0x8218 +#define GL_FRAMEBUFFER_UNDEFINED 0x8219 +#define GL_DEPTH_STENCIL_ATTACHMENT 0x821A +#define GL_INDEX 0x8222 +#define GL_MAX_RENDERBUFFER_SIZE 0x84E8 +#define GL_DEPTH_STENCIL 0x84F9 +#define GL_UNSIGNED_INT_24_8 0x84FA +#define GL_DEPTH24_STENCIL8 0x88F0 +#define GL_TEXTURE_STENCIL_SIZE 0x88F1 +#define GL_UNSIGNED_NORMALIZED 0x8C17 +#define GL_SRGB 0x8C40 +#define GL_DRAW_FRAMEBUFFER_BINDING 0x8CA6 +#define GL_FRAMEBUFFER_BINDING 0x8CA6 +#define GL_RENDERBUFFER_BINDING 0x8CA7 +#define GL_READ_FRAMEBUFFER 0x8CA8 +#define GL_DRAW_FRAMEBUFFER 0x8CA9 +#define GL_READ_FRAMEBUFFER_BINDING 0x8CAA +#define GL_RENDERBUFFER_SAMPLES 0x8CAB +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE 0x8CD0 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME 0x8CD1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL 0x8CD2 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE 0x8CD3 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4 +#define GL_FRAMEBUFFER_COMPLETE 0x8CD5 +#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT 0x8CD6 +#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT 0x8CD7 +#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER 0x8CDB +#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER 0x8CDC +#define GL_FRAMEBUFFER_UNSUPPORTED 0x8CDD +#define GL_MAX_COLOR_ATTACHMENTS 0x8CDF +#define GL_COLOR_ATTACHMENT0 0x8CE0 +#define GL_COLOR_ATTACHMENT1 0x8CE1 +#define GL_COLOR_ATTACHMENT2 0x8CE2 +#define GL_COLOR_ATTACHMENT3 0x8CE3 +#define GL_COLOR_ATTACHMENT4 0x8CE4 +#define GL_COLOR_ATTACHMENT5 0x8CE5 +#define GL_COLOR_ATTACHMENT6 0x8CE6 +#define GL_COLOR_ATTACHMENT7 0x8CE7 +#define GL_COLOR_ATTACHMENT8 0x8CE8 +#define GL_COLOR_ATTACHMENT9 0x8CE9 +#define GL_COLOR_ATTACHMENT10 0x8CEA +#define GL_COLOR_ATTACHMENT11 0x8CEB +#define GL_COLOR_ATTACHMENT12 0x8CEC +#define GL_COLOR_ATTACHMENT13 0x8CED +#define GL_COLOR_ATTACHMENT14 0x8CEE +#define GL_COLOR_ATTACHMENT15 0x8CEF +#define GL_DEPTH_ATTACHMENT 0x8D00 +#define GL_STENCIL_ATTACHMENT 0x8D20 +#define GL_FRAMEBUFFER 0x8D40 +#define GL_RENDERBUFFER 0x8D41 +#define GL_RENDERBUFFER_WIDTH 0x8D42 +#define GL_RENDERBUFFER_HEIGHT 0x8D43 +#define GL_RENDERBUFFER_INTERNAL_FORMAT 0x8D44 +#define GL_STENCIL_INDEX1 0x8D46 +#define GL_STENCIL_INDEX4 0x8D47 +#define GL_STENCIL_INDEX8 0x8D48 +#define GL_STENCIL_INDEX16 0x8D49 +#define GL_RENDERBUFFER_RED_SIZE 0x8D50 +#define GL_RENDERBUFFER_GREEN_SIZE 0x8D51 +#define GL_RENDERBUFFER_BLUE_SIZE 0x8D52 +#define GL_RENDERBUFFER_ALPHA_SIZE 0x8D53 +#define GL_RENDERBUFFER_DEPTH_SIZE 0x8D54 +#define GL_RENDERBUFFER_STENCIL_SIZE 0x8D55 +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE 0x8D56 +#define GL_MAX_SAMPLES 0x8D57 + +typedef void (GLAPIENTRY * PFNGLBINDFRAMEBUFFERPROC) (GLenum target, GLuint framebuffer); +typedef void (GLAPIENTRY * PFNGLBINDRENDERBUFFERPROC) (GLenum target, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLBLITFRAMEBUFFERPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +typedef GLenum (GLAPIENTRY * PFNGLCHECKFRAMEBUFFERSTATUSPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLDELETEFRAMEBUFFERSPROC) (GLsizei n, const GLuint* framebuffers); +typedef void (GLAPIENTRY * PFNGLDELETERENDERBUFFERSPROC) (GLsizei n, const GLuint* renderbuffers); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERRENDERBUFFERPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE1DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE2DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE3DPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint layer); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURELAYERPROC) (GLenum target,GLenum attachment, GLuint texture,GLint level,GLint layer); +typedef void (GLAPIENTRY * PFNGLGENFRAMEBUFFERSPROC) (GLsizei n, GLuint* framebuffers); +typedef void (GLAPIENTRY * PFNGLGENRENDERBUFFERSPROC) (GLsizei n, GLuint* renderbuffers); +typedef void (GLAPIENTRY * PFNGLGENERATEMIPMAPPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC) (GLenum target, GLenum attachment, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETRENDERBUFFERPARAMETERIVPROC) (GLenum target, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISFRAMEBUFFERPROC) (GLuint framebuffer); +typedef GLboolean (GLAPIENTRY * PFNGLISRENDERBUFFERPROC) (GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLRENDERBUFFERSTORAGEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); + +#define glBindFramebuffer GLEW_GET_FUN(__glewBindFramebuffer) +#define glBindRenderbuffer GLEW_GET_FUN(__glewBindRenderbuffer) +#define glBlitFramebuffer GLEW_GET_FUN(__glewBlitFramebuffer) +#define glCheckFramebufferStatus GLEW_GET_FUN(__glewCheckFramebufferStatus) +#define glDeleteFramebuffers GLEW_GET_FUN(__glewDeleteFramebuffers) +#define glDeleteRenderbuffers GLEW_GET_FUN(__glewDeleteRenderbuffers) +#define glFramebufferRenderbuffer GLEW_GET_FUN(__glewFramebufferRenderbuffer) +#define glFramebufferTexture1D GLEW_GET_FUN(__glewFramebufferTexture1D) +#define glFramebufferTexture2D GLEW_GET_FUN(__glewFramebufferTexture2D) +#define glFramebufferTexture3D GLEW_GET_FUN(__glewFramebufferTexture3D) +#define glFramebufferTextureLayer GLEW_GET_FUN(__glewFramebufferTextureLayer) +#define glGenFramebuffers GLEW_GET_FUN(__glewGenFramebuffers) +#define glGenRenderbuffers GLEW_GET_FUN(__glewGenRenderbuffers) +#define glGenerateMipmap GLEW_GET_FUN(__glewGenerateMipmap) +#define glGetFramebufferAttachmentParameteriv GLEW_GET_FUN(__glewGetFramebufferAttachmentParameteriv) +#define glGetRenderbufferParameteriv GLEW_GET_FUN(__glewGetRenderbufferParameteriv) +#define glIsFramebuffer GLEW_GET_FUN(__glewIsFramebuffer) +#define glIsRenderbuffer GLEW_GET_FUN(__glewIsRenderbuffer) +#define glRenderbufferStorage GLEW_GET_FUN(__glewRenderbufferStorage) +#define glRenderbufferStorageMultisample GLEW_GET_FUN(__glewRenderbufferStorageMultisample) + +#define GLEW_ARB_framebuffer_object GLEW_GET_VAR(__GLEW_ARB_framebuffer_object) + +#endif /* GL_ARB_framebuffer_object */ + +/* ------------------------ GL_ARB_framebuffer_sRGB ------------------------ */ + +#ifndef GL_ARB_framebuffer_sRGB +#define GL_ARB_framebuffer_sRGB 1 + +#define GL_FRAMEBUFFER_SRGB 0x8DB9 + +#define GLEW_ARB_framebuffer_sRGB GLEW_GET_VAR(__GLEW_ARB_framebuffer_sRGB) + +#endif /* GL_ARB_framebuffer_sRGB */ + +/* ------------------------ GL_ARB_geometry_shader4 ------------------------ */ + +#ifndef GL_ARB_geometry_shader4 +#define GL_ARB_geometry_shader4 1 + +#define GL_LINES_ADJACENCY_ARB 0xA +#define GL_LINE_STRIP_ADJACENCY_ARB 0xB +#define GL_TRIANGLES_ADJACENCY_ARB 0xC +#define GL_TRIANGLE_STRIP_ADJACENCY_ARB 0xD +#define GL_PROGRAM_POINT_SIZE_ARB 0x8642 +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_ARB 0x8C29 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER 0x8CD4 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_ARB 0x8DA7 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_ARB 0x8DA8 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_ARB 0x8DA9 +#define GL_GEOMETRY_SHADER_ARB 0x8DD9 +#define GL_GEOMETRY_VERTICES_OUT_ARB 0x8DDA +#define GL_GEOMETRY_INPUT_TYPE_ARB 0x8DDB +#define GL_GEOMETRY_OUTPUT_TYPE_ARB 0x8DDC +#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_ARB 0x8DDD +#define GL_MAX_VERTEX_VARYING_COMPONENTS_ARB 0x8DDE +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_ARB 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_ARB 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_ARB 0x8DE1 + +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTUREARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTUREFACEARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURELAYERARBPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETERIARBPROC) (GLuint program, GLenum pname, GLint value); + +#define glFramebufferTextureARB GLEW_GET_FUN(__glewFramebufferTextureARB) +#define glFramebufferTextureFaceARB GLEW_GET_FUN(__glewFramebufferTextureFaceARB) +#define glFramebufferTextureLayerARB GLEW_GET_FUN(__glewFramebufferTextureLayerARB) +#define glProgramParameteriARB GLEW_GET_FUN(__glewProgramParameteriARB) + +#define GLEW_ARB_geometry_shader4 GLEW_GET_VAR(__GLEW_ARB_geometry_shader4) + +#endif /* GL_ARB_geometry_shader4 */ + +/* ----------------------- GL_ARB_get_program_binary ----------------------- */ + +#ifndef GL_ARB_get_program_binary +#define GL_ARB_get_program_binary 1 + +#define GL_PROGRAM_BINARY_RETRIEVABLE_HINT 0x8257 +#define GL_PROGRAM_BINARY_LENGTH 0x8741 +#define GL_NUM_PROGRAM_BINARY_FORMATS 0x87FE +#define GL_PROGRAM_BINARY_FORMATS 0x87FF + +typedef void (GLAPIENTRY * PFNGLGETPROGRAMBINARYPROC) (GLuint program, GLsizei bufSize, GLsizei* length, GLenum *binaryFormat, GLvoid*binary); +typedef void (GLAPIENTRY * PFNGLPROGRAMBINARYPROC) (GLuint program, GLenum binaryFormat, const void* binary, GLsizei length); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETERIPROC) (GLuint program, GLenum pname, GLint value); + +#define glGetProgramBinary GLEW_GET_FUN(__glewGetProgramBinary) +#define glProgramBinary GLEW_GET_FUN(__glewProgramBinary) +#define glProgramParameteri GLEW_GET_FUN(__glewProgramParameteri) + +#define GLEW_ARB_get_program_binary GLEW_GET_VAR(__GLEW_ARB_get_program_binary) + +#endif /* GL_ARB_get_program_binary */ + +/* --------------------------- GL_ARB_gpu_shader5 -------------------------- */ + +#ifndef GL_ARB_gpu_shader5 +#define GL_ARB_gpu_shader5 1 + +#define GL_GEOMETRY_SHADER_INVOCATIONS 0x887F +#define GL_MAX_GEOMETRY_SHADER_INVOCATIONS 0x8E5A +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET 0x8E5C +#define GL_FRAGMENT_INTERPOLATION_OFFSET_BITS 0x8E5D +#define GL_MAX_VERTEX_STREAMS 0x8E71 + +#define GLEW_ARB_gpu_shader5 GLEW_GET_VAR(__GLEW_ARB_gpu_shader5) + +#endif /* GL_ARB_gpu_shader5 */ + +/* ------------------------- GL_ARB_gpu_shader_fp64 ------------------------ */ + +#ifndef GL_ARB_gpu_shader_fp64 +#define GL_ARB_gpu_shader_fp64 1 + +#define GL_DOUBLE_MAT2 0x8F46 +#define GL_DOUBLE_MAT3 0x8F47 +#define GL_DOUBLE_MAT4 0x8F48 +#define GL_DOUBLE_MAT2x3 0x8F49 +#define GL_DOUBLE_MAT2x4 0x8F4A +#define GL_DOUBLE_MAT3x2 0x8F4B +#define GL_DOUBLE_MAT3x4 0x8F4C +#define GL_DOUBLE_MAT4x2 0x8F4D +#define GL_DOUBLE_MAT4x3 0x8F4E +#define GL_DOUBLE_VEC2 0x8FFC +#define GL_DOUBLE_VEC3 0x8FFD +#define GL_DOUBLE_VEC4 0x8FFE + +typedef void (GLAPIENTRY * PFNGLGETUNIFORMDVPROC) (GLuint program, GLint location, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1DEXTPROC) (GLuint program, GLint location, GLdouble x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4DEXTPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4DVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X2DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X3DVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM1DPROC) (GLint location, GLdouble x); +typedef void (GLAPIENTRY * PFNGLUNIFORM1DVPROC) (GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2DPROC) (GLint location, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLUNIFORM2DVPROC) (GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLUNIFORM3DVPROC) (GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4DPROC) (GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLUNIFORM4DVPROC) (GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3X4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4X2DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4X3DVPROC) (GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); + +#define glGetUniformdv GLEW_GET_FUN(__glewGetUniformdv) +#define glProgramUniform1dEXT GLEW_GET_FUN(__glewProgramUniform1dEXT) +#define glProgramUniform1dvEXT GLEW_GET_FUN(__glewProgramUniform1dvEXT) +#define glProgramUniform2dEXT GLEW_GET_FUN(__glewProgramUniform2dEXT) +#define glProgramUniform2dvEXT GLEW_GET_FUN(__glewProgramUniform2dvEXT) +#define glProgramUniform3dEXT GLEW_GET_FUN(__glewProgramUniform3dEXT) +#define glProgramUniform3dvEXT GLEW_GET_FUN(__glewProgramUniform3dvEXT) +#define glProgramUniform4dEXT GLEW_GET_FUN(__glewProgramUniform4dEXT) +#define glProgramUniform4dvEXT GLEW_GET_FUN(__glewProgramUniform4dvEXT) +#define glProgramUniformMatrix2dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2dvEXT) +#define glProgramUniformMatrix2x3dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2x3dvEXT) +#define glProgramUniformMatrix2x4dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2x4dvEXT) +#define glProgramUniformMatrix3dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3dvEXT) +#define glProgramUniformMatrix3x2dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3x2dvEXT) +#define glProgramUniformMatrix3x4dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3x4dvEXT) +#define glProgramUniformMatrix4dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4dvEXT) +#define glProgramUniformMatrix4x2dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4x2dvEXT) +#define glProgramUniformMatrix4x3dvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4x3dvEXT) +#define glUniform1d GLEW_GET_FUN(__glewUniform1d) +#define glUniform1dv GLEW_GET_FUN(__glewUniform1dv) +#define glUniform2d GLEW_GET_FUN(__glewUniform2d) +#define glUniform2dv GLEW_GET_FUN(__glewUniform2dv) +#define glUniform3d GLEW_GET_FUN(__glewUniform3d) +#define glUniform3dv GLEW_GET_FUN(__glewUniform3dv) +#define glUniform4d GLEW_GET_FUN(__glewUniform4d) +#define glUniform4dv GLEW_GET_FUN(__glewUniform4dv) +#define glUniformMatrix2dv GLEW_GET_FUN(__glewUniformMatrix2dv) +#define glUniformMatrix2x3dv GLEW_GET_FUN(__glewUniformMatrix2x3dv) +#define glUniformMatrix2x4dv GLEW_GET_FUN(__glewUniformMatrix2x4dv) +#define glUniformMatrix3dv GLEW_GET_FUN(__glewUniformMatrix3dv) +#define glUniformMatrix3x2dv GLEW_GET_FUN(__glewUniformMatrix3x2dv) +#define glUniformMatrix3x4dv GLEW_GET_FUN(__glewUniformMatrix3x4dv) +#define glUniformMatrix4dv GLEW_GET_FUN(__glewUniformMatrix4dv) +#define glUniformMatrix4x2dv GLEW_GET_FUN(__glewUniformMatrix4x2dv) +#define glUniformMatrix4x3dv GLEW_GET_FUN(__glewUniformMatrix4x3dv) + +#define GLEW_ARB_gpu_shader_fp64 GLEW_GET_VAR(__GLEW_ARB_gpu_shader_fp64) + +#endif /* GL_ARB_gpu_shader_fp64 */ + +/* ------------------------ GL_ARB_half_float_pixel ------------------------ */ + +#ifndef GL_ARB_half_float_pixel +#define GL_ARB_half_float_pixel 1 + +#define GL_HALF_FLOAT_ARB 0x140B + +#define GLEW_ARB_half_float_pixel GLEW_GET_VAR(__GLEW_ARB_half_float_pixel) + +#endif /* GL_ARB_half_float_pixel */ + +/* ------------------------ GL_ARB_half_float_vertex ----------------------- */ + +#ifndef GL_ARB_half_float_vertex +#define GL_ARB_half_float_vertex 1 + +#define GL_HALF_FLOAT 0x140B + +#define GLEW_ARB_half_float_vertex GLEW_GET_VAR(__GLEW_ARB_half_float_vertex) + +#endif /* GL_ARB_half_float_vertex */ + +/* ----------------------------- GL_ARB_imaging ---------------------------- */ + +#ifndef GL_ARB_imaging +#define GL_ARB_imaging 1 + +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_BLEND_COLOR 0x8005 +#define GL_FUNC_ADD 0x8006 +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +#define GL_BLEND_EQUATION 0x8009 +#define GL_FUNC_SUBTRACT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_CONVOLUTION_1D 0x8010 +#define GL_CONVOLUTION_2D 0x8011 +#define GL_SEPARABLE_2D 0x8012 +#define GL_CONVOLUTION_BORDER_MODE 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS 0x8015 +#define GL_REDUCE 0x8016 +#define GL_CONVOLUTION_FORMAT 0x8017 +#define GL_CONVOLUTION_WIDTH 0x8018 +#define GL_CONVOLUTION_HEIGHT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 +#define GL_HISTOGRAM 0x8024 +#define GL_PROXY_HISTOGRAM 0x8025 +#define GL_HISTOGRAM_WIDTH 0x8026 +#define GL_HISTOGRAM_FORMAT 0x8027 +#define GL_HISTOGRAM_RED_SIZE 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C +#define GL_HISTOGRAM_SINK 0x802D +#define GL_MINMAX 0x802E +#define GL_MINMAX_FORMAT 0x802F +#define GL_MINMAX_SINK 0x8030 +#define GL_TABLE_TOO_LARGE 0x8031 +#define GL_COLOR_MATRIX 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS 0x80BB +#define GL_COLOR_TABLE 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 +#define GL_PROXY_COLOR_TABLE 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 +#define GL_COLOR_TABLE_SCALE 0x80D6 +#define GL_COLOR_TABLE_BIAS 0x80D7 +#define GL_COLOR_TABLE_FORMAT 0x80D8 +#define GL_COLOR_TABLE_WIDTH 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF +#define GL_IGNORE_BORDER 0x8150 +#define GL_CONSTANT_BORDER 0x8151 +#define GL_WRAP_BORDER 0x8152 +#define GL_REPLICATE_BORDER 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR 0x8154 + +typedef void (GLAPIENTRY * PFNGLCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const GLvoid *data); +typedef void (GLAPIENTRY * PFNGLCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *table); +typedef void (GLAPIENTRY * PFNGLCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (GLAPIENTRY * PFNGLCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *image); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *image); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat params); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERIPROC) (GLenum target, GLenum pname, GLint params); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GLAPIENTRY * PFNGLCOPYCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, GLvoid *table); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, GLvoid *image); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLvoid *values); +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum types, GLvoid *values); +typedef void (GLAPIENTRY * PFNGLGETMINMAXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (GLAPIENTRY * PFNGLGETMINMAXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, GLvoid *row, GLvoid *column, GLvoid *span); +typedef void (GLAPIENTRY * PFNGLHISTOGRAMPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (GLAPIENTRY * PFNGLMINMAXPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (GLAPIENTRY * PFNGLRESETHISTOGRAMPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLRESETMINMAXPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLSEPARABLEFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *row, const GLvoid *column); + +#define glColorSubTable GLEW_GET_FUN(__glewColorSubTable) +#define glColorTable GLEW_GET_FUN(__glewColorTable) +#define glColorTableParameterfv GLEW_GET_FUN(__glewColorTableParameterfv) +#define glColorTableParameteriv GLEW_GET_FUN(__glewColorTableParameteriv) +#define glConvolutionFilter1D GLEW_GET_FUN(__glewConvolutionFilter1D) +#define glConvolutionFilter2D GLEW_GET_FUN(__glewConvolutionFilter2D) +#define glConvolutionParameterf GLEW_GET_FUN(__glewConvolutionParameterf) +#define glConvolutionParameterfv GLEW_GET_FUN(__glewConvolutionParameterfv) +#define glConvolutionParameteri GLEW_GET_FUN(__glewConvolutionParameteri) +#define glConvolutionParameteriv GLEW_GET_FUN(__glewConvolutionParameteriv) +#define glCopyColorSubTable GLEW_GET_FUN(__glewCopyColorSubTable) +#define glCopyColorTable GLEW_GET_FUN(__glewCopyColorTable) +#define glCopyConvolutionFilter1D GLEW_GET_FUN(__glewCopyConvolutionFilter1D) +#define glCopyConvolutionFilter2D GLEW_GET_FUN(__glewCopyConvolutionFilter2D) +#define glGetColorTable GLEW_GET_FUN(__glewGetColorTable) +#define glGetColorTableParameterfv GLEW_GET_FUN(__glewGetColorTableParameterfv) +#define glGetColorTableParameteriv GLEW_GET_FUN(__glewGetColorTableParameteriv) +#define glGetConvolutionFilter GLEW_GET_FUN(__glewGetConvolutionFilter) +#define glGetConvolutionParameterfv GLEW_GET_FUN(__glewGetConvolutionParameterfv) +#define glGetConvolutionParameteriv GLEW_GET_FUN(__glewGetConvolutionParameteriv) +#define glGetHistogram GLEW_GET_FUN(__glewGetHistogram) +#define glGetHistogramParameterfv GLEW_GET_FUN(__glewGetHistogramParameterfv) +#define glGetHistogramParameteriv GLEW_GET_FUN(__glewGetHistogramParameteriv) +#define glGetMinmax GLEW_GET_FUN(__glewGetMinmax) +#define glGetMinmaxParameterfv GLEW_GET_FUN(__glewGetMinmaxParameterfv) +#define glGetMinmaxParameteriv GLEW_GET_FUN(__glewGetMinmaxParameteriv) +#define glGetSeparableFilter GLEW_GET_FUN(__glewGetSeparableFilter) +#define glHistogram GLEW_GET_FUN(__glewHistogram) +#define glMinmax GLEW_GET_FUN(__glewMinmax) +#define glResetHistogram GLEW_GET_FUN(__glewResetHistogram) +#define glResetMinmax GLEW_GET_FUN(__glewResetMinmax) +#define glSeparableFilter2D GLEW_GET_FUN(__glewSeparableFilter2D) + +#define GLEW_ARB_imaging GLEW_GET_VAR(__GLEW_ARB_imaging) + +#endif /* GL_ARB_imaging */ + +/* ------------------------ GL_ARB_instanced_arrays ------------------------ */ + +#ifndef GL_ARB_instanced_arrays +#define GL_ARB_instanced_arrays 1 + +#define GL_VERTEX_ATTRIB_ARRAY_DIVISOR_ARB 0x88FE + +typedef void (GLAPIENTRY * PFNGLDRAWARRAYSINSTANCEDARBPROC) (GLenum mode, GLint first, GLsizei count, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSINSTANCEDARBPROC) (GLenum mode, GLsizei count, GLenum type, const void* indices, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBDIVISORARBPROC) (GLuint index, GLuint divisor); + +#define glDrawArraysInstancedARB GLEW_GET_FUN(__glewDrawArraysInstancedARB) +#define glDrawElementsInstancedARB GLEW_GET_FUN(__glewDrawElementsInstancedARB) +#define glVertexAttribDivisorARB GLEW_GET_FUN(__glewVertexAttribDivisorARB) + +#define GLEW_ARB_instanced_arrays GLEW_GET_VAR(__GLEW_ARB_instanced_arrays) + +#endif /* GL_ARB_instanced_arrays */ + +/* ------------------------ GL_ARB_map_buffer_range ------------------------ */ + +#ifndef GL_ARB_map_buffer_range +#define GL_ARB_map_buffer_range 1 + +#define GL_MAP_READ_BIT 0x0001 +#define GL_MAP_WRITE_BIT 0x0002 +#define GL_MAP_INVALIDATE_RANGE_BIT 0x0004 +#define GL_MAP_INVALIDATE_BUFFER_BIT 0x0008 +#define GL_MAP_FLUSH_EXPLICIT_BIT 0x0010 +#define GL_MAP_UNSYNCHRONIZED_BIT 0x0020 + +typedef void (GLAPIENTRY * PFNGLFLUSHMAPPEDBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length); +typedef GLvoid * (GLAPIENTRY * PFNGLMAPBUFFERRANGEPROC) (GLenum target, GLintptr offset, GLsizeiptr length, GLbitfield access); + +#define glFlushMappedBufferRange GLEW_GET_FUN(__glewFlushMappedBufferRange) +#define glMapBufferRange GLEW_GET_FUN(__glewMapBufferRange) + +#define GLEW_ARB_map_buffer_range GLEW_GET_VAR(__GLEW_ARB_map_buffer_range) + +#endif /* GL_ARB_map_buffer_range */ + +/* ------------------------- GL_ARB_matrix_palette ------------------------- */ + +#ifndef GL_ARB_matrix_palette +#define GL_ARB_matrix_palette 1 + +#define GL_MATRIX_PALETTE_ARB 0x8840 +#define GL_MAX_MATRIX_PALETTE_STACK_DEPTH_ARB 0x8841 +#define GL_MAX_PALETTE_MATRICES_ARB 0x8842 +#define GL_CURRENT_PALETTE_MATRIX_ARB 0x8843 +#define GL_MATRIX_INDEX_ARRAY_ARB 0x8844 +#define GL_CURRENT_MATRIX_INDEX_ARB 0x8845 +#define GL_MATRIX_INDEX_ARRAY_SIZE_ARB 0x8846 +#define GL_MATRIX_INDEX_ARRAY_TYPE_ARB 0x8847 +#define GL_MATRIX_INDEX_ARRAY_STRIDE_ARB 0x8848 +#define GL_MATRIX_INDEX_ARRAY_POINTER_ARB 0x8849 + +typedef void (GLAPIENTRY * PFNGLCURRENTPALETTEMATRIXARBPROC) (GLint index); +typedef void (GLAPIENTRY * PFNGLMATRIXINDEXPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, GLvoid *pointer); +typedef void (GLAPIENTRY * PFNGLMATRIXINDEXUBVARBPROC) (GLint size, GLubyte *indices); +typedef void (GLAPIENTRY * PFNGLMATRIXINDEXUIVARBPROC) (GLint size, GLuint *indices); +typedef void (GLAPIENTRY * PFNGLMATRIXINDEXUSVARBPROC) (GLint size, GLushort *indices); + +#define glCurrentPaletteMatrixARB GLEW_GET_FUN(__glewCurrentPaletteMatrixARB) +#define glMatrixIndexPointerARB GLEW_GET_FUN(__glewMatrixIndexPointerARB) +#define glMatrixIndexubvARB GLEW_GET_FUN(__glewMatrixIndexubvARB) +#define glMatrixIndexuivARB GLEW_GET_FUN(__glewMatrixIndexuivARB) +#define glMatrixIndexusvARB GLEW_GET_FUN(__glewMatrixIndexusvARB) + +#define GLEW_ARB_matrix_palette GLEW_GET_VAR(__GLEW_ARB_matrix_palette) + +#endif /* GL_ARB_matrix_palette */ + +/* --------------------------- GL_ARB_multisample -------------------------- */ + +#ifndef GL_ARB_multisample +#define GL_ARB_multisample 1 + +#define GL_MULTISAMPLE_ARB 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE_ARB 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_ARB 0x809F +#define GL_SAMPLE_COVERAGE_ARB 0x80A0 +#define GL_SAMPLE_BUFFERS_ARB 0x80A8 +#define GL_SAMPLES_ARB 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE_ARB 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT_ARB 0x80AB +#define GL_MULTISAMPLE_BIT_ARB 0x20000000 + +typedef void (GLAPIENTRY * PFNGLSAMPLECOVERAGEARBPROC) (GLclampf value, GLboolean invert); + +#define glSampleCoverageARB GLEW_GET_FUN(__glewSampleCoverageARB) + +#define GLEW_ARB_multisample GLEW_GET_VAR(__GLEW_ARB_multisample) + +#endif /* GL_ARB_multisample */ + +/* -------------------------- GL_ARB_multitexture -------------------------- */ + +#ifndef GL_ARB_multitexture +#define GL_ARB_multitexture 1 + +#define GL_TEXTURE0_ARB 0x84C0 +#define GL_TEXTURE1_ARB 0x84C1 +#define GL_TEXTURE2_ARB 0x84C2 +#define GL_TEXTURE3_ARB 0x84C3 +#define GL_TEXTURE4_ARB 0x84C4 +#define GL_TEXTURE5_ARB 0x84C5 +#define GL_TEXTURE6_ARB 0x84C6 +#define GL_TEXTURE7_ARB 0x84C7 +#define GL_TEXTURE8_ARB 0x84C8 +#define GL_TEXTURE9_ARB 0x84C9 +#define GL_TEXTURE10_ARB 0x84CA +#define GL_TEXTURE11_ARB 0x84CB +#define GL_TEXTURE12_ARB 0x84CC +#define GL_TEXTURE13_ARB 0x84CD +#define GL_TEXTURE14_ARB 0x84CE +#define GL_TEXTURE15_ARB 0x84CF +#define GL_TEXTURE16_ARB 0x84D0 +#define GL_TEXTURE17_ARB 0x84D1 +#define GL_TEXTURE18_ARB 0x84D2 +#define GL_TEXTURE19_ARB 0x84D3 +#define GL_TEXTURE20_ARB 0x84D4 +#define GL_TEXTURE21_ARB 0x84D5 +#define GL_TEXTURE22_ARB 0x84D6 +#define GL_TEXTURE23_ARB 0x84D7 +#define GL_TEXTURE24_ARB 0x84D8 +#define GL_TEXTURE25_ARB 0x84D9 +#define GL_TEXTURE26_ARB 0x84DA +#define GL_TEXTURE27_ARB 0x84DB +#define GL_TEXTURE28_ARB 0x84DC +#define GL_TEXTURE29_ARB 0x84DD +#define GL_TEXTURE30_ARB 0x84DE +#define GL_TEXTURE31_ARB 0x84DF +#define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 + +typedef void (GLAPIENTRY * PFNGLACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (GLAPIENTRY * PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); + +#define glActiveTextureARB GLEW_GET_FUN(__glewActiveTextureARB) +#define glClientActiveTextureARB GLEW_GET_FUN(__glewClientActiveTextureARB) +#define glMultiTexCoord1dARB GLEW_GET_FUN(__glewMultiTexCoord1dARB) +#define glMultiTexCoord1dvARB GLEW_GET_FUN(__glewMultiTexCoord1dvARB) +#define glMultiTexCoord1fARB GLEW_GET_FUN(__glewMultiTexCoord1fARB) +#define glMultiTexCoord1fvARB GLEW_GET_FUN(__glewMultiTexCoord1fvARB) +#define glMultiTexCoord1iARB GLEW_GET_FUN(__glewMultiTexCoord1iARB) +#define glMultiTexCoord1ivARB GLEW_GET_FUN(__glewMultiTexCoord1ivARB) +#define glMultiTexCoord1sARB GLEW_GET_FUN(__glewMultiTexCoord1sARB) +#define glMultiTexCoord1svARB GLEW_GET_FUN(__glewMultiTexCoord1svARB) +#define glMultiTexCoord2dARB GLEW_GET_FUN(__glewMultiTexCoord2dARB) +#define glMultiTexCoord2dvARB GLEW_GET_FUN(__glewMultiTexCoord2dvARB) +#define glMultiTexCoord2fARB GLEW_GET_FUN(__glewMultiTexCoord2fARB) +#define glMultiTexCoord2fvARB GLEW_GET_FUN(__glewMultiTexCoord2fvARB) +#define glMultiTexCoord2iARB GLEW_GET_FUN(__glewMultiTexCoord2iARB) +#define glMultiTexCoord2ivARB GLEW_GET_FUN(__glewMultiTexCoord2ivARB) +#define glMultiTexCoord2sARB GLEW_GET_FUN(__glewMultiTexCoord2sARB) +#define glMultiTexCoord2svARB GLEW_GET_FUN(__glewMultiTexCoord2svARB) +#define glMultiTexCoord3dARB GLEW_GET_FUN(__glewMultiTexCoord3dARB) +#define glMultiTexCoord3dvARB GLEW_GET_FUN(__glewMultiTexCoord3dvARB) +#define glMultiTexCoord3fARB GLEW_GET_FUN(__glewMultiTexCoord3fARB) +#define glMultiTexCoord3fvARB GLEW_GET_FUN(__glewMultiTexCoord3fvARB) +#define glMultiTexCoord3iARB GLEW_GET_FUN(__glewMultiTexCoord3iARB) +#define glMultiTexCoord3ivARB GLEW_GET_FUN(__glewMultiTexCoord3ivARB) +#define glMultiTexCoord3sARB GLEW_GET_FUN(__glewMultiTexCoord3sARB) +#define glMultiTexCoord3svARB GLEW_GET_FUN(__glewMultiTexCoord3svARB) +#define glMultiTexCoord4dARB GLEW_GET_FUN(__glewMultiTexCoord4dARB) +#define glMultiTexCoord4dvARB GLEW_GET_FUN(__glewMultiTexCoord4dvARB) +#define glMultiTexCoord4fARB GLEW_GET_FUN(__glewMultiTexCoord4fARB) +#define glMultiTexCoord4fvARB GLEW_GET_FUN(__glewMultiTexCoord4fvARB) +#define glMultiTexCoord4iARB GLEW_GET_FUN(__glewMultiTexCoord4iARB) +#define glMultiTexCoord4ivARB GLEW_GET_FUN(__glewMultiTexCoord4ivARB) +#define glMultiTexCoord4sARB GLEW_GET_FUN(__glewMultiTexCoord4sARB) +#define glMultiTexCoord4svARB GLEW_GET_FUN(__glewMultiTexCoord4svARB) + +#define GLEW_ARB_multitexture GLEW_GET_VAR(__GLEW_ARB_multitexture) + +#endif /* GL_ARB_multitexture */ + +/* ------------------------- GL_ARB_occlusion_query ------------------------ */ + +#ifndef GL_ARB_occlusion_query +#define GL_ARB_occlusion_query 1 + +#define GL_QUERY_COUNTER_BITS_ARB 0x8864 +#define GL_CURRENT_QUERY_ARB 0x8865 +#define GL_QUERY_RESULT_ARB 0x8866 +#define GL_QUERY_RESULT_AVAILABLE_ARB 0x8867 +#define GL_SAMPLES_PASSED_ARB 0x8914 + +typedef void (GLAPIENTRY * PFNGLBEGINQUERYARBPROC) (GLenum target, GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETEQUERIESARBPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLENDQUERYARBPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLGENQUERIESARBPROC) (GLsizei n, GLuint* ids); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTIVARBPROC) (GLuint id, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTUIVARBPROC) (GLuint id, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETQUERYIVARBPROC) (GLenum target, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISQUERYARBPROC) (GLuint id); + +#define glBeginQueryARB GLEW_GET_FUN(__glewBeginQueryARB) +#define glDeleteQueriesARB GLEW_GET_FUN(__glewDeleteQueriesARB) +#define glEndQueryARB GLEW_GET_FUN(__glewEndQueryARB) +#define glGenQueriesARB GLEW_GET_FUN(__glewGenQueriesARB) +#define glGetQueryObjectivARB GLEW_GET_FUN(__glewGetQueryObjectivARB) +#define glGetQueryObjectuivARB GLEW_GET_FUN(__glewGetQueryObjectuivARB) +#define glGetQueryivARB GLEW_GET_FUN(__glewGetQueryivARB) +#define glIsQueryARB GLEW_GET_FUN(__glewIsQueryARB) + +#define GLEW_ARB_occlusion_query GLEW_GET_VAR(__GLEW_ARB_occlusion_query) + +#endif /* GL_ARB_occlusion_query */ + +/* ------------------------ GL_ARB_occlusion_query2 ------------------------ */ + +#ifndef GL_ARB_occlusion_query2 +#define GL_ARB_occlusion_query2 1 + +#define GL_ANY_SAMPLES_PASSED 0x8C2F + +#define GLEW_ARB_occlusion_query2 GLEW_GET_VAR(__GLEW_ARB_occlusion_query2) + +#endif /* GL_ARB_occlusion_query2 */ + +/* ----------------------- GL_ARB_pixel_buffer_object ---------------------- */ + +#ifndef GL_ARB_pixel_buffer_object +#define GL_ARB_pixel_buffer_object 1 + +#define GL_PIXEL_PACK_BUFFER_ARB 0x88EB +#define GL_PIXEL_UNPACK_BUFFER_ARB 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING_ARB 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING_ARB 0x88EF + +#define GLEW_ARB_pixel_buffer_object GLEW_GET_VAR(__GLEW_ARB_pixel_buffer_object) + +#endif /* GL_ARB_pixel_buffer_object */ + +/* ------------------------ GL_ARB_point_parameters ------------------------ */ + +#ifndef GL_ARB_point_parameters +#define GL_ARB_point_parameters 1 + +#define GL_POINT_SIZE_MIN_ARB 0x8126 +#define GL_POINT_SIZE_MAX_ARB 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_ARB 0x8128 +#define GL_POINT_DISTANCE_ATTENUATION_ARB 0x8129 + +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFARBPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFVARBPROC) (GLenum pname, const GLfloat* params); + +#define glPointParameterfARB GLEW_GET_FUN(__glewPointParameterfARB) +#define glPointParameterfvARB GLEW_GET_FUN(__glewPointParameterfvARB) + +#define GLEW_ARB_point_parameters GLEW_GET_VAR(__GLEW_ARB_point_parameters) + +#endif /* GL_ARB_point_parameters */ + +/* -------------------------- GL_ARB_point_sprite -------------------------- */ + +#ifndef GL_ARB_point_sprite +#define GL_ARB_point_sprite 1 + +#define GL_POINT_SPRITE_ARB 0x8861 +#define GL_COORD_REPLACE_ARB 0x8862 + +#define GLEW_ARB_point_sprite GLEW_GET_VAR(__GLEW_ARB_point_sprite) + +#endif /* GL_ARB_point_sprite */ + +/* ------------------------ GL_ARB_provoking_vertex ------------------------ */ + +#ifndef GL_ARB_provoking_vertex +#define GL_ARB_provoking_vertex 1 + +#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION 0x8E4C +#define GL_FIRST_VERTEX_CONVENTION 0x8E4D +#define GL_LAST_VERTEX_CONVENTION 0x8E4E +#define GL_PROVOKING_VERTEX 0x8E4F + +typedef void (GLAPIENTRY * PFNGLPROVOKINGVERTEXPROC) (GLenum mode); + +#define glProvokingVertex GLEW_GET_FUN(__glewProvokingVertex) + +#define GLEW_ARB_provoking_vertex GLEW_GET_VAR(__GLEW_ARB_provoking_vertex) + +#endif /* GL_ARB_provoking_vertex */ + +/* --------------------------- GL_ARB_robustness --------------------------- */ + +#ifndef GL_ARB_robustness +#define GL_ARB_robustness 1 + +#define GL_CONTEXT_FLAG_ROBUST_ACCESS_BIT_ARB 0x00000004 +#define GL_LOSE_CONTEXT_ON_RESET_ARB 0x8252 +#define GL_GUILTY_CONTEXT_RESET_ARB 0x8253 +#define GL_INNOCENT_CONTEXT_RESET_ARB 0x8254 +#define GL_UNKNOWN_CONTEXT_RESET_ARB 0x8255 +#define GL_RESET_NOTIFICATION_STRATEGY_ARB 0x8256 +#define GL_NO_RESET_NOTIFICATION_ARB 0x8261 + +typedef void (GLAPIENTRY * PFNGLGETNCOLORTABLEARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void* table); +typedef void (GLAPIENTRY * PFNGLGETNCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint lod, GLsizei bufSize, void* img); +typedef void (GLAPIENTRY * PFNGLGETNCONVOLUTIONFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei bufSize, void* image); +typedef void (GLAPIENTRY * PFNGLGETNHISTOGRAMARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void* values); +typedef void (GLAPIENTRY * PFNGLGETNMAPDVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLdouble* v); +typedef void (GLAPIENTRY * PFNGLGETNMAPFVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLfloat* v); +typedef void (GLAPIENTRY * PFNGLGETNMAPIVARBPROC) (GLenum target, GLenum query, GLsizei bufSize, GLint* v); +typedef void (GLAPIENTRY * PFNGLGETNMINMAXARBPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLsizei bufSize, void* values); +typedef void (GLAPIENTRY * PFNGLGETNPIXELMAPFVARBPROC) (GLenum map, GLsizei bufSize, GLfloat* values); +typedef void (GLAPIENTRY * PFNGLGETNPIXELMAPUIVARBPROC) (GLenum map, GLsizei bufSize, GLuint* values); +typedef void (GLAPIENTRY * PFNGLGETNPIXELMAPUSVARBPROC) (GLenum map, GLsizei bufSize, GLushort* values); +typedef void (GLAPIENTRY * PFNGLGETNPOLYGONSTIPPLEARBPROC) (GLsizei bufSize, GLubyte* pattern); +typedef void (GLAPIENTRY * PFNGLGETNSEPARABLEFILTERARBPROC) (GLenum target, GLenum format, GLenum type, GLsizei rowBufSize, void* row, GLsizei columnBufSize, GLvoid*column, GLvoid*span); +typedef void (GLAPIENTRY * PFNGLGETNTEXIMAGEARBPROC) (GLenum target, GLint level, GLenum format, GLenum type, GLsizei bufSize, void* img); +typedef void (GLAPIENTRY * PFNGLGETNUNIFORMDVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETNUNIFORMFVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETNUNIFORMIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNUNIFORMUIVARBPROC) (GLuint program, GLint location, GLsizei bufSize, GLuint* params); +typedef void (GLAPIENTRY * PFNGLREADNPIXELSARBPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLsizei bufSize, void* data); + +#define glGetnColorTableARB GLEW_GET_FUN(__glewGetnColorTableARB) +#define glGetnCompressedTexImageARB GLEW_GET_FUN(__glewGetnCompressedTexImageARB) +#define glGetnConvolutionFilterARB GLEW_GET_FUN(__glewGetnConvolutionFilterARB) +#define glGetnHistogramARB GLEW_GET_FUN(__glewGetnHistogramARB) +#define glGetnMapdvARB GLEW_GET_FUN(__glewGetnMapdvARB) +#define glGetnMapfvARB GLEW_GET_FUN(__glewGetnMapfvARB) +#define glGetnMapivARB GLEW_GET_FUN(__glewGetnMapivARB) +#define glGetnMinmaxARB GLEW_GET_FUN(__glewGetnMinmaxARB) +#define glGetnPixelMapfvARB GLEW_GET_FUN(__glewGetnPixelMapfvARB) +#define glGetnPixelMapuivARB GLEW_GET_FUN(__glewGetnPixelMapuivARB) +#define glGetnPixelMapusvARB GLEW_GET_FUN(__glewGetnPixelMapusvARB) +#define glGetnPolygonStippleARB GLEW_GET_FUN(__glewGetnPolygonStippleARB) +#define glGetnSeparableFilterARB GLEW_GET_FUN(__glewGetnSeparableFilterARB) +#define glGetnTexImageARB GLEW_GET_FUN(__glewGetnTexImageARB) +#define glGetnUniformdvARB GLEW_GET_FUN(__glewGetnUniformdvARB) +#define glGetnUniformfvARB GLEW_GET_FUN(__glewGetnUniformfvARB) +#define glGetnUniformivARB GLEW_GET_FUN(__glewGetnUniformivARB) +#define glGetnUniformuivARB GLEW_GET_FUN(__glewGetnUniformuivARB) +#define glReadnPixelsARB GLEW_GET_FUN(__glewReadnPixelsARB) + +#define GLEW_ARB_robustness GLEW_GET_VAR(__GLEW_ARB_robustness) + +#endif /* GL_ARB_robustness */ + +/* ------------------------- GL_ARB_sample_shading ------------------------- */ + +#ifndef GL_ARB_sample_shading +#define GL_ARB_sample_shading 1 + +#define GL_SAMPLE_SHADING_ARB 0x8C36 +#define GL_MIN_SAMPLE_SHADING_VALUE_ARB 0x8C37 + +typedef void (GLAPIENTRY * PFNGLMINSAMPLESHADINGARBPROC) (GLclampf value); + +#define glMinSampleShadingARB GLEW_GET_FUN(__glewMinSampleShadingARB) + +#define GLEW_ARB_sample_shading GLEW_GET_VAR(__GLEW_ARB_sample_shading) + +#endif /* GL_ARB_sample_shading */ + +/* ------------------------- GL_ARB_sampler_objects ------------------------ */ + +#ifndef GL_ARB_sampler_objects +#define GL_ARB_sampler_objects 1 + +#define GL_SAMPLER_BINDING 0x8919 + +typedef void (GLAPIENTRY * PFNGLBINDSAMPLERPROC) (GLuint unit, GLuint sampler); +typedef void (GLAPIENTRY * PFNGLDELETESAMPLERSPROC) (GLsizei count, const GLuint * samplers); +typedef void (GLAPIENTRY * PFNGLGENSAMPLERSPROC) (GLsizei count, GLuint* samplers); +typedef void (GLAPIENTRY * PFNGLGETSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISSAMPLERPROC) (GLuint sampler); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERIIVPROC) (GLuint sampler, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERIUIVPROC) (GLuint sampler, GLenum pname, const GLuint* params); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERFPROC) (GLuint sampler, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERFVPROC) (GLuint sampler, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERIPROC) (GLuint sampler, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLSAMPLERPARAMETERIVPROC) (GLuint sampler, GLenum pname, const GLint* params); + +#define glBindSampler GLEW_GET_FUN(__glewBindSampler) +#define glDeleteSamplers GLEW_GET_FUN(__glewDeleteSamplers) +#define glGenSamplers GLEW_GET_FUN(__glewGenSamplers) +#define glGetSamplerParameterIiv GLEW_GET_FUN(__glewGetSamplerParameterIiv) +#define glGetSamplerParameterIuiv GLEW_GET_FUN(__glewGetSamplerParameterIuiv) +#define glGetSamplerParameterfv GLEW_GET_FUN(__glewGetSamplerParameterfv) +#define glGetSamplerParameteriv GLEW_GET_FUN(__glewGetSamplerParameteriv) +#define glIsSampler GLEW_GET_FUN(__glewIsSampler) +#define glSamplerParameterIiv GLEW_GET_FUN(__glewSamplerParameterIiv) +#define glSamplerParameterIuiv GLEW_GET_FUN(__glewSamplerParameterIuiv) +#define glSamplerParameterf GLEW_GET_FUN(__glewSamplerParameterf) +#define glSamplerParameterfv GLEW_GET_FUN(__glewSamplerParameterfv) +#define glSamplerParameteri GLEW_GET_FUN(__glewSamplerParameteri) +#define glSamplerParameteriv GLEW_GET_FUN(__glewSamplerParameteriv) + +#define GLEW_ARB_sampler_objects GLEW_GET_VAR(__GLEW_ARB_sampler_objects) + +#endif /* GL_ARB_sampler_objects */ + +/* ------------------------ GL_ARB_seamless_cube_map ----------------------- */ + +#ifndef GL_ARB_seamless_cube_map +#define GL_ARB_seamless_cube_map 1 + +#define GL_TEXTURE_CUBE_MAP_SEAMLESS 0x884F + +#define GLEW_ARB_seamless_cube_map GLEW_GET_VAR(__GLEW_ARB_seamless_cube_map) + +#endif /* GL_ARB_seamless_cube_map */ + +/* --------------------- GL_ARB_separate_shader_objects -------------------- */ + +#ifndef GL_ARB_separate_shader_objects +#define GL_ARB_separate_shader_objects 1 + +#define GL_VERTEX_SHADER_BIT 0x00000001 +#define GL_FRAGMENT_SHADER_BIT 0x00000002 +#define GL_GEOMETRY_SHADER_BIT 0x00000004 +#define GL_TESS_CONTROL_SHADER_BIT 0x00000008 +#define GL_TESS_EVALUATION_SHADER_BIT 0x00000010 +#define GL_PROGRAM_SEPARABLE 0x8258 +#define GL_ACTIVE_PROGRAM 0x8259 +#define GL_PROGRAM_PIPELINE_BINDING 0x825A +#define GL_ALL_SHADER_BITS 0xFFFFFFFF + +typedef void (GLAPIENTRY * PFNGLACTIVESHADERPROGRAMPROC) (GLuint pipeline, GLuint program); +typedef void (GLAPIENTRY * PFNGLBINDPROGRAMPIPELINEPROC) (GLuint pipeline); +typedef GLuint (GLAPIENTRY * PFNGLCREATESHADERPROGRAMVPROC) (GLenum type, GLsizei count, const char ** strings); +typedef void (GLAPIENTRY * PFNGLDELETEPROGRAMPIPELINESPROC) (GLsizei n, const GLuint* pipelines); +typedef void (GLAPIENTRY * PFNGLGENPROGRAMPIPELINESPROC) (GLsizei n, GLuint* pipelines); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMPIPELINEINFOLOGPROC) (GLuint pipeline, GLsizei bufSize, GLsizei* length, char *infoLog); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMPIPELINEIVPROC) (GLuint pipeline, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISPROGRAMPIPELINEPROC) (GLuint pipeline); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1DPROC) (GLuint program, GLint location, GLdouble x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1FPROC) (GLuint program, GLint location, GLfloat x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1IPROC) (GLuint program, GLint location, GLint x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1IVPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UIPROC) (GLuint program, GLint location, GLuint x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2DPROC) (GLuint program, GLint location, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2FPROC) (GLuint program, GLint location, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2IPROC) (GLuint program, GLint location, GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2IVPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UIPROC) (GLuint program, GLint location, GLuint x, GLuint y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3DPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3FPROC) (GLuint program, GLint location, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3IPROC) (GLuint program, GLint location, GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3IVPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UIPROC) (GLuint program, GLint location, GLuint x, GLuint y, GLuint z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4DPROC) (GLuint program, GLint location, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4DVPROC) (GLuint program, GLint location, GLsizei count, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4FPROC) (GLuint program, GLint location, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4FVPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4IPROC) (GLuint program, GLint location, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4IVPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UIPROC) (GLuint program, GLint location, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UIVPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLdouble* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUSEPROGRAMSTAGESPROC) (GLuint pipeline, GLbitfield stages, GLuint program); +typedef void (GLAPIENTRY * PFNGLVALIDATEPROGRAMPIPELINEPROC) (GLuint pipeline); + +#define glActiveShaderProgram GLEW_GET_FUN(__glewActiveShaderProgram) +#define glBindProgramPipeline GLEW_GET_FUN(__glewBindProgramPipeline) +#define glCreateShaderProgramv GLEW_GET_FUN(__glewCreateShaderProgramv) +#define glDeleteProgramPipelines GLEW_GET_FUN(__glewDeleteProgramPipelines) +#define glGenProgramPipelines GLEW_GET_FUN(__glewGenProgramPipelines) +#define glGetProgramPipelineInfoLog GLEW_GET_FUN(__glewGetProgramPipelineInfoLog) +#define glGetProgramPipelineiv GLEW_GET_FUN(__glewGetProgramPipelineiv) +#define glIsProgramPipeline GLEW_GET_FUN(__glewIsProgramPipeline) +#define glProgramUniform1d GLEW_GET_FUN(__glewProgramUniform1d) +#define glProgramUniform1dv GLEW_GET_FUN(__glewProgramUniform1dv) +#define glProgramUniform1f GLEW_GET_FUN(__glewProgramUniform1f) +#define glProgramUniform1fv GLEW_GET_FUN(__glewProgramUniform1fv) +#define glProgramUniform1i GLEW_GET_FUN(__glewProgramUniform1i) +#define glProgramUniform1iv GLEW_GET_FUN(__glewProgramUniform1iv) +#define glProgramUniform1ui GLEW_GET_FUN(__glewProgramUniform1ui) +#define glProgramUniform1uiv GLEW_GET_FUN(__glewProgramUniform1uiv) +#define glProgramUniform2d GLEW_GET_FUN(__glewProgramUniform2d) +#define glProgramUniform2dv GLEW_GET_FUN(__glewProgramUniform2dv) +#define glProgramUniform2f GLEW_GET_FUN(__glewProgramUniform2f) +#define glProgramUniform2fv GLEW_GET_FUN(__glewProgramUniform2fv) +#define glProgramUniform2i GLEW_GET_FUN(__glewProgramUniform2i) +#define glProgramUniform2iv GLEW_GET_FUN(__glewProgramUniform2iv) +#define glProgramUniform2ui GLEW_GET_FUN(__glewProgramUniform2ui) +#define glProgramUniform2uiv GLEW_GET_FUN(__glewProgramUniform2uiv) +#define glProgramUniform3d GLEW_GET_FUN(__glewProgramUniform3d) +#define glProgramUniform3dv GLEW_GET_FUN(__glewProgramUniform3dv) +#define glProgramUniform3f GLEW_GET_FUN(__glewProgramUniform3f) +#define glProgramUniform3fv GLEW_GET_FUN(__glewProgramUniform3fv) +#define glProgramUniform3i GLEW_GET_FUN(__glewProgramUniform3i) +#define glProgramUniform3iv GLEW_GET_FUN(__glewProgramUniform3iv) +#define glProgramUniform3ui GLEW_GET_FUN(__glewProgramUniform3ui) +#define glProgramUniform3uiv GLEW_GET_FUN(__glewProgramUniform3uiv) +#define glProgramUniform4d GLEW_GET_FUN(__glewProgramUniform4d) +#define glProgramUniform4dv GLEW_GET_FUN(__glewProgramUniform4dv) +#define glProgramUniform4f GLEW_GET_FUN(__glewProgramUniform4f) +#define glProgramUniform4fv GLEW_GET_FUN(__glewProgramUniform4fv) +#define glProgramUniform4i GLEW_GET_FUN(__glewProgramUniform4i) +#define glProgramUniform4iv GLEW_GET_FUN(__glewProgramUniform4iv) +#define glProgramUniform4ui GLEW_GET_FUN(__glewProgramUniform4ui) +#define glProgramUniform4uiv GLEW_GET_FUN(__glewProgramUniform4uiv) +#define glProgramUniformMatrix2dv GLEW_GET_FUN(__glewProgramUniformMatrix2dv) +#define glProgramUniformMatrix2fv GLEW_GET_FUN(__glewProgramUniformMatrix2fv) +#define glProgramUniformMatrix2x3dv GLEW_GET_FUN(__glewProgramUniformMatrix2x3dv) +#define glProgramUniformMatrix2x3fv GLEW_GET_FUN(__glewProgramUniformMatrix2x3fv) +#define glProgramUniformMatrix2x4dv GLEW_GET_FUN(__glewProgramUniformMatrix2x4dv) +#define glProgramUniformMatrix2x4fv GLEW_GET_FUN(__glewProgramUniformMatrix2x4fv) +#define glProgramUniformMatrix3dv GLEW_GET_FUN(__glewProgramUniformMatrix3dv) +#define glProgramUniformMatrix3fv GLEW_GET_FUN(__glewProgramUniformMatrix3fv) +#define glProgramUniformMatrix3x2dv GLEW_GET_FUN(__glewProgramUniformMatrix3x2dv) +#define glProgramUniformMatrix3x2fv GLEW_GET_FUN(__glewProgramUniformMatrix3x2fv) +#define glProgramUniformMatrix3x4dv GLEW_GET_FUN(__glewProgramUniformMatrix3x4dv) +#define glProgramUniformMatrix3x4fv GLEW_GET_FUN(__glewProgramUniformMatrix3x4fv) +#define glProgramUniformMatrix4dv GLEW_GET_FUN(__glewProgramUniformMatrix4dv) +#define glProgramUniformMatrix4fv GLEW_GET_FUN(__glewProgramUniformMatrix4fv) +#define glProgramUniformMatrix4x2dv GLEW_GET_FUN(__glewProgramUniformMatrix4x2dv) +#define glProgramUniformMatrix4x2fv GLEW_GET_FUN(__glewProgramUniformMatrix4x2fv) +#define glProgramUniformMatrix4x3dv GLEW_GET_FUN(__glewProgramUniformMatrix4x3dv) +#define glProgramUniformMatrix4x3fv GLEW_GET_FUN(__glewProgramUniformMatrix4x3fv) +#define glUseProgramStages GLEW_GET_FUN(__glewUseProgramStages) +#define glValidateProgramPipeline GLEW_GET_FUN(__glewValidateProgramPipeline) + +#define GLEW_ARB_separate_shader_objects GLEW_GET_VAR(__GLEW_ARB_separate_shader_objects) + +#endif /* GL_ARB_separate_shader_objects */ + +/* ----------------------- GL_ARB_shader_bit_encoding ---------------------- */ + +#ifndef GL_ARB_shader_bit_encoding +#define GL_ARB_shader_bit_encoding 1 + +#define GLEW_ARB_shader_bit_encoding GLEW_GET_VAR(__GLEW_ARB_shader_bit_encoding) + +#endif /* GL_ARB_shader_bit_encoding */ + +/* ------------------------- GL_ARB_shader_objects ------------------------- */ + +#ifndef GL_ARB_shader_objects +#define GL_ARB_shader_objects 1 + +#define GL_PROGRAM_OBJECT_ARB 0x8B40 +#define GL_SHADER_OBJECT_ARB 0x8B48 +#define GL_OBJECT_TYPE_ARB 0x8B4E +#define GL_OBJECT_SUBTYPE_ARB 0x8B4F +#define GL_FLOAT_VEC2_ARB 0x8B50 +#define GL_FLOAT_VEC3_ARB 0x8B51 +#define GL_FLOAT_VEC4_ARB 0x8B52 +#define GL_INT_VEC2_ARB 0x8B53 +#define GL_INT_VEC3_ARB 0x8B54 +#define GL_INT_VEC4_ARB 0x8B55 +#define GL_BOOL_ARB 0x8B56 +#define GL_BOOL_VEC2_ARB 0x8B57 +#define GL_BOOL_VEC3_ARB 0x8B58 +#define GL_BOOL_VEC4_ARB 0x8B59 +#define GL_FLOAT_MAT2_ARB 0x8B5A +#define GL_FLOAT_MAT3_ARB 0x8B5B +#define GL_FLOAT_MAT4_ARB 0x8B5C +#define GL_SAMPLER_1D_ARB 0x8B5D +#define GL_SAMPLER_2D_ARB 0x8B5E +#define GL_SAMPLER_3D_ARB 0x8B5F +#define GL_SAMPLER_CUBE_ARB 0x8B60 +#define GL_SAMPLER_1D_SHADOW_ARB 0x8B61 +#define GL_SAMPLER_2D_SHADOW_ARB 0x8B62 +#define GL_SAMPLER_2D_RECT_ARB 0x8B63 +#define GL_SAMPLER_2D_RECT_SHADOW_ARB 0x8B64 +#define GL_OBJECT_DELETE_STATUS_ARB 0x8B80 +#define GL_OBJECT_COMPILE_STATUS_ARB 0x8B81 +#define GL_OBJECT_LINK_STATUS_ARB 0x8B82 +#define GL_OBJECT_VALIDATE_STATUS_ARB 0x8B83 +#define GL_OBJECT_INFO_LOG_LENGTH_ARB 0x8B84 +#define GL_OBJECT_ATTACHED_OBJECTS_ARB 0x8B85 +#define GL_OBJECT_ACTIVE_UNIFORMS_ARB 0x8B86 +#define GL_OBJECT_ACTIVE_UNIFORM_MAX_LENGTH_ARB 0x8B87 +#define GL_OBJECT_SHADER_SOURCE_LENGTH_ARB 0x8B88 + +typedef char GLcharARB; +typedef unsigned int GLhandleARB; + +typedef void (GLAPIENTRY * PFNGLATTACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB obj); +typedef void (GLAPIENTRY * PFNGLCOMPILESHADERARBPROC) (GLhandleARB shaderObj); +typedef GLhandleARB (GLAPIENTRY * PFNGLCREATEPROGRAMOBJECTARBPROC) (void); +typedef GLhandleARB (GLAPIENTRY * PFNGLCREATESHADEROBJECTARBPROC) (GLenum shaderType); +typedef void (GLAPIENTRY * PFNGLDELETEOBJECTARBPROC) (GLhandleARB obj); +typedef void (GLAPIENTRY * PFNGLDETACHOBJECTARBPROC) (GLhandleARB containerObj, GLhandleARB attachedObj); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei* length, GLint *size, GLenum *type, GLcharARB *name); +typedef void (GLAPIENTRY * PFNGLGETATTACHEDOBJECTSARBPROC) (GLhandleARB containerObj, GLsizei maxCount, GLsizei* count, GLhandleARB *obj); +typedef GLhandleARB (GLAPIENTRY * PFNGLGETHANDLEARBPROC) (GLenum pname); +typedef void (GLAPIENTRY * PFNGLGETINFOLOGARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei* length, GLcharARB *infoLog); +typedef void (GLAPIENTRY * PFNGLGETOBJECTPARAMETERFVARBPROC) (GLhandleARB obj, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETOBJECTPARAMETERIVARBPROC) (GLhandleARB obj, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETSHADERSOURCEARBPROC) (GLhandleARB obj, GLsizei maxLength, GLsizei* length, GLcharARB *source); +typedef GLint (GLAPIENTRY * PFNGLGETUNIFORMLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB* name); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMFVARBPROC) (GLhandleARB programObj, GLint location, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMIVARBPROC) (GLhandleARB programObj, GLint location, GLint* params); +typedef void (GLAPIENTRY * PFNGLLINKPROGRAMARBPROC) (GLhandleARB programObj); +typedef void (GLAPIENTRY * PFNGLSHADERSOURCEARBPROC) (GLhandleARB shaderObj, GLsizei count, const GLcharARB ** string, const GLint *length); +typedef void (GLAPIENTRY * PFNGLUNIFORM1FARBPROC) (GLint location, GLfloat v0); +typedef void (GLAPIENTRY * PFNGLUNIFORM1FVARBPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM1IARBPROC) (GLint location, GLint v0); +typedef void (GLAPIENTRY * PFNGLUNIFORM1IVARBPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2FARBPROC) (GLint location, GLfloat v0, GLfloat v1); +typedef void (GLAPIENTRY * PFNGLUNIFORM2FVARBPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2IARBPROC) (GLint location, GLint v0, GLint v1); +typedef void (GLAPIENTRY * PFNGLUNIFORM2IVARBPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (GLAPIENTRY * PFNGLUNIFORM3FVARBPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2); +typedef void (GLAPIENTRY * PFNGLUNIFORM3IVARBPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4FARBPROC) (GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (GLAPIENTRY * PFNGLUNIFORM4FVARBPROC) (GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4IARBPROC) (GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (GLAPIENTRY * PFNGLUNIFORM4IVARBPROC) (GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX2FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX3FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMMATRIX4FVARBPROC) (GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLUSEPROGRAMOBJECTARBPROC) (GLhandleARB programObj); +typedef void (GLAPIENTRY * PFNGLVALIDATEPROGRAMARBPROC) (GLhandleARB programObj); + +#define glAttachObjectARB GLEW_GET_FUN(__glewAttachObjectARB) +#define glCompileShaderARB GLEW_GET_FUN(__glewCompileShaderARB) +#define glCreateProgramObjectARB GLEW_GET_FUN(__glewCreateProgramObjectARB) +#define glCreateShaderObjectARB GLEW_GET_FUN(__glewCreateShaderObjectARB) +#define glDeleteObjectARB GLEW_GET_FUN(__glewDeleteObjectARB) +#define glDetachObjectARB GLEW_GET_FUN(__glewDetachObjectARB) +#define glGetActiveUniformARB GLEW_GET_FUN(__glewGetActiveUniformARB) +#define glGetAttachedObjectsARB GLEW_GET_FUN(__glewGetAttachedObjectsARB) +#define glGetHandleARB GLEW_GET_FUN(__glewGetHandleARB) +#define glGetInfoLogARB GLEW_GET_FUN(__glewGetInfoLogARB) +#define glGetObjectParameterfvARB GLEW_GET_FUN(__glewGetObjectParameterfvARB) +#define glGetObjectParameterivARB GLEW_GET_FUN(__glewGetObjectParameterivARB) +#define glGetShaderSourceARB GLEW_GET_FUN(__glewGetShaderSourceARB) +#define glGetUniformLocationARB GLEW_GET_FUN(__glewGetUniformLocationARB) +#define glGetUniformfvARB GLEW_GET_FUN(__glewGetUniformfvARB) +#define glGetUniformivARB GLEW_GET_FUN(__glewGetUniformivARB) +#define glLinkProgramARB GLEW_GET_FUN(__glewLinkProgramARB) +#define glShaderSourceARB GLEW_GET_FUN(__glewShaderSourceARB) +#define glUniform1fARB GLEW_GET_FUN(__glewUniform1fARB) +#define glUniform1fvARB GLEW_GET_FUN(__glewUniform1fvARB) +#define glUniform1iARB GLEW_GET_FUN(__glewUniform1iARB) +#define glUniform1ivARB GLEW_GET_FUN(__glewUniform1ivARB) +#define glUniform2fARB GLEW_GET_FUN(__glewUniform2fARB) +#define glUniform2fvARB GLEW_GET_FUN(__glewUniform2fvARB) +#define glUniform2iARB GLEW_GET_FUN(__glewUniform2iARB) +#define glUniform2ivARB GLEW_GET_FUN(__glewUniform2ivARB) +#define glUniform3fARB GLEW_GET_FUN(__glewUniform3fARB) +#define glUniform3fvARB GLEW_GET_FUN(__glewUniform3fvARB) +#define glUniform3iARB GLEW_GET_FUN(__glewUniform3iARB) +#define glUniform3ivARB GLEW_GET_FUN(__glewUniform3ivARB) +#define glUniform4fARB GLEW_GET_FUN(__glewUniform4fARB) +#define glUniform4fvARB GLEW_GET_FUN(__glewUniform4fvARB) +#define glUniform4iARB GLEW_GET_FUN(__glewUniform4iARB) +#define glUniform4ivARB GLEW_GET_FUN(__glewUniform4ivARB) +#define glUniformMatrix2fvARB GLEW_GET_FUN(__glewUniformMatrix2fvARB) +#define glUniformMatrix3fvARB GLEW_GET_FUN(__glewUniformMatrix3fvARB) +#define glUniformMatrix4fvARB GLEW_GET_FUN(__glewUniformMatrix4fvARB) +#define glUseProgramObjectARB GLEW_GET_FUN(__glewUseProgramObjectARB) +#define glValidateProgramARB GLEW_GET_FUN(__glewValidateProgramARB) + +#define GLEW_ARB_shader_objects GLEW_GET_VAR(__GLEW_ARB_shader_objects) + +#endif /* GL_ARB_shader_objects */ + +/* ------------------------ GL_ARB_shader_precision ------------------------ */ + +#ifndef GL_ARB_shader_precision +#define GL_ARB_shader_precision 1 + +#define GLEW_ARB_shader_precision GLEW_GET_VAR(__GLEW_ARB_shader_precision) + +#endif /* GL_ARB_shader_precision */ + +/* ---------------------- GL_ARB_shader_stencil_export --------------------- */ + +#ifndef GL_ARB_shader_stencil_export +#define GL_ARB_shader_stencil_export 1 + +#define GLEW_ARB_shader_stencil_export GLEW_GET_VAR(__GLEW_ARB_shader_stencil_export) + +#endif /* GL_ARB_shader_stencil_export */ + +/* ------------------------ GL_ARB_shader_subroutine ----------------------- */ + +#ifndef GL_ARB_shader_subroutine +#define GL_ARB_shader_subroutine 1 + +#define GL_ACTIVE_SUBROUTINES 0x8DE5 +#define GL_ACTIVE_SUBROUTINE_UNIFORMS 0x8DE6 +#define GL_MAX_SUBROUTINES 0x8DE7 +#define GL_MAX_SUBROUTINE_UNIFORM_LOCATIONS 0x8DE8 +#define GL_ACTIVE_SUBROUTINE_UNIFORM_LOCATIONS 0x8E47 +#define GL_ACTIVE_SUBROUTINE_MAX_LENGTH 0x8E48 +#define GL_ACTIVE_SUBROUTINE_UNIFORM_MAX_LENGTH 0x8E49 +#define GL_NUM_COMPATIBLE_SUBROUTINES 0x8E4A +#define GL_COMPATIBLE_SUBROUTINES 0x8E4B + +typedef void (GLAPIENTRY * PFNGLGETACTIVESUBROUTINENAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufsize, GLsizei* length, char *name); +typedef void (GLAPIENTRY * PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC) (GLuint program, GLenum shadertype, GLuint index, GLsizei bufsize, GLsizei* length, char *name); +typedef void (GLAPIENTRY * PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC) (GLuint program, GLenum shadertype, GLuint index, GLenum pname, GLint* values); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMSTAGEIVPROC) (GLuint program, GLenum shadertype, GLenum pname, GLint* values); +typedef GLuint (GLAPIENTRY * PFNGLGETSUBROUTINEINDEXPROC) (GLuint program, GLenum shadertype, const char* name); +typedef GLint (GLAPIENTRY * PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC) (GLuint program, GLenum shadertype, const char* name); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMSUBROUTINEUIVPROC) (GLenum shadertype, GLint location, GLuint* params); +typedef void (GLAPIENTRY * PFNGLUNIFORMSUBROUTINESUIVPROC) (GLenum shadertype, GLsizei count, const GLuint* indices); + +#define glGetActiveSubroutineName GLEW_GET_FUN(__glewGetActiveSubroutineName) +#define glGetActiveSubroutineUniformName GLEW_GET_FUN(__glewGetActiveSubroutineUniformName) +#define glGetActiveSubroutineUniformiv GLEW_GET_FUN(__glewGetActiveSubroutineUniformiv) +#define glGetProgramStageiv GLEW_GET_FUN(__glewGetProgramStageiv) +#define glGetSubroutineIndex GLEW_GET_FUN(__glewGetSubroutineIndex) +#define glGetSubroutineUniformLocation GLEW_GET_FUN(__glewGetSubroutineUniformLocation) +#define glGetUniformSubroutineuiv GLEW_GET_FUN(__glewGetUniformSubroutineuiv) +#define glUniformSubroutinesuiv GLEW_GET_FUN(__glewUniformSubroutinesuiv) + +#define GLEW_ARB_shader_subroutine GLEW_GET_VAR(__GLEW_ARB_shader_subroutine) + +#endif /* GL_ARB_shader_subroutine */ + +/* ----------------------- GL_ARB_shader_texture_lod ----------------------- */ + +#ifndef GL_ARB_shader_texture_lod +#define GL_ARB_shader_texture_lod 1 + +#define GLEW_ARB_shader_texture_lod GLEW_GET_VAR(__GLEW_ARB_shader_texture_lod) + +#endif /* GL_ARB_shader_texture_lod */ + +/* ---------------------- GL_ARB_shading_language_100 ---------------------- */ + +#ifndef GL_ARB_shading_language_100 +#define GL_ARB_shading_language_100 1 + +#define GL_SHADING_LANGUAGE_VERSION_ARB 0x8B8C + +#define GLEW_ARB_shading_language_100 GLEW_GET_VAR(__GLEW_ARB_shading_language_100) + +#endif /* GL_ARB_shading_language_100 */ + +/* -------------------- GL_ARB_shading_language_include -------------------- */ + +#ifndef GL_ARB_shading_language_include +#define GL_ARB_shading_language_include 1 + +#define GL_SHADER_INCLUDE_ARB 0x8DAE +#define GL_NAMED_STRING_LENGTH_ARB 0x8DE9 +#define GL_NAMED_STRING_TYPE_ARB 0x8DEA + +typedef void (GLAPIENTRY * PFNGLCOMPILESHADERINCLUDEARBPROC) (GLuint shader, GLsizei count, const char ** path, const GLint *length); +typedef void (GLAPIENTRY * PFNGLDELETENAMEDSTRINGARBPROC) (GLint namelen, const char* name); +typedef void (GLAPIENTRY * PFNGLGETNAMEDSTRINGARBPROC) (GLint namelen, const char* name, GLsizei bufSize, GLint *stringlen, char *string); +typedef void (GLAPIENTRY * PFNGLGETNAMEDSTRINGIVARBPROC) (GLint namelen, const char* name, GLenum pname, GLint *params); +typedef GLboolean (GLAPIENTRY * PFNGLISNAMEDSTRINGARBPROC) (GLint namelen, const char* name); +typedef void (GLAPIENTRY * PFNGLNAMEDSTRINGARBPROC) (GLenum type, GLint namelen, const char* name, GLint stringlen, const char *string); + +#define glCompileShaderIncludeARB GLEW_GET_FUN(__glewCompileShaderIncludeARB) +#define glDeleteNamedStringARB GLEW_GET_FUN(__glewDeleteNamedStringARB) +#define glGetNamedStringARB GLEW_GET_FUN(__glewGetNamedStringARB) +#define glGetNamedStringivARB GLEW_GET_FUN(__glewGetNamedStringivARB) +#define glIsNamedStringARB GLEW_GET_FUN(__glewIsNamedStringARB) +#define glNamedStringARB GLEW_GET_FUN(__glewNamedStringARB) + +#define GLEW_ARB_shading_language_include GLEW_GET_VAR(__GLEW_ARB_shading_language_include) + +#endif /* GL_ARB_shading_language_include */ + +/* ----------------------------- GL_ARB_shadow ----------------------------- */ + +#ifndef GL_ARB_shadow +#define GL_ARB_shadow 1 + +#define GL_TEXTURE_COMPARE_MODE_ARB 0x884C +#define GL_TEXTURE_COMPARE_FUNC_ARB 0x884D +#define GL_COMPARE_R_TO_TEXTURE_ARB 0x884E + +#define GLEW_ARB_shadow GLEW_GET_VAR(__GLEW_ARB_shadow) + +#endif /* GL_ARB_shadow */ + +/* ------------------------- GL_ARB_shadow_ambient ------------------------- */ + +#ifndef GL_ARB_shadow_ambient +#define GL_ARB_shadow_ambient 1 + +#define GL_TEXTURE_COMPARE_FAIL_VALUE_ARB 0x80BF + +#define GLEW_ARB_shadow_ambient GLEW_GET_VAR(__GLEW_ARB_shadow_ambient) + +#endif /* GL_ARB_shadow_ambient */ + +/* ------------------------------ GL_ARB_sync ------------------------------ */ + +#ifndef GL_ARB_sync +#define GL_ARB_sync 1 + +#define GL_SYNC_FLUSH_COMMANDS_BIT 0x00000001 +#define GL_MAX_SERVER_WAIT_TIMEOUT 0x9111 +#define GL_OBJECT_TYPE 0x9112 +#define GL_SYNC_CONDITION 0x9113 +#define GL_SYNC_STATUS 0x9114 +#define GL_SYNC_FLAGS 0x9115 +#define GL_SYNC_FENCE 0x9116 +#define GL_SYNC_GPU_COMMANDS_COMPLETE 0x9117 +#define GL_UNSIGNALED 0x9118 +#define GL_SIGNALED 0x9119 +#define GL_ALREADY_SIGNALED 0x911A +#define GL_TIMEOUT_EXPIRED 0x911B +#define GL_CONDITION_SATISFIED 0x911C +#define GL_WAIT_FAILED 0x911D +#define GL_TIMEOUT_IGNORED 0xFFFFFFFFFFFFFFFF + +typedef GLenum (GLAPIENTRY * PFNGLCLIENTWAITSYNCPROC) (GLsync GLsync,GLbitfield flags,GLuint64 timeout); +typedef void (GLAPIENTRY * PFNGLDELETESYNCPROC) (GLsync GLsync); +typedef GLsync (GLAPIENTRY * PFNGLFENCESYNCPROC) (GLenum condition,GLbitfield flags); +typedef void (GLAPIENTRY * PFNGLGETINTEGER64VPROC) (GLenum pname, GLint64* params); +typedef void (GLAPIENTRY * PFNGLGETSYNCIVPROC) (GLsync GLsync,GLenum pname,GLsizei bufSize,GLsizei* length, GLint *values); +typedef GLboolean (GLAPIENTRY * PFNGLISSYNCPROC) (GLsync GLsync); +typedef void (GLAPIENTRY * PFNGLWAITSYNCPROC) (GLsync GLsync,GLbitfield flags,GLuint64 timeout); + +#define glClientWaitSync GLEW_GET_FUN(__glewClientWaitSync) +#define glDeleteSync GLEW_GET_FUN(__glewDeleteSync) +#define glFenceSync GLEW_GET_FUN(__glewFenceSync) +#define glGetInteger64v GLEW_GET_FUN(__glewGetInteger64v) +#define glGetSynciv GLEW_GET_FUN(__glewGetSynciv) +#define glIsSync GLEW_GET_FUN(__glewIsSync) +#define glWaitSync GLEW_GET_FUN(__glewWaitSync) + +#define GLEW_ARB_sync GLEW_GET_VAR(__GLEW_ARB_sync) + +#endif /* GL_ARB_sync */ + +/* ----------------------- GL_ARB_tessellation_shader ---------------------- */ + +#ifndef GL_ARB_tessellation_shader +#define GL_ARB_tessellation_shader 1 + +#define GL_PATCHES 0xE +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_CONTROL_SHADER 0x84F0 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_TESS_EVALUATION_SHADER 0x84F1 +#define GL_MAX_TESS_CONTROL_INPUT_COMPONENTS 0x886C +#define GL_MAX_TESS_EVALUATION_INPUT_COMPONENTS 0x886D +#define GL_MAX_COMBINED_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E1E +#define GL_MAX_COMBINED_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E1F +#define GL_PATCH_VERTICES 0x8E72 +#define GL_PATCH_DEFAULT_INNER_LEVEL 0x8E73 +#define GL_PATCH_DEFAULT_OUTER_LEVEL 0x8E74 +#define GL_TESS_CONTROL_OUTPUT_VERTICES 0x8E75 +#define GL_TESS_GEN_MODE 0x8E76 +#define GL_TESS_GEN_SPACING 0x8E77 +#define GL_TESS_GEN_VERTEX_ORDER 0x8E78 +#define GL_TESS_GEN_POINT_MODE 0x8E79 +#define GL_ISOLINES 0x8E7A +#define GL_FRACTIONAL_ODD 0x8E7B +#define GL_FRACTIONAL_EVEN 0x8E7C +#define GL_MAX_PATCH_VERTICES 0x8E7D +#define GL_MAX_TESS_GEN_LEVEL 0x8E7E +#define GL_MAX_TESS_CONTROL_UNIFORM_COMPONENTS 0x8E7F +#define GL_MAX_TESS_EVALUATION_UNIFORM_COMPONENTS 0x8E80 +#define GL_MAX_TESS_CONTROL_TEXTURE_IMAGE_UNITS 0x8E81 +#define GL_MAX_TESS_EVALUATION_TEXTURE_IMAGE_UNITS 0x8E82 +#define GL_MAX_TESS_CONTROL_OUTPUT_COMPONENTS 0x8E83 +#define GL_MAX_TESS_PATCH_COMPONENTS 0x8E84 +#define GL_MAX_TESS_CONTROL_TOTAL_OUTPUT_COMPONENTS 0x8E85 +#define GL_MAX_TESS_EVALUATION_OUTPUT_COMPONENTS 0x8E86 +#define GL_TESS_EVALUATION_SHADER 0x8E87 +#define GL_TESS_CONTROL_SHADER 0x8E88 +#define GL_MAX_TESS_CONTROL_UNIFORM_BLOCKS 0x8E89 +#define GL_MAX_TESS_EVALUATION_UNIFORM_BLOCKS 0x8E8A + +typedef void (GLAPIENTRY * PFNGLPATCHPARAMETERFVPROC) (GLenum pname, const GLfloat* values); +typedef void (GLAPIENTRY * PFNGLPATCHPARAMETERIPROC) (GLenum pname, GLint value); + +#define glPatchParameterfv GLEW_GET_FUN(__glewPatchParameterfv) +#define glPatchParameteri GLEW_GET_FUN(__glewPatchParameteri) + +#define GLEW_ARB_tessellation_shader GLEW_GET_VAR(__GLEW_ARB_tessellation_shader) + +#endif /* GL_ARB_tessellation_shader */ + +/* ---------------------- GL_ARB_texture_border_clamp ---------------------- */ + +#ifndef GL_ARB_texture_border_clamp +#define GL_ARB_texture_border_clamp 1 + +#define GL_CLAMP_TO_BORDER_ARB 0x812D + +#define GLEW_ARB_texture_border_clamp GLEW_GET_VAR(__GLEW_ARB_texture_border_clamp) + +#endif /* GL_ARB_texture_border_clamp */ + +/* ---------------------- GL_ARB_texture_buffer_object --------------------- */ + +#ifndef GL_ARB_texture_buffer_object +#define GL_ARB_texture_buffer_object 1 + +#define GL_TEXTURE_BUFFER_ARB 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_ARB 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_ARB 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_ARB 0x8C2D +#define GL_TEXTURE_BUFFER_FORMAT_ARB 0x8C2E + +typedef void (GLAPIENTRY * PFNGLTEXBUFFERARBPROC) (GLenum target, GLenum internalformat, GLuint buffer); + +#define glTexBufferARB GLEW_GET_FUN(__glewTexBufferARB) + +#define GLEW_ARB_texture_buffer_object GLEW_GET_VAR(__GLEW_ARB_texture_buffer_object) + +#endif /* GL_ARB_texture_buffer_object */ + +/* ------------------- GL_ARB_texture_buffer_object_rgb32 ------------------ */ + +#ifndef GL_ARB_texture_buffer_object_rgb32 +#define GL_ARB_texture_buffer_object_rgb32 1 + +#define GLEW_ARB_texture_buffer_object_rgb32 GLEW_GET_VAR(__GLEW_ARB_texture_buffer_object_rgb32) + +#endif /* GL_ARB_texture_buffer_object_rgb32 */ + +/* ----------------------- GL_ARB_texture_compression ---------------------- */ + +#ifndef GL_ARB_texture_compression +#define GL_ARB_texture_compression 1 + +#define GL_COMPRESSED_ALPHA_ARB 0x84E9 +#define GL_COMPRESSED_LUMINANCE_ARB 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA_ARB 0x84EB +#define GL_COMPRESSED_INTENSITY_ARB 0x84EC +#define GL_COMPRESSED_RGB_ARB 0x84ED +#define GL_COMPRESSED_RGBA_ARB 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT_ARB 0x84EF +#define GL_TEXTURE_COMPRESSED_IMAGE_SIZE_ARB 0x86A0 +#define GL_TEXTURE_COMPRESSED_ARB 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A3 + +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE1DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE2DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXIMAGE3DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE1DARBPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE2DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE3DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLGETCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint lod, void* img); + +#define glCompressedTexImage1DARB GLEW_GET_FUN(__glewCompressedTexImage1DARB) +#define glCompressedTexImage2DARB GLEW_GET_FUN(__glewCompressedTexImage2DARB) +#define glCompressedTexImage3DARB GLEW_GET_FUN(__glewCompressedTexImage3DARB) +#define glCompressedTexSubImage1DARB GLEW_GET_FUN(__glewCompressedTexSubImage1DARB) +#define glCompressedTexSubImage2DARB GLEW_GET_FUN(__glewCompressedTexSubImage2DARB) +#define glCompressedTexSubImage3DARB GLEW_GET_FUN(__glewCompressedTexSubImage3DARB) +#define glGetCompressedTexImageARB GLEW_GET_FUN(__glewGetCompressedTexImageARB) + +#define GLEW_ARB_texture_compression GLEW_GET_VAR(__GLEW_ARB_texture_compression) + +#endif /* GL_ARB_texture_compression */ + +/* -------------------- GL_ARB_texture_compression_bptc -------------------- */ + +#ifndef GL_ARB_texture_compression_bptc +#define GL_ARB_texture_compression_bptc 1 + +#define GL_COMPRESSED_RGBA_BPTC_UNORM_ARB 0x8E8C +#define GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM_ARB 0x8E8D +#define GL_COMPRESSED_RGB_BPTC_SIGNED_FLOAT_ARB 0x8E8E +#define GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT_ARB 0x8E8F + +#define GLEW_ARB_texture_compression_bptc GLEW_GET_VAR(__GLEW_ARB_texture_compression_bptc) + +#endif /* GL_ARB_texture_compression_bptc */ + +/* -------------------- GL_ARB_texture_compression_rgtc -------------------- */ + +#ifndef GL_ARB_texture_compression_rgtc +#define GL_ARB_texture_compression_rgtc 1 + +#define GL_COMPRESSED_RED_RGTC1 0x8DBB +#define GL_COMPRESSED_SIGNED_RED_RGTC1 0x8DBC +#define GL_COMPRESSED_RG_RGTC2 0x8DBD +#define GL_COMPRESSED_SIGNED_RG_RGTC2 0x8DBE + +#define GLEW_ARB_texture_compression_rgtc GLEW_GET_VAR(__GLEW_ARB_texture_compression_rgtc) + +#endif /* GL_ARB_texture_compression_rgtc */ + +/* ------------------------ GL_ARB_texture_cube_map ------------------------ */ + +#ifndef GL_ARB_texture_cube_map +#define GL_ARB_texture_cube_map 1 + +#define GL_NORMAL_MAP_ARB 0x8511 +#define GL_REFLECTION_MAP_ARB 0x8512 +#define GL_TEXTURE_CUBE_MAP_ARB 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARB 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARB 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_ARB 0x851C + +#define GLEW_ARB_texture_cube_map GLEW_GET_VAR(__GLEW_ARB_texture_cube_map) + +#endif /* GL_ARB_texture_cube_map */ + +/* --------------------- GL_ARB_texture_cube_map_array --------------------- */ + +#ifndef GL_ARB_texture_cube_map_array +#define GL_ARB_texture_cube_map_array 1 + +#define GL_TEXTURE_CUBE_MAP_ARRAY_ARB 0x9009 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARRAY_ARB 0x900A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARRAY_ARB 0x900B +#define GL_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900C +#define GL_SAMPLER_CUBE_MAP_ARRAY_SHADOW_ARB 0x900D +#define GL_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900E +#define GL_UNSIGNED_INT_SAMPLER_CUBE_MAP_ARRAY_ARB 0x900F + +#define GLEW_ARB_texture_cube_map_array GLEW_GET_VAR(__GLEW_ARB_texture_cube_map_array) + +#endif /* GL_ARB_texture_cube_map_array */ + +/* ------------------------- GL_ARB_texture_env_add ------------------------ */ + +#ifndef GL_ARB_texture_env_add +#define GL_ARB_texture_env_add 1 + +#define GLEW_ARB_texture_env_add GLEW_GET_VAR(__GLEW_ARB_texture_env_add) + +#endif /* GL_ARB_texture_env_add */ + +/* ----------------------- GL_ARB_texture_env_combine ---------------------- */ + +#ifndef GL_ARB_texture_env_combine +#define GL_ARB_texture_env_combine 1 + +#define GL_SUBTRACT_ARB 0x84E7 +#define GL_COMBINE_ARB 0x8570 +#define GL_COMBINE_RGB_ARB 0x8571 +#define GL_COMBINE_ALPHA_ARB 0x8572 +#define GL_RGB_SCALE_ARB 0x8573 +#define GL_ADD_SIGNED_ARB 0x8574 +#define GL_INTERPOLATE_ARB 0x8575 +#define GL_CONSTANT_ARB 0x8576 +#define GL_PRIMARY_COLOR_ARB 0x8577 +#define GL_PREVIOUS_ARB 0x8578 +#define GL_SOURCE0_RGB_ARB 0x8580 +#define GL_SOURCE1_RGB_ARB 0x8581 +#define GL_SOURCE2_RGB_ARB 0x8582 +#define GL_SOURCE0_ALPHA_ARB 0x8588 +#define GL_SOURCE1_ALPHA_ARB 0x8589 +#define GL_SOURCE2_ALPHA_ARB 0x858A +#define GL_OPERAND0_RGB_ARB 0x8590 +#define GL_OPERAND1_RGB_ARB 0x8591 +#define GL_OPERAND2_RGB_ARB 0x8592 +#define GL_OPERAND0_ALPHA_ARB 0x8598 +#define GL_OPERAND1_ALPHA_ARB 0x8599 +#define GL_OPERAND2_ALPHA_ARB 0x859A + +#define GLEW_ARB_texture_env_combine GLEW_GET_VAR(__GLEW_ARB_texture_env_combine) + +#endif /* GL_ARB_texture_env_combine */ + +/* ---------------------- GL_ARB_texture_env_crossbar ---------------------- */ + +#ifndef GL_ARB_texture_env_crossbar +#define GL_ARB_texture_env_crossbar 1 + +#define GLEW_ARB_texture_env_crossbar GLEW_GET_VAR(__GLEW_ARB_texture_env_crossbar) + +#endif /* GL_ARB_texture_env_crossbar */ + +/* ------------------------ GL_ARB_texture_env_dot3 ------------------------ */ + +#ifndef GL_ARB_texture_env_dot3 +#define GL_ARB_texture_env_dot3 1 + +#define GL_DOT3_RGB_ARB 0x86AE +#define GL_DOT3_RGBA_ARB 0x86AF + +#define GLEW_ARB_texture_env_dot3 GLEW_GET_VAR(__GLEW_ARB_texture_env_dot3) + +#endif /* GL_ARB_texture_env_dot3 */ + +/* -------------------------- GL_ARB_texture_float ------------------------- */ + +#ifndef GL_ARB_texture_float +#define GL_ARB_texture_float 1 + +#define GL_RGBA32F_ARB 0x8814 +#define GL_RGB32F_ARB 0x8815 +#define GL_ALPHA32F_ARB 0x8816 +#define GL_INTENSITY32F_ARB 0x8817 +#define GL_LUMINANCE32F_ARB 0x8818 +#define GL_LUMINANCE_ALPHA32F_ARB 0x8819 +#define GL_RGBA16F_ARB 0x881A +#define GL_RGB16F_ARB 0x881B +#define GL_ALPHA16F_ARB 0x881C +#define GL_INTENSITY16F_ARB 0x881D +#define GL_LUMINANCE16F_ARB 0x881E +#define GL_LUMINANCE_ALPHA16F_ARB 0x881F +#define GL_TEXTURE_RED_TYPE_ARB 0x8C10 +#define GL_TEXTURE_GREEN_TYPE_ARB 0x8C11 +#define GL_TEXTURE_BLUE_TYPE_ARB 0x8C12 +#define GL_TEXTURE_ALPHA_TYPE_ARB 0x8C13 +#define GL_TEXTURE_LUMINANCE_TYPE_ARB 0x8C14 +#define GL_TEXTURE_INTENSITY_TYPE_ARB 0x8C15 +#define GL_TEXTURE_DEPTH_TYPE_ARB 0x8C16 +#define GL_UNSIGNED_NORMALIZED_ARB 0x8C17 + +#define GLEW_ARB_texture_float GLEW_GET_VAR(__GLEW_ARB_texture_float) + +#endif /* GL_ARB_texture_float */ + +/* ------------------------- GL_ARB_texture_gather ------------------------- */ + +#ifndef GL_ARB_texture_gather +#define GL_ARB_texture_gather 1 + +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_ARB 0x8E5F +#define GL_MAX_PROGRAM_TEXTURE_GATHER_COMPONENTS_ARB 0x8F9F + +#define GLEW_ARB_texture_gather GLEW_GET_VAR(__GLEW_ARB_texture_gather) + +#endif /* GL_ARB_texture_gather */ + +/* --------------------- GL_ARB_texture_mirrored_repeat -------------------- */ + +#ifndef GL_ARB_texture_mirrored_repeat +#define GL_ARB_texture_mirrored_repeat 1 + +#define GL_MIRRORED_REPEAT_ARB 0x8370 + +#define GLEW_ARB_texture_mirrored_repeat GLEW_GET_VAR(__GLEW_ARB_texture_mirrored_repeat) + +#endif /* GL_ARB_texture_mirrored_repeat */ + +/* ----------------------- GL_ARB_texture_multisample ---------------------- */ + +#ifndef GL_ARB_texture_multisample +#define GL_ARB_texture_multisample 1 + +#define GL_SAMPLE_POSITION 0x8E50 +#define GL_SAMPLE_MASK 0x8E51 +#define GL_SAMPLE_MASK_VALUE 0x8E52 +#define GL_MAX_SAMPLE_MASK_WORDS 0x8E59 +#define GL_TEXTURE_2D_MULTISAMPLE 0x9100 +#define GL_PROXY_TEXTURE_2D_MULTISAMPLE 0x9101 +#define GL_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9102 +#define GL_PROXY_TEXTURE_2D_MULTISAMPLE_ARRAY 0x9103 +#define GL_TEXTURE_BINDING_2D_MULTISAMPLE 0x9104 +#define GL_TEXTURE_BINDING_2D_MULTISAMPLE_ARRAY 0x9105 +#define GL_TEXTURE_SAMPLES 0x9106 +#define GL_TEXTURE_FIXED_SAMPLE_LOCATIONS 0x9107 +#define GL_SAMPLER_2D_MULTISAMPLE 0x9108 +#define GL_INT_SAMPLER_2D_MULTISAMPLE 0x9109 +#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE 0x910A +#define GL_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910B +#define GL_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910C +#define GL_UNSIGNED_INT_SAMPLER_2D_MULTISAMPLE_ARRAY 0x910D +#define GL_MAX_COLOR_TEXTURE_SAMPLES 0x910E +#define GL_MAX_DEPTH_TEXTURE_SAMPLES 0x910F +#define GL_MAX_INTEGER_SAMPLES 0x9110 + +typedef void (GLAPIENTRY * PFNGLGETMULTISAMPLEFVPROC) (GLenum pname, GLuint index, GLfloat* val); +typedef void (GLAPIENTRY * PFNGLSAMPLEMASKIPROC) (GLuint index, GLbitfield mask); +typedef void (GLAPIENTRY * PFNGLTEXIMAGE2DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLint internalformat, GLsizei width, GLsizei height, GLboolean fixedsamplelocations); +typedef void (GLAPIENTRY * PFNGLTEXIMAGE3DMULTISAMPLEPROC) (GLenum target, GLsizei samples, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedsamplelocations); + +#define glGetMultisamplefv GLEW_GET_FUN(__glewGetMultisamplefv) +#define glSampleMaski GLEW_GET_FUN(__glewSampleMaski) +#define glTexImage2DMultisample GLEW_GET_FUN(__glewTexImage2DMultisample) +#define glTexImage3DMultisample GLEW_GET_FUN(__glewTexImage3DMultisample) + +#define GLEW_ARB_texture_multisample GLEW_GET_VAR(__GLEW_ARB_texture_multisample) + +#endif /* GL_ARB_texture_multisample */ + +/* -------------------- GL_ARB_texture_non_power_of_two -------------------- */ + +#ifndef GL_ARB_texture_non_power_of_two +#define GL_ARB_texture_non_power_of_two 1 + +#define GLEW_ARB_texture_non_power_of_two GLEW_GET_VAR(__GLEW_ARB_texture_non_power_of_two) + +#endif /* GL_ARB_texture_non_power_of_two */ + +/* ------------------------ GL_ARB_texture_query_lod ----------------------- */ + +#ifndef GL_ARB_texture_query_lod +#define GL_ARB_texture_query_lod 1 + +#define GLEW_ARB_texture_query_lod GLEW_GET_VAR(__GLEW_ARB_texture_query_lod) + +#endif /* GL_ARB_texture_query_lod */ + +/* ------------------------ GL_ARB_texture_rectangle ----------------------- */ + +#ifndef GL_ARB_texture_rectangle +#define GL_ARB_texture_rectangle 1 + +#define GL_TEXTURE_RECTANGLE_ARB 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_ARB 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_ARB 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_ARB 0x84F8 +#define GL_SAMPLER_2D_RECT_ARB 0x8B63 +#define GL_SAMPLER_2D_RECT_SHADOW_ARB 0x8B64 + +#define GLEW_ARB_texture_rectangle GLEW_GET_VAR(__GLEW_ARB_texture_rectangle) + +#endif /* GL_ARB_texture_rectangle */ + +/* --------------------------- GL_ARB_texture_rg --------------------------- */ + +#ifndef GL_ARB_texture_rg +#define GL_ARB_texture_rg 1 + +#define GL_RED 0x1903 +#define GL_COMPRESSED_RED 0x8225 +#define GL_COMPRESSED_RG 0x8226 +#define GL_RG 0x8227 +#define GL_RG_INTEGER 0x8228 +#define GL_R8 0x8229 +#define GL_R16 0x822A +#define GL_RG8 0x822B +#define GL_RG16 0x822C +#define GL_R16F 0x822D +#define GL_R32F 0x822E +#define GL_RG16F 0x822F +#define GL_RG32F 0x8230 +#define GL_R8I 0x8231 +#define GL_R8UI 0x8232 +#define GL_R16I 0x8233 +#define GL_R16UI 0x8234 +#define GL_R32I 0x8235 +#define GL_R32UI 0x8236 +#define GL_RG8I 0x8237 +#define GL_RG8UI 0x8238 +#define GL_RG16I 0x8239 +#define GL_RG16UI 0x823A +#define GL_RG32I 0x823B +#define GL_RG32UI 0x823C + +#define GLEW_ARB_texture_rg GLEW_GET_VAR(__GLEW_ARB_texture_rg) + +#endif /* GL_ARB_texture_rg */ + +/* ----------------------- GL_ARB_texture_rgb10_a2ui ----------------------- */ + +#ifndef GL_ARB_texture_rgb10_a2ui +#define GL_ARB_texture_rgb10_a2ui 1 + +#define GL_RGB10_A2UI 0x906F + +#define GLEW_ARB_texture_rgb10_a2ui GLEW_GET_VAR(__GLEW_ARB_texture_rgb10_a2ui) + +#endif /* GL_ARB_texture_rgb10_a2ui */ + +/* ------------------------- GL_ARB_texture_swizzle ------------------------ */ + +#ifndef GL_ARB_texture_swizzle +#define GL_ARB_texture_swizzle 1 + +#define GL_TEXTURE_SWIZZLE_R 0x8E42 +#define GL_TEXTURE_SWIZZLE_G 0x8E43 +#define GL_TEXTURE_SWIZZLE_B 0x8E44 +#define GL_TEXTURE_SWIZZLE_A 0x8E45 +#define GL_TEXTURE_SWIZZLE_RGBA 0x8E46 + +#define GLEW_ARB_texture_swizzle GLEW_GET_VAR(__GLEW_ARB_texture_swizzle) + +#endif /* GL_ARB_texture_swizzle */ + +/* --------------------------- GL_ARB_timer_query -------------------------- */ + +#ifndef GL_ARB_timer_query +#define GL_ARB_timer_query 1 + +#define GL_TIME_ELAPSED 0x88BF +#define GL_TIMESTAMP 0x8E28 + +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTI64VPROC) (GLuint id, GLenum pname, GLint64* params); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTUI64VPROC) (GLuint id, GLenum pname, GLuint64* params); +typedef void (GLAPIENTRY * PFNGLQUERYCOUNTERPROC) (GLuint id, GLenum target); + +#define glGetQueryObjecti64v GLEW_GET_FUN(__glewGetQueryObjecti64v) +#define glGetQueryObjectui64v GLEW_GET_FUN(__glewGetQueryObjectui64v) +#define glQueryCounter GLEW_GET_FUN(__glewQueryCounter) + +#define GLEW_ARB_timer_query GLEW_GET_VAR(__GLEW_ARB_timer_query) + +#endif /* GL_ARB_timer_query */ + +/* ----------------------- GL_ARB_transform_feedback2 ---------------------- */ + +#ifndef GL_ARB_transform_feedback2 +#define GL_ARB_transform_feedback2 1 + +#define GL_TRANSFORM_FEEDBACK 0x8E22 +#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED 0x8E23 +#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE 0x8E24 +#define GL_TRANSFORM_FEEDBACK_BINDING 0x8E25 + +typedef void (GLAPIENTRY * PFNGLBINDTRANSFORMFEEDBACKPROC) (GLenum target, GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETETRANSFORMFEEDBACKSPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLDRAWTRANSFORMFEEDBACKPROC) (GLenum mode, GLuint id); +typedef void (GLAPIENTRY * PFNGLGENTRANSFORMFEEDBACKSPROC) (GLsizei n, GLuint* ids); +typedef GLboolean (GLAPIENTRY * PFNGLISTRANSFORMFEEDBACKPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLPAUSETRANSFORMFEEDBACKPROC) (void); +typedef void (GLAPIENTRY * PFNGLRESUMETRANSFORMFEEDBACKPROC) (void); + +#define glBindTransformFeedback GLEW_GET_FUN(__glewBindTransformFeedback) +#define glDeleteTransformFeedbacks GLEW_GET_FUN(__glewDeleteTransformFeedbacks) +#define glDrawTransformFeedback GLEW_GET_FUN(__glewDrawTransformFeedback) +#define glGenTransformFeedbacks GLEW_GET_FUN(__glewGenTransformFeedbacks) +#define glIsTransformFeedback GLEW_GET_FUN(__glewIsTransformFeedback) +#define glPauseTransformFeedback GLEW_GET_FUN(__glewPauseTransformFeedback) +#define glResumeTransformFeedback GLEW_GET_FUN(__glewResumeTransformFeedback) + +#define GLEW_ARB_transform_feedback2 GLEW_GET_VAR(__GLEW_ARB_transform_feedback2) + +#endif /* GL_ARB_transform_feedback2 */ + +/* ----------------------- GL_ARB_transform_feedback3 ---------------------- */ + +#ifndef GL_ARB_transform_feedback3 +#define GL_ARB_transform_feedback3 1 + +#define GL_MAX_TRANSFORM_FEEDBACK_BUFFERS 0x8E70 +#define GL_MAX_VERTEX_STREAMS 0x8E71 + +typedef void (GLAPIENTRY * PFNGLBEGINQUERYINDEXEDPROC) (GLenum target, GLuint index, GLuint id); +typedef void (GLAPIENTRY * PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC) (GLenum mode, GLuint id, GLuint stream); +typedef void (GLAPIENTRY * PFNGLENDQUERYINDEXEDPROC) (GLenum target, GLuint index); +typedef void (GLAPIENTRY * PFNGLGETQUERYINDEXEDIVPROC) (GLenum target, GLuint index, GLenum pname, GLint* params); + +#define glBeginQueryIndexed GLEW_GET_FUN(__glewBeginQueryIndexed) +#define glDrawTransformFeedbackStream GLEW_GET_FUN(__glewDrawTransformFeedbackStream) +#define glEndQueryIndexed GLEW_GET_FUN(__glewEndQueryIndexed) +#define glGetQueryIndexediv GLEW_GET_FUN(__glewGetQueryIndexediv) + +#define GLEW_ARB_transform_feedback3 GLEW_GET_VAR(__GLEW_ARB_transform_feedback3) + +#endif /* GL_ARB_transform_feedback3 */ + +/* ------------------------ GL_ARB_transpose_matrix ------------------------ */ + +#ifndef GL_ARB_transpose_matrix +#define GL_ARB_transpose_matrix 1 + +#define GL_TRANSPOSE_MODELVIEW_MATRIX_ARB 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX_ARB 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX_ARB 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX_ARB 0x84E6 + +typedef void (GLAPIENTRY * PFNGLLOADTRANSPOSEMATRIXDARBPROC) (GLdouble m[16]); +typedef void (GLAPIENTRY * PFNGLLOADTRANSPOSEMATRIXFARBPROC) (GLfloat m[16]); +typedef void (GLAPIENTRY * PFNGLMULTTRANSPOSEMATRIXDARBPROC) (GLdouble m[16]); +typedef void (GLAPIENTRY * PFNGLMULTTRANSPOSEMATRIXFARBPROC) (GLfloat m[16]); + +#define glLoadTransposeMatrixdARB GLEW_GET_FUN(__glewLoadTransposeMatrixdARB) +#define glLoadTransposeMatrixfARB GLEW_GET_FUN(__glewLoadTransposeMatrixfARB) +#define glMultTransposeMatrixdARB GLEW_GET_FUN(__glewMultTransposeMatrixdARB) +#define glMultTransposeMatrixfARB GLEW_GET_FUN(__glewMultTransposeMatrixfARB) + +#define GLEW_ARB_transpose_matrix GLEW_GET_VAR(__GLEW_ARB_transpose_matrix) + +#endif /* GL_ARB_transpose_matrix */ + +/* ---------------------- GL_ARB_uniform_buffer_object --------------------- */ + +#ifndef GL_ARB_uniform_buffer_object +#define GL_ARB_uniform_buffer_object 1 + +#define GL_UNIFORM_BUFFER 0x8A11 +#define GL_UNIFORM_BUFFER_BINDING 0x8A28 +#define GL_UNIFORM_BUFFER_START 0x8A29 +#define GL_UNIFORM_BUFFER_SIZE 0x8A2A +#define GL_MAX_VERTEX_UNIFORM_BLOCKS 0x8A2B +#define GL_MAX_GEOMETRY_UNIFORM_BLOCKS 0x8A2C +#define GL_MAX_FRAGMENT_UNIFORM_BLOCKS 0x8A2D +#define GL_MAX_COMBINED_UNIFORM_BLOCKS 0x8A2E +#define GL_MAX_UNIFORM_BUFFER_BINDINGS 0x8A2F +#define GL_MAX_UNIFORM_BLOCK_SIZE 0x8A30 +#define GL_MAX_COMBINED_VERTEX_UNIFORM_COMPONENTS 0x8A31 +#define GL_MAX_COMBINED_GEOMETRY_UNIFORM_COMPONENTS 0x8A32 +#define GL_MAX_COMBINED_FRAGMENT_UNIFORM_COMPONENTS 0x8A33 +#define GL_UNIFORM_BUFFER_OFFSET_ALIGNMENT 0x8A34 +#define GL_ACTIVE_UNIFORM_BLOCK_MAX_NAME_LENGTH 0x8A35 +#define GL_ACTIVE_UNIFORM_BLOCKS 0x8A36 +#define GL_UNIFORM_TYPE 0x8A37 +#define GL_UNIFORM_SIZE 0x8A38 +#define GL_UNIFORM_NAME_LENGTH 0x8A39 +#define GL_UNIFORM_BLOCK_INDEX 0x8A3A +#define GL_UNIFORM_OFFSET 0x8A3B +#define GL_UNIFORM_ARRAY_STRIDE 0x8A3C +#define GL_UNIFORM_MATRIX_STRIDE 0x8A3D +#define GL_UNIFORM_IS_ROW_MAJOR 0x8A3E +#define GL_UNIFORM_BLOCK_BINDING 0x8A3F +#define GL_UNIFORM_BLOCK_DATA_SIZE 0x8A40 +#define GL_UNIFORM_BLOCK_NAME_LENGTH 0x8A41 +#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORMS 0x8A42 +#define GL_UNIFORM_BLOCK_ACTIVE_UNIFORM_INDICES 0x8A43 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_VERTEX_SHADER 0x8A44 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_GEOMETRY_SHADER 0x8A45 +#define GL_UNIFORM_BLOCK_REFERENCED_BY_FRAGMENT_SHADER 0x8A46 +#define GL_INVALID_INDEX 0xFFFFFFFF + +typedef void (GLAPIENTRY * PFNGLBINDBUFFERBASEPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERRANGEPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC) (GLuint program, GLuint uniformBlockIndex, GLsizei bufSize, GLsizei* length, char* uniformBlockName); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMBLOCKIVPROC) (GLuint program, GLuint uniformBlockIndex, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMNAMEPROC) (GLuint program, GLuint uniformIndex, GLsizei bufSize, GLsizei* length, char* uniformName); +typedef void (GLAPIENTRY * PFNGLGETACTIVEUNIFORMSIVPROC) (GLuint program, GLsizei uniformCount, const GLuint* uniformIndices, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETINTEGERI_VPROC) (GLenum target, GLuint index, GLint* data); +typedef GLuint (GLAPIENTRY * PFNGLGETUNIFORMBLOCKINDEXPROC) (GLuint program, const char* uniformBlockName); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMINDICESPROC) (GLuint program, GLsizei uniformCount, const char** uniformNames, GLuint* uniformIndices); +typedef void (GLAPIENTRY * PFNGLUNIFORMBLOCKBINDINGPROC) (GLuint program, GLuint uniformBlockIndex, GLuint uniformBlockBinding); + +#define glBindBufferBase GLEW_GET_FUN(__glewBindBufferBase) +#define glBindBufferRange GLEW_GET_FUN(__glewBindBufferRange) +#define glGetActiveUniformBlockName GLEW_GET_FUN(__glewGetActiveUniformBlockName) +#define glGetActiveUniformBlockiv GLEW_GET_FUN(__glewGetActiveUniformBlockiv) +#define glGetActiveUniformName GLEW_GET_FUN(__glewGetActiveUniformName) +#define glGetActiveUniformsiv GLEW_GET_FUN(__glewGetActiveUniformsiv) +#define glGetIntegeri_v GLEW_GET_FUN(__glewGetIntegeri_v) +#define glGetUniformBlockIndex GLEW_GET_FUN(__glewGetUniformBlockIndex) +#define glGetUniformIndices GLEW_GET_FUN(__glewGetUniformIndices) +#define glUniformBlockBinding GLEW_GET_FUN(__glewUniformBlockBinding) + +#define GLEW_ARB_uniform_buffer_object GLEW_GET_VAR(__GLEW_ARB_uniform_buffer_object) + +#endif /* GL_ARB_uniform_buffer_object */ + +/* ------------------------ GL_ARB_vertex_array_bgra ----------------------- */ + +#ifndef GL_ARB_vertex_array_bgra +#define GL_ARB_vertex_array_bgra 1 + +#define GL_BGRA 0x80E1 + +#define GLEW_ARB_vertex_array_bgra GLEW_GET_VAR(__GLEW_ARB_vertex_array_bgra) + +#endif /* GL_ARB_vertex_array_bgra */ + +/* ----------------------- GL_ARB_vertex_array_object ---------------------- */ + +#ifndef GL_ARB_vertex_array_object +#define GL_ARB_vertex_array_object 1 + +#define GL_VERTEX_ARRAY_BINDING 0x85B5 + +typedef void (GLAPIENTRY * PFNGLBINDVERTEXARRAYPROC) (GLuint array); +typedef void (GLAPIENTRY * PFNGLDELETEVERTEXARRAYSPROC) (GLsizei n, const GLuint* arrays); +typedef void (GLAPIENTRY * PFNGLGENVERTEXARRAYSPROC) (GLsizei n, GLuint* arrays); +typedef GLboolean (GLAPIENTRY * PFNGLISVERTEXARRAYPROC) (GLuint array); + +#define glBindVertexArray GLEW_GET_FUN(__glewBindVertexArray) +#define glDeleteVertexArrays GLEW_GET_FUN(__glewDeleteVertexArrays) +#define glGenVertexArrays GLEW_GET_FUN(__glewGenVertexArrays) +#define glIsVertexArray GLEW_GET_FUN(__glewIsVertexArray) + +#define GLEW_ARB_vertex_array_object GLEW_GET_VAR(__GLEW_ARB_vertex_array_object) + +#endif /* GL_ARB_vertex_array_object */ + +/* ----------------------- GL_ARB_vertex_attrib_64bit ---------------------- */ + +#ifndef GL_ARB_vertex_attrib_64bit +#define GL_ARB_vertex_attrib_64bit 1 + +#define GL_DOUBLE_MAT2 0x8F46 +#define GL_DOUBLE_MAT3 0x8F47 +#define GL_DOUBLE_MAT4 0x8F48 +#define GL_DOUBLE_VEC2 0x8FFC +#define GL_DOUBLE_VEC3 0x8FFD +#define GL_DOUBLE_VEC4 0x8FFE + +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBLDVPROC) (GLuint index, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1DPROC) (GLuint index, GLdouble x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2DPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4DPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4DVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBLPOINTERPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void* pointer); + +#define glGetVertexAttribLdv GLEW_GET_FUN(__glewGetVertexAttribLdv) +#define glVertexAttribL1d GLEW_GET_FUN(__glewVertexAttribL1d) +#define glVertexAttribL1dv GLEW_GET_FUN(__glewVertexAttribL1dv) +#define glVertexAttribL2d GLEW_GET_FUN(__glewVertexAttribL2d) +#define glVertexAttribL2dv GLEW_GET_FUN(__glewVertexAttribL2dv) +#define glVertexAttribL3d GLEW_GET_FUN(__glewVertexAttribL3d) +#define glVertexAttribL3dv GLEW_GET_FUN(__glewVertexAttribL3dv) +#define glVertexAttribL4d GLEW_GET_FUN(__glewVertexAttribL4d) +#define glVertexAttribL4dv GLEW_GET_FUN(__glewVertexAttribL4dv) +#define glVertexAttribLPointer GLEW_GET_FUN(__glewVertexAttribLPointer) + +#define GLEW_ARB_vertex_attrib_64bit GLEW_GET_VAR(__GLEW_ARB_vertex_attrib_64bit) + +#endif /* GL_ARB_vertex_attrib_64bit */ + +/* -------------------------- GL_ARB_vertex_blend -------------------------- */ + +#ifndef GL_ARB_vertex_blend +#define GL_ARB_vertex_blend 1 + +#define GL_MODELVIEW0_ARB 0x1700 +#define GL_MODELVIEW1_ARB 0x850A +#define GL_MAX_VERTEX_UNITS_ARB 0x86A4 +#define GL_ACTIVE_VERTEX_UNITS_ARB 0x86A5 +#define GL_WEIGHT_SUM_UNITY_ARB 0x86A6 +#define GL_VERTEX_BLEND_ARB 0x86A7 +#define GL_CURRENT_WEIGHT_ARB 0x86A8 +#define GL_WEIGHT_ARRAY_TYPE_ARB 0x86A9 +#define GL_WEIGHT_ARRAY_STRIDE_ARB 0x86AA +#define GL_WEIGHT_ARRAY_SIZE_ARB 0x86AB +#define GL_WEIGHT_ARRAY_POINTER_ARB 0x86AC +#define GL_WEIGHT_ARRAY_ARB 0x86AD +#define GL_MODELVIEW2_ARB 0x8722 +#define GL_MODELVIEW3_ARB 0x8723 +#define GL_MODELVIEW4_ARB 0x8724 +#define GL_MODELVIEW5_ARB 0x8725 +#define GL_MODELVIEW6_ARB 0x8726 +#define GL_MODELVIEW7_ARB 0x8727 +#define GL_MODELVIEW8_ARB 0x8728 +#define GL_MODELVIEW9_ARB 0x8729 +#define GL_MODELVIEW10_ARB 0x872A +#define GL_MODELVIEW11_ARB 0x872B +#define GL_MODELVIEW12_ARB 0x872C +#define GL_MODELVIEW13_ARB 0x872D +#define GL_MODELVIEW14_ARB 0x872E +#define GL_MODELVIEW15_ARB 0x872F +#define GL_MODELVIEW16_ARB 0x8730 +#define GL_MODELVIEW17_ARB 0x8731 +#define GL_MODELVIEW18_ARB 0x8732 +#define GL_MODELVIEW19_ARB 0x8733 +#define GL_MODELVIEW20_ARB 0x8734 +#define GL_MODELVIEW21_ARB 0x8735 +#define GL_MODELVIEW22_ARB 0x8736 +#define GL_MODELVIEW23_ARB 0x8737 +#define GL_MODELVIEW24_ARB 0x8738 +#define GL_MODELVIEW25_ARB 0x8739 +#define GL_MODELVIEW26_ARB 0x873A +#define GL_MODELVIEW27_ARB 0x873B +#define GL_MODELVIEW28_ARB 0x873C +#define GL_MODELVIEW29_ARB 0x873D +#define GL_MODELVIEW30_ARB 0x873E +#define GL_MODELVIEW31_ARB 0x873F + +typedef void (GLAPIENTRY * PFNGLVERTEXBLENDARBPROC) (GLint count); +typedef void (GLAPIENTRY * PFNGLWEIGHTPOINTERARBPROC) (GLint size, GLenum type, GLsizei stride, GLvoid *pointer); +typedef void (GLAPIENTRY * PFNGLWEIGHTBVARBPROC) (GLint size, GLbyte *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTDVARBPROC) (GLint size, GLdouble *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTFVARBPROC) (GLint size, GLfloat *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTIVARBPROC) (GLint size, GLint *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTSVARBPROC) (GLint size, GLshort *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTUBVARBPROC) (GLint size, GLubyte *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTUIVARBPROC) (GLint size, GLuint *weights); +typedef void (GLAPIENTRY * PFNGLWEIGHTUSVARBPROC) (GLint size, GLushort *weights); + +#define glVertexBlendARB GLEW_GET_FUN(__glewVertexBlendARB) +#define glWeightPointerARB GLEW_GET_FUN(__glewWeightPointerARB) +#define glWeightbvARB GLEW_GET_FUN(__glewWeightbvARB) +#define glWeightdvARB GLEW_GET_FUN(__glewWeightdvARB) +#define glWeightfvARB GLEW_GET_FUN(__glewWeightfvARB) +#define glWeightivARB GLEW_GET_FUN(__glewWeightivARB) +#define glWeightsvARB GLEW_GET_FUN(__glewWeightsvARB) +#define glWeightubvARB GLEW_GET_FUN(__glewWeightubvARB) +#define glWeightuivARB GLEW_GET_FUN(__glewWeightuivARB) +#define glWeightusvARB GLEW_GET_FUN(__glewWeightusvARB) + +#define GLEW_ARB_vertex_blend GLEW_GET_VAR(__GLEW_ARB_vertex_blend) + +#endif /* GL_ARB_vertex_blend */ + +/* ---------------------- GL_ARB_vertex_buffer_object ---------------------- */ + +#ifndef GL_ARB_vertex_buffer_object +#define GL_ARB_vertex_buffer_object 1 + +#define GL_BUFFER_SIZE_ARB 0x8764 +#define GL_BUFFER_USAGE_ARB 0x8765 +#define GL_ARRAY_BUFFER_ARB 0x8892 +#define GL_ELEMENT_ARRAY_BUFFER_ARB 0x8893 +#define GL_ARRAY_BUFFER_BINDING_ARB 0x8894 +#define GL_ELEMENT_ARRAY_BUFFER_BINDING_ARB 0x8895 +#define GL_VERTEX_ARRAY_BUFFER_BINDING_ARB 0x8896 +#define GL_NORMAL_ARRAY_BUFFER_BINDING_ARB 0x8897 +#define GL_COLOR_ARRAY_BUFFER_BINDING_ARB 0x8898 +#define GL_INDEX_ARRAY_BUFFER_BINDING_ARB 0x8899 +#define GL_TEXTURE_COORD_ARRAY_BUFFER_BINDING_ARB 0x889A +#define GL_EDGE_FLAG_ARRAY_BUFFER_BINDING_ARB 0x889B +#define GL_SECONDARY_COLOR_ARRAY_BUFFER_BINDING_ARB 0x889C +#define GL_FOG_COORDINATE_ARRAY_BUFFER_BINDING_ARB 0x889D +#define GL_WEIGHT_ARRAY_BUFFER_BINDING_ARB 0x889E +#define GL_VERTEX_ATTRIB_ARRAY_BUFFER_BINDING_ARB 0x889F +#define GL_READ_ONLY_ARB 0x88B8 +#define GL_WRITE_ONLY_ARB 0x88B9 +#define GL_READ_WRITE_ARB 0x88BA +#define GL_BUFFER_ACCESS_ARB 0x88BB +#define GL_BUFFER_MAPPED_ARB 0x88BC +#define GL_BUFFER_MAP_POINTER_ARB 0x88BD +#define GL_STREAM_DRAW_ARB 0x88E0 +#define GL_STREAM_READ_ARB 0x88E1 +#define GL_STREAM_COPY_ARB 0x88E2 +#define GL_STATIC_DRAW_ARB 0x88E4 +#define GL_STATIC_READ_ARB 0x88E5 +#define GL_STATIC_COPY_ARB 0x88E6 +#define GL_DYNAMIC_DRAW_ARB 0x88E8 +#define GL_DYNAMIC_READ_ARB 0x88E9 +#define GL_DYNAMIC_COPY_ARB 0x88EA + +typedef ptrdiff_t GLintptrARB; +typedef ptrdiff_t GLsizeiptrARB; + +typedef void (GLAPIENTRY * PFNGLBINDBUFFERARBPROC) (GLenum target, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLBUFFERDATAARBPROC) (GLenum target, GLsizeiptrARB size, const GLvoid* data, GLenum usage); +typedef void (GLAPIENTRY * PFNGLBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, const GLvoid* data); +typedef void (GLAPIENTRY * PFNGLDELETEBUFFERSARBPROC) (GLsizei n, const GLuint* buffers); +typedef void (GLAPIENTRY * PFNGLGENBUFFERSARBPROC) (GLsizei n, GLuint* buffers); +typedef void (GLAPIENTRY * PFNGLGETBUFFERPARAMETERIVARBPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETBUFFERPOINTERVARBPROC) (GLenum target, GLenum pname, GLvoid** params); +typedef void (GLAPIENTRY * PFNGLGETBUFFERSUBDATAARBPROC) (GLenum target, GLintptrARB offset, GLsizeiptrARB size, GLvoid* data); +typedef GLboolean (GLAPIENTRY * PFNGLISBUFFERARBPROC) (GLuint buffer); +typedef GLvoid * (GLAPIENTRY * PFNGLMAPBUFFERARBPROC) (GLenum target, GLenum access); +typedef GLboolean (GLAPIENTRY * PFNGLUNMAPBUFFERARBPROC) (GLenum target); + +#define glBindBufferARB GLEW_GET_FUN(__glewBindBufferARB) +#define glBufferDataARB GLEW_GET_FUN(__glewBufferDataARB) +#define glBufferSubDataARB GLEW_GET_FUN(__glewBufferSubDataARB) +#define glDeleteBuffersARB GLEW_GET_FUN(__glewDeleteBuffersARB) +#define glGenBuffersARB GLEW_GET_FUN(__glewGenBuffersARB) +#define glGetBufferParameterivARB GLEW_GET_FUN(__glewGetBufferParameterivARB) +#define glGetBufferPointervARB GLEW_GET_FUN(__glewGetBufferPointervARB) +#define glGetBufferSubDataARB GLEW_GET_FUN(__glewGetBufferSubDataARB) +#define glIsBufferARB GLEW_GET_FUN(__glewIsBufferARB) +#define glMapBufferARB GLEW_GET_FUN(__glewMapBufferARB) +#define glUnmapBufferARB GLEW_GET_FUN(__glewUnmapBufferARB) + +#define GLEW_ARB_vertex_buffer_object GLEW_GET_VAR(__GLEW_ARB_vertex_buffer_object) + +#endif /* GL_ARB_vertex_buffer_object */ + +/* ------------------------- GL_ARB_vertex_program ------------------------- */ + +#ifndef GL_ARB_vertex_program +#define GL_ARB_vertex_program 1 + +#define GL_COLOR_SUM_ARB 0x8458 +#define GL_VERTEX_PROGRAM_ARB 0x8620 +#define GL_VERTEX_ATTRIB_ARRAY_ENABLED_ARB 0x8622 +#define GL_VERTEX_ATTRIB_ARRAY_SIZE_ARB 0x8623 +#define GL_VERTEX_ATTRIB_ARRAY_STRIDE_ARB 0x8624 +#define GL_VERTEX_ATTRIB_ARRAY_TYPE_ARB 0x8625 +#define GL_CURRENT_VERTEX_ATTRIB_ARB 0x8626 +#define GL_PROGRAM_LENGTH_ARB 0x8627 +#define GL_PROGRAM_STRING_ARB 0x8628 +#define GL_MAX_PROGRAM_MATRIX_STACK_DEPTH_ARB 0x862E +#define GL_MAX_PROGRAM_MATRICES_ARB 0x862F +#define GL_CURRENT_MATRIX_STACK_DEPTH_ARB 0x8640 +#define GL_CURRENT_MATRIX_ARB 0x8641 +#define GL_VERTEX_PROGRAM_POINT_SIZE_ARB 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE_ARB 0x8643 +#define GL_VERTEX_ATTRIB_ARRAY_POINTER_ARB 0x8645 +#define GL_PROGRAM_ERROR_POSITION_ARB 0x864B +#define GL_PROGRAM_BINDING_ARB 0x8677 +#define GL_MAX_VERTEX_ATTRIBS_ARB 0x8869 +#define GL_VERTEX_ATTRIB_ARRAY_NORMALIZED_ARB 0x886A +#define GL_PROGRAM_ERROR_STRING_ARB 0x8874 +#define GL_PROGRAM_FORMAT_ASCII_ARB 0x8875 +#define GL_PROGRAM_FORMAT_ARB 0x8876 +#define GL_PROGRAM_INSTRUCTIONS_ARB 0x88A0 +#define GL_MAX_PROGRAM_INSTRUCTIONS_ARB 0x88A1 +#define GL_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A2 +#define GL_MAX_PROGRAM_NATIVE_INSTRUCTIONS_ARB 0x88A3 +#define GL_PROGRAM_TEMPORARIES_ARB 0x88A4 +#define GL_MAX_PROGRAM_TEMPORARIES_ARB 0x88A5 +#define GL_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A6 +#define GL_MAX_PROGRAM_NATIVE_TEMPORARIES_ARB 0x88A7 +#define GL_PROGRAM_PARAMETERS_ARB 0x88A8 +#define GL_MAX_PROGRAM_PARAMETERS_ARB 0x88A9 +#define GL_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AA +#define GL_MAX_PROGRAM_NATIVE_PARAMETERS_ARB 0x88AB +#define GL_PROGRAM_ATTRIBS_ARB 0x88AC +#define GL_MAX_PROGRAM_ATTRIBS_ARB 0x88AD +#define GL_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AE +#define GL_MAX_PROGRAM_NATIVE_ATTRIBS_ARB 0x88AF +#define GL_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B0 +#define GL_MAX_PROGRAM_ADDRESS_REGISTERS_ARB 0x88B1 +#define GL_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B2 +#define GL_MAX_PROGRAM_NATIVE_ADDRESS_REGISTERS_ARB 0x88B3 +#define GL_MAX_PROGRAM_LOCAL_PARAMETERS_ARB 0x88B4 +#define GL_MAX_PROGRAM_ENV_PARAMETERS_ARB 0x88B5 +#define GL_PROGRAM_UNDER_NATIVE_LIMITS_ARB 0x88B6 +#define GL_TRANSPOSE_CURRENT_MATRIX_ARB 0x88B7 +#define GL_MATRIX0_ARB 0x88C0 +#define GL_MATRIX1_ARB 0x88C1 +#define GL_MATRIX2_ARB 0x88C2 +#define GL_MATRIX3_ARB 0x88C3 +#define GL_MATRIX4_ARB 0x88C4 +#define GL_MATRIX5_ARB 0x88C5 +#define GL_MATRIX6_ARB 0x88C6 +#define GL_MATRIX7_ARB 0x88C7 +#define GL_MATRIX8_ARB 0x88C8 +#define GL_MATRIX9_ARB 0x88C9 +#define GL_MATRIX10_ARB 0x88CA +#define GL_MATRIX11_ARB 0x88CB +#define GL_MATRIX12_ARB 0x88CC +#define GL_MATRIX13_ARB 0x88CD +#define GL_MATRIX14_ARB 0x88CE +#define GL_MATRIX15_ARB 0x88CF +#define GL_MATRIX16_ARB 0x88D0 +#define GL_MATRIX17_ARB 0x88D1 +#define GL_MATRIX18_ARB 0x88D2 +#define GL_MATRIX19_ARB 0x88D3 +#define GL_MATRIX20_ARB 0x88D4 +#define GL_MATRIX21_ARB 0x88D5 +#define GL_MATRIX22_ARB 0x88D6 +#define GL_MATRIX23_ARB 0x88D7 +#define GL_MATRIX24_ARB 0x88D8 +#define GL_MATRIX25_ARB 0x88D9 +#define GL_MATRIX26_ARB 0x88DA +#define GL_MATRIX27_ARB 0x88DB +#define GL_MATRIX28_ARB 0x88DC +#define GL_MATRIX29_ARB 0x88DD +#define GL_MATRIX30_ARB 0x88DE +#define GL_MATRIX31_ARB 0x88DF + +typedef void (GLAPIENTRY * PFNGLBINDPROGRAMARBPROC) (GLenum target, GLuint program); +typedef void (GLAPIENTRY * PFNGLDELETEPROGRAMSARBPROC) (GLsizei n, const GLuint* programs); +typedef void (GLAPIENTRY * PFNGLDISABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); +typedef void (GLAPIENTRY * PFNGLENABLEVERTEXATTRIBARRAYARBPROC) (GLuint index); +typedef void (GLAPIENTRY * PFNGLGENPROGRAMSARBPROC) (GLsizei n, GLuint* programs); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMENVPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMENVPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMLOCALPARAMETERDVARBPROC) (GLenum target, GLuint index, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMLOCALPARAMETERFVARBPROC) (GLenum target, GLuint index, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMSTRINGARBPROC) (GLenum target, GLenum pname, void* string); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMIVARBPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBPOINTERVARBPROC) (GLuint index, GLenum pname, GLvoid** pointer); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBDVARBPROC) (GLuint index, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBFVARBPROC) (GLuint index, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIVARBPROC) (GLuint index, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISPROGRAMARBPROC) (GLuint program); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETER4DARBPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETER4DVARBPROC) (GLenum target, GLuint index, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETER4FARBPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETER4FVARBPROC) (GLenum target, GLuint index, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMSTRINGARBPROC) (GLenum target, GLenum format, GLsizei len, const void* string); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DARBPROC) (GLuint index, GLdouble x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DVARBPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FARBPROC) (GLuint index, GLfloat x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FVARBPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SARBPROC) (GLuint index, GLshort x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SVARBPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DARBPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DVARBPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FARBPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FVARBPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SARBPROC) (GLuint index, GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SVARBPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DVARBPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FVARBPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SVARBPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NBVARBPROC) (GLuint index, const GLbyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NIVARBPROC) (GLuint index, const GLint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NSVARBPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUBARBPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUBVARBPROC) (GLuint index, const GLubyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUIVARBPROC) (GLuint index, const GLuint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4NUSVARBPROC) (GLuint index, const GLushort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4BVARBPROC) (GLuint index, const GLbyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DARBPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DVARBPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FARBPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FVARBPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4IVARBPROC) (GLuint index, const GLint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SARBPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SVARBPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UBVARBPROC) (GLuint index, const GLubyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UIVARBPROC) (GLuint index, const GLuint* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4USVARBPROC) (GLuint index, const GLushort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBPOINTERARBPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const void* pointer); + +#define glBindProgramARB GLEW_GET_FUN(__glewBindProgramARB) +#define glDeleteProgramsARB GLEW_GET_FUN(__glewDeleteProgramsARB) +#define glDisableVertexAttribArrayARB GLEW_GET_FUN(__glewDisableVertexAttribArrayARB) +#define glEnableVertexAttribArrayARB GLEW_GET_FUN(__glewEnableVertexAttribArrayARB) +#define glGenProgramsARB GLEW_GET_FUN(__glewGenProgramsARB) +#define glGetProgramEnvParameterdvARB GLEW_GET_FUN(__glewGetProgramEnvParameterdvARB) +#define glGetProgramEnvParameterfvARB GLEW_GET_FUN(__glewGetProgramEnvParameterfvARB) +#define glGetProgramLocalParameterdvARB GLEW_GET_FUN(__glewGetProgramLocalParameterdvARB) +#define glGetProgramLocalParameterfvARB GLEW_GET_FUN(__glewGetProgramLocalParameterfvARB) +#define glGetProgramStringARB GLEW_GET_FUN(__glewGetProgramStringARB) +#define glGetProgramivARB GLEW_GET_FUN(__glewGetProgramivARB) +#define glGetVertexAttribPointervARB GLEW_GET_FUN(__glewGetVertexAttribPointervARB) +#define glGetVertexAttribdvARB GLEW_GET_FUN(__glewGetVertexAttribdvARB) +#define glGetVertexAttribfvARB GLEW_GET_FUN(__glewGetVertexAttribfvARB) +#define glGetVertexAttribivARB GLEW_GET_FUN(__glewGetVertexAttribivARB) +#define glIsProgramARB GLEW_GET_FUN(__glewIsProgramARB) +#define glProgramEnvParameter4dARB GLEW_GET_FUN(__glewProgramEnvParameter4dARB) +#define glProgramEnvParameter4dvARB GLEW_GET_FUN(__glewProgramEnvParameter4dvARB) +#define glProgramEnvParameter4fARB GLEW_GET_FUN(__glewProgramEnvParameter4fARB) +#define glProgramEnvParameter4fvARB GLEW_GET_FUN(__glewProgramEnvParameter4fvARB) +#define glProgramLocalParameter4dARB GLEW_GET_FUN(__glewProgramLocalParameter4dARB) +#define glProgramLocalParameter4dvARB GLEW_GET_FUN(__glewProgramLocalParameter4dvARB) +#define glProgramLocalParameter4fARB GLEW_GET_FUN(__glewProgramLocalParameter4fARB) +#define glProgramLocalParameter4fvARB GLEW_GET_FUN(__glewProgramLocalParameter4fvARB) +#define glProgramStringARB GLEW_GET_FUN(__glewProgramStringARB) +#define glVertexAttrib1dARB GLEW_GET_FUN(__glewVertexAttrib1dARB) +#define glVertexAttrib1dvARB GLEW_GET_FUN(__glewVertexAttrib1dvARB) +#define glVertexAttrib1fARB GLEW_GET_FUN(__glewVertexAttrib1fARB) +#define glVertexAttrib1fvARB GLEW_GET_FUN(__glewVertexAttrib1fvARB) +#define glVertexAttrib1sARB GLEW_GET_FUN(__glewVertexAttrib1sARB) +#define glVertexAttrib1svARB GLEW_GET_FUN(__glewVertexAttrib1svARB) +#define glVertexAttrib2dARB GLEW_GET_FUN(__glewVertexAttrib2dARB) +#define glVertexAttrib2dvARB GLEW_GET_FUN(__glewVertexAttrib2dvARB) +#define glVertexAttrib2fARB GLEW_GET_FUN(__glewVertexAttrib2fARB) +#define glVertexAttrib2fvARB GLEW_GET_FUN(__glewVertexAttrib2fvARB) +#define glVertexAttrib2sARB GLEW_GET_FUN(__glewVertexAttrib2sARB) +#define glVertexAttrib2svARB GLEW_GET_FUN(__glewVertexAttrib2svARB) +#define glVertexAttrib3dARB GLEW_GET_FUN(__glewVertexAttrib3dARB) +#define glVertexAttrib3dvARB GLEW_GET_FUN(__glewVertexAttrib3dvARB) +#define glVertexAttrib3fARB GLEW_GET_FUN(__glewVertexAttrib3fARB) +#define glVertexAttrib3fvARB GLEW_GET_FUN(__glewVertexAttrib3fvARB) +#define glVertexAttrib3sARB GLEW_GET_FUN(__glewVertexAttrib3sARB) +#define glVertexAttrib3svARB GLEW_GET_FUN(__glewVertexAttrib3svARB) +#define glVertexAttrib4NbvARB GLEW_GET_FUN(__glewVertexAttrib4NbvARB) +#define glVertexAttrib4NivARB GLEW_GET_FUN(__glewVertexAttrib4NivARB) +#define glVertexAttrib4NsvARB GLEW_GET_FUN(__glewVertexAttrib4NsvARB) +#define glVertexAttrib4NubARB GLEW_GET_FUN(__glewVertexAttrib4NubARB) +#define glVertexAttrib4NubvARB GLEW_GET_FUN(__glewVertexAttrib4NubvARB) +#define glVertexAttrib4NuivARB GLEW_GET_FUN(__glewVertexAttrib4NuivARB) +#define glVertexAttrib4NusvARB GLEW_GET_FUN(__glewVertexAttrib4NusvARB) +#define glVertexAttrib4bvARB GLEW_GET_FUN(__glewVertexAttrib4bvARB) +#define glVertexAttrib4dARB GLEW_GET_FUN(__glewVertexAttrib4dARB) +#define glVertexAttrib4dvARB GLEW_GET_FUN(__glewVertexAttrib4dvARB) +#define glVertexAttrib4fARB GLEW_GET_FUN(__glewVertexAttrib4fARB) +#define glVertexAttrib4fvARB GLEW_GET_FUN(__glewVertexAttrib4fvARB) +#define glVertexAttrib4ivARB GLEW_GET_FUN(__glewVertexAttrib4ivARB) +#define glVertexAttrib4sARB GLEW_GET_FUN(__glewVertexAttrib4sARB) +#define glVertexAttrib4svARB GLEW_GET_FUN(__glewVertexAttrib4svARB) +#define glVertexAttrib4ubvARB GLEW_GET_FUN(__glewVertexAttrib4ubvARB) +#define glVertexAttrib4uivARB GLEW_GET_FUN(__glewVertexAttrib4uivARB) +#define glVertexAttrib4usvARB GLEW_GET_FUN(__glewVertexAttrib4usvARB) +#define glVertexAttribPointerARB GLEW_GET_FUN(__glewVertexAttribPointerARB) + +#define GLEW_ARB_vertex_program GLEW_GET_VAR(__GLEW_ARB_vertex_program) + +#endif /* GL_ARB_vertex_program */ + +/* -------------------------- GL_ARB_vertex_shader ------------------------- */ + +#ifndef GL_ARB_vertex_shader +#define GL_ARB_vertex_shader 1 + +#define GL_VERTEX_SHADER_ARB 0x8B31 +#define GL_MAX_VERTEX_UNIFORM_COMPONENTS_ARB 0x8B4A +#define GL_MAX_VARYING_FLOATS_ARB 0x8B4B +#define GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS_ARB 0x8B4C +#define GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS_ARB 0x8B4D +#define GL_OBJECT_ACTIVE_ATTRIBUTES_ARB 0x8B89 +#define GL_OBJECT_ACTIVE_ATTRIBUTE_MAX_LENGTH_ARB 0x8B8A + +typedef void (GLAPIENTRY * PFNGLBINDATTRIBLOCATIONARBPROC) (GLhandleARB programObj, GLuint index, const GLcharARB* name); +typedef void (GLAPIENTRY * PFNGLGETACTIVEATTRIBARBPROC) (GLhandleARB programObj, GLuint index, GLsizei maxLength, GLsizei* length, GLint *size, GLenum *type, GLcharARB *name); +typedef GLint (GLAPIENTRY * PFNGLGETATTRIBLOCATIONARBPROC) (GLhandleARB programObj, const GLcharARB* name); + +#define glBindAttribLocationARB GLEW_GET_FUN(__glewBindAttribLocationARB) +#define glGetActiveAttribARB GLEW_GET_FUN(__glewGetActiveAttribARB) +#define glGetAttribLocationARB GLEW_GET_FUN(__glewGetAttribLocationARB) + +#define GLEW_ARB_vertex_shader GLEW_GET_VAR(__GLEW_ARB_vertex_shader) + +#endif /* GL_ARB_vertex_shader */ + +/* ------------------- GL_ARB_vertex_type_2_10_10_10_rev ------------------- */ + +#ifndef GL_ARB_vertex_type_2_10_10_10_rev +#define GL_ARB_vertex_type_2_10_10_10_rev 1 + +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_INT_2_10_10_10_REV 0x8D9F + +typedef void (GLAPIENTRY * PFNGLCOLORP3UIPROC) (GLenum type, GLuint color); +typedef void (GLAPIENTRY * PFNGLCOLORP3UIVPROC) (GLenum type, const GLuint* color); +typedef void (GLAPIENTRY * PFNGLCOLORP4UIPROC) (GLenum type, GLuint color); +typedef void (GLAPIENTRY * PFNGLCOLORP4UIVPROC) (GLenum type, const GLuint* color); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP1UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP1UIVPROC) (GLenum texture, GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP2UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP2UIVPROC) (GLenum texture, GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP3UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP3UIVPROC) (GLenum texture, GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP4UIPROC) (GLenum texture, GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDP4UIVPROC) (GLenum texture, GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLNORMALP3UIPROC) (GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLNORMALP3UIVPROC) (GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORP3UIPROC) (GLenum type, GLuint color); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORP3UIVPROC) (GLenum type, const GLuint* color); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP1UIPROC) (GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP1UIVPROC) (GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP2UIPROC) (GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP2UIVPROC) (GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP3UIPROC) (GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP3UIVPROC) (GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP4UIPROC) (GLenum type, GLuint coords); +typedef void (GLAPIENTRY * PFNGLTEXCOORDP4UIVPROC) (GLenum type, const GLuint* coords); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP1UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP1UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP2UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP2UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP3UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP3UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP4UIPROC) (GLuint index, GLenum type, GLboolean normalized, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBP4UIVPROC) (GLuint index, GLenum type, GLboolean normalized, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXP2UIPROC) (GLenum type, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXP2UIVPROC) (GLenum type, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXP3UIPROC) (GLenum type, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXP3UIVPROC) (GLenum type, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLVERTEXP4UIPROC) (GLenum type, GLuint value); +typedef void (GLAPIENTRY * PFNGLVERTEXP4UIVPROC) (GLenum type, const GLuint* value); + +#define glColorP3ui GLEW_GET_FUN(__glewColorP3ui) +#define glColorP3uiv GLEW_GET_FUN(__glewColorP3uiv) +#define glColorP4ui GLEW_GET_FUN(__glewColorP4ui) +#define glColorP4uiv GLEW_GET_FUN(__glewColorP4uiv) +#define glMultiTexCoordP1ui GLEW_GET_FUN(__glewMultiTexCoordP1ui) +#define glMultiTexCoordP1uiv GLEW_GET_FUN(__glewMultiTexCoordP1uiv) +#define glMultiTexCoordP2ui GLEW_GET_FUN(__glewMultiTexCoordP2ui) +#define glMultiTexCoordP2uiv GLEW_GET_FUN(__glewMultiTexCoordP2uiv) +#define glMultiTexCoordP3ui GLEW_GET_FUN(__glewMultiTexCoordP3ui) +#define glMultiTexCoordP3uiv GLEW_GET_FUN(__glewMultiTexCoordP3uiv) +#define glMultiTexCoordP4ui GLEW_GET_FUN(__glewMultiTexCoordP4ui) +#define glMultiTexCoordP4uiv GLEW_GET_FUN(__glewMultiTexCoordP4uiv) +#define glNormalP3ui GLEW_GET_FUN(__glewNormalP3ui) +#define glNormalP3uiv GLEW_GET_FUN(__glewNormalP3uiv) +#define glSecondaryColorP3ui GLEW_GET_FUN(__glewSecondaryColorP3ui) +#define glSecondaryColorP3uiv GLEW_GET_FUN(__glewSecondaryColorP3uiv) +#define glTexCoordP1ui GLEW_GET_FUN(__glewTexCoordP1ui) +#define glTexCoordP1uiv GLEW_GET_FUN(__glewTexCoordP1uiv) +#define glTexCoordP2ui GLEW_GET_FUN(__glewTexCoordP2ui) +#define glTexCoordP2uiv GLEW_GET_FUN(__glewTexCoordP2uiv) +#define glTexCoordP3ui GLEW_GET_FUN(__glewTexCoordP3ui) +#define glTexCoordP3uiv GLEW_GET_FUN(__glewTexCoordP3uiv) +#define glTexCoordP4ui GLEW_GET_FUN(__glewTexCoordP4ui) +#define glTexCoordP4uiv GLEW_GET_FUN(__glewTexCoordP4uiv) +#define glVertexAttribP1ui GLEW_GET_FUN(__glewVertexAttribP1ui) +#define glVertexAttribP1uiv GLEW_GET_FUN(__glewVertexAttribP1uiv) +#define glVertexAttribP2ui GLEW_GET_FUN(__glewVertexAttribP2ui) +#define glVertexAttribP2uiv GLEW_GET_FUN(__glewVertexAttribP2uiv) +#define glVertexAttribP3ui GLEW_GET_FUN(__glewVertexAttribP3ui) +#define glVertexAttribP3uiv GLEW_GET_FUN(__glewVertexAttribP3uiv) +#define glVertexAttribP4ui GLEW_GET_FUN(__glewVertexAttribP4ui) +#define glVertexAttribP4uiv GLEW_GET_FUN(__glewVertexAttribP4uiv) +#define glVertexP2ui GLEW_GET_FUN(__glewVertexP2ui) +#define glVertexP2uiv GLEW_GET_FUN(__glewVertexP2uiv) +#define glVertexP3ui GLEW_GET_FUN(__glewVertexP3ui) +#define glVertexP3uiv GLEW_GET_FUN(__glewVertexP3uiv) +#define glVertexP4ui GLEW_GET_FUN(__glewVertexP4ui) +#define glVertexP4uiv GLEW_GET_FUN(__glewVertexP4uiv) + +#define GLEW_ARB_vertex_type_2_10_10_10_rev GLEW_GET_VAR(__GLEW_ARB_vertex_type_2_10_10_10_rev) + +#endif /* GL_ARB_vertex_type_2_10_10_10_rev */ + +/* ------------------------- GL_ARB_viewport_array ------------------------- */ + +#ifndef GL_ARB_viewport_array +#define GL_ARB_viewport_array 1 + +#define GL_DEPTH_RANGE 0x0B70 +#define GL_VIEWPORT 0x0BA2 +#define GL_SCISSOR_BOX 0x0C10 +#define GL_SCISSOR_TEST 0x0C11 +#define GL_MAX_VIEWPORTS 0x825B +#define GL_VIEWPORT_SUBPIXEL_BITS 0x825C +#define GL_VIEWPORT_BOUNDS_RANGE 0x825D +#define GL_LAYER_PROVOKING_VERTEX 0x825E +#define GL_VIEWPORT_INDEX_PROVOKING_VERTEX 0x825F +#define GL_UNDEFINED_VERTEX 0x8260 +#define GL_FIRST_VERTEX_CONVENTION 0x8E4D +#define GL_LAST_VERTEX_CONVENTION 0x8E4E +#define GL_PROVOKING_VERTEX 0x8E4F + +typedef void (GLAPIENTRY * PFNGLDEPTHRANGEARRAYVPROC) (GLuint first, GLsizei count, const GLclampd * v); +typedef void (GLAPIENTRY * PFNGLDEPTHRANGEINDEXEDPROC) (GLuint index, GLclampd n, GLclampd f); +typedef void (GLAPIENTRY * PFNGLGETDOUBLEI_VPROC) (GLenum target, GLuint index, GLdouble* data); +typedef void (GLAPIENTRY * PFNGLGETFLOATI_VPROC) (GLenum target, GLuint index, GLfloat* data); +typedef void (GLAPIENTRY * PFNGLSCISSORARRAYVPROC) (GLuint first, GLsizei count, const GLint * v); +typedef void (GLAPIENTRY * PFNGLSCISSORINDEXEDPROC) (GLuint index, GLint left, GLint bottom, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLSCISSORINDEXEDVPROC) (GLuint index, const GLint * v); +typedef void (GLAPIENTRY * PFNGLVIEWPORTARRAYVPROC) (GLuint first, GLsizei count, const GLfloat * v); +typedef void (GLAPIENTRY * PFNGLVIEWPORTINDEXEDFPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat w, GLfloat h); +typedef void (GLAPIENTRY * PFNGLVIEWPORTINDEXEDFVPROC) (GLuint index, const GLfloat * v); + +#define glDepthRangeArrayv GLEW_GET_FUN(__glewDepthRangeArrayv) +#define glDepthRangeIndexed GLEW_GET_FUN(__glewDepthRangeIndexed) +#define glGetDoublei_v GLEW_GET_FUN(__glewGetDoublei_v) +#define glGetFloati_v GLEW_GET_FUN(__glewGetFloati_v) +#define glScissorArrayv GLEW_GET_FUN(__glewScissorArrayv) +#define glScissorIndexed GLEW_GET_FUN(__glewScissorIndexed) +#define glScissorIndexedv GLEW_GET_FUN(__glewScissorIndexedv) +#define glViewportArrayv GLEW_GET_FUN(__glewViewportArrayv) +#define glViewportIndexedf GLEW_GET_FUN(__glewViewportIndexedf) +#define glViewportIndexedfv GLEW_GET_FUN(__glewViewportIndexedfv) + +#define GLEW_ARB_viewport_array GLEW_GET_VAR(__GLEW_ARB_viewport_array) + +#endif /* GL_ARB_viewport_array */ + +/* --------------------------- GL_ARB_window_pos --------------------------- */ + +#ifndef GL_ARB_window_pos +#define GL_ARB_window_pos 1 + +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DARBPROC) (GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DVARBPROC) (const GLdouble* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FARBPROC) (GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FVARBPROC) (const GLfloat* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IARBPROC) (GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IVARBPROC) (const GLint* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SARBPROC) (GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SVARBPROC) (const GLshort* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DARBPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DVARBPROC) (const GLdouble* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FARBPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FVARBPROC) (const GLfloat* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IARBPROC) (GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IVARBPROC) (const GLint* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SARBPROC) (GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SVARBPROC) (const GLshort* p); + +#define glWindowPos2dARB GLEW_GET_FUN(__glewWindowPos2dARB) +#define glWindowPos2dvARB GLEW_GET_FUN(__glewWindowPos2dvARB) +#define glWindowPos2fARB GLEW_GET_FUN(__glewWindowPos2fARB) +#define glWindowPos2fvARB GLEW_GET_FUN(__glewWindowPos2fvARB) +#define glWindowPos2iARB GLEW_GET_FUN(__glewWindowPos2iARB) +#define glWindowPos2ivARB GLEW_GET_FUN(__glewWindowPos2ivARB) +#define glWindowPos2sARB GLEW_GET_FUN(__glewWindowPos2sARB) +#define glWindowPos2svARB GLEW_GET_FUN(__glewWindowPos2svARB) +#define glWindowPos3dARB GLEW_GET_FUN(__glewWindowPos3dARB) +#define glWindowPos3dvARB GLEW_GET_FUN(__glewWindowPos3dvARB) +#define glWindowPos3fARB GLEW_GET_FUN(__glewWindowPos3fARB) +#define glWindowPos3fvARB GLEW_GET_FUN(__glewWindowPos3fvARB) +#define glWindowPos3iARB GLEW_GET_FUN(__glewWindowPos3iARB) +#define glWindowPos3ivARB GLEW_GET_FUN(__glewWindowPos3ivARB) +#define glWindowPos3sARB GLEW_GET_FUN(__glewWindowPos3sARB) +#define glWindowPos3svARB GLEW_GET_FUN(__glewWindowPos3svARB) + +#define GLEW_ARB_window_pos GLEW_GET_VAR(__GLEW_ARB_window_pos) + +#endif /* GL_ARB_window_pos */ + +/* ------------------------- GL_ATIX_point_sprites ------------------------- */ + +#ifndef GL_ATIX_point_sprites +#define GL_ATIX_point_sprites 1 + +#define GL_TEXTURE_POINT_MODE_ATIX 0x60B0 +#define GL_TEXTURE_POINT_ONE_COORD_ATIX 0x60B1 +#define GL_TEXTURE_POINT_SPRITE_ATIX 0x60B2 +#define GL_POINT_SPRITE_CULL_MODE_ATIX 0x60B3 +#define GL_POINT_SPRITE_CULL_CENTER_ATIX 0x60B4 +#define GL_POINT_SPRITE_CULL_CLIP_ATIX 0x60B5 + +#define GLEW_ATIX_point_sprites GLEW_GET_VAR(__GLEW_ATIX_point_sprites) + +#endif /* GL_ATIX_point_sprites */ + +/* ---------------------- GL_ATIX_texture_env_combine3 --------------------- */ + +#ifndef GL_ATIX_texture_env_combine3 +#define GL_ATIX_texture_env_combine3 1 + +#define GL_MODULATE_ADD_ATIX 0x8744 +#define GL_MODULATE_SIGNED_ADD_ATIX 0x8745 +#define GL_MODULATE_SUBTRACT_ATIX 0x8746 + +#define GLEW_ATIX_texture_env_combine3 GLEW_GET_VAR(__GLEW_ATIX_texture_env_combine3) + +#endif /* GL_ATIX_texture_env_combine3 */ + +/* ----------------------- GL_ATIX_texture_env_route ----------------------- */ + +#ifndef GL_ATIX_texture_env_route +#define GL_ATIX_texture_env_route 1 + +#define GL_SECONDARY_COLOR_ATIX 0x8747 +#define GL_TEXTURE_OUTPUT_RGB_ATIX 0x8748 +#define GL_TEXTURE_OUTPUT_ALPHA_ATIX 0x8749 + +#define GLEW_ATIX_texture_env_route GLEW_GET_VAR(__GLEW_ATIX_texture_env_route) + +#endif /* GL_ATIX_texture_env_route */ + +/* ---------------- GL_ATIX_vertex_shader_output_point_size ---------------- */ + +#ifndef GL_ATIX_vertex_shader_output_point_size +#define GL_ATIX_vertex_shader_output_point_size 1 + +#define GL_OUTPUT_POINT_SIZE_ATIX 0x610E + +#define GLEW_ATIX_vertex_shader_output_point_size GLEW_GET_VAR(__GLEW_ATIX_vertex_shader_output_point_size) + +#endif /* GL_ATIX_vertex_shader_output_point_size */ + +/* -------------------------- GL_ATI_draw_buffers -------------------------- */ + +#ifndef GL_ATI_draw_buffers +#define GL_ATI_draw_buffers 1 + +#define GL_MAX_DRAW_BUFFERS_ATI 0x8824 +#define GL_DRAW_BUFFER0_ATI 0x8825 +#define GL_DRAW_BUFFER1_ATI 0x8826 +#define GL_DRAW_BUFFER2_ATI 0x8827 +#define GL_DRAW_BUFFER3_ATI 0x8828 +#define GL_DRAW_BUFFER4_ATI 0x8829 +#define GL_DRAW_BUFFER5_ATI 0x882A +#define GL_DRAW_BUFFER6_ATI 0x882B +#define GL_DRAW_BUFFER7_ATI 0x882C +#define GL_DRAW_BUFFER8_ATI 0x882D +#define GL_DRAW_BUFFER9_ATI 0x882E +#define GL_DRAW_BUFFER10_ATI 0x882F +#define GL_DRAW_BUFFER11_ATI 0x8830 +#define GL_DRAW_BUFFER12_ATI 0x8831 +#define GL_DRAW_BUFFER13_ATI 0x8832 +#define GL_DRAW_BUFFER14_ATI 0x8833 +#define GL_DRAW_BUFFER15_ATI 0x8834 + +typedef void (GLAPIENTRY * PFNGLDRAWBUFFERSATIPROC) (GLsizei n, const GLenum* bufs); + +#define glDrawBuffersATI GLEW_GET_FUN(__glewDrawBuffersATI) + +#define GLEW_ATI_draw_buffers GLEW_GET_VAR(__GLEW_ATI_draw_buffers) + +#endif /* GL_ATI_draw_buffers */ + +/* -------------------------- GL_ATI_element_array ------------------------- */ + +#ifndef GL_ATI_element_array +#define GL_ATI_element_array 1 + +#define GL_ELEMENT_ARRAY_ATI 0x8768 +#define GL_ELEMENT_ARRAY_TYPE_ATI 0x8769 +#define GL_ELEMENT_ARRAY_POINTER_ATI 0x876A + +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTARRAYATIPROC) (GLenum mode, GLsizei count); +typedef void (GLAPIENTRY * PFNGLDRAWRANGEELEMENTARRAYATIPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count); +typedef void (GLAPIENTRY * PFNGLELEMENTPOINTERATIPROC) (GLenum type, const void* pointer); + +#define glDrawElementArrayATI GLEW_GET_FUN(__glewDrawElementArrayATI) +#define glDrawRangeElementArrayATI GLEW_GET_FUN(__glewDrawRangeElementArrayATI) +#define glElementPointerATI GLEW_GET_FUN(__glewElementPointerATI) + +#define GLEW_ATI_element_array GLEW_GET_VAR(__GLEW_ATI_element_array) + +#endif /* GL_ATI_element_array */ + +/* ------------------------- GL_ATI_envmap_bumpmap ------------------------- */ + +#ifndef GL_ATI_envmap_bumpmap +#define GL_ATI_envmap_bumpmap 1 + +#define GL_BUMP_ROT_MATRIX_ATI 0x8775 +#define GL_BUMP_ROT_MATRIX_SIZE_ATI 0x8776 +#define GL_BUMP_NUM_TEX_UNITS_ATI 0x8777 +#define GL_BUMP_TEX_UNITS_ATI 0x8778 +#define GL_DUDV_ATI 0x8779 +#define GL_DU8DV8_ATI 0x877A +#define GL_BUMP_ENVMAP_ATI 0x877B +#define GL_BUMP_TARGET_ATI 0x877C + +typedef void (GLAPIENTRY * PFNGLGETTEXBUMPPARAMETERFVATIPROC) (GLenum pname, GLfloat *param); +typedef void (GLAPIENTRY * PFNGLGETTEXBUMPPARAMETERIVATIPROC) (GLenum pname, GLint *param); +typedef void (GLAPIENTRY * PFNGLTEXBUMPPARAMETERFVATIPROC) (GLenum pname, GLfloat *param); +typedef void (GLAPIENTRY * PFNGLTEXBUMPPARAMETERIVATIPROC) (GLenum pname, GLint *param); + +#define glGetTexBumpParameterfvATI GLEW_GET_FUN(__glewGetTexBumpParameterfvATI) +#define glGetTexBumpParameterivATI GLEW_GET_FUN(__glewGetTexBumpParameterivATI) +#define glTexBumpParameterfvATI GLEW_GET_FUN(__glewTexBumpParameterfvATI) +#define glTexBumpParameterivATI GLEW_GET_FUN(__glewTexBumpParameterivATI) + +#define GLEW_ATI_envmap_bumpmap GLEW_GET_VAR(__GLEW_ATI_envmap_bumpmap) + +#endif /* GL_ATI_envmap_bumpmap */ + +/* ------------------------- GL_ATI_fragment_shader ------------------------ */ + +#ifndef GL_ATI_fragment_shader +#define GL_ATI_fragment_shader 1 + +#define GL_RED_BIT_ATI 0x00000001 +#define GL_2X_BIT_ATI 0x00000001 +#define GL_4X_BIT_ATI 0x00000002 +#define GL_GREEN_BIT_ATI 0x00000002 +#define GL_COMP_BIT_ATI 0x00000002 +#define GL_BLUE_BIT_ATI 0x00000004 +#define GL_8X_BIT_ATI 0x00000004 +#define GL_NEGATE_BIT_ATI 0x00000004 +#define GL_BIAS_BIT_ATI 0x00000008 +#define GL_HALF_BIT_ATI 0x00000008 +#define GL_QUARTER_BIT_ATI 0x00000010 +#define GL_EIGHTH_BIT_ATI 0x00000020 +#define GL_SATURATE_BIT_ATI 0x00000040 +#define GL_FRAGMENT_SHADER_ATI 0x8920 +#define GL_REG_0_ATI 0x8921 +#define GL_REG_1_ATI 0x8922 +#define GL_REG_2_ATI 0x8923 +#define GL_REG_3_ATI 0x8924 +#define GL_REG_4_ATI 0x8925 +#define GL_REG_5_ATI 0x8926 +#define GL_CON_0_ATI 0x8941 +#define GL_CON_1_ATI 0x8942 +#define GL_CON_2_ATI 0x8943 +#define GL_CON_3_ATI 0x8944 +#define GL_CON_4_ATI 0x8945 +#define GL_CON_5_ATI 0x8946 +#define GL_CON_6_ATI 0x8947 +#define GL_CON_7_ATI 0x8948 +#define GL_MOV_ATI 0x8961 +#define GL_ADD_ATI 0x8963 +#define GL_MUL_ATI 0x8964 +#define GL_SUB_ATI 0x8965 +#define GL_DOT3_ATI 0x8966 +#define GL_DOT4_ATI 0x8967 +#define GL_MAD_ATI 0x8968 +#define GL_LERP_ATI 0x8969 +#define GL_CND_ATI 0x896A +#define GL_CND0_ATI 0x896B +#define GL_DOT2_ADD_ATI 0x896C +#define GL_SECONDARY_INTERPOLATOR_ATI 0x896D +#define GL_NUM_FRAGMENT_REGISTERS_ATI 0x896E +#define GL_NUM_FRAGMENT_CONSTANTS_ATI 0x896F +#define GL_NUM_PASSES_ATI 0x8970 +#define GL_NUM_INSTRUCTIONS_PER_PASS_ATI 0x8971 +#define GL_NUM_INSTRUCTIONS_TOTAL_ATI 0x8972 +#define GL_NUM_INPUT_INTERPOLATOR_COMPONENTS_ATI 0x8973 +#define GL_NUM_LOOPBACK_COMPONENTS_ATI 0x8974 +#define GL_COLOR_ALPHA_PAIRING_ATI 0x8975 +#define GL_SWIZZLE_STR_ATI 0x8976 +#define GL_SWIZZLE_STQ_ATI 0x8977 +#define GL_SWIZZLE_STR_DR_ATI 0x8978 +#define GL_SWIZZLE_STQ_DQ_ATI 0x8979 +#define GL_SWIZZLE_STRQ_ATI 0x897A +#define GL_SWIZZLE_STRQ_DQ_ATI 0x897B + +typedef void (GLAPIENTRY * PFNGLALPHAFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +typedef void (GLAPIENTRY * PFNGLALPHAFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +typedef void (GLAPIENTRY * PFNGLALPHAFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +typedef void (GLAPIENTRY * PFNGLBEGINFRAGMENTSHADERATIPROC) (void); +typedef void (GLAPIENTRY * PFNGLBINDFRAGMENTSHADERATIPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLCOLORFRAGMENTOP1ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod); +typedef void (GLAPIENTRY * PFNGLCOLORFRAGMENTOP2ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod); +typedef void (GLAPIENTRY * PFNGLCOLORFRAGMENTOP3ATIPROC) (GLenum op, GLuint dst, GLuint dstMask, GLuint dstMod, GLuint arg1, GLuint arg1Rep, GLuint arg1Mod, GLuint arg2, GLuint arg2Rep, GLuint arg2Mod, GLuint arg3, GLuint arg3Rep, GLuint arg3Mod); +typedef void (GLAPIENTRY * PFNGLDELETEFRAGMENTSHADERATIPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLENDFRAGMENTSHADERATIPROC) (void); +typedef GLuint (GLAPIENTRY * PFNGLGENFRAGMENTSHADERSATIPROC) (GLuint range); +typedef void (GLAPIENTRY * PFNGLPASSTEXCOORDATIPROC) (GLuint dst, GLuint coord, GLenum swizzle); +typedef void (GLAPIENTRY * PFNGLSAMPLEMAPATIPROC) (GLuint dst, GLuint interp, GLenum swizzle); +typedef void (GLAPIENTRY * PFNGLSETFRAGMENTSHADERCONSTANTATIPROC) (GLuint dst, const GLfloat* value); + +#define glAlphaFragmentOp1ATI GLEW_GET_FUN(__glewAlphaFragmentOp1ATI) +#define glAlphaFragmentOp2ATI GLEW_GET_FUN(__glewAlphaFragmentOp2ATI) +#define glAlphaFragmentOp3ATI GLEW_GET_FUN(__glewAlphaFragmentOp3ATI) +#define glBeginFragmentShaderATI GLEW_GET_FUN(__glewBeginFragmentShaderATI) +#define glBindFragmentShaderATI GLEW_GET_FUN(__glewBindFragmentShaderATI) +#define glColorFragmentOp1ATI GLEW_GET_FUN(__glewColorFragmentOp1ATI) +#define glColorFragmentOp2ATI GLEW_GET_FUN(__glewColorFragmentOp2ATI) +#define glColorFragmentOp3ATI GLEW_GET_FUN(__glewColorFragmentOp3ATI) +#define glDeleteFragmentShaderATI GLEW_GET_FUN(__glewDeleteFragmentShaderATI) +#define glEndFragmentShaderATI GLEW_GET_FUN(__glewEndFragmentShaderATI) +#define glGenFragmentShadersATI GLEW_GET_FUN(__glewGenFragmentShadersATI) +#define glPassTexCoordATI GLEW_GET_FUN(__glewPassTexCoordATI) +#define glSampleMapATI GLEW_GET_FUN(__glewSampleMapATI) +#define glSetFragmentShaderConstantATI GLEW_GET_FUN(__glewSetFragmentShaderConstantATI) + +#define GLEW_ATI_fragment_shader GLEW_GET_VAR(__GLEW_ATI_fragment_shader) + +#endif /* GL_ATI_fragment_shader */ + +/* ------------------------ GL_ATI_map_object_buffer ----------------------- */ + +#ifndef GL_ATI_map_object_buffer +#define GL_ATI_map_object_buffer 1 + +typedef void* (GLAPIENTRY * PFNGLMAPOBJECTBUFFERATIPROC) (GLuint buffer); +typedef void (GLAPIENTRY * PFNGLUNMAPOBJECTBUFFERATIPROC) (GLuint buffer); + +#define glMapObjectBufferATI GLEW_GET_FUN(__glewMapObjectBufferATI) +#define glUnmapObjectBufferATI GLEW_GET_FUN(__glewUnmapObjectBufferATI) + +#define GLEW_ATI_map_object_buffer GLEW_GET_VAR(__GLEW_ATI_map_object_buffer) + +#endif /* GL_ATI_map_object_buffer */ + +/* ----------------------------- GL_ATI_meminfo ---------------------------- */ + +#ifndef GL_ATI_meminfo +#define GL_ATI_meminfo 1 + +#define GL_VBO_FREE_MEMORY_ATI 0x87FB +#define GL_TEXTURE_FREE_MEMORY_ATI 0x87FC +#define GL_RENDERBUFFER_FREE_MEMORY_ATI 0x87FD + +#define GLEW_ATI_meminfo GLEW_GET_VAR(__GLEW_ATI_meminfo) + +#endif /* GL_ATI_meminfo */ + +/* -------------------------- GL_ATI_pn_triangles -------------------------- */ + +#ifndef GL_ATI_pn_triangles +#define GL_ATI_pn_triangles 1 + +#define GL_PN_TRIANGLES_ATI 0x87F0 +#define GL_MAX_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F1 +#define GL_PN_TRIANGLES_POINT_MODE_ATI 0x87F2 +#define GL_PN_TRIANGLES_NORMAL_MODE_ATI 0x87F3 +#define GL_PN_TRIANGLES_TESSELATION_LEVEL_ATI 0x87F4 +#define GL_PN_TRIANGLES_POINT_MODE_LINEAR_ATI 0x87F5 +#define GL_PN_TRIANGLES_POINT_MODE_CUBIC_ATI 0x87F6 +#define GL_PN_TRIANGLES_NORMAL_MODE_LINEAR_ATI 0x87F7 +#define GL_PN_TRIANGLES_NORMAL_MODE_QUADRATIC_ATI 0x87F8 + +typedef void (GLAPIENTRY * PFNGLPNTRIANGLESFATIPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLPNTRIANGLESIATIPROC) (GLenum pname, GLint param); + +#define glPNTrianglesfATI GLEW_GET_FUN(__glewPNTrianglesfATI) +#define glPNTrianglesiATI GLEW_GET_FUN(__glewPNTrianglesiATI) + +#define GLEW_ATI_pn_triangles GLEW_GET_VAR(__GLEW_ATI_pn_triangles) + +#endif /* GL_ATI_pn_triangles */ + +/* ------------------------ GL_ATI_separate_stencil ------------------------ */ + +#ifndef GL_ATI_separate_stencil +#define GL_ATI_separate_stencil 1 + +#define GL_STENCIL_BACK_FUNC_ATI 0x8800 +#define GL_STENCIL_BACK_FAIL_ATI 0x8801 +#define GL_STENCIL_BACK_PASS_DEPTH_FAIL_ATI 0x8802 +#define GL_STENCIL_BACK_PASS_DEPTH_PASS_ATI 0x8803 + +typedef void (GLAPIENTRY * PFNGLSTENCILFUNCSEPARATEATIPROC) (GLenum frontfunc, GLenum backfunc, GLint ref, GLuint mask); +typedef void (GLAPIENTRY * PFNGLSTENCILOPSEPARATEATIPROC) (GLenum face, GLenum sfail, GLenum dpfail, GLenum dppass); + +#define glStencilFuncSeparateATI GLEW_GET_FUN(__glewStencilFuncSeparateATI) +#define glStencilOpSeparateATI GLEW_GET_FUN(__glewStencilOpSeparateATI) + +#define GLEW_ATI_separate_stencil GLEW_GET_VAR(__GLEW_ATI_separate_stencil) + +#endif /* GL_ATI_separate_stencil */ + +/* ----------------------- GL_ATI_shader_texture_lod ----------------------- */ + +#ifndef GL_ATI_shader_texture_lod +#define GL_ATI_shader_texture_lod 1 + +#define GLEW_ATI_shader_texture_lod GLEW_GET_VAR(__GLEW_ATI_shader_texture_lod) + +#endif /* GL_ATI_shader_texture_lod */ + +/* ---------------------- GL_ATI_text_fragment_shader ---------------------- */ + +#ifndef GL_ATI_text_fragment_shader +#define GL_ATI_text_fragment_shader 1 + +#define GL_TEXT_FRAGMENT_SHADER_ATI 0x8200 + +#define GLEW_ATI_text_fragment_shader GLEW_GET_VAR(__GLEW_ATI_text_fragment_shader) + +#endif /* GL_ATI_text_fragment_shader */ + +/* --------------------- GL_ATI_texture_compression_3dc -------------------- */ + +#ifndef GL_ATI_texture_compression_3dc +#define GL_ATI_texture_compression_3dc 1 + +#define GL_COMPRESSED_LUMINANCE_ALPHA_3DC_ATI 0x8837 + +#define GLEW_ATI_texture_compression_3dc GLEW_GET_VAR(__GLEW_ATI_texture_compression_3dc) + +#endif /* GL_ATI_texture_compression_3dc */ + +/* ---------------------- GL_ATI_texture_env_combine3 ---------------------- */ + +#ifndef GL_ATI_texture_env_combine3 +#define GL_ATI_texture_env_combine3 1 + +#define GL_MODULATE_ADD_ATI 0x8744 +#define GL_MODULATE_SIGNED_ADD_ATI 0x8745 +#define GL_MODULATE_SUBTRACT_ATI 0x8746 + +#define GLEW_ATI_texture_env_combine3 GLEW_GET_VAR(__GLEW_ATI_texture_env_combine3) + +#endif /* GL_ATI_texture_env_combine3 */ + +/* -------------------------- GL_ATI_texture_float ------------------------- */ + +#ifndef GL_ATI_texture_float +#define GL_ATI_texture_float 1 + +#define GL_RGBA_FLOAT32_ATI 0x8814 +#define GL_RGB_FLOAT32_ATI 0x8815 +#define GL_ALPHA_FLOAT32_ATI 0x8816 +#define GL_INTENSITY_FLOAT32_ATI 0x8817 +#define GL_LUMINANCE_FLOAT32_ATI 0x8818 +#define GL_LUMINANCE_ALPHA_FLOAT32_ATI 0x8819 +#define GL_RGBA_FLOAT16_ATI 0x881A +#define GL_RGB_FLOAT16_ATI 0x881B +#define GL_ALPHA_FLOAT16_ATI 0x881C +#define GL_INTENSITY_FLOAT16_ATI 0x881D +#define GL_LUMINANCE_FLOAT16_ATI 0x881E +#define GL_LUMINANCE_ALPHA_FLOAT16_ATI 0x881F + +#define GLEW_ATI_texture_float GLEW_GET_VAR(__GLEW_ATI_texture_float) + +#endif /* GL_ATI_texture_float */ + +/* ----------------------- GL_ATI_texture_mirror_once ---------------------- */ + +#ifndef GL_ATI_texture_mirror_once +#define GL_ATI_texture_mirror_once 1 + +#define GL_MIRROR_CLAMP_ATI 0x8742 +#define GL_MIRROR_CLAMP_TO_EDGE_ATI 0x8743 + +#define GLEW_ATI_texture_mirror_once GLEW_GET_VAR(__GLEW_ATI_texture_mirror_once) + +#endif /* GL_ATI_texture_mirror_once */ + +/* ----------------------- GL_ATI_vertex_array_object ---------------------- */ + +#ifndef GL_ATI_vertex_array_object +#define GL_ATI_vertex_array_object 1 + +#define GL_STATIC_ATI 0x8760 +#define GL_DYNAMIC_ATI 0x8761 +#define GL_PRESERVE_ATI 0x8762 +#define GL_DISCARD_ATI 0x8763 +#define GL_OBJECT_BUFFER_SIZE_ATI 0x8764 +#define GL_OBJECT_BUFFER_USAGE_ATI 0x8765 +#define GL_ARRAY_OBJECT_BUFFER_ATI 0x8766 +#define GL_ARRAY_OBJECT_OFFSET_ATI 0x8767 + +typedef void (GLAPIENTRY * PFNGLARRAYOBJECTATIPROC) (GLenum array, GLint size, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); +typedef void (GLAPIENTRY * PFNGLFREEOBJECTBUFFERATIPROC) (GLuint buffer); +typedef void (GLAPIENTRY * PFNGLGETARRAYOBJECTFVATIPROC) (GLenum array, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETARRAYOBJECTIVATIPROC) (GLenum array, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETOBJECTBUFFERFVATIPROC) (GLuint buffer, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETOBJECTBUFFERIVATIPROC) (GLuint buffer, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVARIANTARRAYOBJECTFVATIPROC) (GLuint id, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETVARIANTARRAYOBJECTIVATIPROC) (GLuint id, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISOBJECTBUFFERATIPROC) (GLuint buffer); +typedef GLuint (GLAPIENTRY * PFNGLNEWOBJECTBUFFERATIPROC) (GLsizei size, const void* pointer, GLenum usage); +typedef void (GLAPIENTRY * PFNGLUPDATEOBJECTBUFFERATIPROC) (GLuint buffer, GLuint offset, GLsizei size, const void* pointer, GLenum preserve); +typedef void (GLAPIENTRY * PFNGLVARIANTARRAYOBJECTATIPROC) (GLuint id, GLenum type, GLsizei stride, GLuint buffer, GLuint offset); + +#define glArrayObjectATI GLEW_GET_FUN(__glewArrayObjectATI) +#define glFreeObjectBufferATI GLEW_GET_FUN(__glewFreeObjectBufferATI) +#define glGetArrayObjectfvATI GLEW_GET_FUN(__glewGetArrayObjectfvATI) +#define glGetArrayObjectivATI GLEW_GET_FUN(__glewGetArrayObjectivATI) +#define glGetObjectBufferfvATI GLEW_GET_FUN(__glewGetObjectBufferfvATI) +#define glGetObjectBufferivATI GLEW_GET_FUN(__glewGetObjectBufferivATI) +#define glGetVariantArrayObjectfvATI GLEW_GET_FUN(__glewGetVariantArrayObjectfvATI) +#define glGetVariantArrayObjectivATI GLEW_GET_FUN(__glewGetVariantArrayObjectivATI) +#define glIsObjectBufferATI GLEW_GET_FUN(__glewIsObjectBufferATI) +#define glNewObjectBufferATI GLEW_GET_FUN(__glewNewObjectBufferATI) +#define glUpdateObjectBufferATI GLEW_GET_FUN(__glewUpdateObjectBufferATI) +#define glVariantArrayObjectATI GLEW_GET_FUN(__glewVariantArrayObjectATI) + +#define GLEW_ATI_vertex_array_object GLEW_GET_VAR(__GLEW_ATI_vertex_array_object) + +#endif /* GL_ATI_vertex_array_object */ + +/* ------------------- GL_ATI_vertex_attrib_array_object ------------------- */ + +#ifndef GL_ATI_vertex_attrib_array_object +#define GL_ATI_vertex_attrib_array_object 1 + +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBARRAYOBJECTFVATIPROC) (GLuint index, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBARRAYOBJECTIVATIPROC) (GLuint index, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBARRAYOBJECTATIPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLuint buffer, GLuint offset); + +#define glGetVertexAttribArrayObjectfvATI GLEW_GET_FUN(__glewGetVertexAttribArrayObjectfvATI) +#define glGetVertexAttribArrayObjectivATI GLEW_GET_FUN(__glewGetVertexAttribArrayObjectivATI) +#define glVertexAttribArrayObjectATI GLEW_GET_FUN(__glewVertexAttribArrayObjectATI) + +#define GLEW_ATI_vertex_attrib_array_object GLEW_GET_VAR(__GLEW_ATI_vertex_attrib_array_object) + +#endif /* GL_ATI_vertex_attrib_array_object */ + +/* ------------------------- GL_ATI_vertex_streams ------------------------- */ + +#ifndef GL_ATI_vertex_streams +#define GL_ATI_vertex_streams 1 + +#define GL_MAX_VERTEX_STREAMS_ATI 0x876B +#define GL_VERTEX_SOURCE_ATI 0x876C +#define GL_VERTEX_STREAM0_ATI 0x876D +#define GL_VERTEX_STREAM1_ATI 0x876E +#define GL_VERTEX_STREAM2_ATI 0x876F +#define GL_VERTEX_STREAM3_ATI 0x8770 +#define GL_VERTEX_STREAM4_ATI 0x8771 +#define GL_VERTEX_STREAM5_ATI 0x8772 +#define GL_VERTEX_STREAM6_ATI 0x8773 +#define GL_VERTEX_STREAM7_ATI 0x8774 + +typedef void (GLAPIENTRY * PFNGLCLIENTACTIVEVERTEXSTREAMATIPROC) (GLenum stream); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3BATIPROC) (GLenum stream, GLbyte x, GLbyte y, GLbyte z); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3BVATIPROC) (GLenum stream, const GLbyte *v); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3DVATIPROC) (GLenum stream, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3FVATIPROC) (GLenum stream, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3IATIPROC) (GLenum stream, GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3IVATIPROC) (GLenum stream, const GLint *v); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLNORMALSTREAM3SVATIPROC) (GLenum stream, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLVERTEXBLENDENVFATIPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLVERTEXBLENDENVIATIPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2DATIPROC) (GLenum stream, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2DVATIPROC) (GLenum stream, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2FATIPROC) (GLenum stream, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2FVATIPROC) (GLenum stream, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2IATIPROC) (GLenum stream, GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2IVATIPROC) (GLenum stream, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2SATIPROC) (GLenum stream, GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM2SVATIPROC) (GLenum stream, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3DVATIPROC) (GLenum stream, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3FVATIPROC) (GLenum stream, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3IATIPROC) (GLenum stream, GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3IVATIPROC) (GLenum stream, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM3SVATIPROC) (GLenum stream, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4DATIPROC) (GLenum stream, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4DVATIPROC) (GLenum stream, const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4FATIPROC) (GLenum stream, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4FVATIPROC) (GLenum stream, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4IATIPROC) (GLenum stream, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4IVATIPROC) (GLenum stream, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4SATIPROC) (GLenum stream, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (GLAPIENTRY * PFNGLVERTEXSTREAM4SVATIPROC) (GLenum stream, const GLshort *v); + +#define glClientActiveVertexStreamATI GLEW_GET_FUN(__glewClientActiveVertexStreamATI) +#define glNormalStream3bATI GLEW_GET_FUN(__glewNormalStream3bATI) +#define glNormalStream3bvATI GLEW_GET_FUN(__glewNormalStream3bvATI) +#define glNormalStream3dATI GLEW_GET_FUN(__glewNormalStream3dATI) +#define glNormalStream3dvATI GLEW_GET_FUN(__glewNormalStream3dvATI) +#define glNormalStream3fATI GLEW_GET_FUN(__glewNormalStream3fATI) +#define glNormalStream3fvATI GLEW_GET_FUN(__glewNormalStream3fvATI) +#define glNormalStream3iATI GLEW_GET_FUN(__glewNormalStream3iATI) +#define glNormalStream3ivATI GLEW_GET_FUN(__glewNormalStream3ivATI) +#define glNormalStream3sATI GLEW_GET_FUN(__glewNormalStream3sATI) +#define glNormalStream3svATI GLEW_GET_FUN(__glewNormalStream3svATI) +#define glVertexBlendEnvfATI GLEW_GET_FUN(__glewVertexBlendEnvfATI) +#define glVertexBlendEnviATI GLEW_GET_FUN(__glewVertexBlendEnviATI) +#define glVertexStream2dATI GLEW_GET_FUN(__glewVertexStream2dATI) +#define glVertexStream2dvATI GLEW_GET_FUN(__glewVertexStream2dvATI) +#define glVertexStream2fATI GLEW_GET_FUN(__glewVertexStream2fATI) +#define glVertexStream2fvATI GLEW_GET_FUN(__glewVertexStream2fvATI) +#define glVertexStream2iATI GLEW_GET_FUN(__glewVertexStream2iATI) +#define glVertexStream2ivATI GLEW_GET_FUN(__glewVertexStream2ivATI) +#define glVertexStream2sATI GLEW_GET_FUN(__glewVertexStream2sATI) +#define glVertexStream2svATI GLEW_GET_FUN(__glewVertexStream2svATI) +#define glVertexStream3dATI GLEW_GET_FUN(__glewVertexStream3dATI) +#define glVertexStream3dvATI GLEW_GET_FUN(__glewVertexStream3dvATI) +#define glVertexStream3fATI GLEW_GET_FUN(__glewVertexStream3fATI) +#define glVertexStream3fvATI GLEW_GET_FUN(__glewVertexStream3fvATI) +#define glVertexStream3iATI GLEW_GET_FUN(__glewVertexStream3iATI) +#define glVertexStream3ivATI GLEW_GET_FUN(__glewVertexStream3ivATI) +#define glVertexStream3sATI GLEW_GET_FUN(__glewVertexStream3sATI) +#define glVertexStream3svATI GLEW_GET_FUN(__glewVertexStream3svATI) +#define glVertexStream4dATI GLEW_GET_FUN(__glewVertexStream4dATI) +#define glVertexStream4dvATI GLEW_GET_FUN(__glewVertexStream4dvATI) +#define glVertexStream4fATI GLEW_GET_FUN(__glewVertexStream4fATI) +#define glVertexStream4fvATI GLEW_GET_FUN(__glewVertexStream4fvATI) +#define glVertexStream4iATI GLEW_GET_FUN(__glewVertexStream4iATI) +#define glVertexStream4ivATI GLEW_GET_FUN(__glewVertexStream4ivATI) +#define glVertexStream4sATI GLEW_GET_FUN(__glewVertexStream4sATI) +#define glVertexStream4svATI GLEW_GET_FUN(__glewVertexStream4svATI) + +#define GLEW_ATI_vertex_streams GLEW_GET_VAR(__GLEW_ATI_vertex_streams) + +#endif /* GL_ATI_vertex_streams */ + +/* --------------------------- GL_EXT_422_pixels --------------------------- */ + +#ifndef GL_EXT_422_pixels +#define GL_EXT_422_pixels 1 + +#define GL_422_EXT 0x80CC +#define GL_422_REV_EXT 0x80CD +#define GL_422_AVERAGE_EXT 0x80CE +#define GL_422_REV_AVERAGE_EXT 0x80CF + +#define GLEW_EXT_422_pixels GLEW_GET_VAR(__GLEW_EXT_422_pixels) + +#endif /* GL_EXT_422_pixels */ + +/* ---------------------------- GL_EXT_Cg_shader --------------------------- */ + +#ifndef GL_EXT_Cg_shader +#define GL_EXT_Cg_shader 1 + +#define GL_CG_VERTEX_SHADER_EXT 0x890E +#define GL_CG_FRAGMENT_SHADER_EXT 0x890F + +#define GLEW_EXT_Cg_shader GLEW_GET_VAR(__GLEW_EXT_Cg_shader) + +#endif /* GL_EXT_Cg_shader */ + +/* ------------------------------ GL_EXT_abgr ------------------------------ */ + +#ifndef GL_EXT_abgr +#define GL_EXT_abgr 1 + +#define GL_ABGR_EXT 0x8000 + +#define GLEW_EXT_abgr GLEW_GET_VAR(__GLEW_EXT_abgr) + +#endif /* GL_EXT_abgr */ + +/* ------------------------------ GL_EXT_bgra ------------------------------ */ + +#ifndef GL_EXT_bgra +#define GL_EXT_bgra 1 + +#define GL_BGR_EXT 0x80E0 +#define GL_BGRA_EXT 0x80E1 + +#define GLEW_EXT_bgra GLEW_GET_VAR(__GLEW_EXT_bgra) + +#endif /* GL_EXT_bgra */ + +/* ------------------------ GL_EXT_bindable_uniform ------------------------ */ + +#ifndef GL_EXT_bindable_uniform +#define GL_EXT_bindable_uniform 1 + +#define GL_MAX_VERTEX_BINDABLE_UNIFORMS_EXT 0x8DE2 +#define GL_MAX_FRAGMENT_BINDABLE_UNIFORMS_EXT 0x8DE3 +#define GL_MAX_GEOMETRY_BINDABLE_UNIFORMS_EXT 0x8DE4 +#define GL_MAX_BINDABLE_UNIFORM_SIZE_EXT 0x8DED +#define GL_UNIFORM_BUFFER_EXT 0x8DEE +#define GL_UNIFORM_BUFFER_BINDING_EXT 0x8DEF + +typedef GLint (GLAPIENTRY * PFNGLGETUNIFORMBUFFERSIZEEXTPROC) (GLuint program, GLint location); +typedef GLintptr (GLAPIENTRY * PFNGLGETUNIFORMOFFSETEXTPROC) (GLuint program, GLint location); +typedef void (GLAPIENTRY * PFNGLUNIFORMBUFFEREXTPROC) (GLuint program, GLint location, GLuint buffer); + +#define glGetUniformBufferSizeEXT GLEW_GET_FUN(__glewGetUniformBufferSizeEXT) +#define glGetUniformOffsetEXT GLEW_GET_FUN(__glewGetUniformOffsetEXT) +#define glUniformBufferEXT GLEW_GET_FUN(__glewUniformBufferEXT) + +#define GLEW_EXT_bindable_uniform GLEW_GET_VAR(__GLEW_EXT_bindable_uniform) + +#endif /* GL_EXT_bindable_uniform */ + +/* --------------------------- GL_EXT_blend_color -------------------------- */ + +#ifndef GL_EXT_blend_color +#define GL_EXT_blend_color 1 + +#define GL_CONSTANT_COLOR_EXT 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR_EXT 0x8002 +#define GL_CONSTANT_ALPHA_EXT 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA_EXT 0x8004 +#define GL_BLEND_COLOR_EXT 0x8005 + +typedef void (GLAPIENTRY * PFNGLBLENDCOLOREXTPROC) (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha); + +#define glBlendColorEXT GLEW_GET_FUN(__glewBlendColorEXT) + +#define GLEW_EXT_blend_color GLEW_GET_VAR(__GLEW_EXT_blend_color) + +#endif /* GL_EXT_blend_color */ + +/* --------------------- GL_EXT_blend_equation_separate -------------------- */ + +#ifndef GL_EXT_blend_equation_separate +#define GL_EXT_blend_equation_separate 1 + +#define GL_BLEND_EQUATION_RGB_EXT 0x8009 +#define GL_BLEND_EQUATION_ALPHA_EXT 0x883D + +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONSEPARATEEXTPROC) (GLenum modeRGB, GLenum modeAlpha); + +#define glBlendEquationSeparateEXT GLEW_GET_FUN(__glewBlendEquationSeparateEXT) + +#define GLEW_EXT_blend_equation_separate GLEW_GET_VAR(__GLEW_EXT_blend_equation_separate) + +#endif /* GL_EXT_blend_equation_separate */ + +/* ----------------------- GL_EXT_blend_func_separate ---------------------- */ + +#ifndef GL_EXT_blend_func_separate +#define GL_EXT_blend_func_separate 1 + +#define GL_BLEND_DST_RGB_EXT 0x80C8 +#define GL_BLEND_SRC_RGB_EXT 0x80C9 +#define GL_BLEND_DST_ALPHA_EXT 0x80CA +#define GL_BLEND_SRC_ALPHA_EXT 0x80CB + +typedef void (GLAPIENTRY * PFNGLBLENDFUNCSEPARATEEXTPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); + +#define glBlendFuncSeparateEXT GLEW_GET_FUN(__glewBlendFuncSeparateEXT) + +#define GLEW_EXT_blend_func_separate GLEW_GET_VAR(__GLEW_EXT_blend_func_separate) + +#endif /* GL_EXT_blend_func_separate */ + +/* ------------------------- GL_EXT_blend_logic_op ------------------------- */ + +#ifndef GL_EXT_blend_logic_op +#define GL_EXT_blend_logic_op 1 + +#define GLEW_EXT_blend_logic_op GLEW_GET_VAR(__GLEW_EXT_blend_logic_op) + +#endif /* GL_EXT_blend_logic_op */ + +/* -------------------------- GL_EXT_blend_minmax -------------------------- */ + +#ifndef GL_EXT_blend_minmax +#define GL_EXT_blend_minmax 1 + +#define GL_FUNC_ADD_EXT 0x8006 +#define GL_MIN_EXT 0x8007 +#define GL_MAX_EXT 0x8008 +#define GL_BLEND_EQUATION_EXT 0x8009 + +typedef void (GLAPIENTRY * PFNGLBLENDEQUATIONEXTPROC) (GLenum mode); + +#define glBlendEquationEXT GLEW_GET_FUN(__glewBlendEquationEXT) + +#define GLEW_EXT_blend_minmax GLEW_GET_VAR(__GLEW_EXT_blend_minmax) + +#endif /* GL_EXT_blend_minmax */ + +/* ------------------------- GL_EXT_blend_subtract ------------------------- */ + +#ifndef GL_EXT_blend_subtract +#define GL_EXT_blend_subtract 1 + +#define GL_FUNC_SUBTRACT_EXT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT_EXT 0x800B + +#define GLEW_EXT_blend_subtract GLEW_GET_VAR(__GLEW_EXT_blend_subtract) + +#endif /* GL_EXT_blend_subtract */ + +/* ------------------------ GL_EXT_clip_volume_hint ------------------------ */ + +#ifndef GL_EXT_clip_volume_hint +#define GL_EXT_clip_volume_hint 1 + +#define GL_CLIP_VOLUME_CLIPPING_HINT_EXT 0x80F0 + +#define GLEW_EXT_clip_volume_hint GLEW_GET_VAR(__GLEW_EXT_clip_volume_hint) + +#endif /* GL_EXT_clip_volume_hint */ + +/* ------------------------------ GL_EXT_cmyka ----------------------------- */ + +#ifndef GL_EXT_cmyka +#define GL_EXT_cmyka 1 + +#define GL_CMYK_EXT 0x800C +#define GL_CMYKA_EXT 0x800D +#define GL_PACK_CMYK_HINT_EXT 0x800E +#define GL_UNPACK_CMYK_HINT_EXT 0x800F + +#define GLEW_EXT_cmyka GLEW_GET_VAR(__GLEW_EXT_cmyka) + +#endif /* GL_EXT_cmyka */ + +/* ------------------------- GL_EXT_color_subtable ------------------------- */ + +#ifndef GL_EXT_color_subtable +#define GL_EXT_color_subtable 1 + +typedef void (GLAPIENTRY * PFNGLCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const void* data); +typedef void (GLAPIENTRY * PFNGLCOPYCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); + +#define glColorSubTableEXT GLEW_GET_FUN(__glewColorSubTableEXT) +#define glCopyColorSubTableEXT GLEW_GET_FUN(__glewCopyColorSubTableEXT) + +#define GLEW_EXT_color_subtable GLEW_GET_VAR(__GLEW_EXT_color_subtable) + +#endif /* GL_EXT_color_subtable */ + +/* ---------------------- GL_EXT_compiled_vertex_array --------------------- */ + +#ifndef GL_EXT_compiled_vertex_array +#define GL_EXT_compiled_vertex_array 1 + +#define GL_ARRAY_ELEMENT_LOCK_FIRST_EXT 0x81A8 +#define GL_ARRAY_ELEMENT_LOCK_COUNT_EXT 0x81A9 + +typedef void (GLAPIENTRY * PFNGLLOCKARRAYSEXTPROC) (GLint first, GLsizei count); +typedef void (GLAPIENTRY * PFNGLUNLOCKARRAYSEXTPROC) (void); + +#define glLockArraysEXT GLEW_GET_FUN(__glewLockArraysEXT) +#define glUnlockArraysEXT GLEW_GET_FUN(__glewUnlockArraysEXT) + +#define GLEW_EXT_compiled_vertex_array GLEW_GET_VAR(__GLEW_EXT_compiled_vertex_array) + +#endif /* GL_EXT_compiled_vertex_array */ + +/* --------------------------- GL_EXT_convolution -------------------------- */ + +#ifndef GL_EXT_convolution +#define GL_EXT_convolution 1 + +#define GL_CONVOLUTION_1D_EXT 0x8010 +#define GL_CONVOLUTION_2D_EXT 0x8011 +#define GL_SEPARABLE_2D_EXT 0x8012 +#define GL_CONVOLUTION_BORDER_MODE_EXT 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE_EXT 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS_EXT 0x8015 +#define GL_REDUCE_EXT 0x8016 +#define GL_CONVOLUTION_FORMAT_EXT 0x8017 +#define GL_CONVOLUTION_WIDTH_EXT 0x8018 +#define GL_CONVOLUTION_HEIGHT_EXT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH_EXT 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT_EXT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE_EXT 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE_EXT 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE_EXT 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE_EXT 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS_EXT 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS_EXT 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS_EXT 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS_EXT 0x8023 + +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void* image); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void* image); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLCOPYCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void* image); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETSEPARABLEFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, void* row, void* column, void* span); +typedef void (GLAPIENTRY * PFNGLSEPARABLEFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const void* row, const void* column); + +#define glConvolutionFilter1DEXT GLEW_GET_FUN(__glewConvolutionFilter1DEXT) +#define glConvolutionFilter2DEXT GLEW_GET_FUN(__glewConvolutionFilter2DEXT) +#define glConvolutionParameterfEXT GLEW_GET_FUN(__glewConvolutionParameterfEXT) +#define glConvolutionParameterfvEXT GLEW_GET_FUN(__glewConvolutionParameterfvEXT) +#define glConvolutionParameteriEXT GLEW_GET_FUN(__glewConvolutionParameteriEXT) +#define glConvolutionParameterivEXT GLEW_GET_FUN(__glewConvolutionParameterivEXT) +#define glCopyConvolutionFilter1DEXT GLEW_GET_FUN(__glewCopyConvolutionFilter1DEXT) +#define glCopyConvolutionFilter2DEXT GLEW_GET_FUN(__glewCopyConvolutionFilter2DEXT) +#define glGetConvolutionFilterEXT GLEW_GET_FUN(__glewGetConvolutionFilterEXT) +#define glGetConvolutionParameterfvEXT GLEW_GET_FUN(__glewGetConvolutionParameterfvEXT) +#define glGetConvolutionParameterivEXT GLEW_GET_FUN(__glewGetConvolutionParameterivEXT) +#define glGetSeparableFilterEXT GLEW_GET_FUN(__glewGetSeparableFilterEXT) +#define glSeparableFilter2DEXT GLEW_GET_FUN(__glewSeparableFilter2DEXT) + +#define GLEW_EXT_convolution GLEW_GET_VAR(__GLEW_EXT_convolution) + +#endif /* GL_EXT_convolution */ + +/* ------------------------ GL_EXT_coordinate_frame ------------------------ */ + +#ifndef GL_EXT_coordinate_frame +#define GL_EXT_coordinate_frame 1 + +#define GL_TANGENT_ARRAY_EXT 0x8439 +#define GL_BINORMAL_ARRAY_EXT 0x843A +#define GL_CURRENT_TANGENT_EXT 0x843B +#define GL_CURRENT_BINORMAL_EXT 0x843C +#define GL_TANGENT_ARRAY_TYPE_EXT 0x843E +#define GL_TANGENT_ARRAY_STRIDE_EXT 0x843F +#define GL_BINORMAL_ARRAY_TYPE_EXT 0x8440 +#define GL_BINORMAL_ARRAY_STRIDE_EXT 0x8441 +#define GL_TANGENT_ARRAY_POINTER_EXT 0x8442 +#define GL_BINORMAL_ARRAY_POINTER_EXT 0x8443 +#define GL_MAP1_TANGENT_EXT 0x8444 +#define GL_MAP2_TANGENT_EXT 0x8445 +#define GL_MAP1_BINORMAL_EXT 0x8446 +#define GL_MAP2_BINORMAL_EXT 0x8447 + +typedef void (GLAPIENTRY * PFNGLBINORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, void* pointer); +typedef void (GLAPIENTRY * PFNGLTANGENTPOINTEREXTPROC) (GLenum type, GLsizei stride, void* pointer); + +#define glBinormalPointerEXT GLEW_GET_FUN(__glewBinormalPointerEXT) +#define glTangentPointerEXT GLEW_GET_FUN(__glewTangentPointerEXT) + +#define GLEW_EXT_coordinate_frame GLEW_GET_VAR(__GLEW_EXT_coordinate_frame) + +#endif /* GL_EXT_coordinate_frame */ + +/* -------------------------- GL_EXT_copy_texture -------------------------- */ + +#ifndef GL_EXT_copy_texture +#define GL_EXT_copy_texture 1 + +typedef void (GLAPIENTRY * PFNGLCOPYTEXIMAGE1DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYTEXIMAGE2DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLCOPYTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); + +#define glCopyTexImage1DEXT GLEW_GET_FUN(__glewCopyTexImage1DEXT) +#define glCopyTexImage2DEXT GLEW_GET_FUN(__glewCopyTexImage2DEXT) +#define glCopyTexSubImage1DEXT GLEW_GET_FUN(__glewCopyTexSubImage1DEXT) +#define glCopyTexSubImage2DEXT GLEW_GET_FUN(__glewCopyTexSubImage2DEXT) +#define glCopyTexSubImage3DEXT GLEW_GET_FUN(__glewCopyTexSubImage3DEXT) + +#define GLEW_EXT_copy_texture GLEW_GET_VAR(__GLEW_EXT_copy_texture) + +#endif /* GL_EXT_copy_texture */ + +/* --------------------------- GL_EXT_cull_vertex -------------------------- */ + +#ifndef GL_EXT_cull_vertex +#define GL_EXT_cull_vertex 1 + +#define GL_CULL_VERTEX_EXT 0x81AA +#define GL_CULL_VERTEX_EYE_POSITION_EXT 0x81AB +#define GL_CULL_VERTEX_OBJECT_POSITION_EXT 0x81AC + +typedef void (GLAPIENTRY * PFNGLCULLPARAMETERDVEXTPROC) (GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLCULLPARAMETERFVEXTPROC) (GLenum pname, GLfloat* params); + +#define glCullParameterdvEXT GLEW_GET_FUN(__glewCullParameterdvEXT) +#define glCullParameterfvEXT GLEW_GET_FUN(__glewCullParameterfvEXT) + +#define GLEW_EXT_cull_vertex GLEW_GET_VAR(__GLEW_EXT_cull_vertex) + +#endif /* GL_EXT_cull_vertex */ + +/* ------------------------ GL_EXT_depth_bounds_test ----------------------- */ + +#ifndef GL_EXT_depth_bounds_test +#define GL_EXT_depth_bounds_test 1 + +#define GL_DEPTH_BOUNDS_TEST_EXT 0x8890 +#define GL_DEPTH_BOUNDS_EXT 0x8891 + +typedef void (GLAPIENTRY * PFNGLDEPTHBOUNDSEXTPROC) (GLclampd zmin, GLclampd zmax); + +#define glDepthBoundsEXT GLEW_GET_FUN(__glewDepthBoundsEXT) + +#define GLEW_EXT_depth_bounds_test GLEW_GET_VAR(__GLEW_EXT_depth_bounds_test) + +#endif /* GL_EXT_depth_bounds_test */ + +/* ----------------------- GL_EXT_direct_state_access ---------------------- */ + +#ifndef GL_EXT_direct_state_access +#define GL_EXT_direct_state_access 1 + +#define GL_PROGRAM_MATRIX_EXT 0x8E2D +#define GL_TRANSPOSE_PROGRAM_MATRIX_EXT 0x8E2E +#define GL_PROGRAM_MATRIX_STACK_DEPTH_EXT 0x8E2F + +typedef void (GLAPIENTRY * PFNGLBINDMULTITEXTUREEXTPROC) (GLenum texunit, GLenum target, GLuint texture); +typedef GLenum (GLAPIENTRY * PFNGLCHECKNAMEDFRAMEBUFFERSTATUSEXTPROC) (GLuint framebuffer, GLenum target); +typedef void (GLAPIENTRY * PFNGLCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOMPRESSEDTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const void* data); +typedef void (GLAPIENTRY * PFNGLCOPYMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLCOPYMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLCOPYTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (GLAPIENTRY * PFNGLCOPYTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLCOPYTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLCOPYTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLDISABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); +typedef void (GLAPIENTRY * PFNGLDISABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); +typedef void (GLAPIENTRY * PFNGLDISABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); +typedef void (GLAPIENTRY * PFNGLDISABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); +typedef void (GLAPIENTRY * PFNGLENABLECLIENTSTATEINDEXEDEXTPROC) (GLenum array, GLuint index); +typedef void (GLAPIENTRY * PFNGLENABLECLIENTSTATEIEXTPROC) (GLenum array, GLuint index); +typedef void (GLAPIENTRY * PFNGLENABLEVERTEXARRAYATTRIBEXTPROC) (GLuint vaobj, GLuint index); +typedef void (GLAPIENTRY * PFNGLENABLEVERTEXARRAYEXTPROC) (GLuint vaobj, GLenum array); +typedef void (GLAPIENTRY * PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERDRAWBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERDRAWBUFFERSEXTPROC) (GLuint framebuffer, GLsizei n, const GLenum* bufs); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERREADBUFFEREXTPROC) (GLuint framebuffer, GLenum mode); +typedef void (GLAPIENTRY * PFNGLGENERATEMULTITEXMIPMAPEXTPROC) (GLenum texunit, GLenum target); +typedef void (GLAPIENTRY * PFNGLGENERATETEXTUREMIPMAPEXTPROC) (GLuint texture, GLenum target); +typedef void (GLAPIENTRY * PFNGLGETCOMPRESSEDMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint level, void* img); +typedef void (GLAPIENTRY * PFNGLGETCOMPRESSEDTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint level, void* img); +typedef void (GLAPIENTRY * PFNGLGETDOUBLEINDEXEDVEXTPROC) (GLenum target, GLuint index, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETDOUBLEI_VEXTPROC) (GLenum pname, GLuint index, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETFLOATINDEXEDVEXTPROC) (GLenum target, GLuint index, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETFLOATI_VEXTPROC) (GLenum pname, GLuint index, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETFRAMEBUFFERPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum pname, GLint* param); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXIMAGEEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum format, GLenum type, void* pixels); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXLEVELPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXLEVELPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLint level, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDBUFFERPARAMETERIVEXTPROC) (GLuint buffer, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDBUFFERPOINTERVEXTPROC) (GLuint buffer, GLenum pname, void** params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, void* data); +typedef void (GLAPIENTRY * PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMLOCALPARAMETERIIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMLOCALPARAMETERIUIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMLOCALPARAMETERDVEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMLOCALPARAMETERFVEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum pname, void* string); +typedef void (GLAPIENTRY * PFNGLGETNAMEDPROGRAMIVEXTPROC) (GLuint program, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETNAMEDRENDERBUFFERPARAMETERIVEXTPROC) (GLuint renderbuffer, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETPOINTERINDEXEDVEXTPROC) (GLenum target, GLuint index, GLvoid** params); +typedef void (GLAPIENTRY * PFNGLGETPOINTERI_VEXTPROC) (GLenum pname, GLuint index, GLvoid** params); +typedef void (GLAPIENTRY * PFNGLGETTEXTUREIMAGEEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum format, GLenum type, void* pixels); +typedef void (GLAPIENTRY * PFNGLGETTEXTURELEVELPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETTEXTURELEVELPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLint level, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLGETTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXARRAYINTEGERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, GLint* param); +typedef void (GLAPIENTRY * PFNGLGETVERTEXARRAYINTEGERVEXTPROC) (GLuint vaobj, GLenum pname, GLint* param); +typedef void (GLAPIENTRY * PFNGLGETVERTEXARRAYPOINTERI_VEXTPROC) (GLuint vaobj, GLuint index, GLenum pname, GLvoid** param); +typedef void (GLAPIENTRY * PFNGLGETVERTEXARRAYPOINTERVEXTPROC) (GLuint vaobj, GLenum pname, GLvoid** param); +typedef GLvoid * (GLAPIENTRY * PFNGLMAPNAMEDBUFFEREXTPROC) (GLuint buffer, GLenum access); +typedef GLvoid * (GLAPIENTRY * PFNGLMAPNAMEDBUFFERRANGEEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr length, GLbitfield access); +typedef void (GLAPIENTRY * PFNGLMATRIXFRUSTUMEXTPROC) (GLenum matrixMode, GLdouble l, GLdouble r, GLdouble b, GLdouble t, GLdouble n, GLdouble f); +typedef void (GLAPIENTRY * PFNGLMATRIXLOADIDENTITYEXTPROC) (GLenum matrixMode); +typedef void (GLAPIENTRY * PFNGLMATRIXLOADTRANSPOSEDEXTPROC) (GLenum matrixMode, const GLdouble* m); +typedef void (GLAPIENTRY * PFNGLMATRIXLOADTRANSPOSEFEXTPROC) (GLenum matrixMode, const GLfloat* m); +typedef void (GLAPIENTRY * PFNGLMATRIXLOADDEXTPROC) (GLenum matrixMode, const GLdouble* m); +typedef void (GLAPIENTRY * PFNGLMATRIXLOADFEXTPROC) (GLenum matrixMode, const GLfloat* m); +typedef void (GLAPIENTRY * PFNGLMATRIXMULTTRANSPOSEDEXTPROC) (GLenum matrixMode, const GLdouble* m); +typedef void (GLAPIENTRY * PFNGLMATRIXMULTTRANSPOSEFEXTPROC) (GLenum matrixMode, const GLfloat* m); +typedef void (GLAPIENTRY * PFNGLMATRIXMULTDEXTPROC) (GLenum matrixMode, const GLdouble* m); +typedef void (GLAPIENTRY * PFNGLMATRIXMULTFEXTPROC) (GLenum matrixMode, const GLfloat* m); +typedef void (GLAPIENTRY * PFNGLMATRIXORTHOEXTPROC) (GLenum matrixMode, GLdouble l, GLdouble r, GLdouble b, GLdouble t, GLdouble n, GLdouble f); +typedef void (GLAPIENTRY * PFNGLMATRIXPOPEXTPROC) (GLenum matrixMode); +typedef void (GLAPIENTRY * PFNGLMATRIXPUSHEXTPROC) (GLenum matrixMode); +typedef void (GLAPIENTRY * PFNGLMATRIXROTATEDEXTPROC) (GLenum matrixMode, GLdouble angle, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLMATRIXROTATEFEXTPROC) (GLenum matrixMode, GLfloat angle, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLMATRIXSCALEDEXTPROC) (GLenum matrixMode, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLMATRIXSCALEFEXTPROC) (GLenum matrixMode, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLMATRIXTRANSLATEDEXTPROC) (GLenum matrixMode, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLMATRIXTRANSLATEFEXTPROC) (GLenum matrixMode, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLMULTITEXBUFFEREXTPROC) (GLenum texunit, GLenum target, GLenum internalformat, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORDPOINTEREXTPROC) (GLenum texunit, GLint size, GLenum type, GLsizei stride, const void* pointer); +typedef void (GLAPIENTRY * PFNGLMULTITEXENVFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLMULTITEXENVFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXENVIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLMULTITEXENVIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENDEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLdouble param); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENDVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENFEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENFVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENIEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLMULTITEXGENIVEXTPROC) (GLenum texunit, GLenum coord, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLMULTITEXIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLMULTITEXIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERIIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERIUIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLuint* params); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERFEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERFVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLfloat* param); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERIEXTPROC) (GLenum texunit, GLenum target, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLMULTITEXPARAMETERIVEXTPROC) (GLenum texunit, GLenum target, GLenum pname, const GLint* param); +typedef void (GLAPIENTRY * PFNGLMULTITEXRENDERBUFFEREXTPROC) (GLenum texunit, GLenum target, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLMULTITEXSUBIMAGE1DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLMULTITEXSUBIMAGE2DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLMULTITEXSUBIMAGE3DEXTPROC) (GLenum texunit, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLNAMEDBUFFERDATAEXTPROC) (GLuint buffer, GLsizeiptr size, const void* data, GLenum usage); +typedef void (GLAPIENTRY * PFNGLNAMEDBUFFERSUBDATAEXTPROC) (GLuint buffer, GLintptr offset, GLsizeiptr size, const void* data); +typedef void (GLAPIENTRY * PFNGLNAMEDCOPYBUFFERSUBDATAEXTPROC) (GLuint readBuffer, GLuint writeBuffer, GLintptr readOffset, GLintptr writeOffset, GLsizeiptr size); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERRENDERBUFFEREXTPROC) (GLuint framebuffer, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTURE1DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTURE2DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTURE3DEXTPROC) (GLuint framebuffer, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTUREEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTUREFACEEXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLenum face); +typedef void (GLAPIENTRY * PFNGLNAMEDFRAMEBUFFERTEXTURELAYEREXTPROC) (GLuint framebuffer, GLenum attachment, GLuint texture, GLint level, GLint layer); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETER4DEXTPROC) (GLuint program, GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETER4DVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETER4FEXTPROC) (GLuint program, GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETER4FVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERI4IEXTPROC) (GLuint program, GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLint* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIEXTPROC) (GLuint program, GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, const GLuint* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERSI4IVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLint* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMLOCALPARAMETERSI4UIVEXTPROC) (GLuint program, GLenum target, GLuint index, GLsizei count, const GLuint* params); +typedef void (GLAPIENTRY * PFNGLNAMEDPROGRAMSTRINGEXTPROC) (GLuint program, GLenum target, GLenum format, GLsizei len, const void* string); +typedef void (GLAPIENTRY * PFNGLNAMEDRENDERBUFFERSTORAGEEXTPROC) (GLuint renderbuffer, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLECOVERAGEEXTPROC) (GLuint renderbuffer, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLuint renderbuffer, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1FEXTPROC) (GLuint program, GLint location, GLfloat v0); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1IEXTPROC) (GLuint program, GLint location, GLint v0); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UIEXTPROC) (GLuint program, GLint location, GLuint v0); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4FEXTPROC) (GLuint program, GLint location, GLfloat v0, GLfloat v1, GLfloat v2, GLfloat v3); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4FVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4IEXTPROC) (GLuint program, GLint location, GLint v0, GLint v1, GLint v2, GLint v3); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4IVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UIEXTPROC) (GLuint program, GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UIVEXTPROC) (GLuint program, GLint location, GLsizei count, const GLuint* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC) (GLuint program, GLint location, GLsizei count, GLboolean transpose, const GLfloat* value); +typedef void (GLAPIENTRY * PFNGLPUSHCLIENTATTRIBDEFAULTEXTPROC) (GLbitfield mask); +typedef void (GLAPIENTRY * PFNGLTEXTUREBUFFEREXTPROC) (GLuint texture, GLenum target, GLenum internalformat, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERIIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERIUIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLuint* params); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERFEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERFVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLfloat* param); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERIEXTPROC) (GLuint texture, GLenum target, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLTEXTUREPARAMETERIVEXTPROC) (GLuint texture, GLenum target, GLenum pname, const GLint* param); +typedef void (GLAPIENTRY * PFNGLTEXTURERENDERBUFFEREXTPROC) (GLuint texture, GLenum target, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLTEXTURESUBIMAGE1DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXTURESUBIMAGE2DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXTURESUBIMAGE3DEXTPROC) (GLuint texture, GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void* pixels); +typedef GLboolean (GLAPIENTRY * PFNGLUNMAPNAMEDBUFFEREXTPROC) (GLuint buffer); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYEDGEFLAGOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYFOGCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYINDEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYMULTITEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum texunit, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYNORMALOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYSECONDARYCOLOROFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYTEXCOORDOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYVERTEXATTRIBIOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYVERTEXATTRIBOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYVERTEXOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLint size, GLenum type, GLsizei stride, GLintptr offset); + +#define glBindMultiTextureEXT GLEW_GET_FUN(__glewBindMultiTextureEXT) +#define glCheckNamedFramebufferStatusEXT GLEW_GET_FUN(__glewCheckNamedFramebufferStatusEXT) +#define glClientAttribDefaultEXT GLEW_GET_FUN(__glewClientAttribDefaultEXT) +#define glCompressedMultiTexImage1DEXT GLEW_GET_FUN(__glewCompressedMultiTexImage1DEXT) +#define glCompressedMultiTexImage2DEXT GLEW_GET_FUN(__glewCompressedMultiTexImage2DEXT) +#define glCompressedMultiTexImage3DEXT GLEW_GET_FUN(__glewCompressedMultiTexImage3DEXT) +#define glCompressedMultiTexSubImage1DEXT GLEW_GET_FUN(__glewCompressedMultiTexSubImage1DEXT) +#define glCompressedMultiTexSubImage2DEXT GLEW_GET_FUN(__glewCompressedMultiTexSubImage2DEXT) +#define glCompressedMultiTexSubImage3DEXT GLEW_GET_FUN(__glewCompressedMultiTexSubImage3DEXT) +#define glCompressedTextureImage1DEXT GLEW_GET_FUN(__glewCompressedTextureImage1DEXT) +#define glCompressedTextureImage2DEXT GLEW_GET_FUN(__glewCompressedTextureImage2DEXT) +#define glCompressedTextureImage3DEXT GLEW_GET_FUN(__glewCompressedTextureImage3DEXT) +#define glCompressedTextureSubImage1DEXT GLEW_GET_FUN(__glewCompressedTextureSubImage1DEXT) +#define glCompressedTextureSubImage2DEXT GLEW_GET_FUN(__glewCompressedTextureSubImage2DEXT) +#define glCompressedTextureSubImage3DEXT GLEW_GET_FUN(__glewCompressedTextureSubImage3DEXT) +#define glCopyMultiTexImage1DEXT GLEW_GET_FUN(__glewCopyMultiTexImage1DEXT) +#define glCopyMultiTexImage2DEXT GLEW_GET_FUN(__glewCopyMultiTexImage2DEXT) +#define glCopyMultiTexSubImage1DEXT GLEW_GET_FUN(__glewCopyMultiTexSubImage1DEXT) +#define glCopyMultiTexSubImage2DEXT GLEW_GET_FUN(__glewCopyMultiTexSubImage2DEXT) +#define glCopyMultiTexSubImage3DEXT GLEW_GET_FUN(__glewCopyMultiTexSubImage3DEXT) +#define glCopyTextureImage1DEXT GLEW_GET_FUN(__glewCopyTextureImage1DEXT) +#define glCopyTextureImage2DEXT GLEW_GET_FUN(__glewCopyTextureImage2DEXT) +#define glCopyTextureSubImage1DEXT GLEW_GET_FUN(__glewCopyTextureSubImage1DEXT) +#define glCopyTextureSubImage2DEXT GLEW_GET_FUN(__glewCopyTextureSubImage2DEXT) +#define glCopyTextureSubImage3DEXT GLEW_GET_FUN(__glewCopyTextureSubImage3DEXT) +#define glDisableClientStateIndexedEXT GLEW_GET_FUN(__glewDisableClientStateIndexedEXT) +#define glDisableClientStateiEXT GLEW_GET_FUN(__glewDisableClientStateiEXT) +#define glDisableVertexArrayAttribEXT GLEW_GET_FUN(__glewDisableVertexArrayAttribEXT) +#define glDisableVertexArrayEXT GLEW_GET_FUN(__glewDisableVertexArrayEXT) +#define glEnableClientStateIndexedEXT GLEW_GET_FUN(__glewEnableClientStateIndexedEXT) +#define glEnableClientStateiEXT GLEW_GET_FUN(__glewEnableClientStateiEXT) +#define glEnableVertexArrayAttribEXT GLEW_GET_FUN(__glewEnableVertexArrayAttribEXT) +#define glEnableVertexArrayEXT GLEW_GET_FUN(__glewEnableVertexArrayEXT) +#define glFlushMappedNamedBufferRangeEXT GLEW_GET_FUN(__glewFlushMappedNamedBufferRangeEXT) +#define glFramebufferDrawBufferEXT GLEW_GET_FUN(__glewFramebufferDrawBufferEXT) +#define glFramebufferDrawBuffersEXT GLEW_GET_FUN(__glewFramebufferDrawBuffersEXT) +#define glFramebufferReadBufferEXT GLEW_GET_FUN(__glewFramebufferReadBufferEXT) +#define glGenerateMultiTexMipmapEXT GLEW_GET_FUN(__glewGenerateMultiTexMipmapEXT) +#define glGenerateTextureMipmapEXT GLEW_GET_FUN(__glewGenerateTextureMipmapEXT) +#define glGetCompressedMultiTexImageEXT GLEW_GET_FUN(__glewGetCompressedMultiTexImageEXT) +#define glGetCompressedTextureImageEXT GLEW_GET_FUN(__glewGetCompressedTextureImageEXT) +#define glGetDoubleIndexedvEXT GLEW_GET_FUN(__glewGetDoubleIndexedvEXT) +#define glGetDoublei_vEXT GLEW_GET_FUN(__glewGetDoublei_vEXT) +#define glGetFloatIndexedvEXT GLEW_GET_FUN(__glewGetFloatIndexedvEXT) +#define glGetFloati_vEXT GLEW_GET_FUN(__glewGetFloati_vEXT) +#define glGetFramebufferParameterivEXT GLEW_GET_FUN(__glewGetFramebufferParameterivEXT) +#define glGetMultiTexEnvfvEXT GLEW_GET_FUN(__glewGetMultiTexEnvfvEXT) +#define glGetMultiTexEnvivEXT GLEW_GET_FUN(__glewGetMultiTexEnvivEXT) +#define glGetMultiTexGendvEXT GLEW_GET_FUN(__glewGetMultiTexGendvEXT) +#define glGetMultiTexGenfvEXT GLEW_GET_FUN(__glewGetMultiTexGenfvEXT) +#define glGetMultiTexGenivEXT GLEW_GET_FUN(__glewGetMultiTexGenivEXT) +#define glGetMultiTexImageEXT GLEW_GET_FUN(__glewGetMultiTexImageEXT) +#define glGetMultiTexLevelParameterfvEXT GLEW_GET_FUN(__glewGetMultiTexLevelParameterfvEXT) +#define glGetMultiTexLevelParameterivEXT GLEW_GET_FUN(__glewGetMultiTexLevelParameterivEXT) +#define glGetMultiTexParameterIivEXT GLEW_GET_FUN(__glewGetMultiTexParameterIivEXT) +#define glGetMultiTexParameterIuivEXT GLEW_GET_FUN(__glewGetMultiTexParameterIuivEXT) +#define glGetMultiTexParameterfvEXT GLEW_GET_FUN(__glewGetMultiTexParameterfvEXT) +#define glGetMultiTexParameterivEXT GLEW_GET_FUN(__glewGetMultiTexParameterivEXT) +#define glGetNamedBufferParameterivEXT GLEW_GET_FUN(__glewGetNamedBufferParameterivEXT) +#define glGetNamedBufferPointervEXT GLEW_GET_FUN(__glewGetNamedBufferPointervEXT) +#define glGetNamedBufferSubDataEXT GLEW_GET_FUN(__glewGetNamedBufferSubDataEXT) +#define glGetNamedFramebufferAttachmentParameterivEXT GLEW_GET_FUN(__glewGetNamedFramebufferAttachmentParameterivEXT) +#define glGetNamedProgramLocalParameterIivEXT GLEW_GET_FUN(__glewGetNamedProgramLocalParameterIivEXT) +#define glGetNamedProgramLocalParameterIuivEXT GLEW_GET_FUN(__glewGetNamedProgramLocalParameterIuivEXT) +#define glGetNamedProgramLocalParameterdvEXT GLEW_GET_FUN(__glewGetNamedProgramLocalParameterdvEXT) +#define glGetNamedProgramLocalParameterfvEXT GLEW_GET_FUN(__glewGetNamedProgramLocalParameterfvEXT) +#define glGetNamedProgramStringEXT GLEW_GET_FUN(__glewGetNamedProgramStringEXT) +#define glGetNamedProgramivEXT GLEW_GET_FUN(__glewGetNamedProgramivEXT) +#define glGetNamedRenderbufferParameterivEXT GLEW_GET_FUN(__glewGetNamedRenderbufferParameterivEXT) +#define glGetPointerIndexedvEXT GLEW_GET_FUN(__glewGetPointerIndexedvEXT) +#define glGetPointeri_vEXT GLEW_GET_FUN(__glewGetPointeri_vEXT) +#define glGetTextureImageEXT GLEW_GET_FUN(__glewGetTextureImageEXT) +#define glGetTextureLevelParameterfvEXT GLEW_GET_FUN(__glewGetTextureLevelParameterfvEXT) +#define glGetTextureLevelParameterivEXT GLEW_GET_FUN(__glewGetTextureLevelParameterivEXT) +#define glGetTextureParameterIivEXT GLEW_GET_FUN(__glewGetTextureParameterIivEXT) +#define glGetTextureParameterIuivEXT GLEW_GET_FUN(__glewGetTextureParameterIuivEXT) +#define glGetTextureParameterfvEXT GLEW_GET_FUN(__glewGetTextureParameterfvEXT) +#define glGetTextureParameterivEXT GLEW_GET_FUN(__glewGetTextureParameterivEXT) +#define glGetVertexArrayIntegeri_vEXT GLEW_GET_FUN(__glewGetVertexArrayIntegeri_vEXT) +#define glGetVertexArrayIntegervEXT GLEW_GET_FUN(__glewGetVertexArrayIntegervEXT) +#define glGetVertexArrayPointeri_vEXT GLEW_GET_FUN(__glewGetVertexArrayPointeri_vEXT) +#define glGetVertexArrayPointervEXT GLEW_GET_FUN(__glewGetVertexArrayPointervEXT) +#define glMapNamedBufferEXT GLEW_GET_FUN(__glewMapNamedBufferEXT) +#define glMapNamedBufferRangeEXT GLEW_GET_FUN(__glewMapNamedBufferRangeEXT) +#define glMatrixFrustumEXT GLEW_GET_FUN(__glewMatrixFrustumEXT) +#define glMatrixLoadIdentityEXT GLEW_GET_FUN(__glewMatrixLoadIdentityEXT) +#define glMatrixLoadTransposedEXT GLEW_GET_FUN(__glewMatrixLoadTransposedEXT) +#define glMatrixLoadTransposefEXT GLEW_GET_FUN(__glewMatrixLoadTransposefEXT) +#define glMatrixLoaddEXT GLEW_GET_FUN(__glewMatrixLoaddEXT) +#define glMatrixLoadfEXT GLEW_GET_FUN(__glewMatrixLoadfEXT) +#define glMatrixMultTransposedEXT GLEW_GET_FUN(__glewMatrixMultTransposedEXT) +#define glMatrixMultTransposefEXT GLEW_GET_FUN(__glewMatrixMultTransposefEXT) +#define glMatrixMultdEXT GLEW_GET_FUN(__glewMatrixMultdEXT) +#define glMatrixMultfEXT GLEW_GET_FUN(__glewMatrixMultfEXT) +#define glMatrixOrthoEXT GLEW_GET_FUN(__glewMatrixOrthoEXT) +#define glMatrixPopEXT GLEW_GET_FUN(__glewMatrixPopEXT) +#define glMatrixPushEXT GLEW_GET_FUN(__glewMatrixPushEXT) +#define glMatrixRotatedEXT GLEW_GET_FUN(__glewMatrixRotatedEXT) +#define glMatrixRotatefEXT GLEW_GET_FUN(__glewMatrixRotatefEXT) +#define glMatrixScaledEXT GLEW_GET_FUN(__glewMatrixScaledEXT) +#define glMatrixScalefEXT GLEW_GET_FUN(__glewMatrixScalefEXT) +#define glMatrixTranslatedEXT GLEW_GET_FUN(__glewMatrixTranslatedEXT) +#define glMatrixTranslatefEXT GLEW_GET_FUN(__glewMatrixTranslatefEXT) +#define glMultiTexBufferEXT GLEW_GET_FUN(__glewMultiTexBufferEXT) +#define glMultiTexCoordPointerEXT GLEW_GET_FUN(__glewMultiTexCoordPointerEXT) +#define glMultiTexEnvfEXT GLEW_GET_FUN(__glewMultiTexEnvfEXT) +#define glMultiTexEnvfvEXT GLEW_GET_FUN(__glewMultiTexEnvfvEXT) +#define glMultiTexEnviEXT GLEW_GET_FUN(__glewMultiTexEnviEXT) +#define glMultiTexEnvivEXT GLEW_GET_FUN(__glewMultiTexEnvivEXT) +#define glMultiTexGendEXT GLEW_GET_FUN(__glewMultiTexGendEXT) +#define glMultiTexGendvEXT GLEW_GET_FUN(__glewMultiTexGendvEXT) +#define glMultiTexGenfEXT GLEW_GET_FUN(__glewMultiTexGenfEXT) +#define glMultiTexGenfvEXT GLEW_GET_FUN(__glewMultiTexGenfvEXT) +#define glMultiTexGeniEXT GLEW_GET_FUN(__glewMultiTexGeniEXT) +#define glMultiTexGenivEXT GLEW_GET_FUN(__glewMultiTexGenivEXT) +#define glMultiTexImage1DEXT GLEW_GET_FUN(__glewMultiTexImage1DEXT) +#define glMultiTexImage2DEXT GLEW_GET_FUN(__glewMultiTexImage2DEXT) +#define glMultiTexImage3DEXT GLEW_GET_FUN(__glewMultiTexImage3DEXT) +#define glMultiTexParameterIivEXT GLEW_GET_FUN(__glewMultiTexParameterIivEXT) +#define glMultiTexParameterIuivEXT GLEW_GET_FUN(__glewMultiTexParameterIuivEXT) +#define glMultiTexParameterfEXT GLEW_GET_FUN(__glewMultiTexParameterfEXT) +#define glMultiTexParameterfvEXT GLEW_GET_FUN(__glewMultiTexParameterfvEXT) +#define glMultiTexParameteriEXT GLEW_GET_FUN(__glewMultiTexParameteriEXT) +#define glMultiTexParameterivEXT GLEW_GET_FUN(__glewMultiTexParameterivEXT) +#define glMultiTexRenderbufferEXT GLEW_GET_FUN(__glewMultiTexRenderbufferEXT) +#define glMultiTexSubImage1DEXT GLEW_GET_FUN(__glewMultiTexSubImage1DEXT) +#define glMultiTexSubImage2DEXT GLEW_GET_FUN(__glewMultiTexSubImage2DEXT) +#define glMultiTexSubImage3DEXT GLEW_GET_FUN(__glewMultiTexSubImage3DEXT) +#define glNamedBufferDataEXT GLEW_GET_FUN(__glewNamedBufferDataEXT) +#define glNamedBufferSubDataEXT GLEW_GET_FUN(__glewNamedBufferSubDataEXT) +#define glNamedCopyBufferSubDataEXT GLEW_GET_FUN(__glewNamedCopyBufferSubDataEXT) +#define glNamedFramebufferRenderbufferEXT GLEW_GET_FUN(__glewNamedFramebufferRenderbufferEXT) +#define glNamedFramebufferTexture1DEXT GLEW_GET_FUN(__glewNamedFramebufferTexture1DEXT) +#define glNamedFramebufferTexture2DEXT GLEW_GET_FUN(__glewNamedFramebufferTexture2DEXT) +#define glNamedFramebufferTexture3DEXT GLEW_GET_FUN(__glewNamedFramebufferTexture3DEXT) +#define glNamedFramebufferTextureEXT GLEW_GET_FUN(__glewNamedFramebufferTextureEXT) +#define glNamedFramebufferTextureFaceEXT GLEW_GET_FUN(__glewNamedFramebufferTextureFaceEXT) +#define glNamedFramebufferTextureLayerEXT GLEW_GET_FUN(__glewNamedFramebufferTextureLayerEXT) +#define glNamedProgramLocalParameter4dEXT GLEW_GET_FUN(__glewNamedProgramLocalParameter4dEXT) +#define glNamedProgramLocalParameter4dvEXT GLEW_GET_FUN(__glewNamedProgramLocalParameter4dvEXT) +#define glNamedProgramLocalParameter4fEXT GLEW_GET_FUN(__glewNamedProgramLocalParameter4fEXT) +#define glNamedProgramLocalParameter4fvEXT GLEW_GET_FUN(__glewNamedProgramLocalParameter4fvEXT) +#define glNamedProgramLocalParameterI4iEXT GLEW_GET_FUN(__glewNamedProgramLocalParameterI4iEXT) +#define glNamedProgramLocalParameterI4ivEXT GLEW_GET_FUN(__glewNamedProgramLocalParameterI4ivEXT) +#define glNamedProgramLocalParameterI4uiEXT GLEW_GET_FUN(__glewNamedProgramLocalParameterI4uiEXT) +#define glNamedProgramLocalParameterI4uivEXT GLEW_GET_FUN(__glewNamedProgramLocalParameterI4uivEXT) +#define glNamedProgramLocalParameters4fvEXT GLEW_GET_FUN(__glewNamedProgramLocalParameters4fvEXT) +#define glNamedProgramLocalParametersI4ivEXT GLEW_GET_FUN(__glewNamedProgramLocalParametersI4ivEXT) +#define glNamedProgramLocalParametersI4uivEXT GLEW_GET_FUN(__glewNamedProgramLocalParametersI4uivEXT) +#define glNamedProgramStringEXT GLEW_GET_FUN(__glewNamedProgramStringEXT) +#define glNamedRenderbufferStorageEXT GLEW_GET_FUN(__glewNamedRenderbufferStorageEXT) +#define glNamedRenderbufferStorageMultisampleCoverageEXT GLEW_GET_FUN(__glewNamedRenderbufferStorageMultisampleCoverageEXT) +#define glNamedRenderbufferStorageMultisampleEXT GLEW_GET_FUN(__glewNamedRenderbufferStorageMultisampleEXT) +#define glProgramUniform1fEXT GLEW_GET_FUN(__glewProgramUniform1fEXT) +#define glProgramUniform1fvEXT GLEW_GET_FUN(__glewProgramUniform1fvEXT) +#define glProgramUniform1iEXT GLEW_GET_FUN(__glewProgramUniform1iEXT) +#define glProgramUniform1ivEXT GLEW_GET_FUN(__glewProgramUniform1ivEXT) +#define glProgramUniform1uiEXT GLEW_GET_FUN(__glewProgramUniform1uiEXT) +#define glProgramUniform1uivEXT GLEW_GET_FUN(__glewProgramUniform1uivEXT) +#define glProgramUniform2fEXT GLEW_GET_FUN(__glewProgramUniform2fEXT) +#define glProgramUniform2fvEXT GLEW_GET_FUN(__glewProgramUniform2fvEXT) +#define glProgramUniform2iEXT GLEW_GET_FUN(__glewProgramUniform2iEXT) +#define glProgramUniform2ivEXT GLEW_GET_FUN(__glewProgramUniform2ivEXT) +#define glProgramUniform2uiEXT GLEW_GET_FUN(__glewProgramUniform2uiEXT) +#define glProgramUniform2uivEXT GLEW_GET_FUN(__glewProgramUniform2uivEXT) +#define glProgramUniform3fEXT GLEW_GET_FUN(__glewProgramUniform3fEXT) +#define glProgramUniform3fvEXT GLEW_GET_FUN(__glewProgramUniform3fvEXT) +#define glProgramUniform3iEXT GLEW_GET_FUN(__glewProgramUniform3iEXT) +#define glProgramUniform3ivEXT GLEW_GET_FUN(__glewProgramUniform3ivEXT) +#define glProgramUniform3uiEXT GLEW_GET_FUN(__glewProgramUniform3uiEXT) +#define glProgramUniform3uivEXT GLEW_GET_FUN(__glewProgramUniform3uivEXT) +#define glProgramUniform4fEXT GLEW_GET_FUN(__glewProgramUniform4fEXT) +#define glProgramUniform4fvEXT GLEW_GET_FUN(__glewProgramUniform4fvEXT) +#define glProgramUniform4iEXT GLEW_GET_FUN(__glewProgramUniform4iEXT) +#define glProgramUniform4ivEXT GLEW_GET_FUN(__glewProgramUniform4ivEXT) +#define glProgramUniform4uiEXT GLEW_GET_FUN(__glewProgramUniform4uiEXT) +#define glProgramUniform4uivEXT GLEW_GET_FUN(__glewProgramUniform4uivEXT) +#define glProgramUniformMatrix2fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2fvEXT) +#define glProgramUniformMatrix2x3fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2x3fvEXT) +#define glProgramUniformMatrix2x4fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix2x4fvEXT) +#define glProgramUniformMatrix3fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3fvEXT) +#define glProgramUniformMatrix3x2fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3x2fvEXT) +#define glProgramUniformMatrix3x4fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix3x4fvEXT) +#define glProgramUniformMatrix4fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4fvEXT) +#define glProgramUniformMatrix4x2fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4x2fvEXT) +#define glProgramUniformMatrix4x3fvEXT GLEW_GET_FUN(__glewProgramUniformMatrix4x3fvEXT) +#define glPushClientAttribDefaultEXT GLEW_GET_FUN(__glewPushClientAttribDefaultEXT) +#define glTextureBufferEXT GLEW_GET_FUN(__glewTextureBufferEXT) +#define glTextureImage1DEXT GLEW_GET_FUN(__glewTextureImage1DEXT) +#define glTextureImage2DEXT GLEW_GET_FUN(__glewTextureImage2DEXT) +#define glTextureImage3DEXT GLEW_GET_FUN(__glewTextureImage3DEXT) +#define glTextureParameterIivEXT GLEW_GET_FUN(__glewTextureParameterIivEXT) +#define glTextureParameterIuivEXT GLEW_GET_FUN(__glewTextureParameterIuivEXT) +#define glTextureParameterfEXT GLEW_GET_FUN(__glewTextureParameterfEXT) +#define glTextureParameterfvEXT GLEW_GET_FUN(__glewTextureParameterfvEXT) +#define glTextureParameteriEXT GLEW_GET_FUN(__glewTextureParameteriEXT) +#define glTextureParameterivEXT GLEW_GET_FUN(__glewTextureParameterivEXT) +#define glTextureRenderbufferEXT GLEW_GET_FUN(__glewTextureRenderbufferEXT) +#define glTextureSubImage1DEXT GLEW_GET_FUN(__glewTextureSubImage1DEXT) +#define glTextureSubImage2DEXT GLEW_GET_FUN(__glewTextureSubImage2DEXT) +#define glTextureSubImage3DEXT GLEW_GET_FUN(__glewTextureSubImage3DEXT) +#define glUnmapNamedBufferEXT GLEW_GET_FUN(__glewUnmapNamedBufferEXT) +#define glVertexArrayColorOffsetEXT GLEW_GET_FUN(__glewVertexArrayColorOffsetEXT) +#define glVertexArrayEdgeFlagOffsetEXT GLEW_GET_FUN(__glewVertexArrayEdgeFlagOffsetEXT) +#define glVertexArrayFogCoordOffsetEXT GLEW_GET_FUN(__glewVertexArrayFogCoordOffsetEXT) +#define glVertexArrayIndexOffsetEXT GLEW_GET_FUN(__glewVertexArrayIndexOffsetEXT) +#define glVertexArrayMultiTexCoordOffsetEXT GLEW_GET_FUN(__glewVertexArrayMultiTexCoordOffsetEXT) +#define glVertexArrayNormalOffsetEXT GLEW_GET_FUN(__glewVertexArrayNormalOffsetEXT) +#define glVertexArraySecondaryColorOffsetEXT GLEW_GET_FUN(__glewVertexArraySecondaryColorOffsetEXT) +#define glVertexArrayTexCoordOffsetEXT GLEW_GET_FUN(__glewVertexArrayTexCoordOffsetEXT) +#define glVertexArrayVertexAttribIOffsetEXT GLEW_GET_FUN(__glewVertexArrayVertexAttribIOffsetEXT) +#define glVertexArrayVertexAttribOffsetEXT GLEW_GET_FUN(__glewVertexArrayVertexAttribOffsetEXT) +#define glVertexArrayVertexOffsetEXT GLEW_GET_FUN(__glewVertexArrayVertexOffsetEXT) + +#define GLEW_EXT_direct_state_access GLEW_GET_VAR(__GLEW_EXT_direct_state_access) + +#endif /* GL_EXT_direct_state_access */ + +/* -------------------------- GL_EXT_draw_buffers2 ------------------------- */ + +#ifndef GL_EXT_draw_buffers2 +#define GL_EXT_draw_buffers2 1 + +typedef void (GLAPIENTRY * PFNGLCOLORMASKINDEXEDEXTPROC) (GLuint buf, GLboolean r, GLboolean g, GLboolean b, GLboolean a); +typedef void (GLAPIENTRY * PFNGLDISABLEINDEXEDEXTPROC) (GLenum target, GLuint index); +typedef void (GLAPIENTRY * PFNGLENABLEINDEXEDEXTPROC) (GLenum target, GLuint index); +typedef void (GLAPIENTRY * PFNGLGETBOOLEANINDEXEDVEXTPROC) (GLenum value, GLuint index, GLboolean* data); +typedef void (GLAPIENTRY * PFNGLGETINTEGERINDEXEDVEXTPROC) (GLenum value, GLuint index, GLint* data); +typedef GLboolean (GLAPIENTRY * PFNGLISENABLEDINDEXEDEXTPROC) (GLenum target, GLuint index); + +#define glColorMaskIndexedEXT GLEW_GET_FUN(__glewColorMaskIndexedEXT) +#define glDisableIndexedEXT GLEW_GET_FUN(__glewDisableIndexedEXT) +#define glEnableIndexedEXT GLEW_GET_FUN(__glewEnableIndexedEXT) +#define glGetBooleanIndexedvEXT GLEW_GET_FUN(__glewGetBooleanIndexedvEXT) +#define glGetIntegerIndexedvEXT GLEW_GET_FUN(__glewGetIntegerIndexedvEXT) +#define glIsEnabledIndexedEXT GLEW_GET_FUN(__glewIsEnabledIndexedEXT) + +#define GLEW_EXT_draw_buffers2 GLEW_GET_VAR(__GLEW_EXT_draw_buffers2) + +#endif /* GL_EXT_draw_buffers2 */ + +/* ------------------------- GL_EXT_draw_instanced ------------------------- */ + +#ifndef GL_EXT_draw_instanced +#define GL_EXT_draw_instanced 1 + +typedef void (GLAPIENTRY * PFNGLDRAWARRAYSINSTANCEDEXTPROC) (GLenum mode, GLint start, GLsizei count, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLDRAWELEMENTSINSTANCEDEXTPROC) (GLenum mode, GLsizei count, GLenum type, const GLvoid *indices, GLsizei primcount); + +#define glDrawArraysInstancedEXT GLEW_GET_FUN(__glewDrawArraysInstancedEXT) +#define glDrawElementsInstancedEXT GLEW_GET_FUN(__glewDrawElementsInstancedEXT) + +#define GLEW_EXT_draw_instanced GLEW_GET_VAR(__GLEW_EXT_draw_instanced) + +#endif /* GL_EXT_draw_instanced */ + +/* ----------------------- GL_EXT_draw_range_elements ---------------------- */ + +#ifndef GL_EXT_draw_range_elements +#define GL_EXT_draw_range_elements 1 + +#define GL_MAX_ELEMENTS_VERTICES_EXT 0x80E8 +#define GL_MAX_ELEMENTS_INDICES_EXT 0x80E9 + +typedef void (GLAPIENTRY * PFNGLDRAWRANGEELEMENTSEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); + +#define glDrawRangeElementsEXT GLEW_GET_FUN(__glewDrawRangeElementsEXT) + +#define GLEW_EXT_draw_range_elements GLEW_GET_VAR(__GLEW_EXT_draw_range_elements) + +#endif /* GL_EXT_draw_range_elements */ + +/* ---------------------------- GL_EXT_fog_coord --------------------------- */ + +#ifndef GL_EXT_fog_coord +#define GL_EXT_fog_coord 1 + +#define GL_FOG_COORDINATE_SOURCE_EXT 0x8450 +#define GL_FOG_COORDINATE_EXT 0x8451 +#define GL_FRAGMENT_DEPTH_EXT 0x8452 +#define GL_CURRENT_FOG_COORDINATE_EXT 0x8453 +#define GL_FOG_COORDINATE_ARRAY_TYPE_EXT 0x8454 +#define GL_FOG_COORDINATE_ARRAY_STRIDE_EXT 0x8455 +#define GL_FOG_COORDINATE_ARRAY_POINTER_EXT 0x8456 +#define GL_FOG_COORDINATE_ARRAY_EXT 0x8457 + +typedef void (GLAPIENTRY * PFNGLFOGCOORDPOINTEREXTPROC) (GLenum type, GLsizei stride, const GLvoid *pointer); +typedef void (GLAPIENTRY * PFNGLFOGCOORDDEXTPROC) (GLdouble coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDDVEXTPROC) (const GLdouble *coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDFEXTPROC) (GLfloat coord); +typedef void (GLAPIENTRY * PFNGLFOGCOORDFVEXTPROC) (const GLfloat *coord); + +#define glFogCoordPointerEXT GLEW_GET_FUN(__glewFogCoordPointerEXT) +#define glFogCoorddEXT GLEW_GET_FUN(__glewFogCoorddEXT) +#define glFogCoorddvEXT GLEW_GET_FUN(__glewFogCoorddvEXT) +#define glFogCoordfEXT GLEW_GET_FUN(__glewFogCoordfEXT) +#define glFogCoordfvEXT GLEW_GET_FUN(__glewFogCoordfvEXT) + +#define GLEW_EXT_fog_coord GLEW_GET_VAR(__GLEW_EXT_fog_coord) + +#endif /* GL_EXT_fog_coord */ + +/* ------------------------ GL_EXT_fragment_lighting ----------------------- */ + +#ifndef GL_EXT_fragment_lighting +#define GL_EXT_fragment_lighting 1 + +#define GL_FRAGMENT_LIGHTING_EXT 0x8400 +#define GL_FRAGMENT_COLOR_MATERIAL_EXT 0x8401 +#define GL_FRAGMENT_COLOR_MATERIAL_FACE_EXT 0x8402 +#define GL_FRAGMENT_COLOR_MATERIAL_PARAMETER_EXT 0x8403 +#define GL_MAX_FRAGMENT_LIGHTS_EXT 0x8404 +#define GL_MAX_ACTIVE_LIGHTS_EXT 0x8405 +#define GL_CURRENT_RASTER_NORMAL_EXT 0x8406 +#define GL_LIGHT_ENV_MODE_EXT 0x8407 +#define GL_FRAGMENT_LIGHT_MODEL_LOCAL_VIEWER_EXT 0x8408 +#define GL_FRAGMENT_LIGHT_MODEL_TWO_SIDE_EXT 0x8409 +#define GL_FRAGMENT_LIGHT_MODEL_AMBIENT_EXT 0x840A +#define GL_FRAGMENT_LIGHT_MODEL_NORMAL_INTERPOLATION_EXT 0x840B +#define GL_FRAGMENT_LIGHT0_EXT 0x840C +#define GL_FRAGMENT_LIGHT7_EXT 0x8413 + +typedef void (GLAPIENTRY * PFNGLFRAGMENTCOLORMATERIALEXTPROC) (GLenum face, GLenum mode); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELFEXTPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELFVEXTPROC) (GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELIEXTPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELIVEXTPROC) (GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTFEXTPROC) (GLenum light, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTFVEXTPROC) (GLenum light, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTIEXTPROC) (GLenum light, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTIVEXTPROC) (GLenum light, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALFEXTPROC) (GLenum face, GLenum pname, const GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALFVEXTPROC) (GLenum face, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALIEXTPROC) (GLenum face, GLenum pname, const GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALIVEXTPROC) (GLenum face, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTLIGHTFVEXTPROC) (GLenum light, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTLIGHTIVEXTPROC) (GLenum light, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTMATERIALFVEXTPROC) (GLenum face, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTMATERIALIVEXTPROC) (GLenum face, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLLIGHTENVIEXTPROC) (GLenum pname, GLint param); + +#define glFragmentColorMaterialEXT GLEW_GET_FUN(__glewFragmentColorMaterialEXT) +#define glFragmentLightModelfEXT GLEW_GET_FUN(__glewFragmentLightModelfEXT) +#define glFragmentLightModelfvEXT GLEW_GET_FUN(__glewFragmentLightModelfvEXT) +#define glFragmentLightModeliEXT GLEW_GET_FUN(__glewFragmentLightModeliEXT) +#define glFragmentLightModelivEXT GLEW_GET_FUN(__glewFragmentLightModelivEXT) +#define glFragmentLightfEXT GLEW_GET_FUN(__glewFragmentLightfEXT) +#define glFragmentLightfvEXT GLEW_GET_FUN(__glewFragmentLightfvEXT) +#define glFragmentLightiEXT GLEW_GET_FUN(__glewFragmentLightiEXT) +#define glFragmentLightivEXT GLEW_GET_FUN(__glewFragmentLightivEXT) +#define glFragmentMaterialfEXT GLEW_GET_FUN(__glewFragmentMaterialfEXT) +#define glFragmentMaterialfvEXT GLEW_GET_FUN(__glewFragmentMaterialfvEXT) +#define glFragmentMaterialiEXT GLEW_GET_FUN(__glewFragmentMaterialiEXT) +#define glFragmentMaterialivEXT GLEW_GET_FUN(__glewFragmentMaterialivEXT) +#define glGetFragmentLightfvEXT GLEW_GET_FUN(__glewGetFragmentLightfvEXT) +#define glGetFragmentLightivEXT GLEW_GET_FUN(__glewGetFragmentLightivEXT) +#define glGetFragmentMaterialfvEXT GLEW_GET_FUN(__glewGetFragmentMaterialfvEXT) +#define glGetFragmentMaterialivEXT GLEW_GET_FUN(__glewGetFragmentMaterialivEXT) +#define glLightEnviEXT GLEW_GET_FUN(__glewLightEnviEXT) + +#define GLEW_EXT_fragment_lighting GLEW_GET_VAR(__GLEW_EXT_fragment_lighting) + +#endif /* GL_EXT_fragment_lighting */ + +/* ------------------------ GL_EXT_framebuffer_blit ------------------------ */ + +#ifndef GL_EXT_framebuffer_blit +#define GL_EXT_framebuffer_blit 1 + +#define GL_DRAW_FRAMEBUFFER_BINDING_EXT 0x8CA6 +#define GL_READ_FRAMEBUFFER_EXT 0x8CA8 +#define GL_DRAW_FRAMEBUFFER_EXT 0x8CA9 +#define GL_READ_FRAMEBUFFER_BINDING_EXT 0x8CAA + +typedef void (GLAPIENTRY * PFNGLBLITFRAMEBUFFEREXTPROC) (GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); + +#define glBlitFramebufferEXT GLEW_GET_FUN(__glewBlitFramebufferEXT) + +#define GLEW_EXT_framebuffer_blit GLEW_GET_VAR(__GLEW_EXT_framebuffer_blit) + +#endif /* GL_EXT_framebuffer_blit */ + +/* --------------------- GL_EXT_framebuffer_multisample -------------------- */ + +#ifndef GL_EXT_framebuffer_multisample +#define GL_EXT_framebuffer_multisample 1 + +#define GL_RENDERBUFFER_SAMPLES_EXT 0x8CAB +#define GL_FRAMEBUFFER_INCOMPLETE_MULTISAMPLE_EXT 0x8D56 +#define GL_MAX_SAMPLES_EXT 0x8D57 + +typedef void (GLAPIENTRY * PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC) (GLenum target, GLsizei samples, GLenum internalformat, GLsizei width, GLsizei height); + +#define glRenderbufferStorageMultisampleEXT GLEW_GET_FUN(__glewRenderbufferStorageMultisampleEXT) + +#define GLEW_EXT_framebuffer_multisample GLEW_GET_VAR(__GLEW_EXT_framebuffer_multisample) + +#endif /* GL_EXT_framebuffer_multisample */ + +/* ----------------------- GL_EXT_framebuffer_object ----------------------- */ + +#ifndef GL_EXT_framebuffer_object +#define GL_EXT_framebuffer_object 1 + +#define GL_INVALID_FRAMEBUFFER_OPERATION_EXT 0x0506 +#define GL_MAX_RENDERBUFFER_SIZE_EXT 0x84E8 +#define GL_FRAMEBUFFER_BINDING_EXT 0x8CA6 +#define GL_RENDERBUFFER_BINDING_EXT 0x8CA7 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_TYPE_EXT 0x8CD0 +#define GL_FRAMEBUFFER_ATTACHMENT_OBJECT_NAME_EXT 0x8CD1 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LEVEL_EXT 0x8CD2 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_CUBE_MAP_FACE_EXT 0x8CD3 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_3D_ZOFFSET_EXT 0x8CD4 +#define GL_FRAMEBUFFER_COMPLETE_EXT 0x8CD5 +#define GL_FRAMEBUFFER_INCOMPLETE_ATTACHMENT_EXT 0x8CD6 +#define GL_FRAMEBUFFER_INCOMPLETE_MISSING_ATTACHMENT_EXT 0x8CD7 +#define GL_FRAMEBUFFER_INCOMPLETE_DIMENSIONS_EXT 0x8CD9 +#define GL_FRAMEBUFFER_INCOMPLETE_FORMATS_EXT 0x8CDA +#define GL_FRAMEBUFFER_INCOMPLETE_DRAW_BUFFER_EXT 0x8CDB +#define GL_FRAMEBUFFER_INCOMPLETE_READ_BUFFER_EXT 0x8CDC +#define GL_FRAMEBUFFER_UNSUPPORTED_EXT 0x8CDD +#define GL_MAX_COLOR_ATTACHMENTS_EXT 0x8CDF +#define GL_COLOR_ATTACHMENT0_EXT 0x8CE0 +#define GL_COLOR_ATTACHMENT1_EXT 0x8CE1 +#define GL_COLOR_ATTACHMENT2_EXT 0x8CE2 +#define GL_COLOR_ATTACHMENT3_EXT 0x8CE3 +#define GL_COLOR_ATTACHMENT4_EXT 0x8CE4 +#define GL_COLOR_ATTACHMENT5_EXT 0x8CE5 +#define GL_COLOR_ATTACHMENT6_EXT 0x8CE6 +#define GL_COLOR_ATTACHMENT7_EXT 0x8CE7 +#define GL_COLOR_ATTACHMENT8_EXT 0x8CE8 +#define GL_COLOR_ATTACHMENT9_EXT 0x8CE9 +#define GL_COLOR_ATTACHMENT10_EXT 0x8CEA +#define GL_COLOR_ATTACHMENT11_EXT 0x8CEB +#define GL_COLOR_ATTACHMENT12_EXT 0x8CEC +#define GL_COLOR_ATTACHMENT13_EXT 0x8CED +#define GL_COLOR_ATTACHMENT14_EXT 0x8CEE +#define GL_COLOR_ATTACHMENT15_EXT 0x8CEF +#define GL_DEPTH_ATTACHMENT_EXT 0x8D00 +#define GL_STENCIL_ATTACHMENT_EXT 0x8D20 +#define GL_FRAMEBUFFER_EXT 0x8D40 +#define GL_RENDERBUFFER_EXT 0x8D41 +#define GL_RENDERBUFFER_WIDTH_EXT 0x8D42 +#define GL_RENDERBUFFER_HEIGHT_EXT 0x8D43 +#define GL_RENDERBUFFER_INTERNAL_FORMAT_EXT 0x8D44 +#define GL_STENCIL_INDEX1_EXT 0x8D46 +#define GL_STENCIL_INDEX4_EXT 0x8D47 +#define GL_STENCIL_INDEX8_EXT 0x8D48 +#define GL_STENCIL_INDEX16_EXT 0x8D49 +#define GL_RENDERBUFFER_RED_SIZE_EXT 0x8D50 +#define GL_RENDERBUFFER_GREEN_SIZE_EXT 0x8D51 +#define GL_RENDERBUFFER_BLUE_SIZE_EXT 0x8D52 +#define GL_RENDERBUFFER_ALPHA_SIZE_EXT 0x8D53 +#define GL_RENDERBUFFER_DEPTH_SIZE_EXT 0x8D54 +#define GL_RENDERBUFFER_STENCIL_SIZE_EXT 0x8D55 + +typedef void (GLAPIENTRY * PFNGLBINDFRAMEBUFFEREXTPROC) (GLenum target, GLuint framebuffer); +typedef void (GLAPIENTRY * PFNGLBINDRENDERBUFFEREXTPROC) (GLenum target, GLuint renderbuffer); +typedef GLenum (GLAPIENTRY * PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLDELETEFRAMEBUFFERSEXTPROC) (GLsizei n, const GLuint* framebuffers); +typedef void (GLAPIENTRY * PFNGLDELETERENDERBUFFERSEXTPROC) (GLsizei n, const GLuint* renderbuffers); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC) (GLenum target, GLenum attachment, GLenum renderbuffertarget, GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE1DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE2DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURE3DEXTPROC) (GLenum target, GLenum attachment, GLenum textarget, GLuint texture, GLint level, GLint zoffset); +typedef void (GLAPIENTRY * PFNGLGENFRAMEBUFFERSEXTPROC) (GLsizei n, GLuint* framebuffers); +typedef void (GLAPIENTRY * PFNGLGENRENDERBUFFERSEXTPROC) (GLsizei n, GLuint* renderbuffers); +typedef void (GLAPIENTRY * PFNGLGENERATEMIPMAPEXTPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC) (GLenum target, GLenum attachment, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISFRAMEBUFFEREXTPROC) (GLuint framebuffer); +typedef GLboolean (GLAPIENTRY * PFNGLISRENDERBUFFEREXTPROC) (GLuint renderbuffer); +typedef void (GLAPIENTRY * PFNGLRENDERBUFFERSTORAGEEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height); + +#define glBindFramebufferEXT GLEW_GET_FUN(__glewBindFramebufferEXT) +#define glBindRenderbufferEXT GLEW_GET_FUN(__glewBindRenderbufferEXT) +#define glCheckFramebufferStatusEXT GLEW_GET_FUN(__glewCheckFramebufferStatusEXT) +#define glDeleteFramebuffersEXT GLEW_GET_FUN(__glewDeleteFramebuffersEXT) +#define glDeleteRenderbuffersEXT GLEW_GET_FUN(__glewDeleteRenderbuffersEXT) +#define glFramebufferRenderbufferEXT GLEW_GET_FUN(__glewFramebufferRenderbufferEXT) +#define glFramebufferTexture1DEXT GLEW_GET_FUN(__glewFramebufferTexture1DEXT) +#define glFramebufferTexture2DEXT GLEW_GET_FUN(__glewFramebufferTexture2DEXT) +#define glFramebufferTexture3DEXT GLEW_GET_FUN(__glewFramebufferTexture3DEXT) +#define glGenFramebuffersEXT GLEW_GET_FUN(__glewGenFramebuffersEXT) +#define glGenRenderbuffersEXT GLEW_GET_FUN(__glewGenRenderbuffersEXT) +#define glGenerateMipmapEXT GLEW_GET_FUN(__glewGenerateMipmapEXT) +#define glGetFramebufferAttachmentParameterivEXT GLEW_GET_FUN(__glewGetFramebufferAttachmentParameterivEXT) +#define glGetRenderbufferParameterivEXT GLEW_GET_FUN(__glewGetRenderbufferParameterivEXT) +#define glIsFramebufferEXT GLEW_GET_FUN(__glewIsFramebufferEXT) +#define glIsRenderbufferEXT GLEW_GET_FUN(__glewIsRenderbufferEXT) +#define glRenderbufferStorageEXT GLEW_GET_FUN(__glewRenderbufferStorageEXT) + +#define GLEW_EXT_framebuffer_object GLEW_GET_VAR(__GLEW_EXT_framebuffer_object) + +#endif /* GL_EXT_framebuffer_object */ + +/* ------------------------ GL_EXT_framebuffer_sRGB ------------------------ */ + +#ifndef GL_EXT_framebuffer_sRGB +#define GL_EXT_framebuffer_sRGB 1 + +#define GL_FRAMEBUFFER_SRGB_EXT 0x8DB9 +#define GL_FRAMEBUFFER_SRGB_CAPABLE_EXT 0x8DBA + +#define GLEW_EXT_framebuffer_sRGB GLEW_GET_VAR(__GLEW_EXT_framebuffer_sRGB) + +#endif /* GL_EXT_framebuffer_sRGB */ + +/* ------------------------ GL_EXT_geometry_shader4 ------------------------ */ + +#ifndef GL_EXT_geometry_shader4 +#define GL_EXT_geometry_shader4 1 + +#define GL_LINES_ADJACENCY_EXT 0xA +#define GL_LINE_STRIP_ADJACENCY_EXT 0xB +#define GL_TRIANGLES_ADJACENCY_EXT 0xC +#define GL_TRIANGLE_STRIP_ADJACENCY_EXT 0xD +#define GL_PROGRAM_POINT_SIZE_EXT 0x8642 +#define GL_MAX_VARYING_COMPONENTS_EXT 0x8B4B +#define GL_MAX_GEOMETRY_TEXTURE_IMAGE_UNITS_EXT 0x8C29 +#define GL_FRAMEBUFFER_ATTACHMENT_TEXTURE_LAYER_EXT 0x8CD4 +#define GL_FRAMEBUFFER_ATTACHMENT_LAYERED_EXT 0x8DA7 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_TARGETS_EXT 0x8DA8 +#define GL_FRAMEBUFFER_INCOMPLETE_LAYER_COUNT_EXT 0x8DA9 +#define GL_GEOMETRY_SHADER_EXT 0x8DD9 +#define GL_GEOMETRY_VERTICES_OUT_EXT 0x8DDA +#define GL_GEOMETRY_INPUT_TYPE_EXT 0x8DDB +#define GL_GEOMETRY_OUTPUT_TYPE_EXT 0x8DDC +#define GL_MAX_GEOMETRY_VARYING_COMPONENTS_EXT 0x8DDD +#define GL_MAX_VERTEX_VARYING_COMPONENTS_EXT 0x8DDE +#define GL_MAX_GEOMETRY_UNIFORM_COMPONENTS_EXT 0x8DDF +#define GL_MAX_GEOMETRY_OUTPUT_VERTICES_EXT 0x8DE0 +#define GL_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS_EXT 0x8DE1 + +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTUREEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level); +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTUREFACEEXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLenum face); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETERIEXTPROC) (GLuint program, GLenum pname, GLint value); + +#define glFramebufferTextureEXT GLEW_GET_FUN(__glewFramebufferTextureEXT) +#define glFramebufferTextureFaceEXT GLEW_GET_FUN(__glewFramebufferTextureFaceEXT) +#define glProgramParameteriEXT GLEW_GET_FUN(__glewProgramParameteriEXT) + +#define GLEW_EXT_geometry_shader4 GLEW_GET_VAR(__GLEW_EXT_geometry_shader4) + +#endif /* GL_EXT_geometry_shader4 */ + +/* --------------------- GL_EXT_gpu_program_parameters --------------------- */ + +#ifndef GL_EXT_gpu_program_parameters +#define GL_EXT_gpu_program_parameters 1 + +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERS4FVEXTPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat* params); + +#define glProgramEnvParameters4fvEXT GLEW_GET_FUN(__glewProgramEnvParameters4fvEXT) +#define glProgramLocalParameters4fvEXT GLEW_GET_FUN(__glewProgramLocalParameters4fvEXT) + +#define GLEW_EXT_gpu_program_parameters GLEW_GET_VAR(__GLEW_EXT_gpu_program_parameters) + +#endif /* GL_EXT_gpu_program_parameters */ + +/* --------------------------- GL_EXT_gpu_shader4 -------------------------- */ + +#ifndef GL_EXT_gpu_shader4 +#define GL_EXT_gpu_shader4 1 + +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_EXT 0x88FD +#define GL_SAMPLER_1D_ARRAY_EXT 0x8DC0 +#define GL_SAMPLER_2D_ARRAY_EXT 0x8DC1 +#define GL_SAMPLER_BUFFER_EXT 0x8DC2 +#define GL_SAMPLER_1D_ARRAY_SHADOW_EXT 0x8DC3 +#define GL_SAMPLER_2D_ARRAY_SHADOW_EXT 0x8DC4 +#define GL_SAMPLER_CUBE_SHADOW_EXT 0x8DC5 +#define GL_UNSIGNED_INT_VEC2_EXT 0x8DC6 +#define GL_UNSIGNED_INT_VEC3_EXT 0x8DC7 +#define GL_UNSIGNED_INT_VEC4_EXT 0x8DC8 +#define GL_INT_SAMPLER_1D_EXT 0x8DC9 +#define GL_INT_SAMPLER_2D_EXT 0x8DCA +#define GL_INT_SAMPLER_3D_EXT 0x8DCB +#define GL_INT_SAMPLER_CUBE_EXT 0x8DCC +#define GL_INT_SAMPLER_2D_RECT_EXT 0x8DCD +#define GL_INT_SAMPLER_1D_ARRAY_EXT 0x8DCE +#define GL_INT_SAMPLER_2D_ARRAY_EXT 0x8DCF +#define GL_INT_SAMPLER_BUFFER_EXT 0x8DD0 +#define GL_UNSIGNED_INT_SAMPLER_1D_EXT 0x8DD1 +#define GL_UNSIGNED_INT_SAMPLER_2D_EXT 0x8DD2 +#define GL_UNSIGNED_INT_SAMPLER_3D_EXT 0x8DD3 +#define GL_UNSIGNED_INT_SAMPLER_CUBE_EXT 0x8DD4 +#define GL_UNSIGNED_INT_SAMPLER_2D_RECT_EXT 0x8DD5 +#define GL_UNSIGNED_INT_SAMPLER_1D_ARRAY_EXT 0x8DD6 +#define GL_UNSIGNED_INT_SAMPLER_2D_ARRAY_EXT 0x8DD7 +#define GL_UNSIGNED_INT_SAMPLER_BUFFER_EXT 0x8DD8 + +typedef void (GLAPIENTRY * PFNGLBINDFRAGDATALOCATIONEXTPROC) (GLuint program, GLuint color, const GLchar *name); +typedef GLint (GLAPIENTRY * PFNGLGETFRAGDATALOCATIONEXTPROC) (GLuint program, const GLchar *name); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMUIVEXTPROC) (GLuint program, GLint location, GLuint *params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIIVEXTPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIUIVEXTPROC) (GLuint index, GLenum pname, GLuint *params); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UIEXTPROC) (GLint location, GLuint v0); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UIEXTPROC) (GLint location, GLuint v0, GLuint v1); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UIEXTPROC) (GLint location, GLuint v0, GLuint v1, GLuint v2, GLuint v3); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UIVEXTPROC) (GLint location, GLsizei count, const GLuint *value); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1IEXTPROC) (GLuint index, GLint x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1IVEXTPROC) (GLuint index, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1UIEXTPROC) (GLuint index, GLuint x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI1UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2IEXTPROC) (GLuint index, GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2IVEXTPROC) (GLuint index, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2UIEXTPROC) (GLuint index, GLuint x, GLuint y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI2UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3IEXTPROC) (GLuint index, GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3IVEXTPROC) (GLuint index, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI3UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4BVEXTPROC) (GLuint index, const GLbyte *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4IEXTPROC) (GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4IVEXTPROC) (GLuint index, const GLint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4SVEXTPROC) (GLuint index, const GLshort *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UBVEXTPROC) (GLuint index, const GLubyte *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UIEXTPROC) (GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4UIVEXTPROC) (GLuint index, const GLuint *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBI4USVEXTPROC) (GLuint index, const GLushort *v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBIPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); + +#define glBindFragDataLocationEXT GLEW_GET_FUN(__glewBindFragDataLocationEXT) +#define glGetFragDataLocationEXT GLEW_GET_FUN(__glewGetFragDataLocationEXT) +#define glGetUniformuivEXT GLEW_GET_FUN(__glewGetUniformuivEXT) +#define glGetVertexAttribIivEXT GLEW_GET_FUN(__glewGetVertexAttribIivEXT) +#define glGetVertexAttribIuivEXT GLEW_GET_FUN(__glewGetVertexAttribIuivEXT) +#define glUniform1uiEXT GLEW_GET_FUN(__glewUniform1uiEXT) +#define glUniform1uivEXT GLEW_GET_FUN(__glewUniform1uivEXT) +#define glUniform2uiEXT GLEW_GET_FUN(__glewUniform2uiEXT) +#define glUniform2uivEXT GLEW_GET_FUN(__glewUniform2uivEXT) +#define glUniform3uiEXT GLEW_GET_FUN(__glewUniform3uiEXT) +#define glUniform3uivEXT GLEW_GET_FUN(__glewUniform3uivEXT) +#define glUniform4uiEXT GLEW_GET_FUN(__glewUniform4uiEXT) +#define glUniform4uivEXT GLEW_GET_FUN(__glewUniform4uivEXT) +#define glVertexAttribI1iEXT GLEW_GET_FUN(__glewVertexAttribI1iEXT) +#define glVertexAttribI1ivEXT GLEW_GET_FUN(__glewVertexAttribI1ivEXT) +#define glVertexAttribI1uiEXT GLEW_GET_FUN(__glewVertexAttribI1uiEXT) +#define glVertexAttribI1uivEXT GLEW_GET_FUN(__glewVertexAttribI1uivEXT) +#define glVertexAttribI2iEXT GLEW_GET_FUN(__glewVertexAttribI2iEXT) +#define glVertexAttribI2ivEXT GLEW_GET_FUN(__glewVertexAttribI2ivEXT) +#define glVertexAttribI2uiEXT GLEW_GET_FUN(__glewVertexAttribI2uiEXT) +#define glVertexAttribI2uivEXT GLEW_GET_FUN(__glewVertexAttribI2uivEXT) +#define glVertexAttribI3iEXT GLEW_GET_FUN(__glewVertexAttribI3iEXT) +#define glVertexAttribI3ivEXT GLEW_GET_FUN(__glewVertexAttribI3ivEXT) +#define glVertexAttribI3uiEXT GLEW_GET_FUN(__glewVertexAttribI3uiEXT) +#define glVertexAttribI3uivEXT GLEW_GET_FUN(__glewVertexAttribI3uivEXT) +#define glVertexAttribI4bvEXT GLEW_GET_FUN(__glewVertexAttribI4bvEXT) +#define glVertexAttribI4iEXT GLEW_GET_FUN(__glewVertexAttribI4iEXT) +#define glVertexAttribI4ivEXT GLEW_GET_FUN(__glewVertexAttribI4ivEXT) +#define glVertexAttribI4svEXT GLEW_GET_FUN(__glewVertexAttribI4svEXT) +#define glVertexAttribI4ubvEXT GLEW_GET_FUN(__glewVertexAttribI4ubvEXT) +#define glVertexAttribI4uiEXT GLEW_GET_FUN(__glewVertexAttribI4uiEXT) +#define glVertexAttribI4uivEXT GLEW_GET_FUN(__glewVertexAttribI4uivEXT) +#define glVertexAttribI4usvEXT GLEW_GET_FUN(__glewVertexAttribI4usvEXT) +#define glVertexAttribIPointerEXT GLEW_GET_FUN(__glewVertexAttribIPointerEXT) + +#define GLEW_EXT_gpu_shader4 GLEW_GET_VAR(__GLEW_EXT_gpu_shader4) + +#endif /* GL_EXT_gpu_shader4 */ + +/* ---------------------------- GL_EXT_histogram --------------------------- */ + +#ifndef GL_EXT_histogram +#define GL_EXT_histogram 1 + +#define GL_HISTOGRAM_EXT 0x8024 +#define GL_PROXY_HISTOGRAM_EXT 0x8025 +#define GL_HISTOGRAM_WIDTH_EXT 0x8026 +#define GL_HISTOGRAM_FORMAT_EXT 0x8027 +#define GL_HISTOGRAM_RED_SIZE_EXT 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE_EXT 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE_EXT 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE_EXT 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE_EXT 0x802C +#define GL_HISTOGRAM_SINK_EXT 0x802D +#define GL_MINMAX_EXT 0x802E +#define GL_MINMAX_FORMAT_EXT 0x802F +#define GL_MINMAX_SINK_EXT 0x8030 + +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void* values); +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETHISTOGRAMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMINMAXEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, void* values); +typedef void (GLAPIENTRY * PFNGLGETMINMAXPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMINMAXPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLHISTOGRAMEXTPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (GLAPIENTRY * PFNGLMINMAXEXTPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (GLAPIENTRY * PFNGLRESETHISTOGRAMEXTPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLRESETMINMAXEXTPROC) (GLenum target); + +#define glGetHistogramEXT GLEW_GET_FUN(__glewGetHistogramEXT) +#define glGetHistogramParameterfvEXT GLEW_GET_FUN(__glewGetHistogramParameterfvEXT) +#define glGetHistogramParameterivEXT GLEW_GET_FUN(__glewGetHistogramParameterivEXT) +#define glGetMinmaxEXT GLEW_GET_FUN(__glewGetMinmaxEXT) +#define glGetMinmaxParameterfvEXT GLEW_GET_FUN(__glewGetMinmaxParameterfvEXT) +#define glGetMinmaxParameterivEXT GLEW_GET_FUN(__glewGetMinmaxParameterivEXT) +#define glHistogramEXT GLEW_GET_FUN(__glewHistogramEXT) +#define glMinmaxEXT GLEW_GET_FUN(__glewMinmaxEXT) +#define glResetHistogramEXT GLEW_GET_FUN(__glewResetHistogramEXT) +#define glResetMinmaxEXT GLEW_GET_FUN(__glewResetMinmaxEXT) + +#define GLEW_EXT_histogram GLEW_GET_VAR(__GLEW_EXT_histogram) + +#endif /* GL_EXT_histogram */ + +/* ----------------------- GL_EXT_index_array_formats ---------------------- */ + +#ifndef GL_EXT_index_array_formats +#define GL_EXT_index_array_formats 1 + +#define GLEW_EXT_index_array_formats GLEW_GET_VAR(__GLEW_EXT_index_array_formats) + +#endif /* GL_EXT_index_array_formats */ + +/* --------------------------- GL_EXT_index_func --------------------------- */ + +#ifndef GL_EXT_index_func +#define GL_EXT_index_func 1 + +typedef void (GLAPIENTRY * PFNGLINDEXFUNCEXTPROC) (GLenum func, GLfloat ref); + +#define glIndexFuncEXT GLEW_GET_FUN(__glewIndexFuncEXT) + +#define GLEW_EXT_index_func GLEW_GET_VAR(__GLEW_EXT_index_func) + +#endif /* GL_EXT_index_func */ + +/* ------------------------- GL_EXT_index_material ------------------------- */ + +#ifndef GL_EXT_index_material +#define GL_EXT_index_material 1 + +typedef void (GLAPIENTRY * PFNGLINDEXMATERIALEXTPROC) (GLenum face, GLenum mode); + +#define glIndexMaterialEXT GLEW_GET_FUN(__glewIndexMaterialEXT) + +#define GLEW_EXT_index_material GLEW_GET_VAR(__GLEW_EXT_index_material) + +#endif /* GL_EXT_index_material */ + +/* -------------------------- GL_EXT_index_texture ------------------------- */ + +#ifndef GL_EXT_index_texture +#define GL_EXT_index_texture 1 + +#define GLEW_EXT_index_texture GLEW_GET_VAR(__GLEW_EXT_index_texture) + +#endif /* GL_EXT_index_texture */ + +/* -------------------------- GL_EXT_light_texture ------------------------- */ + +#ifndef GL_EXT_light_texture +#define GL_EXT_light_texture 1 + +#define GL_FRAGMENT_MATERIAL_EXT 0x8349 +#define GL_FRAGMENT_NORMAL_EXT 0x834A +#define GL_FRAGMENT_COLOR_EXT 0x834C +#define GL_ATTENUATION_EXT 0x834D +#define GL_SHADOW_ATTENUATION_EXT 0x834E +#define GL_TEXTURE_APPLICATION_MODE_EXT 0x834F +#define GL_TEXTURE_LIGHT_EXT 0x8350 +#define GL_TEXTURE_MATERIAL_FACE_EXT 0x8351 +#define GL_TEXTURE_MATERIAL_PARAMETER_EXT 0x8352 +#define GL_FRAGMENT_DEPTH_EXT 0x8452 + +typedef void (GLAPIENTRY * PFNGLAPPLYTEXTUREEXTPROC) (GLenum mode); +typedef void (GLAPIENTRY * PFNGLTEXTURELIGHTEXTPROC) (GLenum pname); +typedef void (GLAPIENTRY * PFNGLTEXTUREMATERIALEXTPROC) (GLenum face, GLenum mode); + +#define glApplyTextureEXT GLEW_GET_FUN(__glewApplyTextureEXT) +#define glTextureLightEXT GLEW_GET_FUN(__glewTextureLightEXT) +#define glTextureMaterialEXT GLEW_GET_FUN(__glewTextureMaterialEXT) + +#define GLEW_EXT_light_texture GLEW_GET_VAR(__GLEW_EXT_light_texture) + +#endif /* GL_EXT_light_texture */ + +/* ------------------------- GL_EXT_misc_attribute ------------------------- */ + +#ifndef GL_EXT_misc_attribute +#define GL_EXT_misc_attribute 1 + +#define GLEW_EXT_misc_attribute GLEW_GET_VAR(__GLEW_EXT_misc_attribute) + +#endif /* GL_EXT_misc_attribute */ + +/* ------------------------ GL_EXT_multi_draw_arrays ----------------------- */ + +#ifndef GL_EXT_multi_draw_arrays +#define GL_EXT_multi_draw_arrays 1 + +typedef void (GLAPIENTRY * PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, const GLint* first, const GLsizei *count, GLsizei primcount); +typedef void (GLAPIENTRY * PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, GLsizei* count, GLenum type, const GLvoid **indices, GLsizei primcount); + +#define glMultiDrawArraysEXT GLEW_GET_FUN(__glewMultiDrawArraysEXT) +#define glMultiDrawElementsEXT GLEW_GET_FUN(__glewMultiDrawElementsEXT) + +#define GLEW_EXT_multi_draw_arrays GLEW_GET_VAR(__GLEW_EXT_multi_draw_arrays) + +#endif /* GL_EXT_multi_draw_arrays */ + +/* --------------------------- GL_EXT_multisample -------------------------- */ + +#ifndef GL_EXT_multisample +#define GL_EXT_multisample 1 + +#define GL_MULTISAMPLE_EXT 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_EXT 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F +#define GL_SAMPLE_MASK_EXT 0x80A0 +#define GL_1PASS_EXT 0x80A1 +#define GL_2PASS_0_EXT 0x80A2 +#define GL_2PASS_1_EXT 0x80A3 +#define GL_4PASS_0_EXT 0x80A4 +#define GL_4PASS_1_EXT 0x80A5 +#define GL_4PASS_2_EXT 0x80A6 +#define GL_4PASS_3_EXT 0x80A7 +#define GL_SAMPLE_BUFFERS_EXT 0x80A8 +#define GL_SAMPLES_EXT 0x80A9 +#define GL_SAMPLE_MASK_VALUE_EXT 0x80AA +#define GL_SAMPLE_MASK_INVERT_EXT 0x80AB +#define GL_SAMPLE_PATTERN_EXT 0x80AC +#define GL_MULTISAMPLE_BIT_EXT 0x20000000 + +typedef void (GLAPIENTRY * PFNGLSAMPLEMASKEXTPROC) (GLclampf value, GLboolean invert); +typedef void (GLAPIENTRY * PFNGLSAMPLEPATTERNEXTPROC) (GLenum pattern); + +#define glSampleMaskEXT GLEW_GET_FUN(__glewSampleMaskEXT) +#define glSamplePatternEXT GLEW_GET_FUN(__glewSamplePatternEXT) + +#define GLEW_EXT_multisample GLEW_GET_VAR(__GLEW_EXT_multisample) + +#endif /* GL_EXT_multisample */ + +/* ---------------------- GL_EXT_packed_depth_stencil ---------------------- */ + +#ifndef GL_EXT_packed_depth_stencil +#define GL_EXT_packed_depth_stencil 1 + +#define GL_DEPTH_STENCIL_EXT 0x84F9 +#define GL_UNSIGNED_INT_24_8_EXT 0x84FA +#define GL_DEPTH24_STENCIL8_EXT 0x88F0 +#define GL_TEXTURE_STENCIL_SIZE_EXT 0x88F1 + +#define GLEW_EXT_packed_depth_stencil GLEW_GET_VAR(__GLEW_EXT_packed_depth_stencil) + +#endif /* GL_EXT_packed_depth_stencil */ + +/* -------------------------- GL_EXT_packed_float -------------------------- */ + +#ifndef GL_EXT_packed_float +#define GL_EXT_packed_float 1 + +#define GL_R11F_G11F_B10F_EXT 0x8C3A +#define GL_UNSIGNED_INT_10F_11F_11F_REV_EXT 0x8C3B +#define GL_RGBA_SIGNED_COMPONENTS_EXT 0x8C3C + +#define GLEW_EXT_packed_float GLEW_GET_VAR(__GLEW_EXT_packed_float) + +#endif /* GL_EXT_packed_float */ + +/* -------------------------- GL_EXT_packed_pixels ------------------------- */ + +#ifndef GL_EXT_packed_pixels +#define GL_EXT_packed_pixels 1 + +#define GL_UNSIGNED_BYTE_3_3_2_EXT 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4_EXT 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1_EXT 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8_EXT 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2_EXT 0x8036 + +#define GLEW_EXT_packed_pixels GLEW_GET_VAR(__GLEW_EXT_packed_pixels) + +#endif /* GL_EXT_packed_pixels */ + +/* ------------------------ GL_EXT_paletted_texture ------------------------ */ + +#ifndef GL_EXT_paletted_texture +#define GL_EXT_paletted_texture 1 + +#define GL_TEXTURE_1D 0x0DE0 +#define GL_TEXTURE_2D 0x0DE1 +#define GL_PROXY_TEXTURE_1D 0x8063 +#define GL_PROXY_TEXTURE_2D 0x8064 +#define GL_TEXTURE_3D_EXT 0x806F +#define GL_PROXY_TEXTURE_3D_EXT 0x8070 +#define GL_COLOR_TABLE_FORMAT_EXT 0x80D8 +#define GL_COLOR_TABLE_WIDTH_EXT 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE_EXT 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE_EXT 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE_EXT 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE_EXT 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE_EXT 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE_EXT 0x80DF +#define GL_COLOR_INDEX1_EXT 0x80E2 +#define GL_COLOR_INDEX2_EXT 0x80E3 +#define GL_COLOR_INDEX4_EXT 0x80E4 +#define GL_COLOR_INDEX8_EXT 0x80E5 +#define GL_COLOR_INDEX12_EXT 0x80E6 +#define GL_COLOR_INDEX16_EXT 0x80E7 +#define GL_TEXTURE_INDEX_SIZE_EXT 0x80ED +#define GL_TEXTURE_CUBE_MAP_ARB 0x8513 +#define GL_PROXY_TEXTURE_CUBE_MAP_ARB 0x851B + +typedef void (GLAPIENTRY * PFNGLCOLORTABLEEXTPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const void* data); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEEXTPROC) (GLenum target, GLenum format, GLenum type, void* data); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint* params); + +#define glColorTableEXT GLEW_GET_FUN(__glewColorTableEXT) +#define glGetColorTableEXT GLEW_GET_FUN(__glewGetColorTableEXT) +#define glGetColorTableParameterfvEXT GLEW_GET_FUN(__glewGetColorTableParameterfvEXT) +#define glGetColorTableParameterivEXT GLEW_GET_FUN(__glewGetColorTableParameterivEXT) + +#define GLEW_EXT_paletted_texture GLEW_GET_VAR(__GLEW_EXT_paletted_texture) + +#endif /* GL_EXT_paletted_texture */ + +/* ----------------------- GL_EXT_pixel_buffer_object ---------------------- */ + +#ifndef GL_EXT_pixel_buffer_object +#define GL_EXT_pixel_buffer_object 1 + +#define GL_PIXEL_PACK_BUFFER_EXT 0x88EB +#define GL_PIXEL_UNPACK_BUFFER_EXT 0x88EC +#define GL_PIXEL_PACK_BUFFER_BINDING_EXT 0x88ED +#define GL_PIXEL_UNPACK_BUFFER_BINDING_EXT 0x88EF + +#define GLEW_EXT_pixel_buffer_object GLEW_GET_VAR(__GLEW_EXT_pixel_buffer_object) + +#endif /* GL_EXT_pixel_buffer_object */ + +/* ------------------------- GL_EXT_pixel_transform ------------------------ */ + +#ifndef GL_EXT_pixel_transform +#define GL_EXT_pixel_transform 1 + +#define GL_PIXEL_TRANSFORM_2D_EXT 0x8330 +#define GL_PIXEL_MAG_FILTER_EXT 0x8331 +#define GL_PIXEL_MIN_FILTER_EXT 0x8332 +#define GL_PIXEL_CUBIC_WEIGHT_EXT 0x8333 +#define GL_CUBIC_EXT 0x8334 +#define GL_AVERAGE_EXT 0x8335 +#define GL_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8336 +#define GL_MAX_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8337 +#define GL_PIXEL_TRANSFORM_2D_MATRIX_EXT 0x8338 + +typedef void (GLAPIENTRY * PFNGLGETPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLPIXELTRANSFORMPARAMETERFEXTPROC) (GLenum target, GLenum pname, const GLfloat param); +typedef void (GLAPIENTRY * PFNGLPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLPIXELTRANSFORMPARAMETERIEXTPROC) (GLenum target, GLenum pname, const GLint param); +typedef void (GLAPIENTRY * PFNGLPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint* params); + +#define glGetPixelTransformParameterfvEXT GLEW_GET_FUN(__glewGetPixelTransformParameterfvEXT) +#define glGetPixelTransformParameterivEXT GLEW_GET_FUN(__glewGetPixelTransformParameterivEXT) +#define glPixelTransformParameterfEXT GLEW_GET_FUN(__glewPixelTransformParameterfEXT) +#define glPixelTransformParameterfvEXT GLEW_GET_FUN(__glewPixelTransformParameterfvEXT) +#define glPixelTransformParameteriEXT GLEW_GET_FUN(__glewPixelTransformParameteriEXT) +#define glPixelTransformParameterivEXT GLEW_GET_FUN(__glewPixelTransformParameterivEXT) + +#define GLEW_EXT_pixel_transform GLEW_GET_VAR(__GLEW_EXT_pixel_transform) + +#endif /* GL_EXT_pixel_transform */ + +/* ------------------- GL_EXT_pixel_transform_color_table ------------------ */ + +#ifndef GL_EXT_pixel_transform_color_table +#define GL_EXT_pixel_transform_color_table 1 + +#define GLEW_EXT_pixel_transform_color_table GLEW_GET_VAR(__GLEW_EXT_pixel_transform_color_table) + +#endif /* GL_EXT_pixel_transform_color_table */ + +/* ------------------------ GL_EXT_point_parameters ------------------------ */ + +#ifndef GL_EXT_point_parameters +#define GL_EXT_point_parameters 1 + +#define GL_POINT_SIZE_MIN_EXT 0x8126 +#define GL_POINT_SIZE_MAX_EXT 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_EXT 0x8128 +#define GL_DISTANCE_ATTENUATION_EXT 0x8129 + +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFEXTPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERFVEXTPROC) (GLenum pname, const GLfloat* params); + +#define glPointParameterfEXT GLEW_GET_FUN(__glewPointParameterfEXT) +#define glPointParameterfvEXT GLEW_GET_FUN(__glewPointParameterfvEXT) + +#define GLEW_EXT_point_parameters GLEW_GET_VAR(__GLEW_EXT_point_parameters) + +#endif /* GL_EXT_point_parameters */ + +/* ------------------------- GL_EXT_polygon_offset ------------------------- */ + +#ifndef GL_EXT_polygon_offset +#define GL_EXT_polygon_offset 1 + +#define GL_POLYGON_OFFSET_EXT 0x8037 +#define GL_POLYGON_OFFSET_FACTOR_EXT 0x8038 +#define GL_POLYGON_OFFSET_BIAS_EXT 0x8039 + +typedef void (GLAPIENTRY * PFNGLPOLYGONOFFSETEXTPROC) (GLfloat factor, GLfloat bias); + +#define glPolygonOffsetEXT GLEW_GET_FUN(__glewPolygonOffsetEXT) + +#define GLEW_EXT_polygon_offset GLEW_GET_VAR(__GLEW_EXT_polygon_offset) + +#endif /* GL_EXT_polygon_offset */ + +/* ------------------------ GL_EXT_provoking_vertex ------------------------ */ + +#ifndef GL_EXT_provoking_vertex +#define GL_EXT_provoking_vertex 1 + +#define GL_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION_EXT 0x8E4C +#define GL_FIRST_VERTEX_CONVENTION_EXT 0x8E4D +#define GL_LAST_VERTEX_CONVENTION_EXT 0x8E4E +#define GL_PROVOKING_VERTEX_EXT 0x8E4F + +typedef void (GLAPIENTRY * PFNGLPROVOKINGVERTEXEXTPROC) (GLenum mode); + +#define glProvokingVertexEXT GLEW_GET_FUN(__glewProvokingVertexEXT) + +#define GLEW_EXT_provoking_vertex GLEW_GET_VAR(__GLEW_EXT_provoking_vertex) + +#endif /* GL_EXT_provoking_vertex */ + +/* ------------------------- GL_EXT_rescale_normal ------------------------- */ + +#ifndef GL_EXT_rescale_normal +#define GL_EXT_rescale_normal 1 + +#define GL_RESCALE_NORMAL_EXT 0x803A + +#define GLEW_EXT_rescale_normal GLEW_GET_VAR(__GLEW_EXT_rescale_normal) + +#endif /* GL_EXT_rescale_normal */ + +/* -------------------------- GL_EXT_scene_marker -------------------------- */ + +#ifndef GL_EXT_scene_marker +#define GL_EXT_scene_marker 1 + +typedef void (GLAPIENTRY * PFNGLBEGINSCENEEXTPROC) (void); +typedef void (GLAPIENTRY * PFNGLENDSCENEEXTPROC) (void); + +#define glBeginSceneEXT GLEW_GET_FUN(__glewBeginSceneEXT) +#define glEndSceneEXT GLEW_GET_FUN(__glewEndSceneEXT) + +#define GLEW_EXT_scene_marker GLEW_GET_VAR(__GLEW_EXT_scene_marker) + +#endif /* GL_EXT_scene_marker */ + +/* ------------------------- GL_EXT_secondary_color ------------------------ */ + +#ifndef GL_EXT_secondary_color +#define GL_EXT_secondary_color 1 + +#define GL_COLOR_SUM_EXT 0x8458 +#define GL_CURRENT_SECONDARY_COLOR_EXT 0x8459 +#define GL_SECONDARY_COLOR_ARRAY_SIZE_EXT 0x845A +#define GL_SECONDARY_COLOR_ARRAY_TYPE_EXT 0x845B +#define GL_SECONDARY_COLOR_ARRAY_STRIDE_EXT 0x845C +#define GL_SECONDARY_COLOR_ARRAY_POINTER_EXT 0x845D +#define GL_SECONDARY_COLOR_ARRAY_EXT 0x845E + +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3BEXTPROC) (GLbyte red, GLbyte green, GLbyte blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3BVEXTPROC) (const GLbyte *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3DEXTPROC) (GLdouble red, GLdouble green, GLdouble blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3DVEXTPROC) (const GLdouble *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3FEXTPROC) (GLfloat red, GLfloat green, GLfloat blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3FVEXTPROC) (const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3IEXTPROC) (GLint red, GLint green, GLint blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3IVEXTPROC) (const GLint *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3SEXTPROC) (GLshort red, GLshort green, GLshort blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3SVEXTPROC) (const GLshort *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UBEXTPROC) (GLubyte red, GLubyte green, GLubyte blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UBVEXTPROC) (const GLubyte *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UIEXTPROC) (GLuint red, GLuint green, GLuint blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3UIVEXTPROC) (const GLuint *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3USEXTPROC) (GLushort red, GLushort green, GLushort blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3USVEXTPROC) (const GLushort *v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, const GLvoid *pointer); + +#define glSecondaryColor3bEXT GLEW_GET_FUN(__glewSecondaryColor3bEXT) +#define glSecondaryColor3bvEXT GLEW_GET_FUN(__glewSecondaryColor3bvEXT) +#define glSecondaryColor3dEXT GLEW_GET_FUN(__glewSecondaryColor3dEXT) +#define glSecondaryColor3dvEXT GLEW_GET_FUN(__glewSecondaryColor3dvEXT) +#define glSecondaryColor3fEXT GLEW_GET_FUN(__glewSecondaryColor3fEXT) +#define glSecondaryColor3fvEXT GLEW_GET_FUN(__glewSecondaryColor3fvEXT) +#define glSecondaryColor3iEXT GLEW_GET_FUN(__glewSecondaryColor3iEXT) +#define glSecondaryColor3ivEXT GLEW_GET_FUN(__glewSecondaryColor3ivEXT) +#define glSecondaryColor3sEXT GLEW_GET_FUN(__glewSecondaryColor3sEXT) +#define glSecondaryColor3svEXT GLEW_GET_FUN(__glewSecondaryColor3svEXT) +#define glSecondaryColor3ubEXT GLEW_GET_FUN(__glewSecondaryColor3ubEXT) +#define glSecondaryColor3ubvEXT GLEW_GET_FUN(__glewSecondaryColor3ubvEXT) +#define glSecondaryColor3uiEXT GLEW_GET_FUN(__glewSecondaryColor3uiEXT) +#define glSecondaryColor3uivEXT GLEW_GET_FUN(__glewSecondaryColor3uivEXT) +#define glSecondaryColor3usEXT GLEW_GET_FUN(__glewSecondaryColor3usEXT) +#define glSecondaryColor3usvEXT GLEW_GET_FUN(__glewSecondaryColor3usvEXT) +#define glSecondaryColorPointerEXT GLEW_GET_FUN(__glewSecondaryColorPointerEXT) + +#define GLEW_EXT_secondary_color GLEW_GET_VAR(__GLEW_EXT_secondary_color) + +#endif /* GL_EXT_secondary_color */ + +/* --------------------- GL_EXT_separate_shader_objects -------------------- */ + +#ifndef GL_EXT_separate_shader_objects +#define GL_EXT_separate_shader_objects 1 + +#define GL_ACTIVE_PROGRAM_EXT 0x8B8D + +typedef void (GLAPIENTRY * PFNGLACTIVEPROGRAMEXTPROC) (GLuint program); +typedef GLuint (GLAPIENTRY * PFNGLCREATESHADERPROGRAMEXTPROC) (GLenum type, const char* string); +typedef void (GLAPIENTRY * PFNGLUSESHADERPROGRAMEXTPROC) (GLenum type, GLuint program); + +#define glActiveProgramEXT GLEW_GET_FUN(__glewActiveProgramEXT) +#define glCreateShaderProgramEXT GLEW_GET_FUN(__glewCreateShaderProgramEXT) +#define glUseShaderProgramEXT GLEW_GET_FUN(__glewUseShaderProgramEXT) + +#define GLEW_EXT_separate_shader_objects GLEW_GET_VAR(__GLEW_EXT_separate_shader_objects) + +#endif /* GL_EXT_separate_shader_objects */ + +/* --------------------- GL_EXT_separate_specular_color -------------------- */ + +#ifndef GL_EXT_separate_specular_color +#define GL_EXT_separate_specular_color 1 + +#define GL_LIGHT_MODEL_COLOR_CONTROL_EXT 0x81F8 +#define GL_SINGLE_COLOR_EXT 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR_EXT 0x81FA + +#define GLEW_EXT_separate_specular_color GLEW_GET_VAR(__GLEW_EXT_separate_specular_color) + +#endif /* GL_EXT_separate_specular_color */ + +/* --------------------- GL_EXT_shader_image_load_store -------------------- */ + +#ifndef GL_EXT_shader_image_load_store +#define GL_EXT_shader_image_load_store 1 + +#define GL_VERTEX_ATTRIB_ARRAY_BARRIER_BIT_EXT 0x00000001 +#define GL_ELEMENT_ARRAY_BARRIER_BIT_EXT 0x00000002 +#define GL_UNIFORM_BARRIER_BIT_EXT 0x00000004 +#define GL_TEXTURE_FETCH_BARRIER_BIT_EXT 0x00000008 +#define GL_SHADER_IMAGE_ACCESS_BARRIER_BIT_EXT 0x00000020 +#define GL_COMMAND_BARRIER_BIT_EXT 0x00000040 +#define GL_PIXEL_BUFFER_BARRIER_BIT_EXT 0x00000080 +#define GL_TEXTURE_UPDATE_BARRIER_BIT_EXT 0x00000100 +#define GL_BUFFER_UPDATE_BARRIER_BIT_EXT 0x00000200 +#define GL_FRAMEBUFFER_BARRIER_BIT_EXT 0x00000400 +#define GL_TRANSFORM_FEEDBACK_BARRIER_BIT_EXT 0x00000800 +#define GL_ATOMIC_COUNTER_BARRIER_BIT_EXT 0x00001000 +#define GL_MAX_IMAGE_UNITS_EXT 0x8F38 +#define GL_MAX_COMBINED_IMAGE_UNITS_AND_FRAGMENT_OUTPUTS_EXT 0x8F39 +#define GL_IMAGE_BINDING_NAME_EXT 0x8F3A +#define GL_IMAGE_BINDING_LEVEL_EXT 0x8F3B +#define GL_IMAGE_BINDING_LAYERED_EXT 0x8F3C +#define GL_IMAGE_BINDING_LAYER_EXT 0x8F3D +#define GL_IMAGE_BINDING_ACCESS_EXT 0x8F3E +#define GL_IMAGE_1D_EXT 0x904C +#define GL_IMAGE_2D_EXT 0x904D +#define GL_IMAGE_3D_EXT 0x904E +#define GL_IMAGE_2D_RECT_EXT 0x904F +#define GL_IMAGE_CUBE_EXT 0x9050 +#define GL_IMAGE_BUFFER_EXT 0x9051 +#define GL_IMAGE_1D_ARRAY_EXT 0x9052 +#define GL_IMAGE_2D_ARRAY_EXT 0x9053 +#define GL_IMAGE_CUBE_MAP_ARRAY_EXT 0x9054 +#define GL_IMAGE_2D_MULTISAMPLE_EXT 0x9055 +#define GL_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9056 +#define GL_INT_IMAGE_1D_EXT 0x9057 +#define GL_INT_IMAGE_2D_EXT 0x9058 +#define GL_INT_IMAGE_3D_EXT 0x9059 +#define GL_INT_IMAGE_2D_RECT_EXT 0x905A +#define GL_INT_IMAGE_CUBE_EXT 0x905B +#define GL_INT_IMAGE_BUFFER_EXT 0x905C +#define GL_INT_IMAGE_1D_ARRAY_EXT 0x905D +#define GL_INT_IMAGE_2D_ARRAY_EXT 0x905E +#define GL_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x905F +#define GL_INT_IMAGE_2D_MULTISAMPLE_EXT 0x9060 +#define GL_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x9061 +#define GL_UNSIGNED_INT_IMAGE_1D_EXT 0x9062 +#define GL_UNSIGNED_INT_IMAGE_2D_EXT 0x9063 +#define GL_UNSIGNED_INT_IMAGE_3D_EXT 0x9064 +#define GL_UNSIGNED_INT_IMAGE_2D_RECT_EXT 0x9065 +#define GL_UNSIGNED_INT_IMAGE_CUBE_EXT 0x9066 +#define GL_UNSIGNED_INT_IMAGE_BUFFER_EXT 0x9067 +#define GL_UNSIGNED_INT_IMAGE_1D_ARRAY_EXT 0x9068 +#define GL_UNSIGNED_INT_IMAGE_2D_ARRAY_EXT 0x9069 +#define GL_UNSIGNED_INT_IMAGE_CUBE_MAP_ARRAY_EXT 0x906A +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_EXT 0x906B +#define GL_UNSIGNED_INT_IMAGE_2D_MULTISAMPLE_ARRAY_EXT 0x906C +#define GL_MAX_IMAGE_SAMPLES_EXT 0x906D +#define GL_IMAGE_BINDING_FORMAT_EXT 0x906E +#define GL_ALL_BARRIER_BITS_EXT 0xFFFFFFFF + +typedef void (GLAPIENTRY * PFNGLBINDIMAGETEXTUREEXTPROC) (GLuint index, GLuint texture, GLint level, GLboolean layered, GLint layer, GLenum access, GLint format); +typedef void (GLAPIENTRY * PFNGLMEMORYBARRIEREXTPROC) (GLbitfield barriers); + +#define glBindImageTextureEXT GLEW_GET_FUN(__glewBindImageTextureEXT) +#define glMemoryBarrierEXT GLEW_GET_FUN(__glewMemoryBarrierEXT) + +#define GLEW_EXT_shader_image_load_store GLEW_GET_VAR(__GLEW_EXT_shader_image_load_store) + +#endif /* GL_EXT_shader_image_load_store */ + +/* -------------------------- GL_EXT_shadow_funcs -------------------------- */ + +#ifndef GL_EXT_shadow_funcs +#define GL_EXT_shadow_funcs 1 + +#define GLEW_EXT_shadow_funcs GLEW_GET_VAR(__GLEW_EXT_shadow_funcs) + +#endif /* GL_EXT_shadow_funcs */ + +/* --------------------- GL_EXT_shared_texture_palette --------------------- */ + +#ifndef GL_EXT_shared_texture_palette +#define GL_EXT_shared_texture_palette 1 + +#define GL_SHARED_TEXTURE_PALETTE_EXT 0x81FB + +#define GLEW_EXT_shared_texture_palette GLEW_GET_VAR(__GLEW_EXT_shared_texture_palette) + +#endif /* GL_EXT_shared_texture_palette */ + +/* ------------------------ GL_EXT_stencil_clear_tag ----------------------- */ + +#ifndef GL_EXT_stencil_clear_tag +#define GL_EXT_stencil_clear_tag 1 + +#define GL_STENCIL_TAG_BITS_EXT 0x88F2 +#define GL_STENCIL_CLEAR_TAG_VALUE_EXT 0x88F3 + +#define GLEW_EXT_stencil_clear_tag GLEW_GET_VAR(__GLEW_EXT_stencil_clear_tag) + +#endif /* GL_EXT_stencil_clear_tag */ + +/* ------------------------ GL_EXT_stencil_two_side ------------------------ */ + +#ifndef GL_EXT_stencil_two_side +#define GL_EXT_stencil_two_side 1 + +#define GL_STENCIL_TEST_TWO_SIDE_EXT 0x8910 +#define GL_ACTIVE_STENCIL_FACE_EXT 0x8911 + +typedef void (GLAPIENTRY * PFNGLACTIVESTENCILFACEEXTPROC) (GLenum face); + +#define glActiveStencilFaceEXT GLEW_GET_FUN(__glewActiveStencilFaceEXT) + +#define GLEW_EXT_stencil_two_side GLEW_GET_VAR(__GLEW_EXT_stencil_two_side) + +#endif /* GL_EXT_stencil_two_side */ + +/* -------------------------- GL_EXT_stencil_wrap -------------------------- */ + +#ifndef GL_EXT_stencil_wrap +#define GL_EXT_stencil_wrap 1 + +#define GL_INCR_WRAP_EXT 0x8507 +#define GL_DECR_WRAP_EXT 0x8508 + +#define GLEW_EXT_stencil_wrap GLEW_GET_VAR(__GLEW_EXT_stencil_wrap) + +#endif /* GL_EXT_stencil_wrap */ + +/* --------------------------- GL_EXT_subtexture --------------------------- */ + +#ifndef GL_EXT_subtexture +#define GL_EXT_subtexture 1 + +typedef void (GLAPIENTRY * PFNGLTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const void* pixels); + +#define glTexSubImage1DEXT GLEW_GET_FUN(__glewTexSubImage1DEXT) +#define glTexSubImage2DEXT GLEW_GET_FUN(__glewTexSubImage2DEXT) +#define glTexSubImage3DEXT GLEW_GET_FUN(__glewTexSubImage3DEXT) + +#define GLEW_EXT_subtexture GLEW_GET_VAR(__GLEW_EXT_subtexture) + +#endif /* GL_EXT_subtexture */ + +/* ----------------------------- GL_EXT_texture ---------------------------- */ + +#ifndef GL_EXT_texture +#define GL_EXT_texture 1 + +#define GL_ALPHA4_EXT 0x803B +#define GL_ALPHA8_EXT 0x803C +#define GL_ALPHA12_EXT 0x803D +#define GL_ALPHA16_EXT 0x803E +#define GL_LUMINANCE4_EXT 0x803F +#define GL_LUMINANCE8_EXT 0x8040 +#define GL_LUMINANCE12_EXT 0x8041 +#define GL_LUMINANCE16_EXT 0x8042 +#define GL_LUMINANCE4_ALPHA4_EXT 0x8043 +#define GL_LUMINANCE6_ALPHA2_EXT 0x8044 +#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 +#define GL_LUMINANCE12_ALPHA4_EXT 0x8046 +#define GL_LUMINANCE12_ALPHA12_EXT 0x8047 +#define GL_LUMINANCE16_ALPHA16_EXT 0x8048 +#define GL_INTENSITY_EXT 0x8049 +#define GL_INTENSITY4_EXT 0x804A +#define GL_INTENSITY8_EXT 0x804B +#define GL_INTENSITY12_EXT 0x804C +#define GL_INTENSITY16_EXT 0x804D +#define GL_RGB2_EXT 0x804E +#define GL_RGB4_EXT 0x804F +#define GL_RGB5_EXT 0x8050 +#define GL_RGB8_EXT 0x8051 +#define GL_RGB10_EXT 0x8052 +#define GL_RGB12_EXT 0x8053 +#define GL_RGB16_EXT 0x8054 +#define GL_RGBA2_EXT 0x8055 +#define GL_RGBA4_EXT 0x8056 +#define GL_RGB5_A1_EXT 0x8057 +#define GL_RGBA8_EXT 0x8058 +#define GL_RGB10_A2_EXT 0x8059 +#define GL_RGBA12_EXT 0x805A +#define GL_RGBA16_EXT 0x805B +#define GL_TEXTURE_RED_SIZE_EXT 0x805C +#define GL_TEXTURE_GREEN_SIZE_EXT 0x805D +#define GL_TEXTURE_BLUE_SIZE_EXT 0x805E +#define GL_TEXTURE_ALPHA_SIZE_EXT 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE_EXT 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE_EXT 0x8061 +#define GL_REPLACE_EXT 0x8062 +#define GL_PROXY_TEXTURE_1D_EXT 0x8063 +#define GL_PROXY_TEXTURE_2D_EXT 0x8064 + +#define GLEW_EXT_texture GLEW_GET_VAR(__GLEW_EXT_texture) + +#endif /* GL_EXT_texture */ + +/* ---------------------------- GL_EXT_texture3D --------------------------- */ + +#ifndef GL_EXT_texture3D +#define GL_EXT_texture3D 1 + +#define GL_PACK_SKIP_IMAGES_EXT 0x806B +#define GL_PACK_IMAGE_HEIGHT_EXT 0x806C +#define GL_UNPACK_SKIP_IMAGES_EXT 0x806D +#define GL_UNPACK_IMAGE_HEIGHT_EXT 0x806E +#define GL_TEXTURE_3D_EXT 0x806F +#define GL_PROXY_TEXTURE_3D_EXT 0x8070 +#define GL_TEXTURE_DEPTH_EXT 0x8071 +#define GL_TEXTURE_WRAP_R_EXT 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE_EXT 0x8073 + +typedef void (GLAPIENTRY * PFNGLTEXIMAGE3DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const void* pixels); + +#define glTexImage3DEXT GLEW_GET_FUN(__glewTexImage3DEXT) + +#define GLEW_EXT_texture3D GLEW_GET_VAR(__GLEW_EXT_texture3D) + +#endif /* GL_EXT_texture3D */ + +/* -------------------------- GL_EXT_texture_array ------------------------- */ + +#ifndef GL_EXT_texture_array +#define GL_EXT_texture_array 1 + +#define GL_COMPARE_REF_DEPTH_TO_TEXTURE_EXT 0x884E +#define GL_MAX_ARRAY_TEXTURE_LAYERS_EXT 0x88FF +#define GL_TEXTURE_1D_ARRAY_EXT 0x8C18 +#define GL_PROXY_TEXTURE_1D_ARRAY_EXT 0x8C19 +#define GL_TEXTURE_2D_ARRAY_EXT 0x8C1A +#define GL_PROXY_TEXTURE_2D_ARRAY_EXT 0x8C1B +#define GL_TEXTURE_BINDING_1D_ARRAY_EXT 0x8C1C +#define GL_TEXTURE_BINDING_2D_ARRAY_EXT 0x8C1D + +typedef void (GLAPIENTRY * PFNGLFRAMEBUFFERTEXTURELAYEREXTPROC) (GLenum target, GLenum attachment, GLuint texture, GLint level, GLint layer); + +#define glFramebufferTextureLayerEXT GLEW_GET_FUN(__glewFramebufferTextureLayerEXT) + +#define GLEW_EXT_texture_array GLEW_GET_VAR(__GLEW_EXT_texture_array) + +#endif /* GL_EXT_texture_array */ + +/* ---------------------- GL_EXT_texture_buffer_object --------------------- */ + +#ifndef GL_EXT_texture_buffer_object +#define GL_EXT_texture_buffer_object 1 + +#define GL_TEXTURE_BUFFER_EXT 0x8C2A +#define GL_MAX_TEXTURE_BUFFER_SIZE_EXT 0x8C2B +#define GL_TEXTURE_BINDING_BUFFER_EXT 0x8C2C +#define GL_TEXTURE_BUFFER_DATA_STORE_BINDING_EXT 0x8C2D +#define GL_TEXTURE_BUFFER_FORMAT_EXT 0x8C2E + +typedef void (GLAPIENTRY * PFNGLTEXBUFFEREXTPROC) (GLenum target, GLenum internalformat, GLuint buffer); + +#define glTexBufferEXT GLEW_GET_FUN(__glewTexBufferEXT) + +#define GLEW_EXT_texture_buffer_object GLEW_GET_VAR(__GLEW_EXT_texture_buffer_object) + +#endif /* GL_EXT_texture_buffer_object */ + +/* -------------------- GL_EXT_texture_compression_dxt1 -------------------- */ + +#ifndef GL_EXT_texture_compression_dxt1 +#define GL_EXT_texture_compression_dxt1 1 + +#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 +#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 + +#define GLEW_EXT_texture_compression_dxt1 GLEW_GET_VAR(__GLEW_EXT_texture_compression_dxt1) + +#endif /* GL_EXT_texture_compression_dxt1 */ + +/* -------------------- GL_EXT_texture_compression_latc -------------------- */ + +#ifndef GL_EXT_texture_compression_latc +#define GL_EXT_texture_compression_latc 1 + +#define GL_COMPRESSED_LUMINANCE_LATC1_EXT 0x8C70 +#define GL_COMPRESSED_SIGNED_LUMINANCE_LATC1_EXT 0x8C71 +#define GL_COMPRESSED_LUMINANCE_ALPHA_LATC2_EXT 0x8C72 +#define GL_COMPRESSED_SIGNED_LUMINANCE_ALPHA_LATC2_EXT 0x8C73 + +#define GLEW_EXT_texture_compression_latc GLEW_GET_VAR(__GLEW_EXT_texture_compression_latc) + +#endif /* GL_EXT_texture_compression_latc */ + +/* -------------------- GL_EXT_texture_compression_rgtc -------------------- */ + +#ifndef GL_EXT_texture_compression_rgtc +#define GL_EXT_texture_compression_rgtc 1 + +#define GL_COMPRESSED_RED_RGTC1_EXT 0x8DBB +#define GL_COMPRESSED_SIGNED_RED_RGTC1_EXT 0x8DBC +#define GL_COMPRESSED_RED_GREEN_RGTC2_EXT 0x8DBD +#define GL_COMPRESSED_SIGNED_RED_GREEN_RGTC2_EXT 0x8DBE + +#define GLEW_EXT_texture_compression_rgtc GLEW_GET_VAR(__GLEW_EXT_texture_compression_rgtc) + +#endif /* GL_EXT_texture_compression_rgtc */ + +/* -------------------- GL_EXT_texture_compression_s3tc -------------------- */ + +#ifndef GL_EXT_texture_compression_s3tc +#define GL_EXT_texture_compression_s3tc 1 + +#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 +#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 +#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 +#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 + +#define GLEW_EXT_texture_compression_s3tc GLEW_GET_VAR(__GLEW_EXT_texture_compression_s3tc) + +#endif /* GL_EXT_texture_compression_s3tc */ + +/* ------------------------ GL_EXT_texture_cube_map ------------------------ */ + +#ifndef GL_EXT_texture_cube_map +#define GL_EXT_texture_cube_map 1 + +#define GL_NORMAL_MAP_EXT 0x8511 +#define GL_REFLECTION_MAP_EXT 0x8512 +#define GL_TEXTURE_CUBE_MAP_EXT 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_EXT 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_EXT 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_EXT 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_EXT 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_EXT 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_EXT 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_EXT 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_EXT 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_EXT 0x851C + +#define GLEW_EXT_texture_cube_map GLEW_GET_VAR(__GLEW_EXT_texture_cube_map) + +#endif /* GL_EXT_texture_cube_map */ + +/* ----------------------- GL_EXT_texture_edge_clamp ----------------------- */ + +#ifndef GL_EXT_texture_edge_clamp +#define GL_EXT_texture_edge_clamp 1 + +#define GL_CLAMP_TO_EDGE_EXT 0x812F + +#define GLEW_EXT_texture_edge_clamp GLEW_GET_VAR(__GLEW_EXT_texture_edge_clamp) + +#endif /* GL_EXT_texture_edge_clamp */ + +/* --------------------------- GL_EXT_texture_env -------------------------- */ + +#ifndef GL_EXT_texture_env +#define GL_EXT_texture_env 1 + +#define GL_TEXTURE_ENV0_EXT 0 +#define GL_ENV_BLEND_EXT 0 +#define GL_TEXTURE_ENV_SHIFT_EXT 0 +#define GL_ENV_REPLACE_EXT 0 +#define GL_ENV_ADD_EXT 0 +#define GL_ENV_SUBTRACT_EXT 0 +#define GL_TEXTURE_ENV_MODE_ALPHA_EXT 0 +#define GL_ENV_REVERSE_SUBTRACT_EXT 0 +#define GL_ENV_REVERSE_BLEND_EXT 0 +#define GL_ENV_COPY_EXT 0 +#define GL_ENV_MODULATE_EXT 0 + +#define GLEW_EXT_texture_env GLEW_GET_VAR(__GLEW_EXT_texture_env) + +#endif /* GL_EXT_texture_env */ + +/* ------------------------- GL_EXT_texture_env_add ------------------------ */ + +#ifndef GL_EXT_texture_env_add +#define GL_EXT_texture_env_add 1 + +#define GLEW_EXT_texture_env_add GLEW_GET_VAR(__GLEW_EXT_texture_env_add) + +#endif /* GL_EXT_texture_env_add */ + +/* ----------------------- GL_EXT_texture_env_combine ---------------------- */ + +#ifndef GL_EXT_texture_env_combine +#define GL_EXT_texture_env_combine 1 + +#define GL_COMBINE_EXT 0x8570 +#define GL_COMBINE_RGB_EXT 0x8571 +#define GL_COMBINE_ALPHA_EXT 0x8572 +#define GL_RGB_SCALE_EXT 0x8573 +#define GL_ADD_SIGNED_EXT 0x8574 +#define GL_INTERPOLATE_EXT 0x8575 +#define GL_CONSTANT_EXT 0x8576 +#define GL_PRIMARY_COLOR_EXT 0x8577 +#define GL_PREVIOUS_EXT 0x8578 +#define GL_SOURCE0_RGB_EXT 0x8580 +#define GL_SOURCE1_RGB_EXT 0x8581 +#define GL_SOURCE2_RGB_EXT 0x8582 +#define GL_SOURCE0_ALPHA_EXT 0x8588 +#define GL_SOURCE1_ALPHA_EXT 0x8589 +#define GL_SOURCE2_ALPHA_EXT 0x858A +#define GL_OPERAND0_RGB_EXT 0x8590 +#define GL_OPERAND1_RGB_EXT 0x8591 +#define GL_OPERAND2_RGB_EXT 0x8592 +#define GL_OPERAND0_ALPHA_EXT 0x8598 +#define GL_OPERAND1_ALPHA_EXT 0x8599 +#define GL_OPERAND2_ALPHA_EXT 0x859A + +#define GLEW_EXT_texture_env_combine GLEW_GET_VAR(__GLEW_EXT_texture_env_combine) + +#endif /* GL_EXT_texture_env_combine */ + +/* ------------------------ GL_EXT_texture_env_dot3 ------------------------ */ + +#ifndef GL_EXT_texture_env_dot3 +#define GL_EXT_texture_env_dot3 1 + +#define GL_DOT3_RGB_EXT 0x8740 +#define GL_DOT3_RGBA_EXT 0x8741 + +#define GLEW_EXT_texture_env_dot3 GLEW_GET_VAR(__GLEW_EXT_texture_env_dot3) + +#endif /* GL_EXT_texture_env_dot3 */ + +/* ------------------- GL_EXT_texture_filter_anisotropic ------------------- */ + +#ifndef GL_EXT_texture_filter_anisotropic +#define GL_EXT_texture_filter_anisotropic 1 + +#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE +#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF + +#define GLEW_EXT_texture_filter_anisotropic GLEW_GET_VAR(__GLEW_EXT_texture_filter_anisotropic) + +#endif /* GL_EXT_texture_filter_anisotropic */ + +/* ------------------------- GL_EXT_texture_integer ------------------------ */ + +#ifndef GL_EXT_texture_integer +#define GL_EXT_texture_integer 1 + +#define GL_RGBA32UI_EXT 0x8D70 +#define GL_RGB32UI_EXT 0x8D71 +#define GL_ALPHA32UI_EXT 0x8D72 +#define GL_INTENSITY32UI_EXT 0x8D73 +#define GL_LUMINANCE32UI_EXT 0x8D74 +#define GL_LUMINANCE_ALPHA32UI_EXT 0x8D75 +#define GL_RGBA16UI_EXT 0x8D76 +#define GL_RGB16UI_EXT 0x8D77 +#define GL_ALPHA16UI_EXT 0x8D78 +#define GL_INTENSITY16UI_EXT 0x8D79 +#define GL_LUMINANCE16UI_EXT 0x8D7A +#define GL_LUMINANCE_ALPHA16UI_EXT 0x8D7B +#define GL_RGBA8UI_EXT 0x8D7C +#define GL_RGB8UI_EXT 0x8D7D +#define GL_ALPHA8UI_EXT 0x8D7E +#define GL_INTENSITY8UI_EXT 0x8D7F +#define GL_LUMINANCE8UI_EXT 0x8D80 +#define GL_LUMINANCE_ALPHA8UI_EXT 0x8D81 +#define GL_RGBA32I_EXT 0x8D82 +#define GL_RGB32I_EXT 0x8D83 +#define GL_ALPHA32I_EXT 0x8D84 +#define GL_INTENSITY32I_EXT 0x8D85 +#define GL_LUMINANCE32I_EXT 0x8D86 +#define GL_LUMINANCE_ALPHA32I_EXT 0x8D87 +#define GL_RGBA16I_EXT 0x8D88 +#define GL_RGB16I_EXT 0x8D89 +#define GL_ALPHA16I_EXT 0x8D8A +#define GL_INTENSITY16I_EXT 0x8D8B +#define GL_LUMINANCE16I_EXT 0x8D8C +#define GL_LUMINANCE_ALPHA16I_EXT 0x8D8D +#define GL_RGBA8I_EXT 0x8D8E +#define GL_RGB8I_EXT 0x8D8F +#define GL_ALPHA8I_EXT 0x8D90 +#define GL_INTENSITY8I_EXT 0x8D91 +#define GL_LUMINANCE8I_EXT 0x8D92 +#define GL_LUMINANCE_ALPHA8I_EXT 0x8D93 +#define GL_RED_INTEGER_EXT 0x8D94 +#define GL_GREEN_INTEGER_EXT 0x8D95 +#define GL_BLUE_INTEGER_EXT 0x8D96 +#define GL_ALPHA_INTEGER_EXT 0x8D97 +#define GL_RGB_INTEGER_EXT 0x8D98 +#define GL_RGBA_INTEGER_EXT 0x8D99 +#define GL_BGR_INTEGER_EXT 0x8D9A +#define GL_BGRA_INTEGER_EXT 0x8D9B +#define GL_LUMINANCE_INTEGER_EXT 0x8D9C +#define GL_LUMINANCE_ALPHA_INTEGER_EXT 0x8D9D +#define GL_RGBA_INTEGER_MODE_EXT 0x8D9E + +typedef void (GLAPIENTRY * PFNGLCLEARCOLORIIEXTPROC) (GLint red, GLint green, GLint blue, GLint alpha); +typedef void (GLAPIENTRY * PFNGLCLEARCOLORIUIEXTPROC) (GLuint red, GLuint green, GLuint blue, GLuint alpha); +typedef void (GLAPIENTRY * PFNGLGETTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (GLAPIENTRY * PFNGLGETTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, GLuint *params); +typedef void (GLAPIENTRY * PFNGLTEXPARAMETERIIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (GLAPIENTRY * PFNGLTEXPARAMETERIUIVEXTPROC) (GLenum target, GLenum pname, const GLuint *params); + +#define glClearColorIiEXT GLEW_GET_FUN(__glewClearColorIiEXT) +#define glClearColorIuiEXT GLEW_GET_FUN(__glewClearColorIuiEXT) +#define glGetTexParameterIivEXT GLEW_GET_FUN(__glewGetTexParameterIivEXT) +#define glGetTexParameterIuivEXT GLEW_GET_FUN(__glewGetTexParameterIuivEXT) +#define glTexParameterIivEXT GLEW_GET_FUN(__glewTexParameterIivEXT) +#define glTexParameterIuivEXT GLEW_GET_FUN(__glewTexParameterIuivEXT) + +#define GLEW_EXT_texture_integer GLEW_GET_VAR(__GLEW_EXT_texture_integer) + +#endif /* GL_EXT_texture_integer */ + +/* ------------------------ GL_EXT_texture_lod_bias ------------------------ */ + +#ifndef GL_EXT_texture_lod_bias +#define GL_EXT_texture_lod_bias 1 + +#define GL_MAX_TEXTURE_LOD_BIAS_EXT 0x84FD +#define GL_TEXTURE_FILTER_CONTROL_EXT 0x8500 +#define GL_TEXTURE_LOD_BIAS_EXT 0x8501 + +#define GLEW_EXT_texture_lod_bias GLEW_GET_VAR(__GLEW_EXT_texture_lod_bias) + +#endif /* GL_EXT_texture_lod_bias */ + +/* ---------------------- GL_EXT_texture_mirror_clamp ---------------------- */ + +#ifndef GL_EXT_texture_mirror_clamp +#define GL_EXT_texture_mirror_clamp 1 + +#define GL_MIRROR_CLAMP_EXT 0x8742 +#define GL_MIRROR_CLAMP_TO_EDGE_EXT 0x8743 +#define GL_MIRROR_CLAMP_TO_BORDER_EXT 0x8912 + +#define GLEW_EXT_texture_mirror_clamp GLEW_GET_VAR(__GLEW_EXT_texture_mirror_clamp) + +#endif /* GL_EXT_texture_mirror_clamp */ + +/* ------------------------- GL_EXT_texture_object ------------------------- */ + +#ifndef GL_EXT_texture_object +#define GL_EXT_texture_object 1 + +#define GL_TEXTURE_PRIORITY_EXT 0x8066 +#define GL_TEXTURE_RESIDENT_EXT 0x8067 +#define GL_TEXTURE_1D_BINDING_EXT 0x8068 +#define GL_TEXTURE_2D_BINDING_EXT 0x8069 +#define GL_TEXTURE_3D_BINDING_EXT 0x806A + +typedef GLboolean (GLAPIENTRY * PFNGLARETEXTURESRESIDENTEXTPROC) (GLsizei n, const GLuint* textures, GLboolean* residences); +typedef void (GLAPIENTRY * PFNGLBINDTEXTUREEXTPROC) (GLenum target, GLuint texture); +typedef void (GLAPIENTRY * PFNGLDELETETEXTURESEXTPROC) (GLsizei n, const GLuint* textures); +typedef void (GLAPIENTRY * PFNGLGENTEXTURESEXTPROC) (GLsizei n, GLuint* textures); +typedef GLboolean (GLAPIENTRY * PFNGLISTEXTUREEXTPROC) (GLuint texture); +typedef void (GLAPIENTRY * PFNGLPRIORITIZETEXTURESEXTPROC) (GLsizei n, const GLuint* textures, const GLclampf* priorities); + +#define glAreTexturesResidentEXT GLEW_GET_FUN(__glewAreTexturesResidentEXT) +#define glBindTextureEXT GLEW_GET_FUN(__glewBindTextureEXT) +#define glDeleteTexturesEXT GLEW_GET_FUN(__glewDeleteTexturesEXT) +#define glGenTexturesEXT GLEW_GET_FUN(__glewGenTexturesEXT) +#define glIsTextureEXT GLEW_GET_FUN(__glewIsTextureEXT) +#define glPrioritizeTexturesEXT GLEW_GET_FUN(__glewPrioritizeTexturesEXT) + +#define GLEW_EXT_texture_object GLEW_GET_VAR(__GLEW_EXT_texture_object) + +#endif /* GL_EXT_texture_object */ + +/* --------------------- GL_EXT_texture_perturb_normal --------------------- */ + +#ifndef GL_EXT_texture_perturb_normal +#define GL_EXT_texture_perturb_normal 1 + +#define GL_PERTURB_EXT 0x85AE +#define GL_TEXTURE_NORMAL_EXT 0x85AF + +typedef void (GLAPIENTRY * PFNGLTEXTURENORMALEXTPROC) (GLenum mode); + +#define glTextureNormalEXT GLEW_GET_FUN(__glewTextureNormalEXT) + +#define GLEW_EXT_texture_perturb_normal GLEW_GET_VAR(__GLEW_EXT_texture_perturb_normal) + +#endif /* GL_EXT_texture_perturb_normal */ + +/* ------------------------ GL_EXT_texture_rectangle ----------------------- */ + +#ifndef GL_EXT_texture_rectangle +#define GL_EXT_texture_rectangle 1 + +#define GL_TEXTURE_RECTANGLE_EXT 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_EXT 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_EXT 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_EXT 0x84F8 + +#define GLEW_EXT_texture_rectangle GLEW_GET_VAR(__GLEW_EXT_texture_rectangle) + +#endif /* GL_EXT_texture_rectangle */ + +/* -------------------------- GL_EXT_texture_sRGB -------------------------- */ + +#ifndef GL_EXT_texture_sRGB +#define GL_EXT_texture_sRGB 1 + +#define GL_SRGB_EXT 0x8C40 +#define GL_SRGB8_EXT 0x8C41 +#define GL_SRGB_ALPHA_EXT 0x8C42 +#define GL_SRGB8_ALPHA8_EXT 0x8C43 +#define GL_SLUMINANCE_ALPHA_EXT 0x8C44 +#define GL_SLUMINANCE8_ALPHA8_EXT 0x8C45 +#define GL_SLUMINANCE_EXT 0x8C46 +#define GL_SLUMINANCE8_EXT 0x8C47 +#define GL_COMPRESSED_SRGB_EXT 0x8C48 +#define GL_COMPRESSED_SRGB_ALPHA_EXT 0x8C49 +#define GL_COMPRESSED_SLUMINANCE_EXT 0x8C4A +#define GL_COMPRESSED_SLUMINANCE_ALPHA_EXT 0x8C4B +#define GL_COMPRESSED_SRGB_S3TC_DXT1_EXT 0x8C4C +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT1_EXT 0x8C4D +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT3_EXT 0x8C4E +#define GL_COMPRESSED_SRGB_ALPHA_S3TC_DXT5_EXT 0x8C4F + +#define GLEW_EXT_texture_sRGB GLEW_GET_VAR(__GLEW_EXT_texture_sRGB) + +#endif /* GL_EXT_texture_sRGB */ + +/* ----------------------- GL_EXT_texture_sRGB_decode ---------------------- */ + +#ifndef GL_EXT_texture_sRGB_decode +#define GL_EXT_texture_sRGB_decode 1 + +#define GL_TEXTURE_SRGB_DECODE_EXT 0x8A48 +#define GL_DECODE_EXT 0x8A49 +#define GL_SKIP_DECODE_EXT 0x8A4A + +#define GLEW_EXT_texture_sRGB_decode GLEW_GET_VAR(__GLEW_EXT_texture_sRGB_decode) + +#endif /* GL_EXT_texture_sRGB_decode */ + +/* --------------------- GL_EXT_texture_shared_exponent -------------------- */ + +#ifndef GL_EXT_texture_shared_exponent +#define GL_EXT_texture_shared_exponent 1 + +#define GL_RGB9_E5_EXT 0x8C3D +#define GL_UNSIGNED_INT_5_9_9_9_REV_EXT 0x8C3E +#define GL_TEXTURE_SHARED_SIZE_EXT 0x8C3F + +#define GLEW_EXT_texture_shared_exponent GLEW_GET_VAR(__GLEW_EXT_texture_shared_exponent) + +#endif /* GL_EXT_texture_shared_exponent */ + +/* -------------------------- GL_EXT_texture_snorm ------------------------- */ + +#ifndef GL_EXT_texture_snorm +#define GL_EXT_texture_snorm 1 + +#define GL_RED_SNORM 0x8F90 +#define GL_RG_SNORM 0x8F91 +#define GL_RGB_SNORM 0x8F92 +#define GL_RGBA_SNORM 0x8F93 +#define GL_R8_SNORM 0x8F94 +#define GL_RG8_SNORM 0x8F95 +#define GL_RGB8_SNORM 0x8F96 +#define GL_RGBA8_SNORM 0x8F97 +#define GL_R16_SNORM 0x8F98 +#define GL_RG16_SNORM 0x8F99 +#define GL_RGB16_SNORM 0x8F9A +#define GL_RGBA16_SNORM 0x8F9B +#define GL_SIGNED_NORMALIZED 0x8F9C +#define GL_ALPHA_SNORM 0x9010 +#define GL_LUMINANCE_SNORM 0x9011 +#define GL_LUMINANCE_ALPHA_SNORM 0x9012 +#define GL_INTENSITY_SNORM 0x9013 +#define GL_ALPHA8_SNORM 0x9014 +#define GL_LUMINANCE8_SNORM 0x9015 +#define GL_LUMINANCE8_ALPHA8_SNORM 0x9016 +#define GL_INTENSITY8_SNORM 0x9017 +#define GL_ALPHA16_SNORM 0x9018 +#define GL_LUMINANCE16_SNORM 0x9019 +#define GL_LUMINANCE16_ALPHA16_SNORM 0x901A +#define GL_INTENSITY16_SNORM 0x901B + +#define GLEW_EXT_texture_snorm GLEW_GET_VAR(__GLEW_EXT_texture_snorm) + +#endif /* GL_EXT_texture_snorm */ + +/* ------------------------- GL_EXT_texture_swizzle ------------------------ */ + +#ifndef GL_EXT_texture_swizzle +#define GL_EXT_texture_swizzle 1 + +#define GL_TEXTURE_SWIZZLE_R_EXT 0x8E42 +#define GL_TEXTURE_SWIZZLE_G_EXT 0x8E43 +#define GL_TEXTURE_SWIZZLE_B_EXT 0x8E44 +#define GL_TEXTURE_SWIZZLE_A_EXT 0x8E45 +#define GL_TEXTURE_SWIZZLE_RGBA_EXT 0x8E46 + +#define GLEW_EXT_texture_swizzle GLEW_GET_VAR(__GLEW_EXT_texture_swizzle) + +#endif /* GL_EXT_texture_swizzle */ + +/* --------------------------- GL_EXT_timer_query -------------------------- */ + +#ifndef GL_EXT_timer_query +#define GL_EXT_timer_query 1 + +#define GL_TIME_ELAPSED_EXT 0x88BF + +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTI64VEXTPROC) (GLuint id, GLenum pname, GLint64EXT *params); +typedef void (GLAPIENTRY * PFNGLGETQUERYOBJECTUI64VEXTPROC) (GLuint id, GLenum pname, GLuint64EXT *params); + +#define glGetQueryObjecti64vEXT GLEW_GET_FUN(__glewGetQueryObjecti64vEXT) +#define glGetQueryObjectui64vEXT GLEW_GET_FUN(__glewGetQueryObjectui64vEXT) + +#define GLEW_EXT_timer_query GLEW_GET_VAR(__GLEW_EXT_timer_query) + +#endif /* GL_EXT_timer_query */ + +/* ----------------------- GL_EXT_transform_feedback ----------------------- */ + +#ifndef GL_EXT_transform_feedback +#define GL_EXT_transform_feedback 1 + +#define GL_TRANSFORM_FEEDBACK_VARYING_MAX_LENGTH_EXT 0x8C76 +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_EXT 0x8C7F +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_EXT 0x8C80 +#define GL_TRANSFORM_FEEDBACK_VARYINGS_EXT 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_START_EXT 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_EXT 0x8C85 +#define GL_PRIMITIVES_GENERATED_EXT 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_EXT 0x8C88 +#define GL_RASTERIZER_DISCARD_EXT 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_EXT 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_EXT 0x8C8B +#define GL_INTERLEAVED_ATTRIBS_EXT 0x8C8C +#define GL_SEPARATE_ATTRIBS_EXT 0x8C8D +#define GL_TRANSFORM_FEEDBACK_BUFFER_EXT 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_EXT 0x8C8F + +typedef void (GLAPIENTRY * PFNGLBEGINTRANSFORMFEEDBACKEXTPROC) (GLenum primitiveMode); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERBASEEXTPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLBINDBUFFEROFFSETEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERRANGEEXTPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (GLAPIENTRY * PFNGLENDTRANSFORMFEEDBACKEXTPROC) (void); +typedef void (GLAPIENTRY * PFNGLGETTRANSFORMFEEDBACKVARYINGEXTPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei* length, GLsizei *size, GLenum *type, char *name); +typedef void (GLAPIENTRY * PFNGLTRANSFORMFEEDBACKVARYINGSEXTPROC) (GLuint program, GLsizei count, const char ** varyings, GLenum bufferMode); + +#define glBeginTransformFeedbackEXT GLEW_GET_FUN(__glewBeginTransformFeedbackEXT) +#define glBindBufferBaseEXT GLEW_GET_FUN(__glewBindBufferBaseEXT) +#define glBindBufferOffsetEXT GLEW_GET_FUN(__glewBindBufferOffsetEXT) +#define glBindBufferRangeEXT GLEW_GET_FUN(__glewBindBufferRangeEXT) +#define glEndTransformFeedbackEXT GLEW_GET_FUN(__glewEndTransformFeedbackEXT) +#define glGetTransformFeedbackVaryingEXT GLEW_GET_FUN(__glewGetTransformFeedbackVaryingEXT) +#define glTransformFeedbackVaryingsEXT GLEW_GET_FUN(__glewTransformFeedbackVaryingsEXT) + +#define GLEW_EXT_transform_feedback GLEW_GET_VAR(__GLEW_EXT_transform_feedback) + +#endif /* GL_EXT_transform_feedback */ + +/* -------------------------- GL_EXT_vertex_array -------------------------- */ + +#ifndef GL_EXT_vertex_array +#define GL_EXT_vertex_array 1 + +#define GL_DOUBLE_EXT 0x140A +#define GL_VERTEX_ARRAY_EXT 0x8074 +#define GL_NORMAL_ARRAY_EXT 0x8075 +#define GL_COLOR_ARRAY_EXT 0x8076 +#define GL_INDEX_ARRAY_EXT 0x8077 +#define GL_TEXTURE_COORD_ARRAY_EXT 0x8078 +#define GL_EDGE_FLAG_ARRAY_EXT 0x8079 +#define GL_VERTEX_ARRAY_SIZE_EXT 0x807A +#define GL_VERTEX_ARRAY_TYPE_EXT 0x807B +#define GL_VERTEX_ARRAY_STRIDE_EXT 0x807C +#define GL_VERTEX_ARRAY_COUNT_EXT 0x807D +#define GL_NORMAL_ARRAY_TYPE_EXT 0x807E +#define GL_NORMAL_ARRAY_STRIDE_EXT 0x807F +#define GL_NORMAL_ARRAY_COUNT_EXT 0x8080 +#define GL_COLOR_ARRAY_SIZE_EXT 0x8081 +#define GL_COLOR_ARRAY_TYPE_EXT 0x8082 +#define GL_COLOR_ARRAY_STRIDE_EXT 0x8083 +#define GL_COLOR_ARRAY_COUNT_EXT 0x8084 +#define GL_INDEX_ARRAY_TYPE_EXT 0x8085 +#define GL_INDEX_ARRAY_STRIDE_EXT 0x8086 +#define GL_INDEX_ARRAY_COUNT_EXT 0x8087 +#define GL_TEXTURE_COORD_ARRAY_SIZE_EXT 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE_EXT 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE_EXT 0x808A +#define GL_TEXTURE_COORD_ARRAY_COUNT_EXT 0x808B +#define GL_EDGE_FLAG_ARRAY_STRIDE_EXT 0x808C +#define GL_EDGE_FLAG_ARRAY_COUNT_EXT 0x808D +#define GL_VERTEX_ARRAY_POINTER_EXT 0x808E +#define GL_NORMAL_ARRAY_POINTER_EXT 0x808F +#define GL_COLOR_ARRAY_POINTER_EXT 0x8090 +#define GL_INDEX_ARRAY_POINTER_EXT 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER_EXT 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER_EXT 0x8093 + +typedef void (GLAPIENTRY * PFNGLARRAYELEMENTEXTPROC) (GLint i); +typedef void (GLAPIENTRY * PFNGLCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void* pointer); +typedef void (GLAPIENTRY * PFNGLDRAWARRAYSEXTPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (GLAPIENTRY * PFNGLEDGEFLAGPOINTEREXTPROC) (GLsizei stride, GLsizei count, const GLboolean* pointer); +typedef void (GLAPIENTRY * PFNGLINDEXPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void* pointer); +typedef void (GLAPIENTRY * PFNGLNORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const void* pointer); +typedef void (GLAPIENTRY * PFNGLTEXCOORDPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void* pointer); +typedef void (GLAPIENTRY * PFNGLVERTEXPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const void* pointer); + +#define glArrayElementEXT GLEW_GET_FUN(__glewArrayElementEXT) +#define glColorPointerEXT GLEW_GET_FUN(__glewColorPointerEXT) +#define glDrawArraysEXT GLEW_GET_FUN(__glewDrawArraysEXT) +#define glEdgeFlagPointerEXT GLEW_GET_FUN(__glewEdgeFlagPointerEXT) +#define glIndexPointerEXT GLEW_GET_FUN(__glewIndexPointerEXT) +#define glNormalPointerEXT GLEW_GET_FUN(__glewNormalPointerEXT) +#define glTexCoordPointerEXT GLEW_GET_FUN(__glewTexCoordPointerEXT) +#define glVertexPointerEXT GLEW_GET_FUN(__glewVertexPointerEXT) + +#define GLEW_EXT_vertex_array GLEW_GET_VAR(__GLEW_EXT_vertex_array) + +#endif /* GL_EXT_vertex_array */ + +/* ------------------------ GL_EXT_vertex_array_bgra ----------------------- */ + +#ifndef GL_EXT_vertex_array_bgra +#define GL_EXT_vertex_array_bgra 1 + +#define GL_BGRA 0x80E1 + +#define GLEW_EXT_vertex_array_bgra GLEW_GET_VAR(__GLEW_EXT_vertex_array_bgra) + +#endif /* GL_EXT_vertex_array_bgra */ + +/* ----------------------- GL_EXT_vertex_attrib_64bit ---------------------- */ + +#ifndef GL_EXT_vertex_attrib_64bit +#define GL_EXT_vertex_attrib_64bit 1 + +#define GL_DOUBLE_MAT2_EXT 0x8F46 +#define GL_DOUBLE_MAT3_EXT 0x8F47 +#define GL_DOUBLE_MAT4_EXT 0x8F48 +#define GL_DOUBLE_MAT2x3_EXT 0x8F49 +#define GL_DOUBLE_MAT2x4_EXT 0x8F4A +#define GL_DOUBLE_MAT3x2_EXT 0x8F4B +#define GL_DOUBLE_MAT3x4_EXT 0x8F4C +#define GL_DOUBLE_MAT4x2_EXT 0x8F4D +#define GL_DOUBLE_MAT4x3_EXT 0x8F4E +#define GL_DOUBLE_VEC2_EXT 0x8FFC +#define GL_DOUBLE_VEC3_EXT 0x8FFD +#define GL_DOUBLE_VEC4_EXT 0x8FFE + +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBLDVEXTPROC) (GLuint index, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYVERTEXATTRIBLOFFSETEXTPROC) (GLuint vaobj, GLuint buffer, GLuint index, GLint size, GLenum type, GLsizei stride, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1DEXTPROC) (GLuint index, GLdouble x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1DVEXTPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2DEXTPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2DVEXTPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3DVEXTPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4DEXTPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4DVEXTPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBLPOINTEREXTPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void* pointer); + +#define glGetVertexAttribLdvEXT GLEW_GET_FUN(__glewGetVertexAttribLdvEXT) +#define glVertexArrayVertexAttribLOffsetEXT GLEW_GET_FUN(__glewVertexArrayVertexAttribLOffsetEXT) +#define glVertexAttribL1dEXT GLEW_GET_FUN(__glewVertexAttribL1dEXT) +#define glVertexAttribL1dvEXT GLEW_GET_FUN(__glewVertexAttribL1dvEXT) +#define glVertexAttribL2dEXT GLEW_GET_FUN(__glewVertexAttribL2dEXT) +#define glVertexAttribL2dvEXT GLEW_GET_FUN(__glewVertexAttribL2dvEXT) +#define glVertexAttribL3dEXT GLEW_GET_FUN(__glewVertexAttribL3dEXT) +#define glVertexAttribL3dvEXT GLEW_GET_FUN(__glewVertexAttribL3dvEXT) +#define glVertexAttribL4dEXT GLEW_GET_FUN(__glewVertexAttribL4dEXT) +#define glVertexAttribL4dvEXT GLEW_GET_FUN(__glewVertexAttribL4dvEXT) +#define glVertexAttribLPointerEXT GLEW_GET_FUN(__glewVertexAttribLPointerEXT) + +#define GLEW_EXT_vertex_attrib_64bit GLEW_GET_VAR(__GLEW_EXT_vertex_attrib_64bit) + +#endif /* GL_EXT_vertex_attrib_64bit */ + +/* -------------------------- GL_EXT_vertex_shader ------------------------- */ + +#ifndef GL_EXT_vertex_shader +#define GL_EXT_vertex_shader 1 + +#define GL_VERTEX_SHADER_EXT 0x8780 +#define GL_VERTEX_SHADER_BINDING_EXT 0x8781 +#define GL_OP_INDEX_EXT 0x8782 +#define GL_OP_NEGATE_EXT 0x8783 +#define GL_OP_DOT3_EXT 0x8784 +#define GL_OP_DOT4_EXT 0x8785 +#define GL_OP_MUL_EXT 0x8786 +#define GL_OP_ADD_EXT 0x8787 +#define GL_OP_MADD_EXT 0x8788 +#define GL_OP_FRAC_EXT 0x8789 +#define GL_OP_MAX_EXT 0x878A +#define GL_OP_MIN_EXT 0x878B +#define GL_OP_SET_GE_EXT 0x878C +#define GL_OP_SET_LT_EXT 0x878D +#define GL_OP_CLAMP_EXT 0x878E +#define GL_OP_FLOOR_EXT 0x878F +#define GL_OP_ROUND_EXT 0x8790 +#define GL_OP_EXP_BASE_2_EXT 0x8791 +#define GL_OP_LOG_BASE_2_EXT 0x8792 +#define GL_OP_POWER_EXT 0x8793 +#define GL_OP_RECIP_EXT 0x8794 +#define GL_OP_RECIP_SQRT_EXT 0x8795 +#define GL_OP_SUB_EXT 0x8796 +#define GL_OP_CROSS_PRODUCT_EXT 0x8797 +#define GL_OP_MULTIPLY_MATRIX_EXT 0x8798 +#define GL_OP_MOV_EXT 0x8799 +#define GL_OUTPUT_VERTEX_EXT 0x879A +#define GL_OUTPUT_COLOR0_EXT 0x879B +#define GL_OUTPUT_COLOR1_EXT 0x879C +#define GL_OUTPUT_TEXTURE_COORD0_EXT 0x879D +#define GL_OUTPUT_TEXTURE_COORD1_EXT 0x879E +#define GL_OUTPUT_TEXTURE_COORD2_EXT 0x879F +#define GL_OUTPUT_TEXTURE_COORD3_EXT 0x87A0 +#define GL_OUTPUT_TEXTURE_COORD4_EXT 0x87A1 +#define GL_OUTPUT_TEXTURE_COORD5_EXT 0x87A2 +#define GL_OUTPUT_TEXTURE_COORD6_EXT 0x87A3 +#define GL_OUTPUT_TEXTURE_COORD7_EXT 0x87A4 +#define GL_OUTPUT_TEXTURE_COORD8_EXT 0x87A5 +#define GL_OUTPUT_TEXTURE_COORD9_EXT 0x87A6 +#define GL_OUTPUT_TEXTURE_COORD10_EXT 0x87A7 +#define GL_OUTPUT_TEXTURE_COORD11_EXT 0x87A8 +#define GL_OUTPUT_TEXTURE_COORD12_EXT 0x87A9 +#define GL_OUTPUT_TEXTURE_COORD13_EXT 0x87AA +#define GL_OUTPUT_TEXTURE_COORD14_EXT 0x87AB +#define GL_OUTPUT_TEXTURE_COORD15_EXT 0x87AC +#define GL_OUTPUT_TEXTURE_COORD16_EXT 0x87AD +#define GL_OUTPUT_TEXTURE_COORD17_EXT 0x87AE +#define GL_OUTPUT_TEXTURE_COORD18_EXT 0x87AF +#define GL_OUTPUT_TEXTURE_COORD19_EXT 0x87B0 +#define GL_OUTPUT_TEXTURE_COORD20_EXT 0x87B1 +#define GL_OUTPUT_TEXTURE_COORD21_EXT 0x87B2 +#define GL_OUTPUT_TEXTURE_COORD22_EXT 0x87B3 +#define GL_OUTPUT_TEXTURE_COORD23_EXT 0x87B4 +#define GL_OUTPUT_TEXTURE_COORD24_EXT 0x87B5 +#define GL_OUTPUT_TEXTURE_COORD25_EXT 0x87B6 +#define GL_OUTPUT_TEXTURE_COORD26_EXT 0x87B7 +#define GL_OUTPUT_TEXTURE_COORD27_EXT 0x87B8 +#define GL_OUTPUT_TEXTURE_COORD28_EXT 0x87B9 +#define GL_OUTPUT_TEXTURE_COORD29_EXT 0x87BA +#define GL_OUTPUT_TEXTURE_COORD30_EXT 0x87BB +#define GL_OUTPUT_TEXTURE_COORD31_EXT 0x87BC +#define GL_OUTPUT_FOG_EXT 0x87BD +#define GL_SCALAR_EXT 0x87BE +#define GL_VECTOR_EXT 0x87BF +#define GL_MATRIX_EXT 0x87C0 +#define GL_VARIANT_EXT 0x87C1 +#define GL_INVARIANT_EXT 0x87C2 +#define GL_LOCAL_CONSTANT_EXT 0x87C3 +#define GL_LOCAL_EXT 0x87C4 +#define GL_MAX_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87C5 +#define GL_MAX_VERTEX_SHADER_VARIANTS_EXT 0x87C6 +#define GL_MAX_VERTEX_SHADER_INVARIANTS_EXT 0x87C7 +#define GL_MAX_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87C8 +#define GL_MAX_VERTEX_SHADER_LOCALS_EXT 0x87C9 +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CA +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_VARIANTS_EXT 0x87CB +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_INVARIANTS_EXT 0x87CC +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87CD +#define GL_MAX_OPTIMIZED_VERTEX_SHADER_LOCALS_EXT 0x87CE +#define GL_VERTEX_SHADER_INSTRUCTIONS_EXT 0x87CF +#define GL_VERTEX_SHADER_VARIANTS_EXT 0x87D0 +#define GL_VERTEX_SHADER_INVARIANTS_EXT 0x87D1 +#define GL_VERTEX_SHADER_LOCAL_CONSTANTS_EXT 0x87D2 +#define GL_VERTEX_SHADER_LOCALS_EXT 0x87D3 +#define GL_VERTEX_SHADER_OPTIMIZED_EXT 0x87D4 +#define GL_X_EXT 0x87D5 +#define GL_Y_EXT 0x87D6 +#define GL_Z_EXT 0x87D7 +#define GL_W_EXT 0x87D8 +#define GL_NEGATIVE_X_EXT 0x87D9 +#define GL_NEGATIVE_Y_EXT 0x87DA +#define GL_NEGATIVE_Z_EXT 0x87DB +#define GL_NEGATIVE_W_EXT 0x87DC +#define GL_ZERO_EXT 0x87DD +#define GL_ONE_EXT 0x87DE +#define GL_NEGATIVE_ONE_EXT 0x87DF +#define GL_NORMALIZED_RANGE_EXT 0x87E0 +#define GL_FULL_RANGE_EXT 0x87E1 +#define GL_CURRENT_VERTEX_EXT 0x87E2 +#define GL_MVP_MATRIX_EXT 0x87E3 +#define GL_VARIANT_VALUE_EXT 0x87E4 +#define GL_VARIANT_DATATYPE_EXT 0x87E5 +#define GL_VARIANT_ARRAY_STRIDE_EXT 0x87E6 +#define GL_VARIANT_ARRAY_TYPE_EXT 0x87E7 +#define GL_VARIANT_ARRAY_EXT 0x87E8 +#define GL_VARIANT_ARRAY_POINTER_EXT 0x87E9 +#define GL_INVARIANT_VALUE_EXT 0x87EA +#define GL_INVARIANT_DATATYPE_EXT 0x87EB +#define GL_LOCAL_CONSTANT_VALUE_EXT 0x87EC +#define GL_LOCAL_CONSTANT_DATATYPE_EXT 0x87ED + +typedef void (GLAPIENTRY * PFNGLBEGINVERTEXSHADEREXTPROC) (void); +typedef GLuint (GLAPIENTRY * PFNGLBINDLIGHTPARAMETEREXTPROC) (GLenum light, GLenum value); +typedef GLuint (GLAPIENTRY * PFNGLBINDMATERIALPARAMETEREXTPROC) (GLenum face, GLenum value); +typedef GLuint (GLAPIENTRY * PFNGLBINDPARAMETEREXTPROC) (GLenum value); +typedef GLuint (GLAPIENTRY * PFNGLBINDTEXGENPARAMETEREXTPROC) (GLenum unit, GLenum coord, GLenum value); +typedef GLuint (GLAPIENTRY * PFNGLBINDTEXTUREUNITPARAMETEREXTPROC) (GLenum unit, GLenum value); +typedef void (GLAPIENTRY * PFNGLBINDVERTEXSHADEREXTPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETEVERTEXSHADEREXTPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLDISABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLENABLEVARIANTCLIENTSTATEEXTPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLENDVERTEXSHADEREXTPROC) (void); +typedef void (GLAPIENTRY * PFNGLEXTRACTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); +typedef GLuint (GLAPIENTRY * PFNGLGENSYMBOLSEXTPROC) (GLenum dataType, GLenum storageType, GLenum range, GLuint components); +typedef GLuint (GLAPIENTRY * PFNGLGENVERTEXSHADERSEXTPROC) (GLuint range); +typedef void (GLAPIENTRY * PFNGLGETINVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (GLAPIENTRY * PFNGLGETINVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +typedef void (GLAPIENTRY * PFNGLGETINVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (GLAPIENTRY * PFNGLGETLOCALCONSTANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (GLAPIENTRY * PFNGLGETLOCALCONSTANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +typedef void (GLAPIENTRY * PFNGLGETLOCALCONSTANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (GLAPIENTRY * PFNGLGETVARIANTBOOLEANVEXTPROC) (GLuint id, GLenum value, GLboolean *data); +typedef void (GLAPIENTRY * PFNGLGETVARIANTFLOATVEXTPROC) (GLuint id, GLenum value, GLfloat *data); +typedef void (GLAPIENTRY * PFNGLGETVARIANTINTEGERVEXTPROC) (GLuint id, GLenum value, GLint *data); +typedef void (GLAPIENTRY * PFNGLGETVARIANTPOINTERVEXTPROC) (GLuint id, GLenum value, GLvoid **data); +typedef void (GLAPIENTRY * PFNGLINSERTCOMPONENTEXTPROC) (GLuint res, GLuint src, GLuint num); +typedef GLboolean (GLAPIENTRY * PFNGLISVARIANTENABLEDEXTPROC) (GLuint id, GLenum cap); +typedef void (GLAPIENTRY * PFNGLSETINVARIANTEXTPROC) (GLuint id, GLenum type, GLvoid *addr); +typedef void (GLAPIENTRY * PFNGLSETLOCALCONSTANTEXTPROC) (GLuint id, GLenum type, GLvoid *addr); +typedef void (GLAPIENTRY * PFNGLSHADEROP1EXTPROC) (GLenum op, GLuint res, GLuint arg1); +typedef void (GLAPIENTRY * PFNGLSHADEROP2EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2); +typedef void (GLAPIENTRY * PFNGLSHADEROP3EXTPROC) (GLenum op, GLuint res, GLuint arg1, GLuint arg2, GLuint arg3); +typedef void (GLAPIENTRY * PFNGLSWIZZLEEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); +typedef void (GLAPIENTRY * PFNGLVARIANTPOINTEREXTPROC) (GLuint id, GLenum type, GLuint stride, GLvoid *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTBVEXTPROC) (GLuint id, GLbyte *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTDVEXTPROC) (GLuint id, GLdouble *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTFVEXTPROC) (GLuint id, GLfloat *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTIVEXTPROC) (GLuint id, GLint *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTSVEXTPROC) (GLuint id, GLshort *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTUBVEXTPROC) (GLuint id, GLubyte *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTUIVEXTPROC) (GLuint id, GLuint *addr); +typedef void (GLAPIENTRY * PFNGLVARIANTUSVEXTPROC) (GLuint id, GLushort *addr); +typedef void (GLAPIENTRY * PFNGLWRITEMASKEXTPROC) (GLuint res, GLuint in, GLenum outX, GLenum outY, GLenum outZ, GLenum outW); + +#define glBeginVertexShaderEXT GLEW_GET_FUN(__glewBeginVertexShaderEXT) +#define glBindLightParameterEXT GLEW_GET_FUN(__glewBindLightParameterEXT) +#define glBindMaterialParameterEXT GLEW_GET_FUN(__glewBindMaterialParameterEXT) +#define glBindParameterEXT GLEW_GET_FUN(__glewBindParameterEXT) +#define glBindTexGenParameterEXT GLEW_GET_FUN(__glewBindTexGenParameterEXT) +#define glBindTextureUnitParameterEXT GLEW_GET_FUN(__glewBindTextureUnitParameterEXT) +#define glBindVertexShaderEXT GLEW_GET_FUN(__glewBindVertexShaderEXT) +#define glDeleteVertexShaderEXT GLEW_GET_FUN(__glewDeleteVertexShaderEXT) +#define glDisableVariantClientStateEXT GLEW_GET_FUN(__glewDisableVariantClientStateEXT) +#define glEnableVariantClientStateEXT GLEW_GET_FUN(__glewEnableVariantClientStateEXT) +#define glEndVertexShaderEXT GLEW_GET_FUN(__glewEndVertexShaderEXT) +#define glExtractComponentEXT GLEW_GET_FUN(__glewExtractComponentEXT) +#define glGenSymbolsEXT GLEW_GET_FUN(__glewGenSymbolsEXT) +#define glGenVertexShadersEXT GLEW_GET_FUN(__glewGenVertexShadersEXT) +#define glGetInvariantBooleanvEXT GLEW_GET_FUN(__glewGetInvariantBooleanvEXT) +#define glGetInvariantFloatvEXT GLEW_GET_FUN(__glewGetInvariantFloatvEXT) +#define glGetInvariantIntegervEXT GLEW_GET_FUN(__glewGetInvariantIntegervEXT) +#define glGetLocalConstantBooleanvEXT GLEW_GET_FUN(__glewGetLocalConstantBooleanvEXT) +#define glGetLocalConstantFloatvEXT GLEW_GET_FUN(__glewGetLocalConstantFloatvEXT) +#define glGetLocalConstantIntegervEXT GLEW_GET_FUN(__glewGetLocalConstantIntegervEXT) +#define glGetVariantBooleanvEXT GLEW_GET_FUN(__glewGetVariantBooleanvEXT) +#define glGetVariantFloatvEXT GLEW_GET_FUN(__glewGetVariantFloatvEXT) +#define glGetVariantIntegervEXT GLEW_GET_FUN(__glewGetVariantIntegervEXT) +#define glGetVariantPointervEXT GLEW_GET_FUN(__glewGetVariantPointervEXT) +#define glInsertComponentEXT GLEW_GET_FUN(__glewInsertComponentEXT) +#define glIsVariantEnabledEXT GLEW_GET_FUN(__glewIsVariantEnabledEXT) +#define glSetInvariantEXT GLEW_GET_FUN(__glewSetInvariantEXT) +#define glSetLocalConstantEXT GLEW_GET_FUN(__glewSetLocalConstantEXT) +#define glShaderOp1EXT GLEW_GET_FUN(__glewShaderOp1EXT) +#define glShaderOp2EXT GLEW_GET_FUN(__glewShaderOp2EXT) +#define glShaderOp3EXT GLEW_GET_FUN(__glewShaderOp3EXT) +#define glSwizzleEXT GLEW_GET_FUN(__glewSwizzleEXT) +#define glVariantPointerEXT GLEW_GET_FUN(__glewVariantPointerEXT) +#define glVariantbvEXT GLEW_GET_FUN(__glewVariantbvEXT) +#define glVariantdvEXT GLEW_GET_FUN(__glewVariantdvEXT) +#define glVariantfvEXT GLEW_GET_FUN(__glewVariantfvEXT) +#define glVariantivEXT GLEW_GET_FUN(__glewVariantivEXT) +#define glVariantsvEXT GLEW_GET_FUN(__glewVariantsvEXT) +#define glVariantubvEXT GLEW_GET_FUN(__glewVariantubvEXT) +#define glVariantuivEXT GLEW_GET_FUN(__glewVariantuivEXT) +#define glVariantusvEXT GLEW_GET_FUN(__glewVariantusvEXT) +#define glWriteMaskEXT GLEW_GET_FUN(__glewWriteMaskEXT) + +#define GLEW_EXT_vertex_shader GLEW_GET_VAR(__GLEW_EXT_vertex_shader) + +#endif /* GL_EXT_vertex_shader */ + +/* ------------------------ GL_EXT_vertex_weighting ------------------------ */ + +#ifndef GL_EXT_vertex_weighting +#define GL_EXT_vertex_weighting 1 + +#define GL_MODELVIEW0_STACK_DEPTH_EXT 0x0BA3 +#define GL_MODELVIEW0_MATRIX_EXT 0x0BA6 +#define GL_MODELVIEW0_EXT 0x1700 +#define GL_MODELVIEW1_STACK_DEPTH_EXT 0x8502 +#define GL_MODELVIEW1_MATRIX_EXT 0x8506 +#define GL_VERTEX_WEIGHTING_EXT 0x8509 +#define GL_MODELVIEW1_EXT 0x850A +#define GL_CURRENT_VERTEX_WEIGHT_EXT 0x850B +#define GL_VERTEX_WEIGHT_ARRAY_EXT 0x850C +#define GL_VERTEX_WEIGHT_ARRAY_SIZE_EXT 0x850D +#define GL_VERTEX_WEIGHT_ARRAY_TYPE_EXT 0x850E +#define GL_VERTEX_WEIGHT_ARRAY_STRIDE_EXT 0x850F +#define GL_VERTEX_WEIGHT_ARRAY_POINTER_EXT 0x8510 + +typedef void (GLAPIENTRY * PFNGLVERTEXWEIGHTPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, void* pointer); +typedef void (GLAPIENTRY * PFNGLVERTEXWEIGHTFEXTPROC) (GLfloat weight); +typedef void (GLAPIENTRY * PFNGLVERTEXWEIGHTFVEXTPROC) (GLfloat* weight); + +#define glVertexWeightPointerEXT GLEW_GET_FUN(__glewVertexWeightPointerEXT) +#define glVertexWeightfEXT GLEW_GET_FUN(__glewVertexWeightfEXT) +#define glVertexWeightfvEXT GLEW_GET_FUN(__glewVertexWeightfvEXT) + +#define GLEW_EXT_vertex_weighting GLEW_GET_VAR(__GLEW_EXT_vertex_weighting) + +#endif /* GL_EXT_vertex_weighting */ + +/* ------------------------- GL_EXT_x11_sync_object ------------------------ */ + +#ifndef GL_EXT_x11_sync_object +#define GL_EXT_x11_sync_object 1 + +#define GL_SYNC_X11_FENCE_EXT 0x90E1 + +typedef GLsync (GLAPIENTRY * PFNGLIMPORTSYNCEXTPROC) (GLenum external_sync_type, GLintptr external_sync, GLbitfield flags); + +#define glImportSyncEXT GLEW_GET_FUN(__glewImportSyncEXT) + +#define GLEW_EXT_x11_sync_object GLEW_GET_VAR(__GLEW_EXT_x11_sync_object) + +#endif /* GL_EXT_x11_sync_object */ + +/* ---------------------- GL_GREMEDY_frame_terminator ---------------------- */ + +#ifndef GL_GREMEDY_frame_terminator +#define GL_GREMEDY_frame_terminator 1 + +typedef void (GLAPIENTRY * PFNGLFRAMETERMINATORGREMEDYPROC) (void); + +#define glFrameTerminatorGREMEDY GLEW_GET_FUN(__glewFrameTerminatorGREMEDY) + +#define GLEW_GREMEDY_frame_terminator GLEW_GET_VAR(__GLEW_GREMEDY_frame_terminator) + +#endif /* GL_GREMEDY_frame_terminator */ + +/* ------------------------ GL_GREMEDY_string_marker ----------------------- */ + +#ifndef GL_GREMEDY_string_marker +#define GL_GREMEDY_string_marker 1 + +typedef void (GLAPIENTRY * PFNGLSTRINGMARKERGREMEDYPROC) (GLsizei len, const void* string); + +#define glStringMarkerGREMEDY GLEW_GET_FUN(__glewStringMarkerGREMEDY) + +#define GLEW_GREMEDY_string_marker GLEW_GET_VAR(__GLEW_GREMEDY_string_marker) + +#endif /* GL_GREMEDY_string_marker */ + +/* --------------------- GL_HP_convolution_border_modes -------------------- */ + +#ifndef GL_HP_convolution_border_modes +#define GL_HP_convolution_border_modes 1 + +#define GLEW_HP_convolution_border_modes GLEW_GET_VAR(__GLEW_HP_convolution_border_modes) + +#endif /* GL_HP_convolution_border_modes */ + +/* ------------------------- GL_HP_image_transform ------------------------- */ + +#ifndef GL_HP_image_transform +#define GL_HP_image_transform 1 + +typedef void (GLAPIENTRY * PFNGLGETIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLIMAGETRANSFORMPARAMETERFHPPROC) (GLenum target, GLenum pname, const GLfloat param); +typedef void (GLAPIENTRY * PFNGLIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLIMAGETRANSFORMPARAMETERIHPPROC) (GLenum target, GLenum pname, const GLint param); +typedef void (GLAPIENTRY * PFNGLIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, const GLint* params); + +#define glGetImageTransformParameterfvHP GLEW_GET_FUN(__glewGetImageTransformParameterfvHP) +#define glGetImageTransformParameterivHP GLEW_GET_FUN(__glewGetImageTransformParameterivHP) +#define glImageTransformParameterfHP GLEW_GET_FUN(__glewImageTransformParameterfHP) +#define glImageTransformParameterfvHP GLEW_GET_FUN(__glewImageTransformParameterfvHP) +#define glImageTransformParameteriHP GLEW_GET_FUN(__glewImageTransformParameteriHP) +#define glImageTransformParameterivHP GLEW_GET_FUN(__glewImageTransformParameterivHP) + +#define GLEW_HP_image_transform GLEW_GET_VAR(__GLEW_HP_image_transform) + +#endif /* GL_HP_image_transform */ + +/* -------------------------- GL_HP_occlusion_test ------------------------- */ + +#ifndef GL_HP_occlusion_test +#define GL_HP_occlusion_test 1 + +#define GL_OCCLUSION_TEST_HP 0x8165 +#define GL_OCCLUSION_TEST_RESULT_HP 0x8166 + +#define GLEW_HP_occlusion_test GLEW_GET_VAR(__GLEW_HP_occlusion_test) + +#endif /* GL_HP_occlusion_test */ + +/* ------------------------- GL_HP_texture_lighting ------------------------ */ + +#ifndef GL_HP_texture_lighting +#define GL_HP_texture_lighting 1 + +#define GLEW_HP_texture_lighting GLEW_GET_VAR(__GLEW_HP_texture_lighting) + +#endif /* GL_HP_texture_lighting */ + +/* --------------------------- GL_IBM_cull_vertex -------------------------- */ + +#ifndef GL_IBM_cull_vertex +#define GL_IBM_cull_vertex 1 + +#define GL_CULL_VERTEX_IBM 103050 + +#define GLEW_IBM_cull_vertex GLEW_GET_VAR(__GLEW_IBM_cull_vertex) + +#endif /* GL_IBM_cull_vertex */ + +/* ---------------------- GL_IBM_multimode_draw_arrays --------------------- */ + +#ifndef GL_IBM_multimode_draw_arrays +#define GL_IBM_multimode_draw_arrays 1 + +typedef void (GLAPIENTRY * PFNGLMULTIMODEDRAWARRAYSIBMPROC) (const GLenum* mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); +typedef void (GLAPIENTRY * PFNGLMULTIMODEDRAWELEMENTSIBMPROC) (const GLenum* mode, const GLsizei *count, GLenum type, const GLvoid * const *indices, GLsizei primcount, GLint modestride); + +#define glMultiModeDrawArraysIBM GLEW_GET_FUN(__glewMultiModeDrawArraysIBM) +#define glMultiModeDrawElementsIBM GLEW_GET_FUN(__glewMultiModeDrawElementsIBM) + +#define GLEW_IBM_multimode_draw_arrays GLEW_GET_VAR(__GLEW_IBM_multimode_draw_arrays) + +#endif /* GL_IBM_multimode_draw_arrays */ + +/* ------------------------- GL_IBM_rasterpos_clip ------------------------- */ + +#ifndef GL_IBM_rasterpos_clip +#define GL_IBM_rasterpos_clip 1 + +#define GL_RASTER_POSITION_UNCLIPPED_IBM 103010 + +#define GLEW_IBM_rasterpos_clip GLEW_GET_VAR(__GLEW_IBM_rasterpos_clip) + +#endif /* GL_IBM_rasterpos_clip */ + +/* --------------------------- GL_IBM_static_data -------------------------- */ + +#ifndef GL_IBM_static_data +#define GL_IBM_static_data 1 + +#define GL_ALL_STATIC_DATA_IBM 103060 +#define GL_STATIC_VERTEX_ARRAY_IBM 103061 + +#define GLEW_IBM_static_data GLEW_GET_VAR(__GLEW_IBM_static_data) + +#endif /* GL_IBM_static_data */ + +/* --------------------- GL_IBM_texture_mirrored_repeat -------------------- */ + +#ifndef GL_IBM_texture_mirrored_repeat +#define GL_IBM_texture_mirrored_repeat 1 + +#define GL_MIRRORED_REPEAT_IBM 0x8370 + +#define GLEW_IBM_texture_mirrored_repeat GLEW_GET_VAR(__GLEW_IBM_texture_mirrored_repeat) + +#endif /* GL_IBM_texture_mirrored_repeat */ + +/* ----------------------- GL_IBM_vertex_array_lists ----------------------- */ + +#ifndef GL_IBM_vertex_array_lists +#define GL_IBM_vertex_array_lists 1 + +#define GL_VERTEX_ARRAY_LIST_IBM 103070 +#define GL_NORMAL_ARRAY_LIST_IBM 103071 +#define GL_COLOR_ARRAY_LIST_IBM 103072 +#define GL_INDEX_ARRAY_LIST_IBM 103073 +#define GL_TEXTURE_COORD_ARRAY_LIST_IBM 103074 +#define GL_EDGE_FLAG_ARRAY_LIST_IBM 103075 +#define GL_FOG_COORDINATE_ARRAY_LIST_IBM 103076 +#define GL_SECONDARY_COLOR_ARRAY_LIST_IBM 103077 +#define GL_VERTEX_ARRAY_LIST_STRIDE_IBM 103080 +#define GL_NORMAL_ARRAY_LIST_STRIDE_IBM 103081 +#define GL_COLOR_ARRAY_LIST_STRIDE_IBM 103082 +#define GL_INDEX_ARRAY_LIST_STRIDE_IBM 103083 +#define GL_TEXTURE_COORD_ARRAY_LIST_STRIDE_IBM 103084 +#define GL_EDGE_FLAG_ARRAY_LIST_STRIDE_IBM 103085 +#define GL_FOG_COORDINATE_ARRAY_LIST_STRIDE_IBM 103086 +#define GL_SECONDARY_COLOR_ARRAY_LIST_STRIDE_IBM 103087 + +typedef void (GLAPIENTRY * PFNGLCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLEDGEFLAGPOINTERLISTIBMPROC) (GLint stride, const GLboolean ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLFOGCOORDPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLINDEXPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLNORMALPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLTEXCOORDPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); +typedef void (GLAPIENTRY * PFNGLVERTEXPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid ** pointer, GLint ptrstride); + +#define glColorPointerListIBM GLEW_GET_FUN(__glewColorPointerListIBM) +#define glEdgeFlagPointerListIBM GLEW_GET_FUN(__glewEdgeFlagPointerListIBM) +#define glFogCoordPointerListIBM GLEW_GET_FUN(__glewFogCoordPointerListIBM) +#define glIndexPointerListIBM GLEW_GET_FUN(__glewIndexPointerListIBM) +#define glNormalPointerListIBM GLEW_GET_FUN(__glewNormalPointerListIBM) +#define glSecondaryColorPointerListIBM GLEW_GET_FUN(__glewSecondaryColorPointerListIBM) +#define glTexCoordPointerListIBM GLEW_GET_FUN(__glewTexCoordPointerListIBM) +#define glVertexPointerListIBM GLEW_GET_FUN(__glewVertexPointerListIBM) + +#define GLEW_IBM_vertex_array_lists GLEW_GET_VAR(__GLEW_IBM_vertex_array_lists) + +#endif /* GL_IBM_vertex_array_lists */ + +/* -------------------------- GL_INGR_color_clamp -------------------------- */ + +#ifndef GL_INGR_color_clamp +#define GL_INGR_color_clamp 1 + +#define GL_RED_MIN_CLAMP_INGR 0x8560 +#define GL_GREEN_MIN_CLAMP_INGR 0x8561 +#define GL_BLUE_MIN_CLAMP_INGR 0x8562 +#define GL_ALPHA_MIN_CLAMP_INGR 0x8563 +#define GL_RED_MAX_CLAMP_INGR 0x8564 +#define GL_GREEN_MAX_CLAMP_INGR 0x8565 +#define GL_BLUE_MAX_CLAMP_INGR 0x8566 +#define GL_ALPHA_MAX_CLAMP_INGR 0x8567 + +#define GLEW_INGR_color_clamp GLEW_GET_VAR(__GLEW_INGR_color_clamp) + +#endif /* GL_INGR_color_clamp */ + +/* ------------------------- GL_INGR_interlace_read ------------------------ */ + +#ifndef GL_INGR_interlace_read +#define GL_INGR_interlace_read 1 + +#define GL_INTERLACE_READ_INGR 0x8568 + +#define GLEW_INGR_interlace_read GLEW_GET_VAR(__GLEW_INGR_interlace_read) + +#endif /* GL_INGR_interlace_read */ + +/* ------------------------ GL_INTEL_parallel_arrays ----------------------- */ + +#ifndef GL_INTEL_parallel_arrays +#define GL_INTEL_parallel_arrays 1 + +#define GL_PARALLEL_ARRAYS_INTEL 0x83F4 +#define GL_VERTEX_ARRAY_PARALLEL_POINTERS_INTEL 0x83F5 +#define GL_NORMAL_ARRAY_PARALLEL_POINTERS_INTEL 0x83F6 +#define GL_COLOR_ARRAY_PARALLEL_POINTERS_INTEL 0x83F7 +#define GL_TEXTURE_COORD_ARRAY_PARALLEL_POINTERS_INTEL 0x83F8 + +typedef void (GLAPIENTRY * PFNGLCOLORPOINTERVINTELPROC) (GLint size, GLenum type, const void** pointer); +typedef void (GLAPIENTRY * PFNGLNORMALPOINTERVINTELPROC) (GLenum type, const void** pointer); +typedef void (GLAPIENTRY * PFNGLTEXCOORDPOINTERVINTELPROC) (GLint size, GLenum type, const void** pointer); +typedef void (GLAPIENTRY * PFNGLVERTEXPOINTERVINTELPROC) (GLint size, GLenum type, const void** pointer); + +#define glColorPointervINTEL GLEW_GET_FUN(__glewColorPointervINTEL) +#define glNormalPointervINTEL GLEW_GET_FUN(__glewNormalPointervINTEL) +#define glTexCoordPointervINTEL GLEW_GET_FUN(__glewTexCoordPointervINTEL) +#define glVertexPointervINTEL GLEW_GET_FUN(__glewVertexPointervINTEL) + +#define GLEW_INTEL_parallel_arrays GLEW_GET_VAR(__GLEW_INTEL_parallel_arrays) + +#endif /* GL_INTEL_parallel_arrays */ + +/* ------------------------ GL_INTEL_texture_scissor ----------------------- */ + +#ifndef GL_INTEL_texture_scissor +#define GL_INTEL_texture_scissor 1 + +typedef void (GLAPIENTRY * PFNGLTEXSCISSORFUNCINTELPROC) (GLenum target, GLenum lfunc, GLenum hfunc); +typedef void (GLAPIENTRY * PFNGLTEXSCISSORINTELPROC) (GLenum target, GLclampf tlow, GLclampf thigh); + +#define glTexScissorFuncINTEL GLEW_GET_FUN(__glewTexScissorFuncINTEL) +#define glTexScissorINTEL GLEW_GET_FUN(__glewTexScissorINTEL) + +#define GLEW_INTEL_texture_scissor GLEW_GET_VAR(__GLEW_INTEL_texture_scissor) + +#endif /* GL_INTEL_texture_scissor */ + +/* -------------------------- GL_KTX_buffer_region ------------------------- */ + +#ifndef GL_KTX_buffer_region +#define GL_KTX_buffer_region 1 + +#define GL_KTX_FRONT_REGION 0x0 +#define GL_KTX_BACK_REGION 0x1 +#define GL_KTX_Z_REGION 0x2 +#define GL_KTX_STENCIL_REGION 0x3 + +typedef GLuint (GLAPIENTRY * PFNGLBUFFERREGIONENABLEDEXTPROC) (void); +typedef void (GLAPIENTRY * PFNGLDELETEBUFFERREGIONEXTPROC) (GLenum region); +typedef void (GLAPIENTRY * PFNGLDRAWBUFFERREGIONEXTPROC) (GLuint region, GLint x, GLint y, GLsizei width, GLsizei height, GLint xDest, GLint yDest); +typedef GLuint (GLAPIENTRY * PFNGLNEWBUFFERREGIONEXTPROC) (GLenum region); +typedef void (GLAPIENTRY * PFNGLREADBUFFERREGIONEXTPROC) (GLuint region, GLint x, GLint y, GLsizei width, GLsizei height); + +#define glBufferRegionEnabledEXT GLEW_GET_FUN(__glewBufferRegionEnabledEXT) +#define glDeleteBufferRegionEXT GLEW_GET_FUN(__glewDeleteBufferRegionEXT) +#define glDrawBufferRegionEXT GLEW_GET_FUN(__glewDrawBufferRegionEXT) +#define glNewBufferRegionEXT GLEW_GET_FUN(__glewNewBufferRegionEXT) +#define glReadBufferRegionEXT GLEW_GET_FUN(__glewReadBufferRegionEXT) + +#define GLEW_KTX_buffer_region GLEW_GET_VAR(__GLEW_KTX_buffer_region) + +#endif /* GL_KTX_buffer_region */ + +/* ------------------------- GL_MESAX_texture_stack ------------------------ */ + +#ifndef GL_MESAX_texture_stack +#define GL_MESAX_texture_stack 1 + +#define GL_TEXTURE_1D_STACK_MESAX 0x8759 +#define GL_TEXTURE_2D_STACK_MESAX 0x875A +#define GL_PROXY_TEXTURE_1D_STACK_MESAX 0x875B +#define GL_PROXY_TEXTURE_2D_STACK_MESAX 0x875C +#define GL_TEXTURE_1D_STACK_BINDING_MESAX 0x875D +#define GL_TEXTURE_2D_STACK_BINDING_MESAX 0x875E + +#define GLEW_MESAX_texture_stack GLEW_GET_VAR(__GLEW_MESAX_texture_stack) + +#endif /* GL_MESAX_texture_stack */ + +/* -------------------------- GL_MESA_pack_invert -------------------------- */ + +#ifndef GL_MESA_pack_invert +#define GL_MESA_pack_invert 1 + +#define GL_PACK_INVERT_MESA 0x8758 + +#define GLEW_MESA_pack_invert GLEW_GET_VAR(__GLEW_MESA_pack_invert) + +#endif /* GL_MESA_pack_invert */ + +/* ------------------------- GL_MESA_resize_buffers ------------------------ */ + +#ifndef GL_MESA_resize_buffers +#define GL_MESA_resize_buffers 1 + +typedef void (GLAPIENTRY * PFNGLRESIZEBUFFERSMESAPROC) (void); + +#define glResizeBuffersMESA GLEW_GET_FUN(__glewResizeBuffersMESA) + +#define GLEW_MESA_resize_buffers GLEW_GET_VAR(__GLEW_MESA_resize_buffers) + +#endif /* GL_MESA_resize_buffers */ + +/* --------------------------- GL_MESA_window_pos -------------------------- */ + +#ifndef GL_MESA_window_pos +#define GL_MESA_window_pos 1 + +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DMESAPROC) (GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2DVMESAPROC) (const GLdouble* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FMESAPROC) (GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2FVMESAPROC) (const GLfloat* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IMESAPROC) (GLint x, GLint y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2IVMESAPROC) (const GLint* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SMESAPROC) (GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS2SVMESAPROC) (const GLshort* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DMESAPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3DVMESAPROC) (const GLdouble* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FMESAPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3FVMESAPROC) (const GLfloat* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IMESAPROC) (GLint x, GLint y, GLint z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3IVMESAPROC) (const GLint* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SMESAPROC) (GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS3SVMESAPROC) (const GLshort* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4DMESAPROC) (GLdouble x, GLdouble y, GLdouble z, GLdouble); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4DVMESAPROC) (const GLdouble* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4FMESAPROC) (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4FVMESAPROC) (const GLfloat* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4IMESAPROC) (GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4IVMESAPROC) (const GLint* p); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4SMESAPROC) (GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (GLAPIENTRY * PFNGLWINDOWPOS4SVMESAPROC) (const GLshort* p); + +#define glWindowPos2dMESA GLEW_GET_FUN(__glewWindowPos2dMESA) +#define glWindowPos2dvMESA GLEW_GET_FUN(__glewWindowPos2dvMESA) +#define glWindowPos2fMESA GLEW_GET_FUN(__glewWindowPos2fMESA) +#define glWindowPos2fvMESA GLEW_GET_FUN(__glewWindowPos2fvMESA) +#define glWindowPos2iMESA GLEW_GET_FUN(__glewWindowPos2iMESA) +#define glWindowPos2ivMESA GLEW_GET_FUN(__glewWindowPos2ivMESA) +#define glWindowPos2sMESA GLEW_GET_FUN(__glewWindowPos2sMESA) +#define glWindowPos2svMESA GLEW_GET_FUN(__glewWindowPos2svMESA) +#define glWindowPos3dMESA GLEW_GET_FUN(__glewWindowPos3dMESA) +#define glWindowPos3dvMESA GLEW_GET_FUN(__glewWindowPos3dvMESA) +#define glWindowPos3fMESA GLEW_GET_FUN(__glewWindowPos3fMESA) +#define glWindowPos3fvMESA GLEW_GET_FUN(__glewWindowPos3fvMESA) +#define glWindowPos3iMESA GLEW_GET_FUN(__glewWindowPos3iMESA) +#define glWindowPos3ivMESA GLEW_GET_FUN(__glewWindowPos3ivMESA) +#define glWindowPos3sMESA GLEW_GET_FUN(__glewWindowPos3sMESA) +#define glWindowPos3svMESA GLEW_GET_FUN(__glewWindowPos3svMESA) +#define glWindowPos4dMESA GLEW_GET_FUN(__glewWindowPos4dMESA) +#define glWindowPos4dvMESA GLEW_GET_FUN(__glewWindowPos4dvMESA) +#define glWindowPos4fMESA GLEW_GET_FUN(__glewWindowPos4fMESA) +#define glWindowPos4fvMESA GLEW_GET_FUN(__glewWindowPos4fvMESA) +#define glWindowPos4iMESA GLEW_GET_FUN(__glewWindowPos4iMESA) +#define glWindowPos4ivMESA GLEW_GET_FUN(__glewWindowPos4ivMESA) +#define glWindowPos4sMESA GLEW_GET_FUN(__glewWindowPos4sMESA) +#define glWindowPos4svMESA GLEW_GET_FUN(__glewWindowPos4svMESA) + +#define GLEW_MESA_window_pos GLEW_GET_VAR(__GLEW_MESA_window_pos) + +#endif /* GL_MESA_window_pos */ + +/* ------------------------- GL_MESA_ycbcr_texture ------------------------- */ + +#ifndef GL_MESA_ycbcr_texture +#define GL_MESA_ycbcr_texture 1 + +#define GL_UNSIGNED_SHORT_8_8_MESA 0x85BA +#define GL_UNSIGNED_SHORT_8_8_REV_MESA 0x85BB +#define GL_YCBCR_MESA 0x8757 + +#define GLEW_MESA_ycbcr_texture GLEW_GET_VAR(__GLEW_MESA_ycbcr_texture) + +#endif /* GL_MESA_ycbcr_texture */ + +/* ------------------------- GL_NVX_gpu_memory_info ------------------------ */ + +#ifndef GL_NVX_gpu_memory_info +#define GL_NVX_gpu_memory_info 1 + +#define GL_GPU_MEMORY_INFO_DEDICATED_VIDMEM_NVX 0x9047 +#define GL_GPU_MEMORY_INFO_TOTAL_AVAILABLE_MEMORY_NVX 0x9048 +#define GL_GPU_MEMORY_INFO_CURRENT_AVAILABLE_VIDMEM_NVX 0x9049 +#define GL_GPU_MEMORY_INFO_EVICTION_COUNT_NVX 0x904A +#define GL_GPU_MEMORY_INFO_EVICTED_MEMORY_NVX 0x904B + +#define GLEW_NVX_gpu_memory_info GLEW_GET_VAR(__GLEW_NVX_gpu_memory_info) + +#endif /* GL_NVX_gpu_memory_info */ + +/* --------------------------- GL_NV_blend_square -------------------------- */ + +#ifndef GL_NV_blend_square +#define GL_NV_blend_square 1 + +#define GLEW_NV_blend_square GLEW_GET_VAR(__GLEW_NV_blend_square) + +#endif /* GL_NV_blend_square */ + +/* ------------------------ GL_NV_conditional_render ----------------------- */ + +#ifndef GL_NV_conditional_render +#define GL_NV_conditional_render 1 + +#define GL_QUERY_WAIT_NV 0x8E13 +#define GL_QUERY_NO_WAIT_NV 0x8E14 +#define GL_QUERY_BY_REGION_WAIT_NV 0x8E15 +#define GL_QUERY_BY_REGION_NO_WAIT_NV 0x8E16 + +typedef void (GLAPIENTRY * PFNGLBEGINCONDITIONALRENDERNVPROC) (GLuint id, GLenum mode); +typedef void (GLAPIENTRY * PFNGLENDCONDITIONALRENDERNVPROC) (void); + +#define glBeginConditionalRenderNV GLEW_GET_FUN(__glewBeginConditionalRenderNV) +#define glEndConditionalRenderNV GLEW_GET_FUN(__glewEndConditionalRenderNV) + +#define GLEW_NV_conditional_render GLEW_GET_VAR(__GLEW_NV_conditional_render) + +#endif /* GL_NV_conditional_render */ + +/* ----------------------- GL_NV_copy_depth_to_color ----------------------- */ + +#ifndef GL_NV_copy_depth_to_color +#define GL_NV_copy_depth_to_color 1 + +#define GL_DEPTH_STENCIL_TO_RGBA_NV 0x886E +#define GL_DEPTH_STENCIL_TO_BGRA_NV 0x886F + +#define GLEW_NV_copy_depth_to_color GLEW_GET_VAR(__GLEW_NV_copy_depth_to_color) + +#endif /* GL_NV_copy_depth_to_color */ + +/* ---------------------------- GL_NV_copy_image --------------------------- */ + +#ifndef GL_NV_copy_image +#define GL_NV_copy_image 1 + +typedef void (GLAPIENTRY * PFNGLCOPYIMAGESUBDATANVPROC) (GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); + +#define glCopyImageSubDataNV GLEW_GET_FUN(__glewCopyImageSubDataNV) + +#define GLEW_NV_copy_image GLEW_GET_VAR(__GLEW_NV_copy_image) + +#endif /* GL_NV_copy_image */ + +/* ------------------------ GL_NV_depth_buffer_float ----------------------- */ + +#ifndef GL_NV_depth_buffer_float +#define GL_NV_depth_buffer_float 1 + +#define GL_DEPTH_COMPONENT32F_NV 0x8DAB +#define GL_DEPTH32F_STENCIL8_NV 0x8DAC +#define GL_FLOAT_32_UNSIGNED_INT_24_8_REV_NV 0x8DAD +#define GL_DEPTH_BUFFER_FLOAT_MODE_NV 0x8DAF + +typedef void (GLAPIENTRY * PFNGLCLEARDEPTHDNVPROC) (GLdouble depth); +typedef void (GLAPIENTRY * PFNGLDEPTHBOUNDSDNVPROC) (GLdouble zmin, GLdouble zmax); +typedef void (GLAPIENTRY * PFNGLDEPTHRANGEDNVPROC) (GLdouble zNear, GLdouble zFar); + +#define glClearDepthdNV GLEW_GET_FUN(__glewClearDepthdNV) +#define glDepthBoundsdNV GLEW_GET_FUN(__glewDepthBoundsdNV) +#define glDepthRangedNV GLEW_GET_FUN(__glewDepthRangedNV) + +#define GLEW_NV_depth_buffer_float GLEW_GET_VAR(__GLEW_NV_depth_buffer_float) + +#endif /* GL_NV_depth_buffer_float */ + +/* --------------------------- GL_NV_depth_clamp --------------------------- */ + +#ifndef GL_NV_depth_clamp +#define GL_NV_depth_clamp 1 + +#define GL_DEPTH_CLAMP_NV 0x864F + +#define GLEW_NV_depth_clamp GLEW_GET_VAR(__GLEW_NV_depth_clamp) + +#endif /* GL_NV_depth_clamp */ + +/* ---------------------- GL_NV_depth_range_unclamped ---------------------- */ + +#ifndef GL_NV_depth_range_unclamped +#define GL_NV_depth_range_unclamped 1 + +#define GL_SAMPLE_COUNT_BITS_NV 0x8864 +#define GL_CURRENT_SAMPLE_COUNT_QUERY_NV 0x8865 +#define GL_QUERY_RESULT_NV 0x8866 +#define GL_QUERY_RESULT_AVAILABLE_NV 0x8867 +#define GL_SAMPLE_COUNT_NV 0x8914 + +#define GLEW_NV_depth_range_unclamped GLEW_GET_VAR(__GLEW_NV_depth_range_unclamped) + +#endif /* GL_NV_depth_range_unclamped */ + +/* ---------------------------- GL_NV_evaluators --------------------------- */ + +#ifndef GL_NV_evaluators +#define GL_NV_evaluators 1 + +#define GL_EVAL_2D_NV 0x86C0 +#define GL_EVAL_TRIANGULAR_2D_NV 0x86C1 +#define GL_MAP_TESSELLATION_NV 0x86C2 +#define GL_MAP_ATTRIB_U_ORDER_NV 0x86C3 +#define GL_MAP_ATTRIB_V_ORDER_NV 0x86C4 +#define GL_EVAL_FRACTIONAL_TESSELLATION_NV 0x86C5 +#define GL_EVAL_VERTEX_ATTRIB0_NV 0x86C6 +#define GL_EVAL_VERTEX_ATTRIB1_NV 0x86C7 +#define GL_EVAL_VERTEX_ATTRIB2_NV 0x86C8 +#define GL_EVAL_VERTEX_ATTRIB3_NV 0x86C9 +#define GL_EVAL_VERTEX_ATTRIB4_NV 0x86CA +#define GL_EVAL_VERTEX_ATTRIB5_NV 0x86CB +#define GL_EVAL_VERTEX_ATTRIB6_NV 0x86CC +#define GL_EVAL_VERTEX_ATTRIB7_NV 0x86CD +#define GL_EVAL_VERTEX_ATTRIB8_NV 0x86CE +#define GL_EVAL_VERTEX_ATTRIB9_NV 0x86CF +#define GL_EVAL_VERTEX_ATTRIB10_NV 0x86D0 +#define GL_EVAL_VERTEX_ATTRIB11_NV 0x86D1 +#define GL_EVAL_VERTEX_ATTRIB12_NV 0x86D2 +#define GL_EVAL_VERTEX_ATTRIB13_NV 0x86D3 +#define GL_EVAL_VERTEX_ATTRIB14_NV 0x86D4 +#define GL_EVAL_VERTEX_ATTRIB15_NV 0x86D5 +#define GL_MAX_MAP_TESSELLATION_NV 0x86D6 +#define GL_MAX_RATIONAL_EVAL_ORDER_NV 0x86D7 + +typedef void (GLAPIENTRY * PFNGLEVALMAPSNVPROC) (GLenum target, GLenum mode); +typedef void (GLAPIENTRY * PFNGLGETMAPATTRIBPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMAPATTRIBPARAMETERIVNVPROC) (GLenum target, GLuint index, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, void* points); +typedef void (GLAPIENTRY * PFNGLGETMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const void* points); +typedef void (GLAPIENTRY * PFNGLMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, const GLint* params); + +#define glEvalMapsNV GLEW_GET_FUN(__glewEvalMapsNV) +#define glGetMapAttribParameterfvNV GLEW_GET_FUN(__glewGetMapAttribParameterfvNV) +#define glGetMapAttribParameterivNV GLEW_GET_FUN(__glewGetMapAttribParameterivNV) +#define glGetMapControlPointsNV GLEW_GET_FUN(__glewGetMapControlPointsNV) +#define glGetMapParameterfvNV GLEW_GET_FUN(__glewGetMapParameterfvNV) +#define glGetMapParameterivNV GLEW_GET_FUN(__glewGetMapParameterivNV) +#define glMapControlPointsNV GLEW_GET_FUN(__glewMapControlPointsNV) +#define glMapParameterfvNV GLEW_GET_FUN(__glewMapParameterfvNV) +#define glMapParameterivNV GLEW_GET_FUN(__glewMapParameterivNV) + +#define GLEW_NV_evaluators GLEW_GET_VAR(__GLEW_NV_evaluators) + +#endif /* GL_NV_evaluators */ + +/* ----------------------- GL_NV_explicit_multisample ---------------------- */ + +#ifndef GL_NV_explicit_multisample +#define GL_NV_explicit_multisample 1 + +#define GL_SAMPLE_POSITION_NV 0x8E50 +#define GL_SAMPLE_MASK_NV 0x8E51 +#define GL_SAMPLE_MASK_VALUE_NV 0x8E52 +#define GL_TEXTURE_BINDING_RENDERBUFFER_NV 0x8E53 +#define GL_TEXTURE_RENDERBUFFER_DATA_STORE_BINDING_NV 0x8E54 +#define GL_TEXTURE_RENDERBUFFER_NV 0x8E55 +#define GL_SAMPLER_RENDERBUFFER_NV 0x8E56 +#define GL_INT_SAMPLER_RENDERBUFFER_NV 0x8E57 +#define GL_UNSIGNED_INT_SAMPLER_RENDERBUFFER_NV 0x8E58 +#define GL_MAX_SAMPLE_MASK_WORDS_NV 0x8E59 + +typedef void (GLAPIENTRY * PFNGLGETMULTISAMPLEFVNVPROC) (GLenum pname, GLuint index, GLfloat* val); +typedef void (GLAPIENTRY * PFNGLSAMPLEMASKINDEXEDNVPROC) (GLuint index, GLbitfield mask); +typedef void (GLAPIENTRY * PFNGLTEXRENDERBUFFERNVPROC) (GLenum target, GLuint renderbuffer); + +#define glGetMultisamplefvNV GLEW_GET_FUN(__glewGetMultisamplefvNV) +#define glSampleMaskIndexedNV GLEW_GET_FUN(__glewSampleMaskIndexedNV) +#define glTexRenderbufferNV GLEW_GET_FUN(__glewTexRenderbufferNV) + +#define GLEW_NV_explicit_multisample GLEW_GET_VAR(__GLEW_NV_explicit_multisample) + +#endif /* GL_NV_explicit_multisample */ + +/* ------------------------------ GL_NV_fence ------------------------------ */ + +#ifndef GL_NV_fence +#define GL_NV_fence 1 + +#define GL_ALL_COMPLETED_NV 0x84F2 +#define GL_FENCE_STATUS_NV 0x84F3 +#define GL_FENCE_CONDITION_NV 0x84F4 + +typedef void (GLAPIENTRY * PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint* fences); +typedef void (GLAPIENTRY * PFNGLFINISHFENCENVPROC) (GLuint fence); +typedef void (GLAPIENTRY * PFNGLGENFENCESNVPROC) (GLsizei n, GLuint* fences); +typedef void (GLAPIENTRY * PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISFENCENVPROC) (GLuint fence); +typedef void (GLAPIENTRY * PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); +typedef GLboolean (GLAPIENTRY * PFNGLTESTFENCENVPROC) (GLuint fence); + +#define glDeleteFencesNV GLEW_GET_FUN(__glewDeleteFencesNV) +#define glFinishFenceNV GLEW_GET_FUN(__glewFinishFenceNV) +#define glGenFencesNV GLEW_GET_FUN(__glewGenFencesNV) +#define glGetFenceivNV GLEW_GET_FUN(__glewGetFenceivNV) +#define glIsFenceNV GLEW_GET_FUN(__glewIsFenceNV) +#define glSetFenceNV GLEW_GET_FUN(__glewSetFenceNV) +#define glTestFenceNV GLEW_GET_FUN(__glewTestFenceNV) + +#define GLEW_NV_fence GLEW_GET_VAR(__GLEW_NV_fence) + +#endif /* GL_NV_fence */ + +/* --------------------------- GL_NV_float_buffer -------------------------- */ + +#ifndef GL_NV_float_buffer +#define GL_NV_float_buffer 1 + +#define GL_FLOAT_R_NV 0x8880 +#define GL_FLOAT_RG_NV 0x8881 +#define GL_FLOAT_RGB_NV 0x8882 +#define GL_FLOAT_RGBA_NV 0x8883 +#define GL_FLOAT_R16_NV 0x8884 +#define GL_FLOAT_R32_NV 0x8885 +#define GL_FLOAT_RG16_NV 0x8886 +#define GL_FLOAT_RG32_NV 0x8887 +#define GL_FLOAT_RGB16_NV 0x8888 +#define GL_FLOAT_RGB32_NV 0x8889 +#define GL_FLOAT_RGBA16_NV 0x888A +#define GL_FLOAT_RGBA32_NV 0x888B +#define GL_TEXTURE_FLOAT_COMPONENTS_NV 0x888C +#define GL_FLOAT_CLEAR_COLOR_VALUE_NV 0x888D +#define GL_FLOAT_RGBA_MODE_NV 0x888E + +#define GLEW_NV_float_buffer GLEW_GET_VAR(__GLEW_NV_float_buffer) + +#endif /* GL_NV_float_buffer */ + +/* --------------------------- GL_NV_fog_distance -------------------------- */ + +#ifndef GL_NV_fog_distance +#define GL_NV_fog_distance 1 + +#define GL_FOG_DISTANCE_MODE_NV 0x855A +#define GL_EYE_RADIAL_NV 0x855B +#define GL_EYE_PLANE_ABSOLUTE_NV 0x855C + +#define GLEW_NV_fog_distance GLEW_GET_VAR(__GLEW_NV_fog_distance) + +#endif /* GL_NV_fog_distance */ + +/* ------------------------- GL_NV_fragment_program ------------------------ */ + +#ifndef GL_NV_fragment_program +#define GL_NV_fragment_program 1 + +#define GL_MAX_FRAGMENT_PROGRAM_LOCAL_PARAMETERS_NV 0x8868 +#define GL_FRAGMENT_PROGRAM_NV 0x8870 +#define GL_MAX_TEXTURE_COORDS_NV 0x8871 +#define GL_MAX_TEXTURE_IMAGE_UNITS_NV 0x8872 +#define GL_FRAGMENT_PROGRAM_BINDING_NV 0x8873 +#define GL_PROGRAM_ERROR_STRING_NV 0x8874 + +typedef void (GLAPIENTRY * PFNGLGETPROGRAMNAMEDPARAMETERDVNVPROC) (GLuint id, GLsizei len, const GLubyte* name, GLdouble *params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMNAMEDPARAMETERFVNVPROC) (GLuint id, GLsizei len, const GLubyte* name, GLfloat *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMNAMEDPARAMETER4DNVPROC) (GLuint id, GLsizei len, const GLubyte* name, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMNAMEDPARAMETER4DVNVPROC) (GLuint id, GLsizei len, const GLubyte* name, const GLdouble v[]); +typedef void (GLAPIENTRY * PFNGLPROGRAMNAMEDPARAMETER4FNVPROC) (GLuint id, GLsizei len, const GLubyte* name, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLPROGRAMNAMEDPARAMETER4FVNVPROC) (GLuint id, GLsizei len, const GLubyte* name, const GLfloat v[]); + +#define glGetProgramNamedParameterdvNV GLEW_GET_FUN(__glewGetProgramNamedParameterdvNV) +#define glGetProgramNamedParameterfvNV GLEW_GET_FUN(__glewGetProgramNamedParameterfvNV) +#define glProgramNamedParameter4dNV GLEW_GET_FUN(__glewProgramNamedParameter4dNV) +#define glProgramNamedParameter4dvNV GLEW_GET_FUN(__glewProgramNamedParameter4dvNV) +#define glProgramNamedParameter4fNV GLEW_GET_FUN(__glewProgramNamedParameter4fNV) +#define glProgramNamedParameter4fvNV GLEW_GET_FUN(__glewProgramNamedParameter4fvNV) + +#define GLEW_NV_fragment_program GLEW_GET_VAR(__GLEW_NV_fragment_program) + +#endif /* GL_NV_fragment_program */ + +/* ------------------------ GL_NV_fragment_program2 ------------------------ */ + +#ifndef GL_NV_fragment_program2 +#define GL_NV_fragment_program2 1 + +#define GL_MAX_PROGRAM_EXEC_INSTRUCTIONS_NV 0x88F4 +#define GL_MAX_PROGRAM_CALL_DEPTH_NV 0x88F5 +#define GL_MAX_PROGRAM_IF_DEPTH_NV 0x88F6 +#define GL_MAX_PROGRAM_LOOP_DEPTH_NV 0x88F7 +#define GL_MAX_PROGRAM_LOOP_COUNT_NV 0x88F8 + +#define GLEW_NV_fragment_program2 GLEW_GET_VAR(__GLEW_NV_fragment_program2) + +#endif /* GL_NV_fragment_program2 */ + +/* ------------------------ GL_NV_fragment_program4 ------------------------ */ + +#ifndef GL_NV_fragment_program4 +#define GL_NV_fragment_program4 1 + +#define GLEW_NV_fragment_program4 GLEW_GET_VAR(__GLEW_NV_fragment_program4) + +#endif /* GL_NV_fragment_program4 */ + +/* --------------------- GL_NV_fragment_program_option --------------------- */ + +#ifndef GL_NV_fragment_program_option +#define GL_NV_fragment_program_option 1 + +#define GLEW_NV_fragment_program_option GLEW_GET_VAR(__GLEW_NV_fragment_program_option) + +#endif /* GL_NV_fragment_program_option */ + +/* ----------------- GL_NV_framebuffer_multisample_coverage ---------------- */ + +#ifndef GL_NV_framebuffer_multisample_coverage +#define GL_NV_framebuffer_multisample_coverage 1 + +#define GL_RENDERBUFFER_COVERAGE_SAMPLES_NV 0x8CAB +#define GL_RENDERBUFFER_COLOR_SAMPLES_NV 0x8E10 +#define GL_MAX_MULTISAMPLE_COVERAGE_MODES_NV 0x8E11 +#define GL_MULTISAMPLE_COVERAGE_MODES_NV 0x8E12 + +typedef void (GLAPIENTRY * PFNGLRENDERBUFFERSTORAGEMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLenum internalformat, GLsizei width, GLsizei height); + +#define glRenderbufferStorageMultisampleCoverageNV GLEW_GET_FUN(__glewRenderbufferStorageMultisampleCoverageNV) + +#define GLEW_NV_framebuffer_multisample_coverage GLEW_GET_VAR(__GLEW_NV_framebuffer_multisample_coverage) + +#endif /* GL_NV_framebuffer_multisample_coverage */ + +/* ------------------------ GL_NV_geometry_program4 ------------------------ */ + +#ifndef GL_NV_geometry_program4 +#define GL_NV_geometry_program4 1 + +#define GL_GEOMETRY_PROGRAM_NV 0x8C26 +#define GL_MAX_PROGRAM_OUTPUT_VERTICES_NV 0x8C27 +#define GL_MAX_PROGRAM_TOTAL_OUTPUT_COMPONENTS_NV 0x8C28 + +typedef void (GLAPIENTRY * PFNGLPROGRAMVERTEXLIMITNVPROC) (GLenum target, GLint limit); + +#define glProgramVertexLimitNV GLEW_GET_FUN(__glewProgramVertexLimitNV) + +#define GLEW_NV_geometry_program4 GLEW_GET_VAR(__GLEW_NV_geometry_program4) + +#endif /* GL_NV_geometry_program4 */ + +/* ------------------------- GL_NV_geometry_shader4 ------------------------ */ + +#ifndef GL_NV_geometry_shader4 +#define GL_NV_geometry_shader4 1 + +#define GLEW_NV_geometry_shader4 GLEW_GET_VAR(__GLEW_NV_geometry_shader4) + +#endif /* GL_NV_geometry_shader4 */ + +/* --------------------------- GL_NV_gpu_program4 -------------------------- */ + +#ifndef GL_NV_gpu_program4 +#define GL_NV_gpu_program4 1 + +#define GL_MIN_PROGRAM_TEXEL_OFFSET_NV 0x8904 +#define GL_MAX_PROGRAM_TEXEL_OFFSET_NV 0x8905 +#define GL_PROGRAM_ATTRIB_COMPONENTS_NV 0x8906 +#define GL_PROGRAM_RESULT_COMPONENTS_NV 0x8907 +#define GL_MAX_PROGRAM_ATTRIB_COMPONENTS_NV 0x8908 +#define GL_MAX_PROGRAM_RESULT_COMPONENTS_NV 0x8909 +#define GL_MAX_PROGRAM_GENERIC_ATTRIBS_NV 0x8DA5 +#define GL_MAX_PROGRAM_GENERIC_RESULTS_NV 0x8DA6 + +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMENVPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERI4INVPROC) (GLenum target, GLuint index, GLint x, GLint y, GLint z, GLint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERI4IVNVPROC) (GLenum target, GLuint index, const GLint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERI4UINVPROC) (GLenum target, GLuint index, GLuint x, GLuint y, GLuint z, GLuint w); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERI4UIVNVPROC) (GLenum target, GLuint index, const GLuint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERSI4IVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMLOCALPARAMETERSI4UIVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLuint *params); + +#define glProgramEnvParameterI4iNV GLEW_GET_FUN(__glewProgramEnvParameterI4iNV) +#define glProgramEnvParameterI4ivNV GLEW_GET_FUN(__glewProgramEnvParameterI4ivNV) +#define glProgramEnvParameterI4uiNV GLEW_GET_FUN(__glewProgramEnvParameterI4uiNV) +#define glProgramEnvParameterI4uivNV GLEW_GET_FUN(__glewProgramEnvParameterI4uivNV) +#define glProgramEnvParametersI4ivNV GLEW_GET_FUN(__glewProgramEnvParametersI4ivNV) +#define glProgramEnvParametersI4uivNV GLEW_GET_FUN(__glewProgramEnvParametersI4uivNV) +#define glProgramLocalParameterI4iNV GLEW_GET_FUN(__glewProgramLocalParameterI4iNV) +#define glProgramLocalParameterI4ivNV GLEW_GET_FUN(__glewProgramLocalParameterI4ivNV) +#define glProgramLocalParameterI4uiNV GLEW_GET_FUN(__glewProgramLocalParameterI4uiNV) +#define glProgramLocalParameterI4uivNV GLEW_GET_FUN(__glewProgramLocalParameterI4uivNV) +#define glProgramLocalParametersI4ivNV GLEW_GET_FUN(__glewProgramLocalParametersI4ivNV) +#define glProgramLocalParametersI4uivNV GLEW_GET_FUN(__glewProgramLocalParametersI4uivNV) + +#define GLEW_NV_gpu_program4 GLEW_GET_VAR(__GLEW_NV_gpu_program4) + +#endif /* GL_NV_gpu_program4 */ + +/* --------------------------- GL_NV_gpu_program5 -------------------------- */ + +#ifndef GL_NV_gpu_program5 +#define GL_NV_gpu_program5 1 + +#define GL_MAX_GEOMETRY_PROGRAM_INVOCATIONS_NV 0x8E5A +#define GL_MIN_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5B +#define GL_MAX_FRAGMENT_INTERPOLATION_OFFSET_NV 0x8E5C +#define GL_FRAGMENT_PROGRAM_INTERPOLATION_OFFSET_BITS_NV 0x8E5D +#define GL_MIN_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5E +#define GL_MAX_PROGRAM_TEXTURE_GATHER_OFFSET_NV 0x8E5F + +#define GLEW_NV_gpu_program5 GLEW_GET_VAR(__GLEW_NV_gpu_program5) + +#endif /* GL_NV_gpu_program5 */ + +/* ------------------------- GL_NV_gpu_program_fp64 ------------------------ */ + +#ifndef GL_NV_gpu_program_fp64 +#define GL_NV_gpu_program_fp64 1 + +#define GLEW_NV_gpu_program_fp64 GLEW_GET_VAR(__GLEW_NV_gpu_program_fp64) + +#endif /* GL_NV_gpu_program_fp64 */ + +/* --------------------------- GL_NV_gpu_shader5 --------------------------- */ + +#ifndef GL_NV_gpu_shader5 +#define GL_NV_gpu_shader5 1 + +#define GL_INT64_NV 0x140E +#define GL_UNSIGNED_INT64_NV 0x140F +#define GL_INT8_NV 0x8FE0 +#define GL_INT8_VEC2_NV 0x8FE1 +#define GL_INT8_VEC3_NV 0x8FE2 +#define GL_INT8_VEC4_NV 0x8FE3 +#define GL_INT16_NV 0x8FE4 +#define GL_INT16_VEC2_NV 0x8FE5 +#define GL_INT16_VEC3_NV 0x8FE6 +#define GL_INT16_VEC4_NV 0x8FE7 +#define GL_INT64_VEC2_NV 0x8FE9 +#define GL_INT64_VEC3_NV 0x8FEA +#define GL_INT64_VEC4_NV 0x8FEB +#define GL_UNSIGNED_INT8_NV 0x8FEC +#define GL_UNSIGNED_INT8_VEC2_NV 0x8FED +#define GL_UNSIGNED_INT8_VEC3_NV 0x8FEE +#define GL_UNSIGNED_INT8_VEC4_NV 0x8FEF +#define GL_UNSIGNED_INT16_NV 0x8FF0 +#define GL_UNSIGNED_INT16_VEC2_NV 0x8FF1 +#define GL_UNSIGNED_INT16_VEC3_NV 0x8FF2 +#define GL_UNSIGNED_INT16_VEC4_NV 0x8FF3 +#define GL_UNSIGNED_INT64_VEC2_NV 0x8FF5 +#define GL_UNSIGNED_INT64_VEC3_NV 0x8FF6 +#define GL_UNSIGNED_INT64_VEC4_NV 0x8FF7 +#define GL_FLOAT16_NV 0x8FF8 +#define GL_FLOAT16_VEC2_NV 0x8FF9 +#define GL_FLOAT16_VEC3_NV 0x8FFA +#define GL_FLOAT16_VEC4_NV 0x8FFB + +typedef void (GLAPIENTRY * PFNGLGETUNIFORMI64VNVPROC) (GLuint program, GLint location, GLint64EXT* params); +typedef void (GLAPIENTRY * PFNGLGETUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLuint64EXT* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1I64NVPROC) (GLuint program, GLint location, GLint64EXT x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM1UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM2UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM3UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4I64NVPROC) (GLuint program, GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4I64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UI64NVPROC) (GLuint program, GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORM4UI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM1I64NVPROC) (GLint location, GLint64EXT x); +typedef void (GLAPIENTRY * PFNGLUNIFORM1I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UI64NVPROC) (GLint location, GLuint64EXT x); +typedef void (GLAPIENTRY * PFNGLUNIFORM1UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y); +typedef void (GLAPIENTRY * PFNGLUNIFORM2I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y); +typedef void (GLAPIENTRY * PFNGLUNIFORM2UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (GLAPIENTRY * PFNGLUNIFORM3I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (GLAPIENTRY * PFNGLUNIFORM3UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4I64NVPROC) (GLint location, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (GLAPIENTRY * PFNGLUNIFORM4I64VNVPROC) (GLint location, GLsizei count, const GLint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UI64NVPROC) (GLint location, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (GLAPIENTRY * PFNGLUNIFORM4UI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT* value); + +#define glGetUniformi64vNV GLEW_GET_FUN(__glewGetUniformi64vNV) +#define glGetUniformui64vNV GLEW_GET_FUN(__glewGetUniformui64vNV) +#define glProgramUniform1i64NV GLEW_GET_FUN(__glewProgramUniform1i64NV) +#define glProgramUniform1i64vNV GLEW_GET_FUN(__glewProgramUniform1i64vNV) +#define glProgramUniform1ui64NV GLEW_GET_FUN(__glewProgramUniform1ui64NV) +#define glProgramUniform1ui64vNV GLEW_GET_FUN(__glewProgramUniform1ui64vNV) +#define glProgramUniform2i64NV GLEW_GET_FUN(__glewProgramUniform2i64NV) +#define glProgramUniform2i64vNV GLEW_GET_FUN(__glewProgramUniform2i64vNV) +#define glProgramUniform2ui64NV GLEW_GET_FUN(__glewProgramUniform2ui64NV) +#define glProgramUniform2ui64vNV GLEW_GET_FUN(__glewProgramUniform2ui64vNV) +#define glProgramUniform3i64NV GLEW_GET_FUN(__glewProgramUniform3i64NV) +#define glProgramUniform3i64vNV GLEW_GET_FUN(__glewProgramUniform3i64vNV) +#define glProgramUniform3ui64NV GLEW_GET_FUN(__glewProgramUniform3ui64NV) +#define glProgramUniform3ui64vNV GLEW_GET_FUN(__glewProgramUniform3ui64vNV) +#define glProgramUniform4i64NV GLEW_GET_FUN(__glewProgramUniform4i64NV) +#define glProgramUniform4i64vNV GLEW_GET_FUN(__glewProgramUniform4i64vNV) +#define glProgramUniform4ui64NV GLEW_GET_FUN(__glewProgramUniform4ui64NV) +#define glProgramUniform4ui64vNV GLEW_GET_FUN(__glewProgramUniform4ui64vNV) +#define glUniform1i64NV GLEW_GET_FUN(__glewUniform1i64NV) +#define glUniform1i64vNV GLEW_GET_FUN(__glewUniform1i64vNV) +#define glUniform1ui64NV GLEW_GET_FUN(__glewUniform1ui64NV) +#define glUniform1ui64vNV GLEW_GET_FUN(__glewUniform1ui64vNV) +#define glUniform2i64NV GLEW_GET_FUN(__glewUniform2i64NV) +#define glUniform2i64vNV GLEW_GET_FUN(__glewUniform2i64vNV) +#define glUniform2ui64NV GLEW_GET_FUN(__glewUniform2ui64NV) +#define glUniform2ui64vNV GLEW_GET_FUN(__glewUniform2ui64vNV) +#define glUniform3i64NV GLEW_GET_FUN(__glewUniform3i64NV) +#define glUniform3i64vNV GLEW_GET_FUN(__glewUniform3i64vNV) +#define glUniform3ui64NV GLEW_GET_FUN(__glewUniform3ui64NV) +#define glUniform3ui64vNV GLEW_GET_FUN(__glewUniform3ui64vNV) +#define glUniform4i64NV GLEW_GET_FUN(__glewUniform4i64NV) +#define glUniform4i64vNV GLEW_GET_FUN(__glewUniform4i64vNV) +#define glUniform4ui64NV GLEW_GET_FUN(__glewUniform4ui64NV) +#define glUniform4ui64vNV GLEW_GET_FUN(__glewUniform4ui64vNV) + +#define GLEW_NV_gpu_shader5 GLEW_GET_VAR(__GLEW_NV_gpu_shader5) + +#endif /* GL_NV_gpu_shader5 */ + +/* ---------------------------- GL_NV_half_float --------------------------- */ + +#ifndef GL_NV_half_float +#define GL_NV_half_float 1 + +#define GL_HALF_FLOAT_NV 0x140B + +typedef unsigned short GLhalf; + +typedef void (GLAPIENTRY * PFNGLCOLOR3HNVPROC) (GLhalf red, GLhalf green, GLhalf blue); +typedef void (GLAPIENTRY * PFNGLCOLOR3HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLCOLOR4HNVPROC) (GLhalf red, GLhalf green, GLhalf blue, GLhalf alpha); +typedef void (GLAPIENTRY * PFNGLCOLOR4HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLFOGCOORDHNVPROC) (GLhalf fog); +typedef void (GLAPIENTRY * PFNGLFOGCOORDHVNVPROC) (const GLhalf* fog); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1HNVPROC) (GLenum target, GLhalf s); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD1HVNVPROC) (GLenum target, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2HNVPROC) (GLenum target, GLhalf s, GLhalf t); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD2HVNVPROC) (GLenum target, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3HNVPROC) (GLenum target, GLhalf s, GLhalf t, GLhalf r); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD3HVNVPROC) (GLenum target, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4HNVPROC) (GLenum target, GLhalf s, GLhalf t, GLhalf r, GLhalf q); +typedef void (GLAPIENTRY * PFNGLMULTITEXCOORD4HVNVPROC) (GLenum target, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLNORMAL3HNVPROC) (GLhalf nx, GLhalf ny, GLhalf nz); +typedef void (GLAPIENTRY * PFNGLNORMAL3HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3HNVPROC) (GLhalf red, GLhalf green, GLhalf blue); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLOR3HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD1HNVPROC) (GLhalf s); +typedef void (GLAPIENTRY * PFNGLTEXCOORD1HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2HNVPROC) (GLhalf s, GLhalf t); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD3HNVPROC) (GLhalf s, GLhalf t, GLhalf r); +typedef void (GLAPIENTRY * PFNGLTEXCOORD3HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4HNVPROC) (GLhalf s, GLhalf t, GLhalf r, GLhalf q); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEX2HNVPROC) (GLhalf x, GLhalf y); +typedef void (GLAPIENTRY * PFNGLVERTEX2HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEX3HNVPROC) (GLhalf x, GLhalf y, GLhalf z); +typedef void (GLAPIENTRY * PFNGLVERTEX3HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEX4HNVPROC) (GLhalf x, GLhalf y, GLhalf z, GLhalf w); +typedef void (GLAPIENTRY * PFNGLVERTEX4HVNVPROC) (const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1HNVPROC) (GLuint index, GLhalf x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1HVNVPROC) (GLuint index, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2HNVPROC) (GLuint index, GLhalf x, GLhalf y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2HVNVPROC) (GLuint index, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3HNVPROC) (GLuint index, GLhalf x, GLhalf y, GLhalf z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3HVNVPROC) (GLuint index, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4HNVPROC) (GLuint index, GLhalf x, GLhalf y, GLhalf z, GLhalf w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4HVNVPROC) (GLuint index, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS1HVNVPROC) (GLuint index, GLsizei n, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS2HVNVPROC) (GLuint index, GLsizei n, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS3HVNVPROC) (GLuint index, GLsizei n, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS4HVNVPROC) (GLuint index, GLsizei n, const GLhalf* v); +typedef void (GLAPIENTRY * PFNGLVERTEXWEIGHTHNVPROC) (GLhalf weight); +typedef void (GLAPIENTRY * PFNGLVERTEXWEIGHTHVNVPROC) (const GLhalf* weight); + +#define glColor3hNV GLEW_GET_FUN(__glewColor3hNV) +#define glColor3hvNV GLEW_GET_FUN(__glewColor3hvNV) +#define glColor4hNV GLEW_GET_FUN(__glewColor4hNV) +#define glColor4hvNV GLEW_GET_FUN(__glewColor4hvNV) +#define glFogCoordhNV GLEW_GET_FUN(__glewFogCoordhNV) +#define glFogCoordhvNV GLEW_GET_FUN(__glewFogCoordhvNV) +#define glMultiTexCoord1hNV GLEW_GET_FUN(__glewMultiTexCoord1hNV) +#define glMultiTexCoord1hvNV GLEW_GET_FUN(__glewMultiTexCoord1hvNV) +#define glMultiTexCoord2hNV GLEW_GET_FUN(__glewMultiTexCoord2hNV) +#define glMultiTexCoord2hvNV GLEW_GET_FUN(__glewMultiTexCoord2hvNV) +#define glMultiTexCoord3hNV GLEW_GET_FUN(__glewMultiTexCoord3hNV) +#define glMultiTexCoord3hvNV GLEW_GET_FUN(__glewMultiTexCoord3hvNV) +#define glMultiTexCoord4hNV GLEW_GET_FUN(__glewMultiTexCoord4hNV) +#define glMultiTexCoord4hvNV GLEW_GET_FUN(__glewMultiTexCoord4hvNV) +#define glNormal3hNV GLEW_GET_FUN(__glewNormal3hNV) +#define glNormal3hvNV GLEW_GET_FUN(__glewNormal3hvNV) +#define glSecondaryColor3hNV GLEW_GET_FUN(__glewSecondaryColor3hNV) +#define glSecondaryColor3hvNV GLEW_GET_FUN(__glewSecondaryColor3hvNV) +#define glTexCoord1hNV GLEW_GET_FUN(__glewTexCoord1hNV) +#define glTexCoord1hvNV GLEW_GET_FUN(__glewTexCoord1hvNV) +#define glTexCoord2hNV GLEW_GET_FUN(__glewTexCoord2hNV) +#define glTexCoord2hvNV GLEW_GET_FUN(__glewTexCoord2hvNV) +#define glTexCoord3hNV GLEW_GET_FUN(__glewTexCoord3hNV) +#define glTexCoord3hvNV GLEW_GET_FUN(__glewTexCoord3hvNV) +#define glTexCoord4hNV GLEW_GET_FUN(__glewTexCoord4hNV) +#define glTexCoord4hvNV GLEW_GET_FUN(__glewTexCoord4hvNV) +#define glVertex2hNV GLEW_GET_FUN(__glewVertex2hNV) +#define glVertex2hvNV GLEW_GET_FUN(__glewVertex2hvNV) +#define glVertex3hNV GLEW_GET_FUN(__glewVertex3hNV) +#define glVertex3hvNV GLEW_GET_FUN(__glewVertex3hvNV) +#define glVertex4hNV GLEW_GET_FUN(__glewVertex4hNV) +#define glVertex4hvNV GLEW_GET_FUN(__glewVertex4hvNV) +#define glVertexAttrib1hNV GLEW_GET_FUN(__glewVertexAttrib1hNV) +#define glVertexAttrib1hvNV GLEW_GET_FUN(__glewVertexAttrib1hvNV) +#define glVertexAttrib2hNV GLEW_GET_FUN(__glewVertexAttrib2hNV) +#define glVertexAttrib2hvNV GLEW_GET_FUN(__glewVertexAttrib2hvNV) +#define glVertexAttrib3hNV GLEW_GET_FUN(__glewVertexAttrib3hNV) +#define glVertexAttrib3hvNV GLEW_GET_FUN(__glewVertexAttrib3hvNV) +#define glVertexAttrib4hNV GLEW_GET_FUN(__glewVertexAttrib4hNV) +#define glVertexAttrib4hvNV GLEW_GET_FUN(__glewVertexAttrib4hvNV) +#define glVertexAttribs1hvNV GLEW_GET_FUN(__glewVertexAttribs1hvNV) +#define glVertexAttribs2hvNV GLEW_GET_FUN(__glewVertexAttribs2hvNV) +#define glVertexAttribs3hvNV GLEW_GET_FUN(__glewVertexAttribs3hvNV) +#define glVertexAttribs4hvNV GLEW_GET_FUN(__glewVertexAttribs4hvNV) +#define glVertexWeighthNV GLEW_GET_FUN(__glewVertexWeighthNV) +#define glVertexWeighthvNV GLEW_GET_FUN(__glewVertexWeighthvNV) + +#define GLEW_NV_half_float GLEW_GET_VAR(__GLEW_NV_half_float) + +#endif /* GL_NV_half_float */ + +/* ------------------------ GL_NV_light_max_exponent ----------------------- */ + +#ifndef GL_NV_light_max_exponent +#define GL_NV_light_max_exponent 1 + +#define GL_MAX_SHININESS_NV 0x8504 +#define GL_MAX_SPOT_EXPONENT_NV 0x8505 + +#define GLEW_NV_light_max_exponent GLEW_GET_VAR(__GLEW_NV_light_max_exponent) + +#endif /* GL_NV_light_max_exponent */ + +/* ----------------------- GL_NV_multisample_coverage ---------------------- */ + +#ifndef GL_NV_multisample_coverage +#define GL_NV_multisample_coverage 1 + +#define GL_COVERAGE_SAMPLES_NV 0x80A9 +#define GL_COLOR_SAMPLES_NV 0x8E20 + +#define GLEW_NV_multisample_coverage GLEW_GET_VAR(__GLEW_NV_multisample_coverage) + +#endif /* GL_NV_multisample_coverage */ + +/* --------------------- GL_NV_multisample_filter_hint --------------------- */ + +#ifndef GL_NV_multisample_filter_hint +#define GL_NV_multisample_filter_hint 1 + +#define GL_MULTISAMPLE_FILTER_HINT_NV 0x8534 + +#define GLEW_NV_multisample_filter_hint GLEW_GET_VAR(__GLEW_NV_multisample_filter_hint) + +#endif /* GL_NV_multisample_filter_hint */ + +/* ------------------------- GL_NV_occlusion_query ------------------------- */ + +#ifndef GL_NV_occlusion_query +#define GL_NV_occlusion_query 1 + +#define GL_PIXEL_COUNTER_BITS_NV 0x8864 +#define GL_CURRENT_OCCLUSION_QUERY_ID_NV 0x8865 +#define GL_PIXEL_COUNT_NV 0x8866 +#define GL_PIXEL_COUNT_AVAILABLE_NV 0x8867 + +typedef void (GLAPIENTRY * PFNGLBEGINOCCLUSIONQUERYNVPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETEOCCLUSIONQUERIESNVPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLENDOCCLUSIONQUERYNVPROC) (void); +typedef void (GLAPIENTRY * PFNGLGENOCCLUSIONQUERIESNVPROC) (GLsizei n, GLuint* ids); +typedef void (GLAPIENTRY * PFNGLGETOCCLUSIONQUERYIVNVPROC) (GLuint id, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETOCCLUSIONQUERYUIVNVPROC) (GLuint id, GLenum pname, GLuint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISOCCLUSIONQUERYNVPROC) (GLuint id); + +#define glBeginOcclusionQueryNV GLEW_GET_FUN(__glewBeginOcclusionQueryNV) +#define glDeleteOcclusionQueriesNV GLEW_GET_FUN(__glewDeleteOcclusionQueriesNV) +#define glEndOcclusionQueryNV GLEW_GET_FUN(__glewEndOcclusionQueryNV) +#define glGenOcclusionQueriesNV GLEW_GET_FUN(__glewGenOcclusionQueriesNV) +#define glGetOcclusionQueryivNV GLEW_GET_FUN(__glewGetOcclusionQueryivNV) +#define glGetOcclusionQueryuivNV GLEW_GET_FUN(__glewGetOcclusionQueryuivNV) +#define glIsOcclusionQueryNV GLEW_GET_FUN(__glewIsOcclusionQueryNV) + +#define GLEW_NV_occlusion_query GLEW_GET_VAR(__GLEW_NV_occlusion_query) + +#endif /* GL_NV_occlusion_query */ + +/* ----------------------- GL_NV_packed_depth_stencil ---------------------- */ + +#ifndef GL_NV_packed_depth_stencil +#define GL_NV_packed_depth_stencil 1 + +#define GL_DEPTH_STENCIL_NV 0x84F9 +#define GL_UNSIGNED_INT_24_8_NV 0x84FA + +#define GLEW_NV_packed_depth_stencil GLEW_GET_VAR(__GLEW_NV_packed_depth_stencil) + +#endif /* GL_NV_packed_depth_stencil */ + +/* --------------------- GL_NV_parameter_buffer_object --------------------- */ + +#ifndef GL_NV_parameter_buffer_object +#define GL_NV_parameter_buffer_object 1 + +#define GL_MAX_PROGRAM_PARAMETER_BUFFER_BINDINGS_NV 0x8DA0 +#define GL_MAX_PROGRAM_PARAMETER_BUFFER_SIZE_NV 0x8DA1 +#define GL_VERTEX_PROGRAM_PARAMETER_BUFFER_NV 0x8DA2 +#define GL_GEOMETRY_PROGRAM_PARAMETER_BUFFER_NV 0x8DA3 +#define GL_FRAGMENT_PROGRAM_PARAMETER_BUFFER_NV 0x8DA4 + +typedef void (GLAPIENTRY * PFNGLPROGRAMBUFFERPARAMETERSIIVNVPROC) (GLenum target, GLuint buffer, GLuint index, GLsizei count, const GLint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMBUFFERPARAMETERSIUIVNVPROC) (GLenum target, GLuint buffer, GLuint index, GLsizei count, const GLuint *params); +typedef void (GLAPIENTRY * PFNGLPROGRAMBUFFERPARAMETERSFVNVPROC) (GLenum target, GLuint buffer, GLuint index, GLsizei count, const GLfloat *params); + +#define glProgramBufferParametersIivNV GLEW_GET_FUN(__glewProgramBufferParametersIivNV) +#define glProgramBufferParametersIuivNV GLEW_GET_FUN(__glewProgramBufferParametersIuivNV) +#define glProgramBufferParametersfvNV GLEW_GET_FUN(__glewProgramBufferParametersfvNV) + +#define GLEW_NV_parameter_buffer_object GLEW_GET_VAR(__GLEW_NV_parameter_buffer_object) + +#endif /* GL_NV_parameter_buffer_object */ + +/* --------------------- GL_NV_parameter_buffer_object2 -------------------- */ + +#ifndef GL_NV_parameter_buffer_object2 +#define GL_NV_parameter_buffer_object2 1 + +#define GLEW_NV_parameter_buffer_object2 GLEW_GET_VAR(__GLEW_NV_parameter_buffer_object2) + +#endif /* GL_NV_parameter_buffer_object2 */ + +/* ------------------------- GL_NV_pixel_data_range ------------------------ */ + +#ifndef GL_NV_pixel_data_range +#define GL_NV_pixel_data_range 1 + +#define GL_WRITE_PIXEL_DATA_RANGE_NV 0x8878 +#define GL_READ_PIXEL_DATA_RANGE_NV 0x8879 +#define GL_WRITE_PIXEL_DATA_RANGE_LENGTH_NV 0x887A +#define GL_READ_PIXEL_DATA_RANGE_LENGTH_NV 0x887B +#define GL_WRITE_PIXEL_DATA_RANGE_POINTER_NV 0x887C +#define GL_READ_PIXEL_DATA_RANGE_POINTER_NV 0x887D + +typedef void (GLAPIENTRY * PFNGLFLUSHPIXELDATARANGENVPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLPIXELDATARANGENVPROC) (GLenum target, GLsizei length, void* pointer); + +#define glFlushPixelDataRangeNV GLEW_GET_FUN(__glewFlushPixelDataRangeNV) +#define glPixelDataRangeNV GLEW_GET_FUN(__glewPixelDataRangeNV) + +#define GLEW_NV_pixel_data_range GLEW_GET_VAR(__GLEW_NV_pixel_data_range) + +#endif /* GL_NV_pixel_data_range */ + +/* --------------------------- GL_NV_point_sprite -------------------------- */ + +#ifndef GL_NV_point_sprite +#define GL_NV_point_sprite 1 + +#define GL_POINT_SPRITE_NV 0x8861 +#define GL_COORD_REPLACE_NV 0x8862 +#define GL_POINT_SPRITE_R_MODE_NV 0x8863 + +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERINVPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLPOINTPARAMETERIVNVPROC) (GLenum pname, const GLint* params); + +#define glPointParameteriNV GLEW_GET_FUN(__glewPointParameteriNV) +#define glPointParameterivNV GLEW_GET_FUN(__glewPointParameterivNV) + +#define GLEW_NV_point_sprite GLEW_GET_VAR(__GLEW_NV_point_sprite) + +#endif /* GL_NV_point_sprite */ + +/* -------------------------- GL_NV_present_video -------------------------- */ + +#ifndef GL_NV_present_video +#define GL_NV_present_video 1 + +#define GL_FRAME_NV 0x8E26 +#define GL_FIELDS_NV 0x8E27 +#define GL_CURRENT_TIME_NV 0x8E28 +#define GL_NUM_FILL_STREAMS_NV 0x8E29 +#define GL_PRESENT_TIME_NV 0x8E2A +#define GL_PRESENT_DURATION_NV 0x8E2B + +typedef void (GLAPIENTRY * PFNGLGETVIDEOI64VNVPROC) (GLuint video_slot, GLenum pname, GLint64EXT* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOIVNVPROC) (GLuint video_slot, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOUI64VNVPROC) (GLuint video_slot, GLenum pname, GLuint64EXT* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOUIVNVPROC) (GLuint video_slot, GLenum pname, GLuint* params); +typedef void (GLAPIENTRY * PFNGLPRESENTFRAMEDUALFILLNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLenum target1, GLuint fill1, GLenum target2, GLuint fill2, GLenum target3, GLuint fill3); +typedef void (GLAPIENTRY * PFNGLPRESENTFRAMEKEYEDNVPROC) (GLuint video_slot, GLuint64EXT minPresentTime, GLuint beginPresentTimeId, GLuint presentDurationId, GLenum type, GLenum target0, GLuint fill0, GLuint key0, GLenum target1, GLuint fill1, GLuint key1); + +#define glGetVideoi64vNV GLEW_GET_FUN(__glewGetVideoi64vNV) +#define glGetVideoivNV GLEW_GET_FUN(__glewGetVideoivNV) +#define glGetVideoui64vNV GLEW_GET_FUN(__glewGetVideoui64vNV) +#define glGetVideouivNV GLEW_GET_FUN(__glewGetVideouivNV) +#define glPresentFrameDualFillNV GLEW_GET_FUN(__glewPresentFrameDualFillNV) +#define glPresentFrameKeyedNV GLEW_GET_FUN(__glewPresentFrameKeyedNV) + +#define GLEW_NV_present_video GLEW_GET_VAR(__GLEW_NV_present_video) + +#endif /* GL_NV_present_video */ + +/* ------------------------ GL_NV_primitive_restart ------------------------ */ + +#ifndef GL_NV_primitive_restart +#define GL_NV_primitive_restart 1 + +#define GL_PRIMITIVE_RESTART_NV 0x8558 +#define GL_PRIMITIVE_RESTART_INDEX_NV 0x8559 + +typedef void (GLAPIENTRY * PFNGLPRIMITIVERESTARTINDEXNVPROC) (GLuint index); +typedef void (GLAPIENTRY * PFNGLPRIMITIVERESTARTNVPROC) (void); + +#define glPrimitiveRestartIndexNV GLEW_GET_FUN(__glewPrimitiveRestartIndexNV) +#define glPrimitiveRestartNV GLEW_GET_FUN(__glewPrimitiveRestartNV) + +#define GLEW_NV_primitive_restart GLEW_GET_VAR(__GLEW_NV_primitive_restart) + +#endif /* GL_NV_primitive_restart */ + +/* ------------------------ GL_NV_register_combiners ----------------------- */ + +#ifndef GL_NV_register_combiners +#define GL_NV_register_combiners 1 + +#define GL_REGISTER_COMBINERS_NV 0x8522 +#define GL_VARIABLE_A_NV 0x8523 +#define GL_VARIABLE_B_NV 0x8524 +#define GL_VARIABLE_C_NV 0x8525 +#define GL_VARIABLE_D_NV 0x8526 +#define GL_VARIABLE_E_NV 0x8527 +#define GL_VARIABLE_F_NV 0x8528 +#define GL_VARIABLE_G_NV 0x8529 +#define GL_CONSTANT_COLOR0_NV 0x852A +#define GL_CONSTANT_COLOR1_NV 0x852B +#define GL_PRIMARY_COLOR_NV 0x852C +#define GL_SECONDARY_COLOR_NV 0x852D +#define GL_SPARE0_NV 0x852E +#define GL_SPARE1_NV 0x852F +#define GL_DISCARD_NV 0x8530 +#define GL_E_TIMES_F_NV 0x8531 +#define GL_SPARE0_PLUS_SECONDARY_COLOR_NV 0x8532 +#define GL_UNSIGNED_IDENTITY_NV 0x8536 +#define GL_UNSIGNED_INVERT_NV 0x8537 +#define GL_EXPAND_NORMAL_NV 0x8538 +#define GL_EXPAND_NEGATE_NV 0x8539 +#define GL_HALF_BIAS_NORMAL_NV 0x853A +#define GL_HALF_BIAS_NEGATE_NV 0x853B +#define GL_SIGNED_IDENTITY_NV 0x853C +#define GL_SIGNED_NEGATE_NV 0x853D +#define GL_SCALE_BY_TWO_NV 0x853E +#define GL_SCALE_BY_FOUR_NV 0x853F +#define GL_SCALE_BY_ONE_HALF_NV 0x8540 +#define GL_BIAS_BY_NEGATIVE_ONE_HALF_NV 0x8541 +#define GL_COMBINER_INPUT_NV 0x8542 +#define GL_COMBINER_MAPPING_NV 0x8543 +#define GL_COMBINER_COMPONENT_USAGE_NV 0x8544 +#define GL_COMBINER_AB_DOT_PRODUCT_NV 0x8545 +#define GL_COMBINER_CD_DOT_PRODUCT_NV 0x8546 +#define GL_COMBINER_MUX_SUM_NV 0x8547 +#define GL_COMBINER_SCALE_NV 0x8548 +#define GL_COMBINER_BIAS_NV 0x8549 +#define GL_COMBINER_AB_OUTPUT_NV 0x854A +#define GL_COMBINER_CD_OUTPUT_NV 0x854B +#define GL_COMBINER_SUM_OUTPUT_NV 0x854C +#define GL_MAX_GENERAL_COMBINERS_NV 0x854D +#define GL_NUM_GENERAL_COMBINERS_NV 0x854E +#define GL_COLOR_SUM_CLAMP_NV 0x854F +#define GL_COMBINER0_NV 0x8550 +#define GL_COMBINER1_NV 0x8551 +#define GL_COMBINER2_NV 0x8552 +#define GL_COMBINER3_NV 0x8553 +#define GL_COMBINER4_NV 0x8554 +#define GL_COMBINER5_NV 0x8555 +#define GL_COMBINER6_NV 0x8556 +#define GL_COMBINER7_NV 0x8557 + +typedef void (GLAPIENTRY * PFNGLCOMBINERINPUTNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (GLAPIENTRY * PFNGLCOMBINEROUTPUTNVPROC) (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); +typedef void (GLAPIENTRY * PFNGLCOMBINERPARAMETERFNVPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLCOMBINERPARAMETERFVNVPROC) (GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLCOMBINERPARAMETERINVPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLCOMBINERPARAMETERIVNVPROC) (GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLFINALCOMBINERINPUTNVPROC) (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (GLAPIENTRY * PFNGLGETCOMBINERINPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCOMBINERINPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETCOMBINEROUTPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCOMBINEROUTPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETFINALCOMBINERINPUTPARAMETERFVNVPROC) (GLenum variable, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETFINALCOMBINERINPUTPARAMETERIVNVPROC) (GLenum variable, GLenum pname, GLint* params); + +#define glCombinerInputNV GLEW_GET_FUN(__glewCombinerInputNV) +#define glCombinerOutputNV GLEW_GET_FUN(__glewCombinerOutputNV) +#define glCombinerParameterfNV GLEW_GET_FUN(__glewCombinerParameterfNV) +#define glCombinerParameterfvNV GLEW_GET_FUN(__glewCombinerParameterfvNV) +#define glCombinerParameteriNV GLEW_GET_FUN(__glewCombinerParameteriNV) +#define glCombinerParameterivNV GLEW_GET_FUN(__glewCombinerParameterivNV) +#define glFinalCombinerInputNV GLEW_GET_FUN(__glewFinalCombinerInputNV) +#define glGetCombinerInputParameterfvNV GLEW_GET_FUN(__glewGetCombinerInputParameterfvNV) +#define glGetCombinerInputParameterivNV GLEW_GET_FUN(__glewGetCombinerInputParameterivNV) +#define glGetCombinerOutputParameterfvNV GLEW_GET_FUN(__glewGetCombinerOutputParameterfvNV) +#define glGetCombinerOutputParameterivNV GLEW_GET_FUN(__glewGetCombinerOutputParameterivNV) +#define glGetFinalCombinerInputParameterfvNV GLEW_GET_FUN(__glewGetFinalCombinerInputParameterfvNV) +#define glGetFinalCombinerInputParameterivNV GLEW_GET_FUN(__glewGetFinalCombinerInputParameterivNV) + +#define GLEW_NV_register_combiners GLEW_GET_VAR(__GLEW_NV_register_combiners) + +#endif /* GL_NV_register_combiners */ + +/* ----------------------- GL_NV_register_combiners2 ----------------------- */ + +#ifndef GL_NV_register_combiners2 +#define GL_NV_register_combiners2 1 + +#define GL_PER_STAGE_CONSTANTS_NV 0x8535 + +typedef void (GLAPIENTRY * PFNGLCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, GLfloat* params); + +#define glCombinerStageParameterfvNV GLEW_GET_FUN(__glewCombinerStageParameterfvNV) +#define glGetCombinerStageParameterfvNV GLEW_GET_FUN(__glewGetCombinerStageParameterfvNV) + +#define GLEW_NV_register_combiners2 GLEW_GET_VAR(__GLEW_NV_register_combiners2) + +#endif /* GL_NV_register_combiners2 */ + +/* ------------------------ GL_NV_shader_buffer_load ----------------------- */ + +#ifndef GL_NV_shader_buffer_load +#define GL_NV_shader_buffer_load 1 + +#define GL_BUFFER_GPU_ADDRESS_NV 0x8F1D +#define GL_GPU_ADDRESS_NV 0x8F34 +#define GL_MAX_SHADER_BUFFER_ADDRESS_NV 0x8F35 + +typedef void (GLAPIENTRY * PFNGLGETBUFFERPARAMETERUI64VNVPROC) (GLenum target, GLenum pname, GLuint64EXT* params); +typedef void (GLAPIENTRY * PFNGLGETINTEGERUI64VNVPROC) (GLenum value, GLuint64EXT* result); +typedef void (GLAPIENTRY * PFNGLGETNAMEDBUFFERPARAMETERUI64VNVPROC) (GLuint buffer, GLenum pname, GLuint64EXT* params); +typedef GLboolean (GLAPIENTRY * PFNGLISBUFFERRESIDENTNVPROC) (GLenum target); +typedef GLboolean (GLAPIENTRY * PFNGLISNAMEDBUFFERRESIDENTNVPROC) (GLuint buffer); +typedef void (GLAPIENTRY * PFNGLMAKEBUFFERNONRESIDENTNVPROC) (GLenum target); +typedef void (GLAPIENTRY * PFNGLMAKEBUFFERRESIDENTNVPROC) (GLenum target, GLenum access); +typedef void (GLAPIENTRY * PFNGLMAKENAMEDBUFFERNONRESIDENTNVPROC) (GLuint buffer); +typedef void (GLAPIENTRY * PFNGLMAKENAMEDBUFFERRESIDENTNVPROC) (GLuint buffer, GLenum access); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMUI64NVPROC) (GLuint program, GLint location, GLuint64EXT value); +typedef void (GLAPIENTRY * PFNGLPROGRAMUNIFORMUI64VNVPROC) (GLuint program, GLint location, GLsizei count, const GLuint64EXT* value); +typedef void (GLAPIENTRY * PFNGLUNIFORMUI64NVPROC) (GLint location, GLuint64EXT value); +typedef void (GLAPIENTRY * PFNGLUNIFORMUI64VNVPROC) (GLint location, GLsizei count, const GLuint64EXT* value); + +#define glGetBufferParameterui64vNV GLEW_GET_FUN(__glewGetBufferParameterui64vNV) +#define glGetIntegerui64vNV GLEW_GET_FUN(__glewGetIntegerui64vNV) +#define glGetNamedBufferParameterui64vNV GLEW_GET_FUN(__glewGetNamedBufferParameterui64vNV) +#define glIsBufferResidentNV GLEW_GET_FUN(__glewIsBufferResidentNV) +#define glIsNamedBufferResidentNV GLEW_GET_FUN(__glewIsNamedBufferResidentNV) +#define glMakeBufferNonResidentNV GLEW_GET_FUN(__glewMakeBufferNonResidentNV) +#define glMakeBufferResidentNV GLEW_GET_FUN(__glewMakeBufferResidentNV) +#define glMakeNamedBufferNonResidentNV GLEW_GET_FUN(__glewMakeNamedBufferNonResidentNV) +#define glMakeNamedBufferResidentNV GLEW_GET_FUN(__glewMakeNamedBufferResidentNV) +#define glProgramUniformui64NV GLEW_GET_FUN(__glewProgramUniformui64NV) +#define glProgramUniformui64vNV GLEW_GET_FUN(__glewProgramUniformui64vNV) +#define glUniformui64NV GLEW_GET_FUN(__glewUniformui64NV) +#define glUniformui64vNV GLEW_GET_FUN(__glewUniformui64vNV) + +#define GLEW_NV_shader_buffer_load GLEW_GET_VAR(__GLEW_NV_shader_buffer_load) + +#endif /* GL_NV_shader_buffer_load */ + +/* ---------------------- GL_NV_tessellation_program5 ---------------------- */ + +#ifndef GL_NV_tessellation_program5 +#define GL_NV_tessellation_program5 1 + +#define GL_MAX_PROGRAM_PATCH_ATTRIBS_NV 0x86D8 +#define GL_TESS_CONTROL_PROGRAM_NV 0x891E +#define GL_TESS_EVALUATION_PROGRAM_NV 0x891F +#define GL_TESS_CONTROL_PROGRAM_PARAMETER_BUFFER_NV 0x8C74 +#define GL_TESS_EVALUATION_PROGRAM_PARAMETER_BUFFER_NV 0x8C75 + +#define GLEW_NV_tessellation_program5 GLEW_GET_VAR(__GLEW_NV_tessellation_program5) + +#endif /* GL_NV_tessellation_program5 */ + +/* -------------------------- GL_NV_texgen_emboss -------------------------- */ + +#ifndef GL_NV_texgen_emboss +#define GL_NV_texgen_emboss 1 + +#define GL_EMBOSS_LIGHT_NV 0x855D +#define GL_EMBOSS_CONSTANT_NV 0x855E +#define GL_EMBOSS_MAP_NV 0x855F + +#define GLEW_NV_texgen_emboss GLEW_GET_VAR(__GLEW_NV_texgen_emboss) + +#endif /* GL_NV_texgen_emboss */ + +/* ------------------------ GL_NV_texgen_reflection ------------------------ */ + +#ifndef GL_NV_texgen_reflection +#define GL_NV_texgen_reflection 1 + +#define GL_NORMAL_MAP_NV 0x8511 +#define GL_REFLECTION_MAP_NV 0x8512 + +#define GLEW_NV_texgen_reflection GLEW_GET_VAR(__GLEW_NV_texgen_reflection) + +#endif /* GL_NV_texgen_reflection */ + +/* ------------------------- GL_NV_texture_barrier ------------------------- */ + +#ifndef GL_NV_texture_barrier +#define GL_NV_texture_barrier 1 + +typedef void (GLAPIENTRY * PFNGLTEXTUREBARRIERNVPROC) (void); + +#define glTextureBarrierNV GLEW_GET_FUN(__glewTextureBarrierNV) + +#define GLEW_NV_texture_barrier GLEW_GET_VAR(__GLEW_NV_texture_barrier) + +#endif /* GL_NV_texture_barrier */ + +/* --------------------- GL_NV_texture_compression_vtc --------------------- */ + +#ifndef GL_NV_texture_compression_vtc +#define GL_NV_texture_compression_vtc 1 + +#define GLEW_NV_texture_compression_vtc GLEW_GET_VAR(__GLEW_NV_texture_compression_vtc) + +#endif /* GL_NV_texture_compression_vtc */ + +/* ----------------------- GL_NV_texture_env_combine4 ---------------------- */ + +#ifndef GL_NV_texture_env_combine4 +#define GL_NV_texture_env_combine4 1 + +#define GL_COMBINE4_NV 0x8503 +#define GL_SOURCE3_RGB_NV 0x8583 +#define GL_SOURCE3_ALPHA_NV 0x858B +#define GL_OPERAND3_RGB_NV 0x8593 +#define GL_OPERAND3_ALPHA_NV 0x859B + +#define GLEW_NV_texture_env_combine4 GLEW_GET_VAR(__GLEW_NV_texture_env_combine4) + +#endif /* GL_NV_texture_env_combine4 */ + +/* ---------------------- GL_NV_texture_expand_normal ---------------------- */ + +#ifndef GL_NV_texture_expand_normal +#define GL_NV_texture_expand_normal 1 + +#define GL_TEXTURE_UNSIGNED_REMAP_MODE_NV 0x888F + +#define GLEW_NV_texture_expand_normal GLEW_GET_VAR(__GLEW_NV_texture_expand_normal) + +#endif /* GL_NV_texture_expand_normal */ + +/* ----------------------- GL_NV_texture_multisample ----------------------- */ + +#ifndef GL_NV_texture_multisample +#define GL_NV_texture_multisample 1 + +#define GL_TEXTURE_COVERAGE_SAMPLES_NV 0x9045 +#define GL_TEXTURE_COLOR_SAMPLES_NV 0x9046 + +typedef void (GLAPIENTRY * PFNGLTEXIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (GLAPIENTRY * PFNGLTEXIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE2DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE2DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLboolean fixedSampleLocations); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE3DMULTISAMPLECOVERAGENVPROC) (GLuint texture, GLenum target, GLsizei coverageSamples, GLsizei colorSamples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); +typedef void (GLAPIENTRY * PFNGLTEXTUREIMAGE3DMULTISAMPLENVPROC) (GLuint texture, GLenum target, GLsizei samples, GLint internalFormat, GLsizei width, GLsizei height, GLsizei depth, GLboolean fixedSampleLocations); + +#define glTexImage2DMultisampleCoverageNV GLEW_GET_FUN(__glewTexImage2DMultisampleCoverageNV) +#define glTexImage3DMultisampleCoverageNV GLEW_GET_FUN(__glewTexImage3DMultisampleCoverageNV) +#define glTextureImage2DMultisampleCoverageNV GLEW_GET_FUN(__glewTextureImage2DMultisampleCoverageNV) +#define glTextureImage2DMultisampleNV GLEW_GET_FUN(__glewTextureImage2DMultisampleNV) +#define glTextureImage3DMultisampleCoverageNV GLEW_GET_FUN(__glewTextureImage3DMultisampleCoverageNV) +#define glTextureImage3DMultisampleNV GLEW_GET_FUN(__glewTextureImage3DMultisampleNV) + +#define GLEW_NV_texture_multisample GLEW_GET_VAR(__GLEW_NV_texture_multisample) + +#endif /* GL_NV_texture_multisample */ + +/* ------------------------ GL_NV_texture_rectangle ------------------------ */ + +#ifndef GL_NV_texture_rectangle +#define GL_NV_texture_rectangle 1 + +#define GL_TEXTURE_RECTANGLE_NV 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_NV 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_NV 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_NV 0x84F8 + +#define GLEW_NV_texture_rectangle GLEW_GET_VAR(__GLEW_NV_texture_rectangle) + +#endif /* GL_NV_texture_rectangle */ + +/* -------------------------- GL_NV_texture_shader ------------------------- */ + +#ifndef GL_NV_texture_shader +#define GL_NV_texture_shader 1 + +#define GL_OFFSET_TEXTURE_RECTANGLE_NV 0x864C +#define GL_OFFSET_TEXTURE_RECTANGLE_SCALE_NV 0x864D +#define GL_DOT_PRODUCT_TEXTURE_RECTANGLE_NV 0x864E +#define GL_RGBA_UNSIGNED_DOT_PRODUCT_MAPPING_NV 0x86D9 +#define GL_UNSIGNED_INT_S8_S8_8_8_NV 0x86DA +#define GL_UNSIGNED_INT_8_8_S8_S8_REV_NV 0x86DB +#define GL_DSDT_MAG_INTENSITY_NV 0x86DC +#define GL_SHADER_CONSISTENT_NV 0x86DD +#define GL_TEXTURE_SHADER_NV 0x86DE +#define GL_SHADER_OPERATION_NV 0x86DF +#define GL_CULL_MODES_NV 0x86E0 +#define GL_OFFSET_TEXTURE_2D_MATRIX_NV 0x86E1 +#define GL_OFFSET_TEXTURE_MATRIX_NV 0x86E1 +#define GL_OFFSET_TEXTURE_2D_SCALE_NV 0x86E2 +#define GL_OFFSET_TEXTURE_SCALE_NV 0x86E2 +#define GL_OFFSET_TEXTURE_BIAS_NV 0x86E3 +#define GL_OFFSET_TEXTURE_2D_BIAS_NV 0x86E3 +#define GL_PREVIOUS_TEXTURE_INPUT_NV 0x86E4 +#define GL_CONST_EYE_NV 0x86E5 +#define GL_PASS_THROUGH_NV 0x86E6 +#define GL_CULL_FRAGMENT_NV 0x86E7 +#define GL_OFFSET_TEXTURE_2D_NV 0x86E8 +#define GL_DEPENDENT_AR_TEXTURE_2D_NV 0x86E9 +#define GL_DEPENDENT_GB_TEXTURE_2D_NV 0x86EA +#define GL_DOT_PRODUCT_NV 0x86EC +#define GL_DOT_PRODUCT_DEPTH_REPLACE_NV 0x86ED +#define GL_DOT_PRODUCT_TEXTURE_2D_NV 0x86EE +#define GL_DOT_PRODUCT_TEXTURE_CUBE_MAP_NV 0x86F0 +#define GL_DOT_PRODUCT_DIFFUSE_CUBE_MAP_NV 0x86F1 +#define GL_DOT_PRODUCT_REFLECT_CUBE_MAP_NV 0x86F2 +#define GL_DOT_PRODUCT_CONST_EYE_REFLECT_CUBE_MAP_NV 0x86F3 +#define GL_HILO_NV 0x86F4 +#define GL_DSDT_NV 0x86F5 +#define GL_DSDT_MAG_NV 0x86F6 +#define GL_DSDT_MAG_VIB_NV 0x86F7 +#define GL_HILO16_NV 0x86F8 +#define GL_SIGNED_HILO_NV 0x86F9 +#define GL_SIGNED_HILO16_NV 0x86FA +#define GL_SIGNED_RGBA_NV 0x86FB +#define GL_SIGNED_RGBA8_NV 0x86FC +#define GL_SIGNED_RGB_NV 0x86FE +#define GL_SIGNED_RGB8_NV 0x86FF +#define GL_SIGNED_LUMINANCE_NV 0x8701 +#define GL_SIGNED_LUMINANCE8_NV 0x8702 +#define GL_SIGNED_LUMINANCE_ALPHA_NV 0x8703 +#define GL_SIGNED_LUMINANCE8_ALPHA8_NV 0x8704 +#define GL_SIGNED_ALPHA_NV 0x8705 +#define GL_SIGNED_ALPHA8_NV 0x8706 +#define GL_SIGNED_INTENSITY_NV 0x8707 +#define GL_SIGNED_INTENSITY8_NV 0x8708 +#define GL_DSDT8_NV 0x8709 +#define GL_DSDT8_MAG8_NV 0x870A +#define GL_DSDT8_MAG8_INTENSITY8_NV 0x870B +#define GL_SIGNED_RGB_UNSIGNED_ALPHA_NV 0x870C +#define GL_SIGNED_RGB8_UNSIGNED_ALPHA8_NV 0x870D +#define GL_HI_SCALE_NV 0x870E +#define GL_LO_SCALE_NV 0x870F +#define GL_DS_SCALE_NV 0x8710 +#define GL_DT_SCALE_NV 0x8711 +#define GL_MAGNITUDE_SCALE_NV 0x8712 +#define GL_VIBRANCE_SCALE_NV 0x8713 +#define GL_HI_BIAS_NV 0x8714 +#define GL_LO_BIAS_NV 0x8715 +#define GL_DS_BIAS_NV 0x8716 +#define GL_DT_BIAS_NV 0x8717 +#define GL_MAGNITUDE_BIAS_NV 0x8718 +#define GL_VIBRANCE_BIAS_NV 0x8719 +#define GL_TEXTURE_BORDER_VALUES_NV 0x871A +#define GL_TEXTURE_HI_SIZE_NV 0x871B +#define GL_TEXTURE_LO_SIZE_NV 0x871C +#define GL_TEXTURE_DS_SIZE_NV 0x871D +#define GL_TEXTURE_DT_SIZE_NV 0x871E +#define GL_TEXTURE_MAG_SIZE_NV 0x871F + +#define GLEW_NV_texture_shader GLEW_GET_VAR(__GLEW_NV_texture_shader) + +#endif /* GL_NV_texture_shader */ + +/* ------------------------- GL_NV_texture_shader2 ------------------------- */ + +#ifndef GL_NV_texture_shader2 +#define GL_NV_texture_shader2 1 + +#define GL_UNSIGNED_INT_S8_S8_8_8_NV 0x86DA +#define GL_UNSIGNED_INT_8_8_S8_S8_REV_NV 0x86DB +#define GL_DSDT_MAG_INTENSITY_NV 0x86DC +#define GL_DOT_PRODUCT_TEXTURE_3D_NV 0x86EF +#define GL_HILO_NV 0x86F4 +#define GL_DSDT_NV 0x86F5 +#define GL_DSDT_MAG_NV 0x86F6 +#define GL_DSDT_MAG_VIB_NV 0x86F7 +#define GL_HILO16_NV 0x86F8 +#define GL_SIGNED_HILO_NV 0x86F9 +#define GL_SIGNED_HILO16_NV 0x86FA +#define GL_SIGNED_RGBA_NV 0x86FB +#define GL_SIGNED_RGBA8_NV 0x86FC +#define GL_SIGNED_RGB_NV 0x86FE +#define GL_SIGNED_RGB8_NV 0x86FF +#define GL_SIGNED_LUMINANCE_NV 0x8701 +#define GL_SIGNED_LUMINANCE8_NV 0x8702 +#define GL_SIGNED_LUMINANCE_ALPHA_NV 0x8703 +#define GL_SIGNED_LUMINANCE8_ALPHA8_NV 0x8704 +#define GL_SIGNED_ALPHA_NV 0x8705 +#define GL_SIGNED_ALPHA8_NV 0x8706 +#define GL_SIGNED_INTENSITY_NV 0x8707 +#define GL_SIGNED_INTENSITY8_NV 0x8708 +#define GL_DSDT8_NV 0x8709 +#define GL_DSDT8_MAG8_NV 0x870A +#define GL_DSDT8_MAG8_INTENSITY8_NV 0x870B +#define GL_SIGNED_RGB_UNSIGNED_ALPHA_NV 0x870C +#define GL_SIGNED_RGB8_UNSIGNED_ALPHA8_NV 0x870D + +#define GLEW_NV_texture_shader2 GLEW_GET_VAR(__GLEW_NV_texture_shader2) + +#endif /* GL_NV_texture_shader2 */ + +/* ------------------------- GL_NV_texture_shader3 ------------------------- */ + +#ifndef GL_NV_texture_shader3 +#define GL_NV_texture_shader3 1 + +#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_NV 0x8850 +#define GL_OFFSET_PROJECTIVE_TEXTURE_2D_SCALE_NV 0x8851 +#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8852 +#define GL_OFFSET_PROJECTIVE_TEXTURE_RECTANGLE_SCALE_NV 0x8853 +#define GL_OFFSET_HILO_TEXTURE_2D_NV 0x8854 +#define GL_OFFSET_HILO_TEXTURE_RECTANGLE_NV 0x8855 +#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_2D_NV 0x8856 +#define GL_OFFSET_HILO_PROJECTIVE_TEXTURE_RECTANGLE_NV 0x8857 +#define GL_DEPENDENT_HILO_TEXTURE_2D_NV 0x8858 +#define GL_DEPENDENT_RGB_TEXTURE_3D_NV 0x8859 +#define GL_DEPENDENT_RGB_TEXTURE_CUBE_MAP_NV 0x885A +#define GL_DOT_PRODUCT_PASS_THROUGH_NV 0x885B +#define GL_DOT_PRODUCT_TEXTURE_1D_NV 0x885C +#define GL_DOT_PRODUCT_AFFINE_DEPTH_REPLACE_NV 0x885D +#define GL_HILO8_NV 0x885E +#define GL_SIGNED_HILO8_NV 0x885F +#define GL_FORCE_BLUE_TO_ONE_NV 0x8860 + +#define GLEW_NV_texture_shader3 GLEW_GET_VAR(__GLEW_NV_texture_shader3) + +#endif /* GL_NV_texture_shader3 */ + +/* ------------------------ GL_NV_transform_feedback ----------------------- */ + +#ifndef GL_NV_transform_feedback +#define GL_NV_transform_feedback 1 + +#define GL_BACK_PRIMARY_COLOR_NV 0x8C77 +#define GL_BACK_SECONDARY_COLOR_NV 0x8C78 +#define GL_TEXTURE_COORD_NV 0x8C79 +#define GL_CLIP_DISTANCE_NV 0x8C7A +#define GL_VERTEX_ID_NV 0x8C7B +#define GL_PRIMITIVE_ID_NV 0x8C7C +#define GL_GENERIC_ATTRIB_NV 0x8C7D +#define GL_TRANSFORM_FEEDBACK_ATTRIBS_NV 0x8C7E +#define GL_TRANSFORM_FEEDBACK_BUFFER_MODE_NV 0x8C7F +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_COMPONENTS_NV 0x8C80 +#define GL_ACTIVE_VARYINGS_NV 0x8C81 +#define GL_ACTIVE_VARYING_MAX_LENGTH_NV 0x8C82 +#define GL_TRANSFORM_FEEDBACK_VARYINGS_NV 0x8C83 +#define GL_TRANSFORM_FEEDBACK_BUFFER_START_NV 0x8C84 +#define GL_TRANSFORM_FEEDBACK_BUFFER_SIZE_NV 0x8C85 +#define GL_TRANSFORM_FEEDBACK_RECORD_NV 0x8C86 +#define GL_PRIMITIVES_GENERATED_NV 0x8C87 +#define GL_TRANSFORM_FEEDBACK_PRIMITIVES_WRITTEN_NV 0x8C88 +#define GL_RASTERIZER_DISCARD_NV 0x8C89 +#define GL_MAX_TRANSFORM_FEEDBACK_INTERLEAVED_COMPONENTS_NV 0x8C8A +#define GL_MAX_TRANSFORM_FEEDBACK_SEPARATE_ATTRIBS_NV 0x8C8B +#define GL_INTERLEAVED_ATTRIBS_NV 0x8C8C +#define GL_SEPARATE_ATTRIBS_NV 0x8C8D +#define GL_TRANSFORM_FEEDBACK_BUFFER_NV 0x8C8E +#define GL_TRANSFORM_FEEDBACK_BUFFER_BINDING_NV 0x8C8F + +typedef void (GLAPIENTRY * PFNGLACTIVEVARYINGNVPROC) (GLuint program, const GLchar *name); +typedef void (GLAPIENTRY * PFNGLBEGINTRANSFORMFEEDBACKNVPROC) (GLenum primitiveMode); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERBASENVPROC) (GLenum target, GLuint index, GLuint buffer); +typedef void (GLAPIENTRY * PFNGLBINDBUFFEROFFSETNVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset); +typedef void (GLAPIENTRY * PFNGLBINDBUFFERRANGENVPROC) (GLenum target, GLuint index, GLuint buffer, GLintptr offset, GLsizeiptr size); +typedef void (GLAPIENTRY * PFNGLENDTRANSFORMFEEDBACKNVPROC) (void); +typedef void (GLAPIENTRY * PFNGLGETACTIVEVARYINGNVPROC) (GLuint program, GLuint index, GLsizei bufSize, GLsizei *length, GLsizei *size, GLenum *type, GLchar *name); +typedef void (GLAPIENTRY * PFNGLGETTRANSFORMFEEDBACKVARYINGNVPROC) (GLuint program, GLuint index, GLint *location); +typedef GLint (GLAPIENTRY * PFNGLGETVARYINGLOCATIONNVPROC) (GLuint program, const GLchar *name); +typedef void (GLAPIENTRY * PFNGLTRANSFORMFEEDBACKATTRIBSNVPROC) (GLuint count, const GLint *attribs, GLenum bufferMode); +typedef void (GLAPIENTRY * PFNGLTRANSFORMFEEDBACKVARYINGSNVPROC) (GLuint program, GLsizei count, const GLint *locations, GLenum bufferMode); + +#define glActiveVaryingNV GLEW_GET_FUN(__glewActiveVaryingNV) +#define glBeginTransformFeedbackNV GLEW_GET_FUN(__glewBeginTransformFeedbackNV) +#define glBindBufferBaseNV GLEW_GET_FUN(__glewBindBufferBaseNV) +#define glBindBufferOffsetNV GLEW_GET_FUN(__glewBindBufferOffsetNV) +#define glBindBufferRangeNV GLEW_GET_FUN(__glewBindBufferRangeNV) +#define glEndTransformFeedbackNV GLEW_GET_FUN(__glewEndTransformFeedbackNV) +#define glGetActiveVaryingNV GLEW_GET_FUN(__glewGetActiveVaryingNV) +#define glGetTransformFeedbackVaryingNV GLEW_GET_FUN(__glewGetTransformFeedbackVaryingNV) +#define glGetVaryingLocationNV GLEW_GET_FUN(__glewGetVaryingLocationNV) +#define glTransformFeedbackAttribsNV GLEW_GET_FUN(__glewTransformFeedbackAttribsNV) +#define glTransformFeedbackVaryingsNV GLEW_GET_FUN(__glewTransformFeedbackVaryingsNV) + +#define GLEW_NV_transform_feedback GLEW_GET_VAR(__GLEW_NV_transform_feedback) + +#endif /* GL_NV_transform_feedback */ + +/* ----------------------- GL_NV_transform_feedback2 ----------------------- */ + +#ifndef GL_NV_transform_feedback2 +#define GL_NV_transform_feedback2 1 + +#define GL_TRANSFORM_FEEDBACK_NV 0x8E22 +#define GL_TRANSFORM_FEEDBACK_BUFFER_PAUSED_NV 0x8E23 +#define GL_TRANSFORM_FEEDBACK_BUFFER_ACTIVE_NV 0x8E24 +#define GL_TRANSFORM_FEEDBACK_BINDING_NV 0x8E25 + +typedef void (GLAPIENTRY * PFNGLBINDTRANSFORMFEEDBACKNVPROC) (GLenum target, GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETETRANSFORMFEEDBACKSNVPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLDRAWTRANSFORMFEEDBACKNVPROC) (GLenum mode, GLuint id); +typedef void (GLAPIENTRY * PFNGLGENTRANSFORMFEEDBACKSNVPROC) (GLsizei n, GLuint* ids); +typedef GLboolean (GLAPIENTRY * PFNGLISTRANSFORMFEEDBACKNVPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLPAUSETRANSFORMFEEDBACKNVPROC) (void); +typedef void (GLAPIENTRY * PFNGLRESUMETRANSFORMFEEDBACKNVPROC) (void); + +#define glBindTransformFeedbackNV GLEW_GET_FUN(__glewBindTransformFeedbackNV) +#define glDeleteTransformFeedbacksNV GLEW_GET_FUN(__glewDeleteTransformFeedbacksNV) +#define glDrawTransformFeedbackNV GLEW_GET_FUN(__glewDrawTransformFeedbackNV) +#define glGenTransformFeedbacksNV GLEW_GET_FUN(__glewGenTransformFeedbacksNV) +#define glIsTransformFeedbackNV GLEW_GET_FUN(__glewIsTransformFeedbackNV) +#define glPauseTransformFeedbackNV GLEW_GET_FUN(__glewPauseTransformFeedbackNV) +#define glResumeTransformFeedbackNV GLEW_GET_FUN(__glewResumeTransformFeedbackNV) + +#define GLEW_NV_transform_feedback2 GLEW_GET_VAR(__GLEW_NV_transform_feedback2) + +#endif /* GL_NV_transform_feedback2 */ + +/* -------------------------- GL_NV_vdpau_interop -------------------------- */ + +#ifndef GL_NV_vdpau_interop +#define GL_NV_vdpau_interop 1 + +#define GL_SURFACE_STATE_NV 0x86EB +#define GL_SURFACE_REGISTERED_NV 0x86FD +#define GL_SURFACE_MAPPED_NV 0x8700 +#define GL_WRITE_DISCARD_NV 0x88BE + +typedef GLintptr GLvdpauSurfaceNV; + +typedef void (GLAPIENTRY * PFNGLVDPAUFININVPROC) (void); +typedef void (GLAPIENTRY * PFNGLVDPAUGETSURFACEIVNVPROC) (GLvdpauSurfaceNV surface, GLenum pname, GLsizei bufSize, GLsizei* length, GLint *values); +typedef void (GLAPIENTRY * PFNGLVDPAUINITNVPROC) (const void* vdpDevice, const GLvoid*getProcAddress); +typedef void (GLAPIENTRY * PFNGLVDPAUISSURFACENVPROC) (GLvdpauSurfaceNV surface); +typedef void (GLAPIENTRY * PFNGLVDPAUMAPSURFACESNVPROC) (GLsizei numSurfaces, const GLvdpauSurfaceNV* surfaces); +typedef GLvdpauSurfaceNV (GLAPIENTRY * PFNGLVDPAUREGISTEROUTPUTSURFACENVPROC) (const void* vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +typedef GLvdpauSurfaceNV (GLAPIENTRY * PFNGLVDPAUREGISTERVIDEOSURFACENVPROC) (const void* vdpSurface, GLenum target, GLsizei numTextureNames, const GLuint *textureNames); +typedef void (GLAPIENTRY * PFNGLVDPAUSURFACEACCESSNVPROC) (GLvdpauSurfaceNV surface, GLenum access); +typedef void (GLAPIENTRY * PFNGLVDPAUUNMAPSURFACESNVPROC) (GLsizei numSurface, const GLvdpauSurfaceNV* surfaces); +typedef void (GLAPIENTRY * PFNGLVDPAUUNREGISTERSURFACENVPROC) (GLvdpauSurfaceNV surface); + +#define glVDPAUFiniNV GLEW_GET_FUN(__glewVDPAUFiniNV) +#define glVDPAUGetSurfaceivNV GLEW_GET_FUN(__glewVDPAUGetSurfaceivNV) +#define glVDPAUInitNV GLEW_GET_FUN(__glewVDPAUInitNV) +#define glVDPAUIsSurfaceNV GLEW_GET_FUN(__glewVDPAUIsSurfaceNV) +#define glVDPAUMapSurfacesNV GLEW_GET_FUN(__glewVDPAUMapSurfacesNV) +#define glVDPAURegisterOutputSurfaceNV GLEW_GET_FUN(__glewVDPAURegisterOutputSurfaceNV) +#define glVDPAURegisterVideoSurfaceNV GLEW_GET_FUN(__glewVDPAURegisterVideoSurfaceNV) +#define glVDPAUSurfaceAccessNV GLEW_GET_FUN(__glewVDPAUSurfaceAccessNV) +#define glVDPAUUnmapSurfacesNV GLEW_GET_FUN(__glewVDPAUUnmapSurfacesNV) +#define glVDPAUUnregisterSurfaceNV GLEW_GET_FUN(__glewVDPAUUnregisterSurfaceNV) + +#define GLEW_NV_vdpau_interop GLEW_GET_VAR(__GLEW_NV_vdpau_interop) + +#endif /* GL_NV_vdpau_interop */ + +/* ------------------------ GL_NV_vertex_array_range ----------------------- */ + +#ifndef GL_NV_vertex_array_range +#define GL_NV_vertex_array_range 1 + +#define GL_VERTEX_ARRAY_RANGE_NV 0x851D +#define GL_VERTEX_ARRAY_RANGE_LENGTH_NV 0x851E +#define GL_VERTEX_ARRAY_RANGE_VALID_NV 0x851F +#define GL_MAX_VERTEX_ARRAY_RANGE_ELEMENT_NV 0x8520 +#define GL_VERTEX_ARRAY_RANGE_POINTER_NV 0x8521 + +typedef void (GLAPIENTRY * PFNGLFLUSHVERTEXARRAYRANGENVPROC) (void); +typedef void (GLAPIENTRY * PFNGLVERTEXARRAYRANGENVPROC) (GLsizei length, void* pointer); + +#define glFlushVertexArrayRangeNV GLEW_GET_FUN(__glewFlushVertexArrayRangeNV) +#define glVertexArrayRangeNV GLEW_GET_FUN(__glewVertexArrayRangeNV) + +#define GLEW_NV_vertex_array_range GLEW_GET_VAR(__GLEW_NV_vertex_array_range) + +#endif /* GL_NV_vertex_array_range */ + +/* ----------------------- GL_NV_vertex_array_range2 ----------------------- */ + +#ifndef GL_NV_vertex_array_range2 +#define GL_NV_vertex_array_range2 1 + +#define GL_VERTEX_ARRAY_RANGE_WITHOUT_FLUSH_NV 0x8533 + +#define GLEW_NV_vertex_array_range2 GLEW_GET_VAR(__GLEW_NV_vertex_array_range2) + +#endif /* GL_NV_vertex_array_range2 */ + +/* ------------------- GL_NV_vertex_attrib_integer_64bit ------------------- */ + +#ifndef GL_NV_vertex_attrib_integer_64bit +#define GL_NV_vertex_attrib_integer_64bit 1 + +#define GL_INT64_NV 0x140E +#define GL_UNSIGNED_INT64_NV 0x140F + +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBLI64VNVPROC) (GLuint index, GLenum pname, GLint64EXT* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBLUI64VNVPROC) (GLuint index, GLenum pname, GLuint64EXT* params); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1I64NVPROC) (GLuint index, GLint64EXT x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1I64VNVPROC) (GLuint index, const GLint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1UI64NVPROC) (GLuint index, GLuint64EXT x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL1UI64VNVPROC) (GLuint index, const GLuint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2I64VNVPROC) (GLuint index, const GLint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL2UI64VNVPROC) (GLuint index, const GLuint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3I64VNVPROC) (GLuint index, const GLint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL3UI64VNVPROC) (GLuint index, const GLuint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4I64NVPROC) (GLuint index, GLint64EXT x, GLint64EXT y, GLint64EXT z, GLint64EXT w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4I64VNVPROC) (GLuint index, const GLint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4UI64NVPROC) (GLuint index, GLuint64EXT x, GLuint64EXT y, GLuint64EXT z, GLuint64EXT w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBL4UI64VNVPROC) (GLuint index, const GLuint64EXT* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBLFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); + +#define glGetVertexAttribLi64vNV GLEW_GET_FUN(__glewGetVertexAttribLi64vNV) +#define glGetVertexAttribLui64vNV GLEW_GET_FUN(__glewGetVertexAttribLui64vNV) +#define glVertexAttribL1i64NV GLEW_GET_FUN(__glewVertexAttribL1i64NV) +#define glVertexAttribL1i64vNV GLEW_GET_FUN(__glewVertexAttribL1i64vNV) +#define glVertexAttribL1ui64NV GLEW_GET_FUN(__glewVertexAttribL1ui64NV) +#define glVertexAttribL1ui64vNV GLEW_GET_FUN(__glewVertexAttribL1ui64vNV) +#define glVertexAttribL2i64NV GLEW_GET_FUN(__glewVertexAttribL2i64NV) +#define glVertexAttribL2i64vNV GLEW_GET_FUN(__glewVertexAttribL2i64vNV) +#define glVertexAttribL2ui64NV GLEW_GET_FUN(__glewVertexAttribL2ui64NV) +#define glVertexAttribL2ui64vNV GLEW_GET_FUN(__glewVertexAttribL2ui64vNV) +#define glVertexAttribL3i64NV GLEW_GET_FUN(__glewVertexAttribL3i64NV) +#define glVertexAttribL3i64vNV GLEW_GET_FUN(__glewVertexAttribL3i64vNV) +#define glVertexAttribL3ui64NV GLEW_GET_FUN(__glewVertexAttribL3ui64NV) +#define glVertexAttribL3ui64vNV GLEW_GET_FUN(__glewVertexAttribL3ui64vNV) +#define glVertexAttribL4i64NV GLEW_GET_FUN(__glewVertexAttribL4i64NV) +#define glVertexAttribL4i64vNV GLEW_GET_FUN(__glewVertexAttribL4i64vNV) +#define glVertexAttribL4ui64NV GLEW_GET_FUN(__glewVertexAttribL4ui64NV) +#define glVertexAttribL4ui64vNV GLEW_GET_FUN(__glewVertexAttribL4ui64vNV) +#define glVertexAttribLFormatNV GLEW_GET_FUN(__glewVertexAttribLFormatNV) + +#define GLEW_NV_vertex_attrib_integer_64bit GLEW_GET_VAR(__GLEW_NV_vertex_attrib_integer_64bit) + +#endif /* GL_NV_vertex_attrib_integer_64bit */ + +/* ------------------- GL_NV_vertex_buffer_unified_memory ------------------ */ + +#ifndef GL_NV_vertex_buffer_unified_memory +#define GL_NV_vertex_buffer_unified_memory 1 + +#define GL_VERTEX_ATTRIB_ARRAY_UNIFIED_NV 0x8F1E +#define GL_ELEMENT_ARRAY_UNIFIED_NV 0x8F1F +#define GL_VERTEX_ATTRIB_ARRAY_ADDRESS_NV 0x8F20 +#define GL_VERTEX_ARRAY_ADDRESS_NV 0x8F21 +#define GL_NORMAL_ARRAY_ADDRESS_NV 0x8F22 +#define GL_COLOR_ARRAY_ADDRESS_NV 0x8F23 +#define GL_INDEX_ARRAY_ADDRESS_NV 0x8F24 +#define GL_TEXTURE_COORD_ARRAY_ADDRESS_NV 0x8F25 +#define GL_EDGE_FLAG_ARRAY_ADDRESS_NV 0x8F26 +#define GL_SECONDARY_COLOR_ARRAY_ADDRESS_NV 0x8F27 +#define GL_FOG_COORD_ARRAY_ADDRESS_NV 0x8F28 +#define GL_ELEMENT_ARRAY_ADDRESS_NV 0x8F29 +#define GL_VERTEX_ATTRIB_ARRAY_LENGTH_NV 0x8F2A +#define GL_VERTEX_ARRAY_LENGTH_NV 0x8F2B +#define GL_NORMAL_ARRAY_LENGTH_NV 0x8F2C +#define GL_COLOR_ARRAY_LENGTH_NV 0x8F2D +#define GL_INDEX_ARRAY_LENGTH_NV 0x8F2E +#define GL_TEXTURE_COORD_ARRAY_LENGTH_NV 0x8F2F +#define GL_EDGE_FLAG_ARRAY_LENGTH_NV 0x8F30 +#define GL_SECONDARY_COLOR_ARRAY_LENGTH_NV 0x8F31 +#define GL_FOG_COORD_ARRAY_LENGTH_NV 0x8F32 +#define GL_ELEMENT_ARRAY_LENGTH_NV 0x8F33 +#define GL_DRAW_INDIRECT_UNIFIED_NV 0x8F40 +#define GL_DRAW_INDIRECT_ADDRESS_NV 0x8F41 +#define GL_DRAW_INDIRECT_LENGTH_NV 0x8F42 + +typedef void (GLAPIENTRY * PFNGLBUFFERADDRESSRANGENVPROC) (GLenum pname, GLuint index, GLuint64EXT address, GLsizeiptr length); +typedef void (GLAPIENTRY * PFNGLCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLEDGEFLAGFORMATNVPROC) (GLsizei stride); +typedef void (GLAPIENTRY * PFNGLFOGCOORDFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLGETINTEGERUI64I_VNVPROC) (GLenum value, GLuint index, GLuint64EXT result[]); +typedef void (GLAPIENTRY * PFNGLINDEXFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLNORMALFORMATNVPROC) (GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLSECONDARYCOLORFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLTEXCOORDFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBIFORMATNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride); +typedef void (GLAPIENTRY * PFNGLVERTEXFORMATNVPROC) (GLint size, GLenum type, GLsizei stride); + +#define glBufferAddressRangeNV GLEW_GET_FUN(__glewBufferAddressRangeNV) +#define glColorFormatNV GLEW_GET_FUN(__glewColorFormatNV) +#define glEdgeFlagFormatNV GLEW_GET_FUN(__glewEdgeFlagFormatNV) +#define glFogCoordFormatNV GLEW_GET_FUN(__glewFogCoordFormatNV) +#define glGetIntegerui64i_vNV GLEW_GET_FUN(__glewGetIntegerui64i_vNV) +#define glIndexFormatNV GLEW_GET_FUN(__glewIndexFormatNV) +#define glNormalFormatNV GLEW_GET_FUN(__glewNormalFormatNV) +#define glSecondaryColorFormatNV GLEW_GET_FUN(__glewSecondaryColorFormatNV) +#define glTexCoordFormatNV GLEW_GET_FUN(__glewTexCoordFormatNV) +#define glVertexAttribFormatNV GLEW_GET_FUN(__glewVertexAttribFormatNV) +#define glVertexAttribIFormatNV GLEW_GET_FUN(__glewVertexAttribIFormatNV) +#define glVertexFormatNV GLEW_GET_FUN(__glewVertexFormatNV) + +#define GLEW_NV_vertex_buffer_unified_memory GLEW_GET_VAR(__GLEW_NV_vertex_buffer_unified_memory) + +#endif /* GL_NV_vertex_buffer_unified_memory */ + +/* -------------------------- GL_NV_vertex_program ------------------------- */ + +#ifndef GL_NV_vertex_program +#define GL_NV_vertex_program 1 + +#define GL_VERTEX_PROGRAM_NV 0x8620 +#define GL_VERTEX_STATE_PROGRAM_NV 0x8621 +#define GL_ATTRIB_ARRAY_SIZE_NV 0x8623 +#define GL_ATTRIB_ARRAY_STRIDE_NV 0x8624 +#define GL_ATTRIB_ARRAY_TYPE_NV 0x8625 +#define GL_CURRENT_ATTRIB_NV 0x8626 +#define GL_PROGRAM_LENGTH_NV 0x8627 +#define GL_PROGRAM_STRING_NV 0x8628 +#define GL_MODELVIEW_PROJECTION_NV 0x8629 +#define GL_IDENTITY_NV 0x862A +#define GL_INVERSE_NV 0x862B +#define GL_TRANSPOSE_NV 0x862C +#define GL_INVERSE_TRANSPOSE_NV 0x862D +#define GL_MAX_TRACK_MATRIX_STACK_DEPTH_NV 0x862E +#define GL_MAX_TRACK_MATRICES_NV 0x862F +#define GL_MATRIX0_NV 0x8630 +#define GL_MATRIX1_NV 0x8631 +#define GL_MATRIX2_NV 0x8632 +#define GL_MATRIX3_NV 0x8633 +#define GL_MATRIX4_NV 0x8634 +#define GL_MATRIX5_NV 0x8635 +#define GL_MATRIX6_NV 0x8636 +#define GL_MATRIX7_NV 0x8637 +#define GL_CURRENT_MATRIX_STACK_DEPTH_NV 0x8640 +#define GL_CURRENT_MATRIX_NV 0x8641 +#define GL_VERTEX_PROGRAM_POINT_SIZE_NV 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE_NV 0x8643 +#define GL_PROGRAM_PARAMETER_NV 0x8644 +#define GL_ATTRIB_ARRAY_POINTER_NV 0x8645 +#define GL_PROGRAM_TARGET_NV 0x8646 +#define GL_PROGRAM_RESIDENT_NV 0x8647 +#define GL_TRACK_MATRIX_NV 0x8648 +#define GL_TRACK_MATRIX_TRANSFORM_NV 0x8649 +#define GL_VERTEX_PROGRAM_BINDING_NV 0x864A +#define GL_PROGRAM_ERROR_POSITION_NV 0x864B +#define GL_VERTEX_ATTRIB_ARRAY0_NV 0x8650 +#define GL_VERTEX_ATTRIB_ARRAY1_NV 0x8651 +#define GL_VERTEX_ATTRIB_ARRAY2_NV 0x8652 +#define GL_VERTEX_ATTRIB_ARRAY3_NV 0x8653 +#define GL_VERTEX_ATTRIB_ARRAY4_NV 0x8654 +#define GL_VERTEX_ATTRIB_ARRAY5_NV 0x8655 +#define GL_VERTEX_ATTRIB_ARRAY6_NV 0x8656 +#define GL_VERTEX_ATTRIB_ARRAY7_NV 0x8657 +#define GL_VERTEX_ATTRIB_ARRAY8_NV 0x8658 +#define GL_VERTEX_ATTRIB_ARRAY9_NV 0x8659 +#define GL_VERTEX_ATTRIB_ARRAY10_NV 0x865A +#define GL_VERTEX_ATTRIB_ARRAY11_NV 0x865B +#define GL_VERTEX_ATTRIB_ARRAY12_NV 0x865C +#define GL_VERTEX_ATTRIB_ARRAY13_NV 0x865D +#define GL_VERTEX_ATTRIB_ARRAY14_NV 0x865E +#define GL_VERTEX_ATTRIB_ARRAY15_NV 0x865F +#define GL_MAP1_VERTEX_ATTRIB0_4_NV 0x8660 +#define GL_MAP1_VERTEX_ATTRIB1_4_NV 0x8661 +#define GL_MAP1_VERTEX_ATTRIB2_4_NV 0x8662 +#define GL_MAP1_VERTEX_ATTRIB3_4_NV 0x8663 +#define GL_MAP1_VERTEX_ATTRIB4_4_NV 0x8664 +#define GL_MAP1_VERTEX_ATTRIB5_4_NV 0x8665 +#define GL_MAP1_VERTEX_ATTRIB6_4_NV 0x8666 +#define GL_MAP1_VERTEX_ATTRIB7_4_NV 0x8667 +#define GL_MAP1_VERTEX_ATTRIB8_4_NV 0x8668 +#define GL_MAP1_VERTEX_ATTRIB9_4_NV 0x8669 +#define GL_MAP1_VERTEX_ATTRIB10_4_NV 0x866A +#define GL_MAP1_VERTEX_ATTRIB11_4_NV 0x866B +#define GL_MAP1_VERTEX_ATTRIB12_4_NV 0x866C +#define GL_MAP1_VERTEX_ATTRIB13_4_NV 0x866D +#define GL_MAP1_VERTEX_ATTRIB14_4_NV 0x866E +#define GL_MAP1_VERTEX_ATTRIB15_4_NV 0x866F +#define GL_MAP2_VERTEX_ATTRIB0_4_NV 0x8670 +#define GL_MAP2_VERTEX_ATTRIB1_4_NV 0x8671 +#define GL_MAP2_VERTEX_ATTRIB2_4_NV 0x8672 +#define GL_MAP2_VERTEX_ATTRIB3_4_NV 0x8673 +#define GL_MAP2_VERTEX_ATTRIB4_4_NV 0x8674 +#define GL_MAP2_VERTEX_ATTRIB5_4_NV 0x8675 +#define GL_MAP2_VERTEX_ATTRIB6_4_NV 0x8676 +#define GL_MAP2_VERTEX_ATTRIB7_4_NV 0x8677 +#define GL_MAP2_VERTEX_ATTRIB8_4_NV 0x8678 +#define GL_MAP2_VERTEX_ATTRIB9_4_NV 0x8679 +#define GL_MAP2_VERTEX_ATTRIB10_4_NV 0x867A +#define GL_MAP2_VERTEX_ATTRIB11_4_NV 0x867B +#define GL_MAP2_VERTEX_ATTRIB12_4_NV 0x867C +#define GL_MAP2_VERTEX_ATTRIB13_4_NV 0x867D +#define GL_MAP2_VERTEX_ATTRIB14_4_NV 0x867E +#define GL_MAP2_VERTEX_ATTRIB15_4_NV 0x867F + +typedef GLboolean (GLAPIENTRY * PFNGLAREPROGRAMSRESIDENTNVPROC) (GLsizei n, const GLuint* ids, GLboolean *residences); +typedef void (GLAPIENTRY * PFNGLBINDPROGRAMNVPROC) (GLenum target, GLuint id); +typedef void (GLAPIENTRY * PFNGLDELETEPROGRAMSNVPROC) (GLsizei n, const GLuint* ids); +typedef void (GLAPIENTRY * PFNGLEXECUTEPROGRAMNVPROC) (GLenum target, GLuint id, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGENPROGRAMSNVPROC) (GLsizei n, GLuint* ids); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMPARAMETERDVNVPROC) (GLenum target, GLuint index, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMSTRINGNVPROC) (GLuint id, GLenum pname, GLubyte* program); +typedef void (GLAPIENTRY * PFNGLGETPROGRAMIVNVPROC) (GLuint id, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETTRACKMATRIXIVNVPROC) (GLenum target, GLuint address, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBPOINTERVNVPROC) (GLuint index, GLenum pname, GLvoid** pointer); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBDVNVPROC) (GLuint index, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBFVNVPROC) (GLuint index, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETVERTEXATTRIBIVNVPROC) (GLuint index, GLenum pname, GLint* params); +typedef GLboolean (GLAPIENTRY * PFNGLISPROGRAMNVPROC) (GLuint id); +typedef void (GLAPIENTRY * PFNGLLOADPROGRAMNVPROC) (GLenum target, GLuint id, GLsizei len, const GLubyte* program); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETER4DNVPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETER4DVNVPROC) (GLenum target, GLuint index, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETER4FNVPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETER4FVNVPROC) (GLenum target, GLuint index, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETERS4DVNVPROC) (GLenum target, GLuint index, GLsizei num, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLPROGRAMPARAMETERS4FVNVPROC) (GLenum target, GLuint index, GLsizei num, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLREQUESTRESIDENTPROGRAMSNVPROC) (GLsizei n, GLuint* ids); +typedef void (GLAPIENTRY * PFNGLTRACKMATRIXNVPROC) (GLenum target, GLuint address, GLenum matrix, GLenum transform); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DNVPROC) (GLuint index, GLdouble x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1DVNVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FNVPROC) (GLuint index, GLfloat x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1FVNVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SNVPROC) (GLuint index, GLshort x); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB1SVNVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DNVPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2DVNVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FNVPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2FVNVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SNVPROC) (GLuint index, GLshort x, GLshort y); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB2SVNVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3DVNVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3FVNVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB3SVNVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4DVNVPROC) (GLuint index, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4FVNVPROC) (GLuint index, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4SVNVPROC) (GLuint index, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UBNVPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIB4UBVNVPROC) (GLuint index, const GLubyte* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBPOINTERNVPROC) (GLuint index, GLint size, GLenum type, GLsizei stride, const void* pointer); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS1DVNVPROC) (GLuint index, GLsizei n, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS1FVNVPROC) (GLuint index, GLsizei n, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS1SVNVPROC) (GLuint index, GLsizei n, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS2DVNVPROC) (GLuint index, GLsizei n, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS2FVNVPROC) (GLuint index, GLsizei n, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS2SVNVPROC) (GLuint index, GLsizei n, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS3DVNVPROC) (GLuint index, GLsizei n, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS3FVNVPROC) (GLuint index, GLsizei n, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS3SVNVPROC) (GLuint index, GLsizei n, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS4DVNVPROC) (GLuint index, GLsizei n, const GLdouble* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS4FVNVPROC) (GLuint index, GLsizei n, const GLfloat* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS4SVNVPROC) (GLuint index, GLsizei n, const GLshort* v); +typedef void (GLAPIENTRY * PFNGLVERTEXATTRIBS4UBVNVPROC) (GLuint index, GLsizei n, const GLubyte* v); + +#define glAreProgramsResidentNV GLEW_GET_FUN(__glewAreProgramsResidentNV) +#define glBindProgramNV GLEW_GET_FUN(__glewBindProgramNV) +#define glDeleteProgramsNV GLEW_GET_FUN(__glewDeleteProgramsNV) +#define glExecuteProgramNV GLEW_GET_FUN(__glewExecuteProgramNV) +#define glGenProgramsNV GLEW_GET_FUN(__glewGenProgramsNV) +#define glGetProgramParameterdvNV GLEW_GET_FUN(__glewGetProgramParameterdvNV) +#define glGetProgramParameterfvNV GLEW_GET_FUN(__glewGetProgramParameterfvNV) +#define glGetProgramStringNV GLEW_GET_FUN(__glewGetProgramStringNV) +#define glGetProgramivNV GLEW_GET_FUN(__glewGetProgramivNV) +#define glGetTrackMatrixivNV GLEW_GET_FUN(__glewGetTrackMatrixivNV) +#define glGetVertexAttribPointervNV GLEW_GET_FUN(__glewGetVertexAttribPointervNV) +#define glGetVertexAttribdvNV GLEW_GET_FUN(__glewGetVertexAttribdvNV) +#define glGetVertexAttribfvNV GLEW_GET_FUN(__glewGetVertexAttribfvNV) +#define glGetVertexAttribivNV GLEW_GET_FUN(__glewGetVertexAttribivNV) +#define glIsProgramNV GLEW_GET_FUN(__glewIsProgramNV) +#define glLoadProgramNV GLEW_GET_FUN(__glewLoadProgramNV) +#define glProgramParameter4dNV GLEW_GET_FUN(__glewProgramParameter4dNV) +#define glProgramParameter4dvNV GLEW_GET_FUN(__glewProgramParameter4dvNV) +#define glProgramParameter4fNV GLEW_GET_FUN(__glewProgramParameter4fNV) +#define glProgramParameter4fvNV GLEW_GET_FUN(__glewProgramParameter4fvNV) +#define glProgramParameters4dvNV GLEW_GET_FUN(__glewProgramParameters4dvNV) +#define glProgramParameters4fvNV GLEW_GET_FUN(__glewProgramParameters4fvNV) +#define glRequestResidentProgramsNV GLEW_GET_FUN(__glewRequestResidentProgramsNV) +#define glTrackMatrixNV GLEW_GET_FUN(__glewTrackMatrixNV) +#define glVertexAttrib1dNV GLEW_GET_FUN(__glewVertexAttrib1dNV) +#define glVertexAttrib1dvNV GLEW_GET_FUN(__glewVertexAttrib1dvNV) +#define glVertexAttrib1fNV GLEW_GET_FUN(__glewVertexAttrib1fNV) +#define glVertexAttrib1fvNV GLEW_GET_FUN(__glewVertexAttrib1fvNV) +#define glVertexAttrib1sNV GLEW_GET_FUN(__glewVertexAttrib1sNV) +#define glVertexAttrib1svNV GLEW_GET_FUN(__glewVertexAttrib1svNV) +#define glVertexAttrib2dNV GLEW_GET_FUN(__glewVertexAttrib2dNV) +#define glVertexAttrib2dvNV GLEW_GET_FUN(__glewVertexAttrib2dvNV) +#define glVertexAttrib2fNV GLEW_GET_FUN(__glewVertexAttrib2fNV) +#define glVertexAttrib2fvNV GLEW_GET_FUN(__glewVertexAttrib2fvNV) +#define glVertexAttrib2sNV GLEW_GET_FUN(__glewVertexAttrib2sNV) +#define glVertexAttrib2svNV GLEW_GET_FUN(__glewVertexAttrib2svNV) +#define glVertexAttrib3dNV GLEW_GET_FUN(__glewVertexAttrib3dNV) +#define glVertexAttrib3dvNV GLEW_GET_FUN(__glewVertexAttrib3dvNV) +#define glVertexAttrib3fNV GLEW_GET_FUN(__glewVertexAttrib3fNV) +#define glVertexAttrib3fvNV GLEW_GET_FUN(__glewVertexAttrib3fvNV) +#define glVertexAttrib3sNV GLEW_GET_FUN(__glewVertexAttrib3sNV) +#define glVertexAttrib3svNV GLEW_GET_FUN(__glewVertexAttrib3svNV) +#define glVertexAttrib4dNV GLEW_GET_FUN(__glewVertexAttrib4dNV) +#define glVertexAttrib4dvNV GLEW_GET_FUN(__glewVertexAttrib4dvNV) +#define glVertexAttrib4fNV GLEW_GET_FUN(__glewVertexAttrib4fNV) +#define glVertexAttrib4fvNV GLEW_GET_FUN(__glewVertexAttrib4fvNV) +#define glVertexAttrib4sNV GLEW_GET_FUN(__glewVertexAttrib4sNV) +#define glVertexAttrib4svNV GLEW_GET_FUN(__glewVertexAttrib4svNV) +#define glVertexAttrib4ubNV GLEW_GET_FUN(__glewVertexAttrib4ubNV) +#define glVertexAttrib4ubvNV GLEW_GET_FUN(__glewVertexAttrib4ubvNV) +#define glVertexAttribPointerNV GLEW_GET_FUN(__glewVertexAttribPointerNV) +#define glVertexAttribs1dvNV GLEW_GET_FUN(__glewVertexAttribs1dvNV) +#define glVertexAttribs1fvNV GLEW_GET_FUN(__glewVertexAttribs1fvNV) +#define glVertexAttribs1svNV GLEW_GET_FUN(__glewVertexAttribs1svNV) +#define glVertexAttribs2dvNV GLEW_GET_FUN(__glewVertexAttribs2dvNV) +#define glVertexAttribs2fvNV GLEW_GET_FUN(__glewVertexAttribs2fvNV) +#define glVertexAttribs2svNV GLEW_GET_FUN(__glewVertexAttribs2svNV) +#define glVertexAttribs3dvNV GLEW_GET_FUN(__glewVertexAttribs3dvNV) +#define glVertexAttribs3fvNV GLEW_GET_FUN(__glewVertexAttribs3fvNV) +#define glVertexAttribs3svNV GLEW_GET_FUN(__glewVertexAttribs3svNV) +#define glVertexAttribs4dvNV GLEW_GET_FUN(__glewVertexAttribs4dvNV) +#define glVertexAttribs4fvNV GLEW_GET_FUN(__glewVertexAttribs4fvNV) +#define glVertexAttribs4svNV GLEW_GET_FUN(__glewVertexAttribs4svNV) +#define glVertexAttribs4ubvNV GLEW_GET_FUN(__glewVertexAttribs4ubvNV) + +#define GLEW_NV_vertex_program GLEW_GET_VAR(__GLEW_NV_vertex_program) + +#endif /* GL_NV_vertex_program */ + +/* ------------------------ GL_NV_vertex_program1_1 ------------------------ */ + +#ifndef GL_NV_vertex_program1_1 +#define GL_NV_vertex_program1_1 1 + +#define GLEW_NV_vertex_program1_1 GLEW_GET_VAR(__GLEW_NV_vertex_program1_1) + +#endif /* GL_NV_vertex_program1_1 */ + +/* ------------------------- GL_NV_vertex_program2 ------------------------- */ + +#ifndef GL_NV_vertex_program2 +#define GL_NV_vertex_program2 1 + +#define GLEW_NV_vertex_program2 GLEW_GET_VAR(__GLEW_NV_vertex_program2) + +#endif /* GL_NV_vertex_program2 */ + +/* ---------------------- GL_NV_vertex_program2_option --------------------- */ + +#ifndef GL_NV_vertex_program2_option +#define GL_NV_vertex_program2_option 1 + +#define GL_MAX_PROGRAM_EXEC_INSTRUCTIONS_NV 0x88F4 +#define GL_MAX_PROGRAM_CALL_DEPTH_NV 0x88F5 + +#define GLEW_NV_vertex_program2_option GLEW_GET_VAR(__GLEW_NV_vertex_program2_option) + +#endif /* GL_NV_vertex_program2_option */ + +/* ------------------------- GL_NV_vertex_program3 ------------------------- */ + +#ifndef GL_NV_vertex_program3 +#define GL_NV_vertex_program3 1 + +#define MAX_VERTEX_TEXTURE_IMAGE_UNITS_ARB 0x8B4C + +#define GLEW_NV_vertex_program3 GLEW_GET_VAR(__GLEW_NV_vertex_program3) + +#endif /* GL_NV_vertex_program3 */ + +/* ------------------------- GL_NV_vertex_program4 ------------------------- */ + +#ifndef GL_NV_vertex_program4 +#define GL_NV_vertex_program4 1 + +#define GL_VERTEX_ATTRIB_ARRAY_INTEGER_NV 0x88FD + +#define GLEW_NV_vertex_program4 GLEW_GET_VAR(__GLEW_NV_vertex_program4) + +#endif /* GL_NV_vertex_program4 */ + +/* -------------------------- GL_NV_video_capture -------------------------- */ + +#ifndef GL_NV_video_capture +#define GL_NV_video_capture 1 + +#define GL_VIDEO_BUFFER_NV 0x9020 +#define GL_VIDEO_BUFFER_BINDING_NV 0x9021 +#define GL_FIELD_UPPER_NV 0x9022 +#define GL_FIELD_LOWER_NV 0x9023 +#define GL_NUM_VIDEO_CAPTURE_STREAMS_NV 0x9024 +#define GL_NEXT_VIDEO_CAPTURE_BUFFER_STATUS_NV 0x9025 +#define GL_VIDEO_CAPTURE_TO_422_SUPPORTED_NV 0x9026 +#define GL_LAST_VIDEO_CAPTURE_STATUS_NV 0x9027 +#define GL_VIDEO_BUFFER_PITCH_NV 0x9028 +#define GL_VIDEO_COLOR_CONVERSION_MATRIX_NV 0x9029 +#define GL_VIDEO_COLOR_CONVERSION_MAX_NV 0x902A +#define GL_VIDEO_COLOR_CONVERSION_MIN_NV 0x902B +#define GL_VIDEO_COLOR_CONVERSION_OFFSET_NV 0x902C +#define GL_VIDEO_BUFFER_INTERNAL_FORMAT_NV 0x902D +#define GL_PARTIAL_SUCCESS_NV 0x902E +#define GL_SUCCESS_NV 0x902F +#define GL_FAILURE_NV 0x9030 +#define GL_YCBYCR8_422_NV 0x9031 +#define GL_YCBAYCR8A_4224_NV 0x9032 +#define GL_Z6Y10Z6CB10Z6Y10Z6CR10_422_NV 0x9033 +#define GL_Z6Y10Z6CB10Z6A10Z6Y10Z6CR10Z6A10_4224_NV 0x9034 +#define GL_Z4Y12Z4CB12Z4Y12Z4CR12_422_NV 0x9035 +#define GL_Z4Y12Z4CB12Z4A12Z4Y12Z4CR12Z4A12_4224_NV 0x9036 +#define GL_Z4Y12Z4CB12Z4CR12_444_NV 0x9037 +#define GL_VIDEO_CAPTURE_FRAME_WIDTH_NV 0x9038 +#define GL_VIDEO_CAPTURE_FRAME_HEIGHT_NV 0x9039 +#define GL_VIDEO_CAPTURE_FIELD_UPPER_HEIGHT_NV 0x903A +#define GL_VIDEO_CAPTURE_FIELD_LOWER_HEIGHT_NV 0x903B +#define GL_VIDEO_CAPTURE_SURFACE_ORIGIN_NV 0x903C + +typedef void (GLAPIENTRY * PFNGLBEGINVIDEOCAPTURENVPROC) (GLuint video_capture_slot); +typedef void (GLAPIENTRY * PFNGLBINDVIDEOCAPTURESTREAMBUFFERNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLintptrARB offset); +typedef void (GLAPIENTRY * PFNGLBINDVIDEOCAPTURESTREAMTEXTURENVPROC) (GLuint video_capture_slot, GLuint stream, GLenum frame_region, GLenum target, GLuint texture); +typedef void (GLAPIENTRY * PFNGLENDVIDEOCAPTURENVPROC) (GLuint video_capture_slot); +typedef void (GLAPIENTRY * PFNGLGETVIDEOCAPTURESTREAMDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLdouble* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOCAPTURESTREAMFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOCAPTURESTREAMIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETVIDEOCAPTUREIVNVPROC) (GLuint video_capture_slot, GLenum pname, GLint* params); +typedef GLenum (GLAPIENTRY * PFNGLVIDEOCAPTURENVPROC) (GLuint video_capture_slot, GLuint* sequence_num, GLuint64EXT *capture_time); +typedef void (GLAPIENTRY * PFNGLVIDEOCAPTURESTREAMPARAMETERDVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLdouble* params); +typedef void (GLAPIENTRY * PFNGLVIDEOCAPTURESTREAMPARAMETERFVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLVIDEOCAPTURESTREAMPARAMETERIVNVPROC) (GLuint video_capture_slot, GLuint stream, GLenum pname, const GLint* params); + +#define glBeginVideoCaptureNV GLEW_GET_FUN(__glewBeginVideoCaptureNV) +#define glBindVideoCaptureStreamBufferNV GLEW_GET_FUN(__glewBindVideoCaptureStreamBufferNV) +#define glBindVideoCaptureStreamTextureNV GLEW_GET_FUN(__glewBindVideoCaptureStreamTextureNV) +#define glEndVideoCaptureNV GLEW_GET_FUN(__glewEndVideoCaptureNV) +#define glGetVideoCaptureStreamdvNV GLEW_GET_FUN(__glewGetVideoCaptureStreamdvNV) +#define glGetVideoCaptureStreamfvNV GLEW_GET_FUN(__glewGetVideoCaptureStreamfvNV) +#define glGetVideoCaptureStreamivNV GLEW_GET_FUN(__glewGetVideoCaptureStreamivNV) +#define glGetVideoCaptureivNV GLEW_GET_FUN(__glewGetVideoCaptureivNV) +#define glVideoCaptureNV GLEW_GET_FUN(__glewVideoCaptureNV) +#define glVideoCaptureStreamParameterdvNV GLEW_GET_FUN(__glewVideoCaptureStreamParameterdvNV) +#define glVideoCaptureStreamParameterfvNV GLEW_GET_FUN(__glewVideoCaptureStreamParameterfvNV) +#define glVideoCaptureStreamParameterivNV GLEW_GET_FUN(__glewVideoCaptureStreamParameterivNV) + +#define GLEW_NV_video_capture GLEW_GET_VAR(__GLEW_NV_video_capture) + +#endif /* GL_NV_video_capture */ + +/* ------------------------ GL_OES_byte_coordinates ------------------------ */ + +#ifndef GL_OES_byte_coordinates +#define GL_OES_byte_coordinates 1 + +#define GL_BYTE 0x1400 + +#define GLEW_OES_byte_coordinates GLEW_GET_VAR(__GLEW_OES_byte_coordinates) + +#endif /* GL_OES_byte_coordinates */ + +/* ------------------- GL_OES_compressed_paletted_texture ------------------ */ + +#ifndef GL_OES_compressed_paletted_texture +#define GL_OES_compressed_paletted_texture 1 + +#define GL_PALETTE4_RGB8_OES 0x8B90 +#define GL_PALETTE4_RGBA8_OES 0x8B91 +#define GL_PALETTE4_R5_G6_B5_OES 0x8B92 +#define GL_PALETTE4_RGBA4_OES 0x8B93 +#define GL_PALETTE4_RGB5_A1_OES 0x8B94 +#define GL_PALETTE8_RGB8_OES 0x8B95 +#define GL_PALETTE8_RGBA8_OES 0x8B96 +#define GL_PALETTE8_R5_G6_B5_OES 0x8B97 +#define GL_PALETTE8_RGBA4_OES 0x8B98 +#define GL_PALETTE8_RGB5_A1_OES 0x8B99 + +#define GLEW_OES_compressed_paletted_texture GLEW_GET_VAR(__GLEW_OES_compressed_paletted_texture) + +#endif /* GL_OES_compressed_paletted_texture */ + +/* --------------------------- GL_OES_read_format -------------------------- */ + +#ifndef GL_OES_read_format +#define GL_OES_read_format 1 + +#define GL_IMPLEMENTATION_COLOR_READ_TYPE_OES 0x8B9A +#define GL_IMPLEMENTATION_COLOR_READ_FORMAT_OES 0x8B9B + +#define GLEW_OES_read_format GLEW_GET_VAR(__GLEW_OES_read_format) + +#endif /* GL_OES_read_format */ + +/* ------------------------ GL_OES_single_precision ------------------------ */ + +#ifndef GL_OES_single_precision +#define GL_OES_single_precision 1 + +typedef void (GLAPIENTRY * PFNGLCLEARDEPTHFOESPROC) (GLclampd depth); +typedef void (GLAPIENTRY * PFNGLCLIPPLANEFOESPROC) (GLenum plane, const GLfloat* equation); +typedef void (GLAPIENTRY * PFNGLDEPTHRANGEFOESPROC) (GLclampf n, GLclampf f); +typedef void (GLAPIENTRY * PFNGLFRUSTUMFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); +typedef void (GLAPIENTRY * PFNGLGETCLIPPLANEFOESPROC) (GLenum plane, GLfloat* equation); +typedef void (GLAPIENTRY * PFNGLORTHOFOESPROC) (GLfloat l, GLfloat r, GLfloat b, GLfloat t, GLfloat n, GLfloat f); + +#define glClearDepthfOES GLEW_GET_FUN(__glewClearDepthfOES) +#define glClipPlanefOES GLEW_GET_FUN(__glewClipPlanefOES) +#define glDepthRangefOES GLEW_GET_FUN(__glewDepthRangefOES) +#define glFrustumfOES GLEW_GET_FUN(__glewFrustumfOES) +#define glGetClipPlanefOES GLEW_GET_FUN(__glewGetClipPlanefOES) +#define glOrthofOES GLEW_GET_FUN(__glewOrthofOES) + +#define GLEW_OES_single_precision GLEW_GET_VAR(__GLEW_OES_single_precision) + +#endif /* GL_OES_single_precision */ + +/* ---------------------------- GL_OML_interlace --------------------------- */ + +#ifndef GL_OML_interlace +#define GL_OML_interlace 1 + +#define GL_INTERLACE_OML 0x8980 +#define GL_INTERLACE_READ_OML 0x8981 + +#define GLEW_OML_interlace GLEW_GET_VAR(__GLEW_OML_interlace) + +#endif /* GL_OML_interlace */ + +/* ---------------------------- GL_OML_resample ---------------------------- */ + +#ifndef GL_OML_resample +#define GL_OML_resample 1 + +#define GL_PACK_RESAMPLE_OML 0x8984 +#define GL_UNPACK_RESAMPLE_OML 0x8985 +#define GL_RESAMPLE_REPLICATE_OML 0x8986 +#define GL_RESAMPLE_ZERO_FILL_OML 0x8987 +#define GL_RESAMPLE_AVERAGE_OML 0x8988 +#define GL_RESAMPLE_DECIMATE_OML 0x8989 + +#define GLEW_OML_resample GLEW_GET_VAR(__GLEW_OML_resample) + +#endif /* GL_OML_resample */ + +/* ---------------------------- GL_OML_subsample --------------------------- */ + +#ifndef GL_OML_subsample +#define GL_OML_subsample 1 + +#define GL_FORMAT_SUBSAMPLE_24_24_OML 0x8982 +#define GL_FORMAT_SUBSAMPLE_244_244_OML 0x8983 + +#define GLEW_OML_subsample GLEW_GET_VAR(__GLEW_OML_subsample) + +#endif /* GL_OML_subsample */ + +/* --------------------------- GL_PGI_misc_hints --------------------------- */ + +#ifndef GL_PGI_misc_hints +#define GL_PGI_misc_hints 1 + +#define GL_PREFER_DOUBLEBUFFER_HINT_PGI 107000 +#define GL_CONSERVE_MEMORY_HINT_PGI 107005 +#define GL_RECLAIM_MEMORY_HINT_PGI 107006 +#define GL_NATIVE_GRAPHICS_HANDLE_PGI 107010 +#define GL_NATIVE_GRAPHICS_BEGIN_HINT_PGI 107011 +#define GL_NATIVE_GRAPHICS_END_HINT_PGI 107012 +#define GL_ALWAYS_FAST_HINT_PGI 107020 +#define GL_ALWAYS_SOFT_HINT_PGI 107021 +#define GL_ALLOW_DRAW_OBJ_HINT_PGI 107022 +#define GL_ALLOW_DRAW_WIN_HINT_PGI 107023 +#define GL_ALLOW_DRAW_FRG_HINT_PGI 107024 +#define GL_ALLOW_DRAW_MEM_HINT_PGI 107025 +#define GL_STRICT_DEPTHFUNC_HINT_PGI 107030 +#define GL_STRICT_LIGHTING_HINT_PGI 107031 +#define GL_STRICT_SCISSOR_HINT_PGI 107032 +#define GL_FULL_STIPPLE_HINT_PGI 107033 +#define GL_CLIP_NEAR_HINT_PGI 107040 +#define GL_CLIP_FAR_HINT_PGI 107041 +#define GL_WIDE_LINE_HINT_PGI 107042 +#define GL_BACK_NORMALS_HINT_PGI 107043 + +#define GLEW_PGI_misc_hints GLEW_GET_VAR(__GLEW_PGI_misc_hints) + +#endif /* GL_PGI_misc_hints */ + +/* -------------------------- GL_PGI_vertex_hints -------------------------- */ + +#ifndef GL_PGI_vertex_hints +#define GL_PGI_vertex_hints 1 + +#define GL_VERTEX23_BIT_PGI 0x00000004 +#define GL_VERTEX4_BIT_PGI 0x00000008 +#define GL_COLOR3_BIT_PGI 0x00010000 +#define GL_COLOR4_BIT_PGI 0x00020000 +#define GL_EDGEFLAG_BIT_PGI 0x00040000 +#define GL_INDEX_BIT_PGI 0x00080000 +#define GL_MAT_AMBIENT_BIT_PGI 0x00100000 +#define GL_VERTEX_DATA_HINT_PGI 107050 +#define GL_VERTEX_CONSISTENT_HINT_PGI 107051 +#define GL_MATERIAL_SIDE_HINT_PGI 107052 +#define GL_MAX_VERTEX_HINT_PGI 107053 +#define GL_MAT_AMBIENT_AND_DIFFUSE_BIT_PGI 0x00200000 +#define GL_MAT_DIFFUSE_BIT_PGI 0x00400000 +#define GL_MAT_EMISSION_BIT_PGI 0x00800000 +#define GL_MAT_COLOR_INDEXES_BIT_PGI 0x01000000 +#define GL_MAT_SHININESS_BIT_PGI 0x02000000 +#define GL_MAT_SPECULAR_BIT_PGI 0x04000000 +#define GL_NORMAL_BIT_PGI 0x08000000 +#define GL_TEXCOORD1_BIT_PGI 0x10000000 +#define GL_TEXCOORD2_BIT_PGI 0x20000000 +#define GL_TEXCOORD3_BIT_PGI 0x40000000 +#define GL_TEXCOORD4_BIT_PGI 0x80000000 + +#define GLEW_PGI_vertex_hints GLEW_GET_VAR(__GLEW_PGI_vertex_hints) + +#endif /* GL_PGI_vertex_hints */ + +/* ----------------------- GL_REND_screen_coordinates ---------------------- */ + +#ifndef GL_REND_screen_coordinates +#define GL_REND_screen_coordinates 1 + +#define GL_SCREEN_COORDINATES_REND 0x8490 +#define GL_INVERTED_SCREEN_W_REND 0x8491 + +#define GLEW_REND_screen_coordinates GLEW_GET_VAR(__GLEW_REND_screen_coordinates) + +#endif /* GL_REND_screen_coordinates */ + +/* ------------------------------- GL_S3_s3tc ------------------------------ */ + +#ifndef GL_S3_s3tc +#define GL_S3_s3tc 1 + +#define GL_RGB_S3TC 0x83A0 +#define GL_RGB4_S3TC 0x83A1 +#define GL_RGBA_S3TC 0x83A2 +#define GL_RGBA4_S3TC 0x83A3 +#define GL_RGBA_DXT5_S3TC 0x83A4 +#define GL_RGBA4_DXT5_S3TC 0x83A5 + +#define GLEW_S3_s3tc GLEW_GET_VAR(__GLEW_S3_s3tc) + +#endif /* GL_S3_s3tc */ + +/* -------------------------- GL_SGIS_color_range -------------------------- */ + +#ifndef GL_SGIS_color_range +#define GL_SGIS_color_range 1 + +#define GL_EXTENDED_RANGE_SGIS 0x85A5 +#define GL_MIN_RED_SGIS 0x85A6 +#define GL_MAX_RED_SGIS 0x85A7 +#define GL_MIN_GREEN_SGIS 0x85A8 +#define GL_MAX_GREEN_SGIS 0x85A9 +#define GL_MIN_BLUE_SGIS 0x85AA +#define GL_MAX_BLUE_SGIS 0x85AB +#define GL_MIN_ALPHA_SGIS 0x85AC +#define GL_MAX_ALPHA_SGIS 0x85AD + +#define GLEW_SGIS_color_range GLEW_GET_VAR(__GLEW_SGIS_color_range) + +#endif /* GL_SGIS_color_range */ + +/* ------------------------- GL_SGIS_detail_texture ------------------------ */ + +#ifndef GL_SGIS_detail_texture +#define GL_SGIS_detail_texture 1 + +typedef void (GLAPIENTRY * PFNGLDETAILTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat* points); +typedef void (GLAPIENTRY * PFNGLGETDETAILTEXFUNCSGISPROC) (GLenum target, GLfloat* points); + +#define glDetailTexFuncSGIS GLEW_GET_FUN(__glewDetailTexFuncSGIS) +#define glGetDetailTexFuncSGIS GLEW_GET_FUN(__glewGetDetailTexFuncSGIS) + +#define GLEW_SGIS_detail_texture GLEW_GET_VAR(__GLEW_SGIS_detail_texture) + +#endif /* GL_SGIS_detail_texture */ + +/* -------------------------- GL_SGIS_fog_function ------------------------- */ + +#ifndef GL_SGIS_fog_function +#define GL_SGIS_fog_function 1 + +typedef void (GLAPIENTRY * PFNGLFOGFUNCSGISPROC) (GLsizei n, const GLfloat* points); +typedef void (GLAPIENTRY * PFNGLGETFOGFUNCSGISPROC) (GLfloat* points); + +#define glFogFuncSGIS GLEW_GET_FUN(__glewFogFuncSGIS) +#define glGetFogFuncSGIS GLEW_GET_FUN(__glewGetFogFuncSGIS) + +#define GLEW_SGIS_fog_function GLEW_GET_VAR(__GLEW_SGIS_fog_function) + +#endif /* GL_SGIS_fog_function */ + +/* ------------------------ GL_SGIS_generate_mipmap ------------------------ */ + +#ifndef GL_SGIS_generate_mipmap +#define GL_SGIS_generate_mipmap 1 + +#define GL_GENERATE_MIPMAP_SGIS 0x8191 +#define GL_GENERATE_MIPMAP_HINT_SGIS 0x8192 + +#define GLEW_SGIS_generate_mipmap GLEW_GET_VAR(__GLEW_SGIS_generate_mipmap) + +#endif /* GL_SGIS_generate_mipmap */ + +/* -------------------------- GL_SGIS_multisample -------------------------- */ + +#ifndef GL_SGIS_multisample +#define GL_SGIS_multisample 1 + +#define GL_MULTISAMPLE_SGIS 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_SGIS 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_SGIS 0x809F +#define GL_SAMPLE_MASK_SGIS 0x80A0 +#define GL_1PASS_SGIS 0x80A1 +#define GL_2PASS_0_SGIS 0x80A2 +#define GL_2PASS_1_SGIS 0x80A3 +#define GL_4PASS_0_SGIS 0x80A4 +#define GL_4PASS_1_SGIS 0x80A5 +#define GL_4PASS_2_SGIS 0x80A6 +#define GL_4PASS_3_SGIS 0x80A7 +#define GL_SAMPLE_BUFFERS_SGIS 0x80A8 +#define GL_SAMPLES_SGIS 0x80A9 +#define GL_SAMPLE_MASK_VALUE_SGIS 0x80AA +#define GL_SAMPLE_MASK_INVERT_SGIS 0x80AB +#define GL_SAMPLE_PATTERN_SGIS 0x80AC +#define GL_MULTISAMPLE_BIT_EXT 0x20000000 + +typedef void (GLAPIENTRY * PFNGLSAMPLEMASKSGISPROC) (GLclampf value, GLboolean invert); +typedef void (GLAPIENTRY * PFNGLSAMPLEPATTERNSGISPROC) (GLenum pattern); + +#define glSampleMaskSGIS GLEW_GET_FUN(__glewSampleMaskSGIS) +#define glSamplePatternSGIS GLEW_GET_FUN(__glewSamplePatternSGIS) + +#define GLEW_SGIS_multisample GLEW_GET_VAR(__GLEW_SGIS_multisample) + +#endif /* GL_SGIS_multisample */ + +/* ------------------------- GL_SGIS_pixel_texture ------------------------- */ + +#ifndef GL_SGIS_pixel_texture +#define GL_SGIS_pixel_texture 1 + +#define GLEW_SGIS_pixel_texture GLEW_GET_VAR(__GLEW_SGIS_pixel_texture) + +#endif /* GL_SGIS_pixel_texture */ + +/* ----------------------- GL_SGIS_point_line_texgen ----------------------- */ + +#ifndef GL_SGIS_point_line_texgen +#define GL_SGIS_point_line_texgen 1 + +#define GL_EYE_DISTANCE_TO_POINT_SGIS 0x81F0 +#define GL_OBJECT_DISTANCE_TO_POINT_SGIS 0x81F1 +#define GL_EYE_DISTANCE_TO_LINE_SGIS 0x81F2 +#define GL_OBJECT_DISTANCE_TO_LINE_SGIS 0x81F3 +#define GL_EYE_POINT_SGIS 0x81F4 +#define GL_OBJECT_POINT_SGIS 0x81F5 +#define GL_EYE_LINE_SGIS 0x81F6 +#define GL_OBJECT_LINE_SGIS 0x81F7 + +#define GLEW_SGIS_point_line_texgen GLEW_GET_VAR(__GLEW_SGIS_point_line_texgen) + +#endif /* GL_SGIS_point_line_texgen */ + +/* ------------------------ GL_SGIS_sharpen_texture ------------------------ */ + +#ifndef GL_SGIS_sharpen_texture +#define GL_SGIS_sharpen_texture 1 + +typedef void (GLAPIENTRY * PFNGLGETSHARPENTEXFUNCSGISPROC) (GLenum target, GLfloat* points); +typedef void (GLAPIENTRY * PFNGLSHARPENTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat* points); + +#define glGetSharpenTexFuncSGIS GLEW_GET_FUN(__glewGetSharpenTexFuncSGIS) +#define glSharpenTexFuncSGIS GLEW_GET_FUN(__glewSharpenTexFuncSGIS) + +#define GLEW_SGIS_sharpen_texture GLEW_GET_VAR(__GLEW_SGIS_sharpen_texture) + +#endif /* GL_SGIS_sharpen_texture */ + +/* --------------------------- GL_SGIS_texture4D --------------------------- */ + +#ifndef GL_SGIS_texture4D +#define GL_SGIS_texture4D 1 + +typedef void (GLAPIENTRY * PFNGLTEXIMAGE4DSGISPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei extent, GLint border, GLenum format, GLenum type, const void* pixels); +typedef void (GLAPIENTRY * PFNGLTEXSUBIMAGE4DSGISPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei extent, GLenum format, GLenum type, const void* pixels); + +#define glTexImage4DSGIS GLEW_GET_FUN(__glewTexImage4DSGIS) +#define glTexSubImage4DSGIS GLEW_GET_FUN(__glewTexSubImage4DSGIS) + +#define GLEW_SGIS_texture4D GLEW_GET_VAR(__GLEW_SGIS_texture4D) + +#endif /* GL_SGIS_texture4D */ + +/* ---------------------- GL_SGIS_texture_border_clamp --------------------- */ + +#ifndef GL_SGIS_texture_border_clamp +#define GL_SGIS_texture_border_clamp 1 + +#define GL_CLAMP_TO_BORDER_SGIS 0x812D + +#define GLEW_SGIS_texture_border_clamp GLEW_GET_VAR(__GLEW_SGIS_texture_border_clamp) + +#endif /* GL_SGIS_texture_border_clamp */ + +/* ----------------------- GL_SGIS_texture_edge_clamp ---------------------- */ + +#ifndef GL_SGIS_texture_edge_clamp +#define GL_SGIS_texture_edge_clamp 1 + +#define GL_CLAMP_TO_EDGE_SGIS 0x812F + +#define GLEW_SGIS_texture_edge_clamp GLEW_GET_VAR(__GLEW_SGIS_texture_edge_clamp) + +#endif /* GL_SGIS_texture_edge_clamp */ + +/* ------------------------ GL_SGIS_texture_filter4 ------------------------ */ + +#ifndef GL_SGIS_texture_filter4 +#define GL_SGIS_texture_filter4 1 + +typedef void (GLAPIENTRY * PFNGLGETTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLfloat* weights); +typedef void (GLAPIENTRY * PFNGLTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLsizei n, const GLfloat* weights); + +#define glGetTexFilterFuncSGIS GLEW_GET_FUN(__glewGetTexFilterFuncSGIS) +#define glTexFilterFuncSGIS GLEW_GET_FUN(__glewTexFilterFuncSGIS) + +#define GLEW_SGIS_texture_filter4 GLEW_GET_VAR(__GLEW_SGIS_texture_filter4) + +#endif /* GL_SGIS_texture_filter4 */ + +/* -------------------------- GL_SGIS_texture_lod -------------------------- */ + +#ifndef GL_SGIS_texture_lod +#define GL_SGIS_texture_lod 1 + +#define GL_TEXTURE_MIN_LOD_SGIS 0x813A +#define GL_TEXTURE_MAX_LOD_SGIS 0x813B +#define GL_TEXTURE_BASE_LEVEL_SGIS 0x813C +#define GL_TEXTURE_MAX_LEVEL_SGIS 0x813D + +#define GLEW_SGIS_texture_lod GLEW_GET_VAR(__GLEW_SGIS_texture_lod) + +#endif /* GL_SGIS_texture_lod */ + +/* ------------------------- GL_SGIS_texture_select ------------------------ */ + +#ifndef GL_SGIS_texture_select +#define GL_SGIS_texture_select 1 + +#define GLEW_SGIS_texture_select GLEW_GET_VAR(__GLEW_SGIS_texture_select) + +#endif /* GL_SGIS_texture_select */ + +/* ----------------------------- GL_SGIX_async ----------------------------- */ + +#ifndef GL_SGIX_async +#define GL_SGIX_async 1 + +#define GL_ASYNC_MARKER_SGIX 0x8329 + +typedef void (GLAPIENTRY * PFNGLASYNCMARKERSGIXPROC) (GLuint marker); +typedef void (GLAPIENTRY * PFNGLDELETEASYNCMARKERSSGIXPROC) (GLuint marker, GLsizei range); +typedef GLint (GLAPIENTRY * PFNGLFINISHASYNCSGIXPROC) (GLuint* markerp); +typedef GLuint (GLAPIENTRY * PFNGLGENASYNCMARKERSSGIXPROC) (GLsizei range); +typedef GLboolean (GLAPIENTRY * PFNGLISASYNCMARKERSGIXPROC) (GLuint marker); +typedef GLint (GLAPIENTRY * PFNGLPOLLASYNCSGIXPROC) (GLuint* markerp); + +#define glAsyncMarkerSGIX GLEW_GET_FUN(__glewAsyncMarkerSGIX) +#define glDeleteAsyncMarkersSGIX GLEW_GET_FUN(__glewDeleteAsyncMarkersSGIX) +#define glFinishAsyncSGIX GLEW_GET_FUN(__glewFinishAsyncSGIX) +#define glGenAsyncMarkersSGIX GLEW_GET_FUN(__glewGenAsyncMarkersSGIX) +#define glIsAsyncMarkerSGIX GLEW_GET_FUN(__glewIsAsyncMarkerSGIX) +#define glPollAsyncSGIX GLEW_GET_FUN(__glewPollAsyncSGIX) + +#define GLEW_SGIX_async GLEW_GET_VAR(__GLEW_SGIX_async) + +#endif /* GL_SGIX_async */ + +/* ------------------------ GL_SGIX_async_histogram ------------------------ */ + +#ifndef GL_SGIX_async_histogram +#define GL_SGIX_async_histogram 1 + +#define GL_ASYNC_HISTOGRAM_SGIX 0x832C +#define GL_MAX_ASYNC_HISTOGRAM_SGIX 0x832D + +#define GLEW_SGIX_async_histogram GLEW_GET_VAR(__GLEW_SGIX_async_histogram) + +#endif /* GL_SGIX_async_histogram */ + +/* -------------------------- GL_SGIX_async_pixel -------------------------- */ + +#ifndef GL_SGIX_async_pixel +#define GL_SGIX_async_pixel 1 + +#define GL_ASYNC_TEX_IMAGE_SGIX 0x835C +#define GL_ASYNC_DRAW_PIXELS_SGIX 0x835D +#define GL_ASYNC_READ_PIXELS_SGIX 0x835E +#define GL_MAX_ASYNC_TEX_IMAGE_SGIX 0x835F +#define GL_MAX_ASYNC_DRAW_PIXELS_SGIX 0x8360 +#define GL_MAX_ASYNC_READ_PIXELS_SGIX 0x8361 + +#define GLEW_SGIX_async_pixel GLEW_GET_VAR(__GLEW_SGIX_async_pixel) + +#endif /* GL_SGIX_async_pixel */ + +/* ----------------------- GL_SGIX_blend_alpha_minmax ---------------------- */ + +#ifndef GL_SGIX_blend_alpha_minmax +#define GL_SGIX_blend_alpha_minmax 1 + +#define GL_ALPHA_MIN_SGIX 0x8320 +#define GL_ALPHA_MAX_SGIX 0x8321 + +#define GLEW_SGIX_blend_alpha_minmax GLEW_GET_VAR(__GLEW_SGIX_blend_alpha_minmax) + +#endif /* GL_SGIX_blend_alpha_minmax */ + +/* ---------------------------- GL_SGIX_clipmap ---------------------------- */ + +#ifndef GL_SGIX_clipmap +#define GL_SGIX_clipmap 1 + +#define GLEW_SGIX_clipmap GLEW_GET_VAR(__GLEW_SGIX_clipmap) + +#endif /* GL_SGIX_clipmap */ + +/* ---------------------- GL_SGIX_convolution_accuracy --------------------- */ + +#ifndef GL_SGIX_convolution_accuracy +#define GL_SGIX_convolution_accuracy 1 + +#define GL_CONVOLUTION_HINT_SGIX 0x8316 + +#define GLEW_SGIX_convolution_accuracy GLEW_GET_VAR(__GLEW_SGIX_convolution_accuracy) + +#endif /* GL_SGIX_convolution_accuracy */ + +/* ------------------------- GL_SGIX_depth_texture ------------------------- */ + +#ifndef GL_SGIX_depth_texture +#define GL_SGIX_depth_texture 1 + +#define GL_DEPTH_COMPONENT16_SGIX 0x81A5 +#define GL_DEPTH_COMPONENT24_SGIX 0x81A6 +#define GL_DEPTH_COMPONENT32_SGIX 0x81A7 + +#define GLEW_SGIX_depth_texture GLEW_GET_VAR(__GLEW_SGIX_depth_texture) + +#endif /* GL_SGIX_depth_texture */ + +/* -------------------------- GL_SGIX_flush_raster ------------------------- */ + +#ifndef GL_SGIX_flush_raster +#define GL_SGIX_flush_raster 1 + +typedef void (GLAPIENTRY * PFNGLFLUSHRASTERSGIXPROC) (void); + +#define glFlushRasterSGIX GLEW_GET_FUN(__glewFlushRasterSGIX) + +#define GLEW_SGIX_flush_raster GLEW_GET_VAR(__GLEW_SGIX_flush_raster) + +#endif /* GL_SGIX_flush_raster */ + +/* --------------------------- GL_SGIX_fog_offset -------------------------- */ + +#ifndef GL_SGIX_fog_offset +#define GL_SGIX_fog_offset 1 + +#define GL_FOG_OFFSET_SGIX 0x8198 +#define GL_FOG_OFFSET_VALUE_SGIX 0x8199 + +#define GLEW_SGIX_fog_offset GLEW_GET_VAR(__GLEW_SGIX_fog_offset) + +#endif /* GL_SGIX_fog_offset */ + +/* -------------------------- GL_SGIX_fog_texture -------------------------- */ + +#ifndef GL_SGIX_fog_texture +#define GL_SGIX_fog_texture 1 + +#define GL_TEXTURE_FOG_SGIX 0 +#define GL_FOG_PATCHY_FACTOR_SGIX 0 +#define GL_FRAGMENT_FOG_SGIX 0 + +typedef void (GLAPIENTRY * PFNGLTEXTUREFOGSGIXPROC) (GLenum pname); + +#define glTextureFogSGIX GLEW_GET_FUN(__glewTextureFogSGIX) + +#define GLEW_SGIX_fog_texture GLEW_GET_VAR(__GLEW_SGIX_fog_texture) + +#endif /* GL_SGIX_fog_texture */ + +/* ------------------- GL_SGIX_fragment_specular_lighting ------------------ */ + +#ifndef GL_SGIX_fragment_specular_lighting +#define GL_SGIX_fragment_specular_lighting 1 + +typedef void (GLAPIENTRY * PFNGLFRAGMENTCOLORMATERIALSGIXPROC) (GLenum face, GLenum mode); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELFVSGIXPROC) (GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELISGIXPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTMODELIVSGIXPROC) (GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTFSGIXPROC) (GLenum light, GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTISGIXPROC) (GLenum light, GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALFSGIXPROC) (GLenum face, GLenum pname, const GLfloat param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALISGIXPROC) (GLenum face, GLenum pname, const GLint param); +typedef void (GLAPIENTRY * PFNGLFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum value, GLfloat* data); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum value, GLint* data); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, const GLfloat* data); +typedef void (GLAPIENTRY * PFNGLGETFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, const GLint* data); + +#define glFragmentColorMaterialSGIX GLEW_GET_FUN(__glewFragmentColorMaterialSGIX) +#define glFragmentLightModelfSGIX GLEW_GET_FUN(__glewFragmentLightModelfSGIX) +#define glFragmentLightModelfvSGIX GLEW_GET_FUN(__glewFragmentLightModelfvSGIX) +#define glFragmentLightModeliSGIX GLEW_GET_FUN(__glewFragmentLightModeliSGIX) +#define glFragmentLightModelivSGIX GLEW_GET_FUN(__glewFragmentLightModelivSGIX) +#define glFragmentLightfSGIX GLEW_GET_FUN(__glewFragmentLightfSGIX) +#define glFragmentLightfvSGIX GLEW_GET_FUN(__glewFragmentLightfvSGIX) +#define glFragmentLightiSGIX GLEW_GET_FUN(__glewFragmentLightiSGIX) +#define glFragmentLightivSGIX GLEW_GET_FUN(__glewFragmentLightivSGIX) +#define glFragmentMaterialfSGIX GLEW_GET_FUN(__glewFragmentMaterialfSGIX) +#define glFragmentMaterialfvSGIX GLEW_GET_FUN(__glewFragmentMaterialfvSGIX) +#define glFragmentMaterialiSGIX GLEW_GET_FUN(__glewFragmentMaterialiSGIX) +#define glFragmentMaterialivSGIX GLEW_GET_FUN(__glewFragmentMaterialivSGIX) +#define glGetFragmentLightfvSGIX GLEW_GET_FUN(__glewGetFragmentLightfvSGIX) +#define glGetFragmentLightivSGIX GLEW_GET_FUN(__glewGetFragmentLightivSGIX) +#define glGetFragmentMaterialfvSGIX GLEW_GET_FUN(__glewGetFragmentMaterialfvSGIX) +#define glGetFragmentMaterialivSGIX GLEW_GET_FUN(__glewGetFragmentMaterialivSGIX) + +#define GLEW_SGIX_fragment_specular_lighting GLEW_GET_VAR(__GLEW_SGIX_fragment_specular_lighting) + +#endif /* GL_SGIX_fragment_specular_lighting */ + +/* --------------------------- GL_SGIX_framezoom --------------------------- */ + +#ifndef GL_SGIX_framezoom +#define GL_SGIX_framezoom 1 + +typedef void (GLAPIENTRY * PFNGLFRAMEZOOMSGIXPROC) (GLint factor); + +#define glFrameZoomSGIX GLEW_GET_FUN(__glewFrameZoomSGIX) + +#define GLEW_SGIX_framezoom GLEW_GET_VAR(__GLEW_SGIX_framezoom) + +#endif /* GL_SGIX_framezoom */ + +/* --------------------------- GL_SGIX_interlace --------------------------- */ + +#ifndef GL_SGIX_interlace +#define GL_SGIX_interlace 1 + +#define GL_INTERLACE_SGIX 0x8094 + +#define GLEW_SGIX_interlace GLEW_GET_VAR(__GLEW_SGIX_interlace) + +#endif /* GL_SGIX_interlace */ + +/* ------------------------- GL_SGIX_ir_instrument1 ------------------------ */ + +#ifndef GL_SGIX_ir_instrument1 +#define GL_SGIX_ir_instrument1 1 + +#define GLEW_SGIX_ir_instrument1 GLEW_GET_VAR(__GLEW_SGIX_ir_instrument1) + +#endif /* GL_SGIX_ir_instrument1 */ + +/* ------------------------- GL_SGIX_list_priority ------------------------- */ + +#ifndef GL_SGIX_list_priority +#define GL_SGIX_list_priority 1 + +#define GLEW_SGIX_list_priority GLEW_GET_VAR(__GLEW_SGIX_list_priority) + +#endif /* GL_SGIX_list_priority */ + +/* ------------------------- GL_SGIX_pixel_texture ------------------------- */ + +#ifndef GL_SGIX_pixel_texture +#define GL_SGIX_pixel_texture 1 + +typedef void (GLAPIENTRY * PFNGLPIXELTEXGENSGIXPROC) (GLenum mode); + +#define glPixelTexGenSGIX GLEW_GET_FUN(__glewPixelTexGenSGIX) + +#define GLEW_SGIX_pixel_texture GLEW_GET_VAR(__GLEW_SGIX_pixel_texture) + +#endif /* GL_SGIX_pixel_texture */ + +/* ----------------------- GL_SGIX_pixel_texture_bits ---------------------- */ + +#ifndef GL_SGIX_pixel_texture_bits +#define GL_SGIX_pixel_texture_bits 1 + +#define GLEW_SGIX_pixel_texture_bits GLEW_GET_VAR(__GLEW_SGIX_pixel_texture_bits) + +#endif /* GL_SGIX_pixel_texture_bits */ + +/* ------------------------ GL_SGIX_reference_plane ------------------------ */ + +#ifndef GL_SGIX_reference_plane +#define GL_SGIX_reference_plane 1 + +typedef void (GLAPIENTRY * PFNGLREFERENCEPLANESGIXPROC) (const GLdouble* equation); + +#define glReferencePlaneSGIX GLEW_GET_FUN(__glewReferencePlaneSGIX) + +#define GLEW_SGIX_reference_plane GLEW_GET_VAR(__GLEW_SGIX_reference_plane) + +#endif /* GL_SGIX_reference_plane */ + +/* ---------------------------- GL_SGIX_resample --------------------------- */ + +#ifndef GL_SGIX_resample +#define GL_SGIX_resample 1 + +#define GL_PACK_RESAMPLE_SGIX 0x842E +#define GL_UNPACK_RESAMPLE_SGIX 0x842F +#define GL_RESAMPLE_DECIMATE_SGIX 0x8430 +#define GL_RESAMPLE_REPLICATE_SGIX 0x8433 +#define GL_RESAMPLE_ZERO_FILL_SGIX 0x8434 + +#define GLEW_SGIX_resample GLEW_GET_VAR(__GLEW_SGIX_resample) + +#endif /* GL_SGIX_resample */ + +/* ----------------------------- GL_SGIX_shadow ---------------------------- */ + +#ifndef GL_SGIX_shadow +#define GL_SGIX_shadow 1 + +#define GL_TEXTURE_COMPARE_SGIX 0x819A +#define GL_TEXTURE_COMPARE_OPERATOR_SGIX 0x819B +#define GL_TEXTURE_LEQUAL_R_SGIX 0x819C +#define GL_TEXTURE_GEQUAL_R_SGIX 0x819D + +#define GLEW_SGIX_shadow GLEW_GET_VAR(__GLEW_SGIX_shadow) + +#endif /* GL_SGIX_shadow */ + +/* ------------------------- GL_SGIX_shadow_ambient ------------------------ */ + +#ifndef GL_SGIX_shadow_ambient +#define GL_SGIX_shadow_ambient 1 + +#define GL_SHADOW_AMBIENT_SGIX 0x80BF + +#define GLEW_SGIX_shadow_ambient GLEW_GET_VAR(__GLEW_SGIX_shadow_ambient) + +#endif /* GL_SGIX_shadow_ambient */ + +/* ----------------------------- GL_SGIX_sprite ---------------------------- */ + +#ifndef GL_SGIX_sprite +#define GL_SGIX_sprite 1 + +typedef void (GLAPIENTRY * PFNGLSPRITEPARAMETERFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (GLAPIENTRY * PFNGLSPRITEPARAMETERFVSGIXPROC) (GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLSPRITEPARAMETERISGIXPROC) (GLenum pname, GLint param); +typedef void (GLAPIENTRY * PFNGLSPRITEPARAMETERIVSGIXPROC) (GLenum pname, GLint* params); + +#define glSpriteParameterfSGIX GLEW_GET_FUN(__glewSpriteParameterfSGIX) +#define glSpriteParameterfvSGIX GLEW_GET_FUN(__glewSpriteParameterfvSGIX) +#define glSpriteParameteriSGIX GLEW_GET_FUN(__glewSpriteParameteriSGIX) +#define glSpriteParameterivSGIX GLEW_GET_FUN(__glewSpriteParameterivSGIX) + +#define GLEW_SGIX_sprite GLEW_GET_VAR(__GLEW_SGIX_sprite) + +#endif /* GL_SGIX_sprite */ + +/* ----------------------- GL_SGIX_tag_sample_buffer ----------------------- */ + +#ifndef GL_SGIX_tag_sample_buffer +#define GL_SGIX_tag_sample_buffer 1 + +typedef void (GLAPIENTRY * PFNGLTAGSAMPLEBUFFERSGIXPROC) (void); + +#define glTagSampleBufferSGIX GLEW_GET_FUN(__glewTagSampleBufferSGIX) + +#define GLEW_SGIX_tag_sample_buffer GLEW_GET_VAR(__GLEW_SGIX_tag_sample_buffer) + +#endif /* GL_SGIX_tag_sample_buffer */ + +/* ------------------------ GL_SGIX_texture_add_env ------------------------ */ + +#ifndef GL_SGIX_texture_add_env +#define GL_SGIX_texture_add_env 1 + +#define GLEW_SGIX_texture_add_env GLEW_GET_VAR(__GLEW_SGIX_texture_add_env) + +#endif /* GL_SGIX_texture_add_env */ + +/* -------------------- GL_SGIX_texture_coordinate_clamp ------------------- */ + +#ifndef GL_SGIX_texture_coordinate_clamp +#define GL_SGIX_texture_coordinate_clamp 1 + +#define GL_TEXTURE_MAX_CLAMP_S_SGIX 0x8369 +#define GL_TEXTURE_MAX_CLAMP_T_SGIX 0x836A +#define GL_TEXTURE_MAX_CLAMP_R_SGIX 0x836B + +#define GLEW_SGIX_texture_coordinate_clamp GLEW_GET_VAR(__GLEW_SGIX_texture_coordinate_clamp) + +#endif /* GL_SGIX_texture_coordinate_clamp */ + +/* ------------------------ GL_SGIX_texture_lod_bias ----------------------- */ + +#ifndef GL_SGIX_texture_lod_bias +#define GL_SGIX_texture_lod_bias 1 + +#define GLEW_SGIX_texture_lod_bias GLEW_GET_VAR(__GLEW_SGIX_texture_lod_bias) + +#endif /* GL_SGIX_texture_lod_bias */ + +/* ---------------------- GL_SGIX_texture_multi_buffer --------------------- */ + +#ifndef GL_SGIX_texture_multi_buffer +#define GL_SGIX_texture_multi_buffer 1 + +#define GL_TEXTURE_MULTI_BUFFER_HINT_SGIX 0x812E + +#define GLEW_SGIX_texture_multi_buffer GLEW_GET_VAR(__GLEW_SGIX_texture_multi_buffer) + +#endif /* GL_SGIX_texture_multi_buffer */ + +/* ------------------------- GL_SGIX_texture_range ------------------------- */ + +#ifndef GL_SGIX_texture_range +#define GL_SGIX_texture_range 1 + +#define GL_RGB_SIGNED_SGIX 0x85E0 +#define GL_RGBA_SIGNED_SGIX 0x85E1 +#define GL_ALPHA_SIGNED_SGIX 0x85E2 +#define GL_LUMINANCE_SIGNED_SGIX 0x85E3 +#define GL_INTENSITY_SIGNED_SGIX 0x85E4 +#define GL_LUMINANCE_ALPHA_SIGNED_SGIX 0x85E5 +#define GL_RGB16_SIGNED_SGIX 0x85E6 +#define GL_RGBA16_SIGNED_SGIX 0x85E7 +#define GL_ALPHA16_SIGNED_SGIX 0x85E8 +#define GL_LUMINANCE16_SIGNED_SGIX 0x85E9 +#define GL_INTENSITY16_SIGNED_SGIX 0x85EA +#define GL_LUMINANCE16_ALPHA16_SIGNED_SGIX 0x85EB +#define GL_RGB_EXTENDED_RANGE_SGIX 0x85EC +#define GL_RGBA_EXTENDED_RANGE_SGIX 0x85ED +#define GL_ALPHA_EXTENDED_RANGE_SGIX 0x85EE +#define GL_LUMINANCE_EXTENDED_RANGE_SGIX 0x85EF +#define GL_INTENSITY_EXTENDED_RANGE_SGIX 0x85F0 +#define GL_LUMINANCE_ALPHA_EXTENDED_RANGE_SGIX 0x85F1 +#define GL_RGB16_EXTENDED_RANGE_SGIX 0x85F2 +#define GL_RGBA16_EXTENDED_RANGE_SGIX 0x85F3 +#define GL_ALPHA16_EXTENDED_RANGE_SGIX 0x85F4 +#define GL_LUMINANCE16_EXTENDED_RANGE_SGIX 0x85F5 +#define GL_INTENSITY16_EXTENDED_RANGE_SGIX 0x85F6 +#define GL_LUMINANCE16_ALPHA16_EXTENDED_RANGE_SGIX 0x85F7 +#define GL_MIN_LUMINANCE_SGIS 0x85F8 +#define GL_MAX_LUMINANCE_SGIS 0x85F9 +#define GL_MIN_INTENSITY_SGIS 0x85FA +#define GL_MAX_INTENSITY_SGIS 0x85FB + +#define GLEW_SGIX_texture_range GLEW_GET_VAR(__GLEW_SGIX_texture_range) + +#endif /* GL_SGIX_texture_range */ + +/* ----------------------- GL_SGIX_texture_scale_bias ---------------------- */ + +#ifndef GL_SGIX_texture_scale_bias +#define GL_SGIX_texture_scale_bias 1 + +#define GL_POST_TEXTURE_FILTER_BIAS_SGIX 0x8179 +#define GL_POST_TEXTURE_FILTER_SCALE_SGIX 0x817A +#define GL_POST_TEXTURE_FILTER_BIAS_RANGE_SGIX 0x817B +#define GL_POST_TEXTURE_FILTER_SCALE_RANGE_SGIX 0x817C + +#define GLEW_SGIX_texture_scale_bias GLEW_GET_VAR(__GLEW_SGIX_texture_scale_bias) + +#endif /* GL_SGIX_texture_scale_bias */ + +/* ------------------------- GL_SGIX_vertex_preclip ------------------------ */ + +#ifndef GL_SGIX_vertex_preclip +#define GL_SGIX_vertex_preclip 1 + +#define GL_VERTEX_PRECLIP_SGIX 0x83EE +#define GL_VERTEX_PRECLIP_HINT_SGIX 0x83EF + +#define GLEW_SGIX_vertex_preclip GLEW_GET_VAR(__GLEW_SGIX_vertex_preclip) + +#endif /* GL_SGIX_vertex_preclip */ + +/* ---------------------- GL_SGIX_vertex_preclip_hint ---------------------- */ + +#ifndef GL_SGIX_vertex_preclip_hint +#define GL_SGIX_vertex_preclip_hint 1 + +#define GL_VERTEX_PRECLIP_SGIX 0x83EE +#define GL_VERTEX_PRECLIP_HINT_SGIX 0x83EF + +#define GLEW_SGIX_vertex_preclip_hint GLEW_GET_VAR(__GLEW_SGIX_vertex_preclip_hint) + +#endif /* GL_SGIX_vertex_preclip_hint */ + +/* ----------------------------- GL_SGIX_ycrcb ----------------------------- */ + +#ifndef GL_SGIX_ycrcb +#define GL_SGIX_ycrcb 1 + +#define GLEW_SGIX_ycrcb GLEW_GET_VAR(__GLEW_SGIX_ycrcb) + +#endif /* GL_SGIX_ycrcb */ + +/* -------------------------- GL_SGI_color_matrix -------------------------- */ + +#ifndef GL_SGI_color_matrix +#define GL_SGI_color_matrix 1 + +#define GL_COLOR_MATRIX_SGI 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE_SGI 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE_SGI 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE_SGI 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE_SGI 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS_SGI 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS_SGI 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS_SGI 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS_SGI 0x80BB + +#define GLEW_SGI_color_matrix GLEW_GET_VAR(__GLEW_SGI_color_matrix) + +#endif /* GL_SGI_color_matrix */ + +/* --------------------------- GL_SGI_color_table -------------------------- */ + +#ifndef GL_SGI_color_table +#define GL_SGI_color_table 1 + +#define GL_COLOR_TABLE_SGI 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D2 +#define GL_PROXY_COLOR_TABLE_SGI 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D5 +#define GL_COLOR_TABLE_SCALE_SGI 0x80D6 +#define GL_COLOR_TABLE_BIAS_SGI 0x80D7 +#define GL_COLOR_TABLE_FORMAT_SGI 0x80D8 +#define GL_COLOR_TABLE_WIDTH_SGI 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE_SGI 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE_SGI 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE_SGI 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE_SGI 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE_SGI 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE_SGI 0x80DF + +typedef void (GLAPIENTRY * PFNGLCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, const GLfloat* params); +typedef void (GLAPIENTRY * PFNGLCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, const GLint* params); +typedef void (GLAPIENTRY * PFNGLCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const void* table); +typedef void (GLAPIENTRY * PFNGLCOPYCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, GLfloat* params); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, GLint* params); +typedef void (GLAPIENTRY * PFNGLGETCOLORTABLESGIPROC) (GLenum target, GLenum format, GLenum type, void* table); + +#define glColorTableParameterfvSGI GLEW_GET_FUN(__glewColorTableParameterfvSGI) +#define glColorTableParameterivSGI GLEW_GET_FUN(__glewColorTableParameterivSGI) +#define glColorTableSGI GLEW_GET_FUN(__glewColorTableSGI) +#define glCopyColorTableSGI GLEW_GET_FUN(__glewCopyColorTableSGI) +#define glGetColorTableParameterfvSGI GLEW_GET_FUN(__glewGetColorTableParameterfvSGI) +#define glGetColorTableParameterivSGI GLEW_GET_FUN(__glewGetColorTableParameterivSGI) +#define glGetColorTableSGI GLEW_GET_FUN(__glewGetColorTableSGI) + +#define GLEW_SGI_color_table GLEW_GET_VAR(__GLEW_SGI_color_table) + +#endif /* GL_SGI_color_table */ + +/* ----------------------- GL_SGI_texture_color_table ---------------------- */ + +#ifndef GL_SGI_texture_color_table +#define GL_SGI_texture_color_table 1 + +#define GL_TEXTURE_COLOR_TABLE_SGI 0x80BC +#define GL_PROXY_TEXTURE_COLOR_TABLE_SGI 0x80BD + +#define GLEW_SGI_texture_color_table GLEW_GET_VAR(__GLEW_SGI_texture_color_table) + +#endif /* GL_SGI_texture_color_table */ + +/* ------------------------- GL_SUNX_constant_data ------------------------- */ + +#ifndef GL_SUNX_constant_data +#define GL_SUNX_constant_data 1 + +#define GL_UNPACK_CONSTANT_DATA_SUNX 0x81D5 +#define GL_TEXTURE_CONSTANT_DATA_SUNX 0x81D6 + +typedef void (GLAPIENTRY * PFNGLFINISHTEXTURESUNXPROC) (void); + +#define glFinishTextureSUNX GLEW_GET_FUN(__glewFinishTextureSUNX) + +#define GLEW_SUNX_constant_data GLEW_GET_VAR(__GLEW_SUNX_constant_data) + +#endif /* GL_SUNX_constant_data */ + +/* -------------------- GL_SUN_convolution_border_modes -------------------- */ + +#ifndef GL_SUN_convolution_border_modes +#define GL_SUN_convolution_border_modes 1 + +#define GL_WRAP_BORDER_SUN 0x81D4 + +#define GLEW_SUN_convolution_border_modes GLEW_GET_VAR(__GLEW_SUN_convolution_border_modes) + +#endif /* GL_SUN_convolution_border_modes */ + +/* -------------------------- GL_SUN_global_alpha -------------------------- */ + +#ifndef GL_SUN_global_alpha +#define GL_SUN_global_alpha 1 + +#define GL_GLOBAL_ALPHA_SUN 0x81D9 +#define GL_GLOBAL_ALPHA_FACTOR_SUN 0x81DA + +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORBSUNPROC) (GLbyte factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORDSUNPROC) (GLdouble factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORFSUNPROC) (GLfloat factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORISUNPROC) (GLint factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORSSUNPROC) (GLshort factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORUBSUNPROC) (GLubyte factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORUISUNPROC) (GLuint factor); +typedef void (GLAPIENTRY * PFNGLGLOBALALPHAFACTORUSSUNPROC) (GLushort factor); + +#define glGlobalAlphaFactorbSUN GLEW_GET_FUN(__glewGlobalAlphaFactorbSUN) +#define glGlobalAlphaFactordSUN GLEW_GET_FUN(__glewGlobalAlphaFactordSUN) +#define glGlobalAlphaFactorfSUN GLEW_GET_FUN(__glewGlobalAlphaFactorfSUN) +#define glGlobalAlphaFactoriSUN GLEW_GET_FUN(__glewGlobalAlphaFactoriSUN) +#define glGlobalAlphaFactorsSUN GLEW_GET_FUN(__glewGlobalAlphaFactorsSUN) +#define glGlobalAlphaFactorubSUN GLEW_GET_FUN(__glewGlobalAlphaFactorubSUN) +#define glGlobalAlphaFactoruiSUN GLEW_GET_FUN(__glewGlobalAlphaFactoruiSUN) +#define glGlobalAlphaFactorusSUN GLEW_GET_FUN(__glewGlobalAlphaFactorusSUN) + +#define GLEW_SUN_global_alpha GLEW_GET_VAR(__GLEW_SUN_global_alpha) + +#endif /* GL_SUN_global_alpha */ + +/* --------------------------- GL_SUN_mesh_array --------------------------- */ + +#ifndef GL_SUN_mesh_array +#define GL_SUN_mesh_array 1 + +#define GL_QUAD_MESH_SUN 0x8614 +#define GL_TRIANGLE_MESH_SUN 0x8615 + +#define GLEW_SUN_mesh_array GLEW_GET_VAR(__GLEW_SUN_mesh_array) + +#endif /* GL_SUN_mesh_array */ + +/* ------------------------ GL_SUN_read_video_pixels ----------------------- */ + +#ifndef GL_SUN_read_video_pixels +#define GL_SUN_read_video_pixels 1 + +typedef void (GLAPIENTRY * PFNGLREADVIDEOPIXELSSUNPROC) (GLint x, GLint y, GLsizei width, GLsizei height, GLenum format, GLenum type, GLvoid* pixels); + +#define glReadVideoPixelsSUN GLEW_GET_FUN(__glewReadVideoPixelsSUN) + +#define GLEW_SUN_read_video_pixels GLEW_GET_VAR(__GLEW_SUN_read_video_pixels) + +#endif /* GL_SUN_read_video_pixels */ + +/* --------------------------- GL_SUN_slice_accum -------------------------- */ + +#ifndef GL_SUN_slice_accum +#define GL_SUN_slice_accum 1 + +#define GL_SLICE_ACCUM_SUN 0x85CC + +#define GLEW_SUN_slice_accum GLEW_GET_VAR(__GLEW_SUN_slice_accum) + +#endif /* GL_SUN_slice_accum */ + +/* -------------------------- GL_SUN_triangle_list ------------------------- */ + +#ifndef GL_SUN_triangle_list +#define GL_SUN_triangle_list 1 + +#define GL_RESTART_SUN 0x01 +#define GL_REPLACE_MIDDLE_SUN 0x02 +#define GL_REPLACE_OLDEST_SUN 0x03 +#define GL_TRIANGLE_LIST_SUN 0x81D7 +#define GL_REPLACEMENT_CODE_SUN 0x81D8 +#define GL_REPLACEMENT_CODE_ARRAY_SUN 0x85C0 +#define GL_REPLACEMENT_CODE_ARRAY_TYPE_SUN 0x85C1 +#define GL_REPLACEMENT_CODE_ARRAY_STRIDE_SUN 0x85C2 +#define GL_REPLACEMENT_CODE_ARRAY_POINTER_SUN 0x85C3 +#define GL_R1UI_V3F_SUN 0x85C4 +#define GL_R1UI_C4UB_V3F_SUN 0x85C5 +#define GL_R1UI_C3F_V3F_SUN 0x85C6 +#define GL_R1UI_N3F_V3F_SUN 0x85C7 +#define GL_R1UI_C4F_N3F_V3F_SUN 0x85C8 +#define GL_R1UI_T2F_V3F_SUN 0x85C9 +#define GL_R1UI_T2F_N3F_V3F_SUN 0x85CA +#define GL_R1UI_T2F_C4F_N3F_V3F_SUN 0x85CB + +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEPOINTERSUNPROC) (GLenum type, GLsizei stride, const void* pointer); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUBSUNPROC) (GLubyte code); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUBVSUNPROC) (const GLubyte* code); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUISUNPROC) (GLuint code); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUIVSUNPROC) (const GLuint* code); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUSSUNPROC) (GLushort code); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUSVSUNPROC) (const GLushort* code); + +#define glReplacementCodePointerSUN GLEW_GET_FUN(__glewReplacementCodePointerSUN) +#define glReplacementCodeubSUN GLEW_GET_FUN(__glewReplacementCodeubSUN) +#define glReplacementCodeubvSUN GLEW_GET_FUN(__glewReplacementCodeubvSUN) +#define glReplacementCodeuiSUN GLEW_GET_FUN(__glewReplacementCodeuiSUN) +#define glReplacementCodeuivSUN GLEW_GET_FUN(__glewReplacementCodeuivSUN) +#define glReplacementCodeusSUN GLEW_GET_FUN(__glewReplacementCodeusSUN) +#define glReplacementCodeusvSUN GLEW_GET_FUN(__glewReplacementCodeusvSUN) + +#define GLEW_SUN_triangle_list GLEW_GET_VAR(__GLEW_SUN_triangle_list) + +#endif /* GL_SUN_triangle_list */ + +/* ----------------------------- GL_SUN_vertex ----------------------------- */ + +#ifndef GL_SUN_vertex +#define GL_SUN_vertex 1 + +typedef void (GLAPIENTRY * PFNGLCOLOR3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLCOLOR3FVERTEX3FVSUNPROC) (const GLfloat* c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat* c, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLCOLOR4UBVERTEX2FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); +typedef void (GLAPIENTRY * PFNGLCOLOR4UBVERTEX2FVSUNPROC) (const GLubyte* c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLCOLOR4UBVERTEX3FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLCOLOR4UBVERTEX3FVSUNPROC) (const GLubyte* c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLNORMAL3FVERTEX3FSUNPROC) (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLNORMAL3FVERTEX3FVSUNPROC) (const GLfloat* n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FSUNPROC) (GLuint rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FVSUNPROC) (const GLuint* rc, const GLubyte *c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FSUNPROC) (GLuint rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *tc, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUIVERTEX3FSUNPROC) (GLuint rc, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLREPLACEMENTCODEUIVERTEX3FVSUNPROC) (const GLuint* rc, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR3FVERTEX3FVSUNPROC) (const GLfloat* tc, const GLfloat *c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat* tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR4UBVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FCOLOR4UBVERTEX3FVSUNPROC) (const GLfloat* tc, const GLubyte *c, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat* tc, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (GLAPIENTRY * PFNGLTEXCOORD2FVERTEX3FVSUNPROC) (const GLfloat* tc, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FVSUNPROC) (const GLfloat* tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (GLAPIENTRY * PFNGLTEXCOORD4FVERTEX4FVSUNPROC) (const GLfloat* tc, const GLfloat *v); + +#define glColor3fVertex3fSUN GLEW_GET_FUN(__glewColor3fVertex3fSUN) +#define glColor3fVertex3fvSUN GLEW_GET_FUN(__glewColor3fVertex3fvSUN) +#define glColor4fNormal3fVertex3fSUN GLEW_GET_FUN(__glewColor4fNormal3fVertex3fSUN) +#define glColor4fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewColor4fNormal3fVertex3fvSUN) +#define glColor4ubVertex2fSUN GLEW_GET_FUN(__glewColor4ubVertex2fSUN) +#define glColor4ubVertex2fvSUN GLEW_GET_FUN(__glewColor4ubVertex2fvSUN) +#define glColor4ubVertex3fSUN GLEW_GET_FUN(__glewColor4ubVertex3fSUN) +#define glColor4ubVertex3fvSUN GLEW_GET_FUN(__glewColor4ubVertex3fvSUN) +#define glNormal3fVertex3fSUN GLEW_GET_FUN(__glewNormal3fVertex3fSUN) +#define glNormal3fVertex3fvSUN GLEW_GET_FUN(__glewNormal3fVertex3fvSUN) +#define glReplacementCodeuiColor3fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiColor3fVertex3fSUN) +#define glReplacementCodeuiColor3fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiColor3fVertex3fvSUN) +#define glReplacementCodeuiColor4fNormal3fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiColor4fNormal3fVertex3fSUN) +#define glReplacementCodeuiColor4fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiColor4fNormal3fVertex3fvSUN) +#define glReplacementCodeuiColor4ubVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiColor4ubVertex3fSUN) +#define glReplacementCodeuiColor4ubVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiColor4ubVertex3fvSUN) +#define glReplacementCodeuiNormal3fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiNormal3fVertex3fSUN) +#define glReplacementCodeuiNormal3fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiNormal3fVertex3fvSUN) +#define glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN) +#define glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN) +#define glReplacementCodeuiTexCoord2fNormal3fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fNormal3fVertex3fSUN) +#define glReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN) +#define glReplacementCodeuiTexCoord2fVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fVertex3fSUN) +#define glReplacementCodeuiTexCoord2fVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiTexCoord2fVertex3fvSUN) +#define glReplacementCodeuiVertex3fSUN GLEW_GET_FUN(__glewReplacementCodeuiVertex3fSUN) +#define glReplacementCodeuiVertex3fvSUN GLEW_GET_FUN(__glewReplacementCodeuiVertex3fvSUN) +#define glTexCoord2fColor3fVertex3fSUN GLEW_GET_FUN(__glewTexCoord2fColor3fVertex3fSUN) +#define glTexCoord2fColor3fVertex3fvSUN GLEW_GET_FUN(__glewTexCoord2fColor3fVertex3fvSUN) +#define glTexCoord2fColor4fNormal3fVertex3fSUN GLEW_GET_FUN(__glewTexCoord2fColor4fNormal3fVertex3fSUN) +#define glTexCoord2fColor4fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewTexCoord2fColor4fNormal3fVertex3fvSUN) +#define glTexCoord2fColor4ubVertex3fSUN GLEW_GET_FUN(__glewTexCoord2fColor4ubVertex3fSUN) +#define glTexCoord2fColor4ubVertex3fvSUN GLEW_GET_FUN(__glewTexCoord2fColor4ubVertex3fvSUN) +#define glTexCoord2fNormal3fVertex3fSUN GLEW_GET_FUN(__glewTexCoord2fNormal3fVertex3fSUN) +#define glTexCoord2fNormal3fVertex3fvSUN GLEW_GET_FUN(__glewTexCoord2fNormal3fVertex3fvSUN) +#define glTexCoord2fVertex3fSUN GLEW_GET_FUN(__glewTexCoord2fVertex3fSUN) +#define glTexCoord2fVertex3fvSUN GLEW_GET_FUN(__glewTexCoord2fVertex3fvSUN) +#define glTexCoord4fColor4fNormal3fVertex4fSUN GLEW_GET_FUN(__glewTexCoord4fColor4fNormal3fVertex4fSUN) +#define glTexCoord4fColor4fNormal3fVertex4fvSUN GLEW_GET_FUN(__glewTexCoord4fColor4fNormal3fVertex4fvSUN) +#define glTexCoord4fVertex4fSUN GLEW_GET_FUN(__glewTexCoord4fVertex4fSUN) +#define glTexCoord4fVertex4fvSUN GLEW_GET_FUN(__glewTexCoord4fVertex4fvSUN) + +#define GLEW_SUN_vertex GLEW_GET_VAR(__GLEW_SUN_vertex) + +#endif /* GL_SUN_vertex */ + +/* -------------------------- GL_WIN_phong_shading ------------------------- */ + +#ifndef GL_WIN_phong_shading +#define GL_WIN_phong_shading 1 + +#define GL_PHONG_WIN 0x80EA +#define GL_PHONG_HINT_WIN 0x80EB + +#define GLEW_WIN_phong_shading GLEW_GET_VAR(__GLEW_WIN_phong_shading) + +#endif /* GL_WIN_phong_shading */ + +/* -------------------------- GL_WIN_specular_fog -------------------------- */ + +#ifndef GL_WIN_specular_fog +#define GL_WIN_specular_fog 1 + +#define GL_FOG_SPECULAR_TEXTURE_WIN 0x80EC + +#define GLEW_WIN_specular_fog GLEW_GET_VAR(__GLEW_WIN_specular_fog) + +#endif /* GL_WIN_specular_fog */ + +/* ---------------------------- GL_WIN_swap_hint --------------------------- */ + +#ifndef GL_WIN_swap_hint +#define GL_WIN_swap_hint 1 + +typedef void (GLAPIENTRY * PFNGLADDSWAPHINTRECTWINPROC) (GLint x, GLint y, GLsizei width, GLsizei height); + +#define glAddSwapHintRectWIN GLEW_GET_FUN(__glewAddSwapHintRectWIN) + +#define GLEW_WIN_swap_hint GLEW_GET_VAR(__GLEW_WIN_swap_hint) + +#endif /* GL_WIN_swap_hint */ + +/* ------------------------------------------------------------------------- */ + +#if defined(GLEW_MX) && defined(_WIN32) +#define GLEW_FUN_EXPORT +#else +#define GLEW_FUN_EXPORT GLEWAPI +#endif /* GLEW_MX */ + +#if defined(GLEW_MX) +#define GLEW_VAR_EXPORT +#else +#define GLEW_VAR_EXPORT GLEWAPI +#endif /* GLEW_MX */ + +#if defined(GLEW_MX) && defined(_WIN32) +struct GLEWContextStruct +{ +#endif /* GLEW_MX */ + +GLEW_FUN_EXPORT PFNGLCOPYTEXSUBIMAGE3DPROC __glewCopyTexSubImage3D; +GLEW_FUN_EXPORT PFNGLDRAWRANGEELEMENTSPROC __glewDrawRangeElements; +GLEW_FUN_EXPORT PFNGLTEXIMAGE3DPROC __glewTexImage3D; +GLEW_FUN_EXPORT PFNGLTEXSUBIMAGE3DPROC __glewTexSubImage3D; + +GLEW_FUN_EXPORT PFNGLACTIVETEXTUREPROC __glewActiveTexture; +GLEW_FUN_EXPORT PFNGLCLIENTACTIVETEXTUREPROC __glewClientActiveTexture; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE1DPROC __glewCompressedTexImage1D; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE2DPROC __glewCompressedTexImage2D; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE3DPROC __glewCompressedTexImage3D; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE1DPROC __glewCompressedTexSubImage1D; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE2DPROC __glewCompressedTexSubImage2D; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE3DPROC __glewCompressedTexSubImage3D; +GLEW_FUN_EXPORT PFNGLGETCOMPRESSEDTEXIMAGEPROC __glewGetCompressedTexImage; +GLEW_FUN_EXPORT PFNGLLOADTRANSPOSEMATRIXDPROC __glewLoadTransposeMatrixd; +GLEW_FUN_EXPORT PFNGLLOADTRANSPOSEMATRIXFPROC __glewLoadTransposeMatrixf; +GLEW_FUN_EXPORT PFNGLMULTTRANSPOSEMATRIXDPROC __glewMultTransposeMatrixd; +GLEW_FUN_EXPORT PFNGLMULTTRANSPOSEMATRIXFPROC __glewMultTransposeMatrixf; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1DPROC __glewMultiTexCoord1d; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1DVPROC __glewMultiTexCoord1dv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1FPROC __glewMultiTexCoord1f; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1FVPROC __glewMultiTexCoord1fv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1IPROC __glewMultiTexCoord1i; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1IVPROC __glewMultiTexCoord1iv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1SPROC __glewMultiTexCoord1s; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1SVPROC __glewMultiTexCoord1sv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2DPROC __glewMultiTexCoord2d; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2DVPROC __glewMultiTexCoord2dv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2FPROC __glewMultiTexCoord2f; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2FVPROC __glewMultiTexCoord2fv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2IPROC __glewMultiTexCoord2i; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2IVPROC __glewMultiTexCoord2iv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2SPROC __glewMultiTexCoord2s; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2SVPROC __glewMultiTexCoord2sv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3DPROC __glewMultiTexCoord3d; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3DVPROC __glewMultiTexCoord3dv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3FPROC __glewMultiTexCoord3f; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3FVPROC __glewMultiTexCoord3fv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3IPROC __glewMultiTexCoord3i; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3IVPROC __glewMultiTexCoord3iv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3SPROC __glewMultiTexCoord3s; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3SVPROC __glewMultiTexCoord3sv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4DPROC __glewMultiTexCoord4d; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4DVPROC __glewMultiTexCoord4dv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4FPROC __glewMultiTexCoord4f; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4FVPROC __glewMultiTexCoord4fv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4IPROC __glewMultiTexCoord4i; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4IVPROC __glewMultiTexCoord4iv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4SPROC __glewMultiTexCoord4s; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4SVPROC __glewMultiTexCoord4sv; +GLEW_FUN_EXPORT PFNGLSAMPLECOVERAGEPROC __glewSampleCoverage; + +GLEW_FUN_EXPORT PFNGLBLENDCOLORPROC __glewBlendColor; +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONPROC __glewBlendEquation; +GLEW_FUN_EXPORT PFNGLBLENDFUNCSEPARATEPROC __glewBlendFuncSeparate; +GLEW_FUN_EXPORT PFNGLFOGCOORDPOINTERPROC __glewFogCoordPointer; +GLEW_FUN_EXPORT PFNGLFOGCOORDDPROC __glewFogCoordd; +GLEW_FUN_EXPORT PFNGLFOGCOORDDVPROC __glewFogCoorddv; +GLEW_FUN_EXPORT PFNGLFOGCOORDFPROC __glewFogCoordf; +GLEW_FUN_EXPORT PFNGLFOGCOORDFVPROC __glewFogCoordfv; +GLEW_FUN_EXPORT PFNGLMULTIDRAWARRAYSPROC __glewMultiDrawArrays; +GLEW_FUN_EXPORT PFNGLMULTIDRAWELEMENTSPROC __glewMultiDrawElements; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFPROC __glewPointParameterf; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFVPROC __glewPointParameterfv; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERIPROC __glewPointParameteri; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERIVPROC __glewPointParameteriv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3BPROC __glewSecondaryColor3b; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3BVPROC __glewSecondaryColor3bv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3DPROC __glewSecondaryColor3d; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3DVPROC __glewSecondaryColor3dv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3FPROC __glewSecondaryColor3f; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3FVPROC __glewSecondaryColor3fv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3IPROC __glewSecondaryColor3i; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3IVPROC __glewSecondaryColor3iv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3SPROC __glewSecondaryColor3s; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3SVPROC __glewSecondaryColor3sv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UBPROC __glewSecondaryColor3ub; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UBVPROC __glewSecondaryColor3ubv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UIPROC __glewSecondaryColor3ui; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UIVPROC __glewSecondaryColor3uiv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3USPROC __glewSecondaryColor3us; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3USVPROC __glewSecondaryColor3usv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORPOINTERPROC __glewSecondaryColorPointer; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DPROC __glewWindowPos2d; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DVPROC __glewWindowPos2dv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FPROC __glewWindowPos2f; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FVPROC __glewWindowPos2fv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IPROC __glewWindowPos2i; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IVPROC __glewWindowPos2iv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SPROC __glewWindowPos2s; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SVPROC __glewWindowPos2sv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DPROC __glewWindowPos3d; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DVPROC __glewWindowPos3dv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FPROC __glewWindowPos3f; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FVPROC __glewWindowPos3fv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IPROC __glewWindowPos3i; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IVPROC __glewWindowPos3iv; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SPROC __glewWindowPos3s; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SVPROC __glewWindowPos3sv; + +GLEW_FUN_EXPORT PFNGLBEGINQUERYPROC __glewBeginQuery; +GLEW_FUN_EXPORT PFNGLBINDBUFFERPROC __glewBindBuffer; +GLEW_FUN_EXPORT PFNGLBUFFERDATAPROC __glewBufferData; +GLEW_FUN_EXPORT PFNGLBUFFERSUBDATAPROC __glewBufferSubData; +GLEW_FUN_EXPORT PFNGLDELETEBUFFERSPROC __glewDeleteBuffers; +GLEW_FUN_EXPORT PFNGLDELETEQUERIESPROC __glewDeleteQueries; +GLEW_FUN_EXPORT PFNGLENDQUERYPROC __glewEndQuery; +GLEW_FUN_EXPORT PFNGLGENBUFFERSPROC __glewGenBuffers; +GLEW_FUN_EXPORT PFNGLGENQUERIESPROC __glewGenQueries; +GLEW_FUN_EXPORT PFNGLGETBUFFERPARAMETERIVPROC __glewGetBufferParameteriv; +GLEW_FUN_EXPORT PFNGLGETBUFFERPOINTERVPROC __glewGetBufferPointerv; +GLEW_FUN_EXPORT PFNGLGETBUFFERSUBDATAPROC __glewGetBufferSubData; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTIVPROC __glewGetQueryObjectiv; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTUIVPROC __glewGetQueryObjectuiv; +GLEW_FUN_EXPORT PFNGLGETQUERYIVPROC __glewGetQueryiv; +GLEW_FUN_EXPORT PFNGLISBUFFERPROC __glewIsBuffer; +GLEW_FUN_EXPORT PFNGLISQUERYPROC __glewIsQuery; +GLEW_FUN_EXPORT PFNGLMAPBUFFERPROC __glewMapBuffer; +GLEW_FUN_EXPORT PFNGLUNMAPBUFFERPROC __glewUnmapBuffer; + +GLEW_FUN_EXPORT PFNGLATTACHSHADERPROC __glewAttachShader; +GLEW_FUN_EXPORT PFNGLBINDATTRIBLOCATIONPROC __glewBindAttribLocation; +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONSEPARATEPROC __glewBlendEquationSeparate; +GLEW_FUN_EXPORT PFNGLCOMPILESHADERPROC __glewCompileShader; +GLEW_FUN_EXPORT PFNGLCREATEPROGRAMPROC __glewCreateProgram; +GLEW_FUN_EXPORT PFNGLCREATESHADERPROC __glewCreateShader; +GLEW_FUN_EXPORT PFNGLDELETEPROGRAMPROC __glewDeleteProgram; +GLEW_FUN_EXPORT PFNGLDELETESHADERPROC __glewDeleteShader; +GLEW_FUN_EXPORT PFNGLDETACHSHADERPROC __glewDetachShader; +GLEW_FUN_EXPORT PFNGLDISABLEVERTEXATTRIBARRAYPROC __glewDisableVertexAttribArray; +GLEW_FUN_EXPORT PFNGLDRAWBUFFERSPROC __glewDrawBuffers; +GLEW_FUN_EXPORT PFNGLENABLEVERTEXATTRIBARRAYPROC __glewEnableVertexAttribArray; +GLEW_FUN_EXPORT PFNGLGETACTIVEATTRIBPROC __glewGetActiveAttrib; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMPROC __glewGetActiveUniform; +GLEW_FUN_EXPORT PFNGLGETATTACHEDSHADERSPROC __glewGetAttachedShaders; +GLEW_FUN_EXPORT PFNGLGETATTRIBLOCATIONPROC __glewGetAttribLocation; +GLEW_FUN_EXPORT PFNGLGETPROGRAMINFOLOGPROC __glewGetProgramInfoLog; +GLEW_FUN_EXPORT PFNGLGETPROGRAMIVPROC __glewGetProgramiv; +GLEW_FUN_EXPORT PFNGLGETSHADERINFOLOGPROC __glewGetShaderInfoLog; +GLEW_FUN_EXPORT PFNGLGETSHADERSOURCEPROC __glewGetShaderSource; +GLEW_FUN_EXPORT PFNGLGETSHADERIVPROC __glewGetShaderiv; +GLEW_FUN_EXPORT PFNGLGETUNIFORMLOCATIONPROC __glewGetUniformLocation; +GLEW_FUN_EXPORT PFNGLGETUNIFORMFVPROC __glewGetUniformfv; +GLEW_FUN_EXPORT PFNGLGETUNIFORMIVPROC __glewGetUniformiv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBPOINTERVPROC __glewGetVertexAttribPointerv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBDVPROC __glewGetVertexAttribdv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBFVPROC __glewGetVertexAttribfv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIVPROC __glewGetVertexAttribiv; +GLEW_FUN_EXPORT PFNGLISPROGRAMPROC __glewIsProgram; +GLEW_FUN_EXPORT PFNGLISSHADERPROC __glewIsShader; +GLEW_FUN_EXPORT PFNGLLINKPROGRAMPROC __glewLinkProgram; +GLEW_FUN_EXPORT PFNGLSHADERSOURCEPROC __glewShaderSource; +GLEW_FUN_EXPORT PFNGLSTENCILFUNCSEPARATEPROC __glewStencilFuncSeparate; +GLEW_FUN_EXPORT PFNGLSTENCILMASKSEPARATEPROC __glewStencilMaskSeparate; +GLEW_FUN_EXPORT PFNGLSTENCILOPSEPARATEPROC __glewStencilOpSeparate; +GLEW_FUN_EXPORT PFNGLUNIFORM1FPROC __glewUniform1f; +GLEW_FUN_EXPORT PFNGLUNIFORM1FVPROC __glewUniform1fv; +GLEW_FUN_EXPORT PFNGLUNIFORM1IPROC __glewUniform1i; +GLEW_FUN_EXPORT PFNGLUNIFORM1IVPROC __glewUniform1iv; +GLEW_FUN_EXPORT PFNGLUNIFORM2FPROC __glewUniform2f; +GLEW_FUN_EXPORT PFNGLUNIFORM2FVPROC __glewUniform2fv; +GLEW_FUN_EXPORT PFNGLUNIFORM2IPROC __glewUniform2i; +GLEW_FUN_EXPORT PFNGLUNIFORM2IVPROC __glewUniform2iv; +GLEW_FUN_EXPORT PFNGLUNIFORM3FPROC __glewUniform3f; +GLEW_FUN_EXPORT PFNGLUNIFORM3FVPROC __glewUniform3fv; +GLEW_FUN_EXPORT PFNGLUNIFORM3IPROC __glewUniform3i; +GLEW_FUN_EXPORT PFNGLUNIFORM3IVPROC __glewUniform3iv; +GLEW_FUN_EXPORT PFNGLUNIFORM4FPROC __glewUniform4f; +GLEW_FUN_EXPORT PFNGLUNIFORM4FVPROC __glewUniform4fv; +GLEW_FUN_EXPORT PFNGLUNIFORM4IPROC __glewUniform4i; +GLEW_FUN_EXPORT PFNGLUNIFORM4IVPROC __glewUniform4iv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2FVPROC __glewUniformMatrix2fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3FVPROC __glewUniformMatrix3fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4FVPROC __glewUniformMatrix4fv; +GLEW_FUN_EXPORT PFNGLUSEPROGRAMPROC __glewUseProgram; +GLEW_FUN_EXPORT PFNGLVALIDATEPROGRAMPROC __glewValidateProgram; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DPROC __glewVertexAttrib1d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DVPROC __glewVertexAttrib1dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FPROC __glewVertexAttrib1f; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FVPROC __glewVertexAttrib1fv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SPROC __glewVertexAttrib1s; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SVPROC __glewVertexAttrib1sv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DPROC __glewVertexAttrib2d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DVPROC __glewVertexAttrib2dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FPROC __glewVertexAttrib2f; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FVPROC __glewVertexAttrib2fv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SPROC __glewVertexAttrib2s; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SVPROC __glewVertexAttrib2sv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DPROC __glewVertexAttrib3d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DVPROC __glewVertexAttrib3dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FPROC __glewVertexAttrib3f; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FVPROC __glewVertexAttrib3fv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SPROC __glewVertexAttrib3s; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SVPROC __glewVertexAttrib3sv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NBVPROC __glewVertexAttrib4Nbv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NIVPROC __glewVertexAttrib4Niv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NSVPROC __glewVertexAttrib4Nsv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUBPROC __glewVertexAttrib4Nub; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUBVPROC __glewVertexAttrib4Nubv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUIVPROC __glewVertexAttrib4Nuiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUSVPROC __glewVertexAttrib4Nusv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4BVPROC __glewVertexAttrib4bv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DPROC __glewVertexAttrib4d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DVPROC __glewVertexAttrib4dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FPROC __glewVertexAttrib4f; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FVPROC __glewVertexAttrib4fv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4IVPROC __glewVertexAttrib4iv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SPROC __glewVertexAttrib4s; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SVPROC __glewVertexAttrib4sv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UBVPROC __glewVertexAttrib4ubv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UIVPROC __glewVertexAttrib4uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4USVPROC __glewVertexAttrib4usv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBPOINTERPROC __glewVertexAttribPointer; + +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2X3FVPROC __glewUniformMatrix2x3fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2X4FVPROC __glewUniformMatrix2x4fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3X2FVPROC __glewUniformMatrix3x2fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3X4FVPROC __glewUniformMatrix3x4fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4X2FVPROC __glewUniformMatrix4x2fv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4X3FVPROC __glewUniformMatrix4x3fv; + +GLEW_FUN_EXPORT PFNGLBEGINCONDITIONALRENDERPROC __glewBeginConditionalRender; +GLEW_FUN_EXPORT PFNGLBEGINTRANSFORMFEEDBACKPROC __glewBeginTransformFeedback; +GLEW_FUN_EXPORT PFNGLBINDFRAGDATALOCATIONPROC __glewBindFragDataLocation; +GLEW_FUN_EXPORT PFNGLCLAMPCOLORPROC __glewClampColor; +GLEW_FUN_EXPORT PFNGLCLEARBUFFERFIPROC __glewClearBufferfi; +GLEW_FUN_EXPORT PFNGLCLEARBUFFERFVPROC __glewClearBufferfv; +GLEW_FUN_EXPORT PFNGLCLEARBUFFERIVPROC __glewClearBufferiv; +GLEW_FUN_EXPORT PFNGLCLEARBUFFERUIVPROC __glewClearBufferuiv; +GLEW_FUN_EXPORT PFNGLCOLORMASKIPROC __glewColorMaski; +GLEW_FUN_EXPORT PFNGLDISABLEIPROC __glewDisablei; +GLEW_FUN_EXPORT PFNGLENABLEIPROC __glewEnablei; +GLEW_FUN_EXPORT PFNGLENDCONDITIONALRENDERPROC __glewEndConditionalRender; +GLEW_FUN_EXPORT PFNGLENDTRANSFORMFEEDBACKPROC __glewEndTransformFeedback; +GLEW_FUN_EXPORT PFNGLGETBOOLEANI_VPROC __glewGetBooleani_v; +GLEW_FUN_EXPORT PFNGLGETFRAGDATALOCATIONPROC __glewGetFragDataLocation; +GLEW_FUN_EXPORT PFNGLGETSTRINGIPROC __glewGetStringi; +GLEW_FUN_EXPORT PFNGLGETTEXPARAMETERIIVPROC __glewGetTexParameterIiv; +GLEW_FUN_EXPORT PFNGLGETTEXPARAMETERIUIVPROC __glewGetTexParameterIuiv; +GLEW_FUN_EXPORT PFNGLGETTRANSFORMFEEDBACKVARYINGPROC __glewGetTransformFeedbackVarying; +GLEW_FUN_EXPORT PFNGLGETUNIFORMUIVPROC __glewGetUniformuiv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIIVPROC __glewGetVertexAttribIiv; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIUIVPROC __glewGetVertexAttribIuiv; +GLEW_FUN_EXPORT PFNGLISENABLEDIPROC __glewIsEnabledi; +GLEW_FUN_EXPORT PFNGLTEXPARAMETERIIVPROC __glewTexParameterIiv; +GLEW_FUN_EXPORT PFNGLTEXPARAMETERIUIVPROC __glewTexParameterIuiv; +GLEW_FUN_EXPORT PFNGLTRANSFORMFEEDBACKVARYINGSPROC __glewTransformFeedbackVaryings; +GLEW_FUN_EXPORT PFNGLUNIFORM1UIPROC __glewUniform1ui; +GLEW_FUN_EXPORT PFNGLUNIFORM1UIVPROC __glewUniform1uiv; +GLEW_FUN_EXPORT PFNGLUNIFORM2UIPROC __glewUniform2ui; +GLEW_FUN_EXPORT PFNGLUNIFORM2UIVPROC __glewUniform2uiv; +GLEW_FUN_EXPORT PFNGLUNIFORM3UIPROC __glewUniform3ui; +GLEW_FUN_EXPORT PFNGLUNIFORM3UIVPROC __glewUniform3uiv; +GLEW_FUN_EXPORT PFNGLUNIFORM4UIPROC __glewUniform4ui; +GLEW_FUN_EXPORT PFNGLUNIFORM4UIVPROC __glewUniform4uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1IPROC __glewVertexAttribI1i; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1IVPROC __glewVertexAttribI1iv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1UIPROC __glewVertexAttribI1ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1UIVPROC __glewVertexAttribI1uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2IPROC __glewVertexAttribI2i; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2IVPROC __glewVertexAttribI2iv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2UIPROC __glewVertexAttribI2ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2UIVPROC __glewVertexAttribI2uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3IPROC __glewVertexAttribI3i; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3IVPROC __glewVertexAttribI3iv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3UIPROC __glewVertexAttribI3ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3UIVPROC __glewVertexAttribI3uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4BVPROC __glewVertexAttribI4bv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4IPROC __glewVertexAttribI4i; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4IVPROC __glewVertexAttribI4iv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4SVPROC __glewVertexAttribI4sv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UBVPROC __glewVertexAttribI4ubv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UIPROC __glewVertexAttribI4ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UIVPROC __glewVertexAttribI4uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4USVPROC __glewVertexAttribI4usv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBIPOINTERPROC __glewVertexAttribIPointer; + +GLEW_FUN_EXPORT PFNGLDRAWARRAYSINSTANCEDPROC __glewDrawArraysInstanced; +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSINSTANCEDPROC __glewDrawElementsInstanced; +GLEW_FUN_EXPORT PFNGLPRIMITIVERESTARTINDEXPROC __glewPrimitiveRestartIndex; +GLEW_FUN_EXPORT PFNGLTEXBUFFERPROC __glewTexBuffer; + +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTUREPROC __glewFramebufferTexture; +GLEW_FUN_EXPORT PFNGLGETBUFFERPARAMETERI64VPROC __glewGetBufferParameteri64v; +GLEW_FUN_EXPORT PFNGLGETINTEGER64I_VPROC __glewGetInteger64i_v; + +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBDIVISORPROC __glewVertexAttribDivisor; + +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONSEPARATEIPROC __glewBlendEquationSeparatei; +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONIPROC __glewBlendEquationi; +GLEW_FUN_EXPORT PFNGLBLENDFUNCSEPARATEIPROC __glewBlendFuncSeparatei; +GLEW_FUN_EXPORT PFNGLBLENDFUNCIPROC __glewBlendFunci; +GLEW_FUN_EXPORT PFNGLMINSAMPLESHADINGPROC __glewMinSampleShading; + +GLEW_FUN_EXPORT PFNGLTBUFFERMASK3DFXPROC __glewTbufferMask3DFX; + +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGECALLBACKAMDPROC __glewDebugMessageCallbackAMD; +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGEENABLEAMDPROC __glewDebugMessageEnableAMD; +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGEINSERTAMDPROC __glewDebugMessageInsertAMD; +GLEW_FUN_EXPORT PFNGLGETDEBUGMESSAGELOGAMDPROC __glewGetDebugMessageLogAMD; + +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONINDEXEDAMDPROC __glewBlendEquationIndexedAMD; +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONSEPARATEINDEXEDAMDPROC __glewBlendEquationSeparateIndexedAMD; +GLEW_FUN_EXPORT PFNGLBLENDFUNCINDEXEDAMDPROC __glewBlendFuncIndexedAMD; +GLEW_FUN_EXPORT PFNGLBLENDFUNCSEPARATEINDEXEDAMDPROC __glewBlendFuncSeparateIndexedAMD; + +GLEW_FUN_EXPORT PFNGLDELETENAMESAMDPROC __glewDeleteNamesAMD; +GLEW_FUN_EXPORT PFNGLGENNAMESAMDPROC __glewGenNamesAMD; +GLEW_FUN_EXPORT PFNGLISNAMEAMDPROC __glewIsNameAMD; + +GLEW_FUN_EXPORT PFNGLBEGINPERFMONITORAMDPROC __glewBeginPerfMonitorAMD; +GLEW_FUN_EXPORT PFNGLDELETEPERFMONITORSAMDPROC __glewDeletePerfMonitorsAMD; +GLEW_FUN_EXPORT PFNGLENDPERFMONITORAMDPROC __glewEndPerfMonitorAMD; +GLEW_FUN_EXPORT PFNGLGENPERFMONITORSAMDPROC __glewGenPerfMonitorsAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORCOUNTERDATAAMDPROC __glewGetPerfMonitorCounterDataAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORCOUNTERINFOAMDPROC __glewGetPerfMonitorCounterInfoAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORCOUNTERSTRINGAMDPROC __glewGetPerfMonitorCounterStringAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORCOUNTERSAMDPROC __glewGetPerfMonitorCountersAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORGROUPSTRINGAMDPROC __glewGetPerfMonitorGroupStringAMD; +GLEW_FUN_EXPORT PFNGLGETPERFMONITORGROUPSAMDPROC __glewGetPerfMonitorGroupsAMD; +GLEW_FUN_EXPORT PFNGLSELECTPERFMONITORCOUNTERSAMDPROC __glewSelectPerfMonitorCountersAMD; + +GLEW_FUN_EXPORT PFNGLSETMULTISAMPLEFVAMDPROC __glewSetMultisamplefvAMD; + +GLEW_FUN_EXPORT PFNGLTESSELLATIONFACTORAMDPROC __glewTessellationFactorAMD; +GLEW_FUN_EXPORT PFNGLTESSELLATIONMODEAMDPROC __glewTessellationModeAMD; + +GLEW_FUN_EXPORT PFNGLDRAWELEMENTARRAYAPPLEPROC __glewDrawElementArrayAPPLE; +GLEW_FUN_EXPORT PFNGLDRAWRANGEELEMENTARRAYAPPLEPROC __glewDrawRangeElementArrayAPPLE; +GLEW_FUN_EXPORT PFNGLELEMENTPOINTERAPPLEPROC __glewElementPointerAPPLE; +GLEW_FUN_EXPORT PFNGLMULTIDRAWELEMENTARRAYAPPLEPROC __glewMultiDrawElementArrayAPPLE; +GLEW_FUN_EXPORT PFNGLMULTIDRAWRANGEELEMENTARRAYAPPLEPROC __glewMultiDrawRangeElementArrayAPPLE; + +GLEW_FUN_EXPORT PFNGLDELETEFENCESAPPLEPROC __glewDeleteFencesAPPLE; +GLEW_FUN_EXPORT PFNGLFINISHFENCEAPPLEPROC __glewFinishFenceAPPLE; +GLEW_FUN_EXPORT PFNGLFINISHOBJECTAPPLEPROC __glewFinishObjectAPPLE; +GLEW_FUN_EXPORT PFNGLGENFENCESAPPLEPROC __glewGenFencesAPPLE; +GLEW_FUN_EXPORT PFNGLISFENCEAPPLEPROC __glewIsFenceAPPLE; +GLEW_FUN_EXPORT PFNGLSETFENCEAPPLEPROC __glewSetFenceAPPLE; +GLEW_FUN_EXPORT PFNGLTESTFENCEAPPLEPROC __glewTestFenceAPPLE; +GLEW_FUN_EXPORT PFNGLTESTOBJECTAPPLEPROC __glewTestObjectAPPLE; + +GLEW_FUN_EXPORT PFNGLBUFFERPARAMETERIAPPLEPROC __glewBufferParameteriAPPLE; +GLEW_FUN_EXPORT PFNGLFLUSHMAPPEDBUFFERRANGEAPPLEPROC __glewFlushMappedBufferRangeAPPLE; + +GLEW_FUN_EXPORT PFNGLGETOBJECTPARAMETERIVAPPLEPROC __glewGetObjectParameterivAPPLE; +GLEW_FUN_EXPORT PFNGLOBJECTPURGEABLEAPPLEPROC __glewObjectPurgeableAPPLE; +GLEW_FUN_EXPORT PFNGLOBJECTUNPURGEABLEAPPLEPROC __glewObjectUnpurgeableAPPLE; + +GLEW_FUN_EXPORT PFNGLGETTEXPARAMETERPOINTERVAPPLEPROC __glewGetTexParameterPointervAPPLE; +GLEW_FUN_EXPORT PFNGLTEXTURERANGEAPPLEPROC __glewTextureRangeAPPLE; + +GLEW_FUN_EXPORT PFNGLBINDVERTEXARRAYAPPLEPROC __glewBindVertexArrayAPPLE; +GLEW_FUN_EXPORT PFNGLDELETEVERTEXARRAYSAPPLEPROC __glewDeleteVertexArraysAPPLE; +GLEW_FUN_EXPORT PFNGLGENVERTEXARRAYSAPPLEPROC __glewGenVertexArraysAPPLE; +GLEW_FUN_EXPORT PFNGLISVERTEXARRAYAPPLEPROC __glewIsVertexArrayAPPLE; + +GLEW_FUN_EXPORT PFNGLFLUSHVERTEXARRAYRANGEAPPLEPROC __glewFlushVertexArrayRangeAPPLE; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYPARAMETERIAPPLEPROC __glewVertexArrayParameteriAPPLE; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYRANGEAPPLEPROC __glewVertexArrayRangeAPPLE; + +GLEW_FUN_EXPORT PFNGLDISABLEVERTEXATTRIBAPPLEPROC __glewDisableVertexAttribAPPLE; +GLEW_FUN_EXPORT PFNGLENABLEVERTEXATTRIBAPPLEPROC __glewEnableVertexAttribAPPLE; +GLEW_FUN_EXPORT PFNGLISVERTEXATTRIBENABLEDAPPLEPROC __glewIsVertexAttribEnabledAPPLE; +GLEW_FUN_EXPORT PFNGLMAPVERTEXATTRIB1DAPPLEPROC __glewMapVertexAttrib1dAPPLE; +GLEW_FUN_EXPORT PFNGLMAPVERTEXATTRIB1FAPPLEPROC __glewMapVertexAttrib1fAPPLE; +GLEW_FUN_EXPORT PFNGLMAPVERTEXATTRIB2DAPPLEPROC __glewMapVertexAttrib2dAPPLE; +GLEW_FUN_EXPORT PFNGLMAPVERTEXATTRIB2FAPPLEPROC __glewMapVertexAttrib2fAPPLE; + +GLEW_FUN_EXPORT PFNGLCLEARDEPTHFPROC __glewClearDepthf; +GLEW_FUN_EXPORT PFNGLDEPTHRANGEFPROC __glewDepthRangef; +GLEW_FUN_EXPORT PFNGLGETSHADERPRECISIONFORMATPROC __glewGetShaderPrecisionFormat; +GLEW_FUN_EXPORT PFNGLRELEASESHADERCOMPILERPROC __glewReleaseShaderCompiler; +GLEW_FUN_EXPORT PFNGLSHADERBINARYPROC __glewShaderBinary; + +GLEW_FUN_EXPORT PFNGLBINDFRAGDATALOCATIONINDEXEDPROC __glewBindFragDataLocationIndexed; +GLEW_FUN_EXPORT PFNGLGETFRAGDATAINDEXPROC __glewGetFragDataIndex; + +GLEW_FUN_EXPORT PFNGLCREATESYNCFROMCLEVENTARBPROC __glewCreateSyncFromCLeventARB; + +GLEW_FUN_EXPORT PFNGLCLAMPCOLORARBPROC __glewClampColorARB; + +GLEW_FUN_EXPORT PFNGLCOPYBUFFERSUBDATAPROC __glewCopyBufferSubData; + +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGECALLBACKARBPROC __glewDebugMessageCallbackARB; +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGECONTROLARBPROC __glewDebugMessageControlARB; +GLEW_FUN_EXPORT PFNGLDEBUGMESSAGEINSERTARBPROC __glewDebugMessageInsertARB; +GLEW_FUN_EXPORT PFNGLGETDEBUGMESSAGELOGARBPROC __glewGetDebugMessageLogARB; + +GLEW_FUN_EXPORT PFNGLDRAWBUFFERSARBPROC __glewDrawBuffersARB; + +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONSEPARATEIARBPROC __glewBlendEquationSeparateiARB; +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONIARBPROC __glewBlendEquationiARB; +GLEW_FUN_EXPORT PFNGLBLENDFUNCSEPARATEIARBPROC __glewBlendFuncSeparateiARB; +GLEW_FUN_EXPORT PFNGLBLENDFUNCIARBPROC __glewBlendFunciARB; + +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSBASEVERTEXPROC __glewDrawElementsBaseVertex; +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSINSTANCEDBASEVERTEXPROC __glewDrawElementsInstancedBaseVertex; +GLEW_FUN_EXPORT PFNGLDRAWRANGEELEMENTSBASEVERTEXPROC __glewDrawRangeElementsBaseVertex; +GLEW_FUN_EXPORT PFNGLMULTIDRAWELEMENTSBASEVERTEXPROC __glewMultiDrawElementsBaseVertex; + +GLEW_FUN_EXPORT PFNGLDRAWARRAYSINDIRECTPROC __glewDrawArraysIndirect; +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSINDIRECTPROC __glewDrawElementsIndirect; + +GLEW_FUN_EXPORT PFNGLBINDFRAMEBUFFERPROC __glewBindFramebuffer; +GLEW_FUN_EXPORT PFNGLBINDRENDERBUFFERPROC __glewBindRenderbuffer; +GLEW_FUN_EXPORT PFNGLBLITFRAMEBUFFERPROC __glewBlitFramebuffer; +GLEW_FUN_EXPORT PFNGLCHECKFRAMEBUFFERSTATUSPROC __glewCheckFramebufferStatus; +GLEW_FUN_EXPORT PFNGLDELETEFRAMEBUFFERSPROC __glewDeleteFramebuffers; +GLEW_FUN_EXPORT PFNGLDELETERENDERBUFFERSPROC __glewDeleteRenderbuffers; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERRENDERBUFFERPROC __glewFramebufferRenderbuffer; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE1DPROC __glewFramebufferTexture1D; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE2DPROC __glewFramebufferTexture2D; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE3DPROC __glewFramebufferTexture3D; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURELAYERPROC __glewFramebufferTextureLayer; +GLEW_FUN_EXPORT PFNGLGENFRAMEBUFFERSPROC __glewGenFramebuffers; +GLEW_FUN_EXPORT PFNGLGENRENDERBUFFERSPROC __glewGenRenderbuffers; +GLEW_FUN_EXPORT PFNGLGENERATEMIPMAPPROC __glewGenerateMipmap; +GLEW_FUN_EXPORT PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVPROC __glewGetFramebufferAttachmentParameteriv; +GLEW_FUN_EXPORT PFNGLGETRENDERBUFFERPARAMETERIVPROC __glewGetRenderbufferParameteriv; +GLEW_FUN_EXPORT PFNGLISFRAMEBUFFERPROC __glewIsFramebuffer; +GLEW_FUN_EXPORT PFNGLISRENDERBUFFERPROC __glewIsRenderbuffer; +GLEW_FUN_EXPORT PFNGLRENDERBUFFERSTORAGEPROC __glewRenderbufferStorage; +GLEW_FUN_EXPORT PFNGLRENDERBUFFERSTORAGEMULTISAMPLEPROC __glewRenderbufferStorageMultisample; + +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTUREARBPROC __glewFramebufferTextureARB; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTUREFACEARBPROC __glewFramebufferTextureFaceARB; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURELAYERARBPROC __glewFramebufferTextureLayerARB; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETERIARBPROC __glewProgramParameteriARB; + +GLEW_FUN_EXPORT PFNGLGETPROGRAMBINARYPROC __glewGetProgramBinary; +GLEW_FUN_EXPORT PFNGLPROGRAMBINARYPROC __glewProgramBinary; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETERIPROC __glewProgramParameteri; + +GLEW_FUN_EXPORT PFNGLGETUNIFORMDVPROC __glewGetUniformdv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1DEXTPROC __glewProgramUniform1dEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1DVEXTPROC __glewProgramUniform1dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2DEXTPROC __glewProgramUniform2dEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2DVEXTPROC __glewProgramUniform2dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3DEXTPROC __glewProgramUniform3dEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3DVEXTPROC __glewProgramUniform3dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4DEXTPROC __glewProgramUniform4dEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4DVEXTPROC __glewProgramUniform4dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2DVEXTPROC __glewProgramUniformMatrix2dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X3DVEXTPROC __glewProgramUniformMatrix2x3dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X4DVEXTPROC __glewProgramUniformMatrix2x4dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3DVEXTPROC __glewProgramUniformMatrix3dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X2DVEXTPROC __glewProgramUniformMatrix3x2dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X4DVEXTPROC __glewProgramUniformMatrix3x4dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4DVEXTPROC __glewProgramUniformMatrix4dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X2DVEXTPROC __glewProgramUniformMatrix4x2dvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X3DVEXTPROC __glewProgramUniformMatrix4x3dvEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM1DPROC __glewUniform1d; +GLEW_FUN_EXPORT PFNGLUNIFORM1DVPROC __glewUniform1dv; +GLEW_FUN_EXPORT PFNGLUNIFORM2DPROC __glewUniform2d; +GLEW_FUN_EXPORT PFNGLUNIFORM2DVPROC __glewUniform2dv; +GLEW_FUN_EXPORT PFNGLUNIFORM3DPROC __glewUniform3d; +GLEW_FUN_EXPORT PFNGLUNIFORM3DVPROC __glewUniform3dv; +GLEW_FUN_EXPORT PFNGLUNIFORM4DPROC __glewUniform4d; +GLEW_FUN_EXPORT PFNGLUNIFORM4DVPROC __glewUniform4dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2DVPROC __glewUniformMatrix2dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2X3DVPROC __glewUniformMatrix2x3dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2X4DVPROC __glewUniformMatrix2x4dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3DVPROC __glewUniformMatrix3dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3X2DVPROC __glewUniformMatrix3x2dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3X4DVPROC __glewUniformMatrix3x4dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4DVPROC __glewUniformMatrix4dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4X2DVPROC __glewUniformMatrix4x2dv; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4X3DVPROC __glewUniformMatrix4x3dv; + +GLEW_FUN_EXPORT PFNGLCOLORSUBTABLEPROC __glewColorSubTable; +GLEW_FUN_EXPORT PFNGLCOLORTABLEPROC __glewColorTable; +GLEW_FUN_EXPORT PFNGLCOLORTABLEPARAMETERFVPROC __glewColorTableParameterfv; +GLEW_FUN_EXPORT PFNGLCOLORTABLEPARAMETERIVPROC __glewColorTableParameteriv; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONFILTER1DPROC __glewConvolutionFilter1D; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONFILTER2DPROC __glewConvolutionFilter2D; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERFPROC __glewConvolutionParameterf; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERFVPROC __glewConvolutionParameterfv; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERIPROC __glewConvolutionParameteri; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERIVPROC __glewConvolutionParameteriv; +GLEW_FUN_EXPORT PFNGLCOPYCOLORSUBTABLEPROC __glewCopyColorSubTable; +GLEW_FUN_EXPORT PFNGLCOPYCOLORTABLEPROC __glewCopyColorTable; +GLEW_FUN_EXPORT PFNGLCOPYCONVOLUTIONFILTER1DPROC __glewCopyConvolutionFilter1D; +GLEW_FUN_EXPORT PFNGLCOPYCONVOLUTIONFILTER2DPROC __glewCopyConvolutionFilter2D; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPROC __glewGetColorTable; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERFVPROC __glewGetColorTableParameterfv; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERIVPROC __glewGetColorTableParameteriv; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONFILTERPROC __glewGetConvolutionFilter; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONPARAMETERFVPROC __glewGetConvolutionParameterfv; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONPARAMETERIVPROC __glewGetConvolutionParameteriv; +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMPROC __glewGetHistogram; +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMPARAMETERFVPROC __glewGetHistogramParameterfv; +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMPARAMETERIVPROC __glewGetHistogramParameteriv; +GLEW_FUN_EXPORT PFNGLGETMINMAXPROC __glewGetMinmax; +GLEW_FUN_EXPORT PFNGLGETMINMAXPARAMETERFVPROC __glewGetMinmaxParameterfv; +GLEW_FUN_EXPORT PFNGLGETMINMAXPARAMETERIVPROC __glewGetMinmaxParameteriv; +GLEW_FUN_EXPORT PFNGLGETSEPARABLEFILTERPROC __glewGetSeparableFilter; +GLEW_FUN_EXPORT PFNGLHISTOGRAMPROC __glewHistogram; +GLEW_FUN_EXPORT PFNGLMINMAXPROC __glewMinmax; +GLEW_FUN_EXPORT PFNGLRESETHISTOGRAMPROC __glewResetHistogram; +GLEW_FUN_EXPORT PFNGLRESETMINMAXPROC __glewResetMinmax; +GLEW_FUN_EXPORT PFNGLSEPARABLEFILTER2DPROC __glewSeparableFilter2D; + +GLEW_FUN_EXPORT PFNGLDRAWARRAYSINSTANCEDARBPROC __glewDrawArraysInstancedARB; +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSINSTANCEDARBPROC __glewDrawElementsInstancedARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBDIVISORARBPROC __glewVertexAttribDivisorARB; + +GLEW_FUN_EXPORT PFNGLFLUSHMAPPEDBUFFERRANGEPROC __glewFlushMappedBufferRange; +GLEW_FUN_EXPORT PFNGLMAPBUFFERRANGEPROC __glewMapBufferRange; + +GLEW_FUN_EXPORT PFNGLCURRENTPALETTEMATRIXARBPROC __glewCurrentPaletteMatrixARB; +GLEW_FUN_EXPORT PFNGLMATRIXINDEXPOINTERARBPROC __glewMatrixIndexPointerARB; +GLEW_FUN_EXPORT PFNGLMATRIXINDEXUBVARBPROC __glewMatrixIndexubvARB; +GLEW_FUN_EXPORT PFNGLMATRIXINDEXUIVARBPROC __glewMatrixIndexuivARB; +GLEW_FUN_EXPORT PFNGLMATRIXINDEXUSVARBPROC __glewMatrixIndexusvARB; + +GLEW_FUN_EXPORT PFNGLSAMPLECOVERAGEARBPROC __glewSampleCoverageARB; + +GLEW_FUN_EXPORT PFNGLACTIVETEXTUREARBPROC __glewActiveTextureARB; +GLEW_FUN_EXPORT PFNGLCLIENTACTIVETEXTUREARBPROC __glewClientActiveTextureARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1DARBPROC __glewMultiTexCoord1dARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1DVARBPROC __glewMultiTexCoord1dvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1FARBPROC __glewMultiTexCoord1fARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1FVARBPROC __glewMultiTexCoord1fvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1IARBPROC __glewMultiTexCoord1iARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1IVARBPROC __glewMultiTexCoord1ivARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1SARBPROC __glewMultiTexCoord1sARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1SVARBPROC __glewMultiTexCoord1svARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2DARBPROC __glewMultiTexCoord2dARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2DVARBPROC __glewMultiTexCoord2dvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2FARBPROC __glewMultiTexCoord2fARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2FVARBPROC __glewMultiTexCoord2fvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2IARBPROC __glewMultiTexCoord2iARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2IVARBPROC __glewMultiTexCoord2ivARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2SARBPROC __glewMultiTexCoord2sARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2SVARBPROC __glewMultiTexCoord2svARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3DARBPROC __glewMultiTexCoord3dARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3DVARBPROC __glewMultiTexCoord3dvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3FARBPROC __glewMultiTexCoord3fARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3FVARBPROC __glewMultiTexCoord3fvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3IARBPROC __glewMultiTexCoord3iARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3IVARBPROC __glewMultiTexCoord3ivARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3SARBPROC __glewMultiTexCoord3sARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3SVARBPROC __glewMultiTexCoord3svARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4DARBPROC __glewMultiTexCoord4dARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4DVARBPROC __glewMultiTexCoord4dvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4FARBPROC __glewMultiTexCoord4fARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4FVARBPROC __glewMultiTexCoord4fvARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4IARBPROC __glewMultiTexCoord4iARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4IVARBPROC __glewMultiTexCoord4ivARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4SARBPROC __glewMultiTexCoord4sARB; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4SVARBPROC __glewMultiTexCoord4svARB; + +GLEW_FUN_EXPORT PFNGLBEGINQUERYARBPROC __glewBeginQueryARB; +GLEW_FUN_EXPORT PFNGLDELETEQUERIESARBPROC __glewDeleteQueriesARB; +GLEW_FUN_EXPORT PFNGLENDQUERYARBPROC __glewEndQueryARB; +GLEW_FUN_EXPORT PFNGLGENQUERIESARBPROC __glewGenQueriesARB; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTIVARBPROC __glewGetQueryObjectivARB; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTUIVARBPROC __glewGetQueryObjectuivARB; +GLEW_FUN_EXPORT PFNGLGETQUERYIVARBPROC __glewGetQueryivARB; +GLEW_FUN_EXPORT PFNGLISQUERYARBPROC __glewIsQueryARB; + +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFARBPROC __glewPointParameterfARB; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFVARBPROC __glewPointParameterfvARB; + +GLEW_FUN_EXPORT PFNGLPROVOKINGVERTEXPROC __glewProvokingVertex; + +GLEW_FUN_EXPORT PFNGLGETNCOLORTABLEARBPROC __glewGetnColorTableARB; +GLEW_FUN_EXPORT PFNGLGETNCOMPRESSEDTEXIMAGEARBPROC __glewGetnCompressedTexImageARB; +GLEW_FUN_EXPORT PFNGLGETNCONVOLUTIONFILTERARBPROC __glewGetnConvolutionFilterARB; +GLEW_FUN_EXPORT PFNGLGETNHISTOGRAMARBPROC __glewGetnHistogramARB; +GLEW_FUN_EXPORT PFNGLGETNMAPDVARBPROC __glewGetnMapdvARB; +GLEW_FUN_EXPORT PFNGLGETNMAPFVARBPROC __glewGetnMapfvARB; +GLEW_FUN_EXPORT PFNGLGETNMAPIVARBPROC __glewGetnMapivARB; +GLEW_FUN_EXPORT PFNGLGETNMINMAXARBPROC __glewGetnMinmaxARB; +GLEW_FUN_EXPORT PFNGLGETNPIXELMAPFVARBPROC __glewGetnPixelMapfvARB; +GLEW_FUN_EXPORT PFNGLGETNPIXELMAPUIVARBPROC __glewGetnPixelMapuivARB; +GLEW_FUN_EXPORT PFNGLGETNPIXELMAPUSVARBPROC __glewGetnPixelMapusvARB; +GLEW_FUN_EXPORT PFNGLGETNPOLYGONSTIPPLEARBPROC __glewGetnPolygonStippleARB; +GLEW_FUN_EXPORT PFNGLGETNSEPARABLEFILTERARBPROC __glewGetnSeparableFilterARB; +GLEW_FUN_EXPORT PFNGLGETNTEXIMAGEARBPROC __glewGetnTexImageARB; +GLEW_FUN_EXPORT PFNGLGETNUNIFORMDVARBPROC __glewGetnUniformdvARB; +GLEW_FUN_EXPORT PFNGLGETNUNIFORMFVARBPROC __glewGetnUniformfvARB; +GLEW_FUN_EXPORT PFNGLGETNUNIFORMIVARBPROC __glewGetnUniformivARB; +GLEW_FUN_EXPORT PFNGLGETNUNIFORMUIVARBPROC __glewGetnUniformuivARB; +GLEW_FUN_EXPORT PFNGLREADNPIXELSARBPROC __glewReadnPixelsARB; + +GLEW_FUN_EXPORT PFNGLMINSAMPLESHADINGARBPROC __glewMinSampleShadingARB; + +GLEW_FUN_EXPORT PFNGLBINDSAMPLERPROC __glewBindSampler; +GLEW_FUN_EXPORT PFNGLDELETESAMPLERSPROC __glewDeleteSamplers; +GLEW_FUN_EXPORT PFNGLGENSAMPLERSPROC __glewGenSamplers; +GLEW_FUN_EXPORT PFNGLGETSAMPLERPARAMETERIIVPROC __glewGetSamplerParameterIiv; +GLEW_FUN_EXPORT PFNGLGETSAMPLERPARAMETERIUIVPROC __glewGetSamplerParameterIuiv; +GLEW_FUN_EXPORT PFNGLGETSAMPLERPARAMETERFVPROC __glewGetSamplerParameterfv; +GLEW_FUN_EXPORT PFNGLGETSAMPLERPARAMETERIVPROC __glewGetSamplerParameteriv; +GLEW_FUN_EXPORT PFNGLISSAMPLERPROC __glewIsSampler; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERIIVPROC __glewSamplerParameterIiv; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERIUIVPROC __glewSamplerParameterIuiv; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERFPROC __glewSamplerParameterf; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERFVPROC __glewSamplerParameterfv; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERIPROC __glewSamplerParameteri; +GLEW_FUN_EXPORT PFNGLSAMPLERPARAMETERIVPROC __glewSamplerParameteriv; + +GLEW_FUN_EXPORT PFNGLACTIVESHADERPROGRAMPROC __glewActiveShaderProgram; +GLEW_FUN_EXPORT PFNGLBINDPROGRAMPIPELINEPROC __glewBindProgramPipeline; +GLEW_FUN_EXPORT PFNGLCREATESHADERPROGRAMVPROC __glewCreateShaderProgramv; +GLEW_FUN_EXPORT PFNGLDELETEPROGRAMPIPELINESPROC __glewDeleteProgramPipelines; +GLEW_FUN_EXPORT PFNGLGENPROGRAMPIPELINESPROC __glewGenProgramPipelines; +GLEW_FUN_EXPORT PFNGLGETPROGRAMPIPELINEINFOLOGPROC __glewGetProgramPipelineInfoLog; +GLEW_FUN_EXPORT PFNGLGETPROGRAMPIPELINEIVPROC __glewGetProgramPipelineiv; +GLEW_FUN_EXPORT PFNGLISPROGRAMPIPELINEPROC __glewIsProgramPipeline; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1DPROC __glewProgramUniform1d; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1DVPROC __glewProgramUniform1dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1FPROC __glewProgramUniform1f; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1FVPROC __glewProgramUniform1fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1IPROC __glewProgramUniform1i; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1IVPROC __glewProgramUniform1iv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UIPROC __glewProgramUniform1ui; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UIVPROC __glewProgramUniform1uiv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2DPROC __glewProgramUniform2d; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2DVPROC __glewProgramUniform2dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2FPROC __glewProgramUniform2f; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2FVPROC __glewProgramUniform2fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2IPROC __glewProgramUniform2i; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2IVPROC __glewProgramUniform2iv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UIPROC __glewProgramUniform2ui; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UIVPROC __glewProgramUniform2uiv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3DPROC __glewProgramUniform3d; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3DVPROC __glewProgramUniform3dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3FPROC __glewProgramUniform3f; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3FVPROC __glewProgramUniform3fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3IPROC __glewProgramUniform3i; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3IVPROC __glewProgramUniform3iv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UIPROC __glewProgramUniform3ui; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UIVPROC __glewProgramUniform3uiv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4DPROC __glewProgramUniform4d; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4DVPROC __glewProgramUniform4dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4FPROC __glewProgramUniform4f; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4FVPROC __glewProgramUniform4fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4IPROC __glewProgramUniform4i; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4IVPROC __glewProgramUniform4iv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UIPROC __glewProgramUniform4ui; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UIVPROC __glewProgramUniform4uiv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2DVPROC __glewProgramUniformMatrix2dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2FVPROC __glewProgramUniformMatrix2fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X3DVPROC __glewProgramUniformMatrix2x3dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X3FVPROC __glewProgramUniformMatrix2x3fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X4DVPROC __glewProgramUniformMatrix2x4dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X4FVPROC __glewProgramUniformMatrix2x4fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3DVPROC __glewProgramUniformMatrix3dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3FVPROC __glewProgramUniformMatrix3fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X2DVPROC __glewProgramUniformMatrix3x2dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X2FVPROC __glewProgramUniformMatrix3x2fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X4DVPROC __glewProgramUniformMatrix3x4dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X4FVPROC __glewProgramUniformMatrix3x4fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4DVPROC __glewProgramUniformMatrix4dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4FVPROC __glewProgramUniformMatrix4fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X2DVPROC __glewProgramUniformMatrix4x2dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X2FVPROC __glewProgramUniformMatrix4x2fv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X3DVPROC __glewProgramUniformMatrix4x3dv; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X3FVPROC __glewProgramUniformMatrix4x3fv; +GLEW_FUN_EXPORT PFNGLUSEPROGRAMSTAGESPROC __glewUseProgramStages; +GLEW_FUN_EXPORT PFNGLVALIDATEPROGRAMPIPELINEPROC __glewValidateProgramPipeline; + +GLEW_FUN_EXPORT PFNGLATTACHOBJECTARBPROC __glewAttachObjectARB; +GLEW_FUN_EXPORT PFNGLCOMPILESHADERARBPROC __glewCompileShaderARB; +GLEW_FUN_EXPORT PFNGLCREATEPROGRAMOBJECTARBPROC __glewCreateProgramObjectARB; +GLEW_FUN_EXPORT PFNGLCREATESHADEROBJECTARBPROC __glewCreateShaderObjectARB; +GLEW_FUN_EXPORT PFNGLDELETEOBJECTARBPROC __glewDeleteObjectARB; +GLEW_FUN_EXPORT PFNGLDETACHOBJECTARBPROC __glewDetachObjectARB; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMARBPROC __glewGetActiveUniformARB; +GLEW_FUN_EXPORT PFNGLGETATTACHEDOBJECTSARBPROC __glewGetAttachedObjectsARB; +GLEW_FUN_EXPORT PFNGLGETHANDLEARBPROC __glewGetHandleARB; +GLEW_FUN_EXPORT PFNGLGETINFOLOGARBPROC __glewGetInfoLogARB; +GLEW_FUN_EXPORT PFNGLGETOBJECTPARAMETERFVARBPROC __glewGetObjectParameterfvARB; +GLEW_FUN_EXPORT PFNGLGETOBJECTPARAMETERIVARBPROC __glewGetObjectParameterivARB; +GLEW_FUN_EXPORT PFNGLGETSHADERSOURCEARBPROC __glewGetShaderSourceARB; +GLEW_FUN_EXPORT PFNGLGETUNIFORMLOCATIONARBPROC __glewGetUniformLocationARB; +GLEW_FUN_EXPORT PFNGLGETUNIFORMFVARBPROC __glewGetUniformfvARB; +GLEW_FUN_EXPORT PFNGLGETUNIFORMIVARBPROC __glewGetUniformivARB; +GLEW_FUN_EXPORT PFNGLLINKPROGRAMARBPROC __glewLinkProgramARB; +GLEW_FUN_EXPORT PFNGLSHADERSOURCEARBPROC __glewShaderSourceARB; +GLEW_FUN_EXPORT PFNGLUNIFORM1FARBPROC __glewUniform1fARB; +GLEW_FUN_EXPORT PFNGLUNIFORM1FVARBPROC __glewUniform1fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORM1IARBPROC __glewUniform1iARB; +GLEW_FUN_EXPORT PFNGLUNIFORM1IVARBPROC __glewUniform1ivARB; +GLEW_FUN_EXPORT PFNGLUNIFORM2FARBPROC __glewUniform2fARB; +GLEW_FUN_EXPORT PFNGLUNIFORM2FVARBPROC __glewUniform2fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORM2IARBPROC __glewUniform2iARB; +GLEW_FUN_EXPORT PFNGLUNIFORM2IVARBPROC __glewUniform2ivARB; +GLEW_FUN_EXPORT PFNGLUNIFORM3FARBPROC __glewUniform3fARB; +GLEW_FUN_EXPORT PFNGLUNIFORM3FVARBPROC __glewUniform3fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORM3IARBPROC __glewUniform3iARB; +GLEW_FUN_EXPORT PFNGLUNIFORM3IVARBPROC __glewUniform3ivARB; +GLEW_FUN_EXPORT PFNGLUNIFORM4FARBPROC __glewUniform4fARB; +GLEW_FUN_EXPORT PFNGLUNIFORM4FVARBPROC __glewUniform4fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORM4IARBPROC __glewUniform4iARB; +GLEW_FUN_EXPORT PFNGLUNIFORM4IVARBPROC __glewUniform4ivARB; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX2FVARBPROC __glewUniformMatrix2fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX3FVARBPROC __glewUniformMatrix3fvARB; +GLEW_FUN_EXPORT PFNGLUNIFORMMATRIX4FVARBPROC __glewUniformMatrix4fvARB; +GLEW_FUN_EXPORT PFNGLUSEPROGRAMOBJECTARBPROC __glewUseProgramObjectARB; +GLEW_FUN_EXPORT PFNGLVALIDATEPROGRAMARBPROC __glewValidateProgramARB; + +GLEW_FUN_EXPORT PFNGLGETACTIVESUBROUTINENAMEPROC __glewGetActiveSubroutineName; +GLEW_FUN_EXPORT PFNGLGETACTIVESUBROUTINEUNIFORMNAMEPROC __glewGetActiveSubroutineUniformName; +GLEW_FUN_EXPORT PFNGLGETACTIVESUBROUTINEUNIFORMIVPROC __glewGetActiveSubroutineUniformiv; +GLEW_FUN_EXPORT PFNGLGETPROGRAMSTAGEIVPROC __glewGetProgramStageiv; +GLEW_FUN_EXPORT PFNGLGETSUBROUTINEINDEXPROC __glewGetSubroutineIndex; +GLEW_FUN_EXPORT PFNGLGETSUBROUTINEUNIFORMLOCATIONPROC __glewGetSubroutineUniformLocation; +GLEW_FUN_EXPORT PFNGLGETUNIFORMSUBROUTINEUIVPROC __glewGetUniformSubroutineuiv; +GLEW_FUN_EXPORT PFNGLUNIFORMSUBROUTINESUIVPROC __glewUniformSubroutinesuiv; + +GLEW_FUN_EXPORT PFNGLCOMPILESHADERINCLUDEARBPROC __glewCompileShaderIncludeARB; +GLEW_FUN_EXPORT PFNGLDELETENAMEDSTRINGARBPROC __glewDeleteNamedStringARB; +GLEW_FUN_EXPORT PFNGLGETNAMEDSTRINGARBPROC __glewGetNamedStringARB; +GLEW_FUN_EXPORT PFNGLGETNAMEDSTRINGIVARBPROC __glewGetNamedStringivARB; +GLEW_FUN_EXPORT PFNGLISNAMEDSTRINGARBPROC __glewIsNamedStringARB; +GLEW_FUN_EXPORT PFNGLNAMEDSTRINGARBPROC __glewNamedStringARB; + +GLEW_FUN_EXPORT PFNGLCLIENTWAITSYNCPROC __glewClientWaitSync; +GLEW_FUN_EXPORT PFNGLDELETESYNCPROC __glewDeleteSync; +GLEW_FUN_EXPORT PFNGLFENCESYNCPROC __glewFenceSync; +GLEW_FUN_EXPORT PFNGLGETINTEGER64VPROC __glewGetInteger64v; +GLEW_FUN_EXPORT PFNGLGETSYNCIVPROC __glewGetSynciv; +GLEW_FUN_EXPORT PFNGLISSYNCPROC __glewIsSync; +GLEW_FUN_EXPORT PFNGLWAITSYNCPROC __glewWaitSync; + +GLEW_FUN_EXPORT PFNGLPATCHPARAMETERFVPROC __glewPatchParameterfv; +GLEW_FUN_EXPORT PFNGLPATCHPARAMETERIPROC __glewPatchParameteri; + +GLEW_FUN_EXPORT PFNGLTEXBUFFERARBPROC __glewTexBufferARB; + +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE1DARBPROC __glewCompressedTexImage1DARB; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE2DARBPROC __glewCompressedTexImage2DARB; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXIMAGE3DARBPROC __glewCompressedTexImage3DARB; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE1DARBPROC __glewCompressedTexSubImage1DARB; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE2DARBPROC __glewCompressedTexSubImage2DARB; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXSUBIMAGE3DARBPROC __glewCompressedTexSubImage3DARB; +GLEW_FUN_EXPORT PFNGLGETCOMPRESSEDTEXIMAGEARBPROC __glewGetCompressedTexImageARB; + +GLEW_FUN_EXPORT PFNGLGETMULTISAMPLEFVPROC __glewGetMultisamplefv; +GLEW_FUN_EXPORT PFNGLSAMPLEMASKIPROC __glewSampleMaski; +GLEW_FUN_EXPORT PFNGLTEXIMAGE2DMULTISAMPLEPROC __glewTexImage2DMultisample; +GLEW_FUN_EXPORT PFNGLTEXIMAGE3DMULTISAMPLEPROC __glewTexImage3DMultisample; + +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTI64VPROC __glewGetQueryObjecti64v; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTUI64VPROC __glewGetQueryObjectui64v; +GLEW_FUN_EXPORT PFNGLQUERYCOUNTERPROC __glewQueryCounter; + +GLEW_FUN_EXPORT PFNGLBINDTRANSFORMFEEDBACKPROC __glewBindTransformFeedback; +GLEW_FUN_EXPORT PFNGLDELETETRANSFORMFEEDBACKSPROC __glewDeleteTransformFeedbacks; +GLEW_FUN_EXPORT PFNGLDRAWTRANSFORMFEEDBACKPROC __glewDrawTransformFeedback; +GLEW_FUN_EXPORT PFNGLGENTRANSFORMFEEDBACKSPROC __glewGenTransformFeedbacks; +GLEW_FUN_EXPORT PFNGLISTRANSFORMFEEDBACKPROC __glewIsTransformFeedback; +GLEW_FUN_EXPORT PFNGLPAUSETRANSFORMFEEDBACKPROC __glewPauseTransformFeedback; +GLEW_FUN_EXPORT PFNGLRESUMETRANSFORMFEEDBACKPROC __glewResumeTransformFeedback; + +GLEW_FUN_EXPORT PFNGLBEGINQUERYINDEXEDPROC __glewBeginQueryIndexed; +GLEW_FUN_EXPORT PFNGLDRAWTRANSFORMFEEDBACKSTREAMPROC __glewDrawTransformFeedbackStream; +GLEW_FUN_EXPORT PFNGLENDQUERYINDEXEDPROC __glewEndQueryIndexed; +GLEW_FUN_EXPORT PFNGLGETQUERYINDEXEDIVPROC __glewGetQueryIndexediv; + +GLEW_FUN_EXPORT PFNGLLOADTRANSPOSEMATRIXDARBPROC __glewLoadTransposeMatrixdARB; +GLEW_FUN_EXPORT PFNGLLOADTRANSPOSEMATRIXFARBPROC __glewLoadTransposeMatrixfARB; +GLEW_FUN_EXPORT PFNGLMULTTRANSPOSEMATRIXDARBPROC __glewMultTransposeMatrixdARB; +GLEW_FUN_EXPORT PFNGLMULTTRANSPOSEMATRIXFARBPROC __glewMultTransposeMatrixfARB; + +GLEW_FUN_EXPORT PFNGLBINDBUFFERBASEPROC __glewBindBufferBase; +GLEW_FUN_EXPORT PFNGLBINDBUFFERRANGEPROC __glewBindBufferRange; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMBLOCKNAMEPROC __glewGetActiveUniformBlockName; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMBLOCKIVPROC __glewGetActiveUniformBlockiv; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMNAMEPROC __glewGetActiveUniformName; +GLEW_FUN_EXPORT PFNGLGETACTIVEUNIFORMSIVPROC __glewGetActiveUniformsiv; +GLEW_FUN_EXPORT PFNGLGETINTEGERI_VPROC __glewGetIntegeri_v; +GLEW_FUN_EXPORT PFNGLGETUNIFORMBLOCKINDEXPROC __glewGetUniformBlockIndex; +GLEW_FUN_EXPORT PFNGLGETUNIFORMINDICESPROC __glewGetUniformIndices; +GLEW_FUN_EXPORT PFNGLUNIFORMBLOCKBINDINGPROC __glewUniformBlockBinding; + +GLEW_FUN_EXPORT PFNGLBINDVERTEXARRAYPROC __glewBindVertexArray; +GLEW_FUN_EXPORT PFNGLDELETEVERTEXARRAYSPROC __glewDeleteVertexArrays; +GLEW_FUN_EXPORT PFNGLGENVERTEXARRAYSPROC __glewGenVertexArrays; +GLEW_FUN_EXPORT PFNGLISVERTEXARRAYPROC __glewIsVertexArray; + +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBLDVPROC __glewGetVertexAttribLdv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1DPROC __glewVertexAttribL1d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1DVPROC __glewVertexAttribL1dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2DPROC __glewVertexAttribL2d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2DVPROC __glewVertexAttribL2dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3DPROC __glewVertexAttribL3d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3DVPROC __glewVertexAttribL3dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4DPROC __glewVertexAttribL4d; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4DVPROC __glewVertexAttribL4dv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBLPOINTERPROC __glewVertexAttribLPointer; + +GLEW_FUN_EXPORT PFNGLVERTEXBLENDARBPROC __glewVertexBlendARB; +GLEW_FUN_EXPORT PFNGLWEIGHTPOINTERARBPROC __glewWeightPointerARB; +GLEW_FUN_EXPORT PFNGLWEIGHTBVARBPROC __glewWeightbvARB; +GLEW_FUN_EXPORT PFNGLWEIGHTDVARBPROC __glewWeightdvARB; +GLEW_FUN_EXPORT PFNGLWEIGHTFVARBPROC __glewWeightfvARB; +GLEW_FUN_EXPORT PFNGLWEIGHTIVARBPROC __glewWeightivARB; +GLEW_FUN_EXPORT PFNGLWEIGHTSVARBPROC __glewWeightsvARB; +GLEW_FUN_EXPORT PFNGLWEIGHTUBVARBPROC __glewWeightubvARB; +GLEW_FUN_EXPORT PFNGLWEIGHTUIVARBPROC __glewWeightuivARB; +GLEW_FUN_EXPORT PFNGLWEIGHTUSVARBPROC __glewWeightusvARB; + +GLEW_FUN_EXPORT PFNGLBINDBUFFERARBPROC __glewBindBufferARB; +GLEW_FUN_EXPORT PFNGLBUFFERDATAARBPROC __glewBufferDataARB; +GLEW_FUN_EXPORT PFNGLBUFFERSUBDATAARBPROC __glewBufferSubDataARB; +GLEW_FUN_EXPORT PFNGLDELETEBUFFERSARBPROC __glewDeleteBuffersARB; +GLEW_FUN_EXPORT PFNGLGENBUFFERSARBPROC __glewGenBuffersARB; +GLEW_FUN_EXPORT PFNGLGETBUFFERPARAMETERIVARBPROC __glewGetBufferParameterivARB; +GLEW_FUN_EXPORT PFNGLGETBUFFERPOINTERVARBPROC __glewGetBufferPointervARB; +GLEW_FUN_EXPORT PFNGLGETBUFFERSUBDATAARBPROC __glewGetBufferSubDataARB; +GLEW_FUN_EXPORT PFNGLISBUFFERARBPROC __glewIsBufferARB; +GLEW_FUN_EXPORT PFNGLMAPBUFFERARBPROC __glewMapBufferARB; +GLEW_FUN_EXPORT PFNGLUNMAPBUFFERARBPROC __glewUnmapBufferARB; + +GLEW_FUN_EXPORT PFNGLBINDPROGRAMARBPROC __glewBindProgramARB; +GLEW_FUN_EXPORT PFNGLDELETEPROGRAMSARBPROC __glewDeleteProgramsARB; +GLEW_FUN_EXPORT PFNGLDISABLEVERTEXATTRIBARRAYARBPROC __glewDisableVertexAttribArrayARB; +GLEW_FUN_EXPORT PFNGLENABLEVERTEXATTRIBARRAYARBPROC __glewEnableVertexAttribArrayARB; +GLEW_FUN_EXPORT PFNGLGENPROGRAMSARBPROC __glewGenProgramsARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMENVPARAMETERDVARBPROC __glewGetProgramEnvParameterdvARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMENVPARAMETERFVARBPROC __glewGetProgramEnvParameterfvARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMLOCALPARAMETERDVARBPROC __glewGetProgramLocalParameterdvARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMLOCALPARAMETERFVARBPROC __glewGetProgramLocalParameterfvARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMSTRINGARBPROC __glewGetProgramStringARB; +GLEW_FUN_EXPORT PFNGLGETPROGRAMIVARBPROC __glewGetProgramivARB; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBPOINTERVARBPROC __glewGetVertexAttribPointervARB; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBDVARBPROC __glewGetVertexAttribdvARB; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBFVARBPROC __glewGetVertexAttribfvARB; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIVARBPROC __glewGetVertexAttribivARB; +GLEW_FUN_EXPORT PFNGLISPROGRAMARBPROC __glewIsProgramARB; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETER4DARBPROC __glewProgramEnvParameter4dARB; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETER4DVARBPROC __glewProgramEnvParameter4dvARB; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETER4FARBPROC __glewProgramEnvParameter4fARB; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETER4FVARBPROC __glewProgramEnvParameter4fvARB; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETER4DARBPROC __glewProgramLocalParameter4dARB; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETER4DVARBPROC __glewProgramLocalParameter4dvARB; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETER4FARBPROC __glewProgramLocalParameter4fARB; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETER4FVARBPROC __glewProgramLocalParameter4fvARB; +GLEW_FUN_EXPORT PFNGLPROGRAMSTRINGARBPROC __glewProgramStringARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DARBPROC __glewVertexAttrib1dARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DVARBPROC __glewVertexAttrib1dvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FARBPROC __glewVertexAttrib1fARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FVARBPROC __glewVertexAttrib1fvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SARBPROC __glewVertexAttrib1sARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SVARBPROC __glewVertexAttrib1svARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DARBPROC __glewVertexAttrib2dARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DVARBPROC __glewVertexAttrib2dvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FARBPROC __glewVertexAttrib2fARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FVARBPROC __glewVertexAttrib2fvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SARBPROC __glewVertexAttrib2sARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SVARBPROC __glewVertexAttrib2svARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DARBPROC __glewVertexAttrib3dARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DVARBPROC __glewVertexAttrib3dvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FARBPROC __glewVertexAttrib3fARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FVARBPROC __glewVertexAttrib3fvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SARBPROC __glewVertexAttrib3sARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SVARBPROC __glewVertexAttrib3svARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NBVARBPROC __glewVertexAttrib4NbvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NIVARBPROC __glewVertexAttrib4NivARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NSVARBPROC __glewVertexAttrib4NsvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUBARBPROC __glewVertexAttrib4NubARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUBVARBPROC __glewVertexAttrib4NubvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUIVARBPROC __glewVertexAttrib4NuivARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4NUSVARBPROC __glewVertexAttrib4NusvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4BVARBPROC __glewVertexAttrib4bvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DARBPROC __glewVertexAttrib4dARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DVARBPROC __glewVertexAttrib4dvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FARBPROC __glewVertexAttrib4fARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FVARBPROC __glewVertexAttrib4fvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4IVARBPROC __glewVertexAttrib4ivARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SARBPROC __glewVertexAttrib4sARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SVARBPROC __glewVertexAttrib4svARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UBVARBPROC __glewVertexAttrib4ubvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UIVARBPROC __glewVertexAttrib4uivARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4USVARBPROC __glewVertexAttrib4usvARB; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBPOINTERARBPROC __glewVertexAttribPointerARB; + +GLEW_FUN_EXPORT PFNGLBINDATTRIBLOCATIONARBPROC __glewBindAttribLocationARB; +GLEW_FUN_EXPORT PFNGLGETACTIVEATTRIBARBPROC __glewGetActiveAttribARB; +GLEW_FUN_EXPORT PFNGLGETATTRIBLOCATIONARBPROC __glewGetAttribLocationARB; + +GLEW_FUN_EXPORT PFNGLCOLORP3UIPROC __glewColorP3ui; +GLEW_FUN_EXPORT PFNGLCOLORP3UIVPROC __glewColorP3uiv; +GLEW_FUN_EXPORT PFNGLCOLORP4UIPROC __glewColorP4ui; +GLEW_FUN_EXPORT PFNGLCOLORP4UIVPROC __glewColorP4uiv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP1UIPROC __glewMultiTexCoordP1ui; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP1UIVPROC __glewMultiTexCoordP1uiv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP2UIPROC __glewMultiTexCoordP2ui; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP2UIVPROC __glewMultiTexCoordP2uiv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP3UIPROC __glewMultiTexCoordP3ui; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP3UIVPROC __glewMultiTexCoordP3uiv; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP4UIPROC __glewMultiTexCoordP4ui; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDP4UIVPROC __glewMultiTexCoordP4uiv; +GLEW_FUN_EXPORT PFNGLNORMALP3UIPROC __glewNormalP3ui; +GLEW_FUN_EXPORT PFNGLNORMALP3UIVPROC __glewNormalP3uiv; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORP3UIPROC __glewSecondaryColorP3ui; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORP3UIVPROC __glewSecondaryColorP3uiv; +GLEW_FUN_EXPORT PFNGLTEXCOORDP1UIPROC __glewTexCoordP1ui; +GLEW_FUN_EXPORT PFNGLTEXCOORDP1UIVPROC __glewTexCoordP1uiv; +GLEW_FUN_EXPORT PFNGLTEXCOORDP2UIPROC __glewTexCoordP2ui; +GLEW_FUN_EXPORT PFNGLTEXCOORDP2UIVPROC __glewTexCoordP2uiv; +GLEW_FUN_EXPORT PFNGLTEXCOORDP3UIPROC __glewTexCoordP3ui; +GLEW_FUN_EXPORT PFNGLTEXCOORDP3UIVPROC __glewTexCoordP3uiv; +GLEW_FUN_EXPORT PFNGLTEXCOORDP4UIPROC __glewTexCoordP4ui; +GLEW_FUN_EXPORT PFNGLTEXCOORDP4UIVPROC __glewTexCoordP4uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP1UIPROC __glewVertexAttribP1ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP1UIVPROC __glewVertexAttribP1uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP2UIPROC __glewVertexAttribP2ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP2UIVPROC __glewVertexAttribP2uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP3UIPROC __glewVertexAttribP3ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP3UIVPROC __glewVertexAttribP3uiv; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP4UIPROC __glewVertexAttribP4ui; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBP4UIVPROC __glewVertexAttribP4uiv; +GLEW_FUN_EXPORT PFNGLVERTEXP2UIPROC __glewVertexP2ui; +GLEW_FUN_EXPORT PFNGLVERTEXP2UIVPROC __glewVertexP2uiv; +GLEW_FUN_EXPORT PFNGLVERTEXP3UIPROC __glewVertexP3ui; +GLEW_FUN_EXPORT PFNGLVERTEXP3UIVPROC __glewVertexP3uiv; +GLEW_FUN_EXPORT PFNGLVERTEXP4UIPROC __glewVertexP4ui; +GLEW_FUN_EXPORT PFNGLVERTEXP4UIVPROC __glewVertexP4uiv; + +GLEW_FUN_EXPORT PFNGLDEPTHRANGEARRAYVPROC __glewDepthRangeArrayv; +GLEW_FUN_EXPORT PFNGLDEPTHRANGEINDEXEDPROC __glewDepthRangeIndexed; +GLEW_FUN_EXPORT PFNGLGETDOUBLEI_VPROC __glewGetDoublei_v; +GLEW_FUN_EXPORT PFNGLGETFLOATI_VPROC __glewGetFloati_v; +GLEW_FUN_EXPORT PFNGLSCISSORARRAYVPROC __glewScissorArrayv; +GLEW_FUN_EXPORT PFNGLSCISSORINDEXEDPROC __glewScissorIndexed; +GLEW_FUN_EXPORT PFNGLSCISSORINDEXEDVPROC __glewScissorIndexedv; +GLEW_FUN_EXPORT PFNGLVIEWPORTARRAYVPROC __glewViewportArrayv; +GLEW_FUN_EXPORT PFNGLVIEWPORTINDEXEDFPROC __glewViewportIndexedf; +GLEW_FUN_EXPORT PFNGLVIEWPORTINDEXEDFVPROC __glewViewportIndexedfv; + +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DARBPROC __glewWindowPos2dARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DVARBPROC __glewWindowPos2dvARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FARBPROC __glewWindowPos2fARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FVARBPROC __glewWindowPos2fvARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IARBPROC __glewWindowPos2iARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IVARBPROC __glewWindowPos2ivARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SARBPROC __glewWindowPos2sARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SVARBPROC __glewWindowPos2svARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DARBPROC __glewWindowPos3dARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DVARBPROC __glewWindowPos3dvARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FARBPROC __glewWindowPos3fARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FVARBPROC __glewWindowPos3fvARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IARBPROC __glewWindowPos3iARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IVARBPROC __glewWindowPos3ivARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SARBPROC __glewWindowPos3sARB; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SVARBPROC __glewWindowPos3svARB; + +GLEW_FUN_EXPORT PFNGLDRAWBUFFERSATIPROC __glewDrawBuffersATI; + +GLEW_FUN_EXPORT PFNGLDRAWELEMENTARRAYATIPROC __glewDrawElementArrayATI; +GLEW_FUN_EXPORT PFNGLDRAWRANGEELEMENTARRAYATIPROC __glewDrawRangeElementArrayATI; +GLEW_FUN_EXPORT PFNGLELEMENTPOINTERATIPROC __glewElementPointerATI; + +GLEW_FUN_EXPORT PFNGLGETTEXBUMPPARAMETERFVATIPROC __glewGetTexBumpParameterfvATI; +GLEW_FUN_EXPORT PFNGLGETTEXBUMPPARAMETERIVATIPROC __glewGetTexBumpParameterivATI; +GLEW_FUN_EXPORT PFNGLTEXBUMPPARAMETERFVATIPROC __glewTexBumpParameterfvATI; +GLEW_FUN_EXPORT PFNGLTEXBUMPPARAMETERIVATIPROC __glewTexBumpParameterivATI; + +GLEW_FUN_EXPORT PFNGLALPHAFRAGMENTOP1ATIPROC __glewAlphaFragmentOp1ATI; +GLEW_FUN_EXPORT PFNGLALPHAFRAGMENTOP2ATIPROC __glewAlphaFragmentOp2ATI; +GLEW_FUN_EXPORT PFNGLALPHAFRAGMENTOP3ATIPROC __glewAlphaFragmentOp3ATI; +GLEW_FUN_EXPORT PFNGLBEGINFRAGMENTSHADERATIPROC __glewBeginFragmentShaderATI; +GLEW_FUN_EXPORT PFNGLBINDFRAGMENTSHADERATIPROC __glewBindFragmentShaderATI; +GLEW_FUN_EXPORT PFNGLCOLORFRAGMENTOP1ATIPROC __glewColorFragmentOp1ATI; +GLEW_FUN_EXPORT PFNGLCOLORFRAGMENTOP2ATIPROC __glewColorFragmentOp2ATI; +GLEW_FUN_EXPORT PFNGLCOLORFRAGMENTOP3ATIPROC __glewColorFragmentOp3ATI; +GLEW_FUN_EXPORT PFNGLDELETEFRAGMENTSHADERATIPROC __glewDeleteFragmentShaderATI; +GLEW_FUN_EXPORT PFNGLENDFRAGMENTSHADERATIPROC __glewEndFragmentShaderATI; +GLEW_FUN_EXPORT PFNGLGENFRAGMENTSHADERSATIPROC __glewGenFragmentShadersATI; +GLEW_FUN_EXPORT PFNGLPASSTEXCOORDATIPROC __glewPassTexCoordATI; +GLEW_FUN_EXPORT PFNGLSAMPLEMAPATIPROC __glewSampleMapATI; +GLEW_FUN_EXPORT PFNGLSETFRAGMENTSHADERCONSTANTATIPROC __glewSetFragmentShaderConstantATI; + +GLEW_FUN_EXPORT PFNGLMAPOBJECTBUFFERATIPROC __glewMapObjectBufferATI; +GLEW_FUN_EXPORT PFNGLUNMAPOBJECTBUFFERATIPROC __glewUnmapObjectBufferATI; + +GLEW_FUN_EXPORT PFNGLPNTRIANGLESFATIPROC __glewPNTrianglesfATI; +GLEW_FUN_EXPORT PFNGLPNTRIANGLESIATIPROC __glewPNTrianglesiATI; + +GLEW_FUN_EXPORT PFNGLSTENCILFUNCSEPARATEATIPROC __glewStencilFuncSeparateATI; +GLEW_FUN_EXPORT PFNGLSTENCILOPSEPARATEATIPROC __glewStencilOpSeparateATI; + +GLEW_FUN_EXPORT PFNGLARRAYOBJECTATIPROC __glewArrayObjectATI; +GLEW_FUN_EXPORT PFNGLFREEOBJECTBUFFERATIPROC __glewFreeObjectBufferATI; +GLEW_FUN_EXPORT PFNGLGETARRAYOBJECTFVATIPROC __glewGetArrayObjectfvATI; +GLEW_FUN_EXPORT PFNGLGETARRAYOBJECTIVATIPROC __glewGetArrayObjectivATI; +GLEW_FUN_EXPORT PFNGLGETOBJECTBUFFERFVATIPROC __glewGetObjectBufferfvATI; +GLEW_FUN_EXPORT PFNGLGETOBJECTBUFFERIVATIPROC __glewGetObjectBufferivATI; +GLEW_FUN_EXPORT PFNGLGETVARIANTARRAYOBJECTFVATIPROC __glewGetVariantArrayObjectfvATI; +GLEW_FUN_EXPORT PFNGLGETVARIANTARRAYOBJECTIVATIPROC __glewGetVariantArrayObjectivATI; +GLEW_FUN_EXPORT PFNGLISOBJECTBUFFERATIPROC __glewIsObjectBufferATI; +GLEW_FUN_EXPORT PFNGLNEWOBJECTBUFFERATIPROC __glewNewObjectBufferATI; +GLEW_FUN_EXPORT PFNGLUPDATEOBJECTBUFFERATIPROC __glewUpdateObjectBufferATI; +GLEW_FUN_EXPORT PFNGLVARIANTARRAYOBJECTATIPROC __glewVariantArrayObjectATI; + +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBARRAYOBJECTFVATIPROC __glewGetVertexAttribArrayObjectfvATI; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBARRAYOBJECTIVATIPROC __glewGetVertexAttribArrayObjectivATI; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBARRAYOBJECTATIPROC __glewVertexAttribArrayObjectATI; + +GLEW_FUN_EXPORT PFNGLCLIENTACTIVEVERTEXSTREAMATIPROC __glewClientActiveVertexStreamATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3BATIPROC __glewNormalStream3bATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3BVATIPROC __glewNormalStream3bvATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3DATIPROC __glewNormalStream3dATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3DVATIPROC __glewNormalStream3dvATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3FATIPROC __glewNormalStream3fATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3FVATIPROC __glewNormalStream3fvATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3IATIPROC __glewNormalStream3iATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3IVATIPROC __glewNormalStream3ivATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3SATIPROC __glewNormalStream3sATI; +GLEW_FUN_EXPORT PFNGLNORMALSTREAM3SVATIPROC __glewNormalStream3svATI; +GLEW_FUN_EXPORT PFNGLVERTEXBLENDENVFATIPROC __glewVertexBlendEnvfATI; +GLEW_FUN_EXPORT PFNGLVERTEXBLENDENVIATIPROC __glewVertexBlendEnviATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2DATIPROC __glewVertexStream2dATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2DVATIPROC __glewVertexStream2dvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2FATIPROC __glewVertexStream2fATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2FVATIPROC __glewVertexStream2fvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2IATIPROC __glewVertexStream2iATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2IVATIPROC __glewVertexStream2ivATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2SATIPROC __glewVertexStream2sATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM2SVATIPROC __glewVertexStream2svATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3DATIPROC __glewVertexStream3dATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3DVATIPROC __glewVertexStream3dvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3FATIPROC __glewVertexStream3fATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3FVATIPROC __glewVertexStream3fvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3IATIPROC __glewVertexStream3iATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3IVATIPROC __glewVertexStream3ivATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3SATIPROC __glewVertexStream3sATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM3SVATIPROC __glewVertexStream3svATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4DATIPROC __glewVertexStream4dATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4DVATIPROC __glewVertexStream4dvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4FATIPROC __glewVertexStream4fATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4FVATIPROC __glewVertexStream4fvATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4IATIPROC __glewVertexStream4iATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4IVATIPROC __glewVertexStream4ivATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4SATIPROC __glewVertexStream4sATI; +GLEW_FUN_EXPORT PFNGLVERTEXSTREAM4SVATIPROC __glewVertexStream4svATI; + +GLEW_FUN_EXPORT PFNGLGETUNIFORMBUFFERSIZEEXTPROC __glewGetUniformBufferSizeEXT; +GLEW_FUN_EXPORT PFNGLGETUNIFORMOFFSETEXTPROC __glewGetUniformOffsetEXT; +GLEW_FUN_EXPORT PFNGLUNIFORMBUFFEREXTPROC __glewUniformBufferEXT; + +GLEW_FUN_EXPORT PFNGLBLENDCOLOREXTPROC __glewBlendColorEXT; + +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONSEPARATEEXTPROC __glewBlendEquationSeparateEXT; + +GLEW_FUN_EXPORT PFNGLBLENDFUNCSEPARATEEXTPROC __glewBlendFuncSeparateEXT; + +GLEW_FUN_EXPORT PFNGLBLENDEQUATIONEXTPROC __glewBlendEquationEXT; + +GLEW_FUN_EXPORT PFNGLCOLORSUBTABLEEXTPROC __glewColorSubTableEXT; +GLEW_FUN_EXPORT PFNGLCOPYCOLORSUBTABLEEXTPROC __glewCopyColorSubTableEXT; + +GLEW_FUN_EXPORT PFNGLLOCKARRAYSEXTPROC __glewLockArraysEXT; +GLEW_FUN_EXPORT PFNGLUNLOCKARRAYSEXTPROC __glewUnlockArraysEXT; + +GLEW_FUN_EXPORT PFNGLCONVOLUTIONFILTER1DEXTPROC __glewConvolutionFilter1DEXT; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONFILTER2DEXTPROC __glewConvolutionFilter2DEXT; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERFEXTPROC __glewConvolutionParameterfEXT; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERFVEXTPROC __glewConvolutionParameterfvEXT; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERIEXTPROC __glewConvolutionParameteriEXT; +GLEW_FUN_EXPORT PFNGLCONVOLUTIONPARAMETERIVEXTPROC __glewConvolutionParameterivEXT; +GLEW_FUN_EXPORT PFNGLCOPYCONVOLUTIONFILTER1DEXTPROC __glewCopyConvolutionFilter1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYCONVOLUTIONFILTER2DEXTPROC __glewCopyConvolutionFilter2DEXT; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONFILTEREXTPROC __glewGetConvolutionFilterEXT; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONPARAMETERFVEXTPROC __glewGetConvolutionParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETCONVOLUTIONPARAMETERIVEXTPROC __glewGetConvolutionParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETSEPARABLEFILTEREXTPROC __glewGetSeparableFilterEXT; +GLEW_FUN_EXPORT PFNGLSEPARABLEFILTER2DEXTPROC __glewSeparableFilter2DEXT; + +GLEW_FUN_EXPORT PFNGLBINORMALPOINTEREXTPROC __glewBinormalPointerEXT; +GLEW_FUN_EXPORT PFNGLTANGENTPOINTEREXTPROC __glewTangentPointerEXT; + +GLEW_FUN_EXPORT PFNGLCOPYTEXIMAGE1DEXTPROC __glewCopyTexImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXIMAGE2DEXTPROC __glewCopyTexImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXSUBIMAGE1DEXTPROC __glewCopyTexSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXSUBIMAGE2DEXTPROC __glewCopyTexSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXSUBIMAGE3DEXTPROC __glewCopyTexSubImage3DEXT; + +GLEW_FUN_EXPORT PFNGLCULLPARAMETERDVEXTPROC __glewCullParameterdvEXT; +GLEW_FUN_EXPORT PFNGLCULLPARAMETERFVEXTPROC __glewCullParameterfvEXT; + +GLEW_FUN_EXPORT PFNGLDEPTHBOUNDSEXTPROC __glewDepthBoundsEXT; + +GLEW_FUN_EXPORT PFNGLBINDMULTITEXTUREEXTPROC __glewBindMultiTextureEXT; +GLEW_FUN_EXPORT PFNGLCHECKNAMEDFRAMEBUFFERSTATUSEXTPROC __glewCheckNamedFramebufferStatusEXT; +GLEW_FUN_EXPORT PFNGLCLIENTATTRIBDEFAULTEXTPROC __glewClientAttribDefaultEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXIMAGE1DEXTPROC __glewCompressedMultiTexImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXIMAGE2DEXTPROC __glewCompressedMultiTexImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXIMAGE3DEXTPROC __glewCompressedMultiTexImage3DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXSUBIMAGE1DEXTPROC __glewCompressedMultiTexSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXSUBIMAGE2DEXTPROC __glewCompressedMultiTexSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDMULTITEXSUBIMAGE3DEXTPROC __glewCompressedMultiTexSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTUREIMAGE1DEXTPROC __glewCompressedTextureImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTUREIMAGE2DEXTPROC __glewCompressedTextureImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTUREIMAGE3DEXTPROC __glewCompressedTextureImage3DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTURESUBIMAGE1DEXTPROC __glewCompressedTextureSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTURESUBIMAGE2DEXTPROC __glewCompressedTextureSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOMPRESSEDTEXTURESUBIMAGE3DEXTPROC __glewCompressedTextureSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLCOPYMULTITEXIMAGE1DEXTPROC __glewCopyMultiTexImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYMULTITEXIMAGE2DEXTPROC __glewCopyMultiTexImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYMULTITEXSUBIMAGE1DEXTPROC __glewCopyMultiTexSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYMULTITEXSUBIMAGE2DEXTPROC __glewCopyMultiTexSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYMULTITEXSUBIMAGE3DEXTPROC __glewCopyMultiTexSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXTUREIMAGE1DEXTPROC __glewCopyTextureImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXTUREIMAGE2DEXTPROC __glewCopyTextureImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXTURESUBIMAGE1DEXTPROC __glewCopyTextureSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXTURESUBIMAGE2DEXTPROC __glewCopyTextureSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLCOPYTEXTURESUBIMAGE3DEXTPROC __glewCopyTextureSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLDISABLECLIENTSTATEINDEXEDEXTPROC __glewDisableClientStateIndexedEXT; +GLEW_FUN_EXPORT PFNGLDISABLECLIENTSTATEIEXTPROC __glewDisableClientStateiEXT; +GLEW_FUN_EXPORT PFNGLDISABLEVERTEXARRAYATTRIBEXTPROC __glewDisableVertexArrayAttribEXT; +GLEW_FUN_EXPORT PFNGLDISABLEVERTEXARRAYEXTPROC __glewDisableVertexArrayEXT; +GLEW_FUN_EXPORT PFNGLENABLECLIENTSTATEINDEXEDEXTPROC __glewEnableClientStateIndexedEXT; +GLEW_FUN_EXPORT PFNGLENABLECLIENTSTATEIEXTPROC __glewEnableClientStateiEXT; +GLEW_FUN_EXPORT PFNGLENABLEVERTEXARRAYATTRIBEXTPROC __glewEnableVertexArrayAttribEXT; +GLEW_FUN_EXPORT PFNGLENABLEVERTEXARRAYEXTPROC __glewEnableVertexArrayEXT; +GLEW_FUN_EXPORT PFNGLFLUSHMAPPEDNAMEDBUFFERRANGEEXTPROC __glewFlushMappedNamedBufferRangeEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERDRAWBUFFEREXTPROC __glewFramebufferDrawBufferEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERDRAWBUFFERSEXTPROC __glewFramebufferDrawBuffersEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERREADBUFFEREXTPROC __glewFramebufferReadBufferEXT; +GLEW_FUN_EXPORT PFNGLGENERATEMULTITEXMIPMAPEXTPROC __glewGenerateMultiTexMipmapEXT; +GLEW_FUN_EXPORT PFNGLGENERATETEXTUREMIPMAPEXTPROC __glewGenerateTextureMipmapEXT; +GLEW_FUN_EXPORT PFNGLGETCOMPRESSEDMULTITEXIMAGEEXTPROC __glewGetCompressedMultiTexImageEXT; +GLEW_FUN_EXPORT PFNGLGETCOMPRESSEDTEXTUREIMAGEEXTPROC __glewGetCompressedTextureImageEXT; +GLEW_FUN_EXPORT PFNGLGETDOUBLEINDEXEDVEXTPROC __glewGetDoubleIndexedvEXT; +GLEW_FUN_EXPORT PFNGLGETDOUBLEI_VEXTPROC __glewGetDoublei_vEXT; +GLEW_FUN_EXPORT PFNGLGETFLOATINDEXEDVEXTPROC __glewGetFloatIndexedvEXT; +GLEW_FUN_EXPORT PFNGLGETFLOATI_VEXTPROC __glewGetFloati_vEXT; +GLEW_FUN_EXPORT PFNGLGETFRAMEBUFFERPARAMETERIVEXTPROC __glewGetFramebufferParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXENVFVEXTPROC __glewGetMultiTexEnvfvEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXENVIVEXTPROC __glewGetMultiTexEnvivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXGENDVEXTPROC __glewGetMultiTexGendvEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXGENFVEXTPROC __glewGetMultiTexGenfvEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXGENIVEXTPROC __glewGetMultiTexGenivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXIMAGEEXTPROC __glewGetMultiTexImageEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXLEVELPARAMETERFVEXTPROC __glewGetMultiTexLevelParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXLEVELPARAMETERIVEXTPROC __glewGetMultiTexLevelParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXPARAMETERIIVEXTPROC __glewGetMultiTexParameterIivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXPARAMETERIUIVEXTPROC __glewGetMultiTexParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXPARAMETERFVEXTPROC __glewGetMultiTexParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETMULTITEXPARAMETERIVEXTPROC __glewGetMultiTexParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDBUFFERPARAMETERIVEXTPROC __glewGetNamedBufferParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDBUFFERPOINTERVEXTPROC __glewGetNamedBufferPointervEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDBUFFERSUBDATAEXTPROC __glewGetNamedBufferSubDataEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC __glewGetNamedFramebufferAttachmentParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMLOCALPARAMETERIIVEXTPROC __glewGetNamedProgramLocalParameterIivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMLOCALPARAMETERIUIVEXTPROC __glewGetNamedProgramLocalParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMLOCALPARAMETERDVEXTPROC __glewGetNamedProgramLocalParameterdvEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMLOCALPARAMETERFVEXTPROC __glewGetNamedProgramLocalParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMSTRINGEXTPROC __glewGetNamedProgramStringEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDPROGRAMIVEXTPROC __glewGetNamedProgramivEXT; +GLEW_FUN_EXPORT PFNGLGETNAMEDRENDERBUFFERPARAMETERIVEXTPROC __glewGetNamedRenderbufferParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETPOINTERINDEXEDVEXTPROC __glewGetPointerIndexedvEXT; +GLEW_FUN_EXPORT PFNGLGETPOINTERI_VEXTPROC __glewGetPointeri_vEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTUREIMAGEEXTPROC __glewGetTextureImageEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTURELEVELPARAMETERFVEXTPROC __glewGetTextureLevelParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTURELEVELPARAMETERIVEXTPROC __glewGetTextureLevelParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTUREPARAMETERIIVEXTPROC __glewGetTextureParameterIivEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTUREPARAMETERIUIVEXTPROC __glewGetTextureParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTUREPARAMETERFVEXTPROC __glewGetTextureParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETTEXTUREPARAMETERIVEXTPROC __glewGetTextureParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXARRAYINTEGERI_VEXTPROC __glewGetVertexArrayIntegeri_vEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXARRAYINTEGERVEXTPROC __glewGetVertexArrayIntegervEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXARRAYPOINTERI_VEXTPROC __glewGetVertexArrayPointeri_vEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXARRAYPOINTERVEXTPROC __glewGetVertexArrayPointervEXT; +GLEW_FUN_EXPORT PFNGLMAPNAMEDBUFFEREXTPROC __glewMapNamedBufferEXT; +GLEW_FUN_EXPORT PFNGLMAPNAMEDBUFFERRANGEEXTPROC __glewMapNamedBufferRangeEXT; +GLEW_FUN_EXPORT PFNGLMATRIXFRUSTUMEXTPROC __glewMatrixFrustumEXT; +GLEW_FUN_EXPORT PFNGLMATRIXLOADIDENTITYEXTPROC __glewMatrixLoadIdentityEXT; +GLEW_FUN_EXPORT PFNGLMATRIXLOADTRANSPOSEDEXTPROC __glewMatrixLoadTransposedEXT; +GLEW_FUN_EXPORT PFNGLMATRIXLOADTRANSPOSEFEXTPROC __glewMatrixLoadTransposefEXT; +GLEW_FUN_EXPORT PFNGLMATRIXLOADDEXTPROC __glewMatrixLoaddEXT; +GLEW_FUN_EXPORT PFNGLMATRIXLOADFEXTPROC __glewMatrixLoadfEXT; +GLEW_FUN_EXPORT PFNGLMATRIXMULTTRANSPOSEDEXTPROC __glewMatrixMultTransposedEXT; +GLEW_FUN_EXPORT PFNGLMATRIXMULTTRANSPOSEFEXTPROC __glewMatrixMultTransposefEXT; +GLEW_FUN_EXPORT PFNGLMATRIXMULTDEXTPROC __glewMatrixMultdEXT; +GLEW_FUN_EXPORT PFNGLMATRIXMULTFEXTPROC __glewMatrixMultfEXT; +GLEW_FUN_EXPORT PFNGLMATRIXORTHOEXTPROC __glewMatrixOrthoEXT; +GLEW_FUN_EXPORT PFNGLMATRIXPOPEXTPROC __glewMatrixPopEXT; +GLEW_FUN_EXPORT PFNGLMATRIXPUSHEXTPROC __glewMatrixPushEXT; +GLEW_FUN_EXPORT PFNGLMATRIXROTATEDEXTPROC __glewMatrixRotatedEXT; +GLEW_FUN_EXPORT PFNGLMATRIXROTATEFEXTPROC __glewMatrixRotatefEXT; +GLEW_FUN_EXPORT PFNGLMATRIXSCALEDEXTPROC __glewMatrixScaledEXT; +GLEW_FUN_EXPORT PFNGLMATRIXSCALEFEXTPROC __glewMatrixScalefEXT; +GLEW_FUN_EXPORT PFNGLMATRIXTRANSLATEDEXTPROC __glewMatrixTranslatedEXT; +GLEW_FUN_EXPORT PFNGLMATRIXTRANSLATEFEXTPROC __glewMatrixTranslatefEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXBUFFEREXTPROC __glewMultiTexBufferEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORDPOINTEREXTPROC __glewMultiTexCoordPointerEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXENVFEXTPROC __glewMultiTexEnvfEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXENVFVEXTPROC __glewMultiTexEnvfvEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXENVIEXTPROC __glewMultiTexEnviEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXENVIVEXTPROC __glewMultiTexEnvivEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENDEXTPROC __glewMultiTexGendEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENDVEXTPROC __glewMultiTexGendvEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENFEXTPROC __glewMultiTexGenfEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENFVEXTPROC __glewMultiTexGenfvEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENIEXTPROC __glewMultiTexGeniEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXGENIVEXTPROC __glewMultiTexGenivEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXIMAGE1DEXTPROC __glewMultiTexImage1DEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXIMAGE2DEXTPROC __glewMultiTexImage2DEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXIMAGE3DEXTPROC __glewMultiTexImage3DEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERIIVEXTPROC __glewMultiTexParameterIivEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERIUIVEXTPROC __glewMultiTexParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERFEXTPROC __glewMultiTexParameterfEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERFVEXTPROC __glewMultiTexParameterfvEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERIEXTPROC __glewMultiTexParameteriEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXPARAMETERIVEXTPROC __glewMultiTexParameterivEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXRENDERBUFFEREXTPROC __glewMultiTexRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXSUBIMAGE1DEXTPROC __glewMultiTexSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXSUBIMAGE2DEXTPROC __glewMultiTexSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLMULTITEXSUBIMAGE3DEXTPROC __glewMultiTexSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLNAMEDBUFFERDATAEXTPROC __glewNamedBufferDataEXT; +GLEW_FUN_EXPORT PFNGLNAMEDBUFFERSUBDATAEXTPROC __glewNamedBufferSubDataEXT; +GLEW_FUN_EXPORT PFNGLNAMEDCOPYBUFFERSUBDATAEXTPROC __glewNamedCopyBufferSubDataEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERRENDERBUFFEREXTPROC __glewNamedFramebufferRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTURE1DEXTPROC __glewNamedFramebufferTexture1DEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTURE2DEXTPROC __glewNamedFramebufferTexture2DEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTURE3DEXTPROC __glewNamedFramebufferTexture3DEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTUREEXTPROC __glewNamedFramebufferTextureEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTUREFACEEXTPROC __glewNamedFramebufferTextureFaceEXT; +GLEW_FUN_EXPORT PFNGLNAMEDFRAMEBUFFERTEXTURELAYEREXTPROC __glewNamedFramebufferTextureLayerEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETER4DEXTPROC __glewNamedProgramLocalParameter4dEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETER4DVEXTPROC __glewNamedProgramLocalParameter4dvEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETER4FEXTPROC __glewNamedProgramLocalParameter4fEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETER4FVEXTPROC __glewNamedProgramLocalParameter4fvEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERI4IEXTPROC __glewNamedProgramLocalParameterI4iEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERI4IVEXTPROC __glewNamedProgramLocalParameterI4ivEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIEXTPROC __glewNamedProgramLocalParameterI4uiEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERI4UIVEXTPROC __glewNamedProgramLocalParameterI4uivEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERS4FVEXTPROC __glewNamedProgramLocalParameters4fvEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERSI4IVEXTPROC __glewNamedProgramLocalParametersI4ivEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMLOCALPARAMETERSI4UIVEXTPROC __glewNamedProgramLocalParametersI4uivEXT; +GLEW_FUN_EXPORT PFNGLNAMEDPROGRAMSTRINGEXTPROC __glewNamedProgramStringEXT; +GLEW_FUN_EXPORT PFNGLNAMEDRENDERBUFFERSTORAGEEXTPROC __glewNamedRenderbufferStorageEXT; +GLEW_FUN_EXPORT PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLECOVERAGEEXTPROC __glewNamedRenderbufferStorageMultisampleCoverageEXT; +GLEW_FUN_EXPORT PFNGLNAMEDRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC __glewNamedRenderbufferStorageMultisampleEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1FEXTPROC __glewProgramUniform1fEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1FVEXTPROC __glewProgramUniform1fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1IEXTPROC __glewProgramUniform1iEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1IVEXTPROC __glewProgramUniform1ivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UIEXTPROC __glewProgramUniform1uiEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UIVEXTPROC __glewProgramUniform1uivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2FEXTPROC __glewProgramUniform2fEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2FVEXTPROC __glewProgramUniform2fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2IEXTPROC __glewProgramUniform2iEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2IVEXTPROC __glewProgramUniform2ivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UIEXTPROC __glewProgramUniform2uiEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UIVEXTPROC __glewProgramUniform2uivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3FEXTPROC __glewProgramUniform3fEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3FVEXTPROC __glewProgramUniform3fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3IEXTPROC __glewProgramUniform3iEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3IVEXTPROC __glewProgramUniform3ivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UIEXTPROC __glewProgramUniform3uiEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UIVEXTPROC __glewProgramUniform3uivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4FEXTPROC __glewProgramUniform4fEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4FVEXTPROC __glewProgramUniform4fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4IEXTPROC __glewProgramUniform4iEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4IVEXTPROC __glewProgramUniform4ivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UIEXTPROC __glewProgramUniform4uiEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UIVEXTPROC __glewProgramUniform4uivEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2FVEXTPROC __glewProgramUniformMatrix2fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X3FVEXTPROC __glewProgramUniformMatrix2x3fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX2X4FVEXTPROC __glewProgramUniformMatrix2x4fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3FVEXTPROC __glewProgramUniformMatrix3fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X2FVEXTPROC __glewProgramUniformMatrix3x2fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX3X4FVEXTPROC __glewProgramUniformMatrix3x4fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4FVEXTPROC __glewProgramUniformMatrix4fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X2FVEXTPROC __glewProgramUniformMatrix4x2fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMMATRIX4X3FVEXTPROC __glewProgramUniformMatrix4x3fvEXT; +GLEW_FUN_EXPORT PFNGLPUSHCLIENTATTRIBDEFAULTEXTPROC __glewPushClientAttribDefaultEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREBUFFEREXTPROC __glewTextureBufferEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE1DEXTPROC __glewTextureImage1DEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE2DEXTPROC __glewTextureImage2DEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE3DEXTPROC __glewTextureImage3DEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERIIVEXTPROC __glewTextureParameterIivEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERIUIVEXTPROC __glewTextureParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERFEXTPROC __glewTextureParameterfEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERFVEXTPROC __glewTextureParameterfvEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERIEXTPROC __glewTextureParameteriEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREPARAMETERIVEXTPROC __glewTextureParameterivEXT; +GLEW_FUN_EXPORT PFNGLTEXTURERENDERBUFFEREXTPROC __glewTextureRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLTEXTURESUBIMAGE1DEXTPROC __glewTextureSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLTEXTURESUBIMAGE2DEXTPROC __glewTextureSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLTEXTURESUBIMAGE3DEXTPROC __glewTextureSubImage3DEXT; +GLEW_FUN_EXPORT PFNGLUNMAPNAMEDBUFFEREXTPROC __glewUnmapNamedBufferEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYCOLOROFFSETEXTPROC __glewVertexArrayColorOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYEDGEFLAGOFFSETEXTPROC __glewVertexArrayEdgeFlagOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYFOGCOORDOFFSETEXTPROC __glewVertexArrayFogCoordOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYINDEXOFFSETEXTPROC __glewVertexArrayIndexOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYMULTITEXCOORDOFFSETEXTPROC __glewVertexArrayMultiTexCoordOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYNORMALOFFSETEXTPROC __glewVertexArrayNormalOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYSECONDARYCOLOROFFSETEXTPROC __glewVertexArraySecondaryColorOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYTEXCOORDOFFSETEXTPROC __glewVertexArrayTexCoordOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYVERTEXATTRIBIOFFSETEXTPROC __glewVertexArrayVertexAttribIOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYVERTEXATTRIBOFFSETEXTPROC __glewVertexArrayVertexAttribOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYVERTEXOFFSETEXTPROC __glewVertexArrayVertexOffsetEXT; + +GLEW_FUN_EXPORT PFNGLCOLORMASKINDEXEDEXTPROC __glewColorMaskIndexedEXT; +GLEW_FUN_EXPORT PFNGLDISABLEINDEXEDEXTPROC __glewDisableIndexedEXT; +GLEW_FUN_EXPORT PFNGLENABLEINDEXEDEXTPROC __glewEnableIndexedEXT; +GLEW_FUN_EXPORT PFNGLGETBOOLEANINDEXEDVEXTPROC __glewGetBooleanIndexedvEXT; +GLEW_FUN_EXPORT PFNGLGETINTEGERINDEXEDVEXTPROC __glewGetIntegerIndexedvEXT; +GLEW_FUN_EXPORT PFNGLISENABLEDINDEXEDEXTPROC __glewIsEnabledIndexedEXT; + +GLEW_FUN_EXPORT PFNGLDRAWARRAYSINSTANCEDEXTPROC __glewDrawArraysInstancedEXT; +GLEW_FUN_EXPORT PFNGLDRAWELEMENTSINSTANCEDEXTPROC __glewDrawElementsInstancedEXT; + +GLEW_FUN_EXPORT PFNGLDRAWRANGEELEMENTSEXTPROC __glewDrawRangeElementsEXT; + +GLEW_FUN_EXPORT PFNGLFOGCOORDPOINTEREXTPROC __glewFogCoordPointerEXT; +GLEW_FUN_EXPORT PFNGLFOGCOORDDEXTPROC __glewFogCoorddEXT; +GLEW_FUN_EXPORT PFNGLFOGCOORDDVEXTPROC __glewFogCoorddvEXT; +GLEW_FUN_EXPORT PFNGLFOGCOORDFEXTPROC __glewFogCoordfEXT; +GLEW_FUN_EXPORT PFNGLFOGCOORDFVEXTPROC __glewFogCoordfvEXT; + +GLEW_FUN_EXPORT PFNGLFRAGMENTCOLORMATERIALEXTPROC __glewFragmentColorMaterialEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELFEXTPROC __glewFragmentLightModelfEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELFVEXTPROC __glewFragmentLightModelfvEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELIEXTPROC __glewFragmentLightModeliEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELIVEXTPROC __glewFragmentLightModelivEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTFEXTPROC __glewFragmentLightfEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTFVEXTPROC __glewFragmentLightfvEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTIEXTPROC __glewFragmentLightiEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTIVEXTPROC __glewFragmentLightivEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALFEXTPROC __glewFragmentMaterialfEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALFVEXTPROC __glewFragmentMaterialfvEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALIEXTPROC __glewFragmentMaterialiEXT; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALIVEXTPROC __glewFragmentMaterialivEXT; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTLIGHTFVEXTPROC __glewGetFragmentLightfvEXT; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTLIGHTIVEXTPROC __glewGetFragmentLightivEXT; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTMATERIALFVEXTPROC __glewGetFragmentMaterialfvEXT; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTMATERIALIVEXTPROC __glewGetFragmentMaterialivEXT; +GLEW_FUN_EXPORT PFNGLLIGHTENVIEXTPROC __glewLightEnviEXT; + +GLEW_FUN_EXPORT PFNGLBLITFRAMEBUFFEREXTPROC __glewBlitFramebufferEXT; + +GLEW_FUN_EXPORT PFNGLRENDERBUFFERSTORAGEMULTISAMPLEEXTPROC __glewRenderbufferStorageMultisampleEXT; + +GLEW_FUN_EXPORT PFNGLBINDFRAMEBUFFEREXTPROC __glewBindFramebufferEXT; +GLEW_FUN_EXPORT PFNGLBINDRENDERBUFFEREXTPROC __glewBindRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLCHECKFRAMEBUFFERSTATUSEXTPROC __glewCheckFramebufferStatusEXT; +GLEW_FUN_EXPORT PFNGLDELETEFRAMEBUFFERSEXTPROC __glewDeleteFramebuffersEXT; +GLEW_FUN_EXPORT PFNGLDELETERENDERBUFFERSEXTPROC __glewDeleteRenderbuffersEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERRENDERBUFFEREXTPROC __glewFramebufferRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE1DEXTPROC __glewFramebufferTexture1DEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE2DEXTPROC __glewFramebufferTexture2DEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURE3DEXTPROC __glewFramebufferTexture3DEXT; +GLEW_FUN_EXPORT PFNGLGENFRAMEBUFFERSEXTPROC __glewGenFramebuffersEXT; +GLEW_FUN_EXPORT PFNGLGENRENDERBUFFERSEXTPROC __glewGenRenderbuffersEXT; +GLEW_FUN_EXPORT PFNGLGENERATEMIPMAPEXTPROC __glewGenerateMipmapEXT; +GLEW_FUN_EXPORT PFNGLGETFRAMEBUFFERATTACHMENTPARAMETERIVEXTPROC __glewGetFramebufferAttachmentParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETRENDERBUFFERPARAMETERIVEXTPROC __glewGetRenderbufferParameterivEXT; +GLEW_FUN_EXPORT PFNGLISFRAMEBUFFEREXTPROC __glewIsFramebufferEXT; +GLEW_FUN_EXPORT PFNGLISRENDERBUFFEREXTPROC __glewIsRenderbufferEXT; +GLEW_FUN_EXPORT PFNGLRENDERBUFFERSTORAGEEXTPROC __glewRenderbufferStorageEXT; + +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTUREEXTPROC __glewFramebufferTextureEXT; +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTUREFACEEXTPROC __glewFramebufferTextureFaceEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETERIEXTPROC __glewProgramParameteriEXT; + +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERS4FVEXTPROC __glewProgramEnvParameters4fvEXT; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERS4FVEXTPROC __glewProgramLocalParameters4fvEXT; + +GLEW_FUN_EXPORT PFNGLBINDFRAGDATALOCATIONEXTPROC __glewBindFragDataLocationEXT; +GLEW_FUN_EXPORT PFNGLGETFRAGDATALOCATIONEXTPROC __glewGetFragDataLocationEXT; +GLEW_FUN_EXPORT PFNGLGETUNIFORMUIVEXTPROC __glewGetUniformuivEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIIVEXTPROC __glewGetVertexAttribIivEXT; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIUIVEXTPROC __glewGetVertexAttribIuivEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM1UIEXTPROC __glewUniform1uiEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM1UIVEXTPROC __glewUniform1uivEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM2UIEXTPROC __glewUniform2uiEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM2UIVEXTPROC __glewUniform2uivEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM3UIEXTPROC __glewUniform3uiEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM3UIVEXTPROC __glewUniform3uivEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM4UIEXTPROC __glewUniform4uiEXT; +GLEW_FUN_EXPORT PFNGLUNIFORM4UIVEXTPROC __glewUniform4uivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1IEXTPROC __glewVertexAttribI1iEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1IVEXTPROC __glewVertexAttribI1ivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1UIEXTPROC __glewVertexAttribI1uiEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI1UIVEXTPROC __glewVertexAttribI1uivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2IEXTPROC __glewVertexAttribI2iEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2IVEXTPROC __glewVertexAttribI2ivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2UIEXTPROC __glewVertexAttribI2uiEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI2UIVEXTPROC __glewVertexAttribI2uivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3IEXTPROC __glewVertexAttribI3iEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3IVEXTPROC __glewVertexAttribI3ivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3UIEXTPROC __glewVertexAttribI3uiEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI3UIVEXTPROC __glewVertexAttribI3uivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4BVEXTPROC __glewVertexAttribI4bvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4IEXTPROC __glewVertexAttribI4iEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4IVEXTPROC __glewVertexAttribI4ivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4SVEXTPROC __glewVertexAttribI4svEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UBVEXTPROC __glewVertexAttribI4ubvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UIEXTPROC __glewVertexAttribI4uiEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4UIVEXTPROC __glewVertexAttribI4uivEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBI4USVEXTPROC __glewVertexAttribI4usvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBIPOINTEREXTPROC __glewVertexAttribIPointerEXT; + +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMEXTPROC __glewGetHistogramEXT; +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMPARAMETERFVEXTPROC __glewGetHistogramParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETHISTOGRAMPARAMETERIVEXTPROC __glewGetHistogramParameterivEXT; +GLEW_FUN_EXPORT PFNGLGETMINMAXEXTPROC __glewGetMinmaxEXT; +GLEW_FUN_EXPORT PFNGLGETMINMAXPARAMETERFVEXTPROC __glewGetMinmaxParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETMINMAXPARAMETERIVEXTPROC __glewGetMinmaxParameterivEXT; +GLEW_FUN_EXPORT PFNGLHISTOGRAMEXTPROC __glewHistogramEXT; +GLEW_FUN_EXPORT PFNGLMINMAXEXTPROC __glewMinmaxEXT; +GLEW_FUN_EXPORT PFNGLRESETHISTOGRAMEXTPROC __glewResetHistogramEXT; +GLEW_FUN_EXPORT PFNGLRESETMINMAXEXTPROC __glewResetMinmaxEXT; + +GLEW_FUN_EXPORT PFNGLINDEXFUNCEXTPROC __glewIndexFuncEXT; + +GLEW_FUN_EXPORT PFNGLINDEXMATERIALEXTPROC __glewIndexMaterialEXT; + +GLEW_FUN_EXPORT PFNGLAPPLYTEXTUREEXTPROC __glewApplyTextureEXT; +GLEW_FUN_EXPORT PFNGLTEXTURELIGHTEXTPROC __glewTextureLightEXT; +GLEW_FUN_EXPORT PFNGLTEXTUREMATERIALEXTPROC __glewTextureMaterialEXT; + +GLEW_FUN_EXPORT PFNGLMULTIDRAWARRAYSEXTPROC __glewMultiDrawArraysEXT; +GLEW_FUN_EXPORT PFNGLMULTIDRAWELEMENTSEXTPROC __glewMultiDrawElementsEXT; + +GLEW_FUN_EXPORT PFNGLSAMPLEMASKEXTPROC __glewSampleMaskEXT; +GLEW_FUN_EXPORT PFNGLSAMPLEPATTERNEXTPROC __glewSamplePatternEXT; + +GLEW_FUN_EXPORT PFNGLCOLORTABLEEXTPROC __glewColorTableEXT; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEEXTPROC __glewGetColorTableEXT; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERFVEXTPROC __glewGetColorTableParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERIVEXTPROC __glewGetColorTableParameterivEXT; + +GLEW_FUN_EXPORT PFNGLGETPIXELTRANSFORMPARAMETERFVEXTPROC __glewGetPixelTransformParameterfvEXT; +GLEW_FUN_EXPORT PFNGLGETPIXELTRANSFORMPARAMETERIVEXTPROC __glewGetPixelTransformParameterivEXT; +GLEW_FUN_EXPORT PFNGLPIXELTRANSFORMPARAMETERFEXTPROC __glewPixelTransformParameterfEXT; +GLEW_FUN_EXPORT PFNGLPIXELTRANSFORMPARAMETERFVEXTPROC __glewPixelTransformParameterfvEXT; +GLEW_FUN_EXPORT PFNGLPIXELTRANSFORMPARAMETERIEXTPROC __glewPixelTransformParameteriEXT; +GLEW_FUN_EXPORT PFNGLPIXELTRANSFORMPARAMETERIVEXTPROC __glewPixelTransformParameterivEXT; + +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFEXTPROC __glewPointParameterfEXT; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERFVEXTPROC __glewPointParameterfvEXT; + +GLEW_FUN_EXPORT PFNGLPOLYGONOFFSETEXTPROC __glewPolygonOffsetEXT; + +GLEW_FUN_EXPORT PFNGLPROVOKINGVERTEXEXTPROC __glewProvokingVertexEXT; + +GLEW_FUN_EXPORT PFNGLBEGINSCENEEXTPROC __glewBeginSceneEXT; +GLEW_FUN_EXPORT PFNGLENDSCENEEXTPROC __glewEndSceneEXT; + +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3BEXTPROC __glewSecondaryColor3bEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3BVEXTPROC __glewSecondaryColor3bvEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3DEXTPROC __glewSecondaryColor3dEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3DVEXTPROC __glewSecondaryColor3dvEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3FEXTPROC __glewSecondaryColor3fEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3FVEXTPROC __glewSecondaryColor3fvEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3IEXTPROC __glewSecondaryColor3iEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3IVEXTPROC __glewSecondaryColor3ivEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3SEXTPROC __glewSecondaryColor3sEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3SVEXTPROC __glewSecondaryColor3svEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UBEXTPROC __glewSecondaryColor3ubEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UBVEXTPROC __glewSecondaryColor3ubvEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UIEXTPROC __glewSecondaryColor3uiEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3UIVEXTPROC __glewSecondaryColor3uivEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3USEXTPROC __glewSecondaryColor3usEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3USVEXTPROC __glewSecondaryColor3usvEXT; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORPOINTEREXTPROC __glewSecondaryColorPointerEXT; + +GLEW_FUN_EXPORT PFNGLACTIVEPROGRAMEXTPROC __glewActiveProgramEXT; +GLEW_FUN_EXPORT PFNGLCREATESHADERPROGRAMEXTPROC __glewCreateShaderProgramEXT; +GLEW_FUN_EXPORT PFNGLUSESHADERPROGRAMEXTPROC __glewUseShaderProgramEXT; + +GLEW_FUN_EXPORT PFNGLBINDIMAGETEXTUREEXTPROC __glewBindImageTextureEXT; +GLEW_FUN_EXPORT PFNGLMEMORYBARRIEREXTPROC __glewMemoryBarrierEXT; + +GLEW_FUN_EXPORT PFNGLACTIVESTENCILFACEEXTPROC __glewActiveStencilFaceEXT; + +GLEW_FUN_EXPORT PFNGLTEXSUBIMAGE1DEXTPROC __glewTexSubImage1DEXT; +GLEW_FUN_EXPORT PFNGLTEXSUBIMAGE2DEXTPROC __glewTexSubImage2DEXT; +GLEW_FUN_EXPORT PFNGLTEXSUBIMAGE3DEXTPROC __glewTexSubImage3DEXT; + +GLEW_FUN_EXPORT PFNGLTEXIMAGE3DEXTPROC __glewTexImage3DEXT; + +GLEW_FUN_EXPORT PFNGLFRAMEBUFFERTEXTURELAYEREXTPROC __glewFramebufferTextureLayerEXT; + +GLEW_FUN_EXPORT PFNGLTEXBUFFEREXTPROC __glewTexBufferEXT; + +GLEW_FUN_EXPORT PFNGLCLEARCOLORIIEXTPROC __glewClearColorIiEXT; +GLEW_FUN_EXPORT PFNGLCLEARCOLORIUIEXTPROC __glewClearColorIuiEXT; +GLEW_FUN_EXPORT PFNGLGETTEXPARAMETERIIVEXTPROC __glewGetTexParameterIivEXT; +GLEW_FUN_EXPORT PFNGLGETTEXPARAMETERIUIVEXTPROC __glewGetTexParameterIuivEXT; +GLEW_FUN_EXPORT PFNGLTEXPARAMETERIIVEXTPROC __glewTexParameterIivEXT; +GLEW_FUN_EXPORT PFNGLTEXPARAMETERIUIVEXTPROC __glewTexParameterIuivEXT; + +GLEW_FUN_EXPORT PFNGLARETEXTURESRESIDENTEXTPROC __glewAreTexturesResidentEXT; +GLEW_FUN_EXPORT PFNGLBINDTEXTUREEXTPROC __glewBindTextureEXT; +GLEW_FUN_EXPORT PFNGLDELETETEXTURESEXTPROC __glewDeleteTexturesEXT; +GLEW_FUN_EXPORT PFNGLGENTEXTURESEXTPROC __glewGenTexturesEXT; +GLEW_FUN_EXPORT PFNGLISTEXTUREEXTPROC __glewIsTextureEXT; +GLEW_FUN_EXPORT PFNGLPRIORITIZETEXTURESEXTPROC __glewPrioritizeTexturesEXT; + +GLEW_FUN_EXPORT PFNGLTEXTURENORMALEXTPROC __glewTextureNormalEXT; + +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTI64VEXTPROC __glewGetQueryObjecti64vEXT; +GLEW_FUN_EXPORT PFNGLGETQUERYOBJECTUI64VEXTPROC __glewGetQueryObjectui64vEXT; + +GLEW_FUN_EXPORT PFNGLBEGINTRANSFORMFEEDBACKEXTPROC __glewBeginTransformFeedbackEXT; +GLEW_FUN_EXPORT PFNGLBINDBUFFERBASEEXTPROC __glewBindBufferBaseEXT; +GLEW_FUN_EXPORT PFNGLBINDBUFFEROFFSETEXTPROC __glewBindBufferOffsetEXT; +GLEW_FUN_EXPORT PFNGLBINDBUFFERRANGEEXTPROC __glewBindBufferRangeEXT; +GLEW_FUN_EXPORT PFNGLENDTRANSFORMFEEDBACKEXTPROC __glewEndTransformFeedbackEXT; +GLEW_FUN_EXPORT PFNGLGETTRANSFORMFEEDBACKVARYINGEXTPROC __glewGetTransformFeedbackVaryingEXT; +GLEW_FUN_EXPORT PFNGLTRANSFORMFEEDBACKVARYINGSEXTPROC __glewTransformFeedbackVaryingsEXT; + +GLEW_FUN_EXPORT PFNGLARRAYELEMENTEXTPROC __glewArrayElementEXT; +GLEW_FUN_EXPORT PFNGLCOLORPOINTEREXTPROC __glewColorPointerEXT; +GLEW_FUN_EXPORT PFNGLDRAWARRAYSEXTPROC __glewDrawArraysEXT; +GLEW_FUN_EXPORT PFNGLEDGEFLAGPOINTEREXTPROC __glewEdgeFlagPointerEXT; +GLEW_FUN_EXPORT PFNGLINDEXPOINTEREXTPROC __glewIndexPointerEXT; +GLEW_FUN_EXPORT PFNGLNORMALPOINTEREXTPROC __glewNormalPointerEXT; +GLEW_FUN_EXPORT PFNGLTEXCOORDPOINTEREXTPROC __glewTexCoordPointerEXT; +GLEW_FUN_EXPORT PFNGLVERTEXPOINTEREXTPROC __glewVertexPointerEXT; + +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBLDVEXTPROC __glewGetVertexAttribLdvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYVERTEXATTRIBLOFFSETEXTPROC __glewVertexArrayVertexAttribLOffsetEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1DEXTPROC __glewVertexAttribL1dEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1DVEXTPROC __glewVertexAttribL1dvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2DEXTPROC __glewVertexAttribL2dEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2DVEXTPROC __glewVertexAttribL2dvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3DEXTPROC __glewVertexAttribL3dEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3DVEXTPROC __glewVertexAttribL3dvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4DEXTPROC __glewVertexAttribL4dEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4DVEXTPROC __glewVertexAttribL4dvEXT; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBLPOINTEREXTPROC __glewVertexAttribLPointerEXT; + +GLEW_FUN_EXPORT PFNGLBEGINVERTEXSHADEREXTPROC __glewBeginVertexShaderEXT; +GLEW_FUN_EXPORT PFNGLBINDLIGHTPARAMETEREXTPROC __glewBindLightParameterEXT; +GLEW_FUN_EXPORT PFNGLBINDMATERIALPARAMETEREXTPROC __glewBindMaterialParameterEXT; +GLEW_FUN_EXPORT PFNGLBINDPARAMETEREXTPROC __glewBindParameterEXT; +GLEW_FUN_EXPORT PFNGLBINDTEXGENPARAMETEREXTPROC __glewBindTexGenParameterEXT; +GLEW_FUN_EXPORT PFNGLBINDTEXTUREUNITPARAMETEREXTPROC __glewBindTextureUnitParameterEXT; +GLEW_FUN_EXPORT PFNGLBINDVERTEXSHADEREXTPROC __glewBindVertexShaderEXT; +GLEW_FUN_EXPORT PFNGLDELETEVERTEXSHADEREXTPROC __glewDeleteVertexShaderEXT; +GLEW_FUN_EXPORT PFNGLDISABLEVARIANTCLIENTSTATEEXTPROC __glewDisableVariantClientStateEXT; +GLEW_FUN_EXPORT PFNGLENABLEVARIANTCLIENTSTATEEXTPROC __glewEnableVariantClientStateEXT; +GLEW_FUN_EXPORT PFNGLENDVERTEXSHADEREXTPROC __glewEndVertexShaderEXT; +GLEW_FUN_EXPORT PFNGLEXTRACTCOMPONENTEXTPROC __glewExtractComponentEXT; +GLEW_FUN_EXPORT PFNGLGENSYMBOLSEXTPROC __glewGenSymbolsEXT; +GLEW_FUN_EXPORT PFNGLGENVERTEXSHADERSEXTPROC __glewGenVertexShadersEXT; +GLEW_FUN_EXPORT PFNGLGETINVARIANTBOOLEANVEXTPROC __glewGetInvariantBooleanvEXT; +GLEW_FUN_EXPORT PFNGLGETINVARIANTFLOATVEXTPROC __glewGetInvariantFloatvEXT; +GLEW_FUN_EXPORT PFNGLGETINVARIANTINTEGERVEXTPROC __glewGetInvariantIntegervEXT; +GLEW_FUN_EXPORT PFNGLGETLOCALCONSTANTBOOLEANVEXTPROC __glewGetLocalConstantBooleanvEXT; +GLEW_FUN_EXPORT PFNGLGETLOCALCONSTANTFLOATVEXTPROC __glewGetLocalConstantFloatvEXT; +GLEW_FUN_EXPORT PFNGLGETLOCALCONSTANTINTEGERVEXTPROC __glewGetLocalConstantIntegervEXT; +GLEW_FUN_EXPORT PFNGLGETVARIANTBOOLEANVEXTPROC __glewGetVariantBooleanvEXT; +GLEW_FUN_EXPORT PFNGLGETVARIANTFLOATVEXTPROC __glewGetVariantFloatvEXT; +GLEW_FUN_EXPORT PFNGLGETVARIANTINTEGERVEXTPROC __glewGetVariantIntegervEXT; +GLEW_FUN_EXPORT PFNGLGETVARIANTPOINTERVEXTPROC __glewGetVariantPointervEXT; +GLEW_FUN_EXPORT PFNGLINSERTCOMPONENTEXTPROC __glewInsertComponentEXT; +GLEW_FUN_EXPORT PFNGLISVARIANTENABLEDEXTPROC __glewIsVariantEnabledEXT; +GLEW_FUN_EXPORT PFNGLSETINVARIANTEXTPROC __glewSetInvariantEXT; +GLEW_FUN_EXPORT PFNGLSETLOCALCONSTANTEXTPROC __glewSetLocalConstantEXT; +GLEW_FUN_EXPORT PFNGLSHADEROP1EXTPROC __glewShaderOp1EXT; +GLEW_FUN_EXPORT PFNGLSHADEROP2EXTPROC __glewShaderOp2EXT; +GLEW_FUN_EXPORT PFNGLSHADEROP3EXTPROC __glewShaderOp3EXT; +GLEW_FUN_EXPORT PFNGLSWIZZLEEXTPROC __glewSwizzleEXT; +GLEW_FUN_EXPORT PFNGLVARIANTPOINTEREXTPROC __glewVariantPointerEXT; +GLEW_FUN_EXPORT PFNGLVARIANTBVEXTPROC __glewVariantbvEXT; +GLEW_FUN_EXPORT PFNGLVARIANTDVEXTPROC __glewVariantdvEXT; +GLEW_FUN_EXPORT PFNGLVARIANTFVEXTPROC __glewVariantfvEXT; +GLEW_FUN_EXPORT PFNGLVARIANTIVEXTPROC __glewVariantivEXT; +GLEW_FUN_EXPORT PFNGLVARIANTSVEXTPROC __glewVariantsvEXT; +GLEW_FUN_EXPORT PFNGLVARIANTUBVEXTPROC __glewVariantubvEXT; +GLEW_FUN_EXPORT PFNGLVARIANTUIVEXTPROC __glewVariantuivEXT; +GLEW_FUN_EXPORT PFNGLVARIANTUSVEXTPROC __glewVariantusvEXT; +GLEW_FUN_EXPORT PFNGLWRITEMASKEXTPROC __glewWriteMaskEXT; + +GLEW_FUN_EXPORT PFNGLVERTEXWEIGHTPOINTEREXTPROC __glewVertexWeightPointerEXT; +GLEW_FUN_EXPORT PFNGLVERTEXWEIGHTFEXTPROC __glewVertexWeightfEXT; +GLEW_FUN_EXPORT PFNGLVERTEXWEIGHTFVEXTPROC __glewVertexWeightfvEXT; + +GLEW_FUN_EXPORT PFNGLIMPORTSYNCEXTPROC __glewImportSyncEXT; + +GLEW_FUN_EXPORT PFNGLFRAMETERMINATORGREMEDYPROC __glewFrameTerminatorGREMEDY; + +GLEW_FUN_EXPORT PFNGLSTRINGMARKERGREMEDYPROC __glewStringMarkerGREMEDY; + +GLEW_FUN_EXPORT PFNGLGETIMAGETRANSFORMPARAMETERFVHPPROC __glewGetImageTransformParameterfvHP; +GLEW_FUN_EXPORT PFNGLGETIMAGETRANSFORMPARAMETERIVHPPROC __glewGetImageTransformParameterivHP; +GLEW_FUN_EXPORT PFNGLIMAGETRANSFORMPARAMETERFHPPROC __glewImageTransformParameterfHP; +GLEW_FUN_EXPORT PFNGLIMAGETRANSFORMPARAMETERFVHPPROC __glewImageTransformParameterfvHP; +GLEW_FUN_EXPORT PFNGLIMAGETRANSFORMPARAMETERIHPPROC __glewImageTransformParameteriHP; +GLEW_FUN_EXPORT PFNGLIMAGETRANSFORMPARAMETERIVHPPROC __glewImageTransformParameterivHP; + +GLEW_FUN_EXPORT PFNGLMULTIMODEDRAWARRAYSIBMPROC __glewMultiModeDrawArraysIBM; +GLEW_FUN_EXPORT PFNGLMULTIMODEDRAWELEMENTSIBMPROC __glewMultiModeDrawElementsIBM; + +GLEW_FUN_EXPORT PFNGLCOLORPOINTERLISTIBMPROC __glewColorPointerListIBM; +GLEW_FUN_EXPORT PFNGLEDGEFLAGPOINTERLISTIBMPROC __glewEdgeFlagPointerListIBM; +GLEW_FUN_EXPORT PFNGLFOGCOORDPOINTERLISTIBMPROC __glewFogCoordPointerListIBM; +GLEW_FUN_EXPORT PFNGLINDEXPOINTERLISTIBMPROC __glewIndexPointerListIBM; +GLEW_FUN_EXPORT PFNGLNORMALPOINTERLISTIBMPROC __glewNormalPointerListIBM; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORPOINTERLISTIBMPROC __glewSecondaryColorPointerListIBM; +GLEW_FUN_EXPORT PFNGLTEXCOORDPOINTERLISTIBMPROC __glewTexCoordPointerListIBM; +GLEW_FUN_EXPORT PFNGLVERTEXPOINTERLISTIBMPROC __glewVertexPointerListIBM; + +GLEW_FUN_EXPORT PFNGLCOLORPOINTERVINTELPROC __glewColorPointervINTEL; +GLEW_FUN_EXPORT PFNGLNORMALPOINTERVINTELPROC __glewNormalPointervINTEL; +GLEW_FUN_EXPORT PFNGLTEXCOORDPOINTERVINTELPROC __glewTexCoordPointervINTEL; +GLEW_FUN_EXPORT PFNGLVERTEXPOINTERVINTELPROC __glewVertexPointervINTEL; + +GLEW_FUN_EXPORT PFNGLTEXSCISSORFUNCINTELPROC __glewTexScissorFuncINTEL; +GLEW_FUN_EXPORT PFNGLTEXSCISSORINTELPROC __glewTexScissorINTEL; + +GLEW_FUN_EXPORT PFNGLBUFFERREGIONENABLEDEXTPROC __glewBufferRegionEnabledEXT; +GLEW_FUN_EXPORT PFNGLDELETEBUFFERREGIONEXTPROC __glewDeleteBufferRegionEXT; +GLEW_FUN_EXPORT PFNGLDRAWBUFFERREGIONEXTPROC __glewDrawBufferRegionEXT; +GLEW_FUN_EXPORT PFNGLNEWBUFFERREGIONEXTPROC __glewNewBufferRegionEXT; +GLEW_FUN_EXPORT PFNGLREADBUFFERREGIONEXTPROC __glewReadBufferRegionEXT; + +GLEW_FUN_EXPORT PFNGLRESIZEBUFFERSMESAPROC __glewResizeBuffersMESA; + +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DMESAPROC __glewWindowPos2dMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2DVMESAPROC __glewWindowPos2dvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FMESAPROC __glewWindowPos2fMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2FVMESAPROC __glewWindowPos2fvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IMESAPROC __glewWindowPos2iMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2IVMESAPROC __glewWindowPos2ivMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SMESAPROC __glewWindowPos2sMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS2SVMESAPROC __glewWindowPos2svMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DMESAPROC __glewWindowPos3dMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3DVMESAPROC __glewWindowPos3dvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FMESAPROC __glewWindowPos3fMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3FVMESAPROC __glewWindowPos3fvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IMESAPROC __glewWindowPos3iMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3IVMESAPROC __glewWindowPos3ivMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SMESAPROC __glewWindowPos3sMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS3SVMESAPROC __glewWindowPos3svMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4DMESAPROC __glewWindowPos4dMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4DVMESAPROC __glewWindowPos4dvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4FMESAPROC __glewWindowPos4fMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4FVMESAPROC __glewWindowPos4fvMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4IMESAPROC __glewWindowPos4iMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4IVMESAPROC __glewWindowPos4ivMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4SMESAPROC __glewWindowPos4sMESA; +GLEW_FUN_EXPORT PFNGLWINDOWPOS4SVMESAPROC __glewWindowPos4svMESA; + +GLEW_FUN_EXPORT PFNGLBEGINCONDITIONALRENDERNVPROC __glewBeginConditionalRenderNV; +GLEW_FUN_EXPORT PFNGLENDCONDITIONALRENDERNVPROC __glewEndConditionalRenderNV; + +GLEW_FUN_EXPORT PFNGLCOPYIMAGESUBDATANVPROC __glewCopyImageSubDataNV; + +GLEW_FUN_EXPORT PFNGLCLEARDEPTHDNVPROC __glewClearDepthdNV; +GLEW_FUN_EXPORT PFNGLDEPTHBOUNDSDNVPROC __glewDepthBoundsdNV; +GLEW_FUN_EXPORT PFNGLDEPTHRANGEDNVPROC __glewDepthRangedNV; + +GLEW_FUN_EXPORT PFNGLEVALMAPSNVPROC __glewEvalMapsNV; +GLEW_FUN_EXPORT PFNGLGETMAPATTRIBPARAMETERFVNVPROC __glewGetMapAttribParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETMAPATTRIBPARAMETERIVNVPROC __glewGetMapAttribParameterivNV; +GLEW_FUN_EXPORT PFNGLGETMAPCONTROLPOINTSNVPROC __glewGetMapControlPointsNV; +GLEW_FUN_EXPORT PFNGLGETMAPPARAMETERFVNVPROC __glewGetMapParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETMAPPARAMETERIVNVPROC __glewGetMapParameterivNV; +GLEW_FUN_EXPORT PFNGLMAPCONTROLPOINTSNVPROC __glewMapControlPointsNV; +GLEW_FUN_EXPORT PFNGLMAPPARAMETERFVNVPROC __glewMapParameterfvNV; +GLEW_FUN_EXPORT PFNGLMAPPARAMETERIVNVPROC __glewMapParameterivNV; + +GLEW_FUN_EXPORT PFNGLGETMULTISAMPLEFVNVPROC __glewGetMultisamplefvNV; +GLEW_FUN_EXPORT PFNGLSAMPLEMASKINDEXEDNVPROC __glewSampleMaskIndexedNV; +GLEW_FUN_EXPORT PFNGLTEXRENDERBUFFERNVPROC __glewTexRenderbufferNV; + +GLEW_FUN_EXPORT PFNGLDELETEFENCESNVPROC __glewDeleteFencesNV; +GLEW_FUN_EXPORT PFNGLFINISHFENCENVPROC __glewFinishFenceNV; +GLEW_FUN_EXPORT PFNGLGENFENCESNVPROC __glewGenFencesNV; +GLEW_FUN_EXPORT PFNGLGETFENCEIVNVPROC __glewGetFenceivNV; +GLEW_FUN_EXPORT PFNGLISFENCENVPROC __glewIsFenceNV; +GLEW_FUN_EXPORT PFNGLSETFENCENVPROC __glewSetFenceNV; +GLEW_FUN_EXPORT PFNGLTESTFENCENVPROC __glewTestFenceNV; + +GLEW_FUN_EXPORT PFNGLGETPROGRAMNAMEDPARAMETERDVNVPROC __glewGetProgramNamedParameterdvNV; +GLEW_FUN_EXPORT PFNGLGETPROGRAMNAMEDPARAMETERFVNVPROC __glewGetProgramNamedParameterfvNV; +GLEW_FUN_EXPORT PFNGLPROGRAMNAMEDPARAMETER4DNVPROC __glewProgramNamedParameter4dNV; +GLEW_FUN_EXPORT PFNGLPROGRAMNAMEDPARAMETER4DVNVPROC __glewProgramNamedParameter4dvNV; +GLEW_FUN_EXPORT PFNGLPROGRAMNAMEDPARAMETER4FNVPROC __glewProgramNamedParameter4fNV; +GLEW_FUN_EXPORT PFNGLPROGRAMNAMEDPARAMETER4FVNVPROC __glewProgramNamedParameter4fvNV; + +GLEW_FUN_EXPORT PFNGLRENDERBUFFERSTORAGEMULTISAMPLECOVERAGENVPROC __glewRenderbufferStorageMultisampleCoverageNV; + +GLEW_FUN_EXPORT PFNGLPROGRAMVERTEXLIMITNVPROC __glewProgramVertexLimitNV; + +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERI4INVPROC __glewProgramEnvParameterI4iNV; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERI4IVNVPROC __glewProgramEnvParameterI4ivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERI4UINVPROC __glewProgramEnvParameterI4uiNV; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERI4UIVNVPROC __glewProgramEnvParameterI4uivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERSI4IVNVPROC __glewProgramEnvParametersI4ivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMENVPARAMETERSI4UIVNVPROC __glewProgramEnvParametersI4uivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERI4INVPROC __glewProgramLocalParameterI4iNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERI4IVNVPROC __glewProgramLocalParameterI4ivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERI4UINVPROC __glewProgramLocalParameterI4uiNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERI4UIVNVPROC __glewProgramLocalParameterI4uivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERSI4IVNVPROC __glewProgramLocalParametersI4ivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMLOCALPARAMETERSI4UIVNVPROC __glewProgramLocalParametersI4uivNV; + +GLEW_FUN_EXPORT PFNGLGETUNIFORMI64VNVPROC __glewGetUniformi64vNV; +GLEW_FUN_EXPORT PFNGLGETUNIFORMUI64VNVPROC __glewGetUniformui64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1I64NVPROC __glewProgramUniform1i64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1I64VNVPROC __glewProgramUniform1i64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UI64NVPROC __glewProgramUniform1ui64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM1UI64VNVPROC __glewProgramUniform1ui64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2I64NVPROC __glewProgramUniform2i64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2I64VNVPROC __glewProgramUniform2i64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UI64NVPROC __glewProgramUniform2ui64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM2UI64VNVPROC __glewProgramUniform2ui64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3I64NVPROC __glewProgramUniform3i64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3I64VNVPROC __glewProgramUniform3i64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UI64NVPROC __glewProgramUniform3ui64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM3UI64VNVPROC __glewProgramUniform3ui64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4I64NVPROC __glewProgramUniform4i64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4I64VNVPROC __glewProgramUniform4i64vNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UI64NVPROC __glewProgramUniform4ui64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORM4UI64VNVPROC __glewProgramUniform4ui64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM1I64NVPROC __glewUniform1i64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM1I64VNVPROC __glewUniform1i64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM1UI64NVPROC __glewUniform1ui64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM1UI64VNVPROC __glewUniform1ui64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM2I64NVPROC __glewUniform2i64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM2I64VNVPROC __glewUniform2i64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM2UI64NVPROC __glewUniform2ui64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM2UI64VNVPROC __glewUniform2ui64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM3I64NVPROC __glewUniform3i64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM3I64VNVPROC __glewUniform3i64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM3UI64NVPROC __glewUniform3ui64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM3UI64VNVPROC __glewUniform3ui64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM4I64NVPROC __glewUniform4i64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM4I64VNVPROC __glewUniform4i64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORM4UI64NVPROC __glewUniform4ui64NV; +GLEW_FUN_EXPORT PFNGLUNIFORM4UI64VNVPROC __glewUniform4ui64vNV; + +GLEW_FUN_EXPORT PFNGLCOLOR3HNVPROC __glewColor3hNV; +GLEW_FUN_EXPORT PFNGLCOLOR3HVNVPROC __glewColor3hvNV; +GLEW_FUN_EXPORT PFNGLCOLOR4HNVPROC __glewColor4hNV; +GLEW_FUN_EXPORT PFNGLCOLOR4HVNVPROC __glewColor4hvNV; +GLEW_FUN_EXPORT PFNGLFOGCOORDHNVPROC __glewFogCoordhNV; +GLEW_FUN_EXPORT PFNGLFOGCOORDHVNVPROC __glewFogCoordhvNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1HNVPROC __glewMultiTexCoord1hNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD1HVNVPROC __glewMultiTexCoord1hvNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2HNVPROC __glewMultiTexCoord2hNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD2HVNVPROC __glewMultiTexCoord2hvNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3HNVPROC __glewMultiTexCoord3hNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD3HVNVPROC __glewMultiTexCoord3hvNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4HNVPROC __glewMultiTexCoord4hNV; +GLEW_FUN_EXPORT PFNGLMULTITEXCOORD4HVNVPROC __glewMultiTexCoord4hvNV; +GLEW_FUN_EXPORT PFNGLNORMAL3HNVPROC __glewNormal3hNV; +GLEW_FUN_EXPORT PFNGLNORMAL3HVNVPROC __glewNormal3hvNV; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3HNVPROC __glewSecondaryColor3hNV; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLOR3HVNVPROC __glewSecondaryColor3hvNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD1HNVPROC __glewTexCoord1hNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD1HVNVPROC __glewTexCoord1hvNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD2HNVPROC __glewTexCoord2hNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD2HVNVPROC __glewTexCoord2hvNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD3HNVPROC __glewTexCoord3hNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD3HVNVPROC __glewTexCoord3hvNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD4HNVPROC __glewTexCoord4hNV; +GLEW_FUN_EXPORT PFNGLTEXCOORD4HVNVPROC __glewTexCoord4hvNV; +GLEW_FUN_EXPORT PFNGLVERTEX2HNVPROC __glewVertex2hNV; +GLEW_FUN_EXPORT PFNGLVERTEX2HVNVPROC __glewVertex2hvNV; +GLEW_FUN_EXPORT PFNGLVERTEX3HNVPROC __glewVertex3hNV; +GLEW_FUN_EXPORT PFNGLVERTEX3HVNVPROC __glewVertex3hvNV; +GLEW_FUN_EXPORT PFNGLVERTEX4HNVPROC __glewVertex4hNV; +GLEW_FUN_EXPORT PFNGLVERTEX4HVNVPROC __glewVertex4hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1HNVPROC __glewVertexAttrib1hNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1HVNVPROC __glewVertexAttrib1hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2HNVPROC __glewVertexAttrib2hNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2HVNVPROC __glewVertexAttrib2hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3HNVPROC __glewVertexAttrib3hNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3HVNVPROC __glewVertexAttrib3hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4HNVPROC __glewVertexAttrib4hNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4HVNVPROC __glewVertexAttrib4hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS1HVNVPROC __glewVertexAttribs1hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS2HVNVPROC __glewVertexAttribs2hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS3HVNVPROC __glewVertexAttribs3hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS4HVNVPROC __glewVertexAttribs4hvNV; +GLEW_FUN_EXPORT PFNGLVERTEXWEIGHTHNVPROC __glewVertexWeighthNV; +GLEW_FUN_EXPORT PFNGLVERTEXWEIGHTHVNVPROC __glewVertexWeighthvNV; + +GLEW_FUN_EXPORT PFNGLBEGINOCCLUSIONQUERYNVPROC __glewBeginOcclusionQueryNV; +GLEW_FUN_EXPORT PFNGLDELETEOCCLUSIONQUERIESNVPROC __glewDeleteOcclusionQueriesNV; +GLEW_FUN_EXPORT PFNGLENDOCCLUSIONQUERYNVPROC __glewEndOcclusionQueryNV; +GLEW_FUN_EXPORT PFNGLGENOCCLUSIONQUERIESNVPROC __glewGenOcclusionQueriesNV; +GLEW_FUN_EXPORT PFNGLGETOCCLUSIONQUERYIVNVPROC __glewGetOcclusionQueryivNV; +GLEW_FUN_EXPORT PFNGLGETOCCLUSIONQUERYUIVNVPROC __glewGetOcclusionQueryuivNV; +GLEW_FUN_EXPORT PFNGLISOCCLUSIONQUERYNVPROC __glewIsOcclusionQueryNV; + +GLEW_FUN_EXPORT PFNGLPROGRAMBUFFERPARAMETERSIIVNVPROC __glewProgramBufferParametersIivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMBUFFERPARAMETERSIUIVNVPROC __glewProgramBufferParametersIuivNV; +GLEW_FUN_EXPORT PFNGLPROGRAMBUFFERPARAMETERSFVNVPROC __glewProgramBufferParametersfvNV; + +GLEW_FUN_EXPORT PFNGLFLUSHPIXELDATARANGENVPROC __glewFlushPixelDataRangeNV; +GLEW_FUN_EXPORT PFNGLPIXELDATARANGENVPROC __glewPixelDataRangeNV; + +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERINVPROC __glewPointParameteriNV; +GLEW_FUN_EXPORT PFNGLPOINTPARAMETERIVNVPROC __glewPointParameterivNV; + +GLEW_FUN_EXPORT PFNGLGETVIDEOI64VNVPROC __glewGetVideoi64vNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOIVNVPROC __glewGetVideoivNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOUI64VNVPROC __glewGetVideoui64vNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOUIVNVPROC __glewGetVideouivNV; +GLEW_FUN_EXPORT PFNGLPRESENTFRAMEDUALFILLNVPROC __glewPresentFrameDualFillNV; +GLEW_FUN_EXPORT PFNGLPRESENTFRAMEKEYEDNVPROC __glewPresentFrameKeyedNV; + +GLEW_FUN_EXPORT PFNGLPRIMITIVERESTARTINDEXNVPROC __glewPrimitiveRestartIndexNV; +GLEW_FUN_EXPORT PFNGLPRIMITIVERESTARTNVPROC __glewPrimitiveRestartNV; + +GLEW_FUN_EXPORT PFNGLCOMBINERINPUTNVPROC __glewCombinerInputNV; +GLEW_FUN_EXPORT PFNGLCOMBINEROUTPUTNVPROC __glewCombinerOutputNV; +GLEW_FUN_EXPORT PFNGLCOMBINERPARAMETERFNVPROC __glewCombinerParameterfNV; +GLEW_FUN_EXPORT PFNGLCOMBINERPARAMETERFVNVPROC __glewCombinerParameterfvNV; +GLEW_FUN_EXPORT PFNGLCOMBINERPARAMETERINVPROC __glewCombinerParameteriNV; +GLEW_FUN_EXPORT PFNGLCOMBINERPARAMETERIVNVPROC __glewCombinerParameterivNV; +GLEW_FUN_EXPORT PFNGLFINALCOMBINERINPUTNVPROC __glewFinalCombinerInputNV; +GLEW_FUN_EXPORT PFNGLGETCOMBINERINPUTPARAMETERFVNVPROC __glewGetCombinerInputParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETCOMBINERINPUTPARAMETERIVNVPROC __glewGetCombinerInputParameterivNV; +GLEW_FUN_EXPORT PFNGLGETCOMBINEROUTPUTPARAMETERFVNVPROC __glewGetCombinerOutputParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETCOMBINEROUTPUTPARAMETERIVNVPROC __glewGetCombinerOutputParameterivNV; +GLEW_FUN_EXPORT PFNGLGETFINALCOMBINERINPUTPARAMETERFVNVPROC __glewGetFinalCombinerInputParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETFINALCOMBINERINPUTPARAMETERIVNVPROC __glewGetFinalCombinerInputParameterivNV; + +GLEW_FUN_EXPORT PFNGLCOMBINERSTAGEPARAMETERFVNVPROC __glewCombinerStageParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETCOMBINERSTAGEPARAMETERFVNVPROC __glewGetCombinerStageParameterfvNV; + +GLEW_FUN_EXPORT PFNGLGETBUFFERPARAMETERUI64VNVPROC __glewGetBufferParameterui64vNV; +GLEW_FUN_EXPORT PFNGLGETINTEGERUI64VNVPROC __glewGetIntegerui64vNV; +GLEW_FUN_EXPORT PFNGLGETNAMEDBUFFERPARAMETERUI64VNVPROC __glewGetNamedBufferParameterui64vNV; +GLEW_FUN_EXPORT PFNGLISBUFFERRESIDENTNVPROC __glewIsBufferResidentNV; +GLEW_FUN_EXPORT PFNGLISNAMEDBUFFERRESIDENTNVPROC __glewIsNamedBufferResidentNV; +GLEW_FUN_EXPORT PFNGLMAKEBUFFERNONRESIDENTNVPROC __glewMakeBufferNonResidentNV; +GLEW_FUN_EXPORT PFNGLMAKEBUFFERRESIDENTNVPROC __glewMakeBufferResidentNV; +GLEW_FUN_EXPORT PFNGLMAKENAMEDBUFFERNONRESIDENTNVPROC __glewMakeNamedBufferNonResidentNV; +GLEW_FUN_EXPORT PFNGLMAKENAMEDBUFFERRESIDENTNVPROC __glewMakeNamedBufferResidentNV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMUI64NVPROC __glewProgramUniformui64NV; +GLEW_FUN_EXPORT PFNGLPROGRAMUNIFORMUI64VNVPROC __glewProgramUniformui64vNV; +GLEW_FUN_EXPORT PFNGLUNIFORMUI64NVPROC __glewUniformui64NV; +GLEW_FUN_EXPORT PFNGLUNIFORMUI64VNVPROC __glewUniformui64vNV; + +GLEW_FUN_EXPORT PFNGLTEXTUREBARRIERNVPROC __glewTextureBarrierNV; + +GLEW_FUN_EXPORT PFNGLTEXIMAGE2DMULTISAMPLECOVERAGENVPROC __glewTexImage2DMultisampleCoverageNV; +GLEW_FUN_EXPORT PFNGLTEXIMAGE3DMULTISAMPLECOVERAGENVPROC __glewTexImage3DMultisampleCoverageNV; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE2DMULTISAMPLECOVERAGENVPROC __glewTextureImage2DMultisampleCoverageNV; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE2DMULTISAMPLENVPROC __glewTextureImage2DMultisampleNV; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE3DMULTISAMPLECOVERAGENVPROC __glewTextureImage3DMultisampleCoverageNV; +GLEW_FUN_EXPORT PFNGLTEXTUREIMAGE3DMULTISAMPLENVPROC __glewTextureImage3DMultisampleNV; + +GLEW_FUN_EXPORT PFNGLACTIVEVARYINGNVPROC __glewActiveVaryingNV; +GLEW_FUN_EXPORT PFNGLBEGINTRANSFORMFEEDBACKNVPROC __glewBeginTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLBINDBUFFERBASENVPROC __glewBindBufferBaseNV; +GLEW_FUN_EXPORT PFNGLBINDBUFFEROFFSETNVPROC __glewBindBufferOffsetNV; +GLEW_FUN_EXPORT PFNGLBINDBUFFERRANGENVPROC __glewBindBufferRangeNV; +GLEW_FUN_EXPORT PFNGLENDTRANSFORMFEEDBACKNVPROC __glewEndTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLGETACTIVEVARYINGNVPROC __glewGetActiveVaryingNV; +GLEW_FUN_EXPORT PFNGLGETTRANSFORMFEEDBACKVARYINGNVPROC __glewGetTransformFeedbackVaryingNV; +GLEW_FUN_EXPORT PFNGLGETVARYINGLOCATIONNVPROC __glewGetVaryingLocationNV; +GLEW_FUN_EXPORT PFNGLTRANSFORMFEEDBACKATTRIBSNVPROC __glewTransformFeedbackAttribsNV; +GLEW_FUN_EXPORT PFNGLTRANSFORMFEEDBACKVARYINGSNVPROC __glewTransformFeedbackVaryingsNV; + +GLEW_FUN_EXPORT PFNGLBINDTRANSFORMFEEDBACKNVPROC __glewBindTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLDELETETRANSFORMFEEDBACKSNVPROC __glewDeleteTransformFeedbacksNV; +GLEW_FUN_EXPORT PFNGLDRAWTRANSFORMFEEDBACKNVPROC __glewDrawTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLGENTRANSFORMFEEDBACKSNVPROC __glewGenTransformFeedbacksNV; +GLEW_FUN_EXPORT PFNGLISTRANSFORMFEEDBACKNVPROC __glewIsTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLPAUSETRANSFORMFEEDBACKNVPROC __glewPauseTransformFeedbackNV; +GLEW_FUN_EXPORT PFNGLRESUMETRANSFORMFEEDBACKNVPROC __glewResumeTransformFeedbackNV; + +GLEW_FUN_EXPORT PFNGLVDPAUFININVPROC __glewVDPAUFiniNV; +GLEW_FUN_EXPORT PFNGLVDPAUGETSURFACEIVNVPROC __glewVDPAUGetSurfaceivNV; +GLEW_FUN_EXPORT PFNGLVDPAUINITNVPROC __glewVDPAUInitNV; +GLEW_FUN_EXPORT PFNGLVDPAUISSURFACENVPROC __glewVDPAUIsSurfaceNV; +GLEW_FUN_EXPORT PFNGLVDPAUMAPSURFACESNVPROC __glewVDPAUMapSurfacesNV; +GLEW_FUN_EXPORT PFNGLVDPAUREGISTEROUTPUTSURFACENVPROC __glewVDPAURegisterOutputSurfaceNV; +GLEW_FUN_EXPORT PFNGLVDPAUREGISTERVIDEOSURFACENVPROC __glewVDPAURegisterVideoSurfaceNV; +GLEW_FUN_EXPORT PFNGLVDPAUSURFACEACCESSNVPROC __glewVDPAUSurfaceAccessNV; +GLEW_FUN_EXPORT PFNGLVDPAUUNMAPSURFACESNVPROC __glewVDPAUUnmapSurfacesNV; +GLEW_FUN_EXPORT PFNGLVDPAUUNREGISTERSURFACENVPROC __glewVDPAUUnregisterSurfaceNV; + +GLEW_FUN_EXPORT PFNGLFLUSHVERTEXARRAYRANGENVPROC __glewFlushVertexArrayRangeNV; +GLEW_FUN_EXPORT PFNGLVERTEXARRAYRANGENVPROC __glewVertexArrayRangeNV; + +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBLI64VNVPROC __glewGetVertexAttribLi64vNV; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBLUI64VNVPROC __glewGetVertexAttribLui64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1I64NVPROC __glewVertexAttribL1i64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1I64VNVPROC __glewVertexAttribL1i64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1UI64NVPROC __glewVertexAttribL1ui64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL1UI64VNVPROC __glewVertexAttribL1ui64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2I64NVPROC __glewVertexAttribL2i64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2I64VNVPROC __glewVertexAttribL2i64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2UI64NVPROC __glewVertexAttribL2ui64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL2UI64VNVPROC __glewVertexAttribL2ui64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3I64NVPROC __glewVertexAttribL3i64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3I64VNVPROC __glewVertexAttribL3i64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3UI64NVPROC __glewVertexAttribL3ui64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL3UI64VNVPROC __glewVertexAttribL3ui64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4I64NVPROC __glewVertexAttribL4i64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4I64VNVPROC __glewVertexAttribL4i64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4UI64NVPROC __glewVertexAttribL4ui64NV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBL4UI64VNVPROC __glewVertexAttribL4ui64vNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBLFORMATNVPROC __glewVertexAttribLFormatNV; + +GLEW_FUN_EXPORT PFNGLBUFFERADDRESSRANGENVPROC __glewBufferAddressRangeNV; +GLEW_FUN_EXPORT PFNGLCOLORFORMATNVPROC __glewColorFormatNV; +GLEW_FUN_EXPORT PFNGLEDGEFLAGFORMATNVPROC __glewEdgeFlagFormatNV; +GLEW_FUN_EXPORT PFNGLFOGCOORDFORMATNVPROC __glewFogCoordFormatNV; +GLEW_FUN_EXPORT PFNGLGETINTEGERUI64I_VNVPROC __glewGetIntegerui64i_vNV; +GLEW_FUN_EXPORT PFNGLINDEXFORMATNVPROC __glewIndexFormatNV; +GLEW_FUN_EXPORT PFNGLNORMALFORMATNVPROC __glewNormalFormatNV; +GLEW_FUN_EXPORT PFNGLSECONDARYCOLORFORMATNVPROC __glewSecondaryColorFormatNV; +GLEW_FUN_EXPORT PFNGLTEXCOORDFORMATNVPROC __glewTexCoordFormatNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBFORMATNVPROC __glewVertexAttribFormatNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBIFORMATNVPROC __glewVertexAttribIFormatNV; +GLEW_FUN_EXPORT PFNGLVERTEXFORMATNVPROC __glewVertexFormatNV; + +GLEW_FUN_EXPORT PFNGLAREPROGRAMSRESIDENTNVPROC __glewAreProgramsResidentNV; +GLEW_FUN_EXPORT PFNGLBINDPROGRAMNVPROC __glewBindProgramNV; +GLEW_FUN_EXPORT PFNGLDELETEPROGRAMSNVPROC __glewDeleteProgramsNV; +GLEW_FUN_EXPORT PFNGLEXECUTEPROGRAMNVPROC __glewExecuteProgramNV; +GLEW_FUN_EXPORT PFNGLGENPROGRAMSNVPROC __glewGenProgramsNV; +GLEW_FUN_EXPORT PFNGLGETPROGRAMPARAMETERDVNVPROC __glewGetProgramParameterdvNV; +GLEW_FUN_EXPORT PFNGLGETPROGRAMPARAMETERFVNVPROC __glewGetProgramParameterfvNV; +GLEW_FUN_EXPORT PFNGLGETPROGRAMSTRINGNVPROC __glewGetProgramStringNV; +GLEW_FUN_EXPORT PFNGLGETPROGRAMIVNVPROC __glewGetProgramivNV; +GLEW_FUN_EXPORT PFNGLGETTRACKMATRIXIVNVPROC __glewGetTrackMatrixivNV; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBPOINTERVNVPROC __glewGetVertexAttribPointervNV; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBDVNVPROC __glewGetVertexAttribdvNV; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBFVNVPROC __glewGetVertexAttribfvNV; +GLEW_FUN_EXPORT PFNGLGETVERTEXATTRIBIVNVPROC __glewGetVertexAttribivNV; +GLEW_FUN_EXPORT PFNGLISPROGRAMNVPROC __glewIsProgramNV; +GLEW_FUN_EXPORT PFNGLLOADPROGRAMNVPROC __glewLoadProgramNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETER4DNVPROC __glewProgramParameter4dNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETER4DVNVPROC __glewProgramParameter4dvNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETER4FNVPROC __glewProgramParameter4fNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETER4FVNVPROC __glewProgramParameter4fvNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETERS4DVNVPROC __glewProgramParameters4dvNV; +GLEW_FUN_EXPORT PFNGLPROGRAMPARAMETERS4FVNVPROC __glewProgramParameters4fvNV; +GLEW_FUN_EXPORT PFNGLREQUESTRESIDENTPROGRAMSNVPROC __glewRequestResidentProgramsNV; +GLEW_FUN_EXPORT PFNGLTRACKMATRIXNVPROC __glewTrackMatrixNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DNVPROC __glewVertexAttrib1dNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1DVNVPROC __glewVertexAttrib1dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FNVPROC __glewVertexAttrib1fNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1FVNVPROC __glewVertexAttrib1fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SNVPROC __glewVertexAttrib1sNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB1SVNVPROC __glewVertexAttrib1svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DNVPROC __glewVertexAttrib2dNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2DVNVPROC __glewVertexAttrib2dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FNVPROC __glewVertexAttrib2fNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2FVNVPROC __glewVertexAttrib2fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SNVPROC __glewVertexAttrib2sNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB2SVNVPROC __glewVertexAttrib2svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DNVPROC __glewVertexAttrib3dNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3DVNVPROC __glewVertexAttrib3dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FNVPROC __glewVertexAttrib3fNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3FVNVPROC __glewVertexAttrib3fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SNVPROC __glewVertexAttrib3sNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB3SVNVPROC __glewVertexAttrib3svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DNVPROC __glewVertexAttrib4dNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4DVNVPROC __glewVertexAttrib4dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FNVPROC __glewVertexAttrib4fNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4FVNVPROC __glewVertexAttrib4fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SNVPROC __glewVertexAttrib4sNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4SVNVPROC __glewVertexAttrib4svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UBNVPROC __glewVertexAttrib4ubNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIB4UBVNVPROC __glewVertexAttrib4ubvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBPOINTERNVPROC __glewVertexAttribPointerNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS1DVNVPROC __glewVertexAttribs1dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS1FVNVPROC __glewVertexAttribs1fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS1SVNVPROC __glewVertexAttribs1svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS2DVNVPROC __glewVertexAttribs2dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS2FVNVPROC __glewVertexAttribs2fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS2SVNVPROC __glewVertexAttribs2svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS3DVNVPROC __glewVertexAttribs3dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS3FVNVPROC __glewVertexAttribs3fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS3SVNVPROC __glewVertexAttribs3svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS4DVNVPROC __glewVertexAttribs4dvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS4FVNVPROC __glewVertexAttribs4fvNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS4SVNVPROC __glewVertexAttribs4svNV; +GLEW_FUN_EXPORT PFNGLVERTEXATTRIBS4UBVNVPROC __glewVertexAttribs4ubvNV; + +GLEW_FUN_EXPORT PFNGLBEGINVIDEOCAPTURENVPROC __glewBeginVideoCaptureNV; +GLEW_FUN_EXPORT PFNGLBINDVIDEOCAPTURESTREAMBUFFERNVPROC __glewBindVideoCaptureStreamBufferNV; +GLEW_FUN_EXPORT PFNGLBINDVIDEOCAPTURESTREAMTEXTURENVPROC __glewBindVideoCaptureStreamTextureNV; +GLEW_FUN_EXPORT PFNGLENDVIDEOCAPTURENVPROC __glewEndVideoCaptureNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOCAPTURESTREAMDVNVPROC __glewGetVideoCaptureStreamdvNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOCAPTURESTREAMFVNVPROC __glewGetVideoCaptureStreamfvNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOCAPTURESTREAMIVNVPROC __glewGetVideoCaptureStreamivNV; +GLEW_FUN_EXPORT PFNGLGETVIDEOCAPTUREIVNVPROC __glewGetVideoCaptureivNV; +GLEW_FUN_EXPORT PFNGLVIDEOCAPTURENVPROC __glewVideoCaptureNV; +GLEW_FUN_EXPORT PFNGLVIDEOCAPTURESTREAMPARAMETERDVNVPROC __glewVideoCaptureStreamParameterdvNV; +GLEW_FUN_EXPORT PFNGLVIDEOCAPTURESTREAMPARAMETERFVNVPROC __glewVideoCaptureStreamParameterfvNV; +GLEW_FUN_EXPORT PFNGLVIDEOCAPTURESTREAMPARAMETERIVNVPROC __glewVideoCaptureStreamParameterivNV; + +GLEW_FUN_EXPORT PFNGLCLEARDEPTHFOESPROC __glewClearDepthfOES; +GLEW_FUN_EXPORT PFNGLCLIPPLANEFOESPROC __glewClipPlanefOES; +GLEW_FUN_EXPORT PFNGLDEPTHRANGEFOESPROC __glewDepthRangefOES; +GLEW_FUN_EXPORT PFNGLFRUSTUMFOESPROC __glewFrustumfOES; +GLEW_FUN_EXPORT PFNGLGETCLIPPLANEFOESPROC __glewGetClipPlanefOES; +GLEW_FUN_EXPORT PFNGLORTHOFOESPROC __glewOrthofOES; + +GLEW_FUN_EXPORT PFNGLDETAILTEXFUNCSGISPROC __glewDetailTexFuncSGIS; +GLEW_FUN_EXPORT PFNGLGETDETAILTEXFUNCSGISPROC __glewGetDetailTexFuncSGIS; + +GLEW_FUN_EXPORT PFNGLFOGFUNCSGISPROC __glewFogFuncSGIS; +GLEW_FUN_EXPORT PFNGLGETFOGFUNCSGISPROC __glewGetFogFuncSGIS; + +GLEW_FUN_EXPORT PFNGLSAMPLEMASKSGISPROC __glewSampleMaskSGIS; +GLEW_FUN_EXPORT PFNGLSAMPLEPATTERNSGISPROC __glewSamplePatternSGIS; + +GLEW_FUN_EXPORT PFNGLGETSHARPENTEXFUNCSGISPROC __glewGetSharpenTexFuncSGIS; +GLEW_FUN_EXPORT PFNGLSHARPENTEXFUNCSGISPROC __glewSharpenTexFuncSGIS; + +GLEW_FUN_EXPORT PFNGLTEXIMAGE4DSGISPROC __glewTexImage4DSGIS; +GLEW_FUN_EXPORT PFNGLTEXSUBIMAGE4DSGISPROC __glewTexSubImage4DSGIS; + +GLEW_FUN_EXPORT PFNGLGETTEXFILTERFUNCSGISPROC __glewGetTexFilterFuncSGIS; +GLEW_FUN_EXPORT PFNGLTEXFILTERFUNCSGISPROC __glewTexFilterFuncSGIS; + +GLEW_FUN_EXPORT PFNGLASYNCMARKERSGIXPROC __glewAsyncMarkerSGIX; +GLEW_FUN_EXPORT PFNGLDELETEASYNCMARKERSSGIXPROC __glewDeleteAsyncMarkersSGIX; +GLEW_FUN_EXPORT PFNGLFINISHASYNCSGIXPROC __glewFinishAsyncSGIX; +GLEW_FUN_EXPORT PFNGLGENASYNCMARKERSSGIXPROC __glewGenAsyncMarkersSGIX; +GLEW_FUN_EXPORT PFNGLISASYNCMARKERSGIXPROC __glewIsAsyncMarkerSGIX; +GLEW_FUN_EXPORT PFNGLPOLLASYNCSGIXPROC __glewPollAsyncSGIX; + +GLEW_FUN_EXPORT PFNGLFLUSHRASTERSGIXPROC __glewFlushRasterSGIX; + +GLEW_FUN_EXPORT PFNGLTEXTUREFOGSGIXPROC __glewTextureFogSGIX; + +GLEW_FUN_EXPORT PFNGLFRAGMENTCOLORMATERIALSGIXPROC __glewFragmentColorMaterialSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELFSGIXPROC __glewFragmentLightModelfSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELFVSGIXPROC __glewFragmentLightModelfvSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELISGIXPROC __glewFragmentLightModeliSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTMODELIVSGIXPROC __glewFragmentLightModelivSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTFSGIXPROC __glewFragmentLightfSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTFVSGIXPROC __glewFragmentLightfvSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTISGIXPROC __glewFragmentLightiSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTLIGHTIVSGIXPROC __glewFragmentLightivSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALFSGIXPROC __glewFragmentMaterialfSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALFVSGIXPROC __glewFragmentMaterialfvSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALISGIXPROC __glewFragmentMaterialiSGIX; +GLEW_FUN_EXPORT PFNGLFRAGMENTMATERIALIVSGIXPROC __glewFragmentMaterialivSGIX; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTLIGHTFVSGIXPROC __glewGetFragmentLightfvSGIX; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTLIGHTIVSGIXPROC __glewGetFragmentLightivSGIX; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTMATERIALFVSGIXPROC __glewGetFragmentMaterialfvSGIX; +GLEW_FUN_EXPORT PFNGLGETFRAGMENTMATERIALIVSGIXPROC __glewGetFragmentMaterialivSGIX; + +GLEW_FUN_EXPORT PFNGLFRAMEZOOMSGIXPROC __glewFrameZoomSGIX; + +GLEW_FUN_EXPORT PFNGLPIXELTEXGENSGIXPROC __glewPixelTexGenSGIX; + +GLEW_FUN_EXPORT PFNGLREFERENCEPLANESGIXPROC __glewReferencePlaneSGIX; + +GLEW_FUN_EXPORT PFNGLSPRITEPARAMETERFSGIXPROC __glewSpriteParameterfSGIX; +GLEW_FUN_EXPORT PFNGLSPRITEPARAMETERFVSGIXPROC __glewSpriteParameterfvSGIX; +GLEW_FUN_EXPORT PFNGLSPRITEPARAMETERISGIXPROC __glewSpriteParameteriSGIX; +GLEW_FUN_EXPORT PFNGLSPRITEPARAMETERIVSGIXPROC __glewSpriteParameterivSGIX; + +GLEW_FUN_EXPORT PFNGLTAGSAMPLEBUFFERSGIXPROC __glewTagSampleBufferSGIX; + +GLEW_FUN_EXPORT PFNGLCOLORTABLEPARAMETERFVSGIPROC __glewColorTableParameterfvSGI; +GLEW_FUN_EXPORT PFNGLCOLORTABLEPARAMETERIVSGIPROC __glewColorTableParameterivSGI; +GLEW_FUN_EXPORT PFNGLCOLORTABLESGIPROC __glewColorTableSGI; +GLEW_FUN_EXPORT PFNGLCOPYCOLORTABLESGIPROC __glewCopyColorTableSGI; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERFVSGIPROC __glewGetColorTableParameterfvSGI; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLEPARAMETERIVSGIPROC __glewGetColorTableParameterivSGI; +GLEW_FUN_EXPORT PFNGLGETCOLORTABLESGIPROC __glewGetColorTableSGI; + +GLEW_FUN_EXPORT PFNGLFINISHTEXTURESUNXPROC __glewFinishTextureSUNX; + +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORBSUNPROC __glewGlobalAlphaFactorbSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORDSUNPROC __glewGlobalAlphaFactordSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORFSUNPROC __glewGlobalAlphaFactorfSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORISUNPROC __glewGlobalAlphaFactoriSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORSSUNPROC __glewGlobalAlphaFactorsSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORUBSUNPROC __glewGlobalAlphaFactorubSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORUISUNPROC __glewGlobalAlphaFactoruiSUN; +GLEW_FUN_EXPORT PFNGLGLOBALALPHAFACTORUSSUNPROC __glewGlobalAlphaFactorusSUN; + +GLEW_FUN_EXPORT PFNGLREADVIDEOPIXELSSUNPROC __glewReadVideoPixelsSUN; + +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEPOINTERSUNPROC __glewReplacementCodePointerSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUBSUNPROC __glewReplacementCodeubSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUBVSUNPROC __glewReplacementCodeubvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUISUNPROC __glewReplacementCodeuiSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUIVSUNPROC __glewReplacementCodeuivSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUSSUNPROC __glewReplacementCodeusSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUSVSUNPROC __glewReplacementCodeusvSUN; + +GLEW_FUN_EXPORT PFNGLCOLOR3FVERTEX3FSUNPROC __glewColor3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLCOLOR3FVERTEX3FVSUNPROC __glewColor3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4FNORMAL3FVERTEX3FSUNPROC __glewColor4fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4FNORMAL3FVERTEX3FVSUNPROC __glewColor4fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4UBVERTEX2FSUNPROC __glewColor4ubVertex2fSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4UBVERTEX2FVSUNPROC __glewColor4ubVertex2fvSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4UBVERTEX3FSUNPROC __glewColor4ubVertex3fSUN; +GLEW_FUN_EXPORT PFNGLCOLOR4UBVERTEX3FVSUNPROC __glewColor4ubVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLNORMAL3FVERTEX3FSUNPROC __glewNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLNORMAL3FVERTEX3FVSUNPROC __glewNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FSUNPROC __glewReplacementCodeuiColor3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FVSUNPROC __glewReplacementCodeuiColor3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FSUNPROC __glewReplacementCodeuiColor4fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FVSUNPROC __glewReplacementCodeuiColor4fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FSUNPROC __glewReplacementCodeuiColor4ubVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FVSUNPROC __glewReplacementCodeuiColor4ubVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FSUNPROC __glewReplacementCodeuiNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FVSUNPROC __glewReplacementCodeuiNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC __glewReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC __glewReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FSUNPROC __glewReplacementCodeuiTexCoord2fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FVSUNPROC __glewReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FSUNPROC __glewReplacementCodeuiTexCoord2fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FVSUNPROC __glewReplacementCodeuiTexCoord2fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUIVERTEX3FSUNPROC __glewReplacementCodeuiVertex3fSUN; +GLEW_FUN_EXPORT PFNGLREPLACEMENTCODEUIVERTEX3FVSUNPROC __glewReplacementCodeuiVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR3FVERTEX3FSUNPROC __glewTexCoord2fColor3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR3FVERTEX3FVSUNPROC __glewTexCoord2fColor3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC __glewTexCoord2fColor4fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC __glewTexCoord2fColor4fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR4UBVERTEX3FSUNPROC __glewTexCoord2fColor4ubVertex3fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FCOLOR4UBVERTEX3FVSUNPROC __glewTexCoord2fColor4ubVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FNORMAL3FVERTEX3FSUNPROC __glewTexCoord2fNormal3fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FNORMAL3FVERTEX3FVSUNPROC __glewTexCoord2fNormal3fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FVERTEX3FSUNPROC __glewTexCoord2fVertex3fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD2FVERTEX3FVSUNPROC __glewTexCoord2fVertex3fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FSUNPROC __glewTexCoord4fColor4fNormal3fVertex4fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FVSUNPROC __glewTexCoord4fColor4fNormal3fVertex4fvSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD4FVERTEX4FSUNPROC __glewTexCoord4fVertex4fSUN; +GLEW_FUN_EXPORT PFNGLTEXCOORD4FVERTEX4FVSUNPROC __glewTexCoord4fVertex4fvSUN; + +GLEW_FUN_EXPORT PFNGLADDSWAPHINTRECTWINPROC __glewAddSwapHintRectWIN; + +#if defined(GLEW_MX) && !defined(_WIN32) +struct GLEWContextStruct +{ +#endif /* GLEW_MX */ + +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_1; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_2; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_2_1; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_3; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_4; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_1_5; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_2_0; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_2_1; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_3_0; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_3_1; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_3_2; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_3_3; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_4_0; +GLEW_VAR_EXPORT GLboolean __GLEW_VERSION_4_1; +GLEW_VAR_EXPORT GLboolean __GLEW_3DFX_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_3DFX_tbuffer; +GLEW_VAR_EXPORT GLboolean __GLEW_3DFX_texture_compression_FXT1; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_blend_minmax_factor; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_conservative_depth; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_debug_output; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_depth_clamp_separate; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_draw_buffers_blend; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_name_gen_delete; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_performance_monitor; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_sample_positions; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_seamless_cubemap_per_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_shader_stencil_export; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_texture_texture4; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_transform_feedback3_lines_triangles; +GLEW_VAR_EXPORT GLboolean __GLEW_AMD_vertex_shader_tessellator; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_aux_depth_stencil; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_client_storage; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_element_array; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_fence; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_float_pixels; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_flush_buffer_range; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_object_purgeable; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_pixel_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_rgb_422; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_row_bytes; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_specular_vector; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_texture_range; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_transform_hint; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_vertex_array_object; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_vertex_array_range; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_vertex_program_evaluators; +GLEW_VAR_EXPORT GLboolean __GLEW_APPLE_ycbcr_422; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_ES2_compatibility; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_blend_func_extended; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_cl_event; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_color_buffer_float; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_compatibility; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_copy_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_debug_output; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_depth_buffer_float; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_depth_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_depth_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_draw_buffers; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_draw_buffers_blend; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_draw_elements_base_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_draw_indirect; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_draw_instanced; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_explicit_attrib_location; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_fragment_coord_conventions; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_fragment_program; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_fragment_program_shadow; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_fragment_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_framebuffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_framebuffer_sRGB; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_geometry_shader4; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_get_program_binary; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_gpu_shader5; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_gpu_shader_fp64; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_half_float_pixel; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_half_float_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_imaging; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_instanced_arrays; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_map_buffer_range; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_matrix_palette; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_multitexture; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_occlusion_query; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_occlusion_query2; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_pixel_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_point_parameters; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_point_sprite; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_provoking_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_robustness; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_sample_shading; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_sampler_objects; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_seamless_cube_map; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_separate_shader_objects; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_bit_encoding; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_objects; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_precision; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_stencil_export; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_subroutine; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shader_texture_lod; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shading_language_100; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shading_language_include; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shadow; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_shadow_ambient; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_sync; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_tessellation_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_border_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_buffer_object_rgb32; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_compression; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_compression_bptc; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_compression_rgtc; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_cube_map; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_cube_map_array; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_env_add; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_env_combine; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_env_crossbar; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_env_dot3; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_float; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_gather; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_mirrored_repeat; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_non_power_of_two; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_query_lod; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_rectangle; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_rg; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_rgb10_a2ui; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_texture_swizzle; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_timer_query; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_transform_feedback2; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_transform_feedback3; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_transpose_matrix; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_uniform_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_array_bgra; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_array_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_attrib_64bit; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_blend; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_program; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_vertex_type_2_10_10_10_rev; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_viewport_array; +GLEW_VAR_EXPORT GLboolean __GLEW_ARB_window_pos; +GLEW_VAR_EXPORT GLboolean __GLEW_ATIX_point_sprites; +GLEW_VAR_EXPORT GLboolean __GLEW_ATIX_texture_env_combine3; +GLEW_VAR_EXPORT GLboolean __GLEW_ATIX_texture_env_route; +GLEW_VAR_EXPORT GLboolean __GLEW_ATIX_vertex_shader_output_point_size; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_draw_buffers; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_element_array; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_envmap_bumpmap; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_fragment_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_map_object_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_meminfo; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_pn_triangles; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_separate_stencil; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_shader_texture_lod; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_text_fragment_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_texture_compression_3dc; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_texture_env_combine3; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_texture_float; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_texture_mirror_once; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_vertex_array_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_vertex_attrib_array_object; +GLEW_VAR_EXPORT GLboolean __GLEW_ATI_vertex_streams; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_422_pixels; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_Cg_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_abgr; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_bgra; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_bindable_uniform; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_color; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_equation_separate; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_func_separate; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_logic_op; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_minmax; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_blend_subtract; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_clip_volume_hint; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_cmyka; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_color_subtable; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_compiled_vertex_array; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_convolution; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_coordinate_frame; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_copy_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_cull_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_depth_bounds_test; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_direct_state_access; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_draw_buffers2; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_draw_instanced; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_draw_range_elements; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_fog_coord; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_fragment_lighting; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_framebuffer_blit; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_framebuffer_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_framebuffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_framebuffer_sRGB; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_geometry_shader4; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_gpu_program_parameters; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_gpu_shader4; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_histogram; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_index_array_formats; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_index_func; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_index_material; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_index_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_light_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_misc_attribute; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_multi_draw_arrays; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_packed_depth_stencil; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_packed_float; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_packed_pixels; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_paletted_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_pixel_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_pixel_transform; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_pixel_transform_color_table; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_point_parameters; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_polygon_offset; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_provoking_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_rescale_normal; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_scene_marker; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_secondary_color; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_separate_shader_objects; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_separate_specular_color; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_shader_image_load_store; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_shadow_funcs; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_shared_texture_palette; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_stencil_clear_tag; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_stencil_two_side; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_stencil_wrap; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_subtexture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture3D; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_array; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_compression_dxt1; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_compression_latc; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_compression_rgtc; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_compression_s3tc; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_cube_map; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_edge_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_env; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_env_add; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_env_combine; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_env_dot3; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_filter_anisotropic; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_integer; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_lod_bias; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_mirror_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_object; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_perturb_normal; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_rectangle; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_sRGB; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_sRGB_decode; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_shared_exponent; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_snorm; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_texture_swizzle; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_timer_query; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_transform_feedback; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_vertex_array; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_vertex_array_bgra; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_vertex_attrib_64bit; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_vertex_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_vertex_weighting; +GLEW_VAR_EXPORT GLboolean __GLEW_EXT_x11_sync_object; +GLEW_VAR_EXPORT GLboolean __GLEW_GREMEDY_frame_terminator; +GLEW_VAR_EXPORT GLboolean __GLEW_GREMEDY_string_marker; +GLEW_VAR_EXPORT GLboolean __GLEW_HP_convolution_border_modes; +GLEW_VAR_EXPORT GLboolean __GLEW_HP_image_transform; +GLEW_VAR_EXPORT GLboolean __GLEW_HP_occlusion_test; +GLEW_VAR_EXPORT GLboolean __GLEW_HP_texture_lighting; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_cull_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_multimode_draw_arrays; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_rasterpos_clip; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_static_data; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_texture_mirrored_repeat; +GLEW_VAR_EXPORT GLboolean __GLEW_IBM_vertex_array_lists; +GLEW_VAR_EXPORT GLboolean __GLEW_INGR_color_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_INGR_interlace_read; +GLEW_VAR_EXPORT GLboolean __GLEW_INTEL_parallel_arrays; +GLEW_VAR_EXPORT GLboolean __GLEW_INTEL_texture_scissor; +GLEW_VAR_EXPORT GLboolean __GLEW_KTX_buffer_region; +GLEW_VAR_EXPORT GLboolean __GLEW_MESAX_texture_stack; +GLEW_VAR_EXPORT GLboolean __GLEW_MESA_pack_invert; +GLEW_VAR_EXPORT GLboolean __GLEW_MESA_resize_buffers; +GLEW_VAR_EXPORT GLboolean __GLEW_MESA_window_pos; +GLEW_VAR_EXPORT GLboolean __GLEW_MESA_ycbcr_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_NVX_gpu_memory_info; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_blend_square; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_conditional_render; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_copy_depth_to_color; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_copy_image; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_depth_buffer_float; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_depth_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_depth_range_unclamped; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_evaluators; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_explicit_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fence; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_float_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fog_distance; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fragment_program; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fragment_program2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fragment_program4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_fragment_program_option; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_framebuffer_multisample_coverage; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_geometry_program4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_geometry_shader4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_gpu_program4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_gpu_program5; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_gpu_program_fp64; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_gpu_shader5; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_half_float; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_light_max_exponent; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_multisample_coverage; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_multisample_filter_hint; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_occlusion_query; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_packed_depth_stencil; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_parameter_buffer_object; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_parameter_buffer_object2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_pixel_data_range; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_point_sprite; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_present_video; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_primitive_restart; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_register_combiners; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_register_combiners2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_shader_buffer_load; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_tessellation_program5; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texgen_emboss; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texgen_reflection; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_barrier; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_compression_vtc; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_env_combine4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_expand_normal; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_rectangle; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_shader; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_shader2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_texture_shader3; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_transform_feedback; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_transform_feedback2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vdpau_interop; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_array_range; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_array_range2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_attrib_integer_64bit; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_buffer_unified_memory; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program1_1; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program2; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program2_option; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program3; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_vertex_program4; +GLEW_VAR_EXPORT GLboolean __GLEW_NV_video_capture; +GLEW_VAR_EXPORT GLboolean __GLEW_OES_byte_coordinates; +GLEW_VAR_EXPORT GLboolean __GLEW_OES_compressed_paletted_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_OES_read_format; +GLEW_VAR_EXPORT GLboolean __GLEW_OES_single_precision; +GLEW_VAR_EXPORT GLboolean __GLEW_OML_interlace; +GLEW_VAR_EXPORT GLboolean __GLEW_OML_resample; +GLEW_VAR_EXPORT GLboolean __GLEW_OML_subsample; +GLEW_VAR_EXPORT GLboolean __GLEW_PGI_misc_hints; +GLEW_VAR_EXPORT GLboolean __GLEW_PGI_vertex_hints; +GLEW_VAR_EXPORT GLboolean __GLEW_REND_screen_coordinates; +GLEW_VAR_EXPORT GLboolean __GLEW_S3_s3tc; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_color_range; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_detail_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_fog_function; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_generate_mipmap; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_multisample; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_pixel_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_point_line_texgen; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_sharpen_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture4D; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture_border_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture_edge_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture_filter4; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture_lod; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIS_texture_select; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_async; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_async_histogram; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_async_pixel; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_blend_alpha_minmax; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_clipmap; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_convolution_accuracy; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_depth_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_flush_raster; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_fog_offset; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_fog_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_fragment_specular_lighting; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_framezoom; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_interlace; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_ir_instrument1; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_list_priority; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_pixel_texture; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_pixel_texture_bits; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_reference_plane; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_resample; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_shadow; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_shadow_ambient; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_sprite; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_tag_sample_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_add_env; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_coordinate_clamp; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_lod_bias; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_multi_buffer; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_range; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_texture_scale_bias; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_vertex_preclip; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_vertex_preclip_hint; +GLEW_VAR_EXPORT GLboolean __GLEW_SGIX_ycrcb; +GLEW_VAR_EXPORT GLboolean __GLEW_SGI_color_matrix; +GLEW_VAR_EXPORT GLboolean __GLEW_SGI_color_table; +GLEW_VAR_EXPORT GLboolean __GLEW_SGI_texture_color_table; +GLEW_VAR_EXPORT GLboolean __GLEW_SUNX_constant_data; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_convolution_border_modes; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_global_alpha; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_mesh_array; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_read_video_pixels; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_slice_accum; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_triangle_list; +GLEW_VAR_EXPORT GLboolean __GLEW_SUN_vertex; +GLEW_VAR_EXPORT GLboolean __GLEW_WIN_phong_shading; +GLEW_VAR_EXPORT GLboolean __GLEW_WIN_specular_fog; +GLEW_VAR_EXPORT GLboolean __GLEW_WIN_swap_hint; + +#ifdef GLEW_MX +}; /* GLEWContextStruct */ +#endif /* GLEW_MX */ + +/* ------------------------------------------------------------------------- */ + +/* error codes */ +#define GLEW_OK 0 +#define GLEW_NO_ERROR 0 +#define GLEW_ERROR_NO_GL_VERSION 1 /* missing GL version */ +#define GLEW_ERROR_GL_VERSION_10_ONLY 2 /* Need at least OpenGL 1.1 */ +#define GLEW_ERROR_GLX_VERSION_11_ONLY 3 /* Need at least GLX 1.2 */ + +/* string codes */ +#define GLEW_VERSION 1 +#define GLEW_VERSION_MAJOR 2 +#define GLEW_VERSION_MINOR 3 +#define GLEW_VERSION_MICRO 4 + +/* API */ +#ifdef GLEW_MX + +typedef struct GLEWContextStruct GLEWContext; +GLEWAPI GLenum glewContextInit (GLEWContext* ctx); +GLEWAPI GLboolean glewContextIsSupported (const GLEWContext* ctx, const char* name); + +#define glewInit() glewContextInit(glewGetContext()) +#define glewIsSupported(x) glewContextIsSupported(glewGetContext(), x) +#define glewIsExtensionSupported(x) glewIsSupported(x) + +#define GLEW_GET_VAR(x) (*(const GLboolean*)&(glewGetContext()->x)) +#ifdef _WIN32 +# define GLEW_GET_FUN(x) glewGetContext()->x +#else +# define GLEW_GET_FUN(x) x +#endif + +#else /* GLEW_MX */ + +GLEWAPI GLenum glewInit (); +GLEWAPI GLboolean glewIsSupported (const char* name); +#define glewIsExtensionSupported(x) glewIsSupported(x) + +#define GLEW_GET_VAR(x) (*(const GLboolean*)&x) +#define GLEW_GET_FUN(x) x + +#endif /* GLEW_MX */ + +GLEWAPI GLboolean glewExperimental; +GLEWAPI GLboolean glewGetExtension (const char* name); +GLEWAPI const GLubyte* glewGetErrorString (GLenum error); +GLEWAPI const GLubyte* glewGetString (GLenum name); + +#ifdef __cplusplus +} +#endif + +#ifdef GLEW_APIENTRY_DEFINED +#undef GLEW_APIENTRY_DEFINED +#undef APIENTRY +#undef GLAPIENTRY +#define GLAPIENTRY +#endif + +#ifdef GLEW_CALLBACK_DEFINED +#undef GLEW_CALLBACK_DEFINED +#undef CALLBACK +#endif + +#ifdef GLEW_WINGDIAPI_DEFINED +#undef GLEW_WINGDIAPI_DEFINED +#undef WINGDIAPI +#endif + +#undef GLAPI +/* #undef GLEWAPI */ + +#endif /* __glew_h__ */ diff --git a/Code/Physics/Glut/GL/glext.h b/Code/Physics/Glut/GL/glext.h new file mode 100644 index 00000000..10c2bc0f --- /dev/null +++ b/Code/Physics/Glut/GL/glext.h @@ -0,0 +1,3326 @@ +#ifndef __glext_h_ +#define __glext_h_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** Copyright 1998, 1999, 2000, 2001, NVIDIA Corporation. +** All rights Reserved. +** +** THE INFORMATION CONTAINED HEREIN IS PROPRIETARY AND CONFIDENTIAL TO +** NVIDIA, CORPORATION. USE, REPRODUCTION OR DISCLOSURE TO ANY THIRD PARTY +** IS SUBJECT TO WRITTEN PRE-APPROVAL BY NVIDIA, CORPORATION. +*/ + +/* +** License Applicability. Except to the extent portions of this file are +** made subject to an alternative license as permitted in the SGI Free +** Software License B, Version 1.1 (the "License"), the contents of this +** file are subject only to the provisions of the License. You may not use +** this file except in compliance with the License. You may obtain a copy +** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600 +** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at: +** +** http://oss.sgi.com/projects/FreeB +** +** Note that, as provided in the License, the Software is distributed on an +** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS +** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND +** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A +** PARTICULAR PURPOSE, AND NON-INFRINGEMENT. +** +** Original Code. The Original Code is: OpenGL Sample Implementation, +** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics, +** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc. +** Copyright in any portions created by third parties is as indicated +** elsewhere herein. All Rights Reserved. +** +** Additional Notice Provisions: This software was created using the +** OpenGL(R) version 1.2.1 Sample Implementation published by SGI, but has +** not been independently verified as being compliant with the OpenGL(R) +** version 1.2.1 Specification. +*/ + +#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) +#define WIN32_LEAN_AND_MEAN 1 +#include +#endif + +#ifndef APIENTRY +#define APIENTRY +#endif + +/*************************************************************/ + +/* Header file version number, required by OpenGL ABI for Linux */ +#define GL_GLEXT_VERSION 6 + +#ifndef GL_VERSION_1_2 +#define GL_CONSTANT_COLOR 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR 0x8002 +#define GL_CONSTANT_ALPHA 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA 0x8004 +#define GL_BLEND_COLOR 0x8005 +#define GL_FUNC_ADD 0x8006 +#define GL_MIN 0x8007 +#define GL_MAX 0x8008 +#define GL_BLEND_EQUATION 0x8009 +#define GL_FUNC_SUBTRACT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT 0x800B +#define GL_CONVOLUTION_1D 0x8010 +#define GL_CONVOLUTION_2D 0x8011 +#define GL_SEPARABLE_2D 0x8012 +#define GL_CONVOLUTION_BORDER_MODE 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS 0x8015 +#define GL_REDUCE 0x8016 +#define GL_CONVOLUTION_FORMAT 0x8017 +#define GL_CONVOLUTION_WIDTH 0x8018 +#define GL_CONVOLUTION_HEIGHT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS 0x8023 +#define GL_HISTOGRAM 0x8024 +#define GL_PROXY_HISTOGRAM 0x8025 +#define GL_HISTOGRAM_WIDTH 0x8026 +#define GL_HISTOGRAM_FORMAT 0x8027 +#define GL_HISTOGRAM_RED_SIZE 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE 0x802C +#define GL_HISTOGRAM_SINK 0x802D +#define GL_MINMAX 0x802E +#define GL_MINMAX_FORMAT 0x802F +#define GL_MINMAX_SINK 0x8030 +#define GL_TABLE_TOO_LARGE 0x8031 +#define GL_UNSIGNED_BYTE_3_3_2 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2 0x8036 +#define GL_RESCALE_NORMAL 0x803A +#define GL_UNSIGNED_BYTE_2_3_3_REV 0x8362 +#define GL_UNSIGNED_SHORT_5_6_5 0x8363 +#define GL_UNSIGNED_SHORT_5_6_5_REV 0x8364 +#define GL_UNSIGNED_SHORT_4_4_4_4_REV 0x8365 +#define GL_UNSIGNED_SHORT_1_5_5_5_REV 0x8366 +#define GL_UNSIGNED_INT_8_8_8_8_REV 0x8367 +#define GL_UNSIGNED_INT_2_10_10_10_REV 0x8368 +#define GL_COLOR_MATRIX 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS 0x80BA +#define GL_COLOR_TABLE 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE 0x80D2 +#define GL_PROXY_COLOR_TABLE 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE 0x80D5 +#define GL_COLOR_TABLE_SCALE 0x80D6 +#define GL_COLOR_TABLE_BIAS 0x80D7 +#define GL_COLOR_TABLE_FORMAT 0x80D8 +#define GL_COLOR_TABLE_WIDTH 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE 0x80DF +#define GL_CLAMP_TO_EDGE 0x812F +#define GL_TEXTURE_MIN_LOD 0x813A +#define GL_TEXTURE_MAX_LOD 0x813B +#define GL_TEXTURE_BASE_LEVEL 0x813C +#define GL_TEXTURE_MAX_LEVEL 0x813D +#endif + +#ifndef GL_ARB_multitexture +#define GL_TEXTURE0_ARB 0x84C0 +#define GL_TEXTURE1_ARB 0x84C1 +#define GL_TEXTURE2_ARB 0x84C2 +#define GL_TEXTURE3_ARB 0x84C3 +#define GL_TEXTURE4_ARB 0x84C4 +#define GL_TEXTURE5_ARB 0x84C5 +#define GL_TEXTURE6_ARB 0x84C6 +#define GL_TEXTURE7_ARB 0x84C7 +#define GL_TEXTURE8_ARB 0x84C8 +#define GL_TEXTURE9_ARB 0x84C9 +#define GL_TEXTURE10_ARB 0x84CA +#define GL_TEXTURE11_ARB 0x84CB +#define GL_TEXTURE12_ARB 0x84CC +#define GL_TEXTURE13_ARB 0x84CD +#define GL_TEXTURE14_ARB 0x84CE +#define GL_TEXTURE15_ARB 0x84CF +#define GL_TEXTURE16_ARB 0x84D0 +#define GL_TEXTURE17_ARB 0x84D1 +#define GL_TEXTURE18_ARB 0x84D2 +#define GL_TEXTURE19_ARB 0x84D3 +#define GL_TEXTURE20_ARB 0x84D4 +#define GL_TEXTURE21_ARB 0x84D5 +#define GL_TEXTURE22_ARB 0x84D6 +#define GL_TEXTURE23_ARB 0x84D7 +#define GL_TEXTURE24_ARB 0x84D8 +#define GL_TEXTURE25_ARB 0x84D9 +#define GL_TEXTURE26_ARB 0x84DA +#define GL_TEXTURE27_ARB 0x84DB +#define GL_TEXTURE28_ARB 0x84DC +#define GL_TEXTURE29_ARB 0x84DD +#define GL_TEXTURE30_ARB 0x84DE +#define GL_TEXTURE31_ARB 0x84DF +#define GL_ACTIVE_TEXTURE_ARB 0x84E0 +#define GL_CLIENT_ACTIVE_TEXTURE_ARB 0x84E1 +#define GL_MAX_TEXTURE_UNITS_ARB 0x84E2 +#endif + +#ifndef GL_ARB_transpose_matrix +#define GL_TRANSPOSE_MODELVIEW_MATRIX_ARB 0x84E3 +#define GL_TRANSPOSE_PROJECTION_MATRIX_ARB 0x84E4 +#define GL_TRANSPOSE_TEXTURE_MATRIX_ARB 0x84E5 +#define GL_TRANSPOSE_COLOR_MATRIX_ARB 0x84E6 +#endif + +#ifndef GL_ARB_multisample +#define GL_MULTISAMPLE_ARB 0x809D +#define GL_SAMPLE_ALPHA_TO_COVERAGE_ARB 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_ARB 0x809F +#define GL_SAMPLE_COVERAGE_ARB 0x80A0 +#define GL_SAMPLE_BUFFERS_ARB 0x80A8 +#define GL_SAMPLES_ARB 0x80A9 +#define GL_SAMPLE_COVERAGE_VALUE_ARB 0x80AA +#define GL_SAMPLE_COVERAGE_INVERT_ARB 0x80AB +#define GL_MULTISAMPLE_BIT_ARB 0x20000000 +#endif + +#ifndef GL_ARB_texture_cube_map +#define GL_NORMAL_MAP_ARB 0x8511 +#define GL_REFLECTION_MAP_ARB 0x8512 +#define GL_TEXTURE_CUBE_MAP_ARB 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_ARB 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_ARB 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_ARB 0x851C +#endif + +#ifndef GL_ARB_texture_compression +#define GL_COMPRESSED_ALPHA_ARB 0x84E9 +#define GL_COMPRESSED_LUMINANCE_ARB 0x84EA +#define GL_COMPRESSED_LUMINANCE_ALPHA_ARB 0x84EB +#define GL_COMPRESSED_INTENSITY_ARB 0x84EC +#define GL_COMPRESSED_RGB_ARB 0x84ED +#define GL_COMPRESSED_RGBA_ARB 0x84EE +#define GL_TEXTURE_COMPRESSION_HINT_ARB 0x84EF +#define GL_TEXTURE_IMAGE_SIZE_ARB 0x86A0 +#define GL_TEXTURE_COMPRESSED_ARB 0x86A1 +#define GL_NUM_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A2 +#define GL_COMPRESSED_TEXTURE_FORMATS_ARB 0x86A3 +#endif + +#ifndef GL_EXT_abgr +#define GL_ABGR_EXT 0x8000 +#endif + +#ifndef GL_EXT_blend_color +#define GL_CONSTANT_COLOR_EXT 0x8001 +#define GL_ONE_MINUS_CONSTANT_COLOR_EXT 0x8002 +#define GL_CONSTANT_ALPHA_EXT 0x8003 +#define GL_ONE_MINUS_CONSTANT_ALPHA_EXT 0x8004 +#define GL_BLEND_COLOR_EXT 0x8005 +#endif + +#ifndef GL_EXT_polygon_offset +#define GL_POLYGON_OFFSET_EXT 0x8037 +#define GL_POLYGON_OFFSET_FACTOR_EXT 0x8038 +#define GL_POLYGON_OFFSET_BIAS_EXT 0x8039 +#endif + +#ifndef GL_EXT_texture +#define GL_ALPHA4_EXT 0x803B +#define GL_ALPHA8_EXT 0x803C +#define GL_ALPHA12_EXT 0x803D +#define GL_ALPHA16_EXT 0x803E +#define GL_LUMINANCE4_EXT 0x803F +#define GL_LUMINANCE8_EXT 0x8040 +#define GL_LUMINANCE12_EXT 0x8041 +#define GL_LUMINANCE16_EXT 0x8042 +#define GL_LUMINANCE4_ALPHA4_EXT 0x8043 +#define GL_LUMINANCE6_ALPHA2_EXT 0x8044 +#define GL_LUMINANCE8_ALPHA8_EXT 0x8045 +#define GL_LUMINANCE12_ALPHA4_EXT 0x8046 +#define GL_LUMINANCE12_ALPHA12_EXT 0x8047 +#define GL_LUMINANCE16_ALPHA16_EXT 0x8048 +#define GL_INTENSITY_EXT 0x8049 +#define GL_INTENSITY4_EXT 0x804A +#define GL_INTENSITY8_EXT 0x804B +#define GL_INTENSITY12_EXT 0x804C +#define GL_INTENSITY16_EXT 0x804D +#define GL_RGB2_EXT 0x804E +#define GL_RGB4_EXT 0x804F +#define GL_RGB5_EXT 0x8050 +#define GL_RGB8_EXT 0x8051 +#define GL_RGB10_EXT 0x8052 +#define GL_RGB12_EXT 0x8053 +#define GL_RGB16_EXT 0x8054 +#define GL_RGBA2_EXT 0x8055 +#define GL_RGBA4_EXT 0x8056 +#define GL_RGB5_A1_EXT 0x8057 +#define GL_RGBA8_EXT 0x8058 +#define GL_RGB10_A2_EXT 0x8059 +#define GL_RGBA12_EXT 0x805A +#define GL_RGBA16_EXT 0x805B +#define GL_TEXTURE_RED_SIZE_EXT 0x805C +#define GL_TEXTURE_GREEN_SIZE_EXT 0x805D +#define GL_TEXTURE_BLUE_SIZE_EXT 0x805E +#define GL_TEXTURE_ALPHA_SIZE_EXT 0x805F +#define GL_TEXTURE_LUMINANCE_SIZE_EXT 0x8060 +#define GL_TEXTURE_INTENSITY_SIZE_EXT 0x8061 +#define GL_REPLACE_EXT 0x8062 +#define GL_PROXY_TEXTURE_1D_EXT 0x8063 +#define GL_PROXY_TEXTURE_2D_EXT 0x8064 +#define GL_TEXTURE_TOO_LARGE_EXT 0x8065 +#endif + +#ifndef GL_EXT_texture3D +#define GL_PACK_SKIP_IMAGES 0x806B +#define GL_PACK_SKIP_IMAGES_EXT 0x806B +#define GL_PACK_IMAGE_HEIGHT 0x806C +#define GL_PACK_IMAGE_HEIGHT_EXT 0x806C +#define GL_UNPACK_SKIP_IMAGES 0x806D +#define GL_UNPACK_SKIP_IMAGES_EXT 0x806D +#define GL_UNPACK_IMAGE_HEIGHT 0x806E +#define GL_UNPACK_IMAGE_HEIGHT_EXT 0x806E +#define GL_TEXTURE_3D 0x806F +#define GL_TEXTURE_3D_EXT 0x806F +#define GL_PROXY_TEXTURE_3D 0x8070 +#define GL_PROXY_TEXTURE_3D_EXT 0x8070 +#define GL_TEXTURE_DEPTH 0x8071 +#define GL_TEXTURE_DEPTH_EXT 0x8071 +#define GL_TEXTURE_WRAP_R 0x8072 +#define GL_TEXTURE_WRAP_R_EXT 0x8072 +#define GL_MAX_3D_TEXTURE_SIZE 0x8073 +#define GL_MAX_3D_TEXTURE_SIZE_EXT 0x8073 +#endif + +#ifndef GL_SGIS_texture_filter4 +#define GL_FILTER4_SGIS 0x8146 +#define GL_TEXTURE_FILTER4_SIZE_SGIS 0x8147 +#endif + +#ifndef GL_EXT_subtexture +#endif + +#ifndef GL_EXT_copy_texture +#endif + +#ifndef GL_EXT_histogram +#define GL_HISTOGRAM_EXT 0x8024 +#define GL_PROXY_HISTOGRAM_EXT 0x8025 +#define GL_HISTOGRAM_WIDTH_EXT 0x8026 +#define GL_HISTOGRAM_FORMAT_EXT 0x8027 +#define GL_HISTOGRAM_RED_SIZE_EXT 0x8028 +#define GL_HISTOGRAM_GREEN_SIZE_EXT 0x8029 +#define GL_HISTOGRAM_BLUE_SIZE_EXT 0x802A +#define GL_HISTOGRAM_ALPHA_SIZE_EXT 0x802B +#define GL_HISTOGRAM_LUMINANCE_SIZE_EXT 0x802C +#define GL_HISTOGRAM_SINK_EXT 0x802D +#define GL_MINMAX_EXT 0x802E +#define GL_MINMAX_FORMAT_EXT 0x802F +#define GL_MINMAX_SINK_EXT 0x8030 +#define GL_TABLE_TOO_LARGE_EXT 0x8031 +#endif + +#ifndef GL_EXT_convolution +#define GL_CONVOLUTION_1D_EXT 0x8010 +#define GL_CONVOLUTION_2D_EXT 0x8011 +#define GL_SEPARABLE_2D_EXT 0x8012 +#define GL_CONVOLUTION_BORDER_MODE_EXT 0x8013 +#define GL_CONVOLUTION_FILTER_SCALE_EXT 0x8014 +#define GL_CONVOLUTION_FILTER_BIAS_EXT 0x8015 +#define GL_REDUCE_EXT 0x8016 +#define GL_CONVOLUTION_FORMAT_EXT 0x8017 +#define GL_CONVOLUTION_WIDTH_EXT 0x8018 +#define GL_CONVOLUTION_HEIGHT_EXT 0x8019 +#define GL_MAX_CONVOLUTION_WIDTH_EXT 0x801A +#define GL_MAX_CONVOLUTION_HEIGHT_EXT 0x801B +#define GL_POST_CONVOLUTION_RED_SCALE_EXT 0x801C +#define GL_POST_CONVOLUTION_GREEN_SCALE_EXT 0x801D +#define GL_POST_CONVOLUTION_BLUE_SCALE_EXT 0x801E +#define GL_POST_CONVOLUTION_ALPHA_SCALE_EXT 0x801F +#define GL_POST_CONVOLUTION_RED_BIAS_EXT 0x8020 +#define GL_POST_CONVOLUTION_GREEN_BIAS_EXT 0x8021 +#define GL_POST_CONVOLUTION_BLUE_BIAS_EXT 0x8022 +#define GL_POST_CONVOLUTION_ALPHA_BIAS_EXT 0x8023 +#endif + +#ifndef GL_SGI_color_matrix +#define GL_COLOR_MATRIX_SGI 0x80B1 +#define GL_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B2 +#define GL_MAX_COLOR_MATRIX_STACK_DEPTH_SGI 0x80B3 +#define GL_POST_COLOR_MATRIX_RED_SCALE_SGI 0x80B4 +#define GL_POST_COLOR_MATRIX_GREEN_SCALE_SGI 0x80B5 +#define GL_POST_COLOR_MATRIX_BLUE_SCALE_SGI 0x80B6 +#define GL_POST_COLOR_MATRIX_ALPHA_SCALE_SGI 0x80B7 +#define GL_POST_COLOR_MATRIX_RED_BIAS_SGI 0x80B8 +#define GL_POST_COLOR_MATRIX_GREEN_BIAS_SGI 0x80B9 +#define GL_POST_COLOR_MATRIX_BLUE_BIAS_SGI 0x80BA +#define GL_POST_COLOR_MATRIX_ALPHA_BIAS_SGI 0x80BB +#endif + +#ifndef GL_SGI_color_table +#define GL_COLOR_TABLE_SGI 0x80D0 +#define GL_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D1 +#define GL_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D2 +#define GL_PROXY_COLOR_TABLE_SGI 0x80D3 +#define GL_PROXY_POST_CONVOLUTION_COLOR_TABLE_SGI 0x80D4 +#define GL_PROXY_POST_COLOR_MATRIX_COLOR_TABLE_SGI 0x80D5 +#define GL_COLOR_TABLE_SCALE_SGI 0x80D6 +#define GL_COLOR_TABLE_BIAS_SGI 0x80D7 +#define GL_COLOR_TABLE_FORMAT_SGI 0x80D8 +#define GL_COLOR_TABLE_WIDTH_SGI 0x80D9 +#define GL_COLOR_TABLE_RED_SIZE_SGI 0x80DA +#define GL_COLOR_TABLE_GREEN_SIZE_SGI 0x80DB +#define GL_COLOR_TABLE_BLUE_SIZE_SGI 0x80DC +#define GL_COLOR_TABLE_ALPHA_SIZE_SGI 0x80DD +#define GL_COLOR_TABLE_LUMINANCE_SIZE_SGI 0x80DE +#define GL_COLOR_TABLE_INTENSITY_SIZE_SGI 0x80DF +#endif + +#ifndef GL_SGIS_pixel_texture +#define GL_PIXEL_TEXTURE_SGIS 0x8353 +#define GL_PIXEL_FRAGMENT_RGB_SOURCE_SGIS 0x8354 +#define GL_PIXEL_FRAGMENT_ALPHA_SOURCE_SGIS 0x8355 +#define GL_PIXEL_GROUP_COLOR_SGIS 0x8356 +#endif + +#ifndef GL_SGIX_pixel_texture +#define GL_PIXEL_TEX_BUM_SGIX 0x8139 +#define GL_PIXEL_TEX_BUM_MODE_SGIX 0x832B +#endif + +#ifndef GL_SGIS_texture4D +#define GL_PACK_SKIP_VOLUMES_SGIS 0x8130 +#define GL_PACK_IMAGE_DEPTH_SGIS 0x8131 +#define GL_UNPACK_SKIP_VOLUMES_SGIS 0x8132 +#define GL_UNPACK_IMAGE_DEPTH_SGIS 0x8133 +#define GL_TEXTURE_4D_SGIS 0x8134 +#define GL_PROXY_TEXTURE_4D_SGIS 0x8135 +#define GL_TEXTURE_4DSIZE_SGIS 0x8136 +#define GL_TEXTURE_WRAP_Q_SGIS 0x8137 +#define GL_MAX_4D_TEXTURE_SIZE_SGIS 0x8138 +#define GL_TEXTURE_4D_BINDING_SGIS 0x814F +#endif + +#ifndef GL_SGI_texture_color_table +#define GL_TEXTURE_COLOR_TABLE_SGI 0x80BC +#define GL_PROXY_TEXTURE_COLOR_TABLE_SGI 0x80BD +#endif + +#ifndef GL_EXT_cmyka +#define GL_CMYK_EXT 0x800C +#define GL_CMYKA_EXT 0x800D +#define GL_PACK_CMYK_HINT_EXT 0x800E +#define GL_UNPACK_CMYK_HINT_EXT 0x800F +#endif + +#ifndef GL_EXT_texture_object +#define GL_TEXTURE_PRIORITY_EXT 0x8066 +#define GL_TEXTURE_RESIDENT_EXT 0x8067 +#define GL_TEXTURE_1D_BINDING_EXT 0x8068 +#define GL_TEXTURE_2D_BINDING_EXT 0x8069 +#define GL_TEXTURE_3D_BINDING_EXT 0x806A +#endif + +#ifndef GL_SGIS_detail_texture +#define GL_DETAIL_TEXTURE_2D_SGIS 0x8095 +#define GL_DETAIL_TEXTURE_2D_BINDING_SGIS 0x8096 +#define GL_LINEAR_DETAIL_SGIS 0x8097 +#define GL_LINEAR_DETAIL_ALPHA_SGIS 0x8098 +#define GL_LINEAR_DETAIL_COLOR_SGIS 0x8099 +#define GL_DETAIL_TEXTURE_LEVEL_SGIS 0x809A +#define GL_DETAIL_TEXTURE_MODE_SGIS 0x809B +#define GL_DETAIL_TEXTURE_FUNC_POINTS_SGIS 0x809C +#endif + +#ifndef GL_SGIS_sharpen_texture +#define GL_LINEAR_SHARPEN_SGIS 0x80AD +#define GL_LINEAR_SHARPEN_ALPHA_SGIS 0x80AE +#define GL_LINEAR_SHARPEN_COLOR_SGIS 0x80AF +#define GL_SHARPEN_TEXTURE_FUNC_POINTS_SGIS 0x80B0 +#endif + +#ifndef GL_EXT_packed_pixels +#define GL_UNSIGNED_BYTE_3_3_2_EXT 0x8032 +#define GL_UNSIGNED_SHORT_4_4_4_4_EXT 0x8033 +#define GL_UNSIGNED_SHORT_5_5_5_1_EXT 0x8034 +#define GL_UNSIGNED_INT_8_8_8_8_EXT 0x8035 +#define GL_UNSIGNED_INT_10_10_10_2_EXT 0x8036 +#endif + +#ifndef GL_SGIS_texture_lod +#define GL_TEXTURE_MIN_LOD_SGIS 0x813A +#define GL_TEXTURE_MAX_LOD_SGIS 0x813B +#define GL_TEXTURE_BASE_LEVEL_SGIS 0x813C +#define GL_TEXTURE_MAX_LEVEL_SGIS 0x813D +#endif + +#ifndef GL_SGIS_multisample +#define GL_MULTISAMPLE_SGIS 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_SGIS 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_SGIS 0x809F +#define GL_SAMPLE_MASK_SGIS 0x80A0 +#define GL_1PASS_SGIS 0x80A1 +#define GL_2PASS_0_SGIS 0x80A2 +#define GL_2PASS_1_SGIS 0x80A3 +#define GL_4PASS_0_SGIS 0x80A4 +#define GL_4PASS_1_SGIS 0x80A5 +#define GL_4PASS_2_SGIS 0x80A6 +#define GL_4PASS_3_SGIS 0x80A7 +#define GL_SAMPLE_BUFFERS_SGIS 0x80A8 +#define GL_SAMPLES_SGIS 0x80A9 +#define GL_SAMPLE_MASK_VALUE_SGIS 0x80AA +#define GL_SAMPLE_MASK_INVERT_SGIS 0x80AB +#define GL_SAMPLE_PATTERN_SGIS 0x80AC +#endif + +#ifndef GL_EXT_rescale_normal +#define GL_RESCALE_NORMAL_EXT 0x803A +#endif + +#ifndef GL_EXT_vertex_array +#define GL_VERTEX_ARRAY_EXT 0x8074 +#define GL_NORMAL_ARRAY_EXT 0x8075 +#define GL_COLOR_ARRAY_EXT 0x8076 +#define GL_INDEX_ARRAY_EXT 0x8077 +#define GL_TEXTURE_COORD_ARRAY_EXT 0x8078 +#define GL_EDGE_FLAG_ARRAY_EXT 0x8079 +#define GL_VERTEX_ARRAY_SIZE_EXT 0x807A +#define GL_VERTEX_ARRAY_TYPE_EXT 0x807B +#define GL_VERTEX_ARRAY_STRIDE_EXT 0x807C +#define GL_VERTEX_ARRAY_COUNT_EXT 0x807D +#define GL_NORMAL_ARRAY_TYPE_EXT 0x807E +#define GL_NORMAL_ARRAY_STRIDE_EXT 0x807F +#define GL_NORMAL_ARRAY_COUNT_EXT 0x8080 +#define GL_COLOR_ARRAY_SIZE_EXT 0x8081 +#define GL_COLOR_ARRAY_TYPE_EXT 0x8082 +#define GL_COLOR_ARRAY_STRIDE_EXT 0x8083 +#define GL_COLOR_ARRAY_COUNT_EXT 0x8084 +#define GL_INDEX_ARRAY_TYPE_EXT 0x8085 +#define GL_INDEX_ARRAY_STRIDE_EXT 0x8086 +#define GL_INDEX_ARRAY_COUNT_EXT 0x8087 +#define GL_TEXTURE_COORD_ARRAY_SIZE_EXT 0x8088 +#define GL_TEXTURE_COORD_ARRAY_TYPE_EXT 0x8089 +#define GL_TEXTURE_COORD_ARRAY_STRIDE_EXT 0x808A +#define GL_TEXTURE_COORD_ARRAY_COUNT_EXT 0x808B +#define GL_EDGE_FLAG_ARRAY_STRIDE_EXT 0x808C +#define GL_EDGE_FLAG_ARRAY_COUNT_EXT 0x808D +#define GL_VERTEX_ARRAY_POINTER_EXT 0x808E +#define GL_NORMAL_ARRAY_POINTER_EXT 0x808F +#define GL_COLOR_ARRAY_POINTER_EXT 0x8090 +#define GL_INDEX_ARRAY_POINTER_EXT 0x8091 +#define GL_TEXTURE_COORD_ARRAY_POINTER_EXT 0x8092 +#define GL_EDGE_FLAG_ARRAY_POINTER_EXT 0x8093 +#endif + +#ifndef GL_EXT_misc_attribute +#endif + +#ifndef GL_SGIS_generate_mipmap +#define GL_GENERATE_MIPMAP_SGIS 0x8191 +#define GL_GENERATE_MIPMAP_HINT_SGIS 0x8192 +#endif + +#ifndef GL_SGIX_clipmap +#define GL_LINEAR_CLIPMAP_LINEAR_SGIX 0x8170 +#define GL_TEXTURE_CLIPMAP_CENTER_SGIX 0x8171 +#define GL_TEXTURE_CLIPMAP_FRAME_SGIX 0x8172 +#define GL_TEXTURE_CLIPMAP_OFFSET_SGIX 0x8173 +#define GL_TEXTURE_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8174 +#define GL_TEXTURE_CLIPMAP_LOD_OFFSET_SGIX 0x8175 +#define GL_TEXTURE_CLIPMAP_DEPTH_SGIX 0x8176 +#define GL_MAX_CLIPMAP_DEPTH_SGIX 0x8177 +#define GL_MAX_CLIPMAP_VIRTUAL_DEPTH_SGIX 0x8178 +#define GL_NEAREST_CLIPMAP_NEAREST_SGIX 0x844D +#define GL_NEAREST_CLIPMAP_LINEAR_SGIX 0x844E +#define GL_LINEAR_CLIPMAP_NEAREST_SGIX 0x844F +#endif + +#ifndef GL_SGIX_shadow +#define GL_TEXTURE_COMPARE_SGIX 0x819A +#define GL_TEXTURE_COMPARE_OPERATOR_SGIX 0x819B +#define GL_TEXTURE_LEQUAL_R_SGIX 0x819C +#define GL_TEXTURE_GEQUAL_R_SGIX 0x819D +#endif + +#ifndef GL_SGIS_texture_edge_clamp +#define GL_CLAMP_TO_EDGE_SGIS 0x812F +#endif + +#ifndef GL_SGIS_texture_border_clamp +#define GL_CLAMP_TO_BORDER_SGIS 0x812D +#endif + +#ifndef GL_EXT_blend_minmax +#define GL_FUNC_ADD_EXT 0x8006 +#define GL_MIN_EXT 0x8007 +#define GL_MAX_EXT 0x8008 +#define GL_BLEND_EQUATION_EXT 0x8009 +#endif + +#ifndef GL_EXT_blend_subtract +#define GL_FUNC_SUBTRACT_EXT 0x800A +#define GL_FUNC_REVERSE_SUBTRACT_EXT 0x800B +#endif + +#ifndef GL_EXT_blend_logic_op +#endif + +#ifndef GL_SGIX_interlace +#define GL_INTERLACE_SGIX 0x8094 +#endif + +#ifndef GL_SGIX_pixel_tiles +#define GL_PIXEL_TILE_BEST_ALIGNMENT_SGIX 0x813E +#define GL_PIXEL_TILE_CACHE_INCREMENT_SGIX 0x813F +#define GL_PIXEL_TILE_WIDTH_SGIX 0x8140 +#define GL_PIXEL_TILE_HEIGHT_SGIX 0x8141 +#define GL_PIXEL_TILE_GRID_WIDTH_SGIX 0x8142 +#define GL_PIXEL_TILE_GRID_HEIGHT_SGIX 0x8143 +#define GL_PIXEL_TILE_GRID_DEPTH_SGIX 0x8144 +#define GL_PIXEL_TILE_CACHE_SIZE_SGIX 0x8145 +#endif + +#ifndef GL_SGIS_texture_select +#define GL_DUAL_ALPHA4_SGIS 0x8110 +#define GL_DUAL_ALPHA8_SGIS 0x8111 +#define GL_DUAL_ALPHA12_SGIS 0x8112 +#define GL_DUAL_ALPHA16_SGIS 0x8113 +#define GL_DUAL_LUMINANCE4_SGIS 0x8114 +#define GL_DUAL_LUMINANCE8_SGIS 0x8115 +#define GL_DUAL_LUMINANCE12_SGIS 0x8116 +#define GL_DUAL_LUMINANCE16_SGIS 0x8117 +#define GL_DUAL_INTENSITY4_SGIS 0x8118 +#define GL_DUAL_INTENSITY8_SGIS 0x8119 +#define GL_DUAL_INTENSITY12_SGIS 0x811A +#define GL_DUAL_INTENSITY16_SGIS 0x811B +#define GL_DUAL_LUMINANCE_ALPHA4_SGIS 0x811C +#define GL_DUAL_LUMINANCE_ALPHA8_SGIS 0x811D +#define GL_QUAD_ALPHA4_SGIS 0x811E +#define GL_QUAD_ALPHA8_SGIS 0x811F +#define GL_QUAD_LUMINANCE4_SGIS 0x8120 +#define GL_QUAD_LUMINANCE8_SGIS 0x8121 +#define GL_QUAD_INTENSITY4_SGIS 0x8122 +#define GL_QUAD_INTENSITY8_SGIS 0x8123 +#define GL_DUAL_TEXTURE_SELECT_SGIS 0x8124 +#define GL_QUAD_TEXTURE_SELECT_SGIS 0x8125 +#endif + +#ifndef GL_SGIX_sprite +#define GL_SPRITE_SGIX 0x8148 +#define GL_SPRITE_MODE_SGIX 0x8149 +#define GL_SPRITE_AXIS_SGIX 0x814A +#define GL_SPRITE_TRANSLATION_SGIX 0x814B +#define GL_SPRITE_AXIAL_SGIX 0x814C +#define GL_SPRITE_OBJECT_ALIGNED_SGIX 0x814D +#define GL_SPRITE_EYE_ALIGNED_SGIX 0x814E +#endif + +#ifndef GL_SGIX_texture_multi_buffer +#define GL_TEXTURE_MULTI_BUFFER_HINT_SGIX 0x812E +#endif + +#ifndef GL_SGIS_point_parameters +#define GL_POINT_SIZE_MIN_EXT 0x8126 +#define GL_POINT_SIZE_MIN_SGIS 0x8126 +#define GL_POINT_SIZE_MAX_EXT 0x8127 +#define GL_POINT_SIZE_MAX_SGIS 0x8127 +#define GL_POINT_FADE_THRESHOLD_SIZE_EXT 0x8128 +#define GL_POINT_FADE_THRESHOLD_SIZE_SGIS 0x8128 +#define GL_DISTANCE_ATTENUATION_EXT 0x8129 +#define GL_DISTANCE_ATTENUATION_SGIS 0x8129 +#endif + +#ifndef GL_SGIX_instruments +#define GL_INSTRUMENT_BUFFER_POINTER_SGIX 0x8180 +#define GL_INSTRUMENT_MEASUREMENTS_SGIX 0x8181 +#endif + +#ifndef GL_SGIX_texture_scale_bias +#define GL_POST_TEXTURE_FILTER_BIAS_SGIX 0x8179 +#define GL_POST_TEXTURE_FILTER_SCALE_SGIX 0x817A +#define GL_POST_TEXTURE_FILTER_BIAS_RANGE_SGIX 0x817B +#define GL_POST_TEXTURE_FILTER_SCALE_RANGE_SGIX 0x817C +#endif + +#ifndef GL_SGIX_framezoom +#define GL_FRAMEZOOM_SGIX 0x818B +#define GL_FRAMEZOOM_FACTOR_SGIX 0x818C +#define GL_MAX_FRAMEZOOM_FACTOR_SGIX 0x818D +#endif + +#ifndef GL_SGIX_tag_sample_buffer +#endif + +#ifndef GL_SGIX_reference_plane +#define GL_REFERENCE_PLANE_SGIX 0x817D +#define GL_REFERENCE_PLANE_EQUATION_SGIX 0x817E +#endif + +#ifndef GL_SGIX_flush_raster +#endif + +#ifndef GL_SGIX_depth_texture +#define GL_DEPTH_COMPONENT16_SGIX 0x81A5 +#define GL_DEPTH_COMPONENT24_SGIX 0x81A6 +#define GL_DEPTH_COMPONENT32_SGIX 0x81A7 +#endif + +#ifndef GL_SGIS_fog_function +#define GL_FOG_FUNC_SGIS 0x812A +#define GL_FOG_FUNC_POINTS_SGIS 0x812B +#define GL_MAX_FOG_FUNC_POINTS_SGIS 0x812C +#endif + +#ifndef GL_SGIX_fog_offset +#define GL_FOG_OFFSET_SGIX 0x8198 +#define GL_FOG_OFFSET_VALUE_SGIX 0x8199 +#endif + +#ifndef GL_HP_image_transform +#define GL_IMAGE_SCALE_X_HP 0x8155 +#define GL_IMAGE_SCALE_Y_HP 0x8156 +#define GL_IMAGE_TRANSLATE_X_HP 0x8157 +#define GL_IMAGE_TRANSLATE_Y_HP 0x8158 +#define GL_IMAGE_ROTATE_ANGLE_HP 0x8159 +#define GL_IMAGE_ROTATE_ORIGIN_X_HP 0x815A +#define GL_IMAGE_ROTATE_ORIGIN_Y_HP 0x815B +#define GL_IMAGE_MAG_FILTER_HP 0x815C +#define GL_IMAGE_MIN_FILTER_HP 0x815D +#define GL_IMAGE_CUBIC_WEIGHT_HP 0x815E +#define GL_CUBIC_HP 0x815F +#define GL_AVERAGE_HP 0x8160 +#define GL_IMAGE_TRANSFORM_2D_HP 0x8161 +#define GL_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8162 +#define GL_PROXY_POST_IMAGE_TRANSFORM_COLOR_TABLE_HP 0x8163 +#endif + +#ifndef GL_HP_convolution_border_modes +#define GL_IGNORE_BORDER_HP 0x8150 +#define GL_CONSTANT_BORDER_HP 0x8151 +#define GL_REPLICATE_BORDER_HP 0x8153 +#define GL_CONVOLUTION_BORDER_COLOR_HP 0x8154 +#endif + +#ifndef GL_INGR_palette_buffer +#endif + +#ifndef GL_SGIX_texture_add_env +#define GL_TEXTURE_ENV_BIAS_SGIX 0x80BE +#endif + +#ifndef GL_EXT_color_subtable +#endif + +#ifndef GL_PGI_vertex_hints +#define GL_VERTEX_DATA_HINT_PGI 0x1A22A +#define GL_VERTEX_CONSISTENT_HINT_PGI 0x1A22B +#define GL_MATERIAL_SIDE_HINT_PGI 0x1A22C +#define GL_MAX_VERTEX_HINT_PGI 0x1A22D +#define GL_COLOR3_BIT_PGI 0x00010000 +#define GL_COLOR4_BIT_PGI 0x00020000 +#define GL_EDGEFLAG_BIT_PGI 0x00040000 +#define GL_INDEX_BIT_PGI 0x00080000 +#define GL_MAT_AMBIENT_BIT_PGI 0x00100000 +#define GL_MAT_AMBIENT_AND_DIFFUSE_BIT_PGI 0x00200000 +#define GL_MAT_DIFFUSE_BIT_PGI 0x00400000 +#define GL_MAT_EMISSION_BIT_PGI 0x00800000 +#define GL_MAT_COLOR_INDEXES_BIT_PGI 0x01000000 +#define GL_MAT_SHININESS_BIT_PGI 0x02000000 +#define GL_MAT_SPECULAR_BIT_PGI 0x04000000 +#define GL_NORMAL_BIT_PGI 0x08000000 +#define GL_TEXCOORD1_BIT_PGI 0x10000000 +#define GL_TEXCOORD2_BIT_PGI 0x20000000 +#define GL_TEXCOORD3_BIT_PGI 0x40000000 +#define GL_TEXCOORD4_BIT_PGI 0x80000000 +#define GL_VERTEX23_BIT_PGI 0x00000004 +#define GL_VERTEX4_BIT_PGI 0x00000008 +#endif + +#ifndef GL_PGI_misc_hints +#define GL_PREFER_DOUBLEBUFFER_HINT_PGI 0x1A1F8 +#define GL_CONSERVE_MEMORY_HINT_PGI 0x1A1FD +#define GL_RECLAIM_MEMORY_HINT_PGI 0x1A1FE +#define GL_NATIVE_GRAPHICS_HANDLE_PGI 0x1A202 +#define GL_NATIVE_GRAPHICS_BEGIN_HINT_PGI 0x1A203 +#define GL_NATIVE_GRAPHICS_END_HINT_PGI 0x1A204 +#define GL_ALWAYS_FAST_HINT_PGI 0x1A20C +#define GL_ALWAYS_SOFT_HINT_PGI 0x1A20D +#define GL_ALLOW_DRAW_OBJ_HINT_PGI 0x1A20E +#define GL_ALLOW_DRAW_WIN_HINT_PGI 0x1A20F +#define GL_ALLOW_DRAW_FRG_HINT_PGI 0x1A210 +#define GL_ALLOW_DRAW_MEM_HINT_PGI 0x1A211 +#define GL_STRICT_DEPTHFUNC_HINT_PGI 0x1A216 +#define GL_STRICT_LIGHTING_HINT_PGI 0x1A217 +#define GL_STRICT_SCISSOR_HINT_PGI 0x1A218 +#define GL_FULL_STIPPLE_HINT_PGI 0x1A219 +#define GL_CLIP_NEAR_HINT_PGI 0x1A220 +#define GL_CLIP_FAR_HINT_PGI 0x1A221 +#define GL_WIDE_LINE_HINT_PGI 0x1A222 +#define GL_BACK_NORMALS_HINT_PGI 0x1A223 +#endif + +#ifndef GL_EXT_paletted_texture +#define GL_COLOR_INDEX1_EXT 0x80E2 +#define GL_COLOR_INDEX2_EXT 0x80E3 +#define GL_COLOR_INDEX4_EXT 0x80E4 +#define GL_COLOR_INDEX8_EXT 0x80E5 +#define GL_COLOR_INDEX12_EXT 0x80E6 +#define GL_COLOR_INDEX16_EXT 0x80E7 +#define GL_TEXTURE_INDEX_SIZE_EXT 0x80ED +#endif + +#ifndef GL_EXT_clip_volume_hint +#define GL_CLIP_VOLUME_CLIPPING_HINT_EXT 0x80F0 +#endif + +#ifndef GL_SGIX_list_priority +#define GL_LIST_PRIORITY_SGIX 0x8182 +#endif + +#ifndef GL_SGIX_ir_instrument1 +#define GL_IR_INSTRUMENT1_SGIX 0x817F +#endif + +#ifndef GL_SGIX_calligraphic_fragment +#define GL_CALLIGRAPHIC_FRAGMENT_SGIX 0x8183 +#endif + +#ifndef GL_SGIX_texture_lod_bias +#define GL_TEXTURE_LOD_BIAS_S_SGIX 0x818E +#define GL_TEXTURE_LOD_BIAS_T_SGIX 0x818F +#define GL_TEXTURE_LOD_BIAS_R_SGIX 0x8190 +#endif + +#ifndef GL_SGIX_shadow_ambient +#define GL_SHADOW_AMBIENT_SGIX 0x80BF +#endif + +#ifndef GL_EXT_index_texture +#endif + +#ifndef GL_EXT_index_material +#define GL_INDEX_MATERIAL_EXT 0x81B8 +#define GL_INDEX_MATERIAL_PARAMETER_EXT 0x81B9 +#define GL_INDEX_MATERIAL_FACE_EXT 0x81BA +#endif + +#ifndef GL_EXT_index_func +#define GL_INDEX_TEST_EXT 0x81B5 +#define GL_INDEX_TEST_FUNC_EXT 0x81B6 +#define GL_INDEX_TEST_REF_EXT 0x81B7 +#endif + +#ifndef GL_EXT_index_array_formats +#define GL_IUI_V2F_EXT 0x81AD +#define GL_IUI_V3F_EXT 0x81AE +#define GL_IUI_N3F_V2F_EXT 0x81AF +#define GL_IUI_N3F_V3F_EXT 0x81B0 +#define GL_T2F_IUI_V2F_EXT 0x81B1 +#define GL_T2F_IUI_V3F_EXT 0x81B2 +#define GL_T2F_IUI_N3F_V2F_EXT 0x81B3 +#define GL_T2F_IUI_N3F_V3F_EXT 0x81B4 +#endif + +#ifndef GL_EXT_compiled_vertex_array +#define GL_ARRAY_ELEMENT_LOCK_FIRST_EXT 0x81A8 +#define GL_ARRAY_ELEMENT_LOCK_COUNT_EXT 0x81A9 +#endif + +#ifndef GL_EXT_cull_vertex +#define GL_CULL_VERTEX_EXT 0x81AA +#define GL_CULL_VERTEX_EYE_POSITION_EXT 0x81AB +#define GL_CULL_VERTEX_OBJECT_POSITION_EXT 0x81AC +#endif + +#ifndef GL_SGIX_ycrcb +#define GL_YCRCB_422_SGIX 0x81BB +#define GL_YCRCB_444_SGIX 0x81BC +#endif + +#ifndef GL_SGIX_fragment_lighting +#define GL_FRAGMENT_LIGHTING_SGIX 0x8400 +#define GL_FRAGMENT_COLOR_MATERIAL_SGIX 0x8401 +#define GL_FRAGMENT_COLOR_MATERIAL_FACE_SGIX 0x8402 +#define GL_FRAGMENT_COLOR_MATERIAL_PARAMETER_SGIX 0x8403 +#define GL_MAX_FRAGMENT_LIGHTS_SGIX 0x8404 +#define GL_MAX_ACTIVE_LIGHTS_SGIX 0x8405 +#define GL_CURRENT_RASTER_NORMAL_SGIX 0x8406 +#define GL_LIGHT_ENV_MODE_SGIX 0x8407 +#define GL_FRAGMENT_LIGHT_MODEL_LOCAL_VIEWER_SGIX 0x8408 +#define GL_FRAGMENT_LIGHT_MODEL_TWO_SIDE_SGIX 0x8409 +#define GL_FRAGMENT_LIGHT_MODEL_AMBIENT_SGIX 0x840A +#define GL_FRAGMENT_LIGHT_MODEL_NORMAL_INTERPOLATION_SGIX 0x840B +#define GL_FRAGMENT_LIGHT0_SGIX 0x840C +#define GL_FRAGMENT_LIGHT1_SGIX 0x840D +#define GL_FRAGMENT_LIGHT2_SGIX 0x840E +#define GL_FRAGMENT_LIGHT3_SGIX 0x840F +#define GL_FRAGMENT_LIGHT4_SGIX 0x8410 +#define GL_FRAGMENT_LIGHT5_SGIX 0x8411 +#define GL_FRAGMENT_LIGHT6_SGIX 0x8412 +#define GL_FRAGMENT_LIGHT7_SGIX 0x8413 +#endif + +#ifndef GL_IBM_rasterpos_clip +#define GL_RASTER_POSITION_UNCLIPPED_IBM 0x19262 +#endif + +#ifndef GL_HP_texture_lighting +#define GL_TEXTURE_LIGHTING_MODE_HP 0x8167 +#define GL_TEXTURE_POST_SPECULAR_HP 0x8168 +#define GL_TEXTURE_PRE_SPECULAR_HP 0x8169 +#endif + +#ifndef GL_EXT_draw_range_elements +#define GL_MAX_ELEMENTS_VERTICES_EXT 0x80E8 +#define GL_MAX_ELEMENTS_INDICES_EXT 0x80E9 +#endif + +#ifndef GL_WIN_phong_shading +#define GL_PHONG_WIN 0x80EA +#define GL_PHONG_HINT_WIN 0x80EB +#endif + +#ifndef GL_WIN_specular_fog +#define GL_FOG_SPECULAR_TEXTURE_WIN 0x80EC +#endif + +#ifndef GL_EXT_light_texture +#define GL_FRAGMENT_MATERIAL_EXT 0x8349 +#define GL_FRAGMENT_NORMAL_EXT 0x834A +#define GL_FRAGMENT_COLOR_EXT 0x834C +#define GL_ATTENUATION_EXT 0x834D +#define GL_SHADOW_ATTENUATION_EXT 0x834E +#define GL_TEXTURE_APPLICATION_MODE_EXT 0x834F +#define GL_TEXTURE_LIGHT_EXT 0x8350 +#define GL_TEXTURE_MATERIAL_FACE_EXT 0x8351 +#define GL_TEXTURE_MATERIAL_PARAMETER_EXT 0x8352 +/* reuse GL_FRAGMENT_DEPTH_EXT */ +#endif + +#ifndef GL_SGIX_blend_alpha_minmax +#define GL_ALPHA_MIN_SGIX 0x8320 +#define GL_ALPHA_MAX_SGIX 0x8321 +#endif + +#ifndef GL_EXT_bgra +#define GL_BGR_EXT 0x80E0 +#define GL_BGRA_EXT 0x80E1 +#endif + +#ifndef GL_INTEL_texture_scissor +#endif + +#ifndef GL_INTEL_parallel_arrays +#define GL_PARALLEL_ARRAYS_INTEL 0x83F4 +#define GL_VERTEX_ARRAY_PARALLEL_POINTERS_INTEL 0x83F5 +#define GL_NORMAL_ARRAY_PARALLEL_POINTERS_INTEL 0x83F6 +#define GL_COLOR_ARRAY_PARALLEL_POINTERS_INTEL 0x83F7 +#define GL_TEXTURE_COORD_ARRAY_PARALLEL_POINTERS_INTEL 0x83F8 +#endif + +#ifndef GL_HP_occlusion_test +#define GL_OCCLUSION_TEST_HP 0x8165 +#define GL_OCCLUSION_TEST_RESULT_HP 0x8166 +#endif + +#ifndef GL_EXT_pixel_transform +#define GL_PIXEL_TRANSFORM_2D_EXT 0x8330 +#define GL_PIXEL_MAG_FILTER_EXT 0x8331 +#define GL_PIXEL_MIN_FILTER_EXT 0x8332 +#define GL_PIXEL_CUBIC_WEIGHT_EXT 0x8333 +#define GL_CUBIC_EXT 0x8334 +#define GL_AVERAGE_EXT 0x8335 +#define GL_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8336 +#define GL_MAX_PIXEL_TRANSFORM_2D_STACK_DEPTH_EXT 0x8337 +#define GL_PIXEL_TRANSFORM_2D_MATRIX_EXT 0x8338 +#endif + +#ifndef GL_EXT_pixel_transform_color_table +#endif + +#ifndef GL_EXT_shared_texture_palette +#define GL_SHARED_TEXTURE_PALETTE_EXT 0x81FB +#endif + +#ifndef GL_EXT_separate_specular_color +#define GL_LIGHT_MODEL_COLOR_CONTROL_EXT 0x81F8 +#define GL_SINGLE_COLOR_EXT 0x81F9 +#define GL_SEPARATE_SPECULAR_COLOR_EXT 0x81FA +#endif + +#ifndef GL_EXT_secondary_color +#define GL_COLOR_SUM_EXT 0x8458 +#define GL_CURRENT_SECONDARY_COLOR_EXT 0x8459 +#define GL_SECONDARY_COLOR_ARRAY_SIZE_EXT 0x845A +#define GL_SECONDARY_COLOR_ARRAY_TYPE_EXT 0x845B +#define GL_SECONDARY_COLOR_ARRAY_STRIDE_EXT 0x845C +#define GL_SECONDARY_COLOR_ARRAY_POINTER_EXT 0x845D +#define GL_SECONDARY_COLOR_ARRAY_EXT 0x845E +#endif + +#ifndef GL_EXT_texture_perturb_normal +#define GL_PERTURB_EXT 0x85AE +#define GL_TEXTURE_NORMAL_EXT 0x85AF +#endif + +#ifndef GL_EXT_multi_draw_arrays +#endif + +#ifndef GL_EXT_fog_coord +#define GL_FOG_COORDINATE_SOURCE_EXT 0x8450 +#define GL_FOG_COORDINATE_EXT 0x8451 +#define GL_FRAGMENT_DEPTH_EXT 0x8452 +#define GL_CURRENT_FOG_COORDINATE_EXT 0x8453 +#define GL_FOG_COORDINATE_ARRAY_TYPE_EXT 0x8454 +#define GL_FOG_COORDINATE_ARRAY_STRIDE_EXT 0x8455 +#define GL_FOG_COORDINATE_ARRAY_POINTER_EXT 0x8456 +#define GL_FOG_COORDINATE_ARRAY_EXT 0x8457 +#endif + +#ifndef GL_REND_screen_coordinates +#define GL_SCREEN_COORDINATES_REND 0x8490 +#define GL_INVERTED_SCREEN_W_REND 0x8491 +#endif + +#ifndef GL_EXT_coordinate_frame +#define GL_TANGENT_ARRAY_EXT 0x8439 +#define GL_BINORMAL_ARRAY_EXT 0x843A +#define GL_CURRENT_TANGENT_EXT 0x843B +#define GL_CURRENT_BINORMAL_EXT 0x843C +#define GL_TANGENT_ARRAY_TYPE_EXT 0x843E +#define GL_TANGENT_ARRAY_STRIDE_EXT 0x843F +#define GL_BINORMAL_ARRAY_TYPE_EXT 0x8440 +#define GL_BINORMAL_ARRAY_STRIDE_EXT 0x8441 +#define GL_TANGENT_ARRAY_POINTER_EXT 0x8442 +#define GL_BINORMAL_ARRAY_POINTER_EXT 0x8443 +#define GL_MAP1_TANGENT_EXT 0x8444 +#define GL_MAP2_TANGENT_EXT 0x8445 +#define GL_MAP1_BINORMAL_EXT 0x8446 +#define GL_MAP2_BINORMAL_EXT 0x8447 +#endif + +#ifndef GL_EXT_texture_env_combine +#define GL_COMBINE_EXT 0x8570 +#define GL_COMBINE_RGB_EXT 0x8571 +#define GL_COMBINE_ALPHA_EXT 0x8572 +#define GL_RGB_SCALE_EXT 0x8573 +#define GL_ADD_SIGNED_EXT 0x8574 +#define GL_INTERPOLATE_EXT 0x8575 +#define GL_CONSTANT_EXT 0x8576 +#define GL_PRIMARY_COLOR_EXT 0x8577 +#define GL_PREVIOUS_EXT 0x8578 +#define GL_SOURCE0_RGB_EXT 0x8580 +#define GL_SOURCE1_RGB_EXT 0x8581 +#define GL_SOURCE2_RGB_EXT 0x8582 +#define GL_SOURCE3_RGB_EXT 0x8583 +#define GL_SOURCE4_RGB_EXT 0x8584 +#define GL_SOURCE5_RGB_EXT 0x8585 +#define GL_SOURCE6_RGB_EXT 0x8586 +#define GL_SOURCE7_RGB_EXT 0x8587 +#define GL_SOURCE0_ALPHA_EXT 0x8588 +#define GL_SOURCE1_ALPHA_EXT 0x8589 +#define GL_SOURCE2_ALPHA_EXT 0x858A +#define GL_SOURCE3_ALPHA_EXT 0x858B +#define GL_SOURCE4_ALPHA_EXT 0x858C +#define GL_SOURCE5_ALPHA_EXT 0x858D +#define GL_SOURCE6_ALPHA_EXT 0x858E +#define GL_SOURCE7_ALPHA_EXT 0x858F +#define GL_OPERAND0_RGB_EXT 0x8590 +#define GL_OPERAND1_RGB_EXT 0x8591 +#define GL_OPERAND2_RGB_EXT 0x8592 +#define GL_OPERAND3_RGB_EXT 0x8593 +#define GL_OPERAND4_RGB_EXT 0x8594 +#define GL_OPERAND5_RGB_EXT 0x8595 +#define GL_OPERAND6_RGB_EXT 0x8596 +#define GL_OPERAND7_RGB_EXT 0x8597 +#define GL_OPERAND0_ALPHA_EXT 0x8598 +#define GL_OPERAND1_ALPHA_EXT 0x8599 +#define GL_OPERAND2_ALPHA_EXT 0x859A +#define GL_OPERAND3_ALPHA_EXT 0x859B +#define GL_OPERAND4_ALPHA_EXT 0x859C +#define GL_OPERAND5_ALPHA_EXT 0x859D +#define GL_OPERAND6_ALPHA_EXT 0x859E +#define GL_OPERAND7_ALPHA_EXT 0x859F +#endif + +#ifndef GL_APPLE_specular_vector +#define GL_LIGHT_MODEL_SPECULAR_VECTOR_APPLE 0x85B0 +#endif + +#ifndef GL_APPLE_transform_hint +#define GL_TRANSFORM_HINT_APPLE 0x85B1 +#endif + +#ifndef GL_SGIX_fog_scale +#define GL_FOG_SCALE_SGIX 0x81FC +#define GL_FOG_SCALE_VALUE_SGIX 0x81FD +#endif + +#ifndef GL_SUNX_constant_data +#define GL_UNPACK_CONSTANT_DATA_SUNX 0x81D5 +#define GL_TEXTURE_CONSTANT_DATA_SUNX 0x81D6 +#endif + +#ifndef GL_SUN_global_alpha +#define GL_GLOBAL_ALPHA_SUN 0x81D9 +#define GL_GLOBAL_ALPHA_FACTOR_SUN 0x81DA +#endif + +#ifndef GL_SUN_triangle_list +#define GL_RESTART_SUN 0x01 +#define GL_REPLACE_MIDDLE_SUN 0x02 +#define GL_REPLACE_OLDEST_SUN 0x03 +#define GL_TRIANGLE_LIST_SUN 0x81D7 +#define GL_REPLACEMENT_CODE_SUN 0x81D8 +#define GL_REPLACEMENT_CODE_ARRAY_SUN 0x85C0 +#define GL_REPLACEMENT_CODE_ARRAY_TYPE_SUN 0x85C1 +#define GL_REPLACEMENT_CODE_ARRAY_STRIDE_SUN 0x85C2 +#define GL_REPLACEMENT_CODE_ARRAY_POINTER_SUN 0x85C3 +#define GL_R1UI_V3F_SUN 0x85C4 +#define GL_R1UI_C4UB_V3F_SUN 0x85C5 +#define GL_R1UI_C3F_V3F_SUN 0x85C6 +#define GL_R1UI_N3F_V3F_SUN 0x85C7 +#define GL_R1UI_C4F_N3F_V3F_SUN 0x85C8 +#define GL_R1UI_T2F_V3F_SUN 0x85C9 +#define GL_R1UI_T2F_N3F_V3F_SUN 0x85CA +#define GL_R1UI_T2F_C4F_N3F_V3F_SUN 0x85CB +#endif + +#ifndef GL_SUN_vertex +#endif + +#ifndef GL_EXT_blend_func_separate +#define GL_BLEND_DST_RGB_EXT 0x80C8 +#define GL_BLEND_SRC_RGB_EXT 0x80C9 +#define GL_BLEND_DST_ALPHA_EXT 0x80CA +#define GL_BLEND_SRC_ALPHA_EXT 0x80CB +#endif + +#ifndef GL_INGR_color_clamp +#define GL_RED_MIN_CLAMP_INGR 0x8560 +#define GL_GREEN_MIN_CLAMP_INGR 0x8561 +#define GL_BLUE_MIN_CLAMP_INGR 0x8562 +#define GL_ALPHA_MIN_CLAMP_INGR 0x8563 +#define GL_RED_MAX_CLAMP_INGR 0x8564 +#define GL_GREEN_MAX_CLAMP_INGR 0x8565 +#define GL_BLUE_MAX_CLAMP_INGR 0x8566 +#define GL_ALPHA_MAX_CLAMP_INGR 0x8567 +#endif + +#ifndef GL_INGR_interlace_read +#define GL_INTERLACE_READ_INGR 0x8568 +#endif + +#ifndef GL_EXT_stencil_wrap +#define GL_INCR_WRAP_EXT 0x8507 +#define GL_DECR_WRAP_EXT 0x8508 +#endif + +#ifndef GL_EXT_422_pixels +#define GL_422_EXT 0x80CC +#define GL_422_REV_EXT 0x80CD +#define GL_422_AVERAGE_EXT 0x80CE +#define GL_422_REV_AVERAGE_EXT 0x80CF +#endif + +#ifndef GL_NV_texgen_reflection +#define GL_NORMAL_MAP_NV 0x8511 +#define GL_REFLECTION_MAP_NV 0x8512 +#endif + +#ifndef GL_EXT_texture_cube_map +#define GL_NORMAL_MAP_EXT 0x8511 +#define GL_REFLECTION_MAP_EXT 0x8512 +#define GL_TEXTURE_CUBE_MAP_EXT 0x8513 +#define GL_TEXTURE_BINDING_CUBE_MAP_EXT 0x8514 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_X_EXT 0x8515 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_X_EXT 0x8516 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Y_EXT 0x8517 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Y_EXT 0x8518 +#define GL_TEXTURE_CUBE_MAP_POSITIVE_Z_EXT 0x8519 +#define GL_TEXTURE_CUBE_MAP_NEGATIVE_Z_EXT 0x851A +#define GL_PROXY_TEXTURE_CUBE_MAP_EXT 0x851B +#define GL_MAX_CUBE_MAP_TEXTURE_SIZE_EXT 0x851C +#endif + +#ifndef GL_SUN_convolution_border_modes +#define GL_WRAP_BORDER_SUN 0x81D4 +#endif + +#ifndef GL_EXT_texture_env_add +#endif + +#ifndef GL_EXT_texture_lod_bias +#define GL_MAX_TEXTURE_LOD_BIAS_EXT 0x84FD +#define GL_TEXTURE_FILTER_CONTROL_EXT 0x8500 +#define GL_TEXTURE_LOD_BIAS_EXT 0x8501 +#endif + +#ifndef GL_EXT_texture_filter_anisotropic +#define GL_TEXTURE_MAX_ANISOTROPY_EXT 0x84FE +#define GL_MAX_TEXTURE_MAX_ANISOTROPY_EXT 0x84FF +#endif + +#ifndef GL_EXT_vertex_weighting +#define GL_MODELVIEW0_STACK_DEPTH_EXT GL_MODELVIEW_STACK_DEPTH +#define GL_MODELVIEW1_STACK_DEPTH_EXT 0x8502 +#define GL_MODELVIEW0_MATRIX_EXT GL_MODELVIEW_MATRIX +#define GL_MODELVIEW_MATRIX1_EXT 0x8506 +#define GL_VERTEX_WEIGHTING_EXT 0x8509 +#define GL_MODELVIEW0_EXT GL_MODELVIEW +#define GL_MODELVIEW1_EXT 0x850A +#define GL_CURRENT_VERTEX_WEIGHT_EXT 0x850B +#define GL_VERTEX_WEIGHT_ARRAY_EXT 0x850C +#define GL_VERTEX_WEIGHT_ARRAY_SIZE_EXT 0x850D +#define GL_VERTEX_WEIGHT_ARRAY_TYPE_EXT 0x850E +#define GL_VERTEX_WEIGHT_ARRAY_STRIDE_EXT 0x850F +#define GL_VERTEX_WEIGHT_ARRAY_POINTER_EXT 0x8510 +#endif + +#ifndef GL_NV_light_max_exponent +#define GL_MAX_SHININESS_NV 0x8504 +#define GL_MAX_SPOT_EXPONENT_NV 0x8505 +#endif + +#ifndef GL_NV_vertex_array_range +#define GL_VERTEX_ARRAY_RANGE_NV 0x851D +#define GL_VERTEX_ARRAY_RANGE_LENGTH_NV 0x851E +#define GL_VERTEX_ARRAY_RANGE_VALID_NV 0x851F +#define GL_MAX_VERTEX_ARRAY_RANGE_ELEMENT_NV 0x8520 +#define GL_VERTEX_ARRAY_RANGE_POINTER_NV 0x8521 +#endif + +#ifndef GL_NV_vertex_array_range2 +#define GL_VERTEX_ARRAY_RANGE_WITHOUT_FLUSH_NV 0x8533 +#endif + +#ifndef GL_NV_register_combiners +#define GL_REGISTER_COMBINERS_NV 0x8522 +#define GL_VARIABLE_A_NV 0x8523 +#define GL_VARIABLE_B_NV 0x8524 +#define GL_VARIABLE_C_NV 0x8525 +#define GL_VARIABLE_D_NV 0x8526 +#define GL_VARIABLE_E_NV 0x8527 +#define GL_VARIABLE_F_NV 0x8528 +#define GL_VARIABLE_G_NV 0x8529 +#define GL_CONSTANT_COLOR0_NV 0x852A +#define GL_CONSTANT_COLOR1_NV 0x852B +#define GL_PRIMARY_COLOR_NV 0x852C +#define GL_SECONDARY_COLOR_NV 0x852D +#define GL_SPARE0_NV 0x852E +#define GL_SPARE1_NV 0x852F +#define GL_DISCARD_NV 0x8530 +#define GL_E_TIMES_F_NV 0x8531 +#define GL_SPARE0_PLUS_SECONDARY_COLOR_NV 0x8532 +#define GL_UNSIGNED_IDENTITY_NV 0x8536 +#define GL_UNSIGNED_INVERT_NV 0x8537 +#define GL_EXPAND_NORMAL_NV 0x8538 +#define GL_EXPAND_NEGATE_NV 0x8539 +#define GL_HALF_BIAS_NORMAL_NV 0x853A +#define GL_HALF_BIAS_NEGATE_NV 0x853B +#define GL_SIGNED_IDENTITY_NV 0x853C +#define GL_SIGNED_NEGATE_NV 0x853D +#define GL_SCALE_BY_TWO_NV 0x853E +#define GL_SCALE_BY_FOUR_NV 0x853F +#define GL_SCALE_BY_ONE_HALF_NV 0x8540 +#define GL_BIAS_BY_NEGATIVE_ONE_HALF_NV 0x8541 +#define GL_COMBINER_INPUT_NV 0x8542 +#define GL_COMBINER_MAPPING_NV 0x8543 +#define GL_COMBINER_COMPONENT_USAGE_NV 0x8544 +#define GL_COMBINER_AB_DOT_PRODUCT_NV 0x8545 +#define GL_COMBINER_CD_DOT_PRODUCT_NV 0x8546 +#define GL_COMBINER_MUX_SUM_NV 0x8547 +#define GL_COMBINER_SCALE_NV 0x8548 +#define GL_COMBINER_BIAS_NV 0x8549 +#define GL_COMBINER_AB_OUTPUT_NV 0x854A +#define GL_COMBINER_CD_OUTPUT_NV 0x854B +#define GL_COMBINER_SUM_OUTPUT_NV 0x854C +#define GL_MAX_GENERAL_COMBINERS_NV 0x854D +#define GL_NUM_GENERAL_COMBINERS_NV 0x854E +#define GL_COLOR_SUM_CLAMP_NV 0x854F +#define GL_COMBINER0_NV 0x8550 +#define GL_COMBINER1_NV 0x8551 +#define GL_COMBINER2_NV 0x8552 +#define GL_COMBINER3_NV 0x8553 +#define GL_COMBINER4_NV 0x8554 +#define GL_COMBINER5_NV 0x8555 +#define GL_COMBINER6_NV 0x8556 +#define GL_COMBINER7_NV 0x8557 +/* reuse GL_TEXTURE0_ARB */ +/* reuse GL_TEXTURE1_ARB */ +/* reuse GL_ZERO */ +/* reuse GL_NONE */ +/* reuse GL_FOG */ +#endif + +#ifndef GL_NV_fog_distance +#define GL_FOG_DISTANCE_MODE_NV 0x855A +#define GL_EYE_RADIAL_NV 0x855B +#define GL_EYE_PLANE_ABSOLUTE_NV 0x855C +/* reuse GL_EYE_PLANE */ +#endif + +#ifndef GL_NV_texgen_emboss +#define GL_EMBOSS_LIGHT_NV 0x855D +#define GL_EMBOSS_CONSTANT_NV 0x855E +#define GL_EMBOSS_MAP_NV 0x855F +#endif + +#ifndef GL_NV_blend_square +#endif + +#ifndef GL_NV_texture_env_combine4 +#define GL_COMBINE4_NV 0x8503 +#define GL_SOURCE3_RGB_NV 0x8583 +#define GL_SOURCE3_ALPHA_NV 0x858B +#define GL_OPERAND3_RGB_NV 0x8593 +#define GL_OPERAND3_ALPHA_NV 0x859B +#endif + + +#ifndef GL_MESA_resize_buffers +#endif + +#ifndef GL_MESA_window_pos +#endif + +#ifndef GL_EXT_texture_compression_s3tc +#define GL_COMPRESSED_RGB_S3TC_DXT1_EXT 0x83F0 +#define GL_COMPRESSED_RGBA_S3TC_DXT1_EXT 0x83F1 +#define GL_COMPRESSED_RGBA_S3TC_DXT3_EXT 0x83F2 +#define GL_COMPRESSED_RGBA_S3TC_DXT5_EXT 0x83F3 +#endif + +#ifndef GL_IBM_cull_vertex +#define GL_CULL_VERTEX_IBM 103050 +#endif + +#ifndef GL_IBM_multimode_draw_arrays +#endif + +#ifndef GL_IBM_vertex_array_lists +#define GL_VERTEX_ARRAY_LIST_IBM 103070 +#define GL_NORMAL_ARRAY_LIST_IBM 103071 +#define GL_COLOR_ARRAY_LIST_IBM 103072 +#define GL_INDEX_ARRAY_LIST_IBM 103073 +#define GL_TEXTURE_COORD_ARRAY_LIST_IBM 103074 +#define GL_EDGE_FLAG_ARRAY_LIST_IBM 103075 +#define GL_FOG_COORDINATE_ARRAY_LIST_IBM 103076 +#define GL_SECONDARY_COLOR_ARRAY_LIST_IBM 103077 +#define GL_VERTEX_ARRAY_LIST_STRIDE_IBM 103080 +#define GL_NORMAL_ARRAY_LIST_STRIDE_IBM 103081 +#define GL_COLOR_ARRAY_LIST_STRIDE_IBM 103082 +#define GL_INDEX_ARRAY_LIST_STRIDE_IBM 103083 +#define GL_TEXTURE_COORD_ARRAY_LIST_STRIDE_IBM 103084 +#define GL_EDGE_FLAG_ARRAY_LIST_STRIDE_IBM 103085 +#define GL_FOG_COORDINATE_ARRAY_LIST_STRIDE_IBM 103086 +#define GL_SECONDARY_COLOR_ARRAY_LIST_STRIDE_IBM 103087 +#endif + +#ifndef GL_SGIX_subsample +#define GL_PACK_SUBSAMPLE_RATE_SGIX 0x85A0 +#define GL_UNPACK_SUBSAMPLE_RATE_SGIX 0x85A1 +#define GL_PIXEL_SUBSAMPLE_4444_SGIX 0x85A2 +#define GL_PIXEL_SUBSAMPLE_2424_SGIX 0x85A3 +#define GL_PIXEL_SUBSAMPLE_4242_SGIX 0x85A4 +#endif + +#ifndef GL_SGIX_ycrcb_subsample +#endif + +#ifndef GL_SGIX_ycrcba +#define GL_YCRCB_SGIX 0x8318 +#define GL_YCRCBA_SGIX 0x8319 +#endif + +#ifndef GL_SGI_depth_pass_instrument +#define GL_DEPTH_PASS_INSTRUMENT_SGIX 0x8310 +#define GL_DEPTH_PASS_INSTRUMENT_COUNTERS_SGIX 0x8311 +#define GL_DEPTH_PASS_INSTRUMENT_MAX_SGIX 0x8312 +#endif + +#ifndef GL_3DFX_texture_compression_FXT1 +#define GL_COMPRESSED_RGB_FXT1_3DFX 0x86B0 +#define GL_COMPRESSED_RGBA_FXT1_3DFX 0x86B1 +#endif + +#ifndef GL_3DFX_multisample +#define GL_MULTISAMPLE_3DFX 0x86B2 +#define GL_SAMPLE_BUFFERS_3DFX 0x86B3 +#define GL_SAMPLES_3DFX 0x86B4 +#define GL_MULTISAMPLE_BIT_3DFX 0x20000000 +#endif + +#ifndef GL_3DFX_tbuffer +#endif + +#ifndef GL_EXT_multisample +#define GL_MULTISAMPLE_EXT 0x809D +#define GL_SAMPLE_ALPHA_TO_MASK_EXT 0x809E +#define GL_SAMPLE_ALPHA_TO_ONE_EXT 0x809F +#define GL_SAMPLE_MASK_EXT 0x80A0 +#define GL_1PASS_EXT 0x80A1 +#define GL_2PASS_0_EXT 0x80A2 +#define GL_2PASS_1_EXT 0x80A3 +#define GL_4PASS_0_EXT 0x80A4 +#define GL_4PASS_1_EXT 0x80A5 +#define GL_4PASS_2_EXT 0x80A6 +#define GL_4PASS_3_EXT 0x80A7 +#define GL_SAMPLE_BUFFERS_EXT 0x80A8 +#define GL_SAMPLES_EXT 0x80A9 +#define GL_SAMPLE_MASK_VALUE_EXT 0x80AA +#define GL_SAMPLE_MASK_INVERT_EXT 0x80AB +#define GL_SAMPLE_PATTERN_EXT 0x80AC +#endif + +#ifndef GL_SGIX_vertex_preclip +#define GL_VERTEX_PRECLIP_SGIX 0x83EE +#define GL_VERTEX_PRECLIP_HINT_SGIX 0x83EF +#endif + +#ifndef GL_SGIX_convolution_accuracy +#define GL_CONVOLUTION_HINT_SGIX 0x8316 +#endif + +#ifndef GL_SGIX_resample +#define GL_PACK_RESAMPLE_SGIX 0x842C +#define GL_UNPACK_RESAMPLE_SGIX 0x842D +#define GL_RESAMPLE_REPLICATE_SGIX 0x842E +#define GL_RESAMPLE_ZERO_FILL_SGIX 0x842F +#define GL_RESAMPLE_DECIMATE_SGIX 0x8430 +#endif + +#ifndef GL_SGIS_point_line_texgen +#define GL_EYE_DISTANCE_TO_POINT_SGIS 0x81F0 +#define GL_OBJECT_DISTANCE_TO_POINT_SGIS 0x81F1 +#define GL_EYE_DISTANCE_TO_LINE_SGIS 0x81F2 +#define GL_OBJECT_DISTANCE_TO_LINE_SGIS 0x81F3 +#define GL_EYE_POINT_SGIS 0x81F4 +#define GL_OBJECT_POINT_SGIS 0x81F5 +#define GL_EYE_LINE_SGIS 0x81F6 +#define GL_OBJECT_LINE_SGIS 0x81F7 +#endif + +#ifndef GL_SGIS_texture_color_mask +#define GL_TEXTURE_COLOR_WRITEMASK_SGIS 0x81EF +#endif + + +/*************************************************************/ + +#ifndef GL_VERSION_1_2 +#define GL_VERSION_1_2 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glBlendColor (GLclampf, GLclampf, GLclampf, GLclampf); +extern void APIENTRY glBlendEquation (GLenum); +extern void APIENTRY glDrawRangeElements (GLenum, GLuint, GLuint, GLsizei, GLenum, const GLvoid *); +extern void APIENTRY glColorTable (GLenum, GLenum, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glColorTableParameterfv (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glColorTableParameteriv (GLenum, GLenum, const GLint *); +extern void APIENTRY glCopyColorTable (GLenum, GLenum, GLint, GLint, GLsizei); +extern void APIENTRY glGetColorTable (GLenum, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetColorTableParameterfv (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetColorTableParameteriv (GLenum, GLenum, GLint *); +extern void APIENTRY glColorSubTable (GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glCopyColorSubTable (GLenum, GLsizei, GLint, GLint, GLsizei); +extern void APIENTRY glConvolutionFilter1D (GLenum, GLenum, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glConvolutionFilter2D (GLenum, GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glConvolutionParameterf (GLenum, GLenum, GLfloat); +extern void APIENTRY glConvolutionParameterfv (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glConvolutionParameteri (GLenum, GLenum, GLint); +extern void APIENTRY glConvolutionParameteriv (GLenum, GLenum, const GLint *); +extern void APIENTRY glCopyConvolutionFilter1D (GLenum, GLenum, GLint, GLint, GLsizei); +extern void APIENTRY glCopyConvolutionFilter2D (GLenum, GLenum, GLint, GLint, GLsizei, GLsizei); +extern void APIENTRY glGetConvolutionFilter (GLenum, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetConvolutionParameterfv (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetConvolutionParameteriv (GLenum, GLenum, GLint *); +extern void APIENTRY glGetSeparableFilter (GLenum, GLenum, GLenum, GLvoid *, GLvoid *, GLvoid *); +extern void APIENTRY glSeparableFilter2D (GLenum, GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *, const GLvoid *); +extern void APIENTRY glGetHistogram (GLenum, GLboolean, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetHistogramParameterfv (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetHistogramParameteriv (GLenum, GLenum, GLint *); +extern void APIENTRY glGetMinmax (GLenum, GLboolean, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetMinmaxParameterfv (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetMinmaxParameteriv (GLenum, GLenum, GLint *); +extern void APIENTRY glHistogram (GLenum, GLsizei, GLenum, GLboolean); +extern void APIENTRY glMinmax (GLenum, GLenum, GLboolean); +extern void APIENTRY glResetHistogram (GLenum); +extern void APIENTRY glResetMinmax (GLenum); +extern void APIENTRY glTexImage3D (GLenum, GLint, GLint, GLsizei, GLsizei, GLsizei, GLint, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glTexSubImage3D (GLenum, GLint, GLint, GLint, GLint, GLsizei, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glCopyTexSubImage3D (GLenum, GLint, GLint, GLint, GLint, GLint, GLint, GLsizei, GLsizei); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLBLENDCOLORPROC) (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha); +typedef void (APIENTRY * PFNGLBLENDEQUATIONPROC) (GLenum mode); +typedef void (APIENTRY * PFNGLDRAWRANGEELEMENTSPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); +typedef void (APIENTRY * PFNGLCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *table); +typedef void (APIENTRY * PFNGLCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLCOPYCOLORTABLEPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPROC) (GLenum target, GLenum format, GLenum type, GLvoid *table); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOPYCOLORSUBTABLEPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *image); +typedef void (APIENTRY * PFNGLCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *image); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERFPROC) (GLenum target, GLenum pname, GLfloat params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERIPROC) (GLenum target, GLenum pname, GLint params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLCOPYCONVOLUTIONFILTER1DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLCOPYCONVOLUTIONFILTER2DPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONFILTERPROC) (GLenum target, GLenum format, GLenum type, GLvoid *image); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETSEPARABLEFILTERPROC) (GLenum target, GLenum format, GLenum type, GLvoid *row, GLvoid *column, GLvoid *span); +typedef void (APIENTRY * PFNGLSEPARABLEFILTER2DPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *row, const GLvoid *column); +typedef void (APIENTRY * PFNGLGETHISTOGRAMPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLvoid *values); +typedef void (APIENTRY * PFNGLGETHISTOGRAMPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETHISTOGRAMPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETMINMAXPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLvoid *values); +typedef void (APIENTRY * PFNGLGETMINMAXPARAMETERFVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETMINMAXPARAMETERIVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLHISTOGRAMPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (APIENTRY * PFNGLMINMAXPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (APIENTRY * PFNGLRESETHISTOGRAMPROC) (GLenum target); +typedef void (APIENTRY * PFNGLRESETMINMAXPROC) (GLenum target); +typedef void (APIENTRY * PFNGLTEXIMAGE3DPROC) (GLenum target, GLint level, GLint internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLCOPYTEXSUBIMAGE3DPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#endif + +#ifndef GL_ARB_multitexture +#define GL_ARB_multitexture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glActiveTextureARB (GLenum); +extern void APIENTRY glClientActiveTextureARB (GLenum); +extern void APIENTRY glMultiTexCoord1dARB (GLenum, GLdouble); +extern void APIENTRY glMultiTexCoord1dvARB (GLenum, const GLdouble *); +extern void APIENTRY glMultiTexCoord1fARB (GLenum, GLfloat); +extern void APIENTRY glMultiTexCoord1fvARB (GLenum, const GLfloat *); +extern void APIENTRY glMultiTexCoord1iARB (GLenum, GLint); +extern void APIENTRY glMultiTexCoord1ivARB (GLenum, const GLint *); +extern void APIENTRY glMultiTexCoord1sARB (GLenum, GLshort); +extern void APIENTRY glMultiTexCoord1svARB (GLenum, const GLshort *); +extern void APIENTRY glMultiTexCoord2dARB (GLenum, GLdouble, GLdouble); +extern void APIENTRY glMultiTexCoord2dvARB (GLenum, const GLdouble *); +extern void APIENTRY glMultiTexCoord2fARB (GLenum, GLfloat, GLfloat); +extern void APIENTRY glMultiTexCoord2fvARB (GLenum, const GLfloat *); +extern void APIENTRY glMultiTexCoord2iARB (GLenum, GLint, GLint); +extern void APIENTRY glMultiTexCoord2ivARB (GLenum, const GLint *); +extern void APIENTRY glMultiTexCoord2sARB (GLenum, GLshort, GLshort); +extern void APIENTRY glMultiTexCoord2svARB (GLenum, const GLshort *); +extern void APIENTRY glMultiTexCoord3dARB (GLenum, GLdouble, GLdouble, GLdouble); +extern void APIENTRY glMultiTexCoord3dvARB (GLenum, const GLdouble *); +extern void APIENTRY glMultiTexCoord3fARB (GLenum, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glMultiTexCoord3fvARB (GLenum, const GLfloat *); +extern void APIENTRY glMultiTexCoord3iARB (GLenum, GLint, GLint, GLint); +extern void APIENTRY glMultiTexCoord3ivARB (GLenum, const GLint *); +extern void APIENTRY glMultiTexCoord3sARB (GLenum, GLshort, GLshort, GLshort); +extern void APIENTRY glMultiTexCoord3svARB (GLenum, const GLshort *); +extern void APIENTRY glMultiTexCoord4dARB (GLenum, GLdouble, GLdouble, GLdouble, GLdouble); +extern void APIENTRY glMultiTexCoord4dvARB (GLenum, const GLdouble *); +extern void APIENTRY glMultiTexCoord4fARB (GLenum, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glMultiTexCoord4fvARB (GLenum, const GLfloat *); +extern void APIENTRY glMultiTexCoord4iARB (GLenum, GLint, GLint, GLint, GLint); +extern void APIENTRY glMultiTexCoord4ivARB (GLenum, const GLint *); +extern void APIENTRY glMultiTexCoord4sARB (GLenum, GLshort, GLshort, GLshort, GLshort); +extern void APIENTRY glMultiTexCoord4svARB (GLenum, const GLshort *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRY * PFNGLCLIENTACTIVETEXTUREARBPROC) (GLenum texture); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1DARBPROC) (GLenum target, GLdouble s); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1FARBPROC) (GLenum target, GLfloat s); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1IARBPROC) (GLenum target, GLint s); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1SARBPROC) (GLenum target, GLshort s); +typedef void (APIENTRY * PFNGLMULTITEXCOORD1SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2DARBPROC) (GLenum target, GLdouble s, GLdouble t); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2FARBPROC) (GLenum target, GLfloat s, GLfloat t); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2IARBPROC) (GLenum target, GLint s, GLint t); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2SARBPROC) (GLenum target, GLshort s, GLshort t); +typedef void (APIENTRY * PFNGLMULTITEXCOORD2SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3IARBPROC) (GLenum target, GLint s, GLint t, GLint r); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r); +typedef void (APIENTRY * PFNGLMULTITEXCOORD3SVARBPROC) (GLenum target, const GLshort *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4DARBPROC) (GLenum target, GLdouble s, GLdouble t, GLdouble r, GLdouble q); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4DVARBPROC) (GLenum target, const GLdouble *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4FARBPROC) (GLenum target, GLfloat s, GLfloat t, GLfloat r, GLfloat q); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4FVARBPROC) (GLenum target, const GLfloat *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4IARBPROC) (GLenum target, GLint s, GLint t, GLint r, GLint q); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4IVARBPROC) (GLenum target, const GLint *v); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4SARBPROC) (GLenum target, GLshort s, GLshort t, GLshort r, GLshort q); +typedef void (APIENTRY * PFNGLMULTITEXCOORD4SVARBPROC) (GLenum target, const GLshort *v); +#endif + +#ifndef GL_ARB_transpose_matrix +#define GL_ARB_transpose_matrix 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glLoadTransposeMatrixfARB (const GLfloat *); +extern void APIENTRY glLoadTransposeMatrixdARB (const GLdouble *); +extern void APIENTRY glMultTransposeMatrixfARB (const GLfloat *); +extern void APIENTRY glMultTransposeMatrixdARB (const GLdouble *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLLOADTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); +typedef void (APIENTRY * PFNGLLOADTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); +typedef void (APIENTRY * PFNGLMULTTRANSPOSEMATRIXFARBPROC) (const GLfloat *m); +typedef void (APIENTRY * PFNGLMULTTRANSPOSEMATRIXDARBPROC) (const GLdouble *m); +#endif + +#ifndef GL_ARB_multisample +#define GL_ARB_multisample 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSampleCoverageARB (GLclampf, GLboolean); +extern void APIENTRY glSamplePassARB (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSAMPLECOVERAGEARBPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRY * PFNGLSAMPLEPASSARBPROC) (GLenum pass); +#endif + +#ifndef GL_ARB_texture_env_add +#define GL_ARB_texture_env_add 1 +#endif + +#ifndef GL_ARB_texture_cube_map +#define GL_ARB_texture_cube_map 1 +#endif + +#ifndef GL_ARB_texture_compression +#define GL_ARB_texture_compression 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glCompressedTexImage3DARB (GLenum, GLint, GLenum, GLsizei, GLsizei, GLsizei, GLint, GLsizei, const GLvoid *); +extern void APIENTRY glCompressedTexImage2DARB (GLenum, GLint, GLenum, GLsizei, GLsizei, GLint, GLsizei, const GLvoid *); +extern void APIENTRY glCompressedTexImage1DARB (GLenum, GLint, GLenum, GLsizei, GLint, GLsizei, const GLvoid *); +extern void APIENTRY glCompressedTexSubImage3DARB (GLenum, GLint, GLint, GLint, GLint, GLsizei, GLsizei, GLsizei, GLenum, GLsizei, const GLvoid *); +extern void APIENTRY glCompressedTexSubImage2DARB (GLenum, GLint, GLint, GLint, GLsizei, GLsizei, GLenum, GLsizei, const GLvoid *); +extern void APIENTRY glCompressedTexSubImage1DARB (GLenum, GLint, GLint, GLsizei, GLenum, GLsizei, const GLvoid *); +extern void APIENTRY glGetCompressedTexImageARB (GLenum, GLint, void *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXIMAGE3DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXIMAGE2DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXIMAGE1DARBPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLint border, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE3DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE2DARBPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOMPRESSEDTEXSUBIMAGE1DARBPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLsizei imageSize, const GLvoid *data); +typedef void (APIENTRY * PFNGLGETCOMPRESSEDTEXIMAGEARBPROC) (GLenum target, GLint level, void *img); +#endif + +#ifndef GL_EXT_abgr +#define GL_EXT_abgr 1 +#endif + +#ifndef GL_EXT_blend_color +#define GL_EXT_blend_color 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glBlendColorEXT (GLclampf, GLclampf, GLclampf, GLclampf); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLBLENDCOLOREXTPROC) (GLclampf red, GLclampf green, GLclampf blue, GLclampf alpha); +#endif + +#ifndef GL_EXT_polygon_offset +#define GL_EXT_polygon_offset 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glPolygonOffsetEXT (GLfloat, GLfloat); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLPOLYGONOFFSETEXTPROC) (GLfloat factor, GLfloat bias); +#endif + +#ifndef GL_EXT_texture +#define GL_EXT_texture 1 +#endif + +#ifndef GL_EXT_texture3D +#define GL_EXT_texture3D 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTexImage3DEXT (GLenum, GLint, GLenum, GLsizei, GLsizei, GLsizei, GLint, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glTexSubImage3DEXT (GLenum, GLint, GLint, GLint, GLint, GLsizei, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTEXIMAGE3DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLsizei width, GLsizei height, GLsizei depth, GLenum format, GLenum type, const GLvoid *pixels); +#endif + +#ifndef GL_SGIS_texture_filter4 +#define GL_SGIS_texture_filter4 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glGetTexFilterFuncSGIS (GLenum, GLenum, GLfloat *); +extern void APIENTRY glTexFilterFuncSGIS (GLenum, GLenum, GLsizei, const GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLGETTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLfloat *weights); +typedef void (APIENTRY * PFNGLTEXFILTERFUNCSGISPROC) (GLenum target, GLenum filter, GLsizei n, const GLfloat *weights); +#endif + +#ifndef GL_EXT_subtexture +#define GL_EXT_subtexture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTexSubImage1DEXT (GLenum, GLint, GLint, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glTexSubImage2DEXT (GLenum, GLint, GLint, GLint, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLsizei width, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *pixels); +#endif + +#ifndef GL_EXT_copy_texture +#define GL_EXT_copy_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glCopyTexImage1DEXT (GLenum, GLint, GLenum, GLint, GLint, GLsizei, GLint); +extern void APIENTRY glCopyTexImage2DEXT (GLenum, GLint, GLenum, GLint, GLint, GLsizei, GLsizei, GLint); +extern void APIENTRY glCopyTexSubImage1DEXT (GLenum, GLint, GLint, GLint, GLint, GLsizei); +extern void APIENTRY glCopyTexSubImage2DEXT (GLenum, GLint, GLint, GLint, GLint, GLint, GLsizei, GLsizei); +extern void APIENTRY glCopyTexSubImage3DEXT (GLenum, GLint, GLint, GLint, GLint, GLint, GLint, GLsizei, GLsizei); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOPYTEXIMAGE1DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLint border); +typedef void (APIENTRY * PFNGLCOPYTEXIMAGE2DEXTPROC) (GLenum target, GLint level, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height, GLint border); +typedef void (APIENTRY * PFNGLCOPYTEXSUBIMAGE1DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLCOPYTEXSUBIMAGE2DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRY * PFNGLCOPYTEXSUBIMAGE3DEXTPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint x, GLint y, GLsizei width, GLsizei height); +#endif + +#ifndef GL_EXT_histogram +#define GL_EXT_histogram 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glGetHistogramEXT (GLenum, GLboolean, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetHistogramParameterfvEXT (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetHistogramParameterivEXT (GLenum, GLenum, GLint *); +extern void APIENTRY glGetMinmaxEXT (GLenum, GLboolean, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetMinmaxParameterfvEXT (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetMinmaxParameterivEXT (GLenum, GLenum, GLint *); +extern void APIENTRY glHistogramEXT (GLenum, GLsizei, GLenum, GLboolean); +extern void APIENTRY glMinmaxEXT (GLenum, GLenum, GLboolean); +extern void APIENTRY glResetHistogramEXT (GLenum); +extern void APIENTRY glResetMinmaxEXT (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLGETHISTOGRAMEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLvoid *values); +typedef void (APIENTRY * PFNGLGETHISTOGRAMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETHISTOGRAMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETMINMAXEXTPROC) (GLenum target, GLboolean reset, GLenum format, GLenum type, GLvoid *values); +typedef void (APIENTRY * PFNGLGETMINMAXPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETMINMAXPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLHISTOGRAMEXTPROC) (GLenum target, GLsizei width, GLenum internalformat, GLboolean sink); +typedef void (APIENTRY * PFNGLMINMAXEXTPROC) (GLenum target, GLenum internalformat, GLboolean sink); +typedef void (APIENTRY * PFNGLRESETHISTOGRAMEXTPROC) (GLenum target); +typedef void (APIENTRY * PFNGLRESETMINMAXEXTPROC) (GLenum target); +#endif + +#ifndef GL_EXT_convolution +#define GL_EXT_convolution 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glConvolutionFilter1DEXT (GLenum, GLenum, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glConvolutionFilter2DEXT (GLenum, GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glConvolutionParameterfEXT (GLenum, GLenum, GLfloat); +extern void APIENTRY glConvolutionParameterfvEXT (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glConvolutionParameteriEXT (GLenum, GLenum, GLint); +extern void APIENTRY glConvolutionParameterivEXT (GLenum, GLenum, const GLint *); +extern void APIENTRY glCopyConvolutionFilter1DEXT (GLenum, GLenum, GLint, GLint, GLsizei); +extern void APIENTRY glCopyConvolutionFilter2DEXT (GLenum, GLenum, GLint, GLint, GLsizei, GLsizei); +extern void APIENTRY glGetConvolutionFilterEXT (GLenum, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetConvolutionParameterfvEXT (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetConvolutionParameterivEXT (GLenum, GLenum, GLint *); +extern void APIENTRY glGetSeparableFilterEXT (GLenum, GLenum, GLenum, GLvoid *, GLvoid *, GLvoid *); +extern void APIENTRY glSeparableFilter2DEXT (GLenum, GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *image); +typedef void (APIENTRY * PFNGLCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *image); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint params); +typedef void (APIENTRY * PFNGLCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLCOPYCONVOLUTIONFILTER1DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLCOPYCONVOLUTIONFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width, GLsizei height); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, GLvoid *image); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCONVOLUTIONPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETSEPARABLEFILTEREXTPROC) (GLenum target, GLenum format, GLenum type, GLvoid *row, GLvoid *column, GLvoid *span); +typedef void (APIENTRY * PFNGLSEPARABLEFILTER2DEXTPROC) (GLenum target, GLenum internalformat, GLsizei width, GLsizei height, GLenum format, GLenum type, const GLvoid *row, const GLvoid *column); +#endif + +#ifndef GL_EXT_color_matrix +#define GL_EXT_color_matrix 1 +#endif + +#ifndef GL_SGI_color_table +#define GL_SGI_color_table 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glColorTableSGI (GLenum, GLenum, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glColorTableParameterfvSGI (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glColorTableParameterivSGI (GLenum, GLenum, const GLint *); +extern void APIENTRY glCopyColorTableSGI (GLenum, GLenum, GLint, GLint, GLsizei); +extern void APIENTRY glGetColorTableSGI (GLenum, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetColorTableParameterfvSGI (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetColorTableParameterivSGI (GLenum, GLenum, GLint *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLsizei width, GLenum format, GLenum type, const GLvoid *table); +typedef void (APIENTRY * PFNGLCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLCOPYCOLORTABLESGIPROC) (GLenum target, GLenum internalformat, GLint x, GLint y, GLsizei width); +typedef void (APIENTRY * PFNGLGETCOLORTABLESGIPROC) (GLenum target, GLenum format, GLenum type, GLvoid *table); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERFVSGIPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERIVSGIPROC) (GLenum target, GLenum pname, GLint *params); +#endif + +#ifndef GL_SGIX_pixel_texture +#define GL_SGIX_pixel_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glPixelTexGenSGIX (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLPIXELTEXGENSGIXPROC) (GLenum mode); +#endif + +#ifndef GL_SGIS_pixel_texture +#define GL_SGIS_pixel_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glPixelTexGenParameteriSGIS (GLenum, GLint); +extern void APIENTRY glPixelTexGenParameterivSGIS (GLenum, const GLint *); +extern void APIENTRY glPixelTexGenParameterfSGIS (GLenum, GLfloat); +extern void APIENTRY glPixelTexGenParameterfvSGIS (GLenum, const GLfloat *); +extern void APIENTRY glGetPixelTexGenParameterivSGIS (GLenum, GLint *); +extern void APIENTRY glGetPixelTexGenParameterfvSGIS (GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLPIXELTEXGENPARAMETERISGISPROC) (GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLPIXELTEXGENPARAMETERFSGISPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLGETPIXELTEXGENPARAMETERIVSGISPROC) (GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETPIXELTEXGENPARAMETERFVSGISPROC) (GLenum pname, GLfloat *params); +#endif + +#ifndef GL_SGIS_texture4D +#define GL_SGIS_texture4D 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTexImage4DSGIS (GLenum, GLint, GLenum, GLsizei, GLsizei, GLsizei, GLsizei, GLint, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glTexSubImage4DSGIS (GLenum, GLint, GLint, GLint, GLint, GLint, GLsizei, GLsizei, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTEXIMAGE4DSGISPROC) (GLenum target, GLint level, GLenum internalformat, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLint border, GLenum format, GLenum type, const GLvoid *pixels); +typedef void (APIENTRY * PFNGLTEXSUBIMAGE4DSGISPROC) (GLenum target, GLint level, GLint xoffset, GLint yoffset, GLint zoffset, GLint woffset, GLsizei width, GLsizei height, GLsizei depth, GLsizei size4d, GLenum format, GLenum type, const GLvoid *pixels); +#endif + +#ifndef GL_SGI_texture_color_table +#define GL_SGI_texture_color_table 1 +#endif + +#ifndef GL_EXT_cmyka +#define GL_EXT_cmyka 1 +#endif + +#ifndef GL_EXT_texture_object +#define GL_EXT_texture_object 1 +#ifdef GL_GLEXT_PROTOTYPES +extern GLboolean APIENTRY glAreTexturesResidentEXT (GLsizei, const GLuint *, GLboolean *); +extern void APIENTRY glBindTextureEXT (GLenum, GLuint); +extern void APIENTRY glDeleteTexturesEXT (GLsizei, const GLuint *); +extern void APIENTRY glGenTexturesEXT (GLsizei, GLuint *); +extern GLboolean APIENTRY glIsTextureEXT (GLuint); +extern void APIENTRY glPrioritizeTexturesEXT (GLsizei, const GLuint *, const GLclampf *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef GLboolean (APIENTRY * PFNGLARETEXTURESRESIDENTEXTPROC) (GLsizei n, const GLuint *textures, GLboolean *residences); +typedef void (APIENTRY * PFNGLBINDTEXTUREEXTPROC) (GLenum target, GLuint texture); +typedef void (APIENTRY * PFNGLDELETETEXTURESEXTPROC) (GLsizei n, const GLuint *textures); +typedef void (APIENTRY * PFNGLGENTEXTURESEXTPROC) (GLsizei n, GLuint *textures); +typedef GLboolean (APIENTRY * PFNGLISTEXTUREEXTPROC) (GLuint texture); +typedef void (APIENTRY * PFNGLPRIORITIZETEXTURESEXTPROC) (GLsizei n, const GLuint *textures, const GLclampf *priorities); +#endif + +#ifndef GL_SGIS_detail_texture +#define GL_SGIS_detail_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glDetailTexFuncSGIS (GLenum, GLsizei, const GLfloat *); +extern void APIENTRY glGetDetailTexFuncSGIS (GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLDETAILTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); +typedef void (APIENTRY * PFNGLGETDETAILTEXFUNCSGISPROC) (GLenum target, GLfloat *points); +#endif + +#ifndef GL_SGIS_sharpen_texture +#define GL_SGIS_sharpen_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSharpenTexFuncSGIS (GLenum, GLsizei, const GLfloat *); +extern void APIENTRY glGetSharpenTexFuncSGIS (GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSHARPENTEXFUNCSGISPROC) (GLenum target, GLsizei n, const GLfloat *points); +typedef void (APIENTRY * PFNGLGETSHARPENTEXFUNCSGISPROC) (GLenum target, GLfloat *points); +#endif + +#ifndef GL_EXT_packed_pixels +#define GL_EXT_packed_pixels 1 +#endif + +#ifndef GL_SGIS_texture_lod +#define GL_SGIS_texture_lod 1 +#endif + +#ifndef GL_SGIS_multisample +#define GL_SGIS_multisample 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSampleMaskSGIS (GLclampf, GLboolean); +extern void APIENTRY glSamplePatternSGIS (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSAMPLEMASKSGISPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRY * PFNGLSAMPLEPATTERNSGISPROC) (GLenum pattern); +#endif + +#ifndef GL_EXT_rescale_normal +#define GL_EXT_rescale_normal 1 +#endif + +#ifndef GL_EXT_vertex_array +#define GL_EXT_vertex_array 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glArrayElementEXT (GLint); +extern void APIENTRY glColorPointerEXT (GLint, GLenum, GLsizei, GLsizei, const GLvoid *); +extern void APIENTRY glDrawArraysEXT (GLenum, GLint, GLsizei); +extern void APIENTRY glEdgeFlagPointerEXT (GLsizei, GLsizei, const GLboolean *); +extern void APIENTRY glGetPointervEXT (GLenum, GLvoid* *); +extern void APIENTRY glIndexPointerEXT (GLenum, GLsizei, GLsizei, const GLvoid *); +extern void APIENTRY glNormalPointerEXT (GLenum, GLsizei, GLsizei, const GLvoid *); +extern void APIENTRY glTexCoordPointerEXT (GLint, GLenum, GLsizei, GLsizei, const GLvoid *); +extern void APIENTRY glVertexPointerEXT (GLint, GLenum, GLsizei, GLsizei, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLARRAYELEMENTEXTPROC) (GLint i); +typedef void (APIENTRY * PFNGLCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLDRAWARRAYSEXTPROC) (GLenum mode, GLint first, GLsizei count); +typedef void (APIENTRY * PFNGLEDGEFLAGPOINTEREXTPROC) (GLsizei stride, GLsizei count, const GLboolean *pointer); +typedef void (APIENTRY * PFNGLGETPOINTERVEXTPROC) (GLenum pname, GLvoid* *params); +typedef void (APIENTRY * PFNGLINDEXPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLNORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, GLsizei count, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLTEXCOORDPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLVERTEXPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLsizei count, const GLvoid *pointer); +#endif + +#ifndef GL_EXT_misc_attribute +#define GL_EXT_misc_attribute 1 +#endif + +#ifndef GL_SGIS_generate_mipmap +#define GL_SGIS_generate_mipmap 1 +#endif + +#ifndef GL_SGIX_clipmap +#define GL_SGIX_clipmap 1 +#endif + +#ifndef GL_SGIX_shadow +#define GL_SGIX_shadow 1 +#endif + +#ifndef GL_SGIS_texture_edge_clamp +#define GL_SGIS_texture_edge_clamp 1 +#endif + +#ifndef GL_SGIS_texture_border_clamp +#define GL_SGIS_texture_border_clamp 1 +#endif + +#ifndef GL_EXT_blend_minmax +#define GL_EXT_blend_minmax 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glBlendEquationEXT (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLBLENDEQUATIONEXTPROC) (GLenum mode); +#endif + +#ifndef GL_EXT_blend_subtract +#define GL_EXT_blend_subtract 1 +#endif + +#ifndef GL_EXT_blend_logic_op +#define GL_EXT_blend_logic_op 1 +#endif + +#ifndef GL_SGIX_interlace +#define GL_SGIX_interlace 1 +#endif + +#ifndef GL_SGIX_pixel_tiles +#define GL_SGIX_pixel_tiles 1 +#endif + +#ifndef GL_SGIX_texture_select +#define GL_SGIX_texture_select 1 +#endif + +#ifndef GL_SGIX_sprite +#define GL_SGIX_sprite 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSpriteParameterfSGIX (GLenum, GLfloat); +extern void APIENTRY glSpriteParameterfvSGIX (GLenum, const GLfloat *); +extern void APIENTRY glSpriteParameteriSGIX (GLenum, GLint); +extern void APIENTRY glSpriteParameterivSGIX (GLenum, const GLint *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSPRITEPARAMETERFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLSPRITEPARAMETERFVSGIXPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLSPRITEPARAMETERISGIXPROC) (GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLSPRITEPARAMETERIVSGIXPROC) (GLenum pname, const GLint *params); +#endif + +#ifndef GL_SGIX_texture_multi_buffer +#define GL_SGIX_texture_multi_buffer 1 +#endif + +#ifndef GL_EXT_point_parameters +#define GL_EXT_point_parameters 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glPointParameterfEXT (GLenum, GLfloat); +extern void APIENTRY glPointParameterfvEXT (GLenum, const GLfloat *); +extern void APIENTRY glPointParameterfSGIS (GLenum, GLfloat); +extern void APIENTRY glPointParameterfvSGIS (GLenum, const GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLPOINTPARAMETERFEXTPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLPOINTPARAMETERFVEXTPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLPOINTPARAMETERFSGISPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLPOINTPARAMETERFVSGISPROC) (GLenum pname, const GLfloat *params); +#endif + +#ifndef GL_SGIX_instruments +#define GL_SGIX_instruments 1 +#ifdef GL_GLEXT_PROTOTYPES +extern GLint APIENTRY glGetInstrumentsSGIX (void); +extern void APIENTRY glInstrumentsBufferSGIX (GLsizei, GLint *); +extern GLint APIENTRY glPollInstrumentsSGIX (GLint *); +extern void APIENTRY glReadInstrumentsSGIX (GLint); +extern void APIENTRY glStartInstrumentsSGIX (void); +extern void APIENTRY glStopInstrumentsSGIX (GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef GLint (APIENTRY * PFNGLGETINSTRUMENTSSGIXPROC) (void); +typedef void (APIENTRY * PFNGLINSTRUMENTSBUFFERSGIXPROC) (GLsizei size, GLint *buffer); +typedef GLint (APIENTRY * PFNGLPOLLINSTRUMENTSSGIXPROC) (GLint *marker_p); +typedef void (APIENTRY * PFNGLREADINSTRUMENTSSGIXPROC) (GLint marker); +typedef void (APIENTRY * PFNGLSTARTINSTRUMENTSSGIXPROC) (void); +typedef void (APIENTRY * PFNGLSTOPINSTRUMENTSSGIXPROC) (GLint marker); +#endif + +#ifndef GL_SGIX_texture_scale_bias +#define GL_SGIX_texture_scale_bias 1 +#endif + +#ifndef GL_SGIX_framezoom +#define GL_SGIX_framezoom 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFrameZoomSGIX (GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFRAMEZOOMSGIXPROC) (GLint factor); +#endif + +#ifndef GL_SGIX_tag_sample_buffer +#define GL_SGIX_tag_sample_buffer 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTagSampleBufferSGIX (void); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTAGSAMPLEBUFFERSGIXPROC) (void); +#endif + +#ifndef GL_SGIX_reference_plane +#define GL_SGIX_reference_plane 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glReferencePlaneSGIX (const GLdouble *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLREFERENCEPLANESGIXPROC) (const GLdouble *equation); +#endif + +#ifndef GL_SGIX_flush_raster +#define GL_SGIX_flush_raster 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFlushRasterSGIX (void); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFLUSHRASTERSGIXPROC) (void); +#endif + +#ifndef GL_SGIX_depth_texture +#define GL_SGIX_depth_texture 1 +#endif + +#ifndef GL_SGIS_fog_function +#define GL_SGIS_fog_function 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFogFuncSGIS (GLsizei, const GLfloat *); +extern void APIENTRY glGetFogFuncSGIS (const GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFOGFUNCSGISPROC) (GLsizei n, const GLfloat *points); +typedef void (APIENTRY * PFNGLGETFOGFUNCSGISPROC) (const GLfloat *points); +#endif + +#ifndef GL_SGIX_fog_offset +#define GL_SGIX_fog_offset 1 +#endif + +#ifndef GL_HP_image_transform +#define GL_HP_image_transform 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glImageTransformParameteriHP (GLenum, GLenum, GLint); +extern void APIENTRY glImageTransformParameterfHP (GLenum, GLenum, GLfloat); +extern void APIENTRY glImageTransformParameterivHP (GLenum, GLenum, const GLint *); +extern void APIENTRY glImageTransformParameterfvHP (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glGetImageTransformParameterivHP (GLenum, GLenum, GLint *); +extern void APIENTRY glGetImageTransformParameterfvHP (GLenum, GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLIMAGETRANSFORMPARAMETERIHPPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLIMAGETRANSFORMPARAMETERFHPPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLGETIMAGETRANSFORMPARAMETERIVHPPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETIMAGETRANSFORMPARAMETERFVHPPROC) (GLenum target, GLenum pname, GLfloat *params); +#endif + +#ifndef GL_HP_convolution_border_modes +#define GL_HP_convolution_border_modes 1 +#endif + +#ifndef GL_SGIX_texture_add_env +#define GL_SGIX_texture_add_env 1 +#endif + +#ifndef GL_EXT_color_subtable +#define GL_EXT_color_subtable 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glColorSubTableEXT (GLenum, GLsizei, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glCopyColorSubTableEXT (GLenum, GLsizei, GLint, GLint, GLsizei); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLsizei count, GLenum format, GLenum type, const GLvoid *data); +typedef void (APIENTRY * PFNGLCOPYCOLORSUBTABLEEXTPROC) (GLenum target, GLsizei start, GLint x, GLint y, GLsizei width); +#endif + +#ifndef GL_PGI_vertex_hints +#define GL_PGI_vertex_hints 1 +#endif + +#ifndef GL_PGI_misc_hints +#define GL_PGI_misc_hints 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glHintPGI (GLenum, GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLHINTPGIPROC) (GLenum target, GLint mode); +#endif + +#ifndef GL_EXT_paletted_texture +#define GL_EXT_paletted_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glColorTableEXT (GLenum, GLenum, GLsizei, GLenum, GLenum, const GLvoid *); +extern void APIENTRY glGetColorTableEXT (GLenum, GLenum, GLenum, GLvoid *); +extern void APIENTRY glGetColorTableParameterivEXT (GLenum, GLenum, GLint *); +extern void APIENTRY glGetColorTableParameterfvEXT (GLenum, GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOLORTABLEEXTPROC) (GLenum target, GLenum internalFormat, GLsizei width, GLenum format, GLenum type, const GLvoid *table); +typedef void (APIENTRY * PFNGLGETCOLORTABLEEXTPROC) (GLenum target, GLenum format, GLenum type, GLvoid *data); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERIVEXTPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETCOLORTABLEPARAMETERFVEXTPROC) (GLenum target, GLenum pname, GLfloat *params); +#endif + +#ifndef GL_EXT_clip_volume_hint +#define GL_EXT_clip_volume_hint 1 +#endif + +#ifndef GL_SGIX_list_priority +#define GL_SGIX_list_priority 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glGetListParameterfvSGIX (GLuint, GLenum, GLfloat *); +extern void APIENTRY glGetListParameterivSGIX (GLuint, GLenum, GLint *); +extern void APIENTRY glListParameterfSGIX (GLuint, GLenum, GLfloat); +extern void APIENTRY glListParameterfvSGIX (GLuint, GLenum, const GLfloat *); +extern void APIENTRY glListParameteriSGIX (GLuint, GLenum, GLint); +extern void APIENTRY glListParameterivSGIX (GLuint, GLenum, const GLint *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLGETLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLLISTPARAMETERFSGIXPROC) (GLuint list, GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLLISTPARAMETERFVSGIXPROC) (GLuint list, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLLISTPARAMETERISGIXPROC) (GLuint list, GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLLISTPARAMETERIVSGIXPROC) (GLuint list, GLenum pname, const GLint *params); +#endif + +#ifndef GL_SGIX_ir_instrument1 +#define GL_SGIX_ir_instrument1 1 +#endif + +#ifndef GL_SGIX_calligraphic_fragment +#define GL_SGIX_calligraphic_fragment 1 +#endif + +#ifndef GL_SGIX_texture_lod_bias +#define GL_SGIX_texture_lod_bias 1 +#endif + +#ifndef GL_SGIX_shadow_ambient +#define GL_SGIX_shadow_ambient 1 +#endif + +#ifndef GL_EXT_index_texture +#define GL_EXT_index_texture 1 +#endif + +#ifndef GL_EXT_index_material +#define GL_EXT_index_material 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glIndexMaterialEXT (GLenum, GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLINDEXMATERIALEXTPROC) (GLenum face, GLenum mode); +#endif + +#ifndef GL_EXT_index_func +#define GL_EXT_index_func 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glIndexFuncEXT (GLenum, GLclampf); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLINDEXFUNCEXTPROC) (GLenum func, GLclampf ref); +#endif + +#ifndef GL_EXT_index_array_formats +#define GL_EXT_index_array_formats 1 +#endif + +#ifndef GL_EXT_compiled_vertex_array +#define GL_EXT_compiled_vertex_array 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glLockArraysEXT (GLint, GLsizei); +extern void APIENTRY glUnlockArraysEXT (void); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLLOCKARRAYSEXTPROC) (GLint first, GLsizei count); +typedef void (APIENTRY * PFNGLUNLOCKARRAYSEXTPROC) (void); +#endif + +#ifndef GL_EXT_cull_vertex +#define GL_EXT_cull_vertex 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glCullParameterdvEXT (GLenum, GLdouble *); +extern void APIENTRY glCullParameterfvEXT (GLenum, GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCULLPARAMETERDVEXTPROC) (GLenum pname, GLdouble *params); +typedef void (APIENTRY * PFNGLCULLPARAMETERFVEXTPROC) (GLenum pname, GLfloat *params); +#endif + +#ifndef GL_SGIX_ycrcb +#define GL_SGIX_ycrcb 1 +#endif + +#ifndef GL_SGIX_fragment_lighting +#define GL_SGIX_fragment_lighting 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFragmentColorMaterialSGIX (GLenum, GLenum); +extern void APIENTRY glFragmentLightfSGIX (GLenum, GLenum, GLfloat); +extern void APIENTRY glFragmentLightfvSGIX (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glFragmentLightiSGIX (GLenum, GLenum, GLint); +extern void APIENTRY glFragmentLightivSGIX (GLenum, GLenum, const GLint *); +extern void APIENTRY glFragmentLightModelfSGIX (GLenum, GLfloat); +extern void APIENTRY glFragmentLightModelfvSGIX (GLenum, const GLfloat *); +extern void APIENTRY glFragmentLightModeliSGIX (GLenum, GLint); +extern void APIENTRY glFragmentLightModelivSGIX (GLenum, const GLint *); +extern void APIENTRY glFragmentMaterialfSGIX (GLenum, GLenum, GLfloat); +extern void APIENTRY glFragmentMaterialfvSGIX (GLenum, GLenum, const GLfloat *); +extern void APIENTRY glFragmentMaterialiSGIX (GLenum, GLenum, GLint); +extern void APIENTRY glFragmentMaterialivSGIX (GLenum, GLenum, const GLint *); +extern void APIENTRY glGetFragmentLightfvSGIX (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetFragmentLightivSGIX (GLenum, GLenum, GLint *); +extern void APIENTRY glGetFragmentMaterialfvSGIX (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetFragmentMaterialivSGIX (GLenum, GLenum, GLint *); +extern void APIENTRY glLightEnviSGIX (GLenum, GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFRAGMENTCOLORMATERIALSGIXPROC) (GLenum face, GLenum mode); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTFSGIXPROC) (GLenum light, GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTISGIXPROC) (GLenum light, GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTMODELFSGIXPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTMODELFVSGIXPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTMODELISGIXPROC) (GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLFRAGMENTLIGHTMODELIVSGIXPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLFRAGMENTMATERIALFSGIXPROC) (GLenum face, GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLFRAGMENTMATERIALISGIXPROC) (GLenum face, GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLGETFRAGMENTLIGHTFVSGIXPROC) (GLenum light, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETFRAGMENTLIGHTIVSGIXPROC) (GLenum light, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETFRAGMENTMATERIALFVSGIXPROC) (GLenum face, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETFRAGMENTMATERIALIVSGIXPROC) (GLenum face, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLLIGHTENVISGIXPROC) (GLenum pname, GLint param); +#endif + +#ifndef GL_IBM_rasterpos_clip +#define GL_IBM_rasterpos_clip 1 +#endif + +#ifndef GL_HP_texture_lighting +#define GL_HP_texture_lighting 1 +#endif + +#ifndef GL_EXT_draw_range_elements +#define GL_EXT_draw_range_elements 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glDrawRangeElementsEXT (GLenum, GLuint, GLuint, GLsizei, GLenum, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLDRAWRANGEELEMENTSEXTPROC) (GLenum mode, GLuint start, GLuint end, GLsizei count, GLenum type, const GLvoid *indices); +#endif + +#ifndef GL_WIN_phong_shading +#define GL_WIN_phong_shading 1 +#endif + +#ifndef GL_WIN_specular_fog +#define GL_WIN_specular_fog 1 +#endif + +#ifndef GL_EXT_light_texture +#define GL_EXT_light_texture 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glApplyTextureEXT (GLenum); +extern void APIENTRY glTextureLightEXT (GLenum); +extern void APIENTRY glTextureMaterialEXT (GLenum, GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLAPPLYTEXTUREEXTPROC) (GLenum mode); +typedef void (APIENTRY * PFNGLTEXTURELIGHTEXTPROC) (GLenum pname); +typedef void (APIENTRY * PFNGLTEXTUREMATERIALEXTPROC) (GLenum face, GLenum mode); +#endif + +#ifndef GL_SGIX_blend_alpha_minmax +#define GL_SGIX_blend_alpha_minmax 1 +#endif + +#ifndef GL_EXT_bgra +#define GL_EXT_bgra 1 +#endif + +#ifndef GL_INTEL_parallel_arrays +#define GL_INTEL_parallel_arrays 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glVertexPointervINTEL (GLint, GLenum, const GLvoid* *); +extern void APIENTRY glNormalPointervINTEL (GLenum, const GLvoid* *); +extern void APIENTRY glColorPointervINTEL (GLint, GLenum, const GLvoid* *); +extern void APIENTRY glTexCoordPointervINTEL (GLint, GLenum, const GLvoid* *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLVERTEXPOINTERVINTELPROC) (GLint size, GLenum type, const GLvoid* *pointer); +typedef void (APIENTRY * PFNGLNORMALPOINTERVINTELPROC) (GLenum type, const GLvoid* *pointer); +typedef void (APIENTRY * PFNGLCOLORPOINTERVINTELPROC) (GLint size, GLenum type, const GLvoid* *pointer); +typedef void (APIENTRY * PFNGLTEXCOORDPOINTERVINTELPROC) (GLint size, GLenum type, const GLvoid* *pointer); +#endif + +#ifndef GL_HP_occlusion_test +#define GL_HP_occlusion_test 1 +#endif + +#ifndef GL_EXT_pixel_transform +#define GL_EXT_pixel_transform 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glPixelTransformParameteriEXT (GLenum, GLenum, GLint); +extern void APIENTRY glPixelTransformParameterfEXT (GLenum, GLenum, GLfloat); +extern void APIENTRY glPixelTransformParameterivEXT (GLenum, GLenum, const GLint *); +extern void APIENTRY glPixelTransformParameterfvEXT (GLenum, GLenum, const GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLPIXELTRANSFORMPARAMETERIEXTPROC) (GLenum target, GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLPIXELTRANSFORMPARAMETERFEXTPROC) (GLenum target, GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLPIXELTRANSFORMPARAMETERIVEXTPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLPIXELTRANSFORMPARAMETERFVEXTPROC) (GLenum target, GLenum pname, const GLfloat *params); +#endif + +#ifndef GL_EXT_pixel_transform_color_table +#define GL_EXT_pixel_transform_color_table 1 +#endif + +#ifndef GL_EXT_shared_texture_palette +#define GL_EXT_shared_texture_palette 1 +#endif + +#ifndef GL_EXT_separate_specular_color +#define GL_EXT_separate_specular_color 1 +#endif + +#ifndef GL_EXT_secondary_color +#define GL_EXT_secondary_color 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSecondaryColor3bEXT (GLbyte, GLbyte, GLbyte); +extern void APIENTRY glSecondaryColor3bvEXT (const GLbyte *); +extern void APIENTRY glSecondaryColor3dEXT (GLdouble, GLdouble, GLdouble); +extern void APIENTRY glSecondaryColor3dvEXT (const GLdouble *); +extern void APIENTRY glSecondaryColor3fEXT (GLfloat, GLfloat, GLfloat); +extern void APIENTRY glSecondaryColor3fvEXT (const GLfloat *); +extern void APIENTRY glSecondaryColor3iEXT (GLint, GLint, GLint); +extern void APIENTRY glSecondaryColor3ivEXT (const GLint *); +extern void APIENTRY glSecondaryColor3sEXT (GLshort, GLshort, GLshort); +extern void APIENTRY glSecondaryColor3svEXT (const GLshort *); +extern void APIENTRY glSecondaryColor3ubEXT (GLubyte, GLubyte, GLubyte); +extern void APIENTRY glSecondaryColor3ubvEXT (const GLubyte *); +extern void APIENTRY glSecondaryColor3uiEXT (GLuint, GLuint, GLuint); +extern void APIENTRY glSecondaryColor3uivEXT (const GLuint *); +extern void APIENTRY glSecondaryColor3usEXT (GLushort, GLushort, GLushort); +extern void APIENTRY glSecondaryColor3usvEXT (const GLushort *); +extern void APIENTRY glSecondaryColorPointerEXT (GLint, GLenum, GLsizei, GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3BEXTPROC) (GLbyte red, GLbyte green, GLbyte blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3DEXTPROC) (GLdouble red, GLdouble green, GLdouble blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3FEXTPROC) (GLfloat red, GLfloat green, GLfloat blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3IEXTPROC) (GLint red, GLint green, GLint blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3IVEXTPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3SEXTPROC) (GLshort red, GLshort green, GLshort blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3UBEXTPROC) (GLubyte red, GLubyte green, GLubyte blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3UBVEXTPROC) (const GLubyte *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3UIEXTPROC) (GLuint red, GLuint green, GLuint blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3UIVEXTPROC) (const GLuint *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3USEXTPROC) (GLushort red, GLushort green, GLushort blue); +typedef void (APIENTRY * PFNGLSECONDARYCOLOR3USVEXTPROC) (const GLushort *v); +typedef void (APIENTRY * PFNGLSECONDARYCOLORPOINTEREXTPROC) (GLint size, GLenum type, GLsizei stride, GLvoid *pointer); +#endif + +#ifndef GL_EXT_texture_perturb_normal +#define GL_EXT_texture_perturb_normal 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTextureNormalEXT (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTEXTURENORMALEXTPROC) (GLenum mode); +#endif + +#ifndef GL_EXT_multi_draw_arrays +#define GL_EXT_multi_draw_arrays 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glMultiDrawArraysEXT (GLenum, GLint *, GLsizei *, GLsizei); +extern void APIENTRY glMultiDrawElementsEXT (GLenum, const GLsizei *, GLenum, const GLvoid* *, GLsizei); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLMULTIDRAWARRAYSEXTPROC) (GLenum mode, GLint *first, GLsizei *count, GLsizei primcount); +typedef void (APIENTRY * PFNGLMULTIDRAWELEMENTSEXTPROC) (GLenum mode, const GLsizei *count, GLenum type, const GLvoid* *indices, GLsizei primcount); +#endif + +#ifndef GL_EXT_fog_coord +#define GL_EXT_fog_coord 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFogCoordfEXT (GLfloat); +extern void APIENTRY glFogCoordfvEXT (const GLfloat *); +extern void APIENTRY glFogCoorddEXT (GLdouble); +extern void APIENTRY glFogCoorddvEXT (const GLdouble *); +extern void APIENTRY glFogCoordPointerEXT (GLenum, GLsizei, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFOGCOORDFEXTPROC) (GLfloat coord); +typedef void (APIENTRY * PFNGLFOGCOORDFVEXTPROC) (const GLfloat *coord); +typedef void (APIENTRY * PFNGLFOGCOORDDEXTPROC) (GLdouble coord); +typedef void (APIENTRY * PFNGLFOGCOORDDVEXTPROC) (const GLdouble *coord); +typedef void (APIENTRY * PFNGLFOGCOORDPOINTEREXTPROC) (GLenum type, GLsizei stride, const GLvoid *pointer); +#endif + +#ifndef GL_REND_screen_coordinates +#define GL_REND_screen_coordinates 1 +#endif + +#ifndef GL_EXT_coordinate_frame +#define GL_EXT_coordinate_frame 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTangent3bEXT (GLbyte, GLbyte, GLbyte); +extern void APIENTRY glTangent3bvEXT (const GLbyte *); +extern void APIENTRY glTangent3dEXT (GLdouble, GLdouble, GLdouble); +extern void APIENTRY glTangent3dvEXT (const GLdouble *); +extern void APIENTRY glTangent3fEXT (GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTangent3fvEXT (const GLfloat *); +extern void APIENTRY glTangent3iEXT (GLint, GLint, GLint); +extern void APIENTRY glTangent3ivEXT (const GLint *); +extern void APIENTRY glTangent3sEXT (GLshort, GLshort, GLshort); +extern void APIENTRY glTangent3svEXT (const GLshort *); +extern void APIENTRY glBinormal3bEXT (GLbyte, GLbyte, GLbyte); +extern void APIENTRY glBinormal3bvEXT (const GLbyte *); +extern void APIENTRY glBinormal3dEXT (GLdouble, GLdouble, GLdouble); +extern void APIENTRY glBinormal3dvEXT (const GLdouble *); +extern void APIENTRY glBinormal3fEXT (GLfloat, GLfloat, GLfloat); +extern void APIENTRY glBinormal3fvEXT (const GLfloat *); +extern void APIENTRY glBinormal3iEXT (GLint, GLint, GLint); +extern void APIENTRY glBinormal3ivEXT (const GLint *); +extern void APIENTRY glBinormal3sEXT (GLshort, GLshort, GLshort); +extern void APIENTRY glBinormal3svEXT (const GLshort *); +extern void APIENTRY glTangentPointerEXT (GLenum, GLsizei, const GLvoid *); +extern void APIENTRY glBinormalPointerEXT (GLenum, GLsizei, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTANGENT3BEXTPROC) (GLbyte tx, GLbyte ty, GLbyte tz); +typedef void (APIENTRY * PFNGLTANGENT3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRY * PFNGLTANGENT3DEXTPROC) (GLdouble tx, GLdouble ty, GLdouble tz); +typedef void (APIENTRY * PFNGLTANGENT3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLTANGENT3FEXTPROC) (GLfloat tx, GLfloat ty, GLfloat tz); +typedef void (APIENTRY * PFNGLTANGENT3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLTANGENT3IEXTPROC) (GLint tx, GLint ty, GLint tz); +typedef void (APIENTRY * PFNGLTANGENT3IVEXTPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLTANGENT3SEXTPROC) (GLshort tx, GLshort ty, GLshort tz); +typedef void (APIENTRY * PFNGLTANGENT3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRY * PFNGLBINORMAL3BEXTPROC) (GLbyte bx, GLbyte by, GLbyte bz); +typedef void (APIENTRY * PFNGLBINORMAL3BVEXTPROC) (const GLbyte *v); +typedef void (APIENTRY * PFNGLBINORMAL3DEXTPROC) (GLdouble bx, GLdouble by, GLdouble bz); +typedef void (APIENTRY * PFNGLBINORMAL3DVEXTPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLBINORMAL3FEXTPROC) (GLfloat bx, GLfloat by, GLfloat bz); +typedef void (APIENTRY * PFNGLBINORMAL3FVEXTPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLBINORMAL3IEXTPROC) (GLint bx, GLint by, GLint bz); +typedef void (APIENTRY * PFNGLBINORMAL3IVEXTPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLBINORMAL3SEXTPROC) (GLshort bx, GLshort by, GLshort bz); +typedef void (APIENTRY * PFNGLBINORMAL3SVEXTPROC) (const GLshort *v); +typedef void (APIENTRY * PFNGLTANGENTPOINTEREXTPROC) (GLenum type, GLsizei stride, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLBINORMALPOINTEREXTPROC) (GLenum type, GLsizei stride, const GLvoid *pointer); +#endif + +#ifndef GL_EXT_texture_env_combine +#define GL_EXT_texture_env_combine 1 +#endif + +#ifndef GL_APPLE_specular_vector +#define GL_APPLE_specular_vector 1 +#endif + +#ifndef GL_APPLE_transform_hint +#define GL_APPLE_transform_hint 1 +#endif + +#ifndef GL_SGIX_fog_scale +#define GL_SGIX_fog_scale 1 +#endif + +#ifndef GL_SUNX_constant_data +#define GL_SUNX_constant_data 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFinishTextureSUNX (void); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFINISHTEXTURESUNXPROC) (void); +#endif + +#ifndef GL_SUN_global_alpha +#define GL_SUN_global_alpha 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glGlobalAlphaFactorbSUN (GLbyte); +extern void APIENTRY glGlobalAlphaFactorsSUN (GLshort); +extern void APIENTRY glGlobalAlphaFactoriSUN (GLint); +extern void APIENTRY glGlobalAlphaFactorfSUN (GLfloat); +extern void APIENTRY glGlobalAlphaFactordSUN (GLdouble); +extern void APIENTRY glGlobalAlphaFactorubSUN (GLubyte); +extern void APIENTRY glGlobalAlphaFactorusSUN (GLushort); +extern void APIENTRY glGlobalAlphaFactoruiSUN (GLuint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORBSUNPROC) (GLbyte factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORSSUNPROC) (GLshort factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORISUNPROC) (GLint factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORFSUNPROC) (GLfloat factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORDSUNPROC) (GLdouble factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORUBSUNPROC) (GLubyte factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORUSSUNPROC) (GLushort factor); +typedef void (APIENTRY * PFNGLGLOBALALPHAFACTORUISUNPROC) (GLuint factor); +#endif + +#ifndef GL_SUN_triangle_list +#define GL_SUN_triangle_list 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glReplacementCodeuiSUN (GLuint); +extern void APIENTRY glReplacementCodeusSUN (GLushort); +extern void APIENTRY glReplacementCodeubSUN (GLubyte); +extern void APIENTRY glReplacementCodeuivSUN (const GLuint *); +extern void APIENTRY glReplacementCodeusvSUN (const GLushort *); +extern void APIENTRY glReplacementCodeubvSUN (const GLubyte *); +extern void APIENTRY glReplacementCodePointerSUN (GLenum, GLsizei, const GLvoid* *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUISUNPROC) (GLuint code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUSSUNPROC) (GLushort code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUBSUNPROC) (GLubyte code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUIVSUNPROC) (const GLuint *code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUSVSUNPROC) (const GLushort *code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUBVSUNPROC) (const GLubyte *code); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEPOINTERSUNPROC) (GLenum type, GLsizei stride, const GLvoid* *pointer); +#endif + +#ifndef GL_SUN_vertex +#define GL_SUN_vertex 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glColor4ubVertex2fSUN (GLubyte, GLubyte, GLubyte, GLubyte, GLfloat, GLfloat); +extern void APIENTRY glColor4ubVertex2fvSUN (const GLubyte *, const GLfloat *); +extern void APIENTRY glColor4ubVertex3fSUN (GLubyte, GLubyte, GLubyte, GLubyte, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glColor4ubVertex3fvSUN (const GLubyte *, const GLfloat *); +extern void APIENTRY glColor3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glColor3fVertex3fvSUN (const GLfloat *, const GLfloat *); +extern void APIENTRY glNormal3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glNormal3fVertex3fvSUN (const GLfloat *, const GLfloat *); +extern void APIENTRY glColor4fNormal3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glColor4fNormal3fVertex3fvSUN (const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord2fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord2fVertex3fvSUN (const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord4fVertex4fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord4fVertex4fvSUN (const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord2fColor4ubVertex3fSUN (GLfloat, GLfloat, GLubyte, GLubyte, GLubyte, GLubyte, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord2fColor4ubVertex3fvSUN (const GLfloat *, const GLubyte *, const GLfloat *); +extern void APIENTRY glTexCoord2fColor3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord2fColor3fVertex3fvSUN (const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord2fNormal3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord2fNormal3fVertex3fvSUN (const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord2fColor4fNormal3fVertex3fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord2fColor4fNormal3fVertex3fvSUN (const GLfloat *, const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glTexCoord4fColor4fNormal3fVertex4fSUN (GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glTexCoord4fColor4fNormal3fVertex4fvSUN (const GLfloat *, const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiVertex3fvSUN (const GLenum *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiColor4ubVertex3fSUN (GLenum, GLubyte, GLubyte, GLubyte, GLubyte, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiColor4ubVertex3fvSUN (const GLenum *, const GLubyte *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiColor3fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiColor3fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiNormal3fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiNormal3fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiColor4fNormal3fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiTexCoord2fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiTexCoord2fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiTexCoord2fNormal3fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *, const GLfloat *); +extern void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fSUN (GLenum, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glReplacementCodeuiTexCoord2fColor4fNormal3fVertex3fvSUN (const GLenum *, const GLfloat *, const GLfloat *, const GLfloat *, const GLfloat *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOLOR4UBVERTEX2FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y); +typedef void (APIENTRY * PFNGLCOLOR4UBVERTEX2FVSUNPROC) (const GLubyte *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLCOLOR4UBVERTEX3FSUNPROC) (GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLCOLOR4UBVERTEX3FVSUNPROC) (const GLubyte *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLCOLOR3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLNORMAL3FVERTEX3FSUNPROC) (GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD2FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLTEXCOORD2FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD4FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRY * PFNGLTEXCOORD4FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR4UBVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR4UBVERTEX3FVSUNPROC) (const GLfloat *tc, const GLubyte *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLTEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLTEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FSUNPROC) (GLfloat s, GLfloat t, GLfloat p, GLfloat q, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRY * PFNGLTEXCOORD4FCOLOR4FNORMAL3FVERTEX4FVSUNPROC) (const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUIVERTEX3FSUNPROC) (GLenum rc, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUIVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FSUNPROC) (GLenum rc, GLubyte r, GLubyte g, GLubyte b, GLubyte a, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR4UBVERTEX3FVSUNPROC) (const GLenum *rc, const GLubyte *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FSUNPROC) (GLenum rc, GLfloat r, GLfloat g, GLfloat b, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR3FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *c, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FSUNPROC) (GLenum rc, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUINORMAL3FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLenum rc, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUICOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FSUNPROC) (GLenum rc, GLfloat s, GLfloat t, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *tc, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FSUNPROC) (GLenum rc, GLfloat s, GLfloat t, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FNORMAL3FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *tc, const GLfloat *n, const GLfloat *v); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FSUNPROC) (GLenum rc, GLfloat s, GLfloat t, GLfloat r, GLfloat g, GLfloat b, GLfloat a, GLfloat nx, GLfloat ny, GLfloat nz, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLREPLACEMENTCODEUITEXCOORD2FCOLOR4FNORMAL3FVERTEX3FVSUNPROC) (const GLenum *rc, const GLfloat *tc, const GLfloat *c, const GLfloat *n, const GLfloat *v); +#endif + +#ifndef GL_EXT_blend_func_separate +#define GL_EXT_blend_func_separate 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glBlendFuncSeparateEXT (GLenum, GLenum, GLenum, GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLBLENDFUNCSEPARATEEXTPROC) (GLenum sfactorRGB, GLenum dfactorRGB, GLenum sfactorAlpha, GLenum dfactorAlpha); +#endif + +#ifndef GL_INGR_color_clamp +#define GL_INGR_color_clamp 1 +#endif + +#ifndef GL_INGR_interlace_read +#define GL_INGR_interlace_read 1 +#endif + +#ifndef GL_EXT_stencil_wrap +#define GL_EXT_stencil_wrap 1 +#endif + +#ifndef GL_EXT_422_pixels +#define GL_EXT_422_pixels 1 +#endif + +#ifndef GL_NV_texgen_reflection +#define GL_NV_texgen_reflection 1 +#endif + +#ifndef GL_SUN_convolution_border_modes +#define GL_SUN_convolution_border_modes 1 +#endif + +#ifndef GL_EXT_texture_env_add +#define GL_EXT_texture_env_add 1 +#endif + +#ifndef GL_EXT_texture_lod_bias +#define GL_EXT_texture_lod_bias 1 +#endif + +#ifndef GL_EXT_texture_filter_anisotropic +#define GL_EXT_texture_filter_anisotropic 1 +#endif + +#ifndef GL_EXT_vertex_weighting +#define GL_EXT_vertex_weighting 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glVertexWeightfEXT (GLfloat); +extern void APIENTRY glVertexWeightfvEXT (const GLfloat *); +extern void APIENTRY glVertexWeightPointerEXT (GLsizei, GLenum, GLsizei, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLVERTEXWEIGHTFEXTPROC) (GLfloat weight); +typedef void (APIENTRY * PFNGLVERTEXWEIGHTFVEXTPROC) (const GLfloat *weight); +typedef void (APIENTRY * PFNGLVERTEXWEIGHTPOINTEREXTPROC) (GLsizei size, GLenum type, GLsizei stride, const GLvoid *pointer); +#endif + +#ifndef GL_NV_light_max_exponent +#define GL_NV_light_max_exponent 1 +#endif + +#ifndef GL_NV_vertex_array_range +#define GL_NV_vertex_array_range 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glFlushVertexArrayRangeNV (void); +extern void APIENTRY glVertexArrayRangeNV (GLsizei, const GLvoid *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLFLUSHVERTEXARRAYRANGENVPROC) (void); +typedef void (APIENTRY * PFNGLVERTEXARRAYRANGENVPROC) (GLsizei size, const GLvoid *pointer); +#endif + +#ifndef GL_NV_vertex_array_range2 +#define GL_NV_vertex_array_range2 1 +#endif + +#ifndef GL_NV_register_combiners +#define GL_NV_register_combiners 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glCombinerParameterfvNV (GLenum, const GLfloat *); +extern void APIENTRY glCombinerParameterfNV (GLenum, GLfloat); +extern void APIENTRY glCombinerParameterivNV (GLenum, const GLint *); +extern void APIENTRY glCombinerParameteriNV (GLenum, GLint); +extern void APIENTRY glCombinerInputNV (GLenum, GLenum, GLenum, GLenum, GLenum, GLenum); +extern void APIENTRY glCombinerOutputNV (GLenum, GLenum, GLenum, GLenum, GLenum, GLenum, GLenum, GLboolean, GLboolean, GLboolean); +extern void APIENTRY glFinalCombinerInputNV (GLenum, GLenum, GLenum, GLenum); +extern void APIENTRY glGetCombinerInputParameterfvNV (GLenum, GLenum, GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetCombinerInputParameterivNV (GLenum, GLenum, GLenum, GLenum, GLint *); +extern void APIENTRY glGetCombinerOutputParameterfvNV (GLenum, GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetCombinerOutputParameterivNV (GLenum, GLenum, GLenum, GLint *); +extern void APIENTRY glGetFinalCombinerInputParameterfvNV (GLenum, GLenum, GLfloat *); +extern void APIENTRY glGetFinalCombinerInputParameterivNV (GLenum, GLenum, GLint *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOMBINERPARAMETERFVNVPROC) (GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLCOMBINERPARAMETERFNVPROC) (GLenum pname, GLfloat param); +typedef void (APIENTRY * PFNGLCOMBINERPARAMETERIVNVPROC) (GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLCOMBINERPARAMETERINVPROC) (GLenum pname, GLint param); +typedef void (APIENTRY * PFNGLCOMBINERINPUTNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (APIENTRY * PFNGLCOMBINEROUTPUTNVPROC) (GLenum stage, GLenum portion, GLenum abOutput, GLenum cdOutput, GLenum sumOutput, GLenum scale, GLenum bias, GLboolean abDotProduct, GLboolean cdDotProduct, GLboolean muxSum); +typedef void (APIENTRY * PFNGLFINALCOMBINERINPUTNVPROC) (GLenum variable, GLenum input, GLenum mapping, GLenum componentUsage); +typedef void (APIENTRY * PFNGLGETCOMBINERINPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCOMBINERINPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum variable, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETCOMBINEROUTPUTPARAMETERFVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETCOMBINEROUTPUTPARAMETERIVNVPROC) (GLenum stage, GLenum portion, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETFINALCOMBINERINPUTPARAMETERFVNVPROC) (GLenum variable, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETFINALCOMBINERINPUTPARAMETERIVNVPROC) (GLenum variable, GLenum pname, GLint *params); +#endif + +#ifndef GL_NV_fog_distance +#define GL_NV_fog_distance 1 +#endif + +#ifndef GL_NV_texgen_emboss +#define GL_NV_texgen_emboss 1 +#endif + +#ifndef GL_NV_blend_square +#define GL_NV_blend_square 1 +#endif + +#ifndef GL_NV_texture_env_combine4 +#define GL_NV_texture_env_combine4 1 +#endif + +#ifndef GL_MESA_resize_buffers +#define GL_MESA_resize_buffers 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glResizeBuffersMESA (void); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLRESIZEBUFFERSMESAPROC) (void); +#endif + +#ifndef GL_MESA_window_pos +#define GL_MESA_window_pos 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glWindowPos2dMESA (GLdouble, GLdouble); +extern void APIENTRY glWindowPos2dvMESA (const GLdouble *); +extern void APIENTRY glWindowPos2fMESA (GLfloat, GLfloat); +extern void APIENTRY glWindowPos2fvMESA (const GLfloat *); +extern void APIENTRY glWindowPos2iMESA (GLint, GLint); +extern void APIENTRY glWindowPos2ivMESA (const GLint *); +extern void APIENTRY glWindowPos2sMESA (GLshort, GLshort); +extern void APIENTRY glWindowPos2svMESA (const GLshort *); +extern void APIENTRY glWindowPos3dMESA (GLdouble, GLdouble, GLdouble); +extern void APIENTRY glWindowPos3dvMESA (const GLdouble *); +extern void APIENTRY glWindowPos3fMESA (GLfloat, GLfloat, GLfloat); +extern void APIENTRY glWindowPos3fvMESA (const GLfloat *); +extern void APIENTRY glWindowPos3iMESA (GLint, GLint, GLint); +extern void APIENTRY glWindowPos3ivMESA (const GLint *); +extern void APIENTRY glWindowPos3sMESA (GLshort, GLshort, GLshort); +extern void APIENTRY glWindowPos3svMESA (const GLshort *); +extern void APIENTRY glWindowPos4dMESA (GLdouble, GLdouble, GLdouble, GLdouble); +extern void APIENTRY glWindowPos4dvMESA (const GLdouble *); +extern void APIENTRY glWindowPos4fMESA (GLfloat, GLfloat, GLfloat, GLfloat); +extern void APIENTRY glWindowPos4fvMESA (const GLfloat *); +extern void APIENTRY glWindowPos4iMESA (GLint, GLint, GLint, GLint); +extern void APIENTRY glWindowPos4ivMESA (const GLint *); +extern void APIENTRY glWindowPos4sMESA (GLshort, GLshort, GLshort, GLshort); +extern void APIENTRY glWindowPos4svMESA (const GLshort *); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLWINDOWPOS2DMESAPROC) (GLdouble x, GLdouble y); +typedef void (APIENTRY * PFNGLWINDOWPOS2DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLWINDOWPOS2FMESAPROC) (GLfloat x, GLfloat y); +typedef void (APIENTRY * PFNGLWINDOWPOS2FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLWINDOWPOS2IMESAPROC) (GLint x, GLint y); +typedef void (APIENTRY * PFNGLWINDOWPOS2IVMESAPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLWINDOWPOS2SMESAPROC) (GLshort x, GLshort y); +typedef void (APIENTRY * PFNGLWINDOWPOS2SVMESAPROC) (const GLshort *v); +typedef void (APIENTRY * PFNGLWINDOWPOS3DMESAPROC) (GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRY * PFNGLWINDOWPOS3DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLWINDOWPOS3FMESAPROC) (GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLWINDOWPOS3FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLWINDOWPOS3IMESAPROC) (GLint x, GLint y, GLint z); +typedef void (APIENTRY * PFNGLWINDOWPOS3IVMESAPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLWINDOWPOS3SMESAPROC) (GLshort x, GLshort y, GLshort z); +typedef void (APIENTRY * PFNGLWINDOWPOS3SVMESAPROC) (const GLshort *v); +typedef void (APIENTRY * PFNGLWINDOWPOS4DMESAPROC) (GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRY * PFNGLWINDOWPOS4DVMESAPROC) (const GLdouble *v); +typedef void (APIENTRY * PFNGLWINDOWPOS4FMESAPROC) (GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRY * PFNGLWINDOWPOS4FVMESAPROC) (const GLfloat *v); +typedef void (APIENTRY * PFNGLWINDOWPOS4IMESAPROC) (GLint x, GLint y, GLint z, GLint w); +typedef void (APIENTRY * PFNGLWINDOWPOS4IVMESAPROC) (const GLint *v); +typedef void (APIENTRY * PFNGLWINDOWPOS4SMESAPROC) (GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRY * PFNGLWINDOWPOS4SVMESAPROC) (const GLshort *v); +#endif + +#ifndef GL_IBM_cull_vertex +#define GL_IBM_cull_vertex 1 +#endif + +#ifndef GL_IBM_multimode_draw_arrays +#define GL_IBM_multimode_draw_arrays 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glMultiModeDrawArraysIBM (GLenum, const GLint *, const GLsizei *, GLsizei, GLint); +extern void APIENTRY glMultiModeDrawElementsIBM (const GLenum *, const GLsizei *, GLenum, const GLvoid* *, GLsizei, GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLMULTIMODEDRAWARRAYSIBMPROC) (GLenum mode, const GLint *first, const GLsizei *count, GLsizei primcount, GLint modestride); +typedef void (APIENTRY * PFNGLMULTIMODEDRAWELEMENTSIBMPROC) (const GLenum *mode, const GLsizei *count, GLenum type, const GLvoid* *indices, GLsizei primcount, GLint modestride); +#endif + +#ifndef GL_IBM_vertex_array_lists +#define GL_IBM_vertex_array_lists 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glColorPointerListIBM (GLint, GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glSecondaryColorPointerListIBM (GLint, GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glEdgeFlagPointerListIBM (GLint, const GLboolean* *, GLint); +extern void APIENTRY glFogCoordPointerListIBM (GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glIndexPointerListIBM (GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glNormalPointerListIBM (GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glTexCoordPointerListIBM (GLint, GLenum, GLint, const GLvoid* *, GLint); +extern void APIENTRY glVertexPointerListIBM (GLint, GLenum, GLint, const GLvoid* *, GLint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLSECONDARYCOLORPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLEDGEFLAGPOINTERLISTIBMPROC) (GLint stride, const GLboolean* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLFOGCOORDPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLINDEXPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLNORMALPOINTERLISTIBMPROC) (GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLTEXCOORDPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +typedef void (APIENTRY * PFNGLVERTEXPOINTERLISTIBMPROC) (GLint size, GLenum type, GLint stride, const GLvoid* *pointer, GLint ptrstride); +#endif + +#ifndef GL_SGIX_subsample +#define GL_SGIX_subsample 1 +#endif + +#ifndef GL_SGIX_ycrcba +#define GL_SGIX_ycrcba 1 +#endif + +#ifndef GL_SGIX_ycrcb_subsample +#define GL_SGIX_ycrcb_subsample 1 +#endif + +#ifndef GL_SGIX_depth_pass_instrument +#define GL_SGIX_depth_pass_instrument 1 +#endif + +#ifndef GL_3DFX_texture_compression_FXT1 +#define GL_3DFX_texture_compression_FXT1 1 +#endif + +#ifndef GL_3DFX_multisample +#define GL_3DFX_multisample 1 +#endif + +#ifndef GL_3DFX_tbuffer +#define GL_3DFX_tbuffer 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTbufferMask3DFX (GLuint); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTBUFFERMASK3DFXPROC) (GLuint mask); +#endif + +#ifndef GL_EXT_multisample +#define GL_EXT_multisample 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glSampleMaskEXT (GLclampf, GLboolean); +extern void APIENTRY glSamplePatternEXT (GLenum); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLSAMPLEMASKEXTPROC) (GLclampf value, GLboolean invert); +typedef void (APIENTRY * PFNGLSAMPLEPATTERNEXTPROC) (GLenum pattern); +#endif + +#ifndef GL_SGI_vertex_preclip +#define GL_SGI_vertex_preclip 1 +#endif + +#ifndef GL_SGIX_convolution_accuracy +#define GL_SGIX_convolution_accuracy 1 +#endif + +#ifndef GL_SGIX_resample +#define GL_SGIX_resample 1 +#endif + +#ifndef GL_SGIS_point_line_texgen +#define GL_SGIS_point_line_texgen 1 +#endif + +#ifndef GL_SGIS_texture_color_mask +#define GL_SGIS_texture_color_mask 1 +#ifdef GL_GLEXT_PROTOTYPES +extern void APIENTRY glTextureColorMaskSGIS (GLboolean, GLboolean, GLboolean, GLboolean); +#endif /* GL_GLEXT_PROTOTYPES */ +typedef void (APIENTRY * PFNGLTEXTURECOLORMASKSGISPROC) (GLboolean red, GLboolean green, GLboolean blue, GLboolean alpha); +#endif + + + +/* added by Cass -- this part will be auto-generated in the future*/ + +#ifndef GL_EXT_texture_compression_s3tc +#define GL_EXT_texture_compression_s3tc 1 +#endif + +/* Extensions */ +#define GL_ARB_texture_border_clamp 1 +#define GL_ARB_texture_env_combine 1 +#define GL_ARB_texture_env_dot3 1 +#define GL_EXT_texture_env_dot3 1 +#define GL_IBM_texture_mirrored_repeat 1 +#define GL_NV_evaluators 1 +#define GL_NV_fence 1 +#define GL_NV_multisample_filter_hint 1 +#define GL_NV_packed_depth_stencil 1 +#define GL_NV_register_combiners2 1 +#define GL_NV_texture_compression_vtc 1 +#define GL_NV_texture_rectangle 1 +#define GL_NV_texture_shader 1 +#define GL_NV_texture_shader2 1 +#define GL_NV_vertex_program 1 +#define GL_NV_point_sprite 1 +#define GL_NV_occlusion_query 1 + +/* ARB_texture_border_clamp */ +#define GL_CLAMP_TO_BORDER_ARB 0x812D + +/* ARB_texture_env_combine */ +#define GL_COMBINE_ARB 0x8570 +#define GL_COMBINE_RGB_ARB 0x8571 +#define GL_COMBINE_ALPHA_ARB 0x8572 +#define GL_RGB_SCALE_ARB 0x8573 +#define GL_ADD_SIGNED_ARB 0x8574 +#define GL_INTERPOLATE_ARB 0x8575 +#define GL_CONSTANT_ARB 0x8576 +#define GL_PRIMARY_COLOR_ARB 0x8577 +#define GL_PREVIOUS_ARB 0x8578 +#define GL_SOURCE0_RGB_ARB 0x8580 +#define GL_SOURCE1_RGB_ARB 0x8581 +#define GL_SOURCE2_RGB_ARB 0x8582 +#define GL_SOURCE0_ALPHA_ARB 0x8588 +#define GL_SOURCE1_ALPHA_ARB 0x8589 +#define GL_SOURCE2_ALPHA_ARB 0x858A +#define GL_OPERAND0_RGB_ARB 0x8590 +#define GL_OPERAND1_RGB_ARB 0x8591 +#define GL_OPERAND2_RGB_ARB 0x8592 +#define GL_OPERAND0_ALPHA_ARB 0x8598 +#define GL_OPERAND1_ALPHA_ARB 0x8599 +#define GL_OPERAND2_ALPHA_ARB 0x859A +#define GL_SUBTRACT_ARB 0x84E7 + +/* ARB_texture_env_dot3 */ +#define GL_DOT3_RGB_ARB 0x86AE +#define GL_DOT3_RGBA_ARB 0x86AF + +/* EXT_texture_env_dot3 */ +#define GL_DOT3_RGB_EXT 0x8740 +#define GL_DOT3_RGBA_EXT 0x8741 + +/* IBM_texture_mirrored_repeat */ +#define GL_MIRRORED_REPEAT_IBM 0x8370 + +/* NV_vertex_program */ +#define GL_VERTEX_PROGRAM_NV 0x8620 +#define GL_VERTEX_STATE_PROGRAM_NV 0x8621 +#define GL_ATTRIB_ARRAY_SIZE_NV 0x8623 +#define GL_ATTRIB_ARRAY_STRIDE_NV 0x8624 +#define GL_ATTRIB_ARRAY_TYPE_NV 0x8625 +#define GL_CURRENT_ATTRIB_NV 0x8626 +#define GL_PROGRAM_LENGTH_NV 0x8627 +#define GL_PROGRAM_STRING_NV 0x8628 +#define GL_MODELVIEW_PROJECTION_NV 0x8629 +#define GL_IDENTITY_NV 0x862A +#define GL_INVERSE_NV 0x862B +#define GL_TRANSPOSE_NV 0x862C +#define GL_INVERSE_TRANSPOSE_NV 0x862D +#define GL_MAX_TRACK_MATRIX_STACK_DEPTH_NV 0x862E +#define GL_MAX_TRACK_MATRICES_NV 0x862F +#define GL_MATRIX0_NV 0x8630 +#define GL_MATRIX1_NV 0x8631 +#define GL_MATRIX2_NV 0x8632 +#define GL_MATRIX3_NV 0x8633 +#define GL_MATRIX4_NV 0x8634 +#define GL_MATRIX5_NV 0x8635 +#define GL_MATRIX6_NV 0x8636 +#define GL_MATRIX7_NV 0x8637 +#define GL_CURRENT_MATRIX_STACK_DEPTH_NV 0x8640 +#define GL_CURRENT_MATRIX_NV 0x8641 +#define GL_VERTEX_PROGRAM_POINT_SIZE_NV 0x8642 +#define GL_VERTEX_PROGRAM_TWO_SIDE_NV 0x8643 +#define GL_PROGRAM_PARAMETER_NV 0x8644 +#define GL_ATTRIB_ARRAY_POINTER_NV 0x8645 +#define GL_PROGRAM_TARGET_NV 0x8646 +#define GL_PROGRAM_RESIDENT_NV 0x8647 +#define GL_TRACK_MATRIX_NV 0x8648 +#define GL_TRACK_MATRIX_TRANSFORM_NV 0x8649 +#define GL_VERTEX_PROGRAM_BINDING_NV 0x864A +#define GL_PROGRAM_ERROR_POSITION_NV 0x864B +#define GL_VERTEX_ATTRIB_ARRAY0_NV 0x8650 +#define GL_VERTEX_ATTRIB_ARRAY1_NV 0x8651 +#define GL_VERTEX_ATTRIB_ARRAY2_NV 0x8652 +#define GL_VERTEX_ATTRIB_ARRAY3_NV 0x8653 +#define GL_VERTEX_ATTRIB_ARRAY4_NV 0x8654 +#define GL_VERTEX_ATTRIB_ARRAY5_NV 0x8655 +#define GL_VERTEX_ATTRIB_ARRAY6_NV 0x8656 +#define GL_VERTEX_ATTRIB_ARRAY7_NV 0x8657 +#define GL_VERTEX_ATTRIB_ARRAY8_NV 0x8658 +#define GL_VERTEX_ATTRIB_ARRAY9_NV 0x8659 +#define GL_VERTEX_ATTRIB_ARRAY10_NV 0x865A +#define GL_VERTEX_ATTRIB_ARRAY11_NV 0x865B +#define GL_VERTEX_ATTRIB_ARRAY12_NV 0x865C +#define GL_VERTEX_ATTRIB_ARRAY13_NV 0x865D +#define GL_VERTEX_ATTRIB_ARRAY14_NV 0x865E +#define GL_VERTEX_ATTRIB_ARRAY15_NV 0x865F +#define GL_MAP1_VERTEX_ATTRIB0_4_NV 0x8660 +#define GL_MAP1_VERTEX_ATTRIB1_4_NV 0x8661 +#define GL_MAP1_VERTEX_ATTRIB2_4_NV 0x8662 +#define GL_MAP1_VERTEX_ATTRIB3_4_NV 0x8663 +#define GL_MAP1_VERTEX_ATTRIB4_4_NV 0x8664 +#define GL_MAP1_VERTEX_ATTRIB5_4_NV 0x8665 +#define GL_MAP1_VERTEX_ATTRIB6_4_NV 0x8666 +#define GL_MAP1_VERTEX_ATTRIB7_4_NV 0x8667 +#define GL_MAP1_VERTEX_ATTRIB8_4_NV 0x8668 +#define GL_MAP1_VERTEX_ATTRIB9_4_NV 0x8669 +#define GL_MAP1_VERTEX_ATTRIB10_4_NV 0x866A +#define GL_MAP1_VERTEX_ATTRIB11_4_NV 0x866B +#define GL_MAP1_VERTEX_ATTRIB12_4_NV 0x866C +#define GL_MAP1_VERTEX_ATTRIB13_4_NV 0x866D +#define GL_MAP1_VERTEX_ATTRIB14_4_NV 0x866E +#define GL_MAP1_VERTEX_ATTRIB15_4_NV 0x866F +#define GL_MAP2_VERTEX_ATTRIB0_4_NV 0x8670 +#define GL_MAP2_VERTEX_ATTRIB1_4_NV 0x8671 +#define GL_MAP2_VERTEX_ATTRIB2_4_NV 0x8672 +#define GL_MAP2_VERTEX_ATTRIB3_4_NV 0x8673 +#define GL_MAP2_VERTEX_ATTRIB4_4_NV 0x8674 +#define GL_MAP2_VERTEX_ATTRIB5_4_NV 0x8675 +#define GL_MAP2_VERTEX_ATTRIB6_4_NV 0x8676 +#define GL_MAP2_VERTEX_ATTRIB7_4_NV 0x8677 +#define GL_MAP2_VERTEX_ATTRIB8_4_NV 0x8678 +#define GL_MAP2_VERTEX_ATTRIB9_4_NV 0x8679 +#define GL_MAP2_VERTEX_ATTRIB10_4_NV 0x867A +#define GL_MAP2_VERTEX_ATTRIB11_4_NV 0x867B +#define GL_MAP2_VERTEX_ATTRIB12_4_NV 0x867C +#define GL_MAP2_VERTEX_ATTRIB13_4_NV 0x867D +#define GL_MAP2_VERTEX_ATTRIB14_4_NV 0x867E +#define GL_MAP2_VERTEX_ATTRIB15_4_NV 0x867F + +/* NV_evaluators */ +#define GL_EVAL_2D_NV 0x86C0 +#define GL_EVAL_TRIANGULAR_2D_NV 0x86C1 +#define GL_MAP_TESSELLATION_NV 0x86C2 +#define GL_MAP_ATTRIB_U_ORDER_NV 0x86C3 +#define GL_MAP_ATTRIB_V_ORDER_NV 0x86C4 +#define GL_EVAL_FRACTIONAL_TESSELLATION_NV 0x86C5 +#define GL_EVAL_VERTEX_ATTRIB0_NV 0x86C6 +#define GL_EVAL_VERTEX_ATTRIB1_NV 0x86C7 +#define GL_EVAL_VERTEX_ATTRIB2_NV 0x86C8 +#define GL_EVAL_VERTEX_ATTRIB3_NV 0x86C9 +#define GL_EVAL_VERTEX_ATTRIB4_NV 0x86CA +#define GL_EVAL_VERTEX_ATTRIB5_NV 0x86CB +#define GL_EVAL_VERTEX_ATTRIB6_NV 0x86CC +#define GL_EVAL_VERTEX_ATTRIB7_NV 0x86CD +#define GL_EVAL_VERTEX_ATTRIB8_NV 0x86CE +#define GL_EVAL_VERTEX_ATTRIB9_NV 0x86CF +#define GL_EVAL_VERTEX_ATTRIB10_NV 0x86D0 +#define GL_EVAL_VERTEX_ATTRIB11_NV 0x86D1 +#define GL_EVAL_VERTEX_ATTRIB12_NV 0x86D2 +#define GL_EVAL_VERTEX_ATTRIB13_NV 0x86D3 +#define GL_EVAL_VERTEX_ATTRIB14_NV 0x86D4 +#define GL_EVAL_VERTEX_ATTRIB15_NV 0x86D5 +#define GL_MAX_MAP_TESSELLATION_NV 0x86D6 +#define GL_MAX_RATIONAL_EVAL_ORDER_NV 0x86D7 + +/* NV_fence */ +#define GL_ALL_COMPLETED_NV 0x84F2 +#define GL_FENCE_STATUS_NV 0x84F3 +#define GL_FENCE_CONDITION_NV 0x84F4 + +/* NV_occlusion_query */ +#define GL_PIXEL_COUNTER_BITS_NV 0x8864 +#define GL_CURRENT_OCCLUSION_QUERY_ID_NV 0x8865 +#define GL_PIXEL_COUNT_NV 0x8866 +#define GL_PIXEL_COUNT_AVAILABLE_NV 0x8867 + +/* NV_point_sprite */ +#define GL_POINT_SPRITE_NV 0x8861 +#define GL_COORD_REPLACE_NV 0x8862 +#define GL_POINT_SPRITE_R_MODE_NV 0x8863 + +/* NV_texture_rectangle */ +#define GL_TEXTURE_RECTANGLE_NV 0x84F5 +#define GL_TEXTURE_BINDING_RECTANGLE_NV 0x84F6 +#define GL_PROXY_TEXTURE_RECTANGLE_NV 0x84F7 +#define GL_MAX_RECTANGLE_TEXTURE_SIZE_NV 0x84F8 + +/* NV_texture_shader */ +#define GL_OFFSET_TEXTURE_RECTANGLE_NV 0x864C +#define GL_OFFSET_TEXTURE_RECTANGLE_SCALE_NV 0x864D +#define GL_DOT_PRODUCT_TEXTURE_RECTANGLE_NV 0x864E +#define GL_RGBA_UNSIGNED_DOT_PRODUCT_MAPPING_NV 0x86D9 +#define GL_UNSIGNED_INT_S8_S8_8_8_NV 0x86DA +#define GL_UNSIGNED_INT_8_8_S8_S8_REV_NV 0x86DB +#define GL_DSDT_MAG_INTENSITY_NV 0x86DC +#define GL_SHADER_CONSISTENT_NV 0x86DD +#define GL_TEXTURE_SHADER_NV 0x86DE +#define GL_SHADER_OPERATION_NV 0x86DF +#define GL_CULL_MODES_NV 0x86E0 +#define GL_OFFSET_TEXTURE_MATRIX_NV 0x86E1 +#define GL_OFFSET_TEXTURE_SCALE_NV 0x86E2 +#define GL_OFFSET_TEXTURE_BIAS_NV 0x86E3 +#define GL_OFFSET_TEXTURE_2D_MATRIX_NV GL_OFFSET_TEXTURE_MATRIX_NV +#define GL_OFFSET_TEXTURE_2D_SCALE_NV GL_OFFSET_TEXTURE_SCALE_NV +#define GL_OFFSET_TEXTURE_2D_BIAS_NV GL_OFFSET_TEXTURE_BIAS_NV +#define GL_PREVIOUS_TEXTURE_INPUT_NV 0x86E4 +#define GL_CONST_EYE_NV 0x86E5 +#define GL_PASS_THROUGH_NV 0x86E6 +#define GL_CULL_FRAGMENT_NV 0x86E7 +#define GL_OFFSET_TEXTURE_2D_NV 0x86E8 +#define GL_DEPENDENT_AR_TEXTURE_2D_NV 0x86E9 +#define GL_DEPENDENT_GB_TEXTURE_2D_NV 0x86EA +#define GL_ISOTROPIC_BRDF_NV 0x86EB +#define GL_DOT_PRODUCT_NV 0x86EC +#define GL_DOT_PRODUCT_DEPTH_REPLACE_NV 0x86ED +#define GL_DOT_PRODUCT_TEXTURE_2D_NV 0x86EE +#define GL_DOT_PRODUCT_TEXTURE_3D_NV 0x86EF +#define GL_DOT_PRODUCT_TEXTURE_CUBE_MAP_NV 0x86F0 +#define GL_DOT_PRODUCT_DIFFUSE_CUBE_MAP_NV 0x86F1 +#define GL_DOT_PRODUCT_REFLECT_CUBE_MAP_NV 0x86F2 +#define GL_DOT_PRODUCT_CONST_EYE_REFLECT_CUBE_MAP_NV 0x86F3 +#define GL_HILO_NV 0x86F4 +#define GL_DSDT_NV 0x86F5 +#define GL_DSDT_MAG_NV 0x86F6 +#define GL_DSDT_MAG_VIB_NV 0x86F7 +#define GL_HILO16_NV 0x86F8 +#define GL_SIGNED_HILO_NV 0x86F9 +#define GL_SIGNED_HILO16_NV 0x86FA +#define GL_SIGNED_RGBA_NV 0x86FB +#define GL_SIGNED_RGBA8_NV 0x86FC +#define GL_SIGNED_RGB_NV 0x86FE +#define GL_SIGNED_RGB8_NV 0x86FF +#define GL_SIGNED_LUMINANCE_NV 0x8701 +#define GL_SIGNED_LUMINANCE8_NV 0x8702 +#define GL_SIGNED_LUMINANCE_ALPHA_NV 0x8703 +#define GL_SIGNED_LUMINANCE8_ALPHA8_NV 0x8704 +#define GL_SIGNED_ALPHA_NV 0x8705 +#define GL_SIGNED_ALPHA8_NV 0x8706 +#define GL_SIGNED_INTENSITY_NV 0x8707 +#define GL_SIGNED_INTENSITY8_NV 0x8708 +#define GL_DSDT8_NV 0x8709 +#define GL_DSDT8_MAG8_NV 0x870A +#define GL_DSDT8_MAG8_INTENSITY8_NV 0x870B +#define GL_SIGNED_RGB_UNSIGNED_ALPHA_NV 0x870C +#define GL_SIGNED_RGB8_UNSIGNED_ALPHA8_NV 0x870D +#define GL_HI_SCALE_NV 0x870E +#define GL_LO_SCALE_NV 0x870F +#define GL_DS_SCALE_NV 0x8710 +#define GL_DT_SCALE_NV 0x8711 +#define GL_MAGNITUDE_SCALE_NV 0x8712 +#define GL_VIBRANCE_SCALE_NV 0x8713 +#define GL_HI_BIAS_NV 0x8714 +#define GL_LO_BIAS_NV 0x8715 +#define GL_DS_BIAS_NV 0x8716 +#define GL_DT_BIAS_NV 0x8717 +#define GL_MAGNITUDE_BIAS_NV 0x8718 +#define GL_VIBRANCE_BIAS_NV 0x8719 +#define GL_TEXTURE_BORDER_VALUES_NV 0x871A +#define GL_TEXTURE_HI_SIZE_NV 0x871B +#define GL_TEXTURE_LO_SIZE_NV 0x871C +#define GL_TEXTURE_DS_SIZE_NV 0x871D +#define GL_TEXTURE_DT_SIZE_NV 0x871E +#define GL_TEXTURE_MAG_SIZE_NV 0x871F + +/* NV_texture_shader2 */ +#define GL_DOT_PRODUCT_TEXTURE_3D_NV 0x86EF + +/* NV_register_combiners2 */ +#define GL_PER_STAGE_CONSTANTS_NV 0x8535 + +/* NV_packed_depth_stencil */ +#define GL_DEPTH_STENCIL_NV 0x84F9 +#define GL_UNSIGNED_INT_24_8_NV 0x84FA + +/* NV_multisample_filter_hint */ +#define GL_MULTISAMPLE_FILTER_HINT_NV 0x8534 + +/* NV_texture_compression_vtc */ + +/* NV_vertex_program */ +typedef GLboolean (APIENTRY * PFNGLAREPROGRAMSRESIDENTNVPROC) (GLsizei n, const GLuint *programs, GLboolean *residences); +typedef void (APIENTRY * PFNGLBINDPROGRAMNVPROC) (GLenum target, GLuint id); +typedef void (APIENTRY * PFNGLDELETEPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); +typedef void (APIENTRY * PFNGLEXECUTEPROGRAMNVPROC) (GLenum target, GLuint id, const GLfloat *params); +typedef void (APIENTRY * PFNGLGENPROGRAMSNVPROC) (GLsizei n, GLuint *programs); +typedef void (APIENTRY * PFNGLGETPROGRAMPARAMETERDVNVPROC) (GLenum target, GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRY * PFNGLGETPROGRAMPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETPROGRAMIVNVPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETPROGRAMSTRINGNVPROC) (GLuint id, GLenum pname, GLubyte *program); +typedef void (APIENTRY * PFNGLGETTRACKMATRIXIVNVPROC) (GLenum target, GLuint address, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETVERTEXATTRIBDVNVPROC) (GLuint index, GLenum pname, GLdouble *params); +typedef void (APIENTRY * PFNGLGETVERTEXATTRIBFVNVPROC) (GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETVERTEXATTRIBIVNVPROC) (GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETVERTEXATTRIBPOINTERVNVPROC) (GLuint index, GLenum pname, GLvoid* *pointer); +typedef GLboolean (APIENTRY * PFNGLISPROGRAMNVPROC) (GLuint id); +typedef void (APIENTRY * PFNGLLOADPROGRAMNVPROC) (GLenum target, GLuint id, GLsizei len, const GLubyte *program); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETER4DNVPROC) (GLenum target, GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETER4DVNVPROC) (GLenum target, GLuint index, const GLdouble *v); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETER4FNVPROC) (GLenum target, GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETER4FVNVPROC) (GLenum target, GLuint index, const GLfloat *v); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETERS4DVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRY * PFNGLPROGRAMPARAMETERS4FVNVPROC) (GLenum target, GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRY * PFNGLREQUESTRESIDENTPROGRAMSNVPROC) (GLsizei n, const GLuint *programs); +typedef void (APIENTRY * PFNGLTRACKMATRIXNVPROC) (GLenum target, GLuint address, GLenum matrix, GLenum transform); +typedef void (APIENTRY * PFNGLVERTEXATTRIBPOINTERNVPROC) (GLuint index, GLint fsize, GLenum type, GLsizei stride, const GLvoid *pointer); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1DNVPROC) (GLuint index, GLdouble x); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1FNVPROC) (GLuint index, GLfloat x); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1SNVPROC) (GLuint index, GLshort x); +typedef void (APIENTRY * PFNGLVERTEXATTRIB1SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2DNVPROC) (GLuint index, GLdouble x, GLdouble y); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2FNVPROC) (GLuint index, GLfloat x, GLfloat y); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2SNVPROC) (GLuint index, GLshort x, GLshort y); +typedef void (APIENTRY * PFNGLVERTEXATTRIB2SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z); +typedef void (APIENTRY * PFNGLVERTEXATTRIB3SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4DNVPROC) (GLuint index, GLdouble x, GLdouble y, GLdouble z, GLdouble w); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4DVNVPROC) (GLuint index, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4FNVPROC) (GLuint index, GLfloat x, GLfloat y, GLfloat z, GLfloat w); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4FVNVPROC) (GLuint index, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4SNVPROC) (GLuint index, GLshort x, GLshort y, GLshort z, GLshort w); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4SVNVPROC) (GLuint index, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4UBNVPROC) (GLuint index, GLubyte x, GLubyte y, GLubyte z, GLubyte w); +typedef void (APIENTRY * PFNGLVERTEXATTRIB4UBVNVPROC) (GLuint index, const GLubyte *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS1DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS1FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS1SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS2DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS2FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS2SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS3DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS3FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS3SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS4DVNVPROC) (GLuint index, GLsizei count, const GLdouble *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS4FVNVPROC) (GLuint index, GLsizei count, const GLfloat *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS4SVNVPROC) (GLuint index, GLsizei count, const GLshort *v); +typedef void (APIENTRY * PFNGLVERTEXATTRIBS4UBVNVPROC) (GLuint index, GLsizei count, const GLubyte *v); + +/* NV_evaluators */ +typedef void (APIENTRY * PFNGLMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLint uorder, GLint vorder, GLboolean packed, const GLvoid *points); +typedef void (APIENTRY * PFNGLMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, const GLint *params); +typedef void (APIENTRY * PFNGLMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLGETMAPCONTROLPOINTSNVPROC) (GLenum target, GLuint index, GLenum type, GLsizei ustride, GLsizei vstride, GLboolean packed, GLvoid *points); +typedef void (APIENTRY * PFNGLGETMAPPARAMETERIVNVPROC) (GLenum target, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETMAPPARAMETERFVNVPROC) (GLenum target, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLGETMAPATTRIBPARAMETERIVNVPROC) (GLenum target, GLuint index, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETMAPATTRIBPARAMETERFVNVPROC) (GLenum target, GLuint index, GLenum pname, GLfloat *params); +typedef void (APIENTRY * PFNGLEVALMAPSNVPROC) (GLenum target, GLenum mode); + +/* NV_fence */ +typedef void (APIENTRY * PFNGLDELETEFENCESNVPROC) (GLsizei n, const GLuint *fences); +typedef void (APIENTRY * PFNGLGENFENCESNVPROC) (GLsizei n, GLuint *fences); +typedef GLboolean (APIENTRY * PFNGLISFENCENVPROC) (GLuint fence); +typedef GLboolean (APIENTRY * PFNGLTESTFENCENVPROC) (GLuint fence); +typedef void (APIENTRY * PFNGLGETFENCEIVNVPROC) (GLuint fence, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLFINISHFENCENVPROC) (GLuint fence); +typedef void (APIENTRY * PFNGLSETFENCENVPROC) (GLuint fence, GLenum condition); + +/* NV_occlusion_query */ +typedef void (APIENTRY * PFNGLGENOCCLUSIONQUERIESNVPROC) (GLsizei n, GLuint *ids); +typedef void (APIENTRY * PFNGLDELETEOCCLUSIONQUERIESNVPROC) (GLsizei n, const GLuint *ids); +typedef void (APIENTRY * PFNGLISOCCLUSIONQUERYNVPROC) (GLuint id); +typedef void (APIENTRY * PFNGLBEGINOCCLUSIONQUERYNVPROC) (GLuint id); +typedef void (APIENTRY * PFNGLENDOCCLUSIONQUERYNVPROC) (GLvoid); +typedef void (APIENTRY * PFNGLGETOCCLUSIONQUERYIVNVPROC) (GLuint id, GLenum pname, GLint *params); +typedef void (APIENTRY * PFNGLGETOCCLUSIONQUERYUIVNVPROC) (GLuint id, GLenum pname, GLuint *params); + +/* NV_point_sprite */ +typedef void (APIENTRY * PFNGLPOINTPARAMETERINVPROC) (GLenum pname, int param); +typedef void (APIENTRY * PFNGLPOINTPARAMETERIVNVPROC) (GLenum pname, const int *params); + +/* NV_register_combiners2 */ +typedef void (APIENTRY * PFNGLCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, const GLfloat *params); +typedef void (APIENTRY * PFNGLGETCOMBINERSTAGEPARAMETERFVNVPROC) (GLenum stage, GLenum pname, GLfloat *params); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/Code/Physics/Glut/GL/glut.h b/Code/Physics/Glut/GL/glut.h new file mode 100644 index 00000000..612f3327 --- /dev/null +++ b/Code/Physics/Glut/GL/glut.h @@ -0,0 +1,607 @@ +#ifndef __glut_h__ +#define __glut_h__ + +/* Copyright (c) Mark J. Kilgard, 1994, 1995, 1996, 1998. */ + +/* This program is freely distributable without licensing fees and is + provided without guarantee or warrantee expressed or implied. This + program is -not- in the public domain. */ + +#if defined(_WIN32) + +/* GLUT 3.7 now tries to avoid including + to avoid name space pollution, but Win32's + needs APIENTRY and WINGDIAPI defined properly. */ +# if 0 +# define WIN32_LEAN_AND_MEAN +# include +# else + /* XXX This is from Win32's */ +# ifndef APIENTRY +# define GLUT_APIENTRY_DEFINED +# if (_MSC_VER >= 800) || defined(_STDCALL_SUPPORTED) +# define APIENTRY __stdcall +# else +# define APIENTRY +# endif +# endif + /* XXX This is from Win32's */ +# ifndef CALLBACK +# if (defined(_M_MRX000) || defined(_M_IX86) || defined(_M_ALPHA) || defined(_M_PPC)) && !defined(MIDL_PASS) +# define CALLBACK __stdcall +# else +# define CALLBACK +# endif +# endif + /* XXX This is from Win32's and */ +# ifndef WINGDIAPI +# define GLUT_WINGDIAPI_DEFINED +# define WINGDIAPI __declspec(dllimport) +# endif + /* XXX This is from Win32's */ +# ifndef _WCHAR_T_DEFINED +/* MinGW32 chokes on the next line */ +#ifndef __MINGW32__ +typedef unsigned short int wchar_t; +#endif //__MINGW32__ +# define _WCHAR_T_DEFINED +# endif +# endif + +#pragma comment (lib, "winmm.lib") /* link with Windows MultiMedia lib */ +#pragma comment (lib, "opengl32.lib") /* link with Microsoft OpenGL lib */ +#pragma comment (lib, "glu32.lib") /* link with OpenGL Utility lib */ + +#ifdef _WIN64 +#pragma message("Note: including lib: glut64.lib\n") +#pragma comment (lib, "glut64.lib") /* link with Win32 GLUT lib */ +#else +#pragma message("Note: including lib: glut32.lib\n") +#pragma comment (lib, "glut32.lib") /* link with Win32 GLUT lib */ +#endif + +#pragma warning (disable:4244) /* Disable bogus conversion warnings. */ +#pragma warning (disable:4305) /* VC++ 5.0 version of above warning. */ + +#endif + +#include +#include + +/* define APIENTRY and CALLBACK to null string if we aren't on Win32 */ +#if !defined(_WIN32) +#define APIENTRY +#define GLUT_APIENTRY_DEFINED +#define CALLBACK +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/** + GLUT API revision history: + + GLUT_API_VERSION is updated to reflect incompatible GLUT + API changes (interface changes, semantic changes, deletions, + or additions). + + GLUT_API_VERSION=1 First public release of GLUT. 11/29/94 + + GLUT_API_VERSION=2 Added support for OpenGL/GLX multisampling, + extension. Supports new input devices like tablet, dial and button + box, and Spaceball. Easy to query OpenGL extensions. + + GLUT_API_VERSION=3 glutMenuStatus added. + + GLUT_API_VERSION=4 glutInitDisplayString, glutWarpPointer, + glutBitmapLength, glutStrokeLength, glutWindowStatusFunc, dynamic + video resize subAPI, glutPostWindowRedisplay, glutKeyboardUpFunc, + glutSpecialUpFunc, glutIgnoreKeyRepeat, glutSetKeyRepeat, + glutJoystickFunc, glutForceJoystickFunc (NOT FINALIZED!). +**/ +#ifndef GLUT_API_VERSION /* allow this to be overriden */ +//#define GLUT_API_VERSION 3 +#define GLUT_API_VERSION 4 +#endif + +/** + GLUT implementation revision history: + + GLUT_XLIB_IMPLEMENTATION is updated to reflect both GLUT + API revisions and implementation revisions (ie, bug fixes). + + GLUT_XLIB_IMPLEMENTATION=1 mjk's first public release of + GLUT Xlib-based implementation. 11/29/94 + + GLUT_XLIB_IMPLEMENTATION=2 mjk's second public release of + GLUT Xlib-based implementation providing GLUT version 2 + interfaces. + + GLUT_XLIB_IMPLEMENTATION=3 mjk's GLUT 2.2 images. 4/17/95 + + GLUT_XLIB_IMPLEMENTATION=4 mjk's GLUT 2.3 images. 6/?/95 + + GLUT_XLIB_IMPLEMENTATION=5 mjk's GLUT 3.0 images. 10/?/95 + + GLUT_XLIB_IMPLEMENTATION=7 mjk's GLUT 3.1+ with glutWarpPoitner. 7/24/96 + + GLUT_XLIB_IMPLEMENTATION=8 mjk's GLUT 3.1+ with glutWarpPoitner + and video resize. 1/3/97 + + GLUT_XLIB_IMPLEMENTATION=9 mjk's GLUT 3.4 release with early GLUT 4 routines. + + GLUT_XLIB_IMPLEMENTATION=11 Mesa 2.5's GLUT 3.6 release. + + GLUT_XLIB_IMPLEMENTATION=12 mjk's GLUT 3.6 release with early GLUT 4 routines + signal handling. + + GLUT_XLIB_IMPLEMENTATION=13 mjk's GLUT 3.7 release with GameGLUT support. +**/ +#ifndef GLUT_XLIB_IMPLEMENTATION /* Allow this to be overriden. */ +#define GLUT_XLIB_IMPLEMENTATION 13 +#endif + +/* Display mode bit masks. */ +#define GLUT_RGB 0 +#define GLUT_RGBA GLUT_RGB +#define GLUT_INDEX 1 +#define GLUT_SINGLE 0 +#define GLUT_DOUBLE 2 +#define GLUT_ACCUM 4 +#define GLUT_ALPHA 8 +#define GLUT_DEPTH 16 +#define GLUT_STENCIL 32 +#if (GLUT_API_VERSION >= 2) +#define GLUT_MULTISAMPLE 128 +#define GLUT_STEREO 256 +#endif +#if (GLUT_API_VERSION >= 3) +#define GLUT_LUMINANCE 512 +#endif + +/* Mouse buttons. */ +#define GLUT_LEFT_BUTTON 0 +#define GLUT_MIDDLE_BUTTON 1 +#define GLUT_RIGHT_BUTTON 2 + +/* Mouse button state. */ +#define GLUT_DOWN 0 +#define GLUT_UP 1 + +#if (GLUT_API_VERSION >= 2) +/* function keys */ +#define GLUT_KEY_F1 1 +#define GLUT_KEY_F2 2 +#define GLUT_KEY_F3 3 +#define GLUT_KEY_F4 4 +#define GLUT_KEY_F5 5 +#define GLUT_KEY_F6 6 +#define GLUT_KEY_F7 7 +#define GLUT_KEY_F8 8 +#define GLUT_KEY_F9 9 +#define GLUT_KEY_F10 10 +#define GLUT_KEY_F11 11 +#define GLUT_KEY_F12 12 +/* directional keys */ +#define GLUT_KEY_LEFT 100 +#define GLUT_KEY_UP 101 +#define GLUT_KEY_RIGHT 102 +#define GLUT_KEY_DOWN 103 +#define GLUT_KEY_PAGE_UP 104 +#define GLUT_KEY_PAGE_DOWN 105 +#define GLUT_KEY_HOME 106 +#define GLUT_KEY_END 107 +#define GLUT_KEY_INSERT 108 +#endif + +/* Entry/exit state. */ +#define GLUT_LEFT 0 +#define GLUT_ENTERED 1 + +/* Menu usage state. */ +#define GLUT_MENU_NOT_IN_USE 0 +#define GLUT_MENU_IN_USE 1 + +/* Visibility state. */ +#define GLUT_NOT_VISIBLE 0 +#define GLUT_VISIBLE 1 + +/* Window status state. */ +#define GLUT_HIDDEN 0 +#define GLUT_FULLY_RETAINED 1 +#define GLUT_PARTIALLY_RETAINED 2 +#define GLUT_FULLY_COVERED 3 + +/* Color index component selection values. */ +#define GLUT_RED 0 +#define GLUT_GREEN 1 +#define GLUT_BLUE 2 + +/* Layers for use. */ +#define GLUT_NORMAL 0 +#define GLUT_OVERLAY 1 + +#if defined(_WIN32) +/* Stroke font constants (use these in GLUT program). */ +#define GLUT_STROKE_ROMAN ((void*)0) +#define GLUT_STROKE_MONO_ROMAN ((void*)1) + +/* Bitmap font constants (use these in GLUT program). */ +#define GLUT_BITMAP_9_BY_15 ((void*)2) +#define GLUT_BITMAP_8_BY_13 ((void*)3) +#define GLUT_BITMAP_TIMES_ROMAN_10 ((void*)4) +#define GLUT_BITMAP_TIMES_ROMAN_24 ((void*)5) +#if (GLUT_API_VERSION >= 3) +#define GLUT_BITMAP_HELVETICA_10 ((void*)6) +#define GLUT_BITMAP_HELVETICA_12 ((void*)7) +#define GLUT_BITMAP_HELVETICA_18 ((void*)8) +#endif +#else +/* Stroke font opaque addresses (use constants instead in source code). */ +extern void *glutStrokeRoman; +extern void *glutStrokeMonoRoman; + +/* Stroke font constants (use these in GLUT program). */ +#define GLUT_STROKE_ROMAN (&glutStrokeRoman) +#define GLUT_STROKE_MONO_ROMAN (&glutStrokeMonoRoman) + +/* Bitmap font opaque addresses (use constants instead in source code). */ +extern void *glutBitmap9By15; +extern void *glutBitmap8By13; +extern void *glutBitmapTimesRoman10; +extern void *glutBitmapTimesRoman24; +extern void *glutBitmapHelvetica10; +extern void *glutBitmapHelvetica12; +extern void *glutBitmapHelvetica18; + +/* Bitmap font constants (use these in GLUT program). */ +#define GLUT_BITMAP_9_BY_15 (&glutBitmap9By15) +#define GLUT_BITMAP_8_BY_13 (&glutBitmap8By13) +#define GLUT_BITMAP_TIMES_ROMAN_10 (&glutBitmapTimesRoman10) +#define GLUT_BITMAP_TIMES_ROMAN_24 (&glutBitmapTimesRoman24) +#if (GLUT_API_VERSION >= 3) +#define GLUT_BITMAP_HELVETICA_10 (&glutBitmapHelvetica10) +#define GLUT_BITMAP_HELVETICA_12 (&glutBitmapHelvetica12) +#define GLUT_BITMAP_HELVETICA_18 (&glutBitmapHelvetica18) +#endif +#endif + +/* glutGet parameters. */ +#define GLUT_WINDOW_X 100 +#define GLUT_WINDOW_Y 101 +#define GLUT_WINDOW_WIDTH 102 +#define GLUT_WINDOW_HEIGHT 103 +#define GLUT_WINDOW_BUFFER_SIZE 104 +#define GLUT_WINDOW_STENCIL_SIZE 105 +#define GLUT_WINDOW_DEPTH_SIZE 106 +#define GLUT_WINDOW_RED_SIZE 107 +#define GLUT_WINDOW_GREEN_SIZE 108 +#define GLUT_WINDOW_BLUE_SIZE 109 +#define GLUT_WINDOW_ALPHA_SIZE 110 +#define GLUT_WINDOW_ACCUM_RED_SIZE 111 +#define GLUT_WINDOW_ACCUM_GREEN_SIZE 112 +#define GLUT_WINDOW_ACCUM_BLUE_SIZE 113 +#define GLUT_WINDOW_ACCUM_ALPHA_SIZE 114 +#define GLUT_WINDOW_DOUBLEBUFFER 115 +#define GLUT_WINDOW_RGBA 116 +#define GLUT_WINDOW_PARENT 117 +#define GLUT_WINDOW_NUM_CHILDREN 118 +#define GLUT_WINDOW_COLORMAP_SIZE 119 +#if (GLUT_API_VERSION >= 2) +#define GLUT_WINDOW_NUM_SAMPLES 120 +#define GLUT_WINDOW_STEREO 121 +#endif +#if (GLUT_API_VERSION >= 3) +#define GLUT_WINDOW_CURSOR 122 +#endif +#define GLUT_SCREEN_WIDTH 200 +#define GLUT_SCREEN_HEIGHT 201 +#define GLUT_SCREEN_WIDTH_MM 202 +#define GLUT_SCREEN_HEIGHT_MM 203 +#define GLUT_MENU_NUM_ITEMS 300 +#define GLUT_DISPLAY_MODE_POSSIBLE 400 +#define GLUT_INIT_WINDOW_X 500 +#define GLUT_INIT_WINDOW_Y 501 +#define GLUT_INIT_WINDOW_WIDTH 502 +#define GLUT_INIT_WINDOW_HEIGHT 503 +#define GLUT_INIT_DISPLAY_MODE 504 +#if (GLUT_API_VERSION >= 2) +#define GLUT_ELAPSED_TIME 700 +#endif +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13) +#define GLUT_WINDOW_FORMAT_ID 123 +#endif + +#if (GLUT_API_VERSION >= 2) +/* glutDeviceGet parameters. */ +#define GLUT_HAS_KEYBOARD 600 +#define GLUT_HAS_MOUSE 601 +#define GLUT_HAS_SPACEBALL 602 +#define GLUT_HAS_DIAL_AND_BUTTON_BOX 603 +#define GLUT_HAS_TABLET 604 +#define GLUT_NUM_MOUSE_BUTTONS 605 +#define GLUT_NUM_SPACEBALL_BUTTONS 606 +#define GLUT_NUM_BUTTON_BOX_BUTTONS 607 +#define GLUT_NUM_DIALS 608 +#define GLUT_NUM_TABLET_BUTTONS 609 +#endif +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13) +#define GLUT_DEVICE_IGNORE_KEY_REPEAT 610 +#define GLUT_DEVICE_KEY_REPEAT 611 +#define GLUT_HAS_JOYSTICK 612 +#define GLUT_OWNS_JOYSTICK 613 +#define GLUT_JOYSTICK_BUTTONS 614 +#define GLUT_JOYSTICK_AXES 615 +#define GLUT_JOYSTICK_POLL_RATE 616 +#endif + +#if (GLUT_API_VERSION >= 3) +/* glutLayerGet parameters. */ +#define GLUT_OVERLAY_POSSIBLE 800 +#define GLUT_LAYER_IN_USE 801 +#define GLUT_HAS_OVERLAY 802 +#define GLUT_TRANSPARENT_INDEX 803 +#define GLUT_NORMAL_DAMAGED 804 +#define GLUT_OVERLAY_DAMAGED 805 + +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +/* glutVideoResizeGet parameters. */ +#define GLUT_VIDEO_RESIZE_POSSIBLE 900 +#define GLUT_VIDEO_RESIZE_IN_USE 901 +#define GLUT_VIDEO_RESIZE_X_DELTA 902 +#define GLUT_VIDEO_RESIZE_Y_DELTA 903 +#define GLUT_VIDEO_RESIZE_WIDTH_DELTA 904 +#define GLUT_VIDEO_RESIZE_HEIGHT_DELTA 905 +#define GLUT_VIDEO_RESIZE_X 906 +#define GLUT_VIDEO_RESIZE_Y 907 +#define GLUT_VIDEO_RESIZE_WIDTH 908 +#define GLUT_VIDEO_RESIZE_HEIGHT 909 +#endif + +/* glutUseLayer parameters. */ +#define GLUT_NORMAL 0 +#define GLUT_OVERLAY 1 + +/* glutGetModifiers return mask. */ +#define GLUT_ACTIVE_SHIFT 1 +#define GLUT_ACTIVE_CTRL 2 +#define GLUT_ACTIVE_ALT 4 + +/* glutSetCursor parameters. */ +/* Basic arrows. */ +#define GLUT_CURSOR_RIGHT_ARROW 0 +#define GLUT_CURSOR_LEFT_ARROW 1 +/* Symbolic cursor shapes. */ +#define GLUT_CURSOR_INFO 2 +#define GLUT_CURSOR_DESTROY 3 +#define GLUT_CURSOR_HELP 4 +#define GLUT_CURSOR_CYCLE 5 +#define GLUT_CURSOR_SPRAY 6 +#define GLUT_CURSOR_WAIT 7 +#define GLUT_CURSOR_TEXT 8 +#define GLUT_CURSOR_CROSSHAIR 9 +/* Directional cursors. */ +#define GLUT_CURSOR_UP_DOWN 10 +#define GLUT_CURSOR_LEFT_RIGHT 11 +/* Sizing cursors. */ +#define GLUT_CURSOR_TOP_SIDE 12 +#define GLUT_CURSOR_BOTTOM_SIDE 13 +#define GLUT_CURSOR_LEFT_SIDE 14 +#define GLUT_CURSOR_RIGHT_SIDE 15 +#define GLUT_CURSOR_TOP_LEFT_CORNER 16 +#define GLUT_CURSOR_TOP_RIGHT_CORNER 17 +#define GLUT_CURSOR_BOTTOM_RIGHT_CORNER 18 +#define GLUT_CURSOR_BOTTOM_LEFT_CORNER 19 +/* Inherit from parent window. */ +#define GLUT_CURSOR_INHERIT 100 +/* Blank cursor. */ +#define GLUT_CURSOR_NONE 101 +/* Fullscreen crosshair (if available). */ +#define GLUT_CURSOR_FULL_CROSSHAIR 102 +#endif + +/* GLUT initialization sub-API. */ +extern void APIENTRY glutInit(int *argcp, char **argv); +extern void APIENTRY glutInitDisplayMode(unsigned int mode); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +extern void APIENTRY glutInitDisplayString(const char *string); +#endif +extern void APIENTRY glutInitWindowPosition(int x, int y); +extern void APIENTRY glutInitWindowSize(int width, int height); +extern void APIENTRY glutMainLoop(void); + +/* GLUT window sub-API. */ +extern int APIENTRY glutCreateWindow(const char *title); +extern int APIENTRY glutCreateSubWindow(int win, int x, int y, int width, int height); +extern void APIENTRY glutDestroyWindow(int win); +extern void APIENTRY glutPostRedisplay(void); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 11) +extern void APIENTRY glutPostWindowRedisplay(int win); +#endif +extern void APIENTRY glutSwapBuffers(void); +extern int APIENTRY glutGetWindow(void); +extern void APIENTRY glutSetWindow(int win); +extern void APIENTRY glutSetWindowTitle(const char *title); +extern void APIENTRY glutSetIconTitle(const char *title); +extern void APIENTRY glutPositionWindow(int x, int y); +extern void APIENTRY glutReshapeWindow(int width, int height); +extern void APIENTRY glutPopWindow(void); +extern void APIENTRY glutPushWindow(void); +extern void APIENTRY glutIconifyWindow(void); +extern void APIENTRY glutShowWindow(void); +extern void APIENTRY glutHideWindow(void); +#if (GLUT_API_VERSION >= 3) +extern void APIENTRY glutFullScreen(void); +extern void APIENTRY glutSetCursor(int cursor); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +extern void APIENTRY glutWarpPointer(int x, int y); +#endif + +/* GLUT overlay sub-API. */ +extern void APIENTRY glutEstablishOverlay(void); +extern void APIENTRY glutRemoveOverlay(void); +extern void APIENTRY glutUseLayer(GLenum layer); +extern void APIENTRY glutPostOverlayRedisplay(void); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 11) +extern void APIENTRY glutPostWindowOverlayRedisplay(int win); +#endif +extern void APIENTRY glutShowOverlay(void); +extern void APIENTRY glutHideOverlay(void); +#endif + +/* GLUT menu sub-API. */ +extern int APIENTRY glutCreateMenu(void (*)(int)); +extern void APIENTRY glutDestroyMenu(int menu); +extern int APIENTRY glutGetMenu(void); +extern void APIENTRY glutSetMenu(int menu); +extern void APIENTRY glutAddMenuEntry(const char *label, int value); +extern void APIENTRY glutAddSubMenu(const char *label, int submenu); +extern void APIENTRY glutChangeToMenuEntry(int item, const char *label, int value); +extern void APIENTRY glutChangeToSubMenu(int item, const char *label, int submenu); +extern void APIENTRY glutRemoveMenuItem(int item); +extern void APIENTRY glutAttachMenu(int button); +extern void APIENTRY glutDetachMenu(int button); + +/* GLUT window callback sub-API. */ +extern void APIENTRY glutDisplayFunc(void (*func)(void)); +extern void APIENTRY glutReshapeFunc(void (*func)(int width, int height)); +extern void APIENTRY glutKeyboardFunc(void (*func)(unsigned char key, int x, int y)); +extern void APIENTRY glutMouseFunc(void (*func)(int button, int state, int x, int y)); +extern void APIENTRY glutMotionFunc(void (*func)(int x, int y)); +extern void APIENTRY glutPassiveMotionFunc(void (*func)(int x, int y)); +extern void APIENTRY glutEntryFunc(void (*func)(int state)); +extern void APIENTRY glutVisibilityFunc(void (*func)(int state)); +extern void APIENTRY glutIdleFunc(void (*func)(void)); +extern void APIENTRY glutTimerFunc(unsigned int millis, void (*func)(int value), int value); +extern void APIENTRY glutMenuStateFunc(void (*func)(int state)); +#if (GLUT_API_VERSION >= 2) +extern void APIENTRY glutSpecialFunc(void (*func)(int key, int x, int y)); +extern void APIENTRY glutSpaceballMotionFunc(void (*func)(int x, int y, int z)); +extern void APIENTRY glutSpaceballRotateFunc(void (*func)(int x, int y, int z)); +extern void APIENTRY glutSpaceballButtonFunc(void (*func)(int button, int state)); +extern void APIENTRY glutButtonBoxFunc(void (*func)(int button, int state)); +extern void APIENTRY glutDialsFunc(void (*func)(int dial, int value)); +extern void APIENTRY glutTabletMotionFunc(void (*func)(int x, int y)); +extern void APIENTRY glutTabletButtonFunc(void (*func)(int button, int state, int x, int y)); +#if (GLUT_API_VERSION >= 3) +extern void APIENTRY glutMenuStatusFunc(void (*func)(int status, int x, int y)); +extern void APIENTRY glutOverlayDisplayFunc(void (*func)(void)); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +extern void APIENTRY glutWindowStatusFunc(void (*func)(int state)); +#endif +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13) +extern void APIENTRY glutKeyboardUpFunc(void (*func)(unsigned char key, int x, int y)); +extern void APIENTRY glutSpecialUpFunc(void (*func)(int key, int x, int y)); +extern void APIENTRY glutJoystickFunc(void (*func)(unsigned int buttonMask, int x, int y, int z), int pollInterval); +#endif +#endif +#endif + +/* GLUT color index sub-API. */ +extern void APIENTRY glutSetColor(int, GLfloat red, GLfloat green, GLfloat blue); +extern GLfloat APIENTRY glutGetColor(int ndx, int component); +extern void APIENTRY glutCopyColormap(int win); + +/* GLUT state retrieval sub-API. */ +extern int APIENTRY glutGet(GLenum type); +extern int APIENTRY glutDeviceGet(GLenum type); +#if (GLUT_API_VERSION >= 2) +/* GLUT extension support sub-API */ +extern int APIENTRY glutExtensionSupported(const char *name); +#endif +#if (GLUT_API_VERSION >= 3) +extern int APIENTRY glutGetModifiers(void); +extern int APIENTRY glutLayerGet(GLenum type); +#endif + +/* GLUT font sub-API */ +extern void APIENTRY glutBitmapCharacter(void *font, int character); +extern int APIENTRY glutBitmapWidth(void *font, int character); +extern void APIENTRY glutStrokeCharacter(void *font, int character); +extern int APIENTRY glutStrokeWidth(void *font, int character); +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +extern int APIENTRY glutBitmapLength(void *font, const unsigned char *string); +extern int APIENTRY glutStrokeLength(void *font, const unsigned char *string); +#endif + +/* GLUT pre-built models sub-API */ +extern void APIENTRY glutWireSphere(GLdouble radius, GLint slices, GLint stacks); +extern void APIENTRY glutSolidSphere(GLdouble radius, GLint slices, GLint stacks); +extern void APIENTRY glutWireCone(GLdouble base, GLdouble height, GLint slices, GLint stacks); +extern void APIENTRY glutSolidCone(GLdouble base, GLdouble height, GLint slices, GLint stacks); +extern void APIENTRY glutWireCube(GLdouble size); +extern void APIENTRY glutSolidCube(GLdouble size); +extern void APIENTRY glutWireTorus(GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings); +extern void APIENTRY glutSolidTorus(GLdouble innerRadius, GLdouble outerRadius, GLint sides, GLint rings); +extern void APIENTRY glutWireDodecahedron(void); +extern void APIENTRY glutSolidDodecahedron(void); +extern void APIENTRY glutWireTeapot(GLdouble size); +extern void APIENTRY glutSolidTeapot(GLdouble size); +extern void APIENTRY glutWireOctahedron(void); +extern void APIENTRY glutSolidOctahedron(void); +extern void APIENTRY glutWireTetrahedron(void); +extern void APIENTRY glutSolidTetrahedron(void); +extern void APIENTRY glutWireIcosahedron(void); +extern void APIENTRY glutSolidIcosahedron(void); + +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 9) +/* GLUT video resize sub-API. */ +extern int APIENTRY glutVideoResizeGet(GLenum param); +extern void APIENTRY glutSetupVideoResizing(void); +extern void APIENTRY glutStopVideoResizing(void); +extern void APIENTRY glutVideoResize(int x, int y, int width, int height); +extern void APIENTRY glutVideoPan(int x, int y, int width, int height); + +/* GLUT debugging sub-API. */ +extern void APIENTRY glutReportErrors(void); +#endif + +#if (GLUT_API_VERSION >= 4 || GLUT_XLIB_IMPLEMENTATION >= 13) +/* GLUT device control sub-API. */ +/* glutSetKeyRepeat modes. */ +#define GLUT_KEY_REPEAT_OFF 0 +#define GLUT_KEY_REPEAT_ON 1 +#define GLUT_KEY_REPEAT_DEFAULT 2 + +/* Joystick button masks. */ +#define GLUT_JOYSTICK_BUTTON_A 1 +#define GLUT_JOYSTICK_BUTTON_B 2 +#define GLUT_JOYSTICK_BUTTON_C 4 +#define GLUT_JOYSTICK_BUTTON_D 8 + +extern void APIENTRY glutIgnoreKeyRepeat(int ignore); +extern void APIENTRY glutSetKeyRepeat(int repeatMode); +extern void APIENTRY glutForceJoystickFunc(void); + +/* GLUT game mode sub-API. */ +/* glutGameModeGet. */ +#define GLUT_GAME_MODE_ACTIVE 0 +#define GLUT_GAME_MODE_POSSIBLE 1 +#define GLUT_GAME_MODE_WIDTH 2 +#define GLUT_GAME_MODE_HEIGHT 3 +#define GLUT_GAME_MODE_PIXEL_DEPTH 4 +#define GLUT_GAME_MODE_REFRESH_RATE 5 +#define GLUT_GAME_MODE_DISPLAY_CHANGED 6 + +extern void APIENTRY glutGameModeString(const char *string); +extern int APIENTRY glutEnterGameMode(void); +extern void APIENTRY glutLeaveGameMode(void); +extern int APIENTRY glutGameModeGet(GLenum mode); +#endif + +#ifdef __cplusplus +} + +#endif + +#ifdef GLUT_APIENTRY_DEFINED +# undef GLUT_APIENTRY_DEFINED +# undef APIENTRY +#endif + +#ifdef GLUT_WINGDIAPI_DEFINED +# undef GLUT_WINGDIAPI_DEFINED +# undef WINGDIAPI +#endif + +#endif /* __glut_h__ */ diff --git a/Code/Physics/Glut/GL/glxew.h b/Code/Physics/Glut/GL/glxew.h new file mode 100644 index 00000000..6d249f73 --- /dev/null +++ b/Code/Physics/Glut/GL/glxew.h @@ -0,0 +1,1587 @@ +/* +** The OpenGL Extension Wrangler Library +** Copyright (C) 2002-2008, Milan Ikits +** Copyright (C) 2002-2008, Marcelo E. Magallon +** Copyright (C) 2002, Lev Povalahev +** All rights reserved. +** +** Redistribution and use in source and binary forms, with or without +** modification, are permitted provided that the following conditions are met: +** +** * Redistributions of source code must retain the above copyright notice, +** this list of conditions and the following disclaimer. +** * Redistributions in binary form must reproduce the above copyright notice, +** this list of conditions and the following disclaimer in the documentation +** and/or other materials provided with the distribution. +** * The name of the author may be used to endorse or promote products +** derived from this software without specific prior written permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +** ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +** LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +** CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +** SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +** INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +** CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +** ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF +** THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* + * Mesa 3-D graphics library + * Version: 7.0 + * + * Copyright (C) 1999-2007 Brian Paul All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and associated documentation files (the "Software"), + * to deal in the Software without restriction, including without limitation + * the rights to use, copy, modify, merge, publish, distribute, sublicense, + * and/or sell copies of the Software, and to permit persons to whom the + * Software is furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS + * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL + * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN + * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + */ + +/* +** Copyright (c) 2007 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +#ifndef __glxew_h__ +#define __glxew_h__ +#define __GLXEW_H__ + +#ifdef __glxext_h_ +#error glxext.h included before glxew.h +#endif + +#if defined(GLX_H) || defined(__GLX_glx_h__) || defined(__glx_h__) +#error glx.h included before glxew.h +#endif + +#define __glxext_h_ + +#define GLX_H +#define __GLX_glx_h__ +#define __glx_h__ + +#include +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* ---------------------------- GLX_VERSION_1_0 --------------------------- */ + +#ifndef GLX_VERSION_1_0 +#define GLX_VERSION_1_0 1 + +#define GLX_USE_GL 1 +#define GLX_BUFFER_SIZE 2 +#define GLX_LEVEL 3 +#define GLX_RGBA 4 +#define GLX_DOUBLEBUFFER 5 +#define GLX_STEREO 6 +#define GLX_AUX_BUFFERS 7 +#define GLX_RED_SIZE 8 +#define GLX_GREEN_SIZE 9 +#define GLX_BLUE_SIZE 10 +#define GLX_ALPHA_SIZE 11 +#define GLX_DEPTH_SIZE 12 +#define GLX_STENCIL_SIZE 13 +#define GLX_ACCUM_RED_SIZE 14 +#define GLX_ACCUM_GREEN_SIZE 15 +#define GLX_ACCUM_BLUE_SIZE 16 +#define GLX_ACCUM_ALPHA_SIZE 17 +#define GLX_BAD_SCREEN 1 +#define GLX_BAD_ATTRIBUTE 2 +#define GLX_NO_EXTENSION 3 +#define GLX_BAD_VISUAL 4 +#define GLX_BAD_CONTEXT 5 +#define GLX_BAD_VALUE 6 +#define GLX_BAD_ENUM 7 + +typedef XID GLXDrawable; +typedef XID GLXPixmap; +#ifdef __sun +typedef struct __glXContextRec *GLXContext; +#else +typedef struct __GLXcontextRec *GLXContext; +#endif + +typedef unsigned int GLXVideoDeviceNV; + +extern Bool glXQueryExtension (Display *dpy, int *errorBase, int *eventBase); +extern Bool glXQueryVersion (Display *dpy, int *major, int *minor); +extern int glXGetConfig (Display *dpy, XVisualInfo *vis, int attrib, int *value); +extern XVisualInfo* glXChooseVisual (Display *dpy, int screen, int *attribList); +extern GLXPixmap glXCreateGLXPixmap (Display *dpy, XVisualInfo *vis, Pixmap pixmap); +extern void glXDestroyGLXPixmap (Display *dpy, GLXPixmap pix); +extern GLXContext glXCreateContext (Display *dpy, XVisualInfo *vis, GLXContext shareList, Bool direct); +extern void glXDestroyContext (Display *dpy, GLXContext ctx); +extern Bool glXIsDirect (Display *dpy, GLXContext ctx); +extern void glXCopyContext (Display *dpy, GLXContext src, GLXContext dst, GLulong mask); +extern Bool glXMakeCurrent (Display *dpy, GLXDrawable drawable, GLXContext ctx); +extern GLXContext glXGetCurrentContext (void); +extern GLXDrawable glXGetCurrentDrawable (void); +extern void glXWaitGL (void); +extern void glXWaitX (void); +extern void glXSwapBuffers (Display *dpy, GLXDrawable drawable); +extern void glXUseXFont (Font font, int first, int count, int listBase); + +#define GLXEW_VERSION_1_0 GLXEW_GET_VAR(__GLXEW_VERSION_1_0) + +#endif /* GLX_VERSION_1_0 */ + +/* ---------------------------- GLX_VERSION_1_1 --------------------------- */ + +#ifndef GLX_VERSION_1_1 +#define GLX_VERSION_1_1 + +#define GLX_VENDOR 0x1 +#define GLX_VERSION 0x2 +#define GLX_EXTENSIONS 0x3 + +extern const char* glXQueryExtensionsString (Display *dpy, int screen); +extern const char* glXGetClientString (Display *dpy, int name); +extern const char* glXQueryServerString (Display *dpy, int screen, int name); + +#define GLXEW_VERSION_1_1 GLXEW_GET_VAR(__GLXEW_VERSION_1_1) + +#endif /* GLX_VERSION_1_1 */ + +/* ---------------------------- GLX_VERSION_1_2 ---------------------------- */ + +#ifndef GLX_VERSION_1_2 +#define GLX_VERSION_1_2 1 + +typedef Display* ( * PFNGLXGETCURRENTDISPLAYPROC) (void); + +#define glXGetCurrentDisplay GLXEW_GET_FUN(__glewXGetCurrentDisplay) + +#define GLXEW_VERSION_1_2 GLXEW_GET_VAR(__GLXEW_VERSION_1_2) + +#endif /* GLX_VERSION_1_2 */ + +/* ---------------------------- GLX_VERSION_1_3 ---------------------------- */ + +#ifndef GLX_VERSION_1_3 +#define GLX_VERSION_1_3 1 + +#define GLX_RGBA_BIT 0x00000001 +#define GLX_FRONT_LEFT_BUFFER_BIT 0x00000001 +#define GLX_WINDOW_BIT 0x00000001 +#define GLX_COLOR_INDEX_BIT 0x00000002 +#define GLX_PIXMAP_BIT 0x00000002 +#define GLX_FRONT_RIGHT_BUFFER_BIT 0x00000002 +#define GLX_BACK_LEFT_BUFFER_BIT 0x00000004 +#define GLX_PBUFFER_BIT 0x00000004 +#define GLX_BACK_RIGHT_BUFFER_BIT 0x00000008 +#define GLX_AUX_BUFFERS_BIT 0x00000010 +#define GLX_CONFIG_CAVEAT 0x20 +#define GLX_DEPTH_BUFFER_BIT 0x00000020 +#define GLX_X_VISUAL_TYPE 0x22 +#define GLX_TRANSPARENT_TYPE 0x23 +#define GLX_TRANSPARENT_INDEX_VALUE 0x24 +#define GLX_TRANSPARENT_RED_VALUE 0x25 +#define GLX_TRANSPARENT_GREEN_VALUE 0x26 +#define GLX_TRANSPARENT_BLUE_VALUE 0x27 +#define GLX_TRANSPARENT_ALPHA_VALUE 0x28 +#define GLX_STENCIL_BUFFER_BIT 0x00000040 +#define GLX_ACCUM_BUFFER_BIT 0x00000080 +#define GLX_NONE 0x8000 +#define GLX_SLOW_CONFIG 0x8001 +#define GLX_TRUE_COLOR 0x8002 +#define GLX_DIRECT_COLOR 0x8003 +#define GLX_PSEUDO_COLOR 0x8004 +#define GLX_STATIC_COLOR 0x8005 +#define GLX_GRAY_SCALE 0x8006 +#define GLX_STATIC_GRAY 0x8007 +#define GLX_TRANSPARENT_RGB 0x8008 +#define GLX_TRANSPARENT_INDEX 0x8009 +#define GLX_VISUAL_ID 0x800B +#define GLX_SCREEN 0x800C +#define GLX_NON_CONFORMANT_CONFIG 0x800D +#define GLX_DRAWABLE_TYPE 0x8010 +#define GLX_RENDER_TYPE 0x8011 +#define GLX_X_RENDERABLE 0x8012 +#define GLX_FBCONFIG_ID 0x8013 +#define GLX_RGBA_TYPE 0x8014 +#define GLX_COLOR_INDEX_TYPE 0x8015 +#define GLX_MAX_PBUFFER_WIDTH 0x8016 +#define GLX_MAX_PBUFFER_HEIGHT 0x8017 +#define GLX_MAX_PBUFFER_PIXELS 0x8018 +#define GLX_PRESERVED_CONTENTS 0x801B +#define GLX_LARGEST_PBUFFER 0x801C +#define GLX_WIDTH 0x801D +#define GLX_HEIGHT 0x801E +#define GLX_EVENT_MASK 0x801F +#define GLX_DAMAGED 0x8020 +#define GLX_SAVED 0x8021 +#define GLX_WINDOW 0x8022 +#define GLX_PBUFFER 0x8023 +#define GLX_PBUFFER_HEIGHT 0x8040 +#define GLX_PBUFFER_WIDTH 0x8041 +#define GLX_PBUFFER_CLOBBER_MASK 0x08000000 +#define GLX_DONT_CARE 0xFFFFFFFF + +typedef XID GLXFBConfigID; +typedef XID GLXPbuffer; +typedef XID GLXWindow; +typedef struct __GLXFBConfigRec *GLXFBConfig; + +typedef struct { + int event_type; + int draw_type; + unsigned long serial; + Bool send_event; + Display *display; + GLXDrawable drawable; + unsigned int buffer_mask; + unsigned int aux_buffer; + int x, y; + int width, height; + int count; +} GLXPbufferClobberEvent; +typedef union __GLXEvent { + GLXPbufferClobberEvent glxpbufferclobber; + long pad[24]; +} GLXEvent; + +typedef GLXFBConfig* ( * PFNGLXCHOOSEFBCONFIGPROC) (Display *dpy, int screen, const int *attrib_list, int *nelements); +typedef GLXContext ( * PFNGLXCREATENEWCONTEXTPROC) (Display *dpy, GLXFBConfig config, int render_type, GLXContext share_list, Bool direct); +typedef GLXPbuffer ( * PFNGLXCREATEPBUFFERPROC) (Display *dpy, GLXFBConfig config, const int *attrib_list); +typedef GLXPixmap ( * PFNGLXCREATEPIXMAPPROC) (Display *dpy, GLXFBConfig config, Pixmap pixmap, const int *attrib_list); +typedef GLXWindow ( * PFNGLXCREATEWINDOWPROC) (Display *dpy, GLXFBConfig config, Window win, const int *attrib_list); +typedef void ( * PFNGLXDESTROYPBUFFERPROC) (Display *dpy, GLXPbuffer pbuf); +typedef void ( * PFNGLXDESTROYPIXMAPPROC) (Display *dpy, GLXPixmap pixmap); +typedef void ( * PFNGLXDESTROYWINDOWPROC) (Display *dpy, GLXWindow win); +typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLEPROC) (void); +typedef int ( * PFNGLXGETFBCONFIGATTRIBPROC) (Display *dpy, GLXFBConfig config, int attribute, int *value); +typedef GLXFBConfig* ( * PFNGLXGETFBCONFIGSPROC) (Display *dpy, int screen, int *nelements); +typedef void ( * PFNGLXGETSELECTEDEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long *event_mask); +typedef XVisualInfo* ( * PFNGLXGETVISUALFROMFBCONFIGPROC) (Display *dpy, GLXFBConfig config); +typedef Bool ( * PFNGLXMAKECONTEXTCURRENTPROC) (Display *display, GLXDrawable draw, GLXDrawable read, GLXContext ctx); +typedef int ( * PFNGLXQUERYCONTEXTPROC) (Display *dpy, GLXContext ctx, int attribute, int *value); +typedef void ( * PFNGLXQUERYDRAWABLEPROC) (Display *dpy, GLXDrawable draw, int attribute, unsigned int *value); +typedef void ( * PFNGLXSELECTEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long event_mask); + +#define glXChooseFBConfig GLXEW_GET_FUN(__glewXChooseFBConfig) +#define glXCreateNewContext GLXEW_GET_FUN(__glewXCreateNewContext) +#define glXCreatePbuffer GLXEW_GET_FUN(__glewXCreatePbuffer) +#define glXCreatePixmap GLXEW_GET_FUN(__glewXCreatePixmap) +#define glXCreateWindow GLXEW_GET_FUN(__glewXCreateWindow) +#define glXDestroyPbuffer GLXEW_GET_FUN(__glewXDestroyPbuffer) +#define glXDestroyPixmap GLXEW_GET_FUN(__glewXDestroyPixmap) +#define glXDestroyWindow GLXEW_GET_FUN(__glewXDestroyWindow) +#define glXGetCurrentReadDrawable GLXEW_GET_FUN(__glewXGetCurrentReadDrawable) +#define glXGetFBConfigAttrib GLXEW_GET_FUN(__glewXGetFBConfigAttrib) +#define glXGetFBConfigs GLXEW_GET_FUN(__glewXGetFBConfigs) +#define glXGetSelectedEvent GLXEW_GET_FUN(__glewXGetSelectedEvent) +#define glXGetVisualFromFBConfig GLXEW_GET_FUN(__glewXGetVisualFromFBConfig) +#define glXMakeContextCurrent GLXEW_GET_FUN(__glewXMakeContextCurrent) +#define glXQueryContext GLXEW_GET_FUN(__glewXQueryContext) +#define glXQueryDrawable GLXEW_GET_FUN(__glewXQueryDrawable) +#define glXSelectEvent GLXEW_GET_FUN(__glewXSelectEvent) + +#define GLXEW_VERSION_1_3 GLXEW_GET_VAR(__GLXEW_VERSION_1_3) + +#endif /* GLX_VERSION_1_3 */ + +/* ---------------------------- GLX_VERSION_1_4 ---------------------------- */ + +#ifndef GLX_VERSION_1_4 +#define GLX_VERSION_1_4 1 + +#define GLX_SAMPLE_BUFFERS 100000 +#define GLX_SAMPLES 100001 + +extern void ( * glXGetProcAddress (const GLubyte *procName)) (void); + +#define GLXEW_VERSION_1_4 GLXEW_GET_VAR(__GLXEW_VERSION_1_4) + +#endif /* GLX_VERSION_1_4 */ + +/* -------------------------- GLX_3DFX_multisample ------------------------- */ + +#ifndef GLX_3DFX_multisample +#define GLX_3DFX_multisample 1 + +#define GLX_SAMPLE_BUFFERS_3DFX 0x8050 +#define GLX_SAMPLES_3DFX 0x8051 + +#define GLXEW_3DFX_multisample GLXEW_GET_VAR(__GLXEW_3DFX_multisample) + +#endif /* GLX_3DFX_multisample */ + +/* ------------------------ GLX_AMD_gpu_association ------------------------ */ + +#ifndef GLX_AMD_gpu_association +#define GLX_AMD_gpu_association 1 + +#define GLX_GPU_VENDOR_AMD 0x1F00 +#define GLX_GPU_RENDERER_STRING_AMD 0x1F01 +#define GLX_GPU_OPENGL_VERSION_STRING_AMD 0x1F02 +#define GLX_GPU_FASTEST_TARGET_GPUS_AMD 0x21A2 +#define GLX_GPU_RAM_AMD 0x21A3 +#define GLX_GPU_CLOCK_AMD 0x21A4 +#define GLX_GPU_NUM_PIPES_AMD 0x21A5 +#define GLX_GPU_NUM_SIMD_AMD 0x21A6 +#define GLX_GPU_NUM_RB_AMD 0x21A7 +#define GLX_GPU_NUM_SPI_AMD 0x21A8 + +#define GLXEW_AMD_gpu_association GLXEW_GET_VAR(__GLXEW_AMD_gpu_association) + +#endif /* GLX_AMD_gpu_association */ + +/* ------------------------- GLX_ARB_create_context ------------------------ */ + +#ifndef GLX_ARB_create_context +#define GLX_ARB_create_context 1 + +#define GLX_CONTEXT_DEBUG_BIT_ARB 0x0001 +#define GLX_CONTEXT_FORWARD_COMPATIBLE_BIT_ARB 0x0002 +#define GLX_CONTEXT_MAJOR_VERSION_ARB 0x2091 +#define GLX_CONTEXT_MINOR_VERSION_ARB 0x2092 +#define GLX_CONTEXT_FLAGS_ARB 0x2094 + +typedef GLXContext ( * PFNGLXCREATECONTEXTATTRIBSARBPROC) (Display* dpy, GLXFBConfig config, GLXContext share_context, Bool direct, const int *attrib_list); + +#define glXCreateContextAttribsARB GLXEW_GET_FUN(__glewXCreateContextAttribsARB) + +#define GLXEW_ARB_create_context GLXEW_GET_VAR(__GLXEW_ARB_create_context) + +#endif /* GLX_ARB_create_context */ + +/* --------------------- GLX_ARB_create_context_profile -------------------- */ + +#ifndef GLX_ARB_create_context_profile +#define GLX_ARB_create_context_profile 1 + +#define GLX_CONTEXT_CORE_PROFILE_BIT_ARB 0x00000001 +#define GLX_CONTEXT_COMPATIBILITY_PROFILE_BIT_ARB 0x00000002 +#define GLX_CONTEXT_PROFILE_MASK_ARB 0x9126 + +#define GLXEW_ARB_create_context_profile GLXEW_GET_VAR(__GLXEW_ARB_create_context_profile) + +#endif /* GLX_ARB_create_context_profile */ + +/* ------------------- GLX_ARB_create_context_robustness ------------------- */ + +#ifndef GLX_ARB_create_context_robustness +#define GLX_ARB_create_context_robustness 1 + +#define GLX_CONTEXT_ROBUST_ACCESS_BIT_ARB 0x00000004 +#define GLX_LOSE_CONTEXT_ON_RESET_ARB 0x8252 +#define GLX_CONTEXT_RESET_NOTIFICATION_STRATEGY_ARB 0x8256 +#define GLX_NO_RESET_NOTIFICATION_ARB 0x8261 + +#define GLXEW_ARB_create_context_robustness GLXEW_GET_VAR(__GLXEW_ARB_create_context_robustness) + +#endif /* GLX_ARB_create_context_robustness */ + +/* ------------------------- GLX_ARB_fbconfig_float ------------------------ */ + +#ifndef GLX_ARB_fbconfig_float +#define GLX_ARB_fbconfig_float 1 + +#define GLX_RGBA_FLOAT_BIT 0x00000004 +#define GLX_RGBA_FLOAT_TYPE 0x20B9 + +#define GLXEW_ARB_fbconfig_float GLXEW_GET_VAR(__GLXEW_ARB_fbconfig_float) + +#endif /* GLX_ARB_fbconfig_float */ + +/* ------------------------ GLX_ARB_framebuffer_sRGB ----------------------- */ + +#ifndef GLX_ARB_framebuffer_sRGB +#define GLX_ARB_framebuffer_sRGB 1 + +#define GLX_FRAMEBUFFER_SRGB_CAPABLE_ARB 0x20B2 + +#define GLXEW_ARB_framebuffer_sRGB GLXEW_GET_VAR(__GLXEW_ARB_framebuffer_sRGB) + +#endif /* GLX_ARB_framebuffer_sRGB */ + +/* ------------------------ GLX_ARB_get_proc_address ----------------------- */ + +#ifndef GLX_ARB_get_proc_address +#define GLX_ARB_get_proc_address 1 + +extern void ( * glXGetProcAddressARB (const GLubyte *procName)) (void); + +#define GLXEW_ARB_get_proc_address GLXEW_GET_VAR(__GLXEW_ARB_get_proc_address) + +#endif /* GLX_ARB_get_proc_address */ + +/* -------------------------- GLX_ARB_multisample -------------------------- */ + +#ifndef GLX_ARB_multisample +#define GLX_ARB_multisample 1 + +#define GLX_SAMPLE_BUFFERS_ARB 100000 +#define GLX_SAMPLES_ARB 100001 + +#define GLXEW_ARB_multisample GLXEW_GET_VAR(__GLXEW_ARB_multisample) + +#endif /* GLX_ARB_multisample */ + +/* ---------------------- GLX_ARB_vertex_buffer_object --------------------- */ + +#ifndef GLX_ARB_vertex_buffer_object +#define GLX_ARB_vertex_buffer_object 1 + +#define GLX_CONTEXT_ALLOW_BUFFER_BYTE_ORDER_MISMATCH_ARB 0x2095 + +#define GLXEW_ARB_vertex_buffer_object GLXEW_GET_VAR(__GLXEW_ARB_vertex_buffer_object) + +#endif /* GLX_ARB_vertex_buffer_object */ + +/* ----------------------- GLX_ATI_pixel_format_float ---------------------- */ + +#ifndef GLX_ATI_pixel_format_float +#define GLX_ATI_pixel_format_float 1 + +#define GLX_RGBA_FLOAT_ATI_BIT 0x00000100 + +#define GLXEW_ATI_pixel_format_float GLXEW_GET_VAR(__GLXEW_ATI_pixel_format_float) + +#endif /* GLX_ATI_pixel_format_float */ + +/* ------------------------- GLX_ATI_render_texture ------------------------ */ + +#ifndef GLX_ATI_render_texture +#define GLX_ATI_render_texture 1 + +#define GLX_BIND_TO_TEXTURE_RGB_ATI 0x9800 +#define GLX_BIND_TO_TEXTURE_RGBA_ATI 0x9801 +#define GLX_TEXTURE_FORMAT_ATI 0x9802 +#define GLX_TEXTURE_TARGET_ATI 0x9803 +#define GLX_MIPMAP_TEXTURE_ATI 0x9804 +#define GLX_TEXTURE_RGB_ATI 0x9805 +#define GLX_TEXTURE_RGBA_ATI 0x9806 +#define GLX_NO_TEXTURE_ATI 0x9807 +#define GLX_TEXTURE_CUBE_MAP_ATI 0x9808 +#define GLX_TEXTURE_1D_ATI 0x9809 +#define GLX_TEXTURE_2D_ATI 0x980A +#define GLX_MIPMAP_LEVEL_ATI 0x980B +#define GLX_CUBE_MAP_FACE_ATI 0x980C +#define GLX_TEXTURE_CUBE_MAP_POSITIVE_X_ATI 0x980D +#define GLX_TEXTURE_CUBE_MAP_NEGATIVE_X_ATI 0x980E +#define GLX_TEXTURE_CUBE_MAP_POSITIVE_Y_ATI 0x980F +#define GLX_TEXTURE_CUBE_MAP_NEGATIVE_Y_ATI 0x9810 +#define GLX_TEXTURE_CUBE_MAP_POSITIVE_Z_ATI 0x9811 +#define GLX_TEXTURE_CUBE_MAP_NEGATIVE_Z_ATI 0x9812 +#define GLX_FRONT_LEFT_ATI 0x9813 +#define GLX_FRONT_RIGHT_ATI 0x9814 +#define GLX_BACK_LEFT_ATI 0x9815 +#define GLX_BACK_RIGHT_ATI 0x9816 +#define GLX_AUX0_ATI 0x9817 +#define GLX_AUX1_ATI 0x9818 +#define GLX_AUX2_ATI 0x9819 +#define GLX_AUX3_ATI 0x981A +#define GLX_AUX4_ATI 0x981B +#define GLX_AUX5_ATI 0x981C +#define GLX_AUX6_ATI 0x981D +#define GLX_AUX7_ATI 0x981E +#define GLX_AUX8_ATI 0x981F +#define GLX_AUX9_ATI 0x9820 +#define GLX_BIND_TO_TEXTURE_LUMINANCE_ATI 0x9821 +#define GLX_BIND_TO_TEXTURE_INTENSITY_ATI 0x9822 + +typedef void ( * PFNGLXBINDTEXIMAGEATIPROC) (Display *dpy, GLXPbuffer pbuf, int buffer); +typedef void ( * PFNGLXDRAWABLEATTRIBATIPROC) (Display *dpy, GLXDrawable draw, const int *attrib_list); +typedef void ( * PFNGLXRELEASETEXIMAGEATIPROC) (Display *dpy, GLXPbuffer pbuf, int buffer); + +#define glXBindTexImageATI GLXEW_GET_FUN(__glewXBindTexImageATI) +#define glXDrawableAttribATI GLXEW_GET_FUN(__glewXDrawableAttribATI) +#define glXReleaseTexImageATI GLXEW_GET_FUN(__glewXReleaseTexImageATI) + +#define GLXEW_ATI_render_texture GLXEW_GET_VAR(__GLXEW_ATI_render_texture) + +#endif /* GLX_ATI_render_texture */ + +/* ------------------- GLX_EXT_create_context_es2_profile ------------------ */ + +#ifndef GLX_EXT_create_context_es2_profile +#define GLX_EXT_create_context_es2_profile 1 + +#define GLX_CONTEXT_ES2_PROFILE_BIT_EXT 0x00000004 + +#define GLXEW_EXT_create_context_es2_profile GLXEW_GET_VAR(__GLXEW_EXT_create_context_es2_profile) + +#endif /* GLX_EXT_create_context_es2_profile */ + +/* --------------------- GLX_EXT_fbconfig_packed_float --------------------- */ + +#ifndef GLX_EXT_fbconfig_packed_float +#define GLX_EXT_fbconfig_packed_float 1 + +#define GLX_RGBA_UNSIGNED_FLOAT_BIT_EXT 0x00000008 +#define GLX_RGBA_UNSIGNED_FLOAT_TYPE_EXT 0x20B1 + +#define GLXEW_EXT_fbconfig_packed_float GLXEW_GET_VAR(__GLXEW_EXT_fbconfig_packed_float) + +#endif /* GLX_EXT_fbconfig_packed_float */ + +/* ------------------------ GLX_EXT_framebuffer_sRGB ----------------------- */ + +#ifndef GLX_EXT_framebuffer_sRGB +#define GLX_EXT_framebuffer_sRGB 1 + +#define GLX_FRAMEBUFFER_SRGB_CAPABLE_EXT 0x20B2 + +#define GLXEW_EXT_framebuffer_sRGB GLXEW_GET_VAR(__GLXEW_EXT_framebuffer_sRGB) + +#endif /* GLX_EXT_framebuffer_sRGB */ + +/* ------------------------- GLX_EXT_import_context ------------------------ */ + +#ifndef GLX_EXT_import_context +#define GLX_EXT_import_context 1 + +#define GLX_SHARE_CONTEXT_EXT 0x800A +#define GLX_VISUAL_ID_EXT 0x800B +#define GLX_SCREEN_EXT 0x800C + +typedef XID GLXContextID; + +typedef void ( * PFNGLXFREECONTEXTEXTPROC) (Display* dpy, GLXContext context); +typedef GLXContextID ( * PFNGLXGETCONTEXTIDEXTPROC) (const GLXContext context); +typedef GLXContext ( * PFNGLXIMPORTCONTEXTEXTPROC) (Display* dpy, GLXContextID contextID); +typedef int ( * PFNGLXQUERYCONTEXTINFOEXTPROC) (Display* dpy, GLXContext context, int attribute,int *value); + +#define glXFreeContextEXT GLXEW_GET_FUN(__glewXFreeContextEXT) +#define glXGetContextIDEXT GLXEW_GET_FUN(__glewXGetContextIDEXT) +#define glXImportContextEXT GLXEW_GET_FUN(__glewXImportContextEXT) +#define glXQueryContextInfoEXT GLXEW_GET_FUN(__glewXQueryContextInfoEXT) + +#define GLXEW_EXT_import_context GLXEW_GET_VAR(__GLXEW_EXT_import_context) + +#endif /* GLX_EXT_import_context */ + +/* -------------------------- GLX_EXT_scene_marker ------------------------- */ + +#ifndef GLX_EXT_scene_marker +#define GLX_EXT_scene_marker 1 + +#define GLXEW_EXT_scene_marker GLXEW_GET_VAR(__GLXEW_EXT_scene_marker) + +#endif /* GLX_EXT_scene_marker */ + +/* -------------------------- GLX_EXT_swap_control ------------------------- */ + +#ifndef GLX_EXT_swap_control +#define GLX_EXT_swap_control 1 + +#define GLX_SWAP_INTERVAL_EXT 0x20F1 +#define GLX_MAX_SWAP_INTERVAL_EXT 0x20F2 + +typedef void ( * PFNGLXSWAPINTERVALEXTPROC) (Display* dpy, GLXDrawable drawable, int interval); + +#define glXSwapIntervalEXT GLXEW_GET_FUN(__glewXSwapIntervalEXT) + +#define GLXEW_EXT_swap_control GLXEW_GET_VAR(__GLXEW_EXT_swap_control) + +#endif /* GLX_EXT_swap_control */ + +/* ---------------------- GLX_EXT_texture_from_pixmap ---------------------- */ + +#ifndef GLX_EXT_texture_from_pixmap +#define GLX_EXT_texture_from_pixmap 1 + +#define GLX_TEXTURE_1D_BIT_EXT 0x00000001 +#define GLX_TEXTURE_2D_BIT_EXT 0x00000002 +#define GLX_TEXTURE_RECTANGLE_BIT_EXT 0x00000004 +#define GLX_BIND_TO_TEXTURE_RGB_EXT 0x20D0 +#define GLX_BIND_TO_TEXTURE_RGBA_EXT 0x20D1 +#define GLX_BIND_TO_MIPMAP_TEXTURE_EXT 0x20D2 +#define GLX_BIND_TO_TEXTURE_TARGETS_EXT 0x20D3 +#define GLX_Y_INVERTED_EXT 0x20D4 +#define GLX_TEXTURE_FORMAT_EXT 0x20D5 +#define GLX_TEXTURE_TARGET_EXT 0x20D6 +#define GLX_MIPMAP_TEXTURE_EXT 0x20D7 +#define GLX_TEXTURE_FORMAT_NONE_EXT 0x20D8 +#define GLX_TEXTURE_FORMAT_RGB_EXT 0x20D9 +#define GLX_TEXTURE_FORMAT_RGBA_EXT 0x20DA +#define GLX_TEXTURE_1D_EXT 0x20DB +#define GLX_TEXTURE_2D_EXT 0x20DC +#define GLX_TEXTURE_RECTANGLE_EXT 0x20DD +#define GLX_FRONT_LEFT_EXT 0x20DE +#define GLX_FRONT_RIGHT_EXT 0x20DF +#define GLX_BACK_LEFT_EXT 0x20E0 +#define GLX_BACK_RIGHT_EXT 0x20E1 +#define GLX_AUX0_EXT 0x20E2 +#define GLX_AUX1_EXT 0x20E3 +#define GLX_AUX2_EXT 0x20E4 +#define GLX_AUX3_EXT 0x20E5 +#define GLX_AUX4_EXT 0x20E6 +#define GLX_AUX5_EXT 0x20E7 +#define GLX_AUX6_EXT 0x20E8 +#define GLX_AUX7_EXT 0x20E9 +#define GLX_AUX8_EXT 0x20EA +#define GLX_AUX9_EXT 0x20EB + +typedef void ( * PFNGLXBINDTEXIMAGEEXTPROC) (Display* display, GLXDrawable drawable, int buffer, const int *attrib_list); +typedef void ( * PFNGLXRELEASETEXIMAGEEXTPROC) (Display* display, GLXDrawable drawable, int buffer); + +#define glXBindTexImageEXT GLXEW_GET_FUN(__glewXBindTexImageEXT) +#define glXReleaseTexImageEXT GLXEW_GET_FUN(__glewXReleaseTexImageEXT) + +#define GLXEW_EXT_texture_from_pixmap GLXEW_GET_VAR(__GLXEW_EXT_texture_from_pixmap) + +#endif /* GLX_EXT_texture_from_pixmap */ + +/* -------------------------- GLX_EXT_visual_info -------------------------- */ + +#ifndef GLX_EXT_visual_info +#define GLX_EXT_visual_info 1 + +#define GLX_X_VISUAL_TYPE_EXT 0x22 +#define GLX_TRANSPARENT_TYPE_EXT 0x23 +#define GLX_TRANSPARENT_INDEX_VALUE_EXT 0x24 +#define GLX_TRANSPARENT_RED_VALUE_EXT 0x25 +#define GLX_TRANSPARENT_GREEN_VALUE_EXT 0x26 +#define GLX_TRANSPARENT_BLUE_VALUE_EXT 0x27 +#define GLX_TRANSPARENT_ALPHA_VALUE_EXT 0x28 +#define GLX_NONE_EXT 0x8000 +#define GLX_TRUE_COLOR_EXT 0x8002 +#define GLX_DIRECT_COLOR_EXT 0x8003 +#define GLX_PSEUDO_COLOR_EXT 0x8004 +#define GLX_STATIC_COLOR_EXT 0x8005 +#define GLX_GRAY_SCALE_EXT 0x8006 +#define GLX_STATIC_GRAY_EXT 0x8007 +#define GLX_TRANSPARENT_RGB_EXT 0x8008 +#define GLX_TRANSPARENT_INDEX_EXT 0x8009 + +#define GLXEW_EXT_visual_info GLXEW_GET_VAR(__GLXEW_EXT_visual_info) + +#endif /* GLX_EXT_visual_info */ + +/* ------------------------- GLX_EXT_visual_rating ------------------------- */ + +#ifndef GLX_EXT_visual_rating +#define GLX_EXT_visual_rating 1 + +#define GLX_VISUAL_CAVEAT_EXT 0x20 +#define GLX_SLOW_VISUAL_EXT 0x8001 +#define GLX_NON_CONFORMANT_VISUAL_EXT 0x800D + +#define GLXEW_EXT_visual_rating GLXEW_GET_VAR(__GLXEW_EXT_visual_rating) + +#endif /* GLX_EXT_visual_rating */ + +/* -------------------------- GLX_INTEL_swap_event ------------------------- */ + +#ifndef GLX_INTEL_swap_event +#define GLX_INTEL_swap_event 1 + +#define GLX_EXCHANGE_COMPLETE_INTEL 0x8180 +#define GLX_COPY_COMPLETE_INTEL 0x8181 +#define GLX_FLIP_COMPLETE_INTEL 0x8182 +#define GLX_BUFFER_SWAP_COMPLETE_INTEL_MASK 0x04000000 + +#define GLXEW_INTEL_swap_event GLXEW_GET_VAR(__GLXEW_INTEL_swap_event) + +#endif /* GLX_INTEL_swap_event */ + +/* -------------------------- GLX_MESA_agp_offset -------------------------- */ + +#ifndef GLX_MESA_agp_offset +#define GLX_MESA_agp_offset 1 + +typedef unsigned int ( * PFNGLXGETAGPOFFSETMESAPROC) (const void* pointer); + +#define glXGetAGPOffsetMESA GLXEW_GET_FUN(__glewXGetAGPOffsetMESA) + +#define GLXEW_MESA_agp_offset GLXEW_GET_VAR(__GLXEW_MESA_agp_offset) + +#endif /* GLX_MESA_agp_offset */ + +/* ------------------------ GLX_MESA_copy_sub_buffer ----------------------- */ + +#ifndef GLX_MESA_copy_sub_buffer +#define GLX_MESA_copy_sub_buffer 1 + +typedef void ( * PFNGLXCOPYSUBBUFFERMESAPROC) (Display* dpy, GLXDrawable drawable, int x, int y, int width, int height); + +#define glXCopySubBufferMESA GLXEW_GET_FUN(__glewXCopySubBufferMESA) + +#define GLXEW_MESA_copy_sub_buffer GLXEW_GET_VAR(__GLXEW_MESA_copy_sub_buffer) + +#endif /* GLX_MESA_copy_sub_buffer */ + +/* ------------------------ GLX_MESA_pixmap_colormap ----------------------- */ + +#ifndef GLX_MESA_pixmap_colormap +#define GLX_MESA_pixmap_colormap 1 + +typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPMESAPROC) (Display* dpy, XVisualInfo *visual, Pixmap pixmap, Colormap cmap); + +#define glXCreateGLXPixmapMESA GLXEW_GET_FUN(__glewXCreateGLXPixmapMESA) + +#define GLXEW_MESA_pixmap_colormap GLXEW_GET_VAR(__GLXEW_MESA_pixmap_colormap) + +#endif /* GLX_MESA_pixmap_colormap */ + +/* ------------------------ GLX_MESA_release_buffers ----------------------- */ + +#ifndef GLX_MESA_release_buffers +#define GLX_MESA_release_buffers 1 + +typedef Bool ( * PFNGLXRELEASEBUFFERSMESAPROC) (Display* dpy, GLXDrawable d); + +#define glXReleaseBuffersMESA GLXEW_GET_FUN(__glewXReleaseBuffersMESA) + +#define GLXEW_MESA_release_buffers GLXEW_GET_VAR(__GLXEW_MESA_release_buffers) + +#endif /* GLX_MESA_release_buffers */ + +/* ------------------------- GLX_MESA_set_3dfx_mode ------------------------ */ + +#ifndef GLX_MESA_set_3dfx_mode +#define GLX_MESA_set_3dfx_mode 1 + +#define GLX_3DFX_WINDOW_MODE_MESA 0x1 +#define GLX_3DFX_FULLSCREEN_MODE_MESA 0x2 + +typedef GLboolean ( * PFNGLXSET3DFXMODEMESAPROC) (GLint mode); + +#define glXSet3DfxModeMESA GLXEW_GET_FUN(__glewXSet3DfxModeMESA) + +#define GLXEW_MESA_set_3dfx_mode GLXEW_GET_VAR(__GLXEW_MESA_set_3dfx_mode) + +#endif /* GLX_MESA_set_3dfx_mode */ + +/* ------------------------- GLX_MESA_swap_control ------------------------- */ + +#ifndef GLX_MESA_swap_control +#define GLX_MESA_swap_control 1 + +typedef int ( * PFNGLXGETSWAPINTERVALMESAPROC) (void); +typedef int ( * PFNGLXSWAPINTERVALMESAPROC) (unsigned int interval); + +#define glXGetSwapIntervalMESA GLXEW_GET_FUN(__glewXGetSwapIntervalMESA) +#define glXSwapIntervalMESA GLXEW_GET_FUN(__glewXSwapIntervalMESA) + +#define GLXEW_MESA_swap_control GLXEW_GET_VAR(__GLXEW_MESA_swap_control) + +#endif /* GLX_MESA_swap_control */ + +/* --------------------------- GLX_NV_copy_image --------------------------- */ + +#ifndef GLX_NV_copy_image +#define GLX_NV_copy_image 1 + +typedef void ( * PFNGLXCOPYIMAGESUBDATANVPROC) (Display *dpy, GLXContext srcCtx, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, GLXContext dstCtx, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); + +#define glXCopyImageSubDataNV GLXEW_GET_FUN(__glewXCopyImageSubDataNV) + +#define GLXEW_NV_copy_image GLXEW_GET_VAR(__GLXEW_NV_copy_image) + +#endif /* GLX_NV_copy_image */ + +/* -------------------------- GLX_NV_float_buffer -------------------------- */ + +#ifndef GLX_NV_float_buffer +#define GLX_NV_float_buffer 1 + +#define GLX_FLOAT_COMPONENTS_NV 0x20B0 + +#define GLXEW_NV_float_buffer GLXEW_GET_VAR(__GLXEW_NV_float_buffer) + +#endif /* GLX_NV_float_buffer */ + +/* ---------------------- GLX_NV_multisample_coverage ---------------------- */ + +#ifndef GLX_NV_multisample_coverage +#define GLX_NV_multisample_coverage 1 + +#define GLX_COLOR_SAMPLES_NV 0x20B3 +#define GLX_COVERAGE_SAMPLES_NV 100001 + +#define GLXEW_NV_multisample_coverage GLXEW_GET_VAR(__GLXEW_NV_multisample_coverage) + +#endif /* GLX_NV_multisample_coverage */ + +/* -------------------------- GLX_NV_present_video ------------------------- */ + +#ifndef GLX_NV_present_video +#define GLX_NV_present_video 1 + +#define GLX_NUM_VIDEO_SLOTS_NV 0x20F0 + +typedef int ( * PFNGLXBINDVIDEODEVICENVPROC) (Display* dpy, unsigned int video_slot, unsigned int video_device, const int *attrib_list); +typedef unsigned int* ( * PFNGLXENUMERATEVIDEODEVICESNVPROC) (Display *dpy, int screen, int *nelements); + +#define glXBindVideoDeviceNV GLXEW_GET_FUN(__glewXBindVideoDeviceNV) +#define glXEnumerateVideoDevicesNV GLXEW_GET_FUN(__glewXEnumerateVideoDevicesNV) + +#define GLXEW_NV_present_video GLXEW_GET_VAR(__GLXEW_NV_present_video) + +#endif /* GLX_NV_present_video */ + +/* --------------------------- GLX_NV_swap_group --------------------------- */ + +#ifndef GLX_NV_swap_group +#define GLX_NV_swap_group 1 + +typedef Bool ( * PFNGLXBINDSWAPBARRIERNVPROC) (Display* dpy, GLuint group, GLuint barrier); +typedef Bool ( * PFNGLXJOINSWAPGROUPNVPROC) (Display* dpy, GLXDrawable drawable, GLuint group); +typedef Bool ( * PFNGLXQUERYFRAMECOUNTNVPROC) (Display* dpy, int screen, GLuint *count); +typedef Bool ( * PFNGLXQUERYMAXSWAPGROUPSNVPROC) (Display* dpy, int screen, GLuint *maxGroups, GLuint *maxBarriers); +typedef Bool ( * PFNGLXQUERYSWAPGROUPNVPROC) (Display* dpy, GLXDrawable drawable, GLuint *group, GLuint *barrier); +typedef Bool ( * PFNGLXRESETFRAMECOUNTNVPROC) (Display* dpy, int screen); + +#define glXBindSwapBarrierNV GLXEW_GET_FUN(__glewXBindSwapBarrierNV) +#define glXJoinSwapGroupNV GLXEW_GET_FUN(__glewXJoinSwapGroupNV) +#define glXQueryFrameCountNV GLXEW_GET_FUN(__glewXQueryFrameCountNV) +#define glXQueryMaxSwapGroupsNV GLXEW_GET_FUN(__glewXQueryMaxSwapGroupsNV) +#define glXQuerySwapGroupNV GLXEW_GET_FUN(__glewXQuerySwapGroupNV) +#define glXResetFrameCountNV GLXEW_GET_FUN(__glewXResetFrameCountNV) + +#define GLXEW_NV_swap_group GLXEW_GET_VAR(__GLXEW_NV_swap_group) + +#endif /* GLX_NV_swap_group */ + +/* ----------------------- GLX_NV_vertex_array_range ----------------------- */ + +#ifndef GLX_NV_vertex_array_range +#define GLX_NV_vertex_array_range 1 + +typedef void * ( * PFNGLXALLOCATEMEMORYNVPROC) (GLsizei size, GLfloat readFrequency, GLfloat writeFrequency, GLfloat priority); +typedef void ( * PFNGLXFREEMEMORYNVPROC) (void *pointer); + +#define glXAllocateMemoryNV GLXEW_GET_FUN(__glewXAllocateMemoryNV) +#define glXFreeMemoryNV GLXEW_GET_FUN(__glewXFreeMemoryNV) + +#define GLXEW_NV_vertex_array_range GLXEW_GET_VAR(__GLXEW_NV_vertex_array_range) + +#endif /* GLX_NV_vertex_array_range */ + +/* -------------------------- GLX_NV_video_capture ------------------------- */ + +#ifndef GLX_NV_video_capture +#define GLX_NV_video_capture 1 + +#define GLX_DEVICE_ID_NV 0x20CD +#define GLX_UNIQUE_ID_NV 0x20CE +#define GLX_NUM_VIDEO_CAPTURE_SLOTS_NV 0x20CF + +typedef XID GLXVideoCaptureDeviceNV; + +typedef int ( * PFNGLXBINDVIDEOCAPTUREDEVICENVPROC) (Display* dpy, unsigned int video_capture_slot, GLXVideoCaptureDeviceNV device); +typedef GLXVideoCaptureDeviceNV * ( * PFNGLXENUMERATEVIDEOCAPTUREDEVICESNVPROC) (Display* dpy, int screen, int *nelements); +typedef void ( * PFNGLXLOCKVIDEOCAPTUREDEVICENVPROC) (Display* dpy, GLXVideoCaptureDeviceNV device); +typedef int ( * PFNGLXQUERYVIDEOCAPTUREDEVICENVPROC) (Display* dpy, GLXVideoCaptureDeviceNV device, int attribute, int *value); +typedef void ( * PFNGLXRELEASEVIDEOCAPTUREDEVICENVPROC) (Display* dpy, GLXVideoCaptureDeviceNV device); + +#define glXBindVideoCaptureDeviceNV GLXEW_GET_FUN(__glewXBindVideoCaptureDeviceNV) +#define glXEnumerateVideoCaptureDevicesNV GLXEW_GET_FUN(__glewXEnumerateVideoCaptureDevicesNV) +#define glXLockVideoCaptureDeviceNV GLXEW_GET_FUN(__glewXLockVideoCaptureDeviceNV) +#define glXQueryVideoCaptureDeviceNV GLXEW_GET_FUN(__glewXQueryVideoCaptureDeviceNV) +#define glXReleaseVideoCaptureDeviceNV GLXEW_GET_FUN(__glewXReleaseVideoCaptureDeviceNV) + +#define GLXEW_NV_video_capture GLXEW_GET_VAR(__GLXEW_NV_video_capture) + +#endif /* GLX_NV_video_capture */ + +/* -------------------------- GLX_NV_video_output -------------------------- */ + +#ifndef GLX_NV_video_output +#define GLX_NV_video_output 1 + +#define GLX_VIDEO_OUT_COLOR_NV 0x20C3 +#define GLX_VIDEO_OUT_ALPHA_NV 0x20C4 +#define GLX_VIDEO_OUT_DEPTH_NV 0x20C5 +#define GLX_VIDEO_OUT_COLOR_AND_ALPHA_NV 0x20C6 +#define GLX_VIDEO_OUT_COLOR_AND_DEPTH_NV 0x20C7 +#define GLX_VIDEO_OUT_FRAME_NV 0x20C8 +#define GLX_VIDEO_OUT_FIELD_1_NV 0x20C9 +#define GLX_VIDEO_OUT_FIELD_2_NV 0x20CA +#define GLX_VIDEO_OUT_STACKED_FIELDS_1_2_NV 0x20CB +#define GLX_VIDEO_OUT_STACKED_FIELDS_2_1_NV 0x20CC + +typedef int ( * PFNGLXBINDVIDEOIMAGENVPROC) (Display* dpy, GLXVideoDeviceNV VideoDevice, GLXPbuffer pbuf, int iVideoBuffer); +typedef int ( * PFNGLXGETVIDEODEVICENVPROC) (Display* dpy, int screen, int numVideoDevices, GLXVideoDeviceNV *pVideoDevice); +typedef int ( * PFNGLXGETVIDEOINFONVPROC) (Display* dpy, int screen, GLXVideoDeviceNV VideoDevice, unsigned long *pulCounterOutputPbuffer, unsigned long *pulCounterOutputVideo); +typedef int ( * PFNGLXRELEASEVIDEODEVICENVPROC) (Display* dpy, int screen, GLXVideoDeviceNV VideoDevice); +typedef int ( * PFNGLXRELEASEVIDEOIMAGENVPROC) (Display* dpy, GLXPbuffer pbuf); +typedef int ( * PFNGLXSENDPBUFFERTOVIDEONVPROC) (Display* dpy, GLXPbuffer pbuf, int iBufferType, unsigned long *pulCounterPbuffer, GLboolean bBlock); + +#define glXBindVideoImageNV GLXEW_GET_FUN(__glewXBindVideoImageNV) +#define glXGetVideoDeviceNV GLXEW_GET_FUN(__glewXGetVideoDeviceNV) +#define glXGetVideoInfoNV GLXEW_GET_FUN(__glewXGetVideoInfoNV) +#define glXReleaseVideoDeviceNV GLXEW_GET_FUN(__glewXReleaseVideoDeviceNV) +#define glXReleaseVideoImageNV GLXEW_GET_FUN(__glewXReleaseVideoImageNV) +#define glXSendPbufferToVideoNV GLXEW_GET_FUN(__glewXSendPbufferToVideoNV) + +#define GLXEW_NV_video_output GLXEW_GET_VAR(__GLXEW_NV_video_output) + +#endif /* GLX_NV_video_output */ + +/* -------------------------- GLX_OML_swap_method -------------------------- */ + +#ifndef GLX_OML_swap_method +#define GLX_OML_swap_method 1 + +#define GLX_SWAP_METHOD_OML 0x8060 +#define GLX_SWAP_EXCHANGE_OML 0x8061 +#define GLX_SWAP_COPY_OML 0x8062 +#define GLX_SWAP_UNDEFINED_OML 0x8063 + +#define GLXEW_OML_swap_method GLXEW_GET_VAR(__GLXEW_OML_swap_method) + +#endif /* GLX_OML_swap_method */ + +/* -------------------------- GLX_OML_sync_control ------------------------- */ + +#ifndef GLX_OML_sync_control +#define GLX_OML_sync_control 1 + +typedef Bool ( * PFNGLXGETMSCRATEOMLPROC) (Display* dpy, GLXDrawable drawable, int32_t* numerator, int32_t* denominator); +typedef Bool ( * PFNGLXGETSYNCVALUESOMLPROC) (Display* dpy, GLXDrawable drawable, int64_t* ust, int64_t* msc, int64_t* sbc); +typedef int64_t ( * PFNGLXSWAPBUFFERSMSCOMLPROC) (Display* dpy, GLXDrawable drawable, int64_t target_msc, int64_t divisor, int64_t remainder); +typedef Bool ( * PFNGLXWAITFORMSCOMLPROC) (Display* dpy, GLXDrawable drawable, int64_t target_msc, int64_t divisor, int64_t remainder, int64_t* ust, int64_t* msc, int64_t* sbc); +typedef Bool ( * PFNGLXWAITFORSBCOMLPROC) (Display* dpy, GLXDrawable drawable, int64_t target_sbc, int64_t* ust, int64_t* msc, int64_t* sbc); + +#define glXGetMscRateOML GLXEW_GET_FUN(__glewXGetMscRateOML) +#define glXGetSyncValuesOML GLXEW_GET_FUN(__glewXGetSyncValuesOML) +#define glXSwapBuffersMscOML GLXEW_GET_FUN(__glewXSwapBuffersMscOML) +#define glXWaitForMscOML GLXEW_GET_FUN(__glewXWaitForMscOML) +#define glXWaitForSbcOML GLXEW_GET_FUN(__glewXWaitForSbcOML) + +#define GLXEW_OML_sync_control GLXEW_GET_VAR(__GLXEW_OML_sync_control) + +#endif /* GLX_OML_sync_control */ + +/* ------------------------ GLX_SGIS_blended_overlay ----------------------- */ + +#ifndef GLX_SGIS_blended_overlay +#define GLX_SGIS_blended_overlay 1 + +#define GLX_BLENDED_RGBA_SGIS 0x8025 + +#define GLXEW_SGIS_blended_overlay GLXEW_GET_VAR(__GLXEW_SGIS_blended_overlay) + +#endif /* GLX_SGIS_blended_overlay */ + +/* -------------------------- GLX_SGIS_color_range ------------------------- */ + +#ifndef GLX_SGIS_color_range +#define GLX_SGIS_color_range 1 + +#define GLX_MIN_RED_SGIS 0 +#define GLX_MAX_GREEN_SGIS 0 +#define GLX_MIN_BLUE_SGIS 0 +#define GLX_MAX_ALPHA_SGIS 0 +#define GLX_MIN_GREEN_SGIS 0 +#define GLX_MIN_ALPHA_SGIS 0 +#define GLX_MAX_RED_SGIS 0 +#define GLX_EXTENDED_RANGE_SGIS 0 +#define GLX_MAX_BLUE_SGIS 0 + +#define GLXEW_SGIS_color_range GLXEW_GET_VAR(__GLXEW_SGIS_color_range) + +#endif /* GLX_SGIS_color_range */ + +/* -------------------------- GLX_SGIS_multisample ------------------------- */ + +#ifndef GLX_SGIS_multisample +#define GLX_SGIS_multisample 1 + +#define GLX_SAMPLE_BUFFERS_SGIS 100000 +#define GLX_SAMPLES_SGIS 100001 + +#define GLXEW_SGIS_multisample GLXEW_GET_VAR(__GLXEW_SGIS_multisample) + +#endif /* GLX_SGIS_multisample */ + +/* ---------------------- GLX_SGIS_shared_multisample ---------------------- */ + +#ifndef GLX_SGIS_shared_multisample +#define GLX_SGIS_shared_multisample 1 + +#define GLX_MULTISAMPLE_SUB_RECT_WIDTH_SGIS 0x8026 +#define GLX_MULTISAMPLE_SUB_RECT_HEIGHT_SGIS 0x8027 + +#define GLXEW_SGIS_shared_multisample GLXEW_GET_VAR(__GLXEW_SGIS_shared_multisample) + +#endif /* GLX_SGIS_shared_multisample */ + +/* --------------------------- GLX_SGIX_fbconfig --------------------------- */ + +#ifndef GLX_SGIX_fbconfig +#define GLX_SGIX_fbconfig 1 + +#define GLX_WINDOW_BIT_SGIX 0x00000001 +#define GLX_RGBA_BIT_SGIX 0x00000001 +#define GLX_PIXMAP_BIT_SGIX 0x00000002 +#define GLX_COLOR_INDEX_BIT_SGIX 0x00000002 +#define GLX_SCREEN_EXT 0x800C +#define GLX_DRAWABLE_TYPE_SGIX 0x8010 +#define GLX_RENDER_TYPE_SGIX 0x8011 +#define GLX_X_RENDERABLE_SGIX 0x8012 +#define GLX_FBCONFIG_ID_SGIX 0x8013 +#define GLX_RGBA_TYPE_SGIX 0x8014 +#define GLX_COLOR_INDEX_TYPE_SGIX 0x8015 + +typedef XID GLXFBConfigIDSGIX; +typedef struct __GLXFBConfigRec *GLXFBConfigSGIX; + +typedef GLXFBConfigSGIX* ( * PFNGLXCHOOSEFBCONFIGSGIXPROC) (Display *dpy, int screen, const int *attrib_list, int *nelements); +typedef GLXContext ( * PFNGLXCREATECONTEXTWITHCONFIGSGIXPROC) (Display* dpy, GLXFBConfig config, int render_type, GLXContext share_list, Bool direct); +typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPWITHCONFIGSGIXPROC) (Display* dpy, GLXFBConfig config, Pixmap pixmap); +typedef int ( * PFNGLXGETFBCONFIGATTRIBSGIXPROC) (Display* dpy, GLXFBConfigSGIX config, int attribute, int *value); +typedef GLXFBConfigSGIX ( * PFNGLXGETFBCONFIGFROMVISUALSGIXPROC) (Display* dpy, XVisualInfo *vis); +typedef XVisualInfo* ( * PFNGLXGETVISUALFROMFBCONFIGSGIXPROC) (Display *dpy, GLXFBConfig config); + +#define glXChooseFBConfigSGIX GLXEW_GET_FUN(__glewXChooseFBConfigSGIX) +#define glXCreateContextWithConfigSGIX GLXEW_GET_FUN(__glewXCreateContextWithConfigSGIX) +#define glXCreateGLXPixmapWithConfigSGIX GLXEW_GET_FUN(__glewXCreateGLXPixmapWithConfigSGIX) +#define glXGetFBConfigAttribSGIX GLXEW_GET_FUN(__glewXGetFBConfigAttribSGIX) +#define glXGetFBConfigFromVisualSGIX GLXEW_GET_FUN(__glewXGetFBConfigFromVisualSGIX) +#define glXGetVisualFromFBConfigSGIX GLXEW_GET_FUN(__glewXGetVisualFromFBConfigSGIX) + +#define GLXEW_SGIX_fbconfig GLXEW_GET_VAR(__GLXEW_SGIX_fbconfig) + +#endif /* GLX_SGIX_fbconfig */ + +/* --------------------------- GLX_SGIX_hyperpipe -------------------------- */ + +#ifndef GLX_SGIX_hyperpipe +#define GLX_SGIX_hyperpipe 1 + +#define GLX_HYPERPIPE_DISPLAY_PIPE_SGIX 0x00000001 +#define GLX_PIPE_RECT_SGIX 0x00000001 +#define GLX_PIPE_RECT_LIMITS_SGIX 0x00000002 +#define GLX_HYPERPIPE_RENDER_PIPE_SGIX 0x00000002 +#define GLX_HYPERPIPE_STEREO_SGIX 0x00000003 +#define GLX_HYPERPIPE_PIXEL_AVERAGE_SGIX 0x00000004 +#define GLX_HYPERPIPE_PIPE_NAME_LENGTH_SGIX 80 +#define GLX_BAD_HYPERPIPE_CONFIG_SGIX 91 +#define GLX_BAD_HYPERPIPE_SGIX 92 +#define GLX_HYPERPIPE_ID_SGIX 0x8030 + +typedef struct { + char pipeName[GLX_HYPERPIPE_PIPE_NAME_LENGTH_SGIX]; + int networkId; +} GLXHyperpipeNetworkSGIX; +typedef struct { + char pipeName[GLX_HYPERPIPE_PIPE_NAME_LENGTH_SGIX]; + int XOrigin; + int YOrigin; + int maxHeight; + int maxWidth; +} GLXPipeRectLimits; +typedef struct { + char pipeName[GLX_HYPERPIPE_PIPE_NAME_LENGTH_SGIX]; + int channel; + unsigned int participationType; + int timeSlice; +} GLXHyperpipeConfigSGIX; +typedef struct { + char pipeName[GLX_HYPERPIPE_PIPE_NAME_LENGTH_SGIX]; + int srcXOrigin; + int srcYOrigin; + int srcWidth; + int srcHeight; + int destXOrigin; + int destYOrigin; + int destWidth; + int destHeight; +} GLXPipeRect; + +typedef int ( * PFNGLXBINDHYPERPIPESGIXPROC) (Display *dpy, int hpId); +typedef int ( * PFNGLXDESTROYHYPERPIPECONFIGSGIXPROC) (Display *dpy, int hpId); +typedef int ( * PFNGLXHYPERPIPEATTRIBSGIXPROC) (Display *dpy, int timeSlice, int attrib, int size, void *attribList); +typedef int ( * PFNGLXHYPERPIPECONFIGSGIXPROC) (Display *dpy, int networkId, int npipes, GLXHyperpipeConfigSGIX *cfg, int *hpId); +typedef int ( * PFNGLXQUERYHYPERPIPEATTRIBSGIXPROC) (Display *dpy, int timeSlice, int attrib, int size, void *returnAttribList); +typedef int ( * PFNGLXQUERYHYPERPIPEBESTATTRIBSGIXPROC) (Display *dpy, int timeSlice, int attrib, int size, void *attribList, void *returnAttribList); +typedef GLXHyperpipeConfigSGIX * ( * PFNGLXQUERYHYPERPIPECONFIGSGIXPROC) (Display *dpy, int hpId, int *npipes); +typedef GLXHyperpipeNetworkSGIX * ( * PFNGLXQUERYHYPERPIPENETWORKSGIXPROC) (Display *dpy, int *npipes); + +#define glXBindHyperpipeSGIX GLXEW_GET_FUN(__glewXBindHyperpipeSGIX) +#define glXDestroyHyperpipeConfigSGIX GLXEW_GET_FUN(__glewXDestroyHyperpipeConfigSGIX) +#define glXHyperpipeAttribSGIX GLXEW_GET_FUN(__glewXHyperpipeAttribSGIX) +#define glXHyperpipeConfigSGIX GLXEW_GET_FUN(__glewXHyperpipeConfigSGIX) +#define glXQueryHyperpipeAttribSGIX GLXEW_GET_FUN(__glewXQueryHyperpipeAttribSGIX) +#define glXQueryHyperpipeBestAttribSGIX GLXEW_GET_FUN(__glewXQueryHyperpipeBestAttribSGIX) +#define glXQueryHyperpipeConfigSGIX GLXEW_GET_FUN(__glewXQueryHyperpipeConfigSGIX) +#define glXQueryHyperpipeNetworkSGIX GLXEW_GET_FUN(__glewXQueryHyperpipeNetworkSGIX) + +#define GLXEW_SGIX_hyperpipe GLXEW_GET_VAR(__GLXEW_SGIX_hyperpipe) + +#endif /* GLX_SGIX_hyperpipe */ + +/* ---------------------------- GLX_SGIX_pbuffer --------------------------- */ + +#ifndef GLX_SGIX_pbuffer +#define GLX_SGIX_pbuffer 1 + +#define GLX_FRONT_LEFT_BUFFER_BIT_SGIX 0x00000001 +#define GLX_FRONT_RIGHT_BUFFER_BIT_SGIX 0x00000002 +#define GLX_PBUFFER_BIT_SGIX 0x00000004 +#define GLX_BACK_LEFT_BUFFER_BIT_SGIX 0x00000004 +#define GLX_BACK_RIGHT_BUFFER_BIT_SGIX 0x00000008 +#define GLX_AUX_BUFFERS_BIT_SGIX 0x00000010 +#define GLX_DEPTH_BUFFER_BIT_SGIX 0x00000020 +#define GLX_STENCIL_BUFFER_BIT_SGIX 0x00000040 +#define GLX_ACCUM_BUFFER_BIT_SGIX 0x00000080 +#define GLX_SAMPLE_BUFFERS_BIT_SGIX 0x00000100 +#define GLX_MAX_PBUFFER_WIDTH_SGIX 0x8016 +#define GLX_MAX_PBUFFER_HEIGHT_SGIX 0x8017 +#define GLX_MAX_PBUFFER_PIXELS_SGIX 0x8018 +#define GLX_OPTIMAL_PBUFFER_WIDTH_SGIX 0x8019 +#define GLX_OPTIMAL_PBUFFER_HEIGHT_SGIX 0x801A +#define GLX_PRESERVED_CONTENTS_SGIX 0x801B +#define GLX_LARGEST_PBUFFER_SGIX 0x801C +#define GLX_WIDTH_SGIX 0x801D +#define GLX_HEIGHT_SGIX 0x801E +#define GLX_EVENT_MASK_SGIX 0x801F +#define GLX_DAMAGED_SGIX 0x8020 +#define GLX_SAVED_SGIX 0x8021 +#define GLX_WINDOW_SGIX 0x8022 +#define GLX_PBUFFER_SGIX 0x8023 +#define GLX_BUFFER_CLOBBER_MASK_SGIX 0x08000000 + +typedef XID GLXPbufferSGIX; +typedef struct { int type; unsigned long serial; Bool send_event; Display *display; GLXDrawable drawable; int event_type; int draw_type; unsigned int mask; int x, y; int width, height; int count; } GLXBufferClobberEventSGIX; + +typedef GLXPbuffer ( * PFNGLXCREATEGLXPBUFFERSGIXPROC) (Display* dpy, GLXFBConfig config, unsigned int width, unsigned int height, int *attrib_list); +typedef void ( * PFNGLXDESTROYGLXPBUFFERSGIXPROC) (Display* dpy, GLXPbuffer pbuf); +typedef void ( * PFNGLXGETSELECTEDEVENTSGIXPROC) (Display* dpy, GLXDrawable drawable, unsigned long *mask); +typedef void ( * PFNGLXQUERYGLXPBUFFERSGIXPROC) (Display* dpy, GLXPbuffer pbuf, int attribute, unsigned int *value); +typedef void ( * PFNGLXSELECTEVENTSGIXPROC) (Display* dpy, GLXDrawable drawable, unsigned long mask); + +#define glXCreateGLXPbufferSGIX GLXEW_GET_FUN(__glewXCreateGLXPbufferSGIX) +#define glXDestroyGLXPbufferSGIX GLXEW_GET_FUN(__glewXDestroyGLXPbufferSGIX) +#define glXGetSelectedEventSGIX GLXEW_GET_FUN(__glewXGetSelectedEventSGIX) +#define glXQueryGLXPbufferSGIX GLXEW_GET_FUN(__glewXQueryGLXPbufferSGIX) +#define glXSelectEventSGIX GLXEW_GET_FUN(__glewXSelectEventSGIX) + +#define GLXEW_SGIX_pbuffer GLXEW_GET_VAR(__GLXEW_SGIX_pbuffer) + +#endif /* GLX_SGIX_pbuffer */ + +/* ------------------------- GLX_SGIX_swap_barrier ------------------------- */ + +#ifndef GLX_SGIX_swap_barrier +#define GLX_SGIX_swap_barrier 1 + +typedef void ( * PFNGLXBINDSWAPBARRIERSGIXPROC) (Display *dpy, GLXDrawable drawable, int barrier); +typedef Bool ( * PFNGLXQUERYMAXSWAPBARRIERSSGIXPROC) (Display *dpy, int screen, int *max); + +#define glXBindSwapBarrierSGIX GLXEW_GET_FUN(__glewXBindSwapBarrierSGIX) +#define glXQueryMaxSwapBarriersSGIX GLXEW_GET_FUN(__glewXQueryMaxSwapBarriersSGIX) + +#define GLXEW_SGIX_swap_barrier GLXEW_GET_VAR(__GLXEW_SGIX_swap_barrier) + +#endif /* GLX_SGIX_swap_barrier */ + +/* -------------------------- GLX_SGIX_swap_group -------------------------- */ + +#ifndef GLX_SGIX_swap_group +#define GLX_SGIX_swap_group 1 + +typedef void ( * PFNGLXJOINSWAPGROUPSGIXPROC) (Display *dpy, GLXDrawable drawable, GLXDrawable member); + +#define glXJoinSwapGroupSGIX GLXEW_GET_FUN(__glewXJoinSwapGroupSGIX) + +#define GLXEW_SGIX_swap_group GLXEW_GET_VAR(__GLXEW_SGIX_swap_group) + +#endif /* GLX_SGIX_swap_group */ + +/* ------------------------- GLX_SGIX_video_resize ------------------------- */ + +#ifndef GLX_SGIX_video_resize +#define GLX_SGIX_video_resize 1 + +#define GLX_SYNC_FRAME_SGIX 0x00000000 +#define GLX_SYNC_SWAP_SGIX 0x00000001 + +typedef int ( * PFNGLXBINDCHANNELTOWINDOWSGIXPROC) (Display* display, int screen, int channel, Window window); +typedef int ( * PFNGLXCHANNELRECTSGIXPROC) (Display* display, int screen, int channel, int x, int y, int w, int h); +typedef int ( * PFNGLXCHANNELRECTSYNCSGIXPROC) (Display* display, int screen, int channel, GLenum synctype); +typedef int ( * PFNGLXQUERYCHANNELDELTASSGIXPROC) (Display* display, int screen, int channel, int *x, int *y, int *w, int *h); +typedef int ( * PFNGLXQUERYCHANNELRECTSGIXPROC) (Display* display, int screen, int channel, int *dx, int *dy, int *dw, int *dh); + +#define glXBindChannelToWindowSGIX GLXEW_GET_FUN(__glewXBindChannelToWindowSGIX) +#define glXChannelRectSGIX GLXEW_GET_FUN(__glewXChannelRectSGIX) +#define glXChannelRectSyncSGIX GLXEW_GET_FUN(__glewXChannelRectSyncSGIX) +#define glXQueryChannelDeltasSGIX GLXEW_GET_FUN(__glewXQueryChannelDeltasSGIX) +#define glXQueryChannelRectSGIX GLXEW_GET_FUN(__glewXQueryChannelRectSGIX) + +#define GLXEW_SGIX_video_resize GLXEW_GET_VAR(__GLXEW_SGIX_video_resize) + +#endif /* GLX_SGIX_video_resize */ + +/* ---------------------- GLX_SGIX_visual_select_group --------------------- */ + +#ifndef GLX_SGIX_visual_select_group +#define GLX_SGIX_visual_select_group 1 + +#define GLX_VISUAL_SELECT_GROUP_SGIX 0x8028 + +#define GLXEW_SGIX_visual_select_group GLXEW_GET_VAR(__GLXEW_SGIX_visual_select_group) + +#endif /* GLX_SGIX_visual_select_group */ + +/* ---------------------------- GLX_SGI_cushion ---------------------------- */ + +#ifndef GLX_SGI_cushion +#define GLX_SGI_cushion 1 + +typedef void ( * PFNGLXCUSHIONSGIPROC) (Display* dpy, Window window, float cushion); + +#define glXCushionSGI GLXEW_GET_FUN(__glewXCushionSGI) + +#define GLXEW_SGI_cushion GLXEW_GET_VAR(__GLXEW_SGI_cushion) + +#endif /* GLX_SGI_cushion */ + +/* ----------------------- GLX_SGI_make_current_read ----------------------- */ + +#ifndef GLX_SGI_make_current_read +#define GLX_SGI_make_current_read 1 + +typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLESGIPROC) (void); +typedef Bool ( * PFNGLXMAKECURRENTREADSGIPROC) (Display* dpy, GLXDrawable draw, GLXDrawable read, GLXContext ctx); + +#define glXGetCurrentReadDrawableSGI GLXEW_GET_FUN(__glewXGetCurrentReadDrawableSGI) +#define glXMakeCurrentReadSGI GLXEW_GET_FUN(__glewXMakeCurrentReadSGI) + +#define GLXEW_SGI_make_current_read GLXEW_GET_VAR(__GLXEW_SGI_make_current_read) + +#endif /* GLX_SGI_make_current_read */ + +/* -------------------------- GLX_SGI_swap_control ------------------------- */ + +#ifndef GLX_SGI_swap_control +#define GLX_SGI_swap_control 1 + +typedef int ( * PFNGLXSWAPINTERVALSGIPROC) (int interval); + +#define glXSwapIntervalSGI GLXEW_GET_FUN(__glewXSwapIntervalSGI) + +#define GLXEW_SGI_swap_control GLXEW_GET_VAR(__GLXEW_SGI_swap_control) + +#endif /* GLX_SGI_swap_control */ + +/* --------------------------- GLX_SGI_video_sync -------------------------- */ + +#ifndef GLX_SGI_video_sync +#define GLX_SGI_video_sync 1 + +typedef int ( * PFNGLXGETVIDEOSYNCSGIPROC) (unsigned int* count); +typedef int ( * PFNGLXWAITVIDEOSYNCSGIPROC) (int divisor, int remainder, unsigned int* count); + +#define glXGetVideoSyncSGI GLXEW_GET_FUN(__glewXGetVideoSyncSGI) +#define glXWaitVideoSyncSGI GLXEW_GET_FUN(__glewXWaitVideoSyncSGI) + +#define GLXEW_SGI_video_sync GLXEW_GET_VAR(__GLXEW_SGI_video_sync) + +#endif /* GLX_SGI_video_sync */ + +/* --------------------- GLX_SUN_get_transparent_index --------------------- */ + +#ifndef GLX_SUN_get_transparent_index +#define GLX_SUN_get_transparent_index 1 + +typedef Status ( * PFNGLXGETTRANSPARENTINDEXSUNPROC) (Display* dpy, Window overlay, Window underlay, unsigned long *pTransparentIndex); + +#define glXGetTransparentIndexSUN GLXEW_GET_FUN(__glewXGetTransparentIndexSUN) + +#define GLXEW_SUN_get_transparent_index GLXEW_GET_VAR(__GLXEW_SUN_get_transparent_index) + +#endif /* GLX_SUN_get_transparent_index */ + +/* -------------------------- GLX_SUN_video_resize ------------------------- */ + +#ifndef GLX_SUN_video_resize +#define GLX_SUN_video_resize 1 + +#define GLX_VIDEO_RESIZE_SUN 0x8171 +#define GL_VIDEO_RESIZE_COMPENSATION_SUN 0x85CD + +typedef int ( * PFNGLXGETVIDEORESIZESUNPROC) (Display* display, GLXDrawable window, float* factor); +typedef int ( * PFNGLXVIDEORESIZESUNPROC) (Display* display, GLXDrawable window, float factor); + +#define glXGetVideoResizeSUN GLXEW_GET_FUN(__glewXGetVideoResizeSUN) +#define glXVideoResizeSUN GLXEW_GET_FUN(__glewXVideoResizeSUN) + +#define GLXEW_SUN_video_resize GLXEW_GET_VAR(__GLXEW_SUN_video_resize) + +#endif /* GLX_SUN_video_resize */ + +/* ------------------------------------------------------------------------- */ + +#ifdef GLEW_MX +#define GLXEW_EXPORT +#else +#define GLXEW_EXPORT extern +#endif /* GLEW_MX */ + +extern PFNGLXGETCURRENTDISPLAYPROC __glewXGetCurrentDisplay; + +extern PFNGLXCHOOSEFBCONFIGPROC __glewXChooseFBConfig; +extern PFNGLXCREATENEWCONTEXTPROC __glewXCreateNewContext; +extern PFNGLXCREATEPBUFFERPROC __glewXCreatePbuffer; +extern PFNGLXCREATEPIXMAPPROC __glewXCreatePixmap; +extern PFNGLXCREATEWINDOWPROC __glewXCreateWindow; +extern PFNGLXDESTROYPBUFFERPROC __glewXDestroyPbuffer; +extern PFNGLXDESTROYPIXMAPPROC __glewXDestroyPixmap; +extern PFNGLXDESTROYWINDOWPROC __glewXDestroyWindow; +extern PFNGLXGETCURRENTREADDRAWABLEPROC __glewXGetCurrentReadDrawable; +extern PFNGLXGETFBCONFIGATTRIBPROC __glewXGetFBConfigAttrib; +extern PFNGLXGETFBCONFIGSPROC __glewXGetFBConfigs; +extern PFNGLXGETSELECTEDEVENTPROC __glewXGetSelectedEvent; +extern PFNGLXGETVISUALFROMFBCONFIGPROC __glewXGetVisualFromFBConfig; +extern PFNGLXMAKECONTEXTCURRENTPROC __glewXMakeContextCurrent; +extern PFNGLXQUERYCONTEXTPROC __glewXQueryContext; +extern PFNGLXQUERYDRAWABLEPROC __glewXQueryDrawable; +extern PFNGLXSELECTEVENTPROC __glewXSelectEvent; + +extern PFNGLXCREATECONTEXTATTRIBSARBPROC __glewXCreateContextAttribsARB; + +extern PFNGLXBINDTEXIMAGEATIPROC __glewXBindTexImageATI; +extern PFNGLXDRAWABLEATTRIBATIPROC __glewXDrawableAttribATI; +extern PFNGLXRELEASETEXIMAGEATIPROC __glewXReleaseTexImageATI; + +extern PFNGLXFREECONTEXTEXTPROC __glewXFreeContextEXT; +extern PFNGLXGETCONTEXTIDEXTPROC __glewXGetContextIDEXT; +extern PFNGLXIMPORTCONTEXTEXTPROC __glewXImportContextEXT; +extern PFNGLXQUERYCONTEXTINFOEXTPROC __glewXQueryContextInfoEXT; + +extern PFNGLXSWAPINTERVALEXTPROC __glewXSwapIntervalEXT; + +extern PFNGLXBINDTEXIMAGEEXTPROC __glewXBindTexImageEXT; +extern PFNGLXRELEASETEXIMAGEEXTPROC __glewXReleaseTexImageEXT; + +extern PFNGLXGETAGPOFFSETMESAPROC __glewXGetAGPOffsetMESA; + +extern PFNGLXCOPYSUBBUFFERMESAPROC __glewXCopySubBufferMESA; + +extern PFNGLXCREATEGLXPIXMAPMESAPROC __glewXCreateGLXPixmapMESA; + +extern PFNGLXRELEASEBUFFERSMESAPROC __glewXReleaseBuffersMESA; + +extern PFNGLXSET3DFXMODEMESAPROC __glewXSet3DfxModeMESA; + +extern PFNGLXGETSWAPINTERVALMESAPROC __glewXGetSwapIntervalMESA; +extern PFNGLXSWAPINTERVALMESAPROC __glewXSwapIntervalMESA; + +extern PFNGLXCOPYIMAGESUBDATANVPROC __glewXCopyImageSubDataNV; + +extern PFNGLXBINDVIDEODEVICENVPROC __glewXBindVideoDeviceNV; +extern PFNGLXENUMERATEVIDEODEVICESNVPROC __glewXEnumerateVideoDevicesNV; + +extern PFNGLXBINDSWAPBARRIERNVPROC __glewXBindSwapBarrierNV; +extern PFNGLXJOINSWAPGROUPNVPROC __glewXJoinSwapGroupNV; +extern PFNGLXQUERYFRAMECOUNTNVPROC __glewXQueryFrameCountNV; +extern PFNGLXQUERYMAXSWAPGROUPSNVPROC __glewXQueryMaxSwapGroupsNV; +extern PFNGLXQUERYSWAPGROUPNVPROC __glewXQuerySwapGroupNV; +extern PFNGLXRESETFRAMECOUNTNVPROC __glewXResetFrameCountNV; + +extern PFNGLXALLOCATEMEMORYNVPROC __glewXAllocateMemoryNV; +extern PFNGLXFREEMEMORYNVPROC __glewXFreeMemoryNV; + +extern PFNGLXBINDVIDEOCAPTUREDEVICENVPROC __glewXBindVideoCaptureDeviceNV; +extern PFNGLXENUMERATEVIDEOCAPTUREDEVICESNVPROC __glewXEnumerateVideoCaptureDevicesNV; +extern PFNGLXLOCKVIDEOCAPTUREDEVICENVPROC __glewXLockVideoCaptureDeviceNV; +extern PFNGLXQUERYVIDEOCAPTUREDEVICENVPROC __glewXQueryVideoCaptureDeviceNV; +extern PFNGLXRELEASEVIDEOCAPTUREDEVICENVPROC __glewXReleaseVideoCaptureDeviceNV; + +extern PFNGLXBINDVIDEOIMAGENVPROC __glewXBindVideoImageNV; +extern PFNGLXGETVIDEODEVICENVPROC __glewXGetVideoDeviceNV; +extern PFNGLXGETVIDEOINFONVPROC __glewXGetVideoInfoNV; +extern PFNGLXRELEASEVIDEODEVICENVPROC __glewXReleaseVideoDeviceNV; +extern PFNGLXRELEASEVIDEOIMAGENVPROC __glewXReleaseVideoImageNV; +extern PFNGLXSENDPBUFFERTOVIDEONVPROC __glewXSendPbufferToVideoNV; + +extern PFNGLXGETMSCRATEOMLPROC __glewXGetMscRateOML; +extern PFNGLXGETSYNCVALUESOMLPROC __glewXGetSyncValuesOML; +extern PFNGLXSWAPBUFFERSMSCOMLPROC __glewXSwapBuffersMscOML; +extern PFNGLXWAITFORMSCOMLPROC __glewXWaitForMscOML; +extern PFNGLXWAITFORSBCOMLPROC __glewXWaitForSbcOML; + +extern PFNGLXCHOOSEFBCONFIGSGIXPROC __glewXChooseFBConfigSGIX; +extern PFNGLXCREATECONTEXTWITHCONFIGSGIXPROC __glewXCreateContextWithConfigSGIX; +extern PFNGLXCREATEGLXPIXMAPWITHCONFIGSGIXPROC __glewXCreateGLXPixmapWithConfigSGIX; +extern PFNGLXGETFBCONFIGATTRIBSGIXPROC __glewXGetFBConfigAttribSGIX; +extern PFNGLXGETFBCONFIGFROMVISUALSGIXPROC __glewXGetFBConfigFromVisualSGIX; +extern PFNGLXGETVISUALFROMFBCONFIGSGIXPROC __glewXGetVisualFromFBConfigSGIX; + +extern PFNGLXBINDHYPERPIPESGIXPROC __glewXBindHyperpipeSGIX; +extern PFNGLXDESTROYHYPERPIPECONFIGSGIXPROC __glewXDestroyHyperpipeConfigSGIX; +extern PFNGLXHYPERPIPEATTRIBSGIXPROC __glewXHyperpipeAttribSGIX; +extern PFNGLXHYPERPIPECONFIGSGIXPROC __glewXHyperpipeConfigSGIX; +extern PFNGLXQUERYHYPERPIPEATTRIBSGIXPROC __glewXQueryHyperpipeAttribSGIX; +extern PFNGLXQUERYHYPERPIPEBESTATTRIBSGIXPROC __glewXQueryHyperpipeBestAttribSGIX; +extern PFNGLXQUERYHYPERPIPECONFIGSGIXPROC __glewXQueryHyperpipeConfigSGIX; +extern PFNGLXQUERYHYPERPIPENETWORKSGIXPROC __glewXQueryHyperpipeNetworkSGIX; + +extern PFNGLXCREATEGLXPBUFFERSGIXPROC __glewXCreateGLXPbufferSGIX; +extern PFNGLXDESTROYGLXPBUFFERSGIXPROC __glewXDestroyGLXPbufferSGIX; +extern PFNGLXGETSELECTEDEVENTSGIXPROC __glewXGetSelectedEventSGIX; +extern PFNGLXQUERYGLXPBUFFERSGIXPROC __glewXQueryGLXPbufferSGIX; +extern PFNGLXSELECTEVENTSGIXPROC __glewXSelectEventSGIX; + +extern PFNGLXBINDSWAPBARRIERSGIXPROC __glewXBindSwapBarrierSGIX; +extern PFNGLXQUERYMAXSWAPBARRIERSSGIXPROC __glewXQueryMaxSwapBarriersSGIX; + +extern PFNGLXJOINSWAPGROUPSGIXPROC __glewXJoinSwapGroupSGIX; + +extern PFNGLXBINDCHANNELTOWINDOWSGIXPROC __glewXBindChannelToWindowSGIX; +extern PFNGLXCHANNELRECTSGIXPROC __glewXChannelRectSGIX; +extern PFNGLXCHANNELRECTSYNCSGIXPROC __glewXChannelRectSyncSGIX; +extern PFNGLXQUERYCHANNELDELTASSGIXPROC __glewXQueryChannelDeltasSGIX; +extern PFNGLXQUERYCHANNELRECTSGIXPROC __glewXQueryChannelRectSGIX; + +extern PFNGLXCUSHIONSGIPROC __glewXCushionSGI; + +extern PFNGLXGETCURRENTREADDRAWABLESGIPROC __glewXGetCurrentReadDrawableSGI; +extern PFNGLXMAKECURRENTREADSGIPROC __glewXMakeCurrentReadSGI; + +extern PFNGLXSWAPINTERVALSGIPROC __glewXSwapIntervalSGI; + +extern PFNGLXGETVIDEOSYNCSGIPROC __glewXGetVideoSyncSGI; +extern PFNGLXWAITVIDEOSYNCSGIPROC __glewXWaitVideoSyncSGI; + +extern PFNGLXGETTRANSPARENTINDEXSUNPROC __glewXGetTransparentIndexSUN; + +extern PFNGLXGETVIDEORESIZESUNPROC __glewXGetVideoResizeSUN; +extern PFNGLXVIDEORESIZESUNPROC __glewXVideoResizeSUN; + +#if defined(GLEW_MX) +struct GLXEWContextStruct +{ +#endif /* GLEW_MX */ + +GLXEW_EXPORT GLboolean __GLXEW_VERSION_1_0; +GLXEW_EXPORT GLboolean __GLXEW_VERSION_1_1; +GLXEW_EXPORT GLboolean __GLXEW_VERSION_1_2; +GLXEW_EXPORT GLboolean __GLXEW_VERSION_1_3; +GLXEW_EXPORT GLboolean __GLXEW_VERSION_1_4; +GLXEW_EXPORT GLboolean __GLXEW_3DFX_multisample; +GLXEW_EXPORT GLboolean __GLXEW_AMD_gpu_association; +GLXEW_EXPORT GLboolean __GLXEW_ARB_create_context; +GLXEW_EXPORT GLboolean __GLXEW_ARB_create_context_profile; +GLXEW_EXPORT GLboolean __GLXEW_ARB_create_context_robustness; +GLXEW_EXPORT GLboolean __GLXEW_ARB_fbconfig_float; +GLXEW_EXPORT GLboolean __GLXEW_ARB_framebuffer_sRGB; +GLXEW_EXPORT GLboolean __GLXEW_ARB_get_proc_address; +GLXEW_EXPORT GLboolean __GLXEW_ARB_multisample; +GLXEW_EXPORT GLboolean __GLXEW_ARB_vertex_buffer_object; +GLXEW_EXPORT GLboolean __GLXEW_ATI_pixel_format_float; +GLXEW_EXPORT GLboolean __GLXEW_ATI_render_texture; +GLXEW_EXPORT GLboolean __GLXEW_EXT_create_context_es2_profile; +GLXEW_EXPORT GLboolean __GLXEW_EXT_fbconfig_packed_float; +GLXEW_EXPORT GLboolean __GLXEW_EXT_framebuffer_sRGB; +GLXEW_EXPORT GLboolean __GLXEW_EXT_import_context; +GLXEW_EXPORT GLboolean __GLXEW_EXT_scene_marker; +GLXEW_EXPORT GLboolean __GLXEW_EXT_swap_control; +GLXEW_EXPORT GLboolean __GLXEW_EXT_texture_from_pixmap; +GLXEW_EXPORT GLboolean __GLXEW_EXT_visual_info; +GLXEW_EXPORT GLboolean __GLXEW_EXT_visual_rating; +GLXEW_EXPORT GLboolean __GLXEW_INTEL_swap_event; +GLXEW_EXPORT GLboolean __GLXEW_MESA_agp_offset; +GLXEW_EXPORT GLboolean __GLXEW_MESA_copy_sub_buffer; +GLXEW_EXPORT GLboolean __GLXEW_MESA_pixmap_colormap; +GLXEW_EXPORT GLboolean __GLXEW_MESA_release_buffers; +GLXEW_EXPORT GLboolean __GLXEW_MESA_set_3dfx_mode; +GLXEW_EXPORT GLboolean __GLXEW_MESA_swap_control; +GLXEW_EXPORT GLboolean __GLXEW_NV_copy_image; +GLXEW_EXPORT GLboolean __GLXEW_NV_float_buffer; +GLXEW_EXPORT GLboolean __GLXEW_NV_multisample_coverage; +GLXEW_EXPORT GLboolean __GLXEW_NV_present_video; +GLXEW_EXPORT GLboolean __GLXEW_NV_swap_group; +GLXEW_EXPORT GLboolean __GLXEW_NV_vertex_array_range; +GLXEW_EXPORT GLboolean __GLXEW_NV_video_capture; +GLXEW_EXPORT GLboolean __GLXEW_NV_video_output; +GLXEW_EXPORT GLboolean __GLXEW_OML_swap_method; +GLXEW_EXPORT GLboolean __GLXEW_OML_sync_control; +GLXEW_EXPORT GLboolean __GLXEW_SGIS_blended_overlay; +GLXEW_EXPORT GLboolean __GLXEW_SGIS_color_range; +GLXEW_EXPORT GLboolean __GLXEW_SGIS_multisample; +GLXEW_EXPORT GLboolean __GLXEW_SGIS_shared_multisample; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_fbconfig; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_hyperpipe; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_pbuffer; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_swap_barrier; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_swap_group; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_video_resize; +GLXEW_EXPORT GLboolean __GLXEW_SGIX_visual_select_group; +GLXEW_EXPORT GLboolean __GLXEW_SGI_cushion; +GLXEW_EXPORT GLboolean __GLXEW_SGI_make_current_read; +GLXEW_EXPORT GLboolean __GLXEW_SGI_swap_control; +GLXEW_EXPORT GLboolean __GLXEW_SGI_video_sync; +GLXEW_EXPORT GLboolean __GLXEW_SUN_get_transparent_index; +GLXEW_EXPORT GLboolean __GLXEW_SUN_video_resize; + +#ifdef GLEW_MX +}; /* GLXEWContextStruct */ +#endif /* GLEW_MX */ + +/* ------------------------------------------------------------------------ */ + +#ifdef GLEW_MX + +typedef struct GLXEWContextStruct GLXEWContext; +extern GLenum glxewContextInit (GLXEWContext* ctx); +extern GLboolean glxewContextIsSupported (const GLXEWContext* ctx, const char* name); + +#define glxewInit() glxewContextInit(glxewGetContext()) +#define glxewIsSupported(x) glxewContextIsSupported(glxewGetContext(), x) + +#define GLXEW_GET_VAR(x) (*(const GLboolean*)&(glxewGetContext()->x)) +#define GLXEW_GET_FUN(x) x + +#else /* GLEW_MX */ + +#define GLXEW_GET_VAR(x) (*(const GLboolean*)&x) +#define GLXEW_GET_FUN(x) x + +extern GLboolean glxewIsSupported (const char* name); + +#endif /* GLEW_MX */ + +extern GLboolean glxewGetExtension (const char* name); + +#ifdef __cplusplus +} +#endif + +#endif /* __glxew_h__ */ diff --git a/Code/Physics/Glut/GL/glxext.h b/Code/Physics/Glut/GL/glxext.h new file mode 100644 index 00000000..b3de958d --- /dev/null +++ b/Code/Physics/Glut/GL/glxext.h @@ -0,0 +1,546 @@ +#ifndef __glxext_h_ +#define __glxext_h_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** License Applicability. Except to the extent portions of this file are +** made subject to an alternative license as permitted in the SGI Free +** Software License B, Version 1.1 (the "License"), the contents of this +** file are subject only to the provisions of the License. You may not use +** this file except in compliance with the License. You may obtain a copy +** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600 +** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at: +** +** http://oss.sgi.com/projects/FreeB +** +** Note that, as provided in the License, the Software is distributed on an +** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS +** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND +** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A +** PARTICULAR PURPOSE, AND NON-INFRINGEMENT. +** +** Original Code. The Original Code is: OpenGL Sample Implementation, +** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics, +** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc. +** Copyright in any portions created by third parties is as indicated +** elsewhere herein. All Rights Reserved. +** +** Additional Notice Provisions: This software was created using the +** OpenGL(R) version 1.2.1 Sample Implementation published by SGI, but has +** not been independently verified as being compliant with the OpenGL(R) +** version 1.2.1 Specification. +*/ + +#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) +#define WIN32_LEAN_AND_MEAN 1 +#include +#else +#include +#endif + +#ifndef APIENTRY +#define APIENTRY +#endif + + +/*************************************************************/ + +/* Header file version number, required by OpenGL ABI for Linux */ +#define GLX_GLXEXT_VERSION 2 + +#ifndef GLX_VERSION_1_3 +#define GLX_WINDOW_BIT 0x00000001 +#define GLX_PIXMAP_BIT 0x00000002 +#define GLX_PBUFFER_BIT 0x00000004 +#define GLX_RGBA_BIT 0x00000001 +#define GLX_COLOR_INDEX_BIT 0x00000002 +#define GLX_PBUFFER_CLOBBER_MASK 0x08000000 +#define GLX_FRONT_LEFT_BUFFER_BIT 0x00000001 +#define GLX_FRONT_RIGHT_BUFFER_BIT 0x00000002 +#define GLX_BACK_LEFT_BUFFER_BIT 0x00000004 +#define GLX_BACK_RIGHT_BUFFER_BIT 0x00000008 +#define GLX_AUX_BUFFERS_BIT 0x00000010 +#define GLX_DEPTH_BUFFER_BIT 0x00000020 +#define GLX_STENCIL_BUFFER_BIT 0x00000040 +#define GLX_ACCUM_BUFFER_BIT 0x00000080 +#define GLX_CONFIG_CAVEAT 0x20 +#define GLX_X_VISUAL_TYPE 0x22 +#define GLX_TRANSPARENT_TYPE 0x23 +#define GLX_TRANSPARENT_INDEX_VALUE 0x24 +#define GLX_TRANSPARENT_RED_VALUE 0x25 +#define GLX_TRANSPARENT_GREEN_VALUE 0x26 +#define GLX_TRANSPARENT_BLUE_VALUE 0x27 +#define GLX_TRANSPARENT_ALPHA_VALUE 0x28 +#define GLX_DONT_CARE 0xFFFFFFFF +#define GLX_NONE 0x8000 +#define GLX_SLOW_CONFIG 0x8001 +#define GLX_TRUE_COLOR 0x8002 +#define GLX_DIRECT_COLOR 0x8003 +#define GLX_PSEUDO_COLOR 0x8004 +#define GLX_STATIC_COLOR 0x8005 +#define GLX_GRAY_SCALE 0x8006 +#define GLX_STATIC_GRAY 0x8007 +#define GLX_TRANSPARENT_RGB 0x8008 +#define GLX_TRANSPARENT_INDEX 0x8009 +#define GLX_VISUAL_ID 0x800B +#define GLX_SCREEN 0x800C +#define GLX_NON_CONFORMANT_CONFIG 0x800D +#define GLX_DRAWABLE_TYPE 0x8010 +#define GLX_RENDER_TYPE 0x8011 +#define GLX_X_RENDERABLE 0x8012 +#define GLX_FBCONFIG_ID 0x8013 +#define GLX_RGBA_TYPE 0x8014 +#define GLX_COLOR_INDEX_TYPE 0x8015 +#define GLX_MAX_PBUFFER_WIDTH 0x8016 +#define GLX_MAX_PBUFFER_HEIGHT 0x8017 +#define GLX_MAX_PBUFFER_PIXELS 0x8018 +#define GLX_PRESERVED_CONTENTS 0x801B +#define GLX_LARGEST_PBUFFER 0x801C +#define GLX_WIDTH 0x801D +#define GLX_HEIGHT 0x801E +#define GLX_EVENT_MASK 0x801F +#define GLX_DAMAGED 0x8020 +#define GLX_SAVED 0x8021 +#define GLX_WINDOW 0x8022 +#define GLX_PBUFFER 0x8023 +#define GLX_PBUFFER_HEIGHT 0x8040 +#define GLX_PBUFFER_WIDTH 0x8041 +#endif + +#ifndef GLX_EXT_visual_info +#define GLX_X_VISUAL_TYPE_EXT 0x22 +#define GLX_TRANSPARENT_TYPE_EXT 0x23 +#define GLX_TRANSPARENT_INDEX_VALUE_EXT 0x24 +#define GLX_TRANSPARENT_RED_VALUE_EXT 0x25 +#define GLX_TRANSPARENT_GREEN_VALUE_EXT 0x26 +#define GLX_TRANSPARENT_BLUE_VALUE_EXT 0x27 +#define GLX_TRANSPARENT_ALPHA_VALUE_EXT 0x28 +#define GLX_NONE_EXT 0x8000 +#define GLX_TRUE_COLOR_EXT 0x8002 +#define GLX_DIRECT_COLOR_EXT 0x8003 +#define GLX_PSEUDO_COLOR_EXT 0x8004 +#define GLX_STATIC_COLOR_EXT 0x8005 +#define GLX_GRAY_SCALE_EXT 0x8006 +#define GLX_STATIC_GRAY_EXT 0x8007 +#define GLX_TRANSPARENT_RGB_EXT 0x8008 +#define GLX_TRANSPARENT_INDEX_EXT 0x8009 +#endif + +#ifndef GLX_SGI_swap_control +#endif + +#ifndef GLX_SGI_video_sync +#endif + +#ifndef GLX_SGI_make_current_read +#endif + +#ifndef GLX_SGIX_video_source +#endif + +#ifndef GLX_EXT_visual_rating +#define GLX_VISUAL_CAVEAT_EXT 0x20 +#define GLX_SLOW_VISUAL_EXT 0x8001 +#define GLX_NON_CONFORMANT_VISUAL_EXT 0x800D +/* reuse GLX_NONE_EXT */ +#endif + +#ifndef GLX_EXT_import_context +#define GLX_SHARE_CONTEXT_EXT 0x800A +#define GLX_VISUAL_ID_EXT 0x800B +#define GLX_SCREEN_EXT 0x800C +#endif + +#ifndef GLX_SGIX_fbconfig +#define GLX_WINDOW_BIT_SGIX 0x00000001 +#define GLX_PIXMAP_BIT_SGIX 0x00000002 +#define GLX_RGBA_BIT_SGIX 0x00000001 +#define GLX_COLOR_INDEX_BIT_SGIX 0x00000002 +#define GLX_DRAWABLE_TYPE_SGIX 0x8010 +#define GLX_RENDER_TYPE_SGIX 0x8011 +#define GLX_X_RENDERABLE_SGIX 0x8012 +#define GLX_FBCONFIG_ID_SGIX 0x8013 +#define GLX_RGBA_TYPE_SGIX 0x8014 +#define GLX_COLOR_INDEX_TYPE_SGIX 0x8015 +/* reuse GLX_SCREEN_EXT */ +#endif + +#ifndef GLX_SGIX_pbuffer +#define GLX_PBUFFER_BIT_SGIX 0x00000004 +#define GLX_BUFFER_CLOBBER_MASK_SGIX 0x08000000 +#define GLX_FRONT_LEFT_BUFFER_BIT_SGIX 0x00000001 +#define GLX_FRONT_RIGHT_BUFFER_BIT_SGIX 0x00000002 +#define GLX_BACK_LEFT_BUFFER_BIT_SGIX 0x00000004 +#define GLX_BACK_RIGHT_BUFFER_BIT_SGIX 0x00000008 +#define GLX_AUX_BUFFERS_BIT_SGIX 0x00000010 +#define GLX_DEPTH_BUFFER_BIT_SGIX 0x00000020 +#define GLX_STENCIL_BUFFER_BIT_SGIX 0x00000040 +#define GLX_ACCUM_BUFFER_BIT_SGIX 0x00000080 +#define GLX_SAMPLE_BUFFERS_BIT_SGIX 0x00000100 +#define GLX_MAX_PBUFFER_WIDTH_SGIX 0x8016 +#define GLX_MAX_PBUFFER_HEIGHT_SGIX 0x8017 +#define GLX_MAX_PBUFFER_PIXELS_SGIX 0x8018 +#define GLX_OPTIMAL_PBUFFER_WIDTH_SGIX 0x8019 +#define GLX_OPTIMAL_PBUFFER_HEIGHT_SGIX 0x801A +#define GLX_PRESERVED_CONTENTS_SGIX 0x801B +#define GLX_LARGEST_PBUFFER_SGIX 0x801C +#define GLX_WIDTH_SGIX 0x801D +#define GLX_HEIGHT_SGIX 0x801E +#define GLX_EVENT_MASK_SGIX 0x801F +#define GLX_DAMAGED_SGIX 0x8020 +#define GLX_SAVED_SGIX 0x8021 +#define GLX_WINDOW_SGIX 0x8022 +#define GLX_PBUFFER_SGIX 0x8023 +#endif + +#ifndef GLX_SGI_cushion +#endif + +#ifndef GLX_SGIX_video_resize +#define GLX_SYNC_FRAME_SGIX 0x00000000 +#define GLX_SYNC_SWAP_SGIX 0x00000001 +#endif + +#ifndef GLX_SGIX_dmbuffer +#define GLX_DIGITAL_MEDIA_PBUFFER_SGIX 0x8024 +#endif + +#ifndef GLX_SGIX_swap_group +#endif + +#ifndef GLX_SGIX_swap_barrier +#endif + +#ifndef GLX_SGIS_blended_overlay +#define GLX_BLENDED_RGBA_SGIS 0x8025 +#endif + +#ifndef GLX_SGIS_shared_multisample +#define GLX_MULTISAMPLE_SUB_RECT_WIDTH_SGIS 0x8026 +#define GLX_MULTISAMPLE_SUB_RECT_HEIGHT_SGIS 0x8027 +#endif + +#ifndef GLX_SUN_get_transparent_index +#endif + +#ifndef GLX_3DFX_multisample +#define GLX_SAMPLE_BUFFERS_3DFX 0x8050 +#define GLX_SAMPLES_3DFX 0x8051 +#endif + +#ifndef GLX_MESA_copy_sub_buffer +#endif + +#ifndef GLX_MESA_pixmap_colormap +#endif + +#ifndef GLX_MESA_release_buffers +#endif + +#ifndef GLX_MESA_set_3dfx_mode +#define GLX_3DFX_WINDOW_MODE_MESA 0x1 +#define GLX_3DFX_FULLSCREEN_MODE_MESA 0x2 +#endif + + +/*************************************************************/ + +#ifndef GLX_ARB_get_proc_address +typedef void (*__GLXextFuncPtr)(); +#endif + +#ifndef GLX_SGIX_video_source +typedef XID GLXVideoSourceSGIX; +#endif + +#ifndef GLX_SGIX_fbconfig +typedef XID GLXFBConfigIDSGIX; +typedef struct __GLXFBConfigRec *GLXFBConfigSGIX; +#endif + +#ifndef GLX_SGIX_pbuffer +typedef XID GLXPbufferSGIX; +typedef struct { + int type; + unsigned long serial; /* # of last request processed by server */ + Bool send_event; /* true if this came for SendEvent request */ + Display *display; /* display the event was read from */ + GLXDrawable drawable; /* i.d. of Drawable */ + int event_type; /* GLX_DAMAGED_SGIX or GLX_SAVED_SGIX */ + int draw_type; /* GLX_WINDOW_SGIX or GLX_PBUFFER_SGIX */ + unsigned int mask; /* mask indicating which buffers are affected*/ + int x, y; + int width, height; + int count; /* if nonzero, at least this many more */ +} GLXBufferClobberEventSGIX; +#endif + +#ifdef GL_NV_vertex_array_range +#ifndef PFNGLXALLOCATEMEMORYNVPROC +#ifdef GLX_GLXEXT_PROTOTYPES +extern void *glXAllocateMemoryNV (GLsizei, GLfloat, GLfloat, GLfloat); +#endif +typedef void * ( * PFNGLXALLOCATEMEMORYNVPROC) (GLsizei, GLfloat, GLfloat, GLfloat); +#endif +#ifndef PFNGLXFREEMEMORYNVPROC +#ifdef GLX_GLXEXT_PROTOTYPES +extern void glXFreeMemoryNV (void *); +#endif +typedef void ( * PFNGLXFREEMEMORYNVPROC) (void *); +#endif +#endif + +#ifndef GLX_VERSION_1_3 +#define GLX_VERSION_1_3 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern GLXFBConfig * glXGetFBConfigs (Display *, int, int *); +extern GLXFBConfig * glXChooseFBConfig (Display *, int, const int *, int *); +extern int glXGetFBConfigAttrib (Display *, GLXFBConfig, int, int *); +extern XVisualInfo * glXGetVisualFromFBConfig (Display *, GLXFBConfig); +extern GLXWindow glXCreateWindow (Display *, GLXFBConfig, Window, const int *); +extern void glXDestroyWindow (Display *, GLXWindow); +extern GLXPixmap glXCreatePixmap (Display *, GLXFBConfig, Pixmap, const int *); +extern void glXDestroyPixmap (Display *, GLXPixmap); +extern GLXPbuffer glXCreatePbuffer (Display *, GLXFBConfig, const int *); +extern void glXDestroyPbuffer (Display *, GLXPbuffer); +extern void glXQueryDrawable (Display *, GLXDrawable, int, unsigned int *); +extern GLXContext glXCreateNewContext (Display *, GLXFBConfig, int, GLXContext, Bool); +extern Bool glXMakeContextCurrent (Display *, GLXDrawable, GLXDrawable, GLXContext); +extern GLXDrawable glXGetCurrentReadDrawable (void); +extern Display * glXGetCurrentDisplay (void); +extern int glXQueryContext (Display *, GLXContext, int, int *); +extern void glXSelectEvent (Display *, GLXDrawable, unsigned long); +extern void glXGetSelectedEvent (Display *, GLXDrawable, unsigned long *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef GLXFBConfig * ( * PFNGLXGETFBCONFIGSPROC) (Display *dpy, int screen, int *nelements); +typedef GLXFBConfig * ( * PFNGLXCHOOSEFBCONFIGPROC) (Display *dpy, int screen, const int *attrib_list, int *nelements); +typedef int ( * PFNGLXGETFBCONFIGATTRIBPROC) (Display *dpy, GLXFBConfig config, int attribute, int *value); +typedef XVisualInfo * ( * PFNGLXGETVISUALFROMFBCONFIGPROC) (Display *dpy, GLXFBConfig config); +typedef GLXWindow ( * PFNGLXCREATEWINDOWPROC) (Display *dpy, GLXFBConfig config, Window win, const int *attrib_list); +typedef void ( * PFNGLXDESTROYWINDOWPROC) (Display *dpy, GLXWindow win); +typedef GLXPixmap ( * PFNGLXCREATEPIXMAPPROC) (Display *dpy, GLXFBConfig config, Pixmap pixmap, const int *attrib_list); +typedef void ( * PFNGLXDESTROYPIXMAPPROC) (Display *dpy, GLXPixmap pixmap); +typedef GLXPbuffer ( * PFNGLXCREATEPBUFFERPROC) (Display *dpy, GLXFBConfig config, const int *attrib_list); +typedef void ( * PFNGLXDESTROYPBUFFERPROC) (Display *dpy, GLXPbuffer pbuf); +typedef void ( * PFNGLXQUERYDRAWABLEPROC) (Display *dpy, GLXDrawable draw, int attribute, unsigned int *value); +typedef GLXContext ( * PFNGLXCREATENEWCONTEXTPROC) (Display *dpy, GLXFBConfig config, int render_type, GLXContext share_list, Bool direct); +typedef Bool ( * PFNGLXMAKECONTEXTCURRENTPROC) (Display *dpy, GLXDrawable draw, GLXDrawable read, GLXContext ctx); +typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLEPROC) (void); +typedef Display * ( * PFNGLXGETCURRENTDISPLAYPROC) (void); +typedef int ( * PFNGLXQUERYCONTEXTPROC) (Display *dpy, GLXContext ctx, int attribute, int *value); +typedef void ( * PFNGLXSELECTEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long event_mask); +typedef void ( * PFNGLXGETSELECTEDEVENTPROC) (Display *dpy, GLXDrawable draw, unsigned long *event_mask); +#endif + +#ifndef GLX_ARB_get_proc_address +#define GLX_ARB_get_proc_address 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern __GLXextFuncPtr glXGetProcAddressARB (const GLubyte *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef __GLXextFuncPtr ( * PFNGLXGETPROCADDRESSARBPROC) (const GLubyte *procName); +#endif + +#ifndef GLX_SGIS_multisample +#define GLX_SGIS_multisample 1 +#endif + +#ifndef GLX_EXT_visual_info +#define GLX_EXT_visual_info 1 +#endif + +#ifndef GLX_SGI_swap_control +#define GLX_SGI_swap_control 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern int glXSwapIntervalSGI (int); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef int ( * PFNGLXSWAPINTERVALSGIPROC) (int interval); +#endif + +#ifndef GLX_SGI_video_sync +#define GLX_SGI_video_sync 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern int glXGetVideoSyncSGI (unsigned int *); +extern int glXWaitVideoSyncSGI (int, int, unsigned int *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef int ( * PFNGLXGETVIDEOSYNCSGIPROC) (unsigned int *count); +typedef int ( * PFNGLXWAITVIDEOSYNCSGIPROC) (int divisor, int remainder, unsigned int *count); +#endif + +#ifndef GLX_SGI_make_current_read +#define GLX_SGI_make_current_read 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Bool glXMakeCurrentReadSGI (Display *, GLXDrawable, GLXDrawable, GLXContext); +extern GLXDrawable glXGetCurrentReadDrawableSGI (void); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Bool ( * PFNGLXMAKECURRENTREADSGIPROC) (Display *dpy, GLXDrawable draw, GLXDrawable read, GLXContext ctx); +typedef GLXDrawable ( * PFNGLXGETCURRENTREADDRAWABLESGIPROC) (void); +#endif + +#ifdef _VL_H +#ifndef GLX_SGIX_video_source +#define GLX_SGIX_video_source 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern GLXVideoSourceSGIX glXCreateGLXVideoSourceSGIX (Display *, int, VLServer, VLPath, int, VLNode); +extern void glXDestroyGLXVideoSourceSGIX (Display *, GLXVideoSourceSGIX); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef GLXVideoSourceSGIX ( * PFNGLXCREATEGLXVIDEOSOURCESGIXPROC) (Display *display, int screen, VLServer server, VLPath path, int nodeClass, VLNode drainNode); +typedef void ( * PFNGLXDESTROYGLXVIDEOSOURCESGIXPROC) (Display *dpy, GLXVideoSourceSGIX glxvideosource); +#endif + +#endif /* _VL_H */ +#ifndef GLX_EXT_visual_rating +#define GLX_EXT_visual_rating 1 +#endif + +#ifndef GLX_EXT_import_context +#define GLX_EXT_import_context 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Display * glXGetCurrentDisplayEXT (void); +extern int glXQueryContextInfoEXT (Display *, GLXContext, int, int *); +extern GLXContextID glXGetContextIDEXT (GLXContext); +extern GLXContext glXImportContextEXT (Display *, GLXContextID); +extern void glXFreeContextEXT (Display *, GLXContext); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Display * ( * PFNGLXGETCURRENTDISPLAYEXTPROC) (void); +typedef int ( * PFNGLXQUERYCONTEXTINFOEXTPROC) (Display *dpy, GLXContext context, int attribute, int *value); +typedef GLXContextID ( * PFNGLXGETCONTEXTIDEXTPROC) (GLXContext context); +typedef GLXContext ( * PFNGLXIMPORTCONTEXTEXTPROC) (Display *dpy, GLXContextID contextID); +typedef void ( * PFNGLXFREECONTEXTEXTPROC) (Display *dpy, GLXContext context); +#endif + +#ifndef GLX_SGIX_fbconfig +#define GLX_SGIX_fbconfig 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern int glXGetFBConfigAttribSGIX (Display *, GLXFBConfigSGIX, int, int *); +extern GLXFBConfigSGIX * glXChooseFBConfigSGIX (Display *, int, int *, int *); +extern GLXPixmap glXCreateGLXPixmapWithConfigSGIX (Display *, GLXFBConfigSGIX, Pixmap); +extern GLXContext glXCreateContextWithConfigSGIX (Display *, GLXFBConfigSGIX, int, GLXContext, Bool); +extern XVisualInfo * glXGetVisualFromFBConfigSGIX (Display *, GLXFBConfigSGIX); +extern GLXFBConfigSGIX glXGetFBConfigFromVisualSGIX (Display *, XVisualInfo *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef int ( * PFNGLXGETFBCONFIGATTRIBSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, int attribute, int *value); +typedef GLXFBConfigSGIX * ( * PFNGLXCHOOSEFBCONFIGSGIXPROC) (Display *dpy, int screen, int *attrib_list, int *nelements); +typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPWITHCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, Pixmap pixmap); +typedef GLXContext ( * PFNGLXCREATECONTEXTWITHCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, int render_type, GLXContext share_list, Bool direct); +typedef XVisualInfo * ( * PFNGLXGETVISUALFROMFBCONFIGSGIXPROC) (Display *dpy, GLXFBConfigSGIX config); +typedef GLXFBConfigSGIX ( * PFNGLXGETFBCONFIGFROMVISUALSGIXPROC) (Display *dpy, XVisualInfo *vis); +#endif + +#ifndef GLX_SGIX_pbuffer +#define GLX_SGIX_pbuffer 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern GLXPbufferSGIX glXCreateGLXPbufferSGIX (Display *, GLXFBConfigSGIX, unsigned int, unsigned int, int *); +extern void glXDestroyGLXPbufferSGIX (Display *, GLXPbufferSGIX); +extern int glXQueryGLXPbufferSGIX (Display *, GLXPbufferSGIX, int, unsigned int *); +extern void glXSelectEventSGIX (Display *, GLXDrawable, unsigned long); +extern void glXGetSelectedEventSGIX (Display *, GLXDrawable, unsigned long *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef GLXPbufferSGIX ( * PFNGLXCREATEGLXPBUFFERSGIXPROC) (Display *dpy, GLXFBConfigSGIX config, unsigned int width, unsigned int height, int *attrib_list); +typedef void ( * PFNGLXDESTROYGLXPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuf); +typedef int ( * PFNGLXQUERYGLXPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuf, int attribute, unsigned int *value); +typedef void ( * PFNGLXSELECTEVENTSGIXPROC) (Display *dpy, GLXDrawable drawable, unsigned long mask); +typedef void ( * PFNGLXGETSELECTEDEVENTSGIXPROC) (Display *dpy, GLXDrawable drawable, unsigned long *mask); +#endif + +#ifndef GLX_SGI_cushion +#define GLX_SGI_cushion 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern void glXCushionSGI (Display *, Window, float); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef void ( * PFNGLXCUSHIONSGIPROC) (Display *dpy, Window window, float cushion); +#endif + +#ifndef GLX_SGIX_video_resize +#define GLX_SGIX_video_resize 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern int glXBindChannelToWindowSGIX (Display *, int, int, Window); +extern int glXChannelRectSGIX (Display *, int, int, int, int, int, int); +extern int glXQueryChannelRectSGIX (Display *, int, int, int *, int *, int *, int *); +extern int glXQueryChannelDeltasSGIX (Display *, int, int, int *, int *, int *, int *); +extern int glXChannelRectSyncSGIX (Display *, int, int, GLenum); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef int ( * PFNGLXBINDCHANNELTOWINDOWSGIXPROC) (Display *display, int screen, int channel, Window window); +typedef int ( * PFNGLXCHANNELRECTSGIXPROC) (Display *display, int screen, int channel, int x, int y, int w, int h); +typedef int ( * PFNGLXQUERYCHANNELRECTSGIXPROC) (Display *display, int screen, int channel, int *dx, int *dy, int *dw, int *dh); +typedef int ( * PFNGLXQUERYCHANNELDELTASSGIXPROC) (Display *display, int screen, int channel, int *x, int *y, int *w, int *h); +typedef int ( * PFNGLXCHANNELRECTSYNCSGIXPROC) (Display *display, int screen, int channel, GLenum synctype); +#endif + +#ifdef _DM_BUFFER_H_ +#ifndef GLX_SGIX_dmbuffer +#define GLX_SGIX_dmbuffer 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Bool glXAssociateDMPbufferSGIX (Display *, GLXPbufferSGIX, DMparams *, DMbuffer); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Bool ( * PFNGLXASSOCIATEDMPBUFFERSGIXPROC) (Display *dpy, GLXPbufferSGIX pbuffer, DMparams *params, DMbuffer dmbuffer); +#endif + +#endif /* _DM_BUFFER_H_ */ +#ifndef GLX_SGIX_swap_group +#define GLX_SGIX_swap_group 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern void glXJoinSwapGroupSGIX (Display *, GLXDrawable, GLXDrawable); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef void ( * PFNGLXJOINSWAPGROUPSGIXPROC) (Display *dpy, GLXDrawable drawable, GLXDrawable member); +#endif + +#ifndef GLX_SGIX_swap_barrier +#define GLX_SGIX_swap_barrier 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern void glXBindSwapBarrierSGIX (Display *, GLXDrawable, int); +extern Bool glXQueryMaxSwapBarriersSGIX (Display *, int, int *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef void ( * PFNGLXBINDSWAPBARRIERSGIXPROC) (Display *dpy, GLXDrawable drawable, int barrier); +typedef Bool ( * PFNGLXQUERYMAXSWAPBARRIERSSGIXPROC) (Display *dpy, int screen, int *max); +#endif + +#ifndef GLX_SUN_get_transparent_index +#define GLX_SUN_get_transparent_index 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Status glXGetTransparentIndexSUN (Display *, Window, Window, long *); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Status ( * PFNGLXGETTRANSPARENTINDEXSUNPROC) (Display *dpy, Window overlay, Window underlay, long *pTransparentIndex); +#endif + +#ifndef GLX_MESA_copy_sub_buffer +#define GLX_MESA_copy_sub_buffer 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern void glXCopySubBufferMESA (Display *, GLXDrawable, int, int, int, int); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef void ( * PFNGLXCOPYSUBBUFFERMESAPROC) (Display *dpy, GLXDrawable drawable, int x, int y, int width, int height); +#endif + +#ifndef GLX_MESA_pixmap_colormap +#define GLX_MESA_pixmap_colormap 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern GLXPixmap glXCreateGLXPixmapMESA (Display *, XVisualInfo *, Pixmap, Colormap); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef GLXPixmap ( * PFNGLXCREATEGLXPIXMAPMESAPROC) (Display *dpy, XVisualInfo *visual, Pixmap pixmap, Colormap cmap); +#endif + +#ifndef GLX_MESA_release_buffers +#define GLX_MESA_release_buffers 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Bool glXReleaseBuffersMESA (Display *, GLXDrawable); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Bool ( * PFNGLXRELEASEBUFFERSMESAPROC) (Display *dpy, GLXDrawable drawable); +#endif + +#ifndef GLX_MESA_set_3dfx_mode +#define GLX_MESA_set_3dfx_mode 1 +#ifdef GLX_GLXEXT_PROTOTYPES +extern Bool glXSet3DfxModeMESA (int); +#endif /* GLX_GLXEXT_PROTOTYPES */ +typedef Bool ( * PFNGLXSET3DFXMODEMESAPROC) (int mode); +#endif + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/Code/Physics/Glut/GL/wglew.h b/Code/Physics/Glut/GL/wglew.h new file mode 100644 index 00000000..05f054fc --- /dev/null +++ b/Code/Physics/Glut/GL/wglew.h @@ -0,0 +1,1363 @@ +/* +** The OpenGL Extension Wrangler Library +** Copyright (C) 2002-2008, Milan Ikits +** Copyright (C) 2002-2008, Marcelo E. Magallon +** Copyright (C) 2002, Lev Povalahev +** All rights reserved. +** +** Redistribution and use in source and binary forms, with or without +** modification, are permitted provided that the following conditions are met: +** +** * Redistributions of source code must retain the above copyright notice, +** this list of conditions and the following disclaimer. +** * Redistributions in binary form must reproduce the above copyright notice, +** this list of conditions and the following disclaimer in the documentation +** and/or other materials provided with the distribution. +** * The name of the author may be used to endorse or promote products +** derived from this software without specific prior written permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +** ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +** LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +** CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +** SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +** INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +** CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +** ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF +** THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/* +** Copyright (c) 2007 The Khronos Group Inc. +** +** Permission is hereby granted, free of charge, to any person obtaining a +** copy of this software and/or associated documentation files (the +** "Materials"), to deal in the Materials without restriction, including +** without limitation the rights to use, copy, modify, merge, publish, +** distribute, sublicense, and/or sell copies of the Materials, and to +** permit persons to whom the Materials are furnished to do so, subject to +** the following conditions: +** +** The above copyright notice and this permission notice shall be included +** in all copies or substantial portions of the Materials. +** +** THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +** MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +** CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +** TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE +** MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. +*/ + +#ifndef __wglew_h__ +#define __wglew_h__ +#define __WGLEW_H__ + +#ifdef __wglext_h_ +#error wglext.h included before wglew.h +#endif + +#define __wglext_h_ + +#if !defined(WINAPI) +# ifndef WIN32_LEAN_AND_MEAN +# define WIN32_LEAN_AND_MEAN 1 +# endif +#include +# undef WIN32_LEAN_AND_MEAN +#endif + +/* + * GLEW_STATIC needs to be set when using the static version. + * GLEW_BUILD is set when building the DLL version. + */ +#ifdef GLEW_STATIC +# define GLEWAPI extern +#else +# ifdef GLEW_BUILD +# define GLEWAPI extern __declspec(dllexport) +# else +# define GLEWAPI extern __declspec(dllimport) +# endif +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/* -------------------------- WGL_3DFX_multisample ------------------------- */ + +#ifndef WGL_3DFX_multisample +#define WGL_3DFX_multisample 1 + +#define WGL_SAMPLE_BUFFERS_3DFX 0x2060 +#define WGL_SAMPLES_3DFX 0x2061 + +#define WGLEW_3DFX_multisample WGLEW_GET_VAR(__WGLEW_3DFX_multisample) + +#endif /* WGL_3DFX_multisample */ + +/* ------------------------- WGL_3DL_stereo_control ------------------------ */ + +#ifndef WGL_3DL_stereo_control +#define WGL_3DL_stereo_control 1 + +#define WGL_STEREO_EMITTER_ENABLE_3DL 0x2055 +#define WGL_STEREO_EMITTER_DISABLE_3DL 0x2056 +#define WGL_STEREO_POLARITY_NORMAL_3DL 0x2057 +#define WGL_STEREO_POLARITY_INVERT_3DL 0x2058 + +typedef BOOL (WINAPI * PFNWGLSETSTEREOEMITTERSTATE3DLPROC) (HDC hDC, UINT uState); + +#define wglSetStereoEmitterState3DL WGLEW_GET_FUN(__wglewSetStereoEmitterState3DL) + +#define WGLEW_3DL_stereo_control WGLEW_GET_VAR(__WGLEW_3DL_stereo_control) + +#endif /* WGL_3DL_stereo_control */ + +/* ------------------------ WGL_AMD_gpu_association ------------------------ */ + +#ifndef WGL_AMD_gpu_association +#define WGL_AMD_gpu_association 1 + +#define WGL_GPU_VENDOR_AMD 0x1F00 +#define WGL_GPU_RENDERER_STRING_AMD 0x1F01 +#define WGL_GPU_OPENGL_VERSION_STRING_AMD 0x1F02 +#define WGL_GPU_FASTEST_TARGET_GPUS_AMD 0x21A2 +#define WGL_GPU_RAM_AMD 0x21A3 +#define WGL_GPU_CLOCK_AMD 0x21A4 +#define WGL_GPU_NUM_PIPES_AMD 0x21A5 +#define WGL_GPU_NUM_SIMD_AMD 0x21A6 +#define WGL_GPU_NUM_RB_AMD 0x21A7 +#define WGL_GPU_NUM_SPI_AMD 0x21A8 + +typedef VOID (WINAPI * PFNWGLBLITCONTEXTFRAMEBUFFERAMDPROC) (HGLRC dstCtx, GLint srcX0, GLint srcY0, GLint srcX1, GLint srcY1, GLint dstX0, GLint dstY0, GLint dstX1, GLint dstY1, GLbitfield mask, GLenum filter); +typedef HGLRC (WINAPI * PFNWGLCREATEASSOCIATEDCONTEXTAMDPROC) (UINT id); +typedef HGLRC (WINAPI * PFNWGLCREATEASSOCIATEDCONTEXTATTRIBSAMDPROC) (UINT id, HGLRC hShareContext, const int* attribList); +typedef BOOL (WINAPI * PFNWGLDELETEASSOCIATEDCONTEXTAMDPROC) (HGLRC hglrc); +typedef UINT (WINAPI * PFNWGLGETCONTEXTGPUIDAMDPROC) (HGLRC hglrc); +typedef HGLRC (WINAPI * PFNWGLGETCURRENTASSOCIATEDCONTEXTAMDPROC) (void); +typedef UINT (WINAPI * PFNWGLGETGPUIDSAMDPROC) (UINT maxCount, UINT* ids); +typedef INT (WINAPI * PFNWGLGETGPUINFOAMDPROC) (UINT id, INT property, GLenum dataType, UINT size, void* data); +typedef BOOL (WINAPI * PFNWGLMAKEASSOCIATEDCONTEXTCURRENTAMDPROC) (HGLRC hglrc); + +#define wglBlitContextFramebufferAMD WGLEW_GET_FUN(__wglewBlitContextFramebufferAMD) +#define wglCreateAssociatedContextAMD WGLEW_GET_FUN(__wglewCreateAssociatedContextAMD) +#define wglCreateAssociatedContextAttribsAMD WGLEW_GET_FUN(__wglewCreateAssociatedContextAttribsAMD) +#define wglDeleteAssociatedContextAMD WGLEW_GET_FUN(__wglewDeleteAssociatedContextAMD) +#define wglGetContextGPUIDAMD WGLEW_GET_FUN(__wglewGetContextGPUIDAMD) +#define wglGetCurrentAssociatedContextAMD WGLEW_GET_FUN(__wglewGetCurrentAssociatedContextAMD) +#define wglGetGPUIDsAMD WGLEW_GET_FUN(__wglewGetGPUIDsAMD) +#define wglGetGPUInfoAMD WGLEW_GET_FUN(__wglewGetGPUInfoAMD) +#define wglMakeAssociatedContextCurrentAMD WGLEW_GET_FUN(__wglewMakeAssociatedContextCurrentAMD) + +#define WGLEW_AMD_gpu_association WGLEW_GET_VAR(__WGLEW_AMD_gpu_association) + +#endif /* WGL_AMD_gpu_association */ + +/* ------------------------- WGL_ARB_buffer_region ------------------------- */ + +#ifndef WGL_ARB_buffer_region +#define WGL_ARB_buffer_region 1 + +#define WGL_FRONT_COLOR_BUFFER_BIT_ARB 0x00000001 +#define WGL_BACK_COLOR_BUFFER_BIT_ARB 0x00000002 +#define WGL_DEPTH_BUFFER_BIT_ARB 0x00000004 +#define WGL_STENCIL_BUFFER_BIT_ARB 0x00000008 + +typedef HANDLE (WINAPI * PFNWGLCREATEBUFFERREGIONARBPROC) (HDC hDC, int iLayerPlane, UINT uType); +typedef VOID (WINAPI * PFNWGLDELETEBUFFERREGIONARBPROC) (HANDLE hRegion); +typedef BOOL (WINAPI * PFNWGLRESTOREBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height, int xSrc, int ySrc); +typedef BOOL (WINAPI * PFNWGLSAVEBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height); + +#define wglCreateBufferRegionARB WGLEW_GET_FUN(__wglewCreateBufferRegionARB) +#define wglDeleteBufferRegionARB WGLEW_GET_FUN(__wglewDeleteBufferRegionARB) +#define wglRestoreBufferRegionARB WGLEW_GET_FUN(__wglewRestoreBufferRegionARB) +#define wglSaveBufferRegionARB WGLEW_GET_FUN(__wglewSaveBufferRegionARB) + +#define WGLEW_ARB_buffer_region WGLEW_GET_VAR(__WGLEW_ARB_buffer_region) + +#endif /* WGL_ARB_buffer_region */ + +/* ------------------------- WGL_ARB_create_context ------------------------ */ + +#ifndef WGL_ARB_create_context +#define WGL_ARB_create_context 1 + +#define WGL_CONTEXT_DEBUG_BIT_ARB 0x0001 +#define WGL_CONTEXT_FORWARD_COMPATIBLE_BIT_ARB 0x0002 +#define WGL_CONTEXT_MAJOR_VERSION_ARB 0x2091 +#define WGL_CONTEXT_MINOR_VERSION_ARB 0x2092 +#define WGL_CONTEXT_LAYER_PLANE_ARB 0x2093 +#define WGL_CONTEXT_FLAGS_ARB 0x2094 +#define ERROR_INVALID_VERSION_ARB 0x2095 +#define ERROR_INVALID_PROFILE_ARB 0x2096 + +typedef HGLRC (WINAPI * PFNWGLCREATECONTEXTATTRIBSARBPROC) (HDC hDC, HGLRC hShareContext, const int* attribList); + +#define wglCreateContextAttribsARB WGLEW_GET_FUN(__wglewCreateContextAttribsARB) + +#define WGLEW_ARB_create_context WGLEW_GET_VAR(__WGLEW_ARB_create_context) + +#endif /* WGL_ARB_create_context */ + +/* --------------------- WGL_ARB_create_context_profile -------------------- */ + +#ifndef WGL_ARB_create_context_profile +#define WGL_ARB_create_context_profile 1 + +#define WGL_CONTEXT_CORE_PROFILE_BIT_ARB 0x00000001 +#define WGL_CONTEXT_COMPATIBILITY_PROFILE_BIT_ARB 0x00000002 +#define WGL_CONTEXT_PROFILE_MASK_ARB 0x9126 + +#define WGLEW_ARB_create_context_profile WGLEW_GET_VAR(__WGLEW_ARB_create_context_profile) + +#endif /* WGL_ARB_create_context_profile */ + +/* ------------------- WGL_ARB_create_context_robustness ------------------- */ + +#ifndef WGL_ARB_create_context_robustness +#define WGL_ARB_create_context_robustness 1 + +#define WGL_CONTEXT_ROBUST_ACCESS_BIT_ARB 0x00000004 +#define WGL_LOSE_CONTEXT_ON_RESET_ARB 0x8252 +#define WGL_CONTEXT_RESET_NOTIFICATION_STRATEGY_ARB 0x8256 +#define WGL_NO_RESET_NOTIFICATION_ARB 0x8261 + +#define WGLEW_ARB_create_context_robustness WGLEW_GET_VAR(__WGLEW_ARB_create_context_robustness) + +#endif /* WGL_ARB_create_context_robustness */ + +/* ----------------------- WGL_ARB_extensions_string ----------------------- */ + +#ifndef WGL_ARB_extensions_string +#define WGL_ARB_extensions_string 1 + +typedef const char* (WINAPI * PFNWGLGETEXTENSIONSSTRINGARBPROC) (HDC hdc); + +#define wglGetExtensionsStringARB WGLEW_GET_FUN(__wglewGetExtensionsStringARB) + +#define WGLEW_ARB_extensions_string WGLEW_GET_VAR(__WGLEW_ARB_extensions_string) + +#endif /* WGL_ARB_extensions_string */ + +/* ------------------------ WGL_ARB_framebuffer_sRGB ----------------------- */ + +#ifndef WGL_ARB_framebuffer_sRGB +#define WGL_ARB_framebuffer_sRGB 1 + +#define WGL_FRAMEBUFFER_SRGB_CAPABLE_ARB 0x20A9 + +#define WGLEW_ARB_framebuffer_sRGB WGLEW_GET_VAR(__WGLEW_ARB_framebuffer_sRGB) + +#endif /* WGL_ARB_framebuffer_sRGB */ + +/* ----------------------- WGL_ARB_make_current_read ----------------------- */ + +#ifndef WGL_ARB_make_current_read +#define WGL_ARB_make_current_read 1 + +#define ERROR_INVALID_PIXEL_TYPE_ARB 0x2043 +#define ERROR_INCOMPATIBLE_DEVICE_CONTEXTS_ARB 0x2054 + +typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCARBPROC) (VOID); +typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTARBPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc); + +#define wglGetCurrentReadDCARB WGLEW_GET_FUN(__wglewGetCurrentReadDCARB) +#define wglMakeContextCurrentARB WGLEW_GET_FUN(__wglewMakeContextCurrentARB) + +#define WGLEW_ARB_make_current_read WGLEW_GET_VAR(__WGLEW_ARB_make_current_read) + +#endif /* WGL_ARB_make_current_read */ + +/* -------------------------- WGL_ARB_multisample -------------------------- */ + +#ifndef WGL_ARB_multisample +#define WGL_ARB_multisample 1 + +#define WGL_SAMPLE_BUFFERS_ARB 0x2041 +#define WGL_SAMPLES_ARB 0x2042 + +#define WGLEW_ARB_multisample WGLEW_GET_VAR(__WGLEW_ARB_multisample) + +#endif /* WGL_ARB_multisample */ + +/* ---------------------------- WGL_ARB_pbuffer ---------------------------- */ + +#ifndef WGL_ARB_pbuffer +#define WGL_ARB_pbuffer 1 + +#define WGL_DRAW_TO_PBUFFER_ARB 0x202D +#define WGL_MAX_PBUFFER_PIXELS_ARB 0x202E +#define WGL_MAX_PBUFFER_WIDTH_ARB 0x202F +#define WGL_MAX_PBUFFER_HEIGHT_ARB 0x2030 +#define WGL_PBUFFER_LARGEST_ARB 0x2033 +#define WGL_PBUFFER_WIDTH_ARB 0x2034 +#define WGL_PBUFFER_HEIGHT_ARB 0x2035 +#define WGL_PBUFFER_LOST_ARB 0x2036 + +DECLARE_HANDLE(HPBUFFERARB); + +typedef HPBUFFERARB (WINAPI * PFNWGLCREATEPBUFFERARBPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int* piAttribList); +typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFERARBPROC) (HPBUFFERARB hPbuffer); +typedef HDC (WINAPI * PFNWGLGETPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer); +typedef BOOL (WINAPI * PFNWGLQUERYPBUFFERARBPROC) (HPBUFFERARB hPbuffer, int iAttribute, int* piValue); +typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer, HDC hDC); + +#define wglCreatePbufferARB WGLEW_GET_FUN(__wglewCreatePbufferARB) +#define wglDestroyPbufferARB WGLEW_GET_FUN(__wglewDestroyPbufferARB) +#define wglGetPbufferDCARB WGLEW_GET_FUN(__wglewGetPbufferDCARB) +#define wglQueryPbufferARB WGLEW_GET_FUN(__wglewQueryPbufferARB) +#define wglReleasePbufferDCARB WGLEW_GET_FUN(__wglewReleasePbufferDCARB) + +#define WGLEW_ARB_pbuffer WGLEW_GET_VAR(__WGLEW_ARB_pbuffer) + +#endif /* WGL_ARB_pbuffer */ + +/* -------------------------- WGL_ARB_pixel_format ------------------------- */ + +#ifndef WGL_ARB_pixel_format +#define WGL_ARB_pixel_format 1 + +#define WGL_NUMBER_PIXEL_FORMATS_ARB 0x2000 +#define WGL_DRAW_TO_WINDOW_ARB 0x2001 +#define WGL_DRAW_TO_BITMAP_ARB 0x2002 +#define WGL_ACCELERATION_ARB 0x2003 +#define WGL_NEED_PALETTE_ARB 0x2004 +#define WGL_NEED_SYSTEM_PALETTE_ARB 0x2005 +#define WGL_SWAP_LAYER_BUFFERS_ARB 0x2006 +#define WGL_SWAP_METHOD_ARB 0x2007 +#define WGL_NUMBER_OVERLAYS_ARB 0x2008 +#define WGL_NUMBER_UNDERLAYS_ARB 0x2009 +#define WGL_TRANSPARENT_ARB 0x200A +#define WGL_SHARE_DEPTH_ARB 0x200C +#define WGL_SHARE_STENCIL_ARB 0x200D +#define WGL_SHARE_ACCUM_ARB 0x200E +#define WGL_SUPPORT_GDI_ARB 0x200F +#define WGL_SUPPORT_OPENGL_ARB 0x2010 +#define WGL_DOUBLE_BUFFER_ARB 0x2011 +#define WGL_STEREO_ARB 0x2012 +#define WGL_PIXEL_TYPE_ARB 0x2013 +#define WGL_COLOR_BITS_ARB 0x2014 +#define WGL_RED_BITS_ARB 0x2015 +#define WGL_RED_SHIFT_ARB 0x2016 +#define WGL_GREEN_BITS_ARB 0x2017 +#define WGL_GREEN_SHIFT_ARB 0x2018 +#define WGL_BLUE_BITS_ARB 0x2019 +#define WGL_BLUE_SHIFT_ARB 0x201A +#define WGL_ALPHA_BITS_ARB 0x201B +#define WGL_ALPHA_SHIFT_ARB 0x201C +#define WGL_ACCUM_BITS_ARB 0x201D +#define WGL_ACCUM_RED_BITS_ARB 0x201E +#define WGL_ACCUM_GREEN_BITS_ARB 0x201F +#define WGL_ACCUM_BLUE_BITS_ARB 0x2020 +#define WGL_ACCUM_ALPHA_BITS_ARB 0x2021 +#define WGL_DEPTH_BITS_ARB 0x2022 +#define WGL_STENCIL_BITS_ARB 0x2023 +#define WGL_AUX_BUFFERS_ARB 0x2024 +#define WGL_NO_ACCELERATION_ARB 0x2025 +#define WGL_GENERIC_ACCELERATION_ARB 0x2026 +#define WGL_FULL_ACCELERATION_ARB 0x2027 +#define WGL_SWAP_EXCHANGE_ARB 0x2028 +#define WGL_SWAP_COPY_ARB 0x2029 +#define WGL_SWAP_UNDEFINED_ARB 0x202A +#define WGL_TYPE_RGBA_ARB 0x202B +#define WGL_TYPE_COLORINDEX_ARB 0x202C +#define WGL_TRANSPARENT_RED_VALUE_ARB 0x2037 +#define WGL_TRANSPARENT_GREEN_VALUE_ARB 0x2038 +#define WGL_TRANSPARENT_BLUE_VALUE_ARB 0x2039 +#define WGL_TRANSPARENT_ALPHA_VALUE_ARB 0x203A +#define WGL_TRANSPARENT_INDEX_VALUE_ARB 0x203B + +typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATARBPROC) (HDC hdc, const int* piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int* piAttributes, FLOAT *pfValues); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int* piAttributes, int *piValues); + +#define wglChoosePixelFormatARB WGLEW_GET_FUN(__wglewChoosePixelFormatARB) +#define wglGetPixelFormatAttribfvARB WGLEW_GET_FUN(__wglewGetPixelFormatAttribfvARB) +#define wglGetPixelFormatAttribivARB WGLEW_GET_FUN(__wglewGetPixelFormatAttribivARB) + +#define WGLEW_ARB_pixel_format WGLEW_GET_VAR(__WGLEW_ARB_pixel_format) + +#endif /* WGL_ARB_pixel_format */ + +/* ----------------------- WGL_ARB_pixel_format_float ---------------------- */ + +#ifndef WGL_ARB_pixel_format_float +#define WGL_ARB_pixel_format_float 1 + +#define WGL_TYPE_RGBA_FLOAT_ARB 0x21A0 + +#define WGLEW_ARB_pixel_format_float WGLEW_GET_VAR(__WGLEW_ARB_pixel_format_float) + +#endif /* WGL_ARB_pixel_format_float */ + +/* ------------------------- WGL_ARB_render_texture ------------------------ */ + +#ifndef WGL_ARB_render_texture +#define WGL_ARB_render_texture 1 + +#define WGL_BIND_TO_TEXTURE_RGB_ARB 0x2070 +#define WGL_BIND_TO_TEXTURE_RGBA_ARB 0x2071 +#define WGL_TEXTURE_FORMAT_ARB 0x2072 +#define WGL_TEXTURE_TARGET_ARB 0x2073 +#define WGL_MIPMAP_TEXTURE_ARB 0x2074 +#define WGL_TEXTURE_RGB_ARB 0x2075 +#define WGL_TEXTURE_RGBA_ARB 0x2076 +#define WGL_NO_TEXTURE_ARB 0x2077 +#define WGL_TEXTURE_CUBE_MAP_ARB 0x2078 +#define WGL_TEXTURE_1D_ARB 0x2079 +#define WGL_TEXTURE_2D_ARB 0x207A +#define WGL_MIPMAP_LEVEL_ARB 0x207B +#define WGL_CUBE_MAP_FACE_ARB 0x207C +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x207D +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x207E +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x207F +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x2080 +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x2081 +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x2082 +#define WGL_FRONT_LEFT_ARB 0x2083 +#define WGL_FRONT_RIGHT_ARB 0x2084 +#define WGL_BACK_LEFT_ARB 0x2085 +#define WGL_BACK_RIGHT_ARB 0x2086 +#define WGL_AUX0_ARB 0x2087 +#define WGL_AUX1_ARB 0x2088 +#define WGL_AUX2_ARB 0x2089 +#define WGL_AUX3_ARB 0x208A +#define WGL_AUX4_ARB 0x208B +#define WGL_AUX5_ARB 0x208C +#define WGL_AUX6_ARB 0x208D +#define WGL_AUX7_ARB 0x208E +#define WGL_AUX8_ARB 0x208F +#define WGL_AUX9_ARB 0x2090 + +typedef BOOL (WINAPI * PFNWGLBINDTEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer); +typedef BOOL (WINAPI * PFNWGLRELEASETEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer); +typedef BOOL (WINAPI * PFNWGLSETPBUFFERATTRIBARBPROC) (HPBUFFERARB hPbuffer, const int* piAttribList); + +#define wglBindTexImageARB WGLEW_GET_FUN(__wglewBindTexImageARB) +#define wglReleaseTexImageARB WGLEW_GET_FUN(__wglewReleaseTexImageARB) +#define wglSetPbufferAttribARB WGLEW_GET_FUN(__wglewSetPbufferAttribARB) + +#define WGLEW_ARB_render_texture WGLEW_GET_VAR(__WGLEW_ARB_render_texture) + +#endif /* WGL_ARB_render_texture */ + +/* ----------------------- WGL_ATI_pixel_format_float ---------------------- */ + +#ifndef WGL_ATI_pixel_format_float +#define WGL_ATI_pixel_format_float 1 + +#define WGL_TYPE_RGBA_FLOAT_ATI 0x21A0 +#define GL_RGBA_FLOAT_MODE_ATI 0x8820 +#define GL_COLOR_CLEAR_UNCLAMPED_VALUE_ATI 0x8835 + +#define WGLEW_ATI_pixel_format_float WGLEW_GET_VAR(__WGLEW_ATI_pixel_format_float) + +#endif /* WGL_ATI_pixel_format_float */ + +/* -------------------- WGL_ATI_render_texture_rectangle ------------------- */ + +#ifndef WGL_ATI_render_texture_rectangle +#define WGL_ATI_render_texture_rectangle 1 + +#define WGL_TEXTURE_RECTANGLE_ATI 0x21A5 + +#define WGLEW_ATI_render_texture_rectangle WGLEW_GET_VAR(__WGLEW_ATI_render_texture_rectangle) + +#endif /* WGL_ATI_render_texture_rectangle */ + +/* ------------------- WGL_EXT_create_context_es2_profile ------------------ */ + +#ifndef WGL_EXT_create_context_es2_profile +#define WGL_EXT_create_context_es2_profile 1 + +#define WGL_CONTEXT_ES2_PROFILE_BIT_EXT 0x00000004 + +#define WGLEW_EXT_create_context_es2_profile WGLEW_GET_VAR(__WGLEW_EXT_create_context_es2_profile) + +#endif /* WGL_EXT_create_context_es2_profile */ + +/* -------------------------- WGL_EXT_depth_float -------------------------- */ + +#ifndef WGL_EXT_depth_float +#define WGL_EXT_depth_float 1 + +#define WGL_DEPTH_FLOAT_EXT 0x2040 + +#define WGLEW_EXT_depth_float WGLEW_GET_VAR(__WGLEW_EXT_depth_float) + +#endif /* WGL_EXT_depth_float */ + +/* ---------------------- WGL_EXT_display_color_table ---------------------- */ + +#ifndef WGL_EXT_display_color_table +#define WGL_EXT_display_color_table 1 + +typedef GLboolean (WINAPI * PFNWGLBINDDISPLAYCOLORTABLEEXTPROC) (GLushort id); +typedef GLboolean (WINAPI * PFNWGLCREATEDISPLAYCOLORTABLEEXTPROC) (GLushort id); +typedef void (WINAPI * PFNWGLDESTROYDISPLAYCOLORTABLEEXTPROC) (GLushort id); +typedef GLboolean (WINAPI * PFNWGLLOADDISPLAYCOLORTABLEEXTPROC) (GLushort* table, GLuint length); + +#define wglBindDisplayColorTableEXT WGLEW_GET_FUN(__wglewBindDisplayColorTableEXT) +#define wglCreateDisplayColorTableEXT WGLEW_GET_FUN(__wglewCreateDisplayColorTableEXT) +#define wglDestroyDisplayColorTableEXT WGLEW_GET_FUN(__wglewDestroyDisplayColorTableEXT) +#define wglLoadDisplayColorTableEXT WGLEW_GET_FUN(__wglewLoadDisplayColorTableEXT) + +#define WGLEW_EXT_display_color_table WGLEW_GET_VAR(__WGLEW_EXT_display_color_table) + +#endif /* WGL_EXT_display_color_table */ + +/* ----------------------- WGL_EXT_extensions_string ----------------------- */ + +#ifndef WGL_EXT_extensions_string +#define WGL_EXT_extensions_string 1 + +typedef const char* (WINAPI * PFNWGLGETEXTENSIONSSTRINGEXTPROC) (void); + +#define wglGetExtensionsStringEXT WGLEW_GET_FUN(__wglewGetExtensionsStringEXT) + +#define WGLEW_EXT_extensions_string WGLEW_GET_VAR(__WGLEW_EXT_extensions_string) + +#endif /* WGL_EXT_extensions_string */ + +/* ------------------------ WGL_EXT_framebuffer_sRGB ----------------------- */ + +#ifndef WGL_EXT_framebuffer_sRGB +#define WGL_EXT_framebuffer_sRGB 1 + +#define WGL_FRAMEBUFFER_SRGB_CAPABLE_EXT 0x20A9 + +#define WGLEW_EXT_framebuffer_sRGB WGLEW_GET_VAR(__WGLEW_EXT_framebuffer_sRGB) + +#endif /* WGL_EXT_framebuffer_sRGB */ + +/* ----------------------- WGL_EXT_make_current_read ----------------------- */ + +#ifndef WGL_EXT_make_current_read +#define WGL_EXT_make_current_read 1 + +#define ERROR_INVALID_PIXEL_TYPE_EXT 0x2043 + +typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCEXTPROC) (VOID); +typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTEXTPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc); + +#define wglGetCurrentReadDCEXT WGLEW_GET_FUN(__wglewGetCurrentReadDCEXT) +#define wglMakeContextCurrentEXT WGLEW_GET_FUN(__wglewMakeContextCurrentEXT) + +#define WGLEW_EXT_make_current_read WGLEW_GET_VAR(__WGLEW_EXT_make_current_read) + +#endif /* WGL_EXT_make_current_read */ + +/* -------------------------- WGL_EXT_multisample -------------------------- */ + +#ifndef WGL_EXT_multisample +#define WGL_EXT_multisample 1 + +#define WGL_SAMPLE_BUFFERS_EXT 0x2041 +#define WGL_SAMPLES_EXT 0x2042 + +#define WGLEW_EXT_multisample WGLEW_GET_VAR(__WGLEW_EXT_multisample) + +#endif /* WGL_EXT_multisample */ + +/* ---------------------------- WGL_EXT_pbuffer ---------------------------- */ + +#ifndef WGL_EXT_pbuffer +#define WGL_EXT_pbuffer 1 + +#define WGL_DRAW_TO_PBUFFER_EXT 0x202D +#define WGL_MAX_PBUFFER_PIXELS_EXT 0x202E +#define WGL_MAX_PBUFFER_WIDTH_EXT 0x202F +#define WGL_MAX_PBUFFER_HEIGHT_EXT 0x2030 +#define WGL_OPTIMAL_PBUFFER_WIDTH_EXT 0x2031 +#define WGL_OPTIMAL_PBUFFER_HEIGHT_EXT 0x2032 +#define WGL_PBUFFER_LARGEST_EXT 0x2033 +#define WGL_PBUFFER_WIDTH_EXT 0x2034 +#define WGL_PBUFFER_HEIGHT_EXT 0x2035 + +DECLARE_HANDLE(HPBUFFEREXT); + +typedef HPBUFFEREXT (WINAPI * PFNWGLCREATEPBUFFEREXTPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int* piAttribList); +typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer); +typedef HDC (WINAPI * PFNWGLGETPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer); +typedef BOOL (WINAPI * PFNWGLQUERYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer, int iAttribute, int* piValue); +typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer, HDC hDC); + +#define wglCreatePbufferEXT WGLEW_GET_FUN(__wglewCreatePbufferEXT) +#define wglDestroyPbufferEXT WGLEW_GET_FUN(__wglewDestroyPbufferEXT) +#define wglGetPbufferDCEXT WGLEW_GET_FUN(__wglewGetPbufferDCEXT) +#define wglQueryPbufferEXT WGLEW_GET_FUN(__wglewQueryPbufferEXT) +#define wglReleasePbufferDCEXT WGLEW_GET_FUN(__wglewReleasePbufferDCEXT) + +#define WGLEW_EXT_pbuffer WGLEW_GET_VAR(__WGLEW_EXT_pbuffer) + +#endif /* WGL_EXT_pbuffer */ + +/* -------------------------- WGL_EXT_pixel_format ------------------------- */ + +#ifndef WGL_EXT_pixel_format +#define WGL_EXT_pixel_format 1 + +#define WGL_NUMBER_PIXEL_FORMATS_EXT 0x2000 +#define WGL_DRAW_TO_WINDOW_EXT 0x2001 +#define WGL_DRAW_TO_BITMAP_EXT 0x2002 +#define WGL_ACCELERATION_EXT 0x2003 +#define WGL_NEED_PALETTE_EXT 0x2004 +#define WGL_NEED_SYSTEM_PALETTE_EXT 0x2005 +#define WGL_SWAP_LAYER_BUFFERS_EXT 0x2006 +#define WGL_SWAP_METHOD_EXT 0x2007 +#define WGL_NUMBER_OVERLAYS_EXT 0x2008 +#define WGL_NUMBER_UNDERLAYS_EXT 0x2009 +#define WGL_TRANSPARENT_EXT 0x200A +#define WGL_TRANSPARENT_VALUE_EXT 0x200B +#define WGL_SHARE_DEPTH_EXT 0x200C +#define WGL_SHARE_STENCIL_EXT 0x200D +#define WGL_SHARE_ACCUM_EXT 0x200E +#define WGL_SUPPORT_GDI_EXT 0x200F +#define WGL_SUPPORT_OPENGL_EXT 0x2010 +#define WGL_DOUBLE_BUFFER_EXT 0x2011 +#define WGL_STEREO_EXT 0x2012 +#define WGL_PIXEL_TYPE_EXT 0x2013 +#define WGL_COLOR_BITS_EXT 0x2014 +#define WGL_RED_BITS_EXT 0x2015 +#define WGL_RED_SHIFT_EXT 0x2016 +#define WGL_GREEN_BITS_EXT 0x2017 +#define WGL_GREEN_SHIFT_EXT 0x2018 +#define WGL_BLUE_BITS_EXT 0x2019 +#define WGL_BLUE_SHIFT_EXT 0x201A +#define WGL_ALPHA_BITS_EXT 0x201B +#define WGL_ALPHA_SHIFT_EXT 0x201C +#define WGL_ACCUM_BITS_EXT 0x201D +#define WGL_ACCUM_RED_BITS_EXT 0x201E +#define WGL_ACCUM_GREEN_BITS_EXT 0x201F +#define WGL_ACCUM_BLUE_BITS_EXT 0x2020 +#define WGL_ACCUM_ALPHA_BITS_EXT 0x2021 +#define WGL_DEPTH_BITS_EXT 0x2022 +#define WGL_STENCIL_BITS_EXT 0x2023 +#define WGL_AUX_BUFFERS_EXT 0x2024 +#define WGL_NO_ACCELERATION_EXT 0x2025 +#define WGL_GENERIC_ACCELERATION_EXT 0x2026 +#define WGL_FULL_ACCELERATION_EXT 0x2027 +#define WGL_SWAP_EXCHANGE_EXT 0x2028 +#define WGL_SWAP_COPY_EXT 0x2029 +#define WGL_SWAP_UNDEFINED_EXT 0x202A +#define WGL_TYPE_RGBA_EXT 0x202B +#define WGL_TYPE_COLORINDEX_EXT 0x202C + +typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATEXTPROC) (HDC hdc, const int* piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int* piAttributes, FLOAT *pfValues); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int* piAttributes, int *piValues); + +#define wglChoosePixelFormatEXT WGLEW_GET_FUN(__wglewChoosePixelFormatEXT) +#define wglGetPixelFormatAttribfvEXT WGLEW_GET_FUN(__wglewGetPixelFormatAttribfvEXT) +#define wglGetPixelFormatAttribivEXT WGLEW_GET_FUN(__wglewGetPixelFormatAttribivEXT) + +#define WGLEW_EXT_pixel_format WGLEW_GET_VAR(__WGLEW_EXT_pixel_format) + +#endif /* WGL_EXT_pixel_format */ + +/* ------------------- WGL_EXT_pixel_format_packed_float ------------------- */ + +#ifndef WGL_EXT_pixel_format_packed_float +#define WGL_EXT_pixel_format_packed_float 1 + +#define WGL_TYPE_RGBA_UNSIGNED_FLOAT_EXT 0x20A8 + +#define WGLEW_EXT_pixel_format_packed_float WGLEW_GET_VAR(__WGLEW_EXT_pixel_format_packed_float) + +#endif /* WGL_EXT_pixel_format_packed_float */ + +/* -------------------------- WGL_EXT_swap_control ------------------------- */ + +#ifndef WGL_EXT_swap_control +#define WGL_EXT_swap_control 1 + +typedef int (WINAPI * PFNWGLGETSWAPINTERVALEXTPROC) (void); +typedef BOOL (WINAPI * PFNWGLSWAPINTERVALEXTPROC) (int interval); + +#define wglGetSwapIntervalEXT WGLEW_GET_FUN(__wglewGetSwapIntervalEXT) +#define wglSwapIntervalEXT WGLEW_GET_FUN(__wglewSwapIntervalEXT) + +#define WGLEW_EXT_swap_control WGLEW_GET_VAR(__WGLEW_EXT_swap_control) + +#endif /* WGL_EXT_swap_control */ + +/* --------------------- WGL_I3D_digital_video_control --------------------- */ + +#ifndef WGL_I3D_digital_video_control +#define WGL_I3D_digital_video_control 1 + +#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_FRAMEBUFFER_I3D 0x2050 +#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_VALUE_I3D 0x2051 +#define WGL_DIGITAL_VIDEO_CURSOR_INCLUDED_I3D 0x2052 +#define WGL_DIGITAL_VIDEO_GAMMA_CORRECTED_I3D 0x2053 + +typedef BOOL (WINAPI * PFNWGLGETDIGITALVIDEOPARAMETERSI3DPROC) (HDC hDC, int iAttribute, int* piValue); +typedef BOOL (WINAPI * PFNWGLSETDIGITALVIDEOPARAMETERSI3DPROC) (HDC hDC, int iAttribute, const int* piValue); + +#define wglGetDigitalVideoParametersI3D WGLEW_GET_FUN(__wglewGetDigitalVideoParametersI3D) +#define wglSetDigitalVideoParametersI3D WGLEW_GET_FUN(__wglewSetDigitalVideoParametersI3D) + +#define WGLEW_I3D_digital_video_control WGLEW_GET_VAR(__WGLEW_I3D_digital_video_control) + +#endif /* WGL_I3D_digital_video_control */ + +/* ----------------------------- WGL_I3D_gamma ----------------------------- */ + +#ifndef WGL_I3D_gamma +#define WGL_I3D_gamma 1 + +#define WGL_GAMMA_TABLE_SIZE_I3D 0x204E +#define WGL_GAMMA_EXCLUDE_DESKTOP_I3D 0x204F + +typedef BOOL (WINAPI * PFNWGLGETGAMMATABLEI3DPROC) (HDC hDC, int iEntries, USHORT* puRed, USHORT *puGreen, USHORT *puBlue); +typedef BOOL (WINAPI * PFNWGLGETGAMMATABLEPARAMETERSI3DPROC) (HDC hDC, int iAttribute, int* piValue); +typedef BOOL (WINAPI * PFNWGLSETGAMMATABLEI3DPROC) (HDC hDC, int iEntries, const USHORT* puRed, const USHORT *puGreen, const USHORT *puBlue); +typedef BOOL (WINAPI * PFNWGLSETGAMMATABLEPARAMETERSI3DPROC) (HDC hDC, int iAttribute, const int* piValue); + +#define wglGetGammaTableI3D WGLEW_GET_FUN(__wglewGetGammaTableI3D) +#define wglGetGammaTableParametersI3D WGLEW_GET_FUN(__wglewGetGammaTableParametersI3D) +#define wglSetGammaTableI3D WGLEW_GET_FUN(__wglewSetGammaTableI3D) +#define wglSetGammaTableParametersI3D WGLEW_GET_FUN(__wglewSetGammaTableParametersI3D) + +#define WGLEW_I3D_gamma WGLEW_GET_VAR(__WGLEW_I3D_gamma) + +#endif /* WGL_I3D_gamma */ + +/* ---------------------------- WGL_I3D_genlock ---------------------------- */ + +#ifndef WGL_I3D_genlock +#define WGL_I3D_genlock 1 + +#define WGL_GENLOCK_SOURCE_MULTIVIEW_I3D 0x2044 +#define WGL_GENLOCK_SOURCE_EXTERNAL_SYNC_I3D 0x2045 +#define WGL_GENLOCK_SOURCE_EXTERNAL_FIELD_I3D 0x2046 +#define WGL_GENLOCK_SOURCE_EXTERNAL_TTL_I3D 0x2047 +#define WGL_GENLOCK_SOURCE_DIGITAL_SYNC_I3D 0x2048 +#define WGL_GENLOCK_SOURCE_DIGITAL_FIELD_I3D 0x2049 +#define WGL_GENLOCK_SOURCE_EDGE_FALLING_I3D 0x204A +#define WGL_GENLOCK_SOURCE_EDGE_RISING_I3D 0x204B +#define WGL_GENLOCK_SOURCE_EDGE_BOTH_I3D 0x204C + +typedef BOOL (WINAPI * PFNWGLDISABLEGENLOCKI3DPROC) (HDC hDC); +typedef BOOL (WINAPI * PFNWGLENABLEGENLOCKI3DPROC) (HDC hDC); +typedef BOOL (WINAPI * PFNWGLGENLOCKSAMPLERATEI3DPROC) (HDC hDC, UINT uRate); +typedef BOOL (WINAPI * PFNWGLGENLOCKSOURCEDELAYI3DPROC) (HDC hDC, UINT uDelay); +typedef BOOL (WINAPI * PFNWGLGENLOCKSOURCEEDGEI3DPROC) (HDC hDC, UINT uEdge); +typedef BOOL (WINAPI * PFNWGLGENLOCKSOURCEI3DPROC) (HDC hDC, UINT uSource); +typedef BOOL (WINAPI * PFNWGLGETGENLOCKSAMPLERATEI3DPROC) (HDC hDC, UINT* uRate); +typedef BOOL (WINAPI * PFNWGLGETGENLOCKSOURCEDELAYI3DPROC) (HDC hDC, UINT* uDelay); +typedef BOOL (WINAPI * PFNWGLGETGENLOCKSOURCEEDGEI3DPROC) (HDC hDC, UINT* uEdge); +typedef BOOL (WINAPI * PFNWGLGETGENLOCKSOURCEI3DPROC) (HDC hDC, UINT* uSource); +typedef BOOL (WINAPI * PFNWGLISENABLEDGENLOCKI3DPROC) (HDC hDC, BOOL* pFlag); +typedef BOOL (WINAPI * PFNWGLQUERYGENLOCKMAXSOURCEDELAYI3DPROC) (HDC hDC, UINT* uMaxLineDelay, UINT *uMaxPixelDelay); + +#define wglDisableGenlockI3D WGLEW_GET_FUN(__wglewDisableGenlockI3D) +#define wglEnableGenlockI3D WGLEW_GET_FUN(__wglewEnableGenlockI3D) +#define wglGenlockSampleRateI3D WGLEW_GET_FUN(__wglewGenlockSampleRateI3D) +#define wglGenlockSourceDelayI3D WGLEW_GET_FUN(__wglewGenlockSourceDelayI3D) +#define wglGenlockSourceEdgeI3D WGLEW_GET_FUN(__wglewGenlockSourceEdgeI3D) +#define wglGenlockSourceI3D WGLEW_GET_FUN(__wglewGenlockSourceI3D) +#define wglGetGenlockSampleRateI3D WGLEW_GET_FUN(__wglewGetGenlockSampleRateI3D) +#define wglGetGenlockSourceDelayI3D WGLEW_GET_FUN(__wglewGetGenlockSourceDelayI3D) +#define wglGetGenlockSourceEdgeI3D WGLEW_GET_FUN(__wglewGetGenlockSourceEdgeI3D) +#define wglGetGenlockSourceI3D WGLEW_GET_FUN(__wglewGetGenlockSourceI3D) +#define wglIsEnabledGenlockI3D WGLEW_GET_FUN(__wglewIsEnabledGenlockI3D) +#define wglQueryGenlockMaxSourceDelayI3D WGLEW_GET_FUN(__wglewQueryGenlockMaxSourceDelayI3D) + +#define WGLEW_I3D_genlock WGLEW_GET_VAR(__WGLEW_I3D_genlock) + +#endif /* WGL_I3D_genlock */ + +/* -------------------------- WGL_I3D_image_buffer ------------------------- */ + +#ifndef WGL_I3D_image_buffer +#define WGL_I3D_image_buffer 1 + +#define WGL_IMAGE_BUFFER_MIN_ACCESS_I3D 0x00000001 +#define WGL_IMAGE_BUFFER_LOCK_I3D 0x00000002 + +typedef BOOL (WINAPI * PFNWGLASSOCIATEIMAGEBUFFEREVENTSI3DPROC) (HDC hdc, HANDLE* pEvent, LPVOID *pAddress, DWORD *pSize, UINT count); +typedef LPVOID (WINAPI * PFNWGLCREATEIMAGEBUFFERI3DPROC) (HDC hDC, DWORD dwSize, UINT uFlags); +typedef BOOL (WINAPI * PFNWGLDESTROYIMAGEBUFFERI3DPROC) (HDC hDC, LPVOID pAddress); +typedef BOOL (WINAPI * PFNWGLRELEASEIMAGEBUFFEREVENTSI3DPROC) (HDC hdc, LPVOID* pAddress, UINT count); + +#define wglAssociateImageBufferEventsI3D WGLEW_GET_FUN(__wglewAssociateImageBufferEventsI3D) +#define wglCreateImageBufferI3D WGLEW_GET_FUN(__wglewCreateImageBufferI3D) +#define wglDestroyImageBufferI3D WGLEW_GET_FUN(__wglewDestroyImageBufferI3D) +#define wglReleaseImageBufferEventsI3D WGLEW_GET_FUN(__wglewReleaseImageBufferEventsI3D) + +#define WGLEW_I3D_image_buffer WGLEW_GET_VAR(__WGLEW_I3D_image_buffer) + +#endif /* WGL_I3D_image_buffer */ + +/* ------------------------ WGL_I3D_swap_frame_lock ------------------------ */ + +#ifndef WGL_I3D_swap_frame_lock +#define WGL_I3D_swap_frame_lock 1 + +typedef BOOL (WINAPI * PFNWGLDISABLEFRAMELOCKI3DPROC) (VOID); +typedef BOOL (WINAPI * PFNWGLENABLEFRAMELOCKI3DPROC) (VOID); +typedef BOOL (WINAPI * PFNWGLISENABLEDFRAMELOCKI3DPROC) (BOOL* pFlag); +typedef BOOL (WINAPI * PFNWGLQUERYFRAMELOCKMASTERI3DPROC) (BOOL* pFlag); + +#define wglDisableFrameLockI3D WGLEW_GET_FUN(__wglewDisableFrameLockI3D) +#define wglEnableFrameLockI3D WGLEW_GET_FUN(__wglewEnableFrameLockI3D) +#define wglIsEnabledFrameLockI3D WGLEW_GET_FUN(__wglewIsEnabledFrameLockI3D) +#define wglQueryFrameLockMasterI3D WGLEW_GET_FUN(__wglewQueryFrameLockMasterI3D) + +#define WGLEW_I3D_swap_frame_lock WGLEW_GET_VAR(__WGLEW_I3D_swap_frame_lock) + +#endif /* WGL_I3D_swap_frame_lock */ + +/* ------------------------ WGL_I3D_swap_frame_usage ----------------------- */ + +#ifndef WGL_I3D_swap_frame_usage +#define WGL_I3D_swap_frame_usage 1 + +typedef BOOL (WINAPI * PFNWGLBEGINFRAMETRACKINGI3DPROC) (void); +typedef BOOL (WINAPI * PFNWGLENDFRAMETRACKINGI3DPROC) (void); +typedef BOOL (WINAPI * PFNWGLGETFRAMEUSAGEI3DPROC) (float* pUsage); +typedef BOOL (WINAPI * PFNWGLQUERYFRAMETRACKINGI3DPROC) (DWORD* pFrameCount, DWORD *pMissedFrames, float *pLastMissedUsage); + +#define wglBeginFrameTrackingI3D WGLEW_GET_FUN(__wglewBeginFrameTrackingI3D) +#define wglEndFrameTrackingI3D WGLEW_GET_FUN(__wglewEndFrameTrackingI3D) +#define wglGetFrameUsageI3D WGLEW_GET_FUN(__wglewGetFrameUsageI3D) +#define wglQueryFrameTrackingI3D WGLEW_GET_FUN(__wglewQueryFrameTrackingI3D) + +#define WGLEW_I3D_swap_frame_usage WGLEW_GET_VAR(__WGLEW_I3D_swap_frame_usage) + +#endif /* WGL_I3D_swap_frame_usage */ + +/* --------------------------- WGL_NV_DX_interop --------------------------- */ + +#ifndef WGL_NV_DX_interop +#define WGL_NV_DX_interop 1 + +#define WGL_ACCESS_READ_ONLY_NV 0x0000 +#define WGL_ACCESS_READ_WRITE_NV 0x0001 +#define WGL_ACCESS_WRITE_DISCARD_NV 0x0002 + +typedef BOOL (WINAPI * PFNWGLDXCLOSEDEVICENVPROC) (HANDLE hDevice); +typedef BOOL (WINAPI * PFNWGLDXLOCKOBJECTSNVPROC) (HANDLE hDevice, GLint count, HANDLE* hObjects); +typedef BOOL (WINAPI * PFNWGLDXOBJECTACCESSNVPROC) (HANDLE hObject, GLenum access); +typedef HANDLE (WINAPI * PFNWGLDXOPENDEVICENVPROC) (void* dxDevice); +typedef HANDLE (WINAPI * PFNWGLDXREGISTEROBJECTNVPROC) (HANDLE hDevice, void* dxObject, GLuint name, GLenum type, GLenum access); +typedef BOOL (WINAPI * PFNWGLDXSETRESOURCESHAREHANDLENVPROC) (void* dxObject, HANDLE shareHandle); +typedef BOOL (WINAPI * PFNWGLDXUNLOCKOBJECTSNVPROC) (HANDLE hDevice, GLint count, HANDLE* hObjects); +typedef BOOL (WINAPI * PFNWGLDXUNREGISTEROBJECTNVPROC) (HANDLE hDevice, HANDLE hObject); + +#define wglDXCloseDeviceNV WGLEW_GET_FUN(__wglewDXCloseDeviceNV) +#define wglDXLockObjectsNV WGLEW_GET_FUN(__wglewDXLockObjectsNV) +#define wglDXObjectAccessNV WGLEW_GET_FUN(__wglewDXObjectAccessNV) +#define wglDXOpenDeviceNV WGLEW_GET_FUN(__wglewDXOpenDeviceNV) +#define wglDXRegisterObjectNV WGLEW_GET_FUN(__wglewDXRegisterObjectNV) +#define wglDXSetResourceShareHandleNV WGLEW_GET_FUN(__wglewDXSetResourceShareHandleNV) +#define wglDXUnlockObjectsNV WGLEW_GET_FUN(__wglewDXUnlockObjectsNV) +#define wglDXUnregisterObjectNV WGLEW_GET_FUN(__wglewDXUnregisterObjectNV) + +#define WGLEW_NV_DX_interop WGLEW_GET_VAR(__WGLEW_NV_DX_interop) + +#endif /* WGL_NV_DX_interop */ + +/* --------------------------- WGL_NV_copy_image --------------------------- */ + +#ifndef WGL_NV_copy_image +#define WGL_NV_copy_image 1 + +typedef BOOL (WINAPI * PFNWGLCOPYIMAGESUBDATANVPROC) (HGLRC hSrcRC, GLuint srcName, GLenum srcTarget, GLint srcLevel, GLint srcX, GLint srcY, GLint srcZ, HGLRC hDstRC, GLuint dstName, GLenum dstTarget, GLint dstLevel, GLint dstX, GLint dstY, GLint dstZ, GLsizei width, GLsizei height, GLsizei depth); + +#define wglCopyImageSubDataNV WGLEW_GET_FUN(__wglewCopyImageSubDataNV) + +#define WGLEW_NV_copy_image WGLEW_GET_VAR(__WGLEW_NV_copy_image) + +#endif /* WGL_NV_copy_image */ + +/* -------------------------- WGL_NV_float_buffer -------------------------- */ + +#ifndef WGL_NV_float_buffer +#define WGL_NV_float_buffer 1 + +#define WGL_FLOAT_COMPONENTS_NV 0x20B0 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_FLOAT_R_NV 0x20B1 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_FLOAT_RG_NV 0x20B2 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_FLOAT_RGB_NV 0x20B3 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_FLOAT_RGBA_NV 0x20B4 +#define WGL_TEXTURE_FLOAT_R_NV 0x20B5 +#define WGL_TEXTURE_FLOAT_RG_NV 0x20B6 +#define WGL_TEXTURE_FLOAT_RGB_NV 0x20B7 +#define WGL_TEXTURE_FLOAT_RGBA_NV 0x20B8 + +#define WGLEW_NV_float_buffer WGLEW_GET_VAR(__WGLEW_NV_float_buffer) + +#endif /* WGL_NV_float_buffer */ + +/* -------------------------- WGL_NV_gpu_affinity -------------------------- */ + +#ifndef WGL_NV_gpu_affinity +#define WGL_NV_gpu_affinity 1 + +#define WGL_ERROR_INCOMPATIBLE_AFFINITY_MASKS_NV 0x20D0 +#define WGL_ERROR_MISSING_AFFINITY_MASK_NV 0x20D1 + +DECLARE_HANDLE(HGPUNV); +typedef struct _GPU_DEVICE { + DWORD cb; + CHAR DeviceName[32]; + CHAR DeviceString[128]; + DWORD Flags; + RECT rcVirtualScreen; +} GPU_DEVICE, *PGPU_DEVICE; + +typedef HDC (WINAPI * PFNWGLCREATEAFFINITYDCNVPROC) (const HGPUNV *phGpuList); +typedef BOOL (WINAPI * PFNWGLDELETEDCNVPROC) (HDC hdc); +typedef BOOL (WINAPI * PFNWGLENUMGPUDEVICESNVPROC) (HGPUNV hGpu, UINT iDeviceIndex, PGPU_DEVICE lpGpuDevice); +typedef BOOL (WINAPI * PFNWGLENUMGPUSFROMAFFINITYDCNVPROC) (HDC hAffinityDC, UINT iGpuIndex, HGPUNV *hGpu); +typedef BOOL (WINAPI * PFNWGLENUMGPUSNVPROC) (UINT iGpuIndex, HGPUNV *phGpu); + +#define wglCreateAffinityDCNV WGLEW_GET_FUN(__wglewCreateAffinityDCNV) +#define wglDeleteDCNV WGLEW_GET_FUN(__wglewDeleteDCNV) +#define wglEnumGpuDevicesNV WGLEW_GET_FUN(__wglewEnumGpuDevicesNV) +#define wglEnumGpusFromAffinityDCNV WGLEW_GET_FUN(__wglewEnumGpusFromAffinityDCNV) +#define wglEnumGpusNV WGLEW_GET_FUN(__wglewEnumGpusNV) + +#define WGLEW_NV_gpu_affinity WGLEW_GET_VAR(__WGLEW_NV_gpu_affinity) + +#endif /* WGL_NV_gpu_affinity */ + +/* ---------------------- WGL_NV_multisample_coverage ---------------------- */ + +#ifndef WGL_NV_multisample_coverage +#define WGL_NV_multisample_coverage 1 + +#define WGL_COVERAGE_SAMPLES_NV 0x2042 +#define WGL_COLOR_SAMPLES_NV 0x20B9 + +#define WGLEW_NV_multisample_coverage WGLEW_GET_VAR(__WGLEW_NV_multisample_coverage) + +#endif /* WGL_NV_multisample_coverage */ + +/* -------------------------- WGL_NV_present_video ------------------------- */ + +#ifndef WGL_NV_present_video +#define WGL_NV_present_video 1 + +#define WGL_NUM_VIDEO_SLOTS_NV 0x20F0 + +DECLARE_HANDLE(HVIDEOOUTPUTDEVICENV); + +typedef BOOL (WINAPI * PFNWGLBINDVIDEODEVICENVPROC) (HDC hDc, unsigned int uVideoSlot, HVIDEOOUTPUTDEVICENV hVideoDevice, const int* piAttribList); +typedef int (WINAPI * PFNWGLENUMERATEVIDEODEVICESNVPROC) (HDC hDc, HVIDEOOUTPUTDEVICENV* phDeviceList); +typedef BOOL (WINAPI * PFNWGLQUERYCURRENTCONTEXTNVPROC) (int iAttribute, int* piValue); + +#define wglBindVideoDeviceNV WGLEW_GET_FUN(__wglewBindVideoDeviceNV) +#define wglEnumerateVideoDevicesNV WGLEW_GET_FUN(__wglewEnumerateVideoDevicesNV) +#define wglQueryCurrentContextNV WGLEW_GET_FUN(__wglewQueryCurrentContextNV) + +#define WGLEW_NV_present_video WGLEW_GET_VAR(__WGLEW_NV_present_video) + +#endif /* WGL_NV_present_video */ + +/* ---------------------- WGL_NV_render_depth_texture ---------------------- */ + +#ifndef WGL_NV_render_depth_texture +#define WGL_NV_render_depth_texture 1 + +#define WGL_NO_TEXTURE_ARB 0x2077 +#define WGL_BIND_TO_TEXTURE_DEPTH_NV 0x20A3 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_DEPTH_NV 0x20A4 +#define WGL_DEPTH_TEXTURE_FORMAT_NV 0x20A5 +#define WGL_TEXTURE_DEPTH_COMPONENT_NV 0x20A6 +#define WGL_DEPTH_COMPONENT_NV 0x20A7 + +#define WGLEW_NV_render_depth_texture WGLEW_GET_VAR(__WGLEW_NV_render_depth_texture) + +#endif /* WGL_NV_render_depth_texture */ + +/* -------------------- WGL_NV_render_texture_rectangle -------------------- */ + +#ifndef WGL_NV_render_texture_rectangle +#define WGL_NV_render_texture_rectangle 1 + +#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGB_NV 0x20A0 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGBA_NV 0x20A1 +#define WGL_TEXTURE_RECTANGLE_NV 0x20A2 + +#define WGLEW_NV_render_texture_rectangle WGLEW_GET_VAR(__WGLEW_NV_render_texture_rectangle) + +#endif /* WGL_NV_render_texture_rectangle */ + +/* --------------------------- WGL_NV_swap_group --------------------------- */ + +#ifndef WGL_NV_swap_group +#define WGL_NV_swap_group 1 + +typedef BOOL (WINAPI * PFNWGLBINDSWAPBARRIERNVPROC) (GLuint group, GLuint barrier); +typedef BOOL (WINAPI * PFNWGLJOINSWAPGROUPNVPROC) (HDC hDC, GLuint group); +typedef BOOL (WINAPI * PFNWGLQUERYFRAMECOUNTNVPROC) (HDC hDC, GLuint* count); +typedef BOOL (WINAPI * PFNWGLQUERYMAXSWAPGROUPSNVPROC) (HDC hDC, GLuint* maxGroups, GLuint *maxBarriers); +typedef BOOL (WINAPI * PFNWGLQUERYSWAPGROUPNVPROC) (HDC hDC, GLuint* group, GLuint *barrier); +typedef BOOL (WINAPI * PFNWGLRESETFRAMECOUNTNVPROC) (HDC hDC); + +#define wglBindSwapBarrierNV WGLEW_GET_FUN(__wglewBindSwapBarrierNV) +#define wglJoinSwapGroupNV WGLEW_GET_FUN(__wglewJoinSwapGroupNV) +#define wglQueryFrameCountNV WGLEW_GET_FUN(__wglewQueryFrameCountNV) +#define wglQueryMaxSwapGroupsNV WGLEW_GET_FUN(__wglewQueryMaxSwapGroupsNV) +#define wglQuerySwapGroupNV WGLEW_GET_FUN(__wglewQuerySwapGroupNV) +#define wglResetFrameCountNV WGLEW_GET_FUN(__wglewResetFrameCountNV) + +#define WGLEW_NV_swap_group WGLEW_GET_VAR(__WGLEW_NV_swap_group) + +#endif /* WGL_NV_swap_group */ + +/* ----------------------- WGL_NV_vertex_array_range ----------------------- */ + +#ifndef WGL_NV_vertex_array_range +#define WGL_NV_vertex_array_range 1 + +typedef void * (WINAPI * PFNWGLALLOCATEMEMORYNVPROC) (GLsizei size, GLfloat readFrequency, GLfloat writeFrequency, GLfloat priority); +typedef void (WINAPI * PFNWGLFREEMEMORYNVPROC) (void *pointer); + +#define wglAllocateMemoryNV WGLEW_GET_FUN(__wglewAllocateMemoryNV) +#define wglFreeMemoryNV WGLEW_GET_FUN(__wglewFreeMemoryNV) + +#define WGLEW_NV_vertex_array_range WGLEW_GET_VAR(__WGLEW_NV_vertex_array_range) + +#endif /* WGL_NV_vertex_array_range */ + +/* -------------------------- WGL_NV_video_capture ------------------------- */ + +#ifndef WGL_NV_video_capture +#define WGL_NV_video_capture 1 + +#define WGL_UNIQUE_ID_NV 0x20CE +#define WGL_NUM_VIDEO_CAPTURE_SLOTS_NV 0x20CF + +DECLARE_HANDLE(HVIDEOINPUTDEVICENV); + +typedef BOOL (WINAPI * PFNWGLBINDVIDEOCAPTUREDEVICENVPROC) (UINT uVideoSlot, HVIDEOINPUTDEVICENV hDevice); +typedef UINT (WINAPI * PFNWGLENUMERATEVIDEOCAPTUREDEVICESNVPROC) (HDC hDc, HVIDEOINPUTDEVICENV* phDeviceList); +typedef BOOL (WINAPI * PFNWGLLOCKVIDEOCAPTUREDEVICENVPROC) (HDC hDc, HVIDEOINPUTDEVICENV hDevice); +typedef BOOL (WINAPI * PFNWGLQUERYVIDEOCAPTUREDEVICENVPROC) (HDC hDc, HVIDEOINPUTDEVICENV hDevice, int iAttribute, int* piValue); +typedef BOOL (WINAPI * PFNWGLRELEASEVIDEOCAPTUREDEVICENVPROC) (HDC hDc, HVIDEOINPUTDEVICENV hDevice); + +#define wglBindVideoCaptureDeviceNV WGLEW_GET_FUN(__wglewBindVideoCaptureDeviceNV) +#define wglEnumerateVideoCaptureDevicesNV WGLEW_GET_FUN(__wglewEnumerateVideoCaptureDevicesNV) +#define wglLockVideoCaptureDeviceNV WGLEW_GET_FUN(__wglewLockVideoCaptureDeviceNV) +#define wglQueryVideoCaptureDeviceNV WGLEW_GET_FUN(__wglewQueryVideoCaptureDeviceNV) +#define wglReleaseVideoCaptureDeviceNV WGLEW_GET_FUN(__wglewReleaseVideoCaptureDeviceNV) + +#define WGLEW_NV_video_capture WGLEW_GET_VAR(__WGLEW_NV_video_capture) + +#endif /* WGL_NV_video_capture */ + +/* -------------------------- WGL_NV_video_output -------------------------- */ + +#ifndef WGL_NV_video_output +#define WGL_NV_video_output 1 + +#define WGL_BIND_TO_VIDEO_RGB_NV 0x20C0 +#define WGL_BIND_TO_VIDEO_RGBA_NV 0x20C1 +#define WGL_BIND_TO_VIDEO_RGB_AND_DEPTH_NV 0x20C2 +#define WGL_VIDEO_OUT_COLOR_NV 0x20C3 +#define WGL_VIDEO_OUT_ALPHA_NV 0x20C4 +#define WGL_VIDEO_OUT_DEPTH_NV 0x20C5 +#define WGL_VIDEO_OUT_COLOR_AND_ALPHA_NV 0x20C6 +#define WGL_VIDEO_OUT_COLOR_AND_DEPTH_NV 0x20C7 +#define WGL_VIDEO_OUT_FRAME 0x20C8 +#define WGL_VIDEO_OUT_FIELD_1 0x20C9 +#define WGL_VIDEO_OUT_FIELD_2 0x20CA +#define WGL_VIDEO_OUT_STACKED_FIELDS_1_2 0x20CB +#define WGL_VIDEO_OUT_STACKED_FIELDS_2_1 0x20CC + +DECLARE_HANDLE(HPVIDEODEV); + +typedef BOOL (WINAPI * PFNWGLBINDVIDEOIMAGENVPROC) (HPVIDEODEV hVideoDevice, HPBUFFERARB hPbuffer, int iVideoBuffer); +typedef BOOL (WINAPI * PFNWGLGETVIDEODEVICENVPROC) (HDC hDC, int numDevices, HPVIDEODEV* hVideoDevice); +typedef BOOL (WINAPI * PFNWGLGETVIDEOINFONVPROC) (HPVIDEODEV hpVideoDevice, unsigned long* pulCounterOutputPbuffer, unsigned long *pulCounterOutputVideo); +typedef BOOL (WINAPI * PFNWGLRELEASEVIDEODEVICENVPROC) (HPVIDEODEV hVideoDevice); +typedef BOOL (WINAPI * PFNWGLRELEASEVIDEOIMAGENVPROC) (HPBUFFERARB hPbuffer, int iVideoBuffer); +typedef BOOL (WINAPI * PFNWGLSENDPBUFFERTOVIDEONVPROC) (HPBUFFERARB hPbuffer, int iBufferType, unsigned long* pulCounterPbuffer, BOOL bBlock); + +#define wglBindVideoImageNV WGLEW_GET_FUN(__wglewBindVideoImageNV) +#define wglGetVideoDeviceNV WGLEW_GET_FUN(__wglewGetVideoDeviceNV) +#define wglGetVideoInfoNV WGLEW_GET_FUN(__wglewGetVideoInfoNV) +#define wglReleaseVideoDeviceNV WGLEW_GET_FUN(__wglewReleaseVideoDeviceNV) +#define wglReleaseVideoImageNV WGLEW_GET_FUN(__wglewReleaseVideoImageNV) +#define wglSendPbufferToVideoNV WGLEW_GET_FUN(__wglewSendPbufferToVideoNV) + +#define WGLEW_NV_video_output WGLEW_GET_VAR(__WGLEW_NV_video_output) + +#endif /* WGL_NV_video_output */ + +/* -------------------------- WGL_OML_sync_control ------------------------- */ + +#ifndef WGL_OML_sync_control +#define WGL_OML_sync_control 1 + +typedef BOOL (WINAPI * PFNWGLGETMSCRATEOMLPROC) (HDC hdc, INT32* numerator, INT32 *denominator); +typedef BOOL (WINAPI * PFNWGLGETSYNCVALUESOMLPROC) (HDC hdc, INT64* ust, INT64 *msc, INT64 *sbc); +typedef INT64 (WINAPI * PFNWGLSWAPBUFFERSMSCOMLPROC) (HDC hdc, INT64 target_msc, INT64 divisor, INT64 remainder); +typedef INT64 (WINAPI * PFNWGLSWAPLAYERBUFFERSMSCOMLPROC) (HDC hdc, INT fuPlanes, INT64 target_msc, INT64 divisor, INT64 remainder); +typedef BOOL (WINAPI * PFNWGLWAITFORMSCOMLPROC) (HDC hdc, INT64 target_msc, INT64 divisor, INT64 remainder, INT64* ust, INT64 *msc, INT64 *sbc); +typedef BOOL (WINAPI * PFNWGLWAITFORSBCOMLPROC) (HDC hdc, INT64 target_sbc, INT64* ust, INT64 *msc, INT64 *sbc); + +#define wglGetMscRateOML WGLEW_GET_FUN(__wglewGetMscRateOML) +#define wglGetSyncValuesOML WGLEW_GET_FUN(__wglewGetSyncValuesOML) +#define wglSwapBuffersMscOML WGLEW_GET_FUN(__wglewSwapBuffersMscOML) +#define wglSwapLayerBuffersMscOML WGLEW_GET_FUN(__wglewSwapLayerBuffersMscOML) +#define wglWaitForMscOML WGLEW_GET_FUN(__wglewWaitForMscOML) +#define wglWaitForSbcOML WGLEW_GET_FUN(__wglewWaitForSbcOML) + +#define WGLEW_OML_sync_control WGLEW_GET_VAR(__WGLEW_OML_sync_control) + +#endif /* WGL_OML_sync_control */ + +/* ------------------------------------------------------------------------- */ + +#ifdef GLEW_MX +#define WGLEW_EXPORT +#else +#define WGLEW_EXPORT GLEWAPI +#endif /* GLEW_MX */ + +#ifdef GLEW_MX +struct WGLEWContextStruct +{ +#endif /* GLEW_MX */ + +WGLEW_EXPORT PFNWGLSETSTEREOEMITTERSTATE3DLPROC __wglewSetStereoEmitterState3DL; + +WGLEW_EXPORT PFNWGLBLITCONTEXTFRAMEBUFFERAMDPROC __wglewBlitContextFramebufferAMD; +WGLEW_EXPORT PFNWGLCREATEASSOCIATEDCONTEXTAMDPROC __wglewCreateAssociatedContextAMD; +WGLEW_EXPORT PFNWGLCREATEASSOCIATEDCONTEXTATTRIBSAMDPROC __wglewCreateAssociatedContextAttribsAMD; +WGLEW_EXPORT PFNWGLDELETEASSOCIATEDCONTEXTAMDPROC __wglewDeleteAssociatedContextAMD; +WGLEW_EXPORT PFNWGLGETCONTEXTGPUIDAMDPROC __wglewGetContextGPUIDAMD; +WGLEW_EXPORT PFNWGLGETCURRENTASSOCIATEDCONTEXTAMDPROC __wglewGetCurrentAssociatedContextAMD; +WGLEW_EXPORT PFNWGLGETGPUIDSAMDPROC __wglewGetGPUIDsAMD; +WGLEW_EXPORT PFNWGLGETGPUINFOAMDPROC __wglewGetGPUInfoAMD; +WGLEW_EXPORT PFNWGLMAKEASSOCIATEDCONTEXTCURRENTAMDPROC __wglewMakeAssociatedContextCurrentAMD; + +WGLEW_EXPORT PFNWGLCREATEBUFFERREGIONARBPROC __wglewCreateBufferRegionARB; +WGLEW_EXPORT PFNWGLDELETEBUFFERREGIONARBPROC __wglewDeleteBufferRegionARB; +WGLEW_EXPORT PFNWGLRESTOREBUFFERREGIONARBPROC __wglewRestoreBufferRegionARB; +WGLEW_EXPORT PFNWGLSAVEBUFFERREGIONARBPROC __wglewSaveBufferRegionARB; + +WGLEW_EXPORT PFNWGLCREATECONTEXTATTRIBSARBPROC __wglewCreateContextAttribsARB; + +WGLEW_EXPORT PFNWGLGETEXTENSIONSSTRINGARBPROC __wglewGetExtensionsStringARB; + +WGLEW_EXPORT PFNWGLGETCURRENTREADDCARBPROC __wglewGetCurrentReadDCARB; +WGLEW_EXPORT PFNWGLMAKECONTEXTCURRENTARBPROC __wglewMakeContextCurrentARB; + +WGLEW_EXPORT PFNWGLCREATEPBUFFERARBPROC __wglewCreatePbufferARB; +WGLEW_EXPORT PFNWGLDESTROYPBUFFERARBPROC __wglewDestroyPbufferARB; +WGLEW_EXPORT PFNWGLGETPBUFFERDCARBPROC __wglewGetPbufferDCARB; +WGLEW_EXPORT PFNWGLQUERYPBUFFERARBPROC __wglewQueryPbufferARB; +WGLEW_EXPORT PFNWGLRELEASEPBUFFERDCARBPROC __wglewReleasePbufferDCARB; + +WGLEW_EXPORT PFNWGLCHOOSEPIXELFORMATARBPROC __wglewChoosePixelFormatARB; +WGLEW_EXPORT PFNWGLGETPIXELFORMATATTRIBFVARBPROC __wglewGetPixelFormatAttribfvARB; +WGLEW_EXPORT PFNWGLGETPIXELFORMATATTRIBIVARBPROC __wglewGetPixelFormatAttribivARB; + +WGLEW_EXPORT PFNWGLBINDTEXIMAGEARBPROC __wglewBindTexImageARB; +WGLEW_EXPORT PFNWGLRELEASETEXIMAGEARBPROC __wglewReleaseTexImageARB; +WGLEW_EXPORT PFNWGLSETPBUFFERATTRIBARBPROC __wglewSetPbufferAttribARB; + +WGLEW_EXPORT PFNWGLBINDDISPLAYCOLORTABLEEXTPROC __wglewBindDisplayColorTableEXT; +WGLEW_EXPORT PFNWGLCREATEDISPLAYCOLORTABLEEXTPROC __wglewCreateDisplayColorTableEXT; +WGLEW_EXPORT PFNWGLDESTROYDISPLAYCOLORTABLEEXTPROC __wglewDestroyDisplayColorTableEXT; +WGLEW_EXPORT PFNWGLLOADDISPLAYCOLORTABLEEXTPROC __wglewLoadDisplayColorTableEXT; + +WGLEW_EXPORT PFNWGLGETEXTENSIONSSTRINGEXTPROC __wglewGetExtensionsStringEXT; + +WGLEW_EXPORT PFNWGLGETCURRENTREADDCEXTPROC __wglewGetCurrentReadDCEXT; +WGLEW_EXPORT PFNWGLMAKECONTEXTCURRENTEXTPROC __wglewMakeContextCurrentEXT; + +WGLEW_EXPORT PFNWGLCREATEPBUFFEREXTPROC __wglewCreatePbufferEXT; +WGLEW_EXPORT PFNWGLDESTROYPBUFFEREXTPROC __wglewDestroyPbufferEXT; +WGLEW_EXPORT PFNWGLGETPBUFFERDCEXTPROC __wglewGetPbufferDCEXT; +WGLEW_EXPORT PFNWGLQUERYPBUFFEREXTPROC __wglewQueryPbufferEXT; +WGLEW_EXPORT PFNWGLRELEASEPBUFFERDCEXTPROC __wglewReleasePbufferDCEXT; + +WGLEW_EXPORT PFNWGLCHOOSEPIXELFORMATEXTPROC __wglewChoosePixelFormatEXT; +WGLEW_EXPORT PFNWGLGETPIXELFORMATATTRIBFVEXTPROC __wglewGetPixelFormatAttribfvEXT; +WGLEW_EXPORT PFNWGLGETPIXELFORMATATTRIBIVEXTPROC __wglewGetPixelFormatAttribivEXT; + +WGLEW_EXPORT PFNWGLGETSWAPINTERVALEXTPROC __wglewGetSwapIntervalEXT; +WGLEW_EXPORT PFNWGLSWAPINTERVALEXTPROC __wglewSwapIntervalEXT; + +WGLEW_EXPORT PFNWGLGETDIGITALVIDEOPARAMETERSI3DPROC __wglewGetDigitalVideoParametersI3D; +WGLEW_EXPORT PFNWGLSETDIGITALVIDEOPARAMETERSI3DPROC __wglewSetDigitalVideoParametersI3D; + +WGLEW_EXPORT PFNWGLGETGAMMATABLEI3DPROC __wglewGetGammaTableI3D; +WGLEW_EXPORT PFNWGLGETGAMMATABLEPARAMETERSI3DPROC __wglewGetGammaTableParametersI3D; +WGLEW_EXPORT PFNWGLSETGAMMATABLEI3DPROC __wglewSetGammaTableI3D; +WGLEW_EXPORT PFNWGLSETGAMMATABLEPARAMETERSI3DPROC __wglewSetGammaTableParametersI3D; + +WGLEW_EXPORT PFNWGLDISABLEGENLOCKI3DPROC __wglewDisableGenlockI3D; +WGLEW_EXPORT PFNWGLENABLEGENLOCKI3DPROC __wglewEnableGenlockI3D; +WGLEW_EXPORT PFNWGLGENLOCKSAMPLERATEI3DPROC __wglewGenlockSampleRateI3D; +WGLEW_EXPORT PFNWGLGENLOCKSOURCEDELAYI3DPROC __wglewGenlockSourceDelayI3D; +WGLEW_EXPORT PFNWGLGENLOCKSOURCEEDGEI3DPROC __wglewGenlockSourceEdgeI3D; +WGLEW_EXPORT PFNWGLGENLOCKSOURCEI3DPROC __wglewGenlockSourceI3D; +WGLEW_EXPORT PFNWGLGETGENLOCKSAMPLERATEI3DPROC __wglewGetGenlockSampleRateI3D; +WGLEW_EXPORT PFNWGLGETGENLOCKSOURCEDELAYI3DPROC __wglewGetGenlockSourceDelayI3D; +WGLEW_EXPORT PFNWGLGETGENLOCKSOURCEEDGEI3DPROC __wglewGetGenlockSourceEdgeI3D; +WGLEW_EXPORT PFNWGLGETGENLOCKSOURCEI3DPROC __wglewGetGenlockSourceI3D; +WGLEW_EXPORT PFNWGLISENABLEDGENLOCKI3DPROC __wglewIsEnabledGenlockI3D; +WGLEW_EXPORT PFNWGLQUERYGENLOCKMAXSOURCEDELAYI3DPROC __wglewQueryGenlockMaxSourceDelayI3D; + +WGLEW_EXPORT PFNWGLASSOCIATEIMAGEBUFFEREVENTSI3DPROC __wglewAssociateImageBufferEventsI3D; +WGLEW_EXPORT PFNWGLCREATEIMAGEBUFFERI3DPROC __wglewCreateImageBufferI3D; +WGLEW_EXPORT PFNWGLDESTROYIMAGEBUFFERI3DPROC __wglewDestroyImageBufferI3D; +WGLEW_EXPORT PFNWGLRELEASEIMAGEBUFFEREVENTSI3DPROC __wglewReleaseImageBufferEventsI3D; + +WGLEW_EXPORT PFNWGLDISABLEFRAMELOCKI3DPROC __wglewDisableFrameLockI3D; +WGLEW_EXPORT PFNWGLENABLEFRAMELOCKI3DPROC __wglewEnableFrameLockI3D; +WGLEW_EXPORT PFNWGLISENABLEDFRAMELOCKI3DPROC __wglewIsEnabledFrameLockI3D; +WGLEW_EXPORT PFNWGLQUERYFRAMELOCKMASTERI3DPROC __wglewQueryFrameLockMasterI3D; + +WGLEW_EXPORT PFNWGLBEGINFRAMETRACKINGI3DPROC __wglewBeginFrameTrackingI3D; +WGLEW_EXPORT PFNWGLENDFRAMETRACKINGI3DPROC __wglewEndFrameTrackingI3D; +WGLEW_EXPORT PFNWGLGETFRAMEUSAGEI3DPROC __wglewGetFrameUsageI3D; +WGLEW_EXPORT PFNWGLQUERYFRAMETRACKINGI3DPROC __wglewQueryFrameTrackingI3D; + +WGLEW_EXPORT PFNWGLDXCLOSEDEVICENVPROC __wglewDXCloseDeviceNV; +WGLEW_EXPORT PFNWGLDXLOCKOBJECTSNVPROC __wglewDXLockObjectsNV; +WGLEW_EXPORT PFNWGLDXOBJECTACCESSNVPROC __wglewDXObjectAccessNV; +WGLEW_EXPORT PFNWGLDXOPENDEVICENVPROC __wglewDXOpenDeviceNV; +WGLEW_EXPORT PFNWGLDXREGISTEROBJECTNVPROC __wglewDXRegisterObjectNV; +WGLEW_EXPORT PFNWGLDXSETRESOURCESHAREHANDLENVPROC __wglewDXSetResourceShareHandleNV; +WGLEW_EXPORT PFNWGLDXUNLOCKOBJECTSNVPROC __wglewDXUnlockObjectsNV; +WGLEW_EXPORT PFNWGLDXUNREGISTEROBJECTNVPROC __wglewDXUnregisterObjectNV; + +WGLEW_EXPORT PFNWGLCOPYIMAGESUBDATANVPROC __wglewCopyImageSubDataNV; + +WGLEW_EXPORT PFNWGLCREATEAFFINITYDCNVPROC __wglewCreateAffinityDCNV; +WGLEW_EXPORT PFNWGLDELETEDCNVPROC __wglewDeleteDCNV; +WGLEW_EXPORT PFNWGLENUMGPUDEVICESNVPROC __wglewEnumGpuDevicesNV; +WGLEW_EXPORT PFNWGLENUMGPUSFROMAFFINITYDCNVPROC __wglewEnumGpusFromAffinityDCNV; +WGLEW_EXPORT PFNWGLENUMGPUSNVPROC __wglewEnumGpusNV; + +WGLEW_EXPORT PFNWGLBINDVIDEODEVICENVPROC __wglewBindVideoDeviceNV; +WGLEW_EXPORT PFNWGLENUMERATEVIDEODEVICESNVPROC __wglewEnumerateVideoDevicesNV; +WGLEW_EXPORT PFNWGLQUERYCURRENTCONTEXTNVPROC __wglewQueryCurrentContextNV; + +WGLEW_EXPORT PFNWGLBINDSWAPBARRIERNVPROC __wglewBindSwapBarrierNV; +WGLEW_EXPORT PFNWGLJOINSWAPGROUPNVPROC __wglewJoinSwapGroupNV; +WGLEW_EXPORT PFNWGLQUERYFRAMECOUNTNVPROC __wglewQueryFrameCountNV; +WGLEW_EXPORT PFNWGLQUERYMAXSWAPGROUPSNVPROC __wglewQueryMaxSwapGroupsNV; +WGLEW_EXPORT PFNWGLQUERYSWAPGROUPNVPROC __wglewQuerySwapGroupNV; +WGLEW_EXPORT PFNWGLRESETFRAMECOUNTNVPROC __wglewResetFrameCountNV; + +WGLEW_EXPORT PFNWGLALLOCATEMEMORYNVPROC __wglewAllocateMemoryNV; +WGLEW_EXPORT PFNWGLFREEMEMORYNVPROC __wglewFreeMemoryNV; + +WGLEW_EXPORT PFNWGLBINDVIDEOCAPTUREDEVICENVPROC __wglewBindVideoCaptureDeviceNV; +WGLEW_EXPORT PFNWGLENUMERATEVIDEOCAPTUREDEVICESNVPROC __wglewEnumerateVideoCaptureDevicesNV; +WGLEW_EXPORT PFNWGLLOCKVIDEOCAPTUREDEVICENVPROC __wglewLockVideoCaptureDeviceNV; +WGLEW_EXPORT PFNWGLQUERYVIDEOCAPTUREDEVICENVPROC __wglewQueryVideoCaptureDeviceNV; +WGLEW_EXPORT PFNWGLRELEASEVIDEOCAPTUREDEVICENVPROC __wglewReleaseVideoCaptureDeviceNV; + +WGLEW_EXPORT PFNWGLBINDVIDEOIMAGENVPROC __wglewBindVideoImageNV; +WGLEW_EXPORT PFNWGLGETVIDEODEVICENVPROC __wglewGetVideoDeviceNV; +WGLEW_EXPORT PFNWGLGETVIDEOINFONVPROC __wglewGetVideoInfoNV; +WGLEW_EXPORT PFNWGLRELEASEVIDEODEVICENVPROC __wglewReleaseVideoDeviceNV; +WGLEW_EXPORT PFNWGLRELEASEVIDEOIMAGENVPROC __wglewReleaseVideoImageNV; +WGLEW_EXPORT PFNWGLSENDPBUFFERTOVIDEONVPROC __wglewSendPbufferToVideoNV; + +WGLEW_EXPORT PFNWGLGETMSCRATEOMLPROC __wglewGetMscRateOML; +WGLEW_EXPORT PFNWGLGETSYNCVALUESOMLPROC __wglewGetSyncValuesOML; +WGLEW_EXPORT PFNWGLSWAPBUFFERSMSCOMLPROC __wglewSwapBuffersMscOML; +WGLEW_EXPORT PFNWGLSWAPLAYERBUFFERSMSCOMLPROC __wglewSwapLayerBuffersMscOML; +WGLEW_EXPORT PFNWGLWAITFORMSCOMLPROC __wglewWaitForMscOML; +WGLEW_EXPORT PFNWGLWAITFORSBCOMLPROC __wglewWaitForSbcOML; +WGLEW_EXPORT GLboolean __WGLEW_3DFX_multisample; +WGLEW_EXPORT GLboolean __WGLEW_3DL_stereo_control; +WGLEW_EXPORT GLboolean __WGLEW_AMD_gpu_association; +WGLEW_EXPORT GLboolean __WGLEW_ARB_buffer_region; +WGLEW_EXPORT GLboolean __WGLEW_ARB_create_context; +WGLEW_EXPORT GLboolean __WGLEW_ARB_create_context_profile; +WGLEW_EXPORT GLboolean __WGLEW_ARB_create_context_robustness; +WGLEW_EXPORT GLboolean __WGLEW_ARB_extensions_string; +WGLEW_EXPORT GLboolean __WGLEW_ARB_framebuffer_sRGB; +WGLEW_EXPORT GLboolean __WGLEW_ARB_make_current_read; +WGLEW_EXPORT GLboolean __WGLEW_ARB_multisample; +WGLEW_EXPORT GLboolean __WGLEW_ARB_pbuffer; +WGLEW_EXPORT GLboolean __WGLEW_ARB_pixel_format; +WGLEW_EXPORT GLboolean __WGLEW_ARB_pixel_format_float; +WGLEW_EXPORT GLboolean __WGLEW_ARB_render_texture; +WGLEW_EXPORT GLboolean __WGLEW_ATI_pixel_format_float; +WGLEW_EXPORT GLboolean __WGLEW_ATI_render_texture_rectangle; +WGLEW_EXPORT GLboolean __WGLEW_EXT_create_context_es2_profile; +WGLEW_EXPORT GLboolean __WGLEW_EXT_depth_float; +WGLEW_EXPORT GLboolean __WGLEW_EXT_display_color_table; +WGLEW_EXPORT GLboolean __WGLEW_EXT_extensions_string; +WGLEW_EXPORT GLboolean __WGLEW_EXT_framebuffer_sRGB; +WGLEW_EXPORT GLboolean __WGLEW_EXT_make_current_read; +WGLEW_EXPORT GLboolean __WGLEW_EXT_multisample; +WGLEW_EXPORT GLboolean __WGLEW_EXT_pbuffer; +WGLEW_EXPORT GLboolean __WGLEW_EXT_pixel_format; +WGLEW_EXPORT GLboolean __WGLEW_EXT_pixel_format_packed_float; +WGLEW_EXPORT GLboolean __WGLEW_EXT_swap_control; +WGLEW_EXPORT GLboolean __WGLEW_I3D_digital_video_control; +WGLEW_EXPORT GLboolean __WGLEW_I3D_gamma; +WGLEW_EXPORT GLboolean __WGLEW_I3D_genlock; +WGLEW_EXPORT GLboolean __WGLEW_I3D_image_buffer; +WGLEW_EXPORT GLboolean __WGLEW_I3D_swap_frame_lock; +WGLEW_EXPORT GLboolean __WGLEW_I3D_swap_frame_usage; +WGLEW_EXPORT GLboolean __WGLEW_NV_DX_interop; +WGLEW_EXPORT GLboolean __WGLEW_NV_copy_image; +WGLEW_EXPORT GLboolean __WGLEW_NV_float_buffer; +WGLEW_EXPORT GLboolean __WGLEW_NV_gpu_affinity; +WGLEW_EXPORT GLboolean __WGLEW_NV_multisample_coverage; +WGLEW_EXPORT GLboolean __WGLEW_NV_present_video; +WGLEW_EXPORT GLboolean __WGLEW_NV_render_depth_texture; +WGLEW_EXPORT GLboolean __WGLEW_NV_render_texture_rectangle; +WGLEW_EXPORT GLboolean __WGLEW_NV_swap_group; +WGLEW_EXPORT GLboolean __WGLEW_NV_vertex_array_range; +WGLEW_EXPORT GLboolean __WGLEW_NV_video_capture; +WGLEW_EXPORT GLboolean __WGLEW_NV_video_output; +WGLEW_EXPORT GLboolean __WGLEW_OML_sync_control; + +#ifdef GLEW_MX +}; /* WGLEWContextStruct */ +#endif /* GLEW_MX */ + +/* ------------------------------------------------------------------------- */ + +#ifdef GLEW_MX + +typedef struct WGLEWContextStruct WGLEWContext; +GLEWAPI GLenum wglewContextInit (WGLEWContext* ctx); +GLEWAPI GLboolean wglewContextIsSupported (const WGLEWContext* ctx, const char* name); + +#define wglewInit() wglewContextInit(wglewGetContext()) +#define wglewIsSupported(x) wglewContextIsSupported(wglewGetContext(), x) + +#define WGLEW_GET_VAR(x) (*(const GLboolean*)&(wglewGetContext()->x)) +#define WGLEW_GET_FUN(x) wglewGetContext()->x + +#else /* GLEW_MX */ + +#define WGLEW_GET_VAR(x) (*(const GLboolean*)&x) +#define WGLEW_GET_FUN(x) x + +GLEWAPI GLboolean wglewIsSupported (const char* name); + +#endif /* GLEW_MX */ + +GLEWAPI GLboolean wglewGetExtension (const char* name); + +#ifdef __cplusplus +} +#endif + +#undef GLEWAPI + +#endif /* __wglew_h__ */ diff --git a/Code/Physics/Glut/GL/wglext.h b/Code/Physics/Glut/GL/wglext.h new file mode 100644 index 00000000..8c6192c2 --- /dev/null +++ b/Code/Physics/Glut/GL/wglext.h @@ -0,0 +1,466 @@ +#ifndef __wglext_h_ +#define __wglext_h_ + +#ifdef __cplusplus +extern "C" { +#endif + +/* +** License Applicability. Except to the extent portions of this file are +** made subject to an alternative license as permitted in the SGI Free +** Software License B, Version 1.1 (the "License"), the contents of this +** file are subject only to the provisions of the License. You may not use +** this file except in compliance with the License. You may obtain a copy +** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600 +** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at: +** +** http://oss.sgi.com/projects/FreeB +** +** Note that, as provided in the License, the Software is distributed on an +** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS +** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND +** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A +** PARTICULAR PURPOSE, AND NON-INFRINGEMENT. +** +** Original Code. The Original Code is: OpenGL Sample Implementation, +** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics, +** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc. +** Copyright in any portions created by third parties is as indicated +** elsewhere herein. All Rights Reserved. +** +** Additional Notice Provisions: This software was created using the +** OpenGL(R) version 1.2.1 Sample Implementation published by SGI, but has +** not been independently verified as being compliant with the OpenGL(R) +** version 1.2.1 Specification. +*/ + +#if defined(_WIN32) && !defined(APIENTRY) && !defined(__CYGWIN__) +#define WIN32_LEAN_AND_MEAN 1 +#include +#endif + +#ifndef APIENTRY +#define APIENTRY +#endif + +/*************************************************************/ + +/* Header file version number */ +#define WGL_WGLEXT_VERSION 1 + +#ifndef WGL_ARB_buffer_region +#define WGL_FRONT_COLOR_BUFFER_BIT_ARB 0x00000001 +#define WGL_BACK_COLOR_BUFFER_BIT_ARB 0x00000002 +#define WGL_DEPTH_BUFFER_BIT_ARB 0x00000004 +#define WGL_STENCIL_BUFFER_BIT_ARB 0x00000008 +#endif + +#ifndef WGL_ARB_extensions_string +#endif + +#ifndef WGL_ARB_pixel_format +#define WGL_NUMBER_PIXEL_FORMATS_ARB 0x2000 +#define WGL_DRAW_TO_WINDOW_ARB 0x2001 +#define WGL_DRAW_TO_BITMAP_ARB 0x2002 +#define WGL_ACCELERATION_ARB 0x2003 +#define WGL_NEED_PALETTE_ARB 0x2004 +#define WGL_NEED_SYSTEM_PALETTE_ARB 0x2005 +#define WGL_SWAP_LAYER_BUFFERS_ARB 0x2006 +#define WGL_SWAP_METHOD_ARB 0x2007 +#define WGL_NUMBER_OVERLAYS_ARB 0x2008 +#define WGL_NUMBER_UNDERLAYS_ARB 0x2009 +#define WGL_TRANSPARENT_ARB 0x200A +#define WGL_TRANSPARENT_RED_VALUE_ARB 0x2037 +#define WGL_TRANSPARENT_GREEN_VALUE_ARB 0x2038 +#define WGL_TRANSPARENT_BLUE_VALUE_ARB 0x2039 +#define WGL_TRANSPARENT_ALPHA_VALUE_ARB 0x203A +#define WGL_TRANSPARENT_INDEX_VALUE_ARB 0x203B +#define WGL_SHARE_DEPTH_ARB 0x200C +#define WGL_SHARE_STENCIL_ARB 0x200D +#define WGL_SHARE_ACCUM_ARB 0x200E +#define WGL_SUPPORT_GDI_ARB 0x200F +#define WGL_SUPPORT_OPENGL_ARB 0x2010 +#define WGL_DOUBLE_BUFFER_ARB 0x2011 +#define WGL_STEREO_ARB 0x2012 +#define WGL_PIXEL_TYPE_ARB 0x2013 +#define WGL_COLOR_BITS_ARB 0x2014 +#define WGL_RED_BITS_ARB 0x2015 +#define WGL_RED_SHIFT_ARB 0x2016 +#define WGL_GREEN_BITS_ARB 0x2017 +#define WGL_GREEN_SHIFT_ARB 0x2018 +#define WGL_BLUE_BITS_ARB 0x2019 +#define WGL_BLUE_SHIFT_ARB 0x201A +#define WGL_ALPHA_BITS_ARB 0x201B +#define WGL_ALPHA_SHIFT_ARB 0x201C +#define WGL_ACCUM_BITS_ARB 0x201D +#define WGL_ACCUM_RED_BITS_ARB 0x201E +#define WGL_ACCUM_GREEN_BITS_ARB 0x201F +#define WGL_ACCUM_BLUE_BITS_ARB 0x2020 +#define WGL_ACCUM_ALPHA_BITS_ARB 0x2021 +#define WGL_DEPTH_BITS_ARB 0x2022 +#define WGL_STENCIL_BITS_ARB 0x2023 +#define WGL_AUX_BUFFERS_ARB 0x2024 +#define WGL_NO_ACCELERATION_ARB 0x2025 +#define WGL_GENERIC_ACCELERATION_ARB 0x2026 +#define WGL_FULL_ACCELERATION_ARB 0x2027 +#define WGL_SWAP_EXCHANGE_ARB 0x2028 +#define WGL_SWAP_COPY_ARB 0x2029 +#define WGL_SWAP_UNDEFINED_ARB 0x202A +#define WGL_TYPE_RGBA_ARB 0x202B +#define WGL_TYPE_COLORINDEX_ARB 0x202C +#endif + +#ifndef WGL_ARB_make_current_read +#define ERROR_INVALID_PIXEL_TYPE_ARB 0x2043 +#define ERROR_INCOMPATIBLE_DEVICE_CONTEXTS_ARB 0x2054 +#endif + +#ifndef WGL_ARB_pbuffer +#define WGL_DRAW_TO_PBUFFER_ARB 0x202D +#define WGL_MAX_PBUFFER_PIXELS_ARB 0x202E +#define WGL_MAX_PBUFFER_WIDTH_ARB 0x202F +#define WGL_MAX_PBUFFER_HEIGHT_ARB 0x2030 +#define WGL_PBUFFER_LARGEST_ARB 0x2033 +#define WGL_PBUFFER_WIDTH_ARB 0x2034 +#define WGL_PBUFFER_HEIGHT_ARB 0x2035 +#define WGL_PBUFFER_LOST_ARB 0x2036 +#endif + +#ifndef WGL_ARB_render_texture +#define WGL_BIND_TO_TEXTURE_RGB_ARB 0x2070 +#define WGL_BIND_TO_TEXTURE_RGBA_ARB 0x2071 +#define WGL_TEXTURE_FORMAT_ARB 0x2072 +#define WGL_TEXTURE_TARGET_ARB 0x2073 +#define WGL_MIPMAP_TEXTURE_ARB 0x2074 +#define WGL_TEXTURE_RGB_ARB 0x2075 +#define WGL_TEXTURE_RGBA_ARB 0x2076 +#define WGL_NO_TEXTURE_ARB 0x2077 +#define WGL_TEXTURE_CUBE_MAP_ARB 0x2078 +#define WGL_TEXTURE_1D_ARB 0x2079 +#define WGL_TEXTURE_2D_ARB 0x207A +#define WGL_MIPMAP_LEVEL_ARB 0x207B +#define WGL_CUBE_MAP_FACE_ARB 0x207C +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_X_ARB 0x207D +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_X_ARB 0x207E +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Y_ARB 0x207F +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Y_ARB 0x2080 +#define WGL_TEXTURE_CUBE_MAP_POSITIVE_Z_ARB 0x2081 +#define WGL_TEXTURE_CUBE_MAP_NEGATIVE_Z_ARB 0x2082 +#define WGL_FRONT_LEFT_ARB 0x2083 +#define WGL_FRONT_RIGHT_ARB 0x2084 +#define WGL_BACK_LEFT_ARB 0x2085 +#define WGL_BACK_RIGHT_ARB 0x2086 +#define WGL_AUX0_ARB 0x2087 +#define WGL_AUX1_ARB 0x2088 +#define WGL_AUX2_ARB 0x2089 +#define WGL_AUX3_ARB 0x208A +#define WGL_AUX4_ARB 0x208B +#define WGL_AUX5_ARB 0x208C +#define WGL_AUX6_ARB 0x208D +#define WGL_AUX7_ARB 0x208E +#define WGL_AUX8_ARB 0x208F +#define WGL_AUX9_ARB 0x2090 +#endif + +#ifndef WGL_EXT_make_current_read +#define ERROR_INVALID_PIXEL_TYPE_EXT 0x2043 +#endif + +#ifndef WGL_EXT_pixel_format +#define WGL_NUMBER_PIXEL_FORMATS_EXT 0x2000 +#define WGL_DRAW_TO_WINDOW_EXT 0x2001 +#define WGL_DRAW_TO_BITMAP_EXT 0x2002 +#define WGL_ACCELERATION_EXT 0x2003 +#define WGL_NEED_PALETTE_EXT 0x2004 +#define WGL_NEED_SYSTEM_PALETTE_EXT 0x2005 +#define WGL_SWAP_LAYER_BUFFERS_EXT 0x2006 +#define WGL_SWAP_METHOD_EXT 0x2007 +#define WGL_NUMBER_OVERLAYS_EXT 0x2008 +#define WGL_NUMBER_UNDERLAYS_EXT 0x2009 +#define WGL_TRANSPARENT_EXT 0x200A +#define WGL_TRANSPARENT_VALUE_EXT 0x200B +#define WGL_SHARE_DEPTH_EXT 0x200C +#define WGL_SHARE_STENCIL_EXT 0x200D +#define WGL_SHARE_ACCUM_EXT 0x200E +#define WGL_SUPPORT_GDI_EXT 0x200F +#define WGL_SUPPORT_OPENGL_EXT 0x2010 +#define WGL_DOUBLE_BUFFER_EXT 0x2011 +#define WGL_STEREO_EXT 0x2012 +#define WGL_PIXEL_TYPE_EXT 0x2013 +#define WGL_COLOR_BITS_EXT 0x2014 +#define WGL_RED_BITS_EXT 0x2015 +#define WGL_RED_SHIFT_EXT 0x2016 +#define WGL_GREEN_BITS_EXT 0x2017 +#define WGL_GREEN_SHIFT_EXT 0x2018 +#define WGL_BLUE_BITS_EXT 0x2019 +#define WGL_BLUE_SHIFT_EXT 0x201A +#define WGL_ALPHA_BITS_EXT 0x201B +#define WGL_ALPHA_SHIFT_EXT 0x201C +#define WGL_ACCUM_BITS_EXT 0x201D +#define WGL_ACCUM_RED_BITS_EXT 0x201E +#define WGL_ACCUM_GREEN_BITS_EXT 0x201F +#define WGL_ACCUM_BLUE_BITS_EXT 0x2020 +#define WGL_ACCUM_ALPHA_BITS_EXT 0x2021 +#define WGL_DEPTH_BITS_EXT 0x2022 +#define WGL_STENCIL_BITS_EXT 0x2023 +#define WGL_AUX_BUFFERS_EXT 0x2024 +#define WGL_NO_ACCELERATION_EXT 0x2025 +#define WGL_GENERIC_ACCELERATION_EXT 0x2026 +#define WGL_FULL_ACCELERATION_EXT 0x2027 +#define WGL_SWAP_EXCHANGE_EXT 0x2028 +#define WGL_SWAP_COPY_EXT 0x2029 +#define WGL_SWAP_UNDEFINED_EXT 0x202A +#define WGL_TYPE_RGBA_EXT 0x202B +#define WGL_TYPE_COLORINDEX_EXT 0x202C +#endif + +#ifndef WGL_EXT_pbuffer +#define WGL_DRAW_TO_PBUFFER_EXT 0x202D +#define WGL_MAX_PBUFFER_PIXELS_EXT 0x202E +#define WGL_MAX_PBUFFER_WIDTH_EXT 0x202F +#define WGL_MAX_PBUFFER_HEIGHT_EXT 0x2030 +#define WGL_OPTIMAL_PBUFFER_WIDTH_EXT 0x2031 +#define WGL_OPTIMAL_PBUFFER_HEIGHT_EXT 0x2032 +#define WGL_PBUFFER_LARGEST_EXT 0x2033 +#define WGL_PBUFFER_WIDTH_EXT 0x2034 +#define WGL_PBUFFER_HEIGHT_EXT 0x2035 +#endif + +#ifndef WGL_EXT_depth_float +#define WGL_DEPTH_FLOAT_EXT 0x2040 +#endif + +#ifndef WGL_NV_render_texture_rectangle +#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGB_NV 0x20A0 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_RGBA_NV 0x20A1 +#define WGL_TEXTURE_RECTANGLE_NV 0x20A2 +#endif + +#ifndef WGL_NV_render_depth_texture +#define WGL_TEXTURE_DEPTH_COMPONENT_NV 0x20A6 +#define WGL_DEPTH_TEXTURE_FORMAT_NV 0x20A5 +#define WGL_BIND_TO_TEXTURE_DEPTH_NV 0x20A3 +#define WGL_BIND_TO_TEXTURE_RECTANGLE_DEPTH_NV 0x20A4 +#define WGL_DEPTH_COMPONENT_NV 0x20A7 +#endif + +#ifndef WGL_3DFX_multisample +#define WGL_SAMPLE_BUFFERS_3DFX 0x2060 +#define WGL_SAMPLES_3DFX 0x2061 +#endif + +#ifndef WGL_EXT_multisample +#define WGL_SAMPLE_BUFFERS_EXT 0x2041 +#define WGL_SAMPLES_EXT 0x2042 +#endif + +#ifndef WGL_I3D_unknown_genlock_extension_name +#define WGL_GENLOCK_SOURCE_MULTIVIEW_I3D 0x2044 +#define WGL_GENLOCK_SOURCE_EXTENAL_SYNC_I3D 0x2045 +#define WGL_GENLOCK_SOURCE_EXTENAL_FIELD_I3D 0x2046 +#define WGL_GENLOCK_SOURCE_EXTENAL_TTL_I3D 0x2047 +#define WGL_GENLOCK_SOURCE_DIGITAL_SYNC_I3D 0x2048 +#define WGL_GENLOCK_SOURCE_DIGITAL_FIELD_I3D 0x2049 +#define WGL_GENLOCK_SOURCE_EDGE_FALLING_I3D 0x204A +#define WGL_GENLOCK_SOURCE_EDGE_RISING_I3D 0x204B +#define WGL_GENLOCK_SOURCE_EDGE_BOTH_I3D 0x204C +#endif + +#ifndef WGL_I3D_unknown_gamma_extension_name +#define WGL_GAMMA_TABLE_SIZE_I3D 0x204E +#define WGL_GAMMA_EXCLUDE_DESKTOP_I3D 0x204F +#endif + +#ifndef WGL_I3D_unknown_digital_video_cursor_extension_name +#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_FRAMEBUFFER_I3D 0x2050 +#define WGL_DIGITAL_VIDEO_CURSOR_ALPHA_VALUE_I3D 0x2051 +#define WGL_DIGITAL_VIDEO_CURSOR_INCLUDED_I3D 0x2052 +#define WGL_DIGITAL_VIDEO_GAMMA_CORRECTED_I3D 0x2053 +#endif + + +/*************************************************************/ + +#ifndef WGL_ARB_pbuffer +DECLARE_HANDLE(HPBUFFERARB); +#endif +#ifndef WGL_EXT_pbuffer +DECLARE_HANDLE(HPBUFFEREXT); +#endif + +#ifndef WGL_ARB_buffer_region +#define WGL_ARB_buffer_region 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern HANDLE WINAPI wglCreateBufferRegionARB (HDC, int, UINT); +extern VOID WINAPI wglDeleteBufferRegionARB (HANDLE); +extern BOOL WINAPI wglSaveBufferRegionARB (HANDLE, int, int, int, int); +extern BOOL WINAPI wglRestoreBufferRegionARB (HANDLE, int, int, int, int, int, int); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef HANDLE (WINAPI * PFNWGLCREATEBUFFERREGIONARBPROC) (HDC hDC, int iLayerPlane, UINT uType); +typedef VOID (WINAPI * PFNWGLDELETEBUFFERREGIONARBPROC) (HANDLE hRegion); +typedef BOOL (WINAPI * PFNWGLSAVEBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height); +typedef BOOL (WINAPI * PFNWGLRESTOREBUFFERREGIONARBPROC) (HANDLE hRegion, int x, int y, int width, int height, int xSrc, int ySrc); +#endif + +#ifndef WGL_ARB_extensions_string +#define WGL_ARB_extensions_string 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern const char * WINAPI wglGetExtensionsStringARB (HDC); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef const char * (WINAPI * PFNWGLGETEXTENSIONSSTRINGARBPROC) (HDC hdc); +#endif + +#ifndef WGL_ARB_pixel_format +#define WGL_ARB_pixel_format 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern BOOL WINAPI wglGetPixelFormatAttribivARB (HDC, int, int, UINT, const int *, int *); +extern BOOL WINAPI wglGetPixelFormatAttribfvARB (HDC, int, int, UINT, const int *, FLOAT *); +extern BOOL WINAPI wglChoosePixelFormatARB (HDC, const int *, const FLOAT *, UINT, int *, UINT *); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int *piAttributes, int *piValues); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVARBPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, const int *piAttributes, FLOAT *pfValues); +typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATARBPROC) (HDC hdc, const int *piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats); +#endif + +#ifndef WGL_ARB_make_current_read +#define WGL_ARB_make_current_read 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern BOOL WINAPI wglMakeContextCurrentARB (HDC, HDC, HGLRC); +extern HDC WINAPI wglGetCurrentReadDCARB (void); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTARBPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc); +typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCARBPROC) (void); +#endif + +#ifndef WGL_ARB_pbuffer +#define WGL_ARB_pbuffer 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern HPBUFFERARB WINAPI wglCreatePbufferARB (HDC, int, int, int, const int *); +extern HDC WINAPI wglGetPbufferDCARB (HPBUFFERARB); +extern int WINAPI wglReleasePbufferDCARB (HPBUFFERARB, HDC); +extern BOOL WINAPI wglDestroyPbufferARB (HPBUFFERARB); +extern BOOL WINAPI wglQueryPbufferARB (HPBUFFERARB, int, int *); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef HPBUFFERARB (WINAPI * PFNWGLCREATEPBUFFERARBPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int *piAttribList); +typedef HDC (WINAPI * PFNWGLGETPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer); +typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCARBPROC) (HPBUFFERARB hPbuffer, HDC hDC); +typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFERARBPROC) (HPBUFFERARB hPbuffer); +typedef BOOL (WINAPI * PFNWGLQUERYPBUFFERARBPROC) (HPBUFFERARB hPbuffer, int iAttribute, int *piValue); +#endif + +#ifndef WGL_EXT_display_color_table +#define WGL_EXT_display_color_table 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern GLboolean WINAPI wglCreateDisplayColorTableEXT (GLushort); +extern GLboolean WINAPI wglLoadDisplayColorTableEXT (const GLushort *, GLuint); +extern GLboolean WINAPI wglBindDisplayColorTableEXT (GLushort); +extern VOID WINAPI wglDestroyDisplayColorTableEXT (GLushort); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef GLboolean (WINAPI * PFNWGLCREATEDISPLAYCOLORTABLEEXTPROC) (GLushort id); +typedef GLboolean (WINAPI * PFNWGLLOADDISPLAYCOLORTABLEEXTPROC) (const GLushort *table, GLuint length); +typedef GLboolean (WINAPI * PFNWGLBINDDISPLAYCOLORTABLEEXTPROC) (GLushort id); +typedef VOID (WINAPI * PFNWGLDESTROYDISPLAYCOLORTABLEEXTPROC) (GLushort id); +#endif + +#ifndef WGL_EXT_extensions_string +#define WGL_EXT_extensions_string 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern const char * WINAPI wglGetExtensionsStringEXT (void); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef const char * (WINAPI * PFNWGLGETEXTENSIONSSTRINGEXTPROC) (void); +#endif + +#ifndef WGL_EXT_make_current_read +#define WGL_EXT_make_current_read 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern BOOL WINAPI wglMakeContextCurrentEXT (HDC, HDC, HGLRC); +extern HDC WINAPI wglGetCurrentReadDCEXT (void); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef BOOL (WINAPI * PFNWGLMAKECONTEXTCURRENTEXTPROC) (HDC hDrawDC, HDC hReadDC, HGLRC hglrc); +typedef HDC (WINAPI * PFNWGLGETCURRENTREADDCEXTPROC) (void); +#endif + +#ifndef WGL_EXT_pbuffer +#define WGL_EXT_pbuffer 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern HPBUFFEREXT WINAPI wglCreatePbufferEXT (HDC, int, int, int, const int *); +extern HDC WINAPI wglGetPbufferDCEXT (HPBUFFEREXT); +extern int WINAPI wglReleasePbufferDCEXT (HPBUFFEREXT, HDC); +extern BOOL WINAPI wglDestroyPbufferEXT (HPBUFFEREXT); +extern BOOL WINAPI wglQueryPbufferEXT (HPBUFFEREXT, int, int *); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef HPBUFFEREXT (WINAPI * PFNWGLCREATEPBUFFEREXTPROC) (HDC hDC, int iPixelFormat, int iWidth, int iHeight, const int *piAttribList); +typedef HDC (WINAPI * PFNWGLGETPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer); +typedef int (WINAPI * PFNWGLRELEASEPBUFFERDCEXTPROC) (HPBUFFEREXT hPbuffer, HDC hDC); +typedef BOOL (WINAPI * PFNWGLDESTROYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer); +typedef BOOL (WINAPI * PFNWGLQUERYPBUFFEREXTPROC) (HPBUFFEREXT hPbuffer, int iAttribute, int *piValue); +#endif + +#ifndef WGL_EXT_pixel_format +#define WGL_EXT_pixel_format 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern BOOL WINAPI wglGetPixelFormatAttribivEXT (HDC, int, int, UINT, int *, int *); +extern BOOL WINAPI wglGetPixelFormatAttribfvEXT (HDC, int, int, UINT, int *, FLOAT *); +extern BOOL WINAPI wglChoosePixelFormatEXT (HDC, const int *, const FLOAT *, UINT, int *, UINT *); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBIVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int *piAttributes, int *piValues); +typedef BOOL (WINAPI * PFNWGLGETPIXELFORMATATTRIBFVEXTPROC) (HDC hdc, int iPixelFormat, int iLayerPlane, UINT nAttributes, int *piAttributes, FLOAT *pfValues); +typedef BOOL (WINAPI * PFNWGLCHOOSEPIXELFORMATEXTPROC) (HDC hdc, const int *piAttribIList, const FLOAT *pfAttribFList, UINT nMaxFormats, int *piFormats, UINT *nNumFormats); +#endif + +#ifndef WGL_EXT_swap_control +#define WGL_EXT_swap_control 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern BOOL WINAPI wglSwapIntervalEXT (int); +extern int WINAPI wglGetSwapIntervalEXT (void); +#endif /* WGL_WGLEXT_PROTOTYPES */ +typedef BOOL (WINAPI * PFNWGLSWAPINTERVALEXTPROC) (int interval); +typedef int (WINAPI * PFNWGLGETSWAPINTERVALEXTPROC) (void); +#endif + +#ifndef WGL_WGL_EXT_depth_float +#define WGL_WGL_EXT_depth_float 1 +#endif + +#ifndef WGL_WGL_3DFX_multisample +#define WGL_WGL_3DFX_multisample 1 +#endif + +#ifndef WGL_WGL_EXT_multisample +#define WGL_WGL_EXT_multisample 1 +#endif + +/* added by Cass -- but this should already be in here! */ +#ifndef WGL_NV_allocate_memory +#define WGL_NV_allocate_memory 1 +#ifdef WGL_WGLEXT_PROTOTYPES +extern void * wglAllocateMemoryNV(int size, float readfreq, float writefreq, float priority); +extern void wglFreeMemoryNV(void * pointer); +#endif +typedef void * (APIENTRY * PFNWGLALLOCATEMEMORYNVPROC) (int size, float readfreq, float writefreq, float priority); +typedef void (APIENTRY * PFNWGLFREEMEMORYNVPROC) (void *pointer); +#endif + +/* WGL_ARB_render_texture */ +#ifndef WGL_ARB_render_texture +#define WGL_ARB_render_texture 1 +typedef BOOL (WINAPI * PFNWGLBINDTEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer); +typedef BOOL (WINAPI * PFNWGLRELEASETEXIMAGEARBPROC) (HPBUFFERARB hPbuffer, int iBuffer); +typedef BOOL (WINAPI * PFNWGLSETPBUFFERATTRIBARBPROC) (HPBUFFERARB hPbuffer, const int * piAttribList); +#endif + +#ifndef WGL_NV_render_texture_rectangle +#define WGL_NV_render_texture_rectangle 1 +#endif + +#ifndef WGL_NV_render_depth_texture +#define WGL_NV_render_depth_texture 1 +#endif + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/Code/Physics/Glut/btGlutInclude.h b/Code/Physics/Glut/btGlutInclude.h new file mode 100644 index 00000000..d79cb565 --- /dev/null +++ b/Code/Physics/Glut/btGlutInclude.h @@ -0,0 +1,43 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://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 BT_GLUT_INCLUDE_H +#define BT_GLUT_INCLUDE_H + + +#ifdef _WIN32//for glut.h +#include +#endif + +//think different +#if defined(__APPLE__) && !defined (VMDMESA) +#include +#include +#include +#include +#else + + +#ifdef _WINDOWS +#include +#include +#include +#else +#include +#include +#endif //_WINDOWS +#endif //APPLE + +#endif //BT_GLUT_INCLUDE_H diff --git a/Code/Physics/LinearMath/CMakeFiles/generate.stamp b/Code/Physics/LinearMath/CMakeFiles/generate.stamp new file mode 100644 index 00000000..9b5f49fa --- /dev/null +++ b/Code/Physics/LinearMath/CMakeFiles/generate.stamp @@ -0,0 +1 @@ +# CMake generation timestamp file for this directory. diff --git a/Code/Physics/LinearMath/CMakeFiles/generate.stamp.depend b/Code/Physics/LinearMath/CMakeFiles/generate.stamp.depend new file mode 100644 index 00000000..eca1700c --- /dev/null +++ b/Code/Physics/LinearMath/CMakeFiles/generate.stamp.depend @@ -0,0 +1,2 @@ +# CMake generation dependency list for this directory. +C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt diff --git a/Code/Physics/LinearMath/INSTALL.vcxproj b/Code/Physics/LinearMath/INSTALL.vcxproj new file mode 100644 index 00000000..30c2d9d0 --- /dev/null +++ b/Code/Physics/LinearMath/INSTALL.vcxproj @@ -0,0 +1,217 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {0A758B62-DE3C-493C-985D-39E48A384A7C} + Win32Proj + Win32 + INSTALL + + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + false + MultiByte + v110 + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + $(Platform)\$(Configuration)\$(ProjectName)\ + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -DBUILD_TYPE=$(Configuration) -P cmake_install.cmake +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + + + + + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/014b29ea83ffdb14ab17f55265953026/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/014b29ea83ffdb14ab17f55265953026/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/014b29ea83ffdb14ab17f55265953026/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\INSTALL_force + false + + setlocal +cd . +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/Binaries/CMakeFiles/014b29ea83ffdb14ab17f55265953026/INSTALL_force.rule;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\INSTALL_force + false + + + + + F5149B3B-C2B1-4522-9FFD-121CED456BD3 + + + + + + \ No newline at end of file diff --git a/Code/Physics/LinearMath/LinearMath.vcxproj b/Code/Physics/LinearMath/LinearMath.vcxproj new file mode 100644 index 00000000..efa93177 --- /dev/null +++ b/Code/Physics/LinearMath/LinearMath.vcxproj @@ -0,0 +1,303 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + MinSizeRel + Win32 + + + RelWithDebInfo + Win32 + + + + {22C0C4D8-6C43-406A-9CDB-76A4F800971A} + Win32Proj + Win32 + LinearMath + + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + StaticLibrary + false + MultiByte + v110 + + + + + + + + + + <_ProjectFileVersion>10.0.20506.1 + $(SolutionDir)Physics\Debug\ + LinearMath.dir\Debug\ + LinearMath_Debug + .lib + $(SolutionDir)Physics\Release + LinearMath.dir\Release\ + LinearMath + .lib + C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\MinSizeRel\ + LinearMath.dir\MinSizeRel\ + LinearMath_MinsizeRel + .lib + C:\Users\Robin\Programmering\GitHub\Danbias\Code\Physics\RelWithDebInfo\ + LinearMath.dir\RelWithDebInfo\ + LinearMath_RelWithDebugInfo + .lib + + + + $(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) + Debug/ + EnableFastChecks + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + Disabled + Disabled + NotUsing + MultiThreadedDebugDLL + true + Level3 + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Debug";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;_DEBUG;_DEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Debug\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + $(SolutionDir)Physics\Glut;$(SolutionDir)Physics\src;%(AdditionalIncludeDirectories) + Release/ + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + AnySuitable + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="Release";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"Release\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + MinSizeRel/ + CompileAsCpp + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MinSpace + NotUsing + MultiThreadedDLL + true + Level3 + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="MinSizeRel";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"MinSizeRel\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + RelWithDebInfo/ + CompileAsCpp + ProgramDatabase + StreamingSIMDExtensions + Sync + Fast + OnlyExplicitInline + MaxSpeed + NotUsing + MultiThreadedDLL + true + Level3 + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR="RelWithDebInfo";%(PreprocessorDefinitions) + $(IntDir) + + + WIN32;NDEBUG;USE_GRAPHICAL_BENCHMARK;_IRR_STATIC_LIB_;_CRT_SECURE_NO_WARNINGS;_CRT_SECURE_NO_DEPRECATE;_SCL_SECURE_NO_WARNINGS;CMAKE_INTDIR=\"RelWithDebInfo\";%(PreprocessorDefinitions) + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + + + C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\Glut;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src;%(AdditionalIncludeDirectories) + $(IntDir) + %(Filename).h + %(Filename).tlb + %(Filename)_i.c + %(Filename)_p.c + + + + + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp + false + Building Custom Rule C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt + setlocal +"C:\Program Files (x86)\CMake 2.8\bin\cmake.exe" -HC:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704 -BC:/Users/Robin/Programmering/Bullet/Binaries --check-stamp-file C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp +if %errorlevel% neq 0 goto :cmEnd +:cmEnd +endlocal & call :cmErrorLevel %errorlevel% & goto :cmDone +:cmErrorLevel +exit /b %1 +:cmDone +if %errorlevel% neq 0 goto :VCEnd + C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath/CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;C:\Users\Robin\Programmering\Bullet\bullet-2.82-r2704\src\LinearMath\CMakeLists.txt;%(AdditionalInputs) + C:\Users\Robin\Programmering\Bullet\Binaries\src\LinearMath\CMakeFiles\generate.stamp + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Code/Physics/LinearMath/LinearMath.vcxproj.user b/Code/Physics/LinearMath/LinearMath.vcxproj.user new file mode 100644 index 00000000..a375ae35 --- /dev/null +++ b/Code/Physics/LinearMath/LinearMath.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/Code/Physics/LinearMath/cmake_install.cmake b/Code/Physics/LinearMath/cmake_install.cmake new file mode 100644 index 00000000..c82b699b --- /dev/null +++ b/Code/Physics/LinearMath/cmake_install.cmake @@ -0,0 +1,29 @@ +# Install script for directory: C:/Users/Robin/Programmering/Bullet/bullet-2.82-r2704/src/LinearMath + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/BULLET_PHYSICS") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Release") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + diff --git a/Code/Physics/src/Bullet-C-Api.h b/Code/Physics/src/Bullet-C-Api.h new file mode 100644 index 00000000..f27a17d5 --- /dev/null +++ b/Code/Physics/src/Bullet-C-Api.h @@ -0,0 +1,176 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* + Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's. + Work in progress, functionality will be added on demand. + + If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h" +*/ + +#ifndef BULLET_C_API_H +#define BULLET_C_API_H + +#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name + +#ifdef BT_USE_DOUBLE_PRECISION +typedef double plReal; +#else +typedef float plReal; +#endif + +typedef plReal plVector3[3]; +typedef plReal plQuaternion[4]; + +#ifdef __cplusplus +extern "C" { +#endif + +/** Particular physics SDK (C-API) */ + PL_DECLARE_HANDLE(plPhysicsSdkHandle); + +/** Dynamics world, belonging to some physics SDK (C-API)*/ + PL_DECLARE_HANDLE(plDynamicsWorldHandle); + +/** Rigid Body that can be part of a Dynamics World (C-API)*/ + PL_DECLARE_HANDLE(plRigidBodyHandle); + +/** Collision Shape/Geometry, property of a Rigid Body (C-API)*/ + PL_DECLARE_HANDLE(plCollisionShapeHandle); + +/** Constraint for Rigid Bodies (C-API)*/ + PL_DECLARE_HANDLE(plConstraintHandle); + +/** Triangle Mesh interface (C-API)*/ + PL_DECLARE_HANDLE(plMeshInterfaceHandle); + +/** Broadphase Scene/Proxy Handles (C-API)*/ + PL_DECLARE_HANDLE(plCollisionBroadphaseHandle); + PL_DECLARE_HANDLE(plBroadphaseProxyHandle); + PL_DECLARE_HANDLE(plCollisionWorldHandle); + +/** + Create and Delete a Physics SDK +*/ + + extern plPhysicsSdkHandle plNewBulletSdk(void); //this could be also another sdk, like ODE, PhysX etc. + extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk); + +/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */ + + typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2); + + extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback); + + extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp); + + extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + + extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle); + + extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ); + +/* todo: add pair cache support with queries like add/remove/find pair */ + + extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk); + +/* todo: add/remove objects */ + + +/* Dynamics World */ + + extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk); + + extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world); + + extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep); + + extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object); + + +/* Rigid Body */ + + extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape ); + + extern void plDeleteRigidBody(plRigidBodyHandle body); + + +/* Collision Shape definition */ + + extern plCollisionShapeHandle plNewSphereShape(plReal radius); + extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z); + extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height); + extern plCollisionShapeHandle plNewCompoundShape(void); + extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn); + + extern void plDeleteShape(plCollisionShapeHandle shape); + + /* Convex Meshes */ + extern plCollisionShapeHandle plNewConvexHullShape(void); + extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z); +/* Concave static triangle meshes */ + extern plMeshInterfaceHandle plNewMeshInterface(void); + extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2); + extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle); + + extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling); + +/* SOLID has Response Callback/Table/Management */ +/* PhysX has Triggers, User Callbacks and filtering */ +/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */ + +/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */ +/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */ + + /* get world transform */ + extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix); + extern void plGetPosition(plRigidBodyHandle object,plVector3 position); + extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation); + + /* set world transform (position/orientation) */ + extern void plSetPosition(plRigidBodyHandle object, const plVector3 position); + extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation); + extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient); + extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix); + + typedef struct plRayCastResult { + plRigidBodyHandle m_body; + plCollisionShapeHandle m_shape; + plVector3 m_positionWorld; + plVector3 m_normalWorld; + } plRayCastResult; + + extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res); + + /* Sweep API */ + + /* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */ + + /* Continuous Collision Detection API */ + + // needed for source/blender/blenkernel/intern/collision.c + double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]); + +#ifdef __cplusplus +} +#endif + + +#endif //BULLET_C_API_H + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp new file mode 100644 index 00000000..77763305 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp @@ -0,0 +1,37 @@ + +//Bullet Continuous Collision Detection and Physics Library +//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + + +// +// btAxisSweep3 +// +// Copyright (c) 2006 Simon Hobbs +// +// 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. +#include "btAxisSweep3.h" + + +btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator) +:btAxisSweep3Internal(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator) +{ + // 1 handle is reserved as sentinel + btAssert(maxHandles > 1 && maxHandles < 32767); + +} + + +bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator) +:btAxisSweep3Internal(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator) +{ + // 1 handle is reserved as sentinel + btAssert(maxHandles > 1 && maxHandles < 2147483647); +} diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h new file mode 100644 index 00000000..cd6e1a89 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -0,0 +1,1051 @@ +//Bullet Continuous Collision Detection and Physics Library +//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +// +// btAxisSweep3.h +// +// Copyright (c) 2006 Simon Hobbs +// +// 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 BT_AXIS_SWEEP_3_H +#define BT_AXIS_SWEEP_3_H + +#include "LinearMath/btVector3.h" +#include "btOverlappingPairCache.h" +#include "btBroadphaseInterface.h" +#include "btBroadphaseProxy.h" +#include "btOverlappingPairCallback.h" +#include "btDbvtBroadphase.h" + +//#define DEBUG_BROADPHASE 1 +#define USE_OVERLAP_TEST_ON_REMOVES 1 + +/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. +/// It uses quantized integers to represent the begin and end points for each of the 3 axis. +/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead. +template +class btAxisSweep3Internal : public btBroadphaseInterface +{ +protected: + + BP_FP_INT_TYPE m_bpHandleMask; + BP_FP_INT_TYPE m_handleSentinel; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + class Edge + { + public: + BP_FP_INT_TYPE m_pos; // low bit is min/max + BP_FP_INT_TYPE m_handle; + + BP_FP_INT_TYPE IsMax() const {return static_cast(m_pos & 1);} + }; + +public: + class Handle : public btBroadphaseProxy + { + public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // indexes into the edge arrays + BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 +// BP_FP_INT_TYPE m_uniqueId; + btBroadphaseProxy* m_dbvtProxy;//for faster raycast + //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject + + SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} + }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry + + +protected: + btVector3 m_worldAabbMin; // overall system bounds + btVector3 m_worldAabbMax; // overall system bounds + + btVector3 m_quantize; // scaling factor for quantization + + BP_FP_INT_TYPE m_numHandles; // number of active handles + BP_FP_INT_TYPE m_maxHandles; // max number of handles + Handle* m_pHandles; // handles pool + + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list + + Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) + void* m_pEdgesRawPtr[3]; + + btOverlappingPairCache* m_pairCache; + + ///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. + btOverlappingPairCallback* m_userPairCallback; + + bool m_ownsPairCache; + + int m_invalidPair; + + ///additional dynamic aabb structure, used to accelerate ray cast queries. + ///can be disabled using a optional argument in the constructor + btDbvtBroadphase* m_raycastAccelerator; + btOverlappingPairCache* m_nullPairCache; + + + // allocation/deallocation + BP_FP_INT_TYPE allocHandle(); + void freeHandle(BP_FP_INT_TYPE handle); + + + bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1); + +#ifdef DEBUG_BROADPHASE + void debugPrintAxis(int axis,bool checkCardinality=true); +#endif //DEBUG_BROADPHASE + + //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + + + + void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps ); + +public: + + btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false); + + virtual ~btAxisSweep3Internal(); + + BP_FP_INT_TYPE getNumHandles() const + { + return m_numHandles; + } + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher); + void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} + + virtual void resetPool(btDispatcher* dispatcher); + + void processAllOverlappingPairs(btOverlapCallback* callback); + + //Broadphase Interface + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + + void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const; + ///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result + void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + void setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback) + { + m_userPairCallback = pairCallback; + } + const btOverlappingPairCallback* getOverlappingPairUserCallback() const + { + return m_userPairCallback; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_worldAabbMin; + aabbMax = m_worldAabbMax; + } + + virtual void printStats() + { +/* printf("btAxisSweep3.h\n"); + printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(), + m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ()); + */ + + } + +}; + +//////////////////////////////////////////////////////////////////// + + + + +#ifdef DEBUG_BROADPHASE +#include + +template +void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality) +{ + int numEdges = m_pHandles[0].m_maxEdges[axis]; + printf("SAP Axis %d, numEdges=%d\n",axis,numEdges); + + int i; + for (i=0;im_handle); + int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis]; + char beginOrEnd; + beginOrEnd=pEdge->IsMax()?'E':'B'; + printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex); + } + + if (checkCardinality) + btAssert(numEdges == m_numHandles*2+1); +} +#endif //DEBUG_BROADPHASE + +template +btBroadphaseProxy* btAxisSweep3Internal::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + (void)shapeType; + BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy); + + Handle* handle = getHandle(handleId); + + if (m_raycastAccelerator) + { + btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0); + handle->m_dbvtProxy = rayProxy; + } + return handle; +} + + + +template +void btAxisSweep3Internal::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + if (m_raycastAccelerator) + m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher); + removeHandle(static_cast(handle->m_uniqueId), dispatcher); +} + +template +void btAxisSweep3Internal::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ + Handle* handle = static_cast(proxy); + handle->m_aabbMin = aabbMin; + handle->m_aabbMax = aabbMax; + updateHandle(static_cast(handle->m_uniqueId), aabbMin, aabbMax,dispatcher); + if (m_raycastAccelerator) + m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher); + +} + +template +void btAxisSweep3Internal::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;i +void btAxisSweep3Internal::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) +{ + if (m_raycastAccelerator) + { + m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback); + } else + { + //choose axis? + BP_FP_INT_TYPE axis = 0; + //for each proxy + for (BP_FP_INT_TYPE i=1;im_aabbMin,handle->m_aabbMax)) + { + callback.process(handle); + } + } + } + } +} + + + +template +void btAxisSweep3Internal::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + aabbMin = pHandle->m_aabbMin; + aabbMax = pHandle->m_aabbMax; +} + + +template +void btAxisSweep3Internal::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + Handle* pHandle = static_cast(proxy); + + unsigned short vecInMin[3]; + unsigned short vecInMax[3]; + + vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ; + vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ; + vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ; + vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ; + vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ; + vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ; + + aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ())); + aabbMin += m_worldAabbMin; + + aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ())); + aabbMax += m_worldAabbMin; +} + + + + +template +btAxisSweep3Internal::btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator) +:m_bpHandleMask(handleMask), +m_handleSentinel(handleSentinel), +m_pairCache(pairCache), +m_userPairCallback(0), +m_ownsPairCache(false), +m_invalidPair(0), +m_raycastAccelerator(0) +{ + BP_FP_INT_TYPE maxHandles = static_cast(userMaxHandles+1);//need to add one sentinel handle + + if (!m_pairCache) + { + void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); + m_pairCache = new(ptr) btHashedOverlappingPairCache(); + m_ownsPairCache = true; + } + + if (!disableRaycastAccelerator) + { + m_nullPairCache = new (btAlignedAlloc(sizeof(btNullPairCache),16)) btNullPairCache(); + m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase(m_nullPairCache);//m_pairCache); + m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs + } + + //btAssert(bounds.HasVolume()); + + // init bounds + m_worldAabbMin = worldAabbMin; + m_worldAabbMax = worldAabbMax; + + btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin; + + BP_FP_INT_TYPE maxInt = m_handleSentinel; + + m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize; + + // allocate handles buffer, using btAlignedAlloc, and put all handles on free list + m_pHandles = new Handle[maxHandles]; + + m_maxHandles = maxHandles; + m_numHandles = 0; + + // handle 0 is reserved as the null index, and is also used as the sentinel + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[maxHandles - 1].SetNextFree(0); + } + + { + // allocate edge buffers + for (int i = 0; i < 3; i++) + { + m_pEdgesRawPtr[i] = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16); + m_pEdges[i] = new(m_pEdgesRawPtr[i]) Edge[maxHandles * 2]; + } + } + //removed overlap management + + // make boundary sentinels + + m_pHandles[0].m_clientObject = 0; + + for (int axis = 0; axis < 3; axis++) + { + m_pHandles[0].m_minEdges[axis] = 0; + m_pHandles[0].m_maxEdges[axis] = 1; + + m_pEdges[axis][0].m_pos = 0; + m_pEdges[axis][0].m_handle = 0; + m_pEdges[axis][1].m_pos = m_handleSentinel; + m_pEdges[axis][1].m_handle = 0; +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + + } + +} + +template +btAxisSweep3Internal::~btAxisSweep3Internal() +{ + if (m_raycastAccelerator) + { + m_nullPairCache->~btOverlappingPairCache(); + btAlignedFree(m_nullPairCache); + m_raycastAccelerator->~btDbvtBroadphase(); + btAlignedFree (m_raycastAccelerator); + } + + for (int i = 2; i >= 0; i--) + { + btAlignedFree(m_pEdgesRawPtr[i]); + } + delete [] m_pHandles; + + if (m_ownsPairCache) + { + m_pairCache->~btOverlappingPairCache(); + btAlignedFree(m_pairCache); + } +} + +template +void btAxisSweep3Internal::quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const +{ +#ifdef OLD_CLAMPING_METHOD + ///problem with this clamping method is that the floating point during quantization might still go outside the range [(0|isMax) .. (m_handleSentinel&m_bpHandleMask]|isMax] + ///see http://code.google.com/p/bullet/issues/detail?id=87 + btVector3 clampedPoint(point); + clampedPoint.setMax(m_worldAabbMin); + clampedPoint.setMin(m_worldAabbMax); + btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; + out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & m_bpHandleMask) | isMax); + out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & m_bpHandleMask) | isMax); + out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & m_bpHandleMask) | isMax); +#else + btVector3 v = (point - m_worldAabbMin) * m_quantize; + out[0]=(v[0]<=0)?(BP_FP_INT_TYPE)isMax:(v[0]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[0]&m_bpHandleMask)|isMax); + out[1]=(v[1]<=0)?(BP_FP_INT_TYPE)isMax:(v[1]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[1]&m_bpHandleMask)|isMax); + out[2]=(v[2]<=0)?(BP_FP_INT_TYPE)isMax:(v[2]>=m_handleSentinel)?(BP_FP_INT_TYPE)((m_handleSentinel&m_bpHandleMask)|isMax):(BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v[2]&m_bpHandleMask)|isMax); +#endif //OLD_CLAMPING_METHOD +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::allocHandle() +{ + btAssert(m_firstFreeHandle); + + BP_FP_INT_TYPE handle = m_firstFreeHandle; + m_firstFreeHandle = getHandle(handle)->GetNextFree(); + m_numHandles++; + + return handle; +} + +template +void btAxisSweep3Internal::freeHandle(BP_FP_INT_TYPE handle) +{ + btAssert(handle > 0 && handle < m_maxHandles); + + getHandle(handle)->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + m_numHandles--; +} + + +template +BP_FP_INT_TYPE btAxisSweep3Internal::addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy) +{ + // quantize the bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // allocate a handle + BP_FP_INT_TYPE handle = allocHandle(); + + + Handle* pHandle = getHandle(handle); + + pHandle->m_uniqueId = static_cast(handle); + //pHandle->m_pOverlaps = 0; + pHandle->m_clientObject = pOwner; + pHandle->m_collisionFilterGroup = collisionFilterGroup; + pHandle->m_collisionFilterMask = collisionFilterMask; + pHandle->m_multiSapParentProxy = multiSapProxy; + + // compute current limit of edge arrays + BP_FP_INT_TYPE limit = static_cast(m_numHandles * 2); + + + // insert new edges just inside the max boundary edge + for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++) + { + + m_pHandles[0].m_maxEdges[axis] += 2; + + m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1]; + + m_pEdges[axis][limit - 1].m_pos = min[axis]; + m_pEdges[axis][limit - 1].m_handle = handle; + + m_pEdges[axis][limit].m_pos = max[axis]; + m_pEdges[axis][limit].m_handle = handle; + + pHandle->m_minEdges[axis] = static_cast(limit - 1); + pHandle->m_maxEdges[axis] = limit; + } + + // now sort the new edges to their correct position + sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false); + sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false); + sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false); + sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false); + sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true); + sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true); + + + return handle; +} + + +template +void btAxisSweep3Internal::removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher) +{ + + Handle* pHandle = getHandle(handle); + + //explicitly remove the pairs containing the proxy + //we could do it also in the sortMinUp (passing true) + ///@todo: compare performance + if (!m_pairCache->hasDeferredRemoval()) + { + m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher); + } + + // compute current limit of edge arrays + int limit = static_cast(m_numHandles * 2); + + int axis; + + for (axis = 0;axis<3;axis++) + { + m_pHandles[0].m_maxEdges[axis] -= 2; + } + + // remove the edges by sorting them up to the end of the list + for ( axis = 0; axis < 3; axis++) + { + Edge* pEdges = m_pEdges[axis]; + BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis]; + pEdges[max].m_pos = m_handleSentinel; + + sortMaxUp(axis,max,dispatcher,false); + + + BP_FP_INT_TYPE i = pHandle->m_minEdges[axis]; + pEdges[i].m_pos = m_handleSentinel; + + + sortMinUp(axis,i,dispatcher,false); + + pEdges[limit-1].m_handle = 0; + pEdges[limit-1].m_pos = m_handleSentinel; + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis,false); +#endif //DEBUG_BROADPHASE + + + } + + + // free the handle + freeHandle(handle); + + +} + +template +void btAxisSweep3Internal::resetPool(btDispatcher* /*dispatcher*/) +{ + if (m_numHandles == 0) + { + m_firstFreeHandle = 1; + { + for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++) + m_pHandles[i].SetNextFree(static_cast(i + 1)); + m_pHandles[m_maxHandles - 1].SetNextFree(0); + } + } +} + + +extern int gOverlappingPairs; +//#include + +template +void btAxisSweep3Internal::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + + if (m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;iprocessOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: + #define CLEAN_INVALID_PAIRS 1 + #ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + #endif//CLEAN_INVALID_PAIRS + + //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); + } + +} + + +template +bool btAxisSweep3Internal::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + const Handle* pHandleA = static_cast(proxy0); + const Handle* pHandleB = static_cast(proxy1); + + //optimization 1: check the array index (memory address), instead of the m_pos + + for (int axis = 0; axis < 3; axis++) + { + if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] || + pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis]) + { + return false; + } + } + return true; +} + +template +bool btAxisSweep3Internal::testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1) +{ + //optimization 1: check the array index (memory address), instead of the m_pos + + if (pHandleA->m_maxEdges[axis0] < pHandleB->m_minEdges[axis0] || + pHandleB->m_maxEdges[axis0] < pHandleA->m_minEdges[axis0] || + pHandleA->m_maxEdges[axis1] < pHandleB->m_minEdges[axis1] || + pHandleB->m_maxEdges[axis1] < pHandleA->m_minEdges[axis1]) + { + return false; + } + return true; +} + +template +void btAxisSweep3Internal::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher) +{ +// btAssert(bounds.IsFinite()); + //btAssert(bounds.HasVolume()); + + Handle* pHandle = getHandle(handle); + + // quantize the new bounds + BP_FP_INT_TYPE min[3], max[3]; + quantize(min, aabbMin, 0); + quantize(max, aabbMax, 1); + + // update changed edges + for (int axis = 0; axis < 3; axis++) + { + BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; + BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; + + int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; + int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; + + m_pEdges[axis][emin].m_pos = min[axis]; + m_pEdges[axis][emax].m_pos = max[axis]; + + // expand (only adds overlaps) + if (dmin < 0) + sortMinDown(axis, emin,dispatcher,true); + + if (dmax > 0) + sortMaxUp(axis, emax,dispatcher,true); + + // shrink (only removes overlaps) + if (dmin > 0) + sortMinUp(axis, emin,dispatcher,true); + + if (dmax < 0) + sortMaxDown(axis, emax,dispatcher,true); + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + } + + +} + + + + +// sorting a min edge downwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (pPrev->IsMax()) + { + // if previous edge is a maximum check the bounds and add an overlap if necessary + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandlePrev,axis1,axis2)) + { + m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(pHandleEdge,pHandlePrev); + + //AddOverlap(pEdge->m_handle, pPrev->m_handle); + + } + + // update edge reference in other handle + pHandlePrev->m_maxEdges[axis]++; + } + else + pHandlePrev->m_minEdges[axis]++; + + pHandleEdge->m_minEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a min edge upwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + if (pNext->IsMax()) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + // if next edge is maximum remove any overlap between the two handles + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + } + + + // update edge reference in other handle + pHandleNext->m_maxEdges[axis]--; + } + else + pHandleNext->m_minEdges[axis]--; + + pHandleEdge->m_minEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + + +} + +// sorting a max edge downwards can only ever *remove* overlaps +template +void btAxisSweep3Internal::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps) +{ + + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pPrev = pEdge - 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pEdge->m_pos < pPrev->m_pos) + { + Handle* pHandlePrev = getHandle(pPrev->m_handle); + + if (!pPrev->IsMax()) + { + // if previous edge was a minimum remove any overlap between the two handles + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pPrev->m_handle); + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (updateOverlaps +#ifdef USE_OVERLAP_TEST_ON_REMOVES + && testOverlap2D(handle0,handle1,axis1,axis2) +#endif //USE_OVERLAP_TEST_ON_REMOVES + ) + { + //this is done during the overlappingpairarray iteration/narrowphase collision + + + m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher); + if (m_userPairCallback) + m_userPairCallback->removeOverlappingPair(handle0,handle1,dispatcher); + + + + } + + // update edge reference in other handle + pHandlePrev->m_minEdges[axis]++;; + } + else + pHandlePrev->m_maxEdges[axis]++; + + pHandleEdge->m_maxEdges[axis]--; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pPrev; + *pPrev = swap; + + // decrement + pEdge--; + pPrev--; + } + + +#ifdef DEBUG_BROADPHASE + debugPrintAxis(axis); +#endif //DEBUG_BROADPHASE + +} + +// sorting a max edge upwards can only ever *add* overlaps +template +void btAxisSweep3Internal::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* /* dispatcher */, bool updateOverlaps) +{ + Edge* pEdge = m_pEdges[axis] + edge; + Edge* pNext = pEdge + 1; + Handle* pHandleEdge = getHandle(pEdge->m_handle); + + while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos)) + { + Handle* pHandleNext = getHandle(pNext->m_handle); + + const int axis1 = (1 << axis) & 3; + const int axis2 = (1 << axis1) & 3; + + if (!pNext->IsMax()) + { + // if next edge is a minimum check the bounds and add an overlap if necessary + if (updateOverlaps && testOverlap2D(pHandleEdge, pHandleNext,axis1,axis2)) + { + Handle* handle0 = getHandle(pEdge->m_handle); + Handle* handle1 = getHandle(pNext->m_handle); + m_pairCache->addOverlappingPair(handle0,handle1); + if (m_userPairCallback) + m_userPairCallback->addOverlappingPair(handle0,handle1); + } + + // update edge reference in other handle + pHandleNext->m_minEdges[axis]--; + } + else + pHandleNext->m_maxEdges[axis]--; + + pHandleEdge->m_maxEdges[axis]++; + + // swap the edges + Edge swap = *pEdge; + *pEdge = *pNext; + *pNext = swap; + + // increment + pEdge++; + pNext++; + } + +} + + + +//////////////////////////////////////////////////////////////////// + + +/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. +/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats. +/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance. +class btAxisSweep3 : public btAxisSweep3Internal +{ +public: + + btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false); + +}; + +/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune. +/// This comes at the cost of more memory per handle, and a bit slower performance. +/// It uses arrays rather then lists for storage of the 3 axis. +class bt32BitAxisSweep3 : public btAxisSweep3Internal +{ +public: + + bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false); + +}; + +#endif + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h new file mode 100644 index 00000000..f1bf0059 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_BROADPHASE_INTERFACE_H +#define BT_BROADPHASE_INTERFACE_H + + + +struct btDispatcherInfo; +class btDispatcher; +#include "btBroadphaseProxy.h" + +class btOverlappingPairCache; + + + +struct btBroadphaseAabbCallback +{ + virtual ~btBroadphaseAabbCallback() {} + virtual bool process(const btBroadphaseProxy* proxy) = 0; +}; + + +struct btBroadphaseRayCallback : public btBroadphaseAabbCallback +{ + ///added some cached data to accelerate ray-AABB tests + btVector3 m_rayDirectionInverse; + unsigned int m_signs[3]; + btScalar m_lambda_max; + + virtual ~btBroadphaseRayCallback() {} +}; + +#include "LinearMath/btVector3.h" + +///The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs. +///Some implementations for this broadphase interface include btAxisSweep3, bt32BitAxisSweep3 and btDbvtBroadphase. +///The actual overlapping pair management, storage, adding and removing of pairs is dealt by the btOverlappingPairCache class. +class btBroadphaseInterface +{ +public: + virtual ~btBroadphaseInterface() {} + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0; + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0; + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0; + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0; + + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0; + + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb + virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0; + + virtual btOverlappingPairCache* getOverlappingPairCache()=0; + virtual const btOverlappingPairCache* getOverlappingPairCache() const =0; + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0; + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; }; + + virtual void printStats() = 0; + +}; + +#endif //BT_BROADPHASE_INTERFACE_H diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp new file mode 100644 index 00000000..f4d7341f --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp @@ -0,0 +1,17 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btBroadphaseProxy.h" + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h new file mode 100644 index 00000000..bb58b828 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -0,0 +1,270 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_BROADPHASE_PROXY_H +#define BT_BROADPHASE_PROXY_H + +#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedAllocator.h" + + +/// btDispatcher uses these types +/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave +/// to facilitate type checking +/// CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE and CUSTOM_CONCAVE_SHAPE_TYPE can be used to extend Bullet without modifying source code +enum BroadphaseNativeTypes +{ + // polyhedral convex shapes + BOX_SHAPE_PROXYTYPE, + TRIANGLE_SHAPE_PROXYTYPE, + TETRAHEDRAL_SHAPE_PROXYTYPE, + CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE, + CONVEX_HULL_SHAPE_PROXYTYPE, + CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, + CUSTOM_POLYHEDRAL_SHAPE_TYPE, +//implicit convex shapes +IMPLICIT_CONVEX_SHAPES_START_HERE, + SPHERE_SHAPE_PROXYTYPE, + MULTI_SPHERE_SHAPE_PROXYTYPE, + CAPSULE_SHAPE_PROXYTYPE, + CONE_SHAPE_PROXYTYPE, + CONVEX_SHAPE_PROXYTYPE, + CYLINDER_SHAPE_PROXYTYPE, + UNIFORM_SCALING_SHAPE_PROXYTYPE, + MINKOWSKI_SUM_SHAPE_PROXYTYPE, + MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, + BOX_2D_SHAPE_PROXYTYPE, + CONVEX_2D_SHAPE_PROXYTYPE, + CUSTOM_CONVEX_SHAPE_TYPE, +//concave shapes +CONCAVE_SHAPES_START_HERE, + //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! + TRIANGLE_MESH_SHAPE_PROXYTYPE, + SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, + ///used for demo integration FAST/Swift collision library and Bullet + FAST_CONCAVE_MESH_PROXYTYPE, + //terrain + TERRAIN_SHAPE_PROXYTYPE, +///Used for GIMPACT Trimesh integration + GIMPACT_SHAPE_PROXYTYPE, +///Multimaterial mesh + MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, + + EMPTY_SHAPE_PROXYTYPE, + STATIC_PLANE_PROXYTYPE, + CUSTOM_CONCAVE_SHAPE_TYPE, +CONCAVE_SHAPES_END_HERE, + + COMPOUND_SHAPE_PROXYTYPE, + + SOFTBODY_SHAPE_PROXYTYPE, + HFFLUID_SHAPE_PROXYTYPE, + HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE, + INVALID_SHAPE_PROXYTYPE, + + MAX_BROADPHASE_COLLISION_TYPES + +}; + + +///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. +///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody. +ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy +{ + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///optional filtering to cull potential collisions + enum CollisionFilterGroups + { + DefaultFilter = 1, + StaticFilter = 2, + KinematicFilter = 4, + DebrisFilter = 8, + SensorTrigger = 16, + CharacterFilter = 32, + AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger + }; + + //Usually the client btCollisionObject or Rigidbody class + void* m_clientObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + void* m_multiSapParentProxy; + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. + + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + SIMD_FORCE_INLINE int getUid() const + { + return m_uniqueId; + } + + //used for memory pools + btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0) + { + } + + btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0) + :m_clientObject(userPtr), + m_collisionFilterGroup(collisionFilterGroup), + m_collisionFilterMask(collisionFilterMask), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) + { + m_multiSapParentProxy = multiSapParentProxy; + } + + + + static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType) + { + return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); + } + + static SIMD_FORCE_INLINE bool isConvex(int proxyType) + { + return (proxyType < CONCAVE_SHAPES_START_HERE); + } + + static SIMD_FORCE_INLINE bool isNonMoving(int proxyType) + { + return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE)); + } + + static SIMD_FORCE_INLINE bool isConcave(int proxyType) + { + return ((proxyType > CONCAVE_SHAPES_START_HERE) && + (proxyType < CONCAVE_SHAPES_END_HERE)); + } + static SIMD_FORCE_INLINE bool isCompound(int proxyType) + { + return (proxyType == COMPOUND_SHAPE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isSoftBody(int proxyType) + { + return (proxyType == SOFTBODY_SHAPE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isInfinite(int proxyType) + { + return (proxyType == STATIC_PLANE_PROXYTYPE); + } + + static SIMD_FORCE_INLINE bool isConvex2d(int proxyType) + { + return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE); + } + + +} +; + +class btCollisionAlgorithm; + +struct btBroadphaseProxy; + + + +///The btBroadphasePair class contains a pair of aabb-overlapping objects. +///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes. +ATTRIBUTE_ALIGNED16(struct) btBroadphasePair +{ + btBroadphasePair () + : + m_pProxy0(0), + m_pProxy1(0), + m_algorithm(0), + m_internalInfo1(0) + { + } + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btBroadphasePair(const btBroadphasePair& other) + : m_pProxy0(other.m_pProxy0), + m_pProxy1(other.m_pProxy1), + m_algorithm(other.m_algorithm), + m_internalInfo1(other.m_internalInfo1) + { + } + btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) + { + + //keep them sorted, so the std::set operations work + if (proxy0.m_uniqueId < proxy1.m_uniqueId) + { + m_pProxy0 = &proxy0; + m_pProxy1 = &proxy1; + } + else + { + m_pProxy0 = &proxy1; + m_pProxy1 = &proxy0; + } + + m_algorithm = 0; + m_internalInfo1 = 0; + + } + + btBroadphaseProxy* m_pProxy0; + btBroadphaseProxy* m_pProxy1; + + mutable btCollisionAlgorithm* m_algorithm; + union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version. + +}; + +/* +//comparison for set operation, see Solid DT_Encounter +SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b) +{ + return a.m_pProxy0 < b.m_pProxy0 || + (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1); +} +*/ + + + +class btBroadphasePairSortPredicate +{ + public: + + bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const + { + const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1; + const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1; + const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1; + const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1; + + return uidA0 > uidB0 || + (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) || + (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); + } +}; + + +SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) +{ + return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1); +} + + +#endif //BT_BROADPHASE_PROXY_H + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp new file mode 100644 index 00000000..c95d1be0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp @@ -0,0 +1,23 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btCollisionAlgorithm.h" +#include "btDispatcher.h" + +btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) +{ + m_dispatcher = ci.m_dispatcher1; +} + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h new file mode 100644 index 00000000..40565623 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COLLISION_ALGORITHM_H +#define BT_COLLISION_ALGORITHM_H + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" + +struct btBroadphaseProxy; +class btDispatcher; +class btManifoldResult; +class btCollisionObject; +struct btCollisionObjectWrapper; +struct btDispatcherInfo; +class btPersistentManifold; + +typedef btAlignedObjectArray btManifoldArray; + +struct btCollisionAlgorithmConstructionInfo +{ + btCollisionAlgorithmConstructionInfo() + :m_dispatcher1(0), + m_manifold(0) + { + } + btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp) + :m_dispatcher1(dispatcher) + { + (void)temp; + } + + btDispatcher* m_dispatcher1; + btPersistentManifold* m_manifold; + +// int getDispatcherId(); + +}; + + +///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher. +///It is persistent over frames +class btCollisionAlgorithm +{ + +protected: + + btDispatcher* m_dispatcher; + +protected: +// int getDispatcherId(); + +public: + + btCollisionAlgorithm() {}; + + btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); + + virtual ~btCollisionAlgorithm() {}; + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0; + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) = 0; +}; + + +#endif //BT_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvt.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvt.cpp new file mode 100644 index 00000000..95443af5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvt.cpp @@ -0,0 +1,1295 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btDbvt implementation by Nathanael Presson + +#include "btDbvt.h" + +// +typedef btAlignedObjectArray tNodeArray; +typedef btAlignedObjectArray tConstNodeArray; + +// +struct btDbvtNodeEnumerator : btDbvt::ICollide +{ + tConstNodeArray nodes; + void Process(const btDbvtNode* n) { nodes.push_back(n); } +}; + +// +static DBVT_INLINE int indexof(const btDbvtNode* node) +{ + return(node->parent->childs[1]==node); +} + +// +static DBVT_INLINE btDbvtVolume merge( const btDbvtVolume& a, + const btDbvtVolume& b) +{ +#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE) + ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]); + btDbvtVolume& res=*(btDbvtVolume*)locals; +#else + btDbvtVolume res; +#endif + Merge(a,b,res); + return(res); +} + +// volume+edge lengths +static DBVT_INLINE btScalar size(const btDbvtVolume& a) +{ + const btVector3 edges=a.Lengths(); + return( edges.x()*edges.y()*edges.z()+ + edges.x()+edges.y()+edges.z()); +} + +// +static void getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth) +{ + if(node->isinternal()) + { + getmaxdepth(node->childs[0],depth+1,maxdepth); + getmaxdepth(node->childs[1],depth+1,maxdepth); + } else maxdepth=btMax(maxdepth,depth); +} + +// +static DBVT_INLINE void deletenode( btDbvt* pdbvt, + btDbvtNode* node) +{ + btAlignedFree(pdbvt->m_free); + pdbvt->m_free=node; +} + +// +static void recursedeletenode( btDbvt* pdbvt, + btDbvtNode* node) +{ + if(!node->isleaf()) + { + recursedeletenode(pdbvt,node->childs[0]); + recursedeletenode(pdbvt,node->childs[1]); + } + if(node==pdbvt->m_root) pdbvt->m_root=0; + deletenode(pdbvt,node); +} + +// +static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt, + btDbvtNode* parent, + void* data) +{ + btDbvtNode* node; + if(pdbvt->m_free) + { node=pdbvt->m_free;pdbvt->m_free=0; } + else + { node=new(btAlignedAlloc(sizeof(btDbvtNode),16)) btDbvtNode(); } + node->parent = parent; + node->data = data; + node->childs[1] = 0; + return(node); +} + +// +static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt, + btDbvtNode* parent, + const btDbvtVolume& volume, + void* data) +{ + btDbvtNode* node=createnode(pdbvt,parent,data); + node->volume=volume; + return(node); +} + +// +static DBVT_INLINE btDbvtNode* createnode( btDbvt* pdbvt, + btDbvtNode* parent, + const btDbvtVolume& volume0, + const btDbvtVolume& volume1, + void* data) +{ + btDbvtNode* node=createnode(pdbvt,parent,data); + Merge(volume0,volume1,node->volume); + return(node); +} + +// +static void insertleaf( btDbvt* pdbvt, + btDbvtNode* root, + btDbvtNode* leaf) +{ + if(!pdbvt->m_root) + { + pdbvt->m_root = leaf; + leaf->parent = 0; + } + else + { + if(!root->isleaf()) + { + do { + root=root->childs[Select( leaf->volume, + root->childs[0]->volume, + root->childs[1]->volume)]; + } while(!root->isleaf()); + } + btDbvtNode* prev=root->parent; + btDbvtNode* node=createnode(pdbvt,prev,leaf->volume,root->volume,0); + if(prev) + { + prev->childs[indexof(root)] = node; + node->childs[0] = root;root->parent=node; + node->childs[1] = leaf;leaf->parent=node; + do { + if(!prev->volume.Contain(node->volume)) + Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume); + else + break; + node=prev; + } while(0!=(prev=node->parent)); + } + else + { + node->childs[0] = root;root->parent=node; + node->childs[1] = leaf;leaf->parent=node; + pdbvt->m_root = node; + } + } +} + +// +static btDbvtNode* removeleaf( btDbvt* pdbvt, + btDbvtNode* leaf) +{ + if(leaf==pdbvt->m_root) + { + pdbvt->m_root=0; + return(0); + } + else + { + btDbvtNode* parent=leaf->parent; + btDbvtNode* prev=parent->parent; + btDbvtNode* sibling=parent->childs[1-indexof(leaf)]; + if(prev) + { + prev->childs[indexof(parent)]=sibling; + sibling->parent=prev; + deletenode(pdbvt,parent); + while(prev) + { + const btDbvtVolume pb=prev->volume; + Merge(prev->childs[0]->volume,prev->childs[1]->volume,prev->volume); + if(NotEqual(pb,prev->volume)) + { + prev=prev->parent; + } else break; + } + return(prev?prev:pdbvt->m_root); + } + else + { + pdbvt->m_root=sibling; + sibling->parent=0; + deletenode(pdbvt,parent); + return(pdbvt->m_root); + } + } +} + +// +static void fetchleaves(btDbvt* pdbvt, + btDbvtNode* root, + tNodeArray& leaves, + int depth=-1) +{ + if(root->isinternal()&&depth) + { + fetchleaves(pdbvt,root->childs[0],leaves,depth-1); + fetchleaves(pdbvt,root->childs[1],leaves,depth-1); + deletenode(pdbvt,root); + } + else + { + leaves.push_back(root); + } +} + +// +static void split( const tNodeArray& leaves, + tNodeArray& left, + tNodeArray& right, + const btVector3& org, + const btVector3& axis) +{ + left.resize(0); + right.resize(0); + for(int i=0,ni=leaves.size();ivolume.Center()-org)<0) + left.push_back(leaves[i]); + else + right.push_back(leaves[i]); + } +} + +// +static btDbvtVolume bounds( const tNodeArray& leaves) +{ +#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE + ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]); + btDbvtVolume& volume=*(btDbvtVolume*)locals; + volume=leaves[0]->volume; +#else + btDbvtVolume volume=leaves[0]->volume; +#endif + for(int i=1,ni=leaves.size();ivolume,volume); + } + return(volume); +} + +// +static void bottomup( btDbvt* pdbvt, + tNodeArray& leaves) +{ + while(leaves.size()>1) + { + btScalar minsize=SIMD_INFINITY; + int minidx[2]={-1,-1}; + for(int i=0;ivolume,leaves[j]->volume)); + if(szvolume,n[1]->volume,0); + p->childs[0] = n[0]; + p->childs[1] = n[1]; + n[0]->parent = p; + n[1]->parent = p; + leaves[minidx[0]] = p; + leaves.swap(minidx[1],leaves.size()-1); + leaves.pop_back(); + } +} + +// +static btDbvtNode* topdown(btDbvt* pdbvt, + tNodeArray& leaves, + int bu_treshold) +{ + static const btVector3 axis[]={btVector3(1,0,0), + btVector3(0,1,0), + btVector3(0,0,1)}; + if(leaves.size()>1) + { + if(leaves.size()>bu_treshold) + { + const btDbvtVolume vol=bounds(leaves); + const btVector3 org=vol.Center(); + tNodeArray sets[2]; + int bestaxis=-1; + int bestmidp=leaves.size(); + int splitcount[3][2]={{0,0},{0,0},{0,0}}; + int i; + for( i=0;ivolume.Center()-org; + for(int j=0;j<3;++j) + { + ++splitcount[j][btDot(x,axis[j])>0?1:0]; + } + } + for( i=0;i<3;++i) + { + if((splitcount[i][0]>0)&&(splitcount[i][1]>0)) + { + const int midp=(int)btFabs(btScalar(splitcount[i][0]-splitcount[i][1])); + if(midp=0) + { + sets[0].reserve(splitcount[bestaxis][0]); + sets[1].reserve(splitcount[bestaxis][1]); + split(leaves,sets[0],sets[1],org,axis[bestaxis]); + } + else + { + sets[0].reserve(leaves.size()/2+1); + sets[1].reserve(leaves.size()/2); + for(int i=0,ni=leaves.size();ichilds[0]=topdown(pdbvt,sets[0],bu_treshold); + node->childs[1]=topdown(pdbvt,sets[1],bu_treshold); + node->childs[0]->parent=node; + node->childs[1]->parent=node; + return(node); + } + else + { + bottomup(pdbvt,leaves); + return(leaves[0]); + } + } + return(leaves[0]); +} + +// +static DBVT_INLINE btDbvtNode* sort(btDbvtNode* n,btDbvtNode*& r) +{ + btDbvtNode* p=n->parent; + btAssert(n->isinternal()); + if(p>n) + { + const int i=indexof(n); + const int j=1-i; + btDbvtNode* s=p->childs[j]; + btDbvtNode* q=p->parent; + btAssert(n==p->childs[i]); + if(q) q->childs[indexof(p)]=n; else r=n; + s->parent=n; + p->parent=n; + n->parent=q; + p->childs[0]=n->childs[0]; + p->childs[1]=n->childs[1]; + n->childs[0]->parent=p; + n->childs[1]->parent=p; + n->childs[i]=p; + n->childs[j]=s; + btSwap(p->volume,n->volume); + return(p); + } + return(n); +} + +#if 0 +static DBVT_INLINE btDbvtNode* walkup(btDbvtNode* n,int count) +{ + while(n&&(count--)) n=n->parent; + return(n); +} +#endif + +// +// Api +// + +// +btDbvt::btDbvt() +{ + m_root = 0; + m_free = 0; + m_lkhd = -1; + m_leaves = 0; + m_opath = 0; +} + +// +btDbvt::~btDbvt() +{ + clear(); +} + +// +void btDbvt::clear() +{ + if(m_root) + recursedeletenode(this,m_root); + btAlignedFree(m_free); + m_free=0; + m_lkhd = -1; + m_stkStack.clear(); + m_opath = 0; + +} + +// +void btDbvt::optimizeBottomUp() +{ + if(m_root) + { + tNodeArray leaves; + leaves.reserve(m_leaves); + fetchleaves(this,m_root,leaves); + bottomup(this,leaves); + m_root=leaves[0]; + } +} + +// +void btDbvt::optimizeTopDown(int bu_treshold) +{ + if(m_root) + { + tNodeArray leaves; + leaves.reserve(m_leaves); + fetchleaves(this,m_root,leaves); + m_root=topdown(this,leaves,bu_treshold); + } +} + +// +void btDbvt::optimizeIncremental(int passes) +{ + if(passes<0) passes=m_leaves; + if(m_root&&(passes>0)) + { + do { + btDbvtNode* node=m_root; + unsigned bit=0; + while(node->isinternal()) + { + node=sort(node,m_root)->childs[(m_opath>>bit)&1]; + bit=(bit+1)&(sizeof(unsigned)*8-1); + } + update(node); + ++m_opath; + } while(--passes); + } +} + +// +btDbvtNode* btDbvt::insert(const btDbvtVolume& volume,void* data) +{ + btDbvtNode* leaf=createnode(this,0,volume,data); + insertleaf(this,m_root,leaf); + ++m_leaves; + return(leaf); +} + +// +void btDbvt::update(btDbvtNode* leaf,int lookahead) +{ + btDbvtNode* root=removeleaf(this,leaf); + if(root) + { + if(lookahead>=0) + { + for(int i=0;(iparent;++i) + { + root=root->parent; + } + } else root=m_root; + } + insertleaf(this,root,leaf); +} + +// +void btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume) +{ + btDbvtNode* root=removeleaf(this,leaf); + if(root) + { + if(m_lkhd>=0) + { + for(int i=0;(iparent;++i) + { + root=root->parent; + } + } else root=m_root; + } + leaf->volume=volume; + insertleaf(this,root,leaf); +} + +// +bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin) +{ + if(leaf->volume.Contain(volume)) return(false); + volume.Expand(btVector3(margin,margin,margin)); + volume.SignedExpand(velocity); + update(leaf,volume); + return(true); +} + +// +bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity) +{ + if(leaf->volume.Contain(volume)) return(false); + volume.SignedExpand(velocity); + update(leaf,volume); + return(true); +} + +// +bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin) +{ + if(leaf->volume.Contain(volume)) return(false); + volume.Expand(btVector3(margin,margin,margin)); + update(leaf,volume); + return(true); +} + +// +void btDbvt::remove(btDbvtNode* leaf) +{ + removeleaf(this,leaf); + deletenode(this,leaf); + --m_leaves; +} + +// +void btDbvt::write(IWriter* iwriter) const +{ + btDbvtNodeEnumerator nodes; + nodes.nodes.reserve(m_leaves*2); + enumNodes(m_root,nodes); + iwriter->Prepare(m_root,nodes.nodes.size()); + for(int i=0;iparent) p=nodes.nodes.findLinearSearch(n->parent); + if(n->isinternal()) + { + const int c0=nodes.nodes.findLinearSearch(n->childs[0]); + const int c1=nodes.nodes.findLinearSearch(n->childs[1]); + iwriter->WriteNode(n,i,p,c0,c1); + } + else + { + iwriter->WriteLeaf(n,i,p); + } + } +} + +// +void btDbvt::clone(btDbvt& dest,IClone* iclone) const +{ + dest.clear(); + if(m_root!=0) + { + btAlignedObjectArray stack; + stack.reserve(m_leaves); + stack.push_back(sStkCLN(m_root,0)); + do { + const int i=stack.size()-1; + const sStkCLN e=stack[i]; + btDbvtNode* n=createnode(&dest,e.parent,e.node->volume,e.node->data); + stack.pop_back(); + if(e.parent!=0) + e.parent->childs[i&1]=n; + else + dest.m_root=n; + if(e.node->isinternal()) + { + stack.push_back(sStkCLN(e.node->childs[0],n)); + stack.push_back(sStkCLN(e.node->childs[1],n)); + } + else + { + iclone->CloneLeaf(n); + } + } while(stack.size()>0); + } +} + +// +int btDbvt::maxdepth(const btDbvtNode* node) +{ + int depth=0; + if(node) getmaxdepth(node,1,depth); + return(depth); +} + +// +int btDbvt::countLeaves(const btDbvtNode* node) +{ + if(node->isinternal()) + return(countLeaves(node->childs[0])+countLeaves(node->childs[1])); + else + return(1); +} + +// +void btDbvt::extractLeaves(const btDbvtNode* node,btAlignedObjectArray& leaves) +{ + if(node->isinternal()) + { + extractLeaves(node->childs[0],leaves); + extractLeaves(node->childs[1],leaves); + } + else + { + leaves.push_back(node); + } +} + +// +#if DBVT_ENABLE_BENCHMARK + +#include +#include +#include "LinearMath/btQuickProf.h" + +/* +q6600,2.4ghz + +/Ox /Ob2 /Oi /Ot /I "." /I "..\.." /I "..\..\src" /D "NDEBUG" /D "_LIB" /D "_WINDOWS" /D "_CRT_SECURE_NO_DEPRECATE" /D "_CRT_NONSTDC_NO_DEPRECATE" /D "WIN32" +/GF /FD /MT /GS- /Gy /arch:SSE2 /Zc:wchar_t- /Fp"..\..\out\release8\build\libbulletcollision\libbulletcollision.pch" +/Fo"..\..\out\release8\build\libbulletcollision\\" +/Fd"..\..\out\release8\build\libbulletcollision\bulletcollision.pdb" +/W3 /nologo /c /Wp64 /Zi /errorReport:prompt + +Benchmarking dbvt... +World scale: 100.000000 +Extents base: 1.000000 +Extents range: 4.000000 +Leaves: 8192 +sizeof(btDbvtVolume): 32 bytes +sizeof(btDbvtNode): 44 bytes +[1] btDbvtVolume intersections: 3499 ms (-1%) +[2] btDbvtVolume merges: 1934 ms (0%) +[3] btDbvt::collideTT: 5485 ms (-21%) +[4] btDbvt::collideTT self: 2814 ms (-20%) +[5] btDbvt::collideTT xform: 7379 ms (-1%) +[6] btDbvt::collideTT xform,self: 7270 ms (-2%) +[7] btDbvt::rayTest: 6314 ms (0%),(332143 r/s) +[8] insert/remove: 2093 ms (0%),(1001983 ir/s) +[9] updates (teleport): 1879 ms (-3%),(1116100 u/s) +[10] updates (jitter): 1244 ms (-4%),(1685813 u/s) +[11] optimize (incremental): 2514 ms (0%),(1668000 o/s) +[12] btDbvtVolume notequal: 3659 ms (0%) +[13] culling(OCL+fullsort): 2218 ms (0%),(461 t/s) +[14] culling(OCL+qsort): 3688 ms (5%),(2221 t/s) +[15] culling(KDOP+qsort): 1139 ms (-1%),(7192 t/s) +[16] insert/remove batch(256): 5092 ms (0%),(823704 bir/s) +[17] btDbvtVolume select: 3419 ms (0%) +*/ + +struct btDbvtBenchmark +{ + struct NilPolicy : btDbvt::ICollide + { + NilPolicy() : m_pcount(0),m_depth(-SIMD_INFINITY),m_checksort(true) {} + void Process(const btDbvtNode*,const btDbvtNode*) { ++m_pcount; } + void Process(const btDbvtNode*) { ++m_pcount; } + void Process(const btDbvtNode*,btScalar depth) + { + ++m_pcount; + if(m_checksort) + { if(depth>=m_depth) m_depth=depth; else printf("wrong depth: %f (should be >= %f)\r\n",depth,m_depth); } + } + int m_pcount; + btScalar m_depth; + bool m_checksort; + }; + struct P14 : btDbvt::ICollide + { + struct Node + { + const btDbvtNode* leaf; + btScalar depth; + }; + void Process(const btDbvtNode* leaf,btScalar depth) + { + Node n; + n.leaf = leaf; + n.depth = depth; + } + static int sortfnc(const Node& a,const Node& b) + { + if(a.depthb.depth) return(-1); + return(0); + } + btAlignedObjectArray m_nodes; + }; + struct P15 : btDbvt::ICollide + { + struct Node + { + const btDbvtNode* leaf; + btScalar depth; + }; + void Process(const btDbvtNode* leaf) + { + Node n; + n.leaf = leaf; + n.depth = dot(leaf->volume.Center(),m_axis); + } + static int sortfnc(const Node& a,const Node& b) + { + if(a.depthb.depth) return(-1); + return(0); + } + btAlignedObjectArray m_nodes; + btVector3 m_axis; + }; + static btScalar RandUnit() + { + return(rand()/(btScalar)RAND_MAX); + } + static btVector3 RandVector3() + { + return(btVector3(RandUnit(),RandUnit(),RandUnit())); + } + static btVector3 RandVector3(btScalar cs) + { + return(RandVector3()*cs-btVector3(cs,cs,cs)/2); + } + static btDbvtVolume RandVolume(btScalar cs,btScalar eb,btScalar es) + { + return(btDbvtVolume::FromCE(RandVector3(cs),btVector3(eb,eb,eb)+RandVector3()*es)); + } + static btTransform RandTransform(btScalar cs) + { + btTransform t; + t.setOrigin(RandVector3(cs)); + t.setRotation(btQuaternion(RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2,RandUnit()*SIMD_PI*2).normalized()); + return(t); + } + static void RandTree(btScalar cs,btScalar eb,btScalar es,int leaves,btDbvt& dbvt) + { + dbvt.clear(); + for(int i=0;i volumes; + btAlignedObjectArray results; + volumes.resize(cfgLeaves); + results.resize(cfgLeaves); + for(int i=0;i volumes; + btAlignedObjectArray results; + volumes.resize(cfgLeaves); + results.resize(cfgLeaves); + for(int i=0;i transforms; + btDbvtBenchmark::NilPolicy policy; + transforms.resize(cfgBenchmark5_Iterations); + for(int i=0;i transforms; + btDbvtBenchmark::NilPolicy policy; + transforms.resize(cfgBenchmark6_Iterations); + for(int i=0;i rayorg; + btAlignedObjectArray raydir; + btDbvtBenchmark::NilPolicy policy; + rayorg.resize(cfgBenchmark7_Iterations); + raydir.resize(cfgBenchmark7_Iterations); + for(int i=0;i leaves; + btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt); + dbvt.optimizeTopDown(); + dbvt.extractLeaves(dbvt.m_root,leaves); + printf("[9] updates (teleport): "); + wallclock.reset(); + for(int i=0;i(leaves[rand()%cfgLeaves]), + btDbvtBenchmark::RandVolume(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale)); + } + } + const int time=(int)wallclock.getTimeMilliseconds(); + const int up=cfgBenchmark9_Passes*cfgBenchmark9_Iterations; + printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark9_Reference)*100/time,up*1000/time); + } + if(cfgBenchmark10_Enable) + {// Benchmark 10 + srand(380843); + btDbvt dbvt; + btAlignedObjectArray leaves; + btAlignedObjectArray vectors; + vectors.resize(cfgBenchmark10_Iterations); + for(int i=0;i(leaves[rand()%cfgLeaves]); + btDbvtVolume v=btDbvtVolume::FromMM(l->volume.Mins()+d,l->volume.Maxs()+d); + dbvt.update(l,v); + } + } + const int time=(int)wallclock.getTimeMilliseconds(); + const int up=cfgBenchmark10_Passes*cfgBenchmark10_Iterations; + printf("%u ms (%i%%),(%u u/s)\r\n",time,(time-cfgBenchmark10_Reference)*100/time,up*1000/time); + } + if(cfgBenchmark11_Enable) + {// Benchmark 11 + srand(380843); + btDbvt dbvt; + btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt); + dbvt.optimizeTopDown(); + printf("[11] optimize (incremental): "); + wallclock.reset(); + for(int i=0;i volumes; + btAlignedObjectArray results; + volumes.resize(cfgLeaves); + results.resize(cfgLeaves); + for(int i=0;i vectors; + btDbvtBenchmark::NilPolicy policy; + vectors.resize(cfgBenchmark13_Iterations); + for(int i=0;i vectors; + btDbvtBenchmark::P14 policy; + vectors.resize(cfgBenchmark14_Iterations); + for(int i=0;i vectors; + btDbvtBenchmark::P15 policy; + vectors.resize(cfgBenchmark15_Iterations); + for(int i=0;i batch; + btDbvtBenchmark::RandTree(cfgVolumeCenterScale,cfgVolumeExentsBase,cfgVolumeExentsScale,cfgLeaves,dbvt); + dbvt.optimizeTopDown(); + batch.reserve(cfgBenchmark16_BatchCount); + printf("[16] insert/remove batch(%u): ",cfgBenchmark16_BatchCount); + wallclock.reset(); + for(int i=0;i volumes; + btAlignedObjectArray results; + btAlignedObjectArray indices; + volumes.resize(cfgLeaves); + results.resize(cfgLeaves); + indices.resize(cfgLeaves); + for(int i=0;i= 1400) +#define DBVT_USE_TEMPLATE 1 +#else +#define DBVT_USE_TEMPLATE 0 +#endif +#else +#define DBVT_USE_TEMPLATE 0 +#endif + +// Use only intrinsics instead of inline asm +#define DBVT_USE_INTRINSIC_SSE 1 + +// Using memmov for collideOCL +#define DBVT_USE_MEMMOVE 1 + +// Enable benchmarking code +#define DBVT_ENABLE_BENCHMARK 0 + +// Inlining +#define DBVT_INLINE SIMD_FORCE_INLINE + +// Specific methods implementation + +//SSE gives errors on a MSVC 7.1 +#if defined (BT_USE_SSE) //&& defined (_WIN32) +#define DBVT_SELECT_IMPL DBVT_IMPL_SSE +#define DBVT_MERGE_IMPL DBVT_IMPL_SSE +#define DBVT_INT0_IMPL DBVT_IMPL_SSE +#else +#define DBVT_SELECT_IMPL DBVT_IMPL_GENERIC +#define DBVT_MERGE_IMPL DBVT_IMPL_GENERIC +#define DBVT_INT0_IMPL DBVT_IMPL_GENERIC +#endif + +#if (DBVT_SELECT_IMPL==DBVT_IMPL_SSE)|| \ + (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)|| \ + (DBVT_INT0_IMPL==DBVT_IMPL_SSE) +#include +#endif + +// +// Auto config and checks +// + +#if DBVT_USE_TEMPLATE +#define DBVT_VIRTUAL +#define DBVT_VIRTUAL_DTOR(a) +#define DBVT_PREFIX template +#define DBVT_IPOLICY T& policy +#define DBVT_CHECKTYPE static const ICollide& typechecker=*(T*)1;(void)typechecker; +#else +#define DBVT_VIRTUAL_DTOR(a) virtual ~a() {} +#define DBVT_VIRTUAL virtual +#define DBVT_PREFIX +#define DBVT_IPOLICY ICollide& policy +#define DBVT_CHECKTYPE +#endif + +#if DBVT_USE_MEMMOVE +#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) +#include +#endif +#include +#endif + +#ifndef DBVT_USE_TEMPLATE +#error "DBVT_USE_TEMPLATE undefined" +#endif + +#ifndef DBVT_USE_MEMMOVE +#error "DBVT_USE_MEMMOVE undefined" +#endif + +#ifndef DBVT_ENABLE_BENCHMARK +#error "DBVT_ENABLE_BENCHMARK undefined" +#endif + +#ifndef DBVT_SELECT_IMPL +#error "DBVT_SELECT_IMPL undefined" +#endif + +#ifndef DBVT_MERGE_IMPL +#error "DBVT_MERGE_IMPL undefined" +#endif + +#ifndef DBVT_INT0_IMPL +#error "DBVT_INT0_IMPL undefined" +#endif + +// +// Defaults volumes +// + +/* btDbvtAabbMm */ +struct btDbvtAabbMm +{ + DBVT_INLINE btVector3 Center() const { return((mi+mx)/2); } + DBVT_INLINE btVector3 Lengths() const { return(mx-mi); } + DBVT_INLINE btVector3 Extents() const { return((mx-mi)/2); } + DBVT_INLINE const btVector3& Mins() const { return(mi); } + DBVT_INLINE const btVector3& Maxs() const { return(mx); } + static inline btDbvtAabbMm FromCE(const btVector3& c,const btVector3& e); + static inline btDbvtAabbMm FromCR(const btVector3& c,btScalar r); + static inline btDbvtAabbMm FromMM(const btVector3& mi,const btVector3& mx); + static inline btDbvtAabbMm FromPoints(const btVector3* pts,int n); + static inline btDbvtAabbMm FromPoints(const btVector3** ppts,int n); + DBVT_INLINE void Expand(const btVector3& e); + DBVT_INLINE void SignedExpand(const btVector3& e); + DBVT_INLINE bool Contain(const btDbvtAabbMm& a) const; + DBVT_INLINE int Classify(const btVector3& n,btScalar o,int s) const; + DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const; + DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + + DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a, + const btVector3& b); + + DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + DBVT_INLINE friend int Select( const btDbvtAabbMm& o, + const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + DBVT_INLINE friend void Merge( const btDbvtAabbMm& a, + const btDbvtAabbMm& b, + btDbvtAabbMm& r); + DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a, + const btDbvtAabbMm& b); + + DBVT_INLINE btVector3& tMins() { return(mi); } + DBVT_INLINE btVector3& tMaxs() { return(mx); } + +private: + DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const; +private: + btVector3 mi,mx; +}; + +// Types +typedef btDbvtAabbMm btDbvtVolume; + +/* btDbvtNode */ +struct btDbvtNode +{ + btDbvtVolume volume; + btDbvtNode* parent; + DBVT_INLINE bool isleaf() const { return(childs[1]==0); } + DBVT_INLINE bool isinternal() const { return(!isleaf()); } + union + { + btDbvtNode* childs[2]; + void* data; + int dataAsInt; + }; +}; + +///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). +///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. +///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure. +struct btDbvt +{ + /* Stack element */ + struct sStkNN + { + const btDbvtNode* a; + const btDbvtNode* b; + sStkNN() {} + sStkNN(const btDbvtNode* na,const btDbvtNode* nb) : a(na),b(nb) {} + }; + struct sStkNP + { + const btDbvtNode* node; + int mask; + sStkNP(const btDbvtNode* n,unsigned m) : node(n),mask(m) {} + }; + struct sStkNPS + { + const btDbvtNode* node; + int mask; + btScalar value; + sStkNPS() {} + sStkNPS(const btDbvtNode* n,unsigned m,btScalar v) : node(n),mask(m),value(v) {} + }; + struct sStkCLN + { + const btDbvtNode* node; + btDbvtNode* parent; + sStkCLN(const btDbvtNode* n,btDbvtNode* p) : node(n),parent(p) {} + }; + // Policies/Interfaces + + /* ICollide */ + struct ICollide + { + DBVT_VIRTUAL_DTOR(ICollide) + DBVT_VIRTUAL void Process(const btDbvtNode*,const btDbvtNode*) {} + DBVT_VIRTUAL void Process(const btDbvtNode*) {} + DBVT_VIRTUAL void Process(const btDbvtNode* n,btScalar) { Process(n); } + DBVT_VIRTUAL bool Descent(const btDbvtNode*) { return(true); } + DBVT_VIRTUAL bool AllLeaves(const btDbvtNode*) { return(true); } + }; + /* IWriter */ + struct IWriter + { + virtual ~IWriter() {} + virtual void Prepare(const btDbvtNode* root,int numnodes)=0; + virtual void WriteNode(const btDbvtNode*,int index,int parent,int child0,int child1)=0; + virtual void WriteLeaf(const btDbvtNode*,int index,int parent)=0; + }; + /* IClone */ + struct IClone + { + virtual ~IClone() {} + virtual void CloneLeaf(btDbvtNode*) {} + }; + + // Constants + enum { + SIMPLE_STACKSIZE = 64, + DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2 + }; + + // Fields + btDbvtNode* m_root; + btDbvtNode* m_free; + int m_lkhd; + int m_leaves; + unsigned m_opath; + + + btAlignedObjectArray m_stkStack; + mutable btAlignedObjectArray m_rayTestStack; + + + // Methods + btDbvt(); + ~btDbvt(); + void clear(); + bool empty() const { return(0==m_root); } + void optimizeBottomUp(); + void optimizeTopDown(int bu_treshold=128); + void optimizeIncremental(int passes); + btDbvtNode* insert(const btDbvtVolume& box,void* data); + void update(btDbvtNode* leaf,int lookahead=-1); + void update(btDbvtNode* leaf,btDbvtVolume& volume); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity); + bool update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin); + void remove(btDbvtNode* leaf); + void write(IWriter* iwriter) const; + void clone(btDbvt& dest,IClone* iclone=0) const; + static int maxdepth(const btDbvtNode* node); + static int countLeaves(const btDbvtNode* node); + static void extractLeaves(const btDbvtNode* node,btAlignedObjectArray& leaves); +#if DBVT_ENABLE_BENCHMARK + static void benchmark(); +#else + static void benchmark(){} +#endif + // DBVT_IPOLICY must support ICollide policy/interface + DBVT_PREFIX + static void enumNodes( const btDbvtNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + static void enumLeaves( const btDbvtNode* root, + DBVT_IPOLICY); + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY); + + DBVT_PREFIX + void collideTTpersistentStack( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY); +#if 0 + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + const btTransform& xform, + DBVT_IPOLICY); + DBVT_PREFIX + void collideTT( const btDbvtNode* root0, + const btTransform& xform0, + const btDbvtNode* root1, + const btTransform& xform1, + DBVT_IPOLICY); +#endif + + DBVT_PREFIX + void collideTV( const btDbvtNode* root, + const btDbvtVolume& volume, + DBVT_IPOLICY) const; + ///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) + ///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time + DBVT_PREFIX + static void rayTest( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + DBVT_IPOLICY); + ///rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections + ///rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts + DBVT_PREFIX + void rayTestInternal( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayDirectionInverse, + unsigned int signs[3], + btScalar lambda_max, + const btVector3& aabbMin, + const btVector3& aabbMax, + DBVT_IPOLICY) const; + + DBVT_PREFIX + static void collideKDOP(const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + int count, + DBVT_IPOLICY); + DBVT_PREFIX + static void collideOCL( const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + const btVector3& sortaxis, + int count, + DBVT_IPOLICY, + bool fullsort=true); + DBVT_PREFIX + static void collideTU( const btDbvtNode* root, + DBVT_IPOLICY); + // Helpers + static DBVT_INLINE int nearest(const int* i,const btDbvt::sStkNPS* a,btScalar v,int l,int h) + { + int m=0; + while(l>1; + if(a[i[m]].value>=v) l=m+1; else h=m; + } + return(h); + } + static DBVT_INLINE int allocate( btAlignedObjectArray& ifree, + btAlignedObjectArray& stock, + const sStkNPS& value) + { + int i; + if(ifree.size()>0) + { i=ifree[ifree.size()-1];ifree.pop_back();stock[i]=value; } + else + { i=stock.size();stock.push_back(value); } + return(i); + } + // +private: + btDbvt(const btDbvt&) {} +}; + +// +// Inline's +// + +// +inline btDbvtAabbMm btDbvtAabbMm::FromCE(const btVector3& c,const btVector3& e) +{ + btDbvtAabbMm box; + box.mi=c-e;box.mx=c+e; + return(box); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromCR(const btVector3& c,btScalar r) +{ + return(FromCE(c,btVector3(r,r,r))); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromMM(const btVector3& mi,const btVector3& mx) +{ + btDbvtAabbMm box; + box.mi=mi;box.mx=mx; + return(box); +} + +// +inline btDbvtAabbMm btDbvtAabbMm::FromPoints(const btVector3* pts,int n) +{ + btDbvtAabbMm box; + box.mi=box.mx=pts[0]; + for(int i=1;i0) mx.setX(mx.x()+e[0]); else mi.setX(mi.x()+e[0]); + if(e.y()>0) mx.setY(mx.y()+e[1]); else mi.setY(mi.y()+e[1]); + if(e.z()>0) mx.setZ(mx.z()+e[2]); else mi.setZ(mi.z()+e[2]); +} + +// +DBVT_INLINE bool btDbvtAabbMm::Contain(const btDbvtAabbMm& a) const +{ + return( (mi.x()<=a.mi.x())&& + (mi.y()<=a.mi.y())&& + (mi.z()<=a.mi.z())&& + (mx.x()>=a.mx.x())&& + (mx.y()>=a.mx.y())&& + (mx.z()>=a.mx.z())); +} + +// +DBVT_INLINE int btDbvtAabbMm::Classify(const btVector3& n,btScalar o,int s) const +{ + btVector3 pi,px; + switch(s) + { + case (0+0+0): px=btVector3(mi.x(),mi.y(),mi.z()); + pi=btVector3(mx.x(),mx.y(),mx.z());break; + case (1+0+0): px=btVector3(mx.x(),mi.y(),mi.z()); + pi=btVector3(mi.x(),mx.y(),mx.z());break; + case (0+2+0): px=btVector3(mi.x(),mx.y(),mi.z()); + pi=btVector3(mx.x(),mi.y(),mx.z());break; + case (1+2+0): px=btVector3(mx.x(),mx.y(),mi.z()); + pi=btVector3(mi.x(),mi.y(),mx.z());break; + case (0+0+4): px=btVector3(mi.x(),mi.y(),mx.z()); + pi=btVector3(mx.x(),mx.y(),mi.z());break; + case (1+0+4): px=btVector3(mx.x(),mi.y(),mx.z()); + pi=btVector3(mi.x(),mx.y(),mi.z());break; + case (0+2+4): px=btVector3(mi.x(),mx.y(),mx.z()); + pi=btVector3(mx.x(),mi.y(),mi.z());break; + case (1+2+4): px=btVector3(mx.x(),mx.y(),mx.z()); + pi=btVector3(mi.x(),mi.y(),mi.z());break; + } + if((btDot(n,px)+o)<0) return(-1); + if((btDot(n,pi)+o)>=0) return(+1); + return(0); +} + +// +DBVT_INLINE btScalar btDbvtAabbMm::ProjectMinimum(const btVector3& v,unsigned signs) const +{ + const btVector3* b[]={&mx,&mi}; + const btVector3 p( b[(signs>>0)&1]->x(), + b[(signs>>1)&1]->y(), + b[(signs>>2)&1]->z()); + return(btDot(p,v)); +} + +// +DBVT_INLINE void btDbvtAabbMm::AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const +{ + for(int i=0;i<3;++i) + { + if(d[i]<0) + { smi+=mx[i]*d[i];smx+=mi[i]*d[i]; } + else + { smi+=mi[i]*d[i];smx+=mx[i]*d[i]; } + } +} + +// +DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ +#if DBVT_INT0_IMPL == DBVT_IMPL_SSE + const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)), + _mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi)))); +#if defined (_WIN32) + const __int32* pu((const __int32*)&rt); +#else + const int* pu((const int*)&rt); +#endif + return((pu[0]|pu[1]|pu[2])==0); +#else + return( (a.mi.x()<=b.mx.x())&& + (a.mx.x()>=b.mi.x())&& + (a.mi.y()<=b.mx.y())&& + (a.mx.y()>=b.mi.y())&& + (a.mi.z()<=b.mx.z())&& + (a.mx.z()>=b.mi.z())); +#endif +} + + + +// +DBVT_INLINE bool Intersect( const btDbvtAabbMm& a, + const btVector3& b) +{ + return( (b.x()>=a.mi.x())&& + (b.y()>=a.mi.y())&& + (b.z()>=a.mi.z())&& + (b.x()<=a.mx.x())&& + (b.y()<=a.mx.y())&& + (b.z()<=a.mx.z())); +} + + + + + +////////////////////////////////////// + + +// +DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ + const btVector3 d=(a.mi+a.mx)-(b.mi+b.mx); + return(btFabs(d.x())+btFabs(d.y())+btFabs(d.z())); +} + + + +// +DBVT_INLINE int Select( const btDbvtAabbMm& o, + const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ +#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE + +#if defined (_WIN32) + static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff}; +#else + static ATTRIBUTE_ALIGNED16(const unsigned int) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/}; +#endif + ///@todo: the intrinsic version is 11% slower +#if DBVT_USE_INTRINSIC_SSE + + union btSSEUnion ///NOTE: if we use more intrinsics, move btSSEUnion into the LinearMath directory + { + __m128 ssereg; + float floats[4]; + int ints[4]; + }; + + __m128 omi(_mm_load_ps(o.mi)); + omi=_mm_add_ps(omi,_mm_load_ps(o.mx)); + __m128 ami(_mm_load_ps(a.mi)); + ami=_mm_add_ps(ami,_mm_load_ps(a.mx)); + ami=_mm_sub_ps(ami,omi); + ami=_mm_and_ps(ami,_mm_load_ps((const float*)mask)); + __m128 bmi(_mm_load_ps(b.mi)); + bmi=_mm_add_ps(bmi,_mm_load_ps(b.mx)); + bmi=_mm_sub_ps(bmi,omi); + bmi=_mm_and_ps(bmi,_mm_load_ps((const float*)mask)); + __m128 t0(_mm_movehl_ps(ami,ami)); + ami=_mm_add_ps(ami,t0); + ami=_mm_add_ss(ami,_mm_shuffle_ps(ami,ami,1)); + __m128 t1(_mm_movehl_ps(bmi,bmi)); + bmi=_mm_add_ps(bmi,t1); + bmi=_mm_add_ss(bmi,_mm_shuffle_ps(bmi,bmi,1)); + + btSSEUnion tmp; + tmp.ssereg = _mm_cmple_ss(bmi,ami); + return tmp.ints[0]&1; + +#else + ATTRIBUTE_ALIGNED16(__int32 r[1]); + __asm + { + mov eax,o + mov ecx,a + mov edx,b + movaps xmm0,[eax] + movaps xmm5,mask + addps xmm0,[eax+16] + movaps xmm1,[ecx] + movaps xmm2,[edx] + addps xmm1,[ecx+16] + addps xmm2,[edx+16] + subps xmm1,xmm0 + subps xmm2,xmm0 + andps xmm1,xmm5 + andps xmm2,xmm5 + movhlps xmm3,xmm1 + movhlps xmm4,xmm2 + addps xmm1,xmm3 + addps xmm2,xmm4 + pshufd xmm3,xmm1,1 + pshufd xmm4,xmm2,1 + addss xmm1,xmm3 + addss xmm2,xmm4 + cmpless xmm2,xmm1 + movss r,xmm2 + } + return(r[0]&1); +#endif +#else + return(Proximity(o,a)b.mx[i]) r.mx[i]=a.mx[i]; else r.mx[i]=b.mx[i]; + } +#endif +} + +// +DBVT_INLINE bool NotEqual( const btDbvtAabbMm& a, + const btDbvtAabbMm& b) +{ + return( (a.mi.x()!=b.mi.x())|| + (a.mi.y()!=b.mi.y())|| + (a.mi.z()!=b.mi.z())|| + (a.mx.x()!=b.mx.x())|| + (a.mx.y()!=b.mx.y())|| + (a.mx.z()!=b.mx.z())); +} + +// +// Inline's +// + +// +DBVT_PREFIX +inline void btDbvt::enumNodes( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + policy.Process(root); + if(root->isinternal()) + { + enumNodes(root->childs[0],policy); + enumNodes(root->childs[1],policy); + } +} + +// +DBVT_PREFIX +inline void btDbvt::enumLeaves( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root->isinternal()) + { + enumLeaves(root->childs[0],policy); + enumLeaves(root->childs[1],policy); + } + else + { + policy.Process(root); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=stkStack[--depth]; + if(depth>treshold) + { + stkStack.resize(stkStack.size()*2); + treshold=stkStack.size()-4; + } + if(p.a==p.b) + { + if(p.a->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); + } + } + else if(Intersect(p.a->volume,p.b->volume)) + { + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} + + + +DBVT_PREFIX +inline void btDbvt::collideTTpersistentStack( const btDbvtNode* root0, + const btDbvtNode* root1, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + + m_stkStack.resize(DOUBLE_STACKSIZE); + m_stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=m_stkStack[--depth]; + if(depth>treshold) + { + m_stkStack.resize(m_stkStack.size()*2); + treshold=m_stkStack.size()-4; + } + if(p.a==p.b) + { + if(p.a->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); + } + } + else if(Intersect(p.a->volume,p.b->volume)) + { + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} + +#if 0 +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + const btTransform& xform, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root0&&root1) + { + int depth=1; + int treshold=DOUBLE_STACKSIZE-4; + btAlignedObjectArray stkStack; + stkStack.resize(DOUBLE_STACKSIZE); + stkStack[0]=sStkNN(root0,root1); + do { + sStkNN p=stkStack[--depth]; + if(Intersect(p.a->volume,p.b->volume,xform)) + { + if(depth>treshold) + { + stkStack.resize(stkStack.size()*2); + treshold=stkStack.size()-4; + } + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + stkStack[depth++]=sStkNN(p.a->childs[0],p.b); + stkStack[depth++]=sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); + stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); + } + else + { + policy.Process(p.a,p.b); + } + } + } + } while(depth); + } +} +// +DBVT_PREFIX +inline void btDbvt::collideTT( const btDbvtNode* root0, + const btTransform& xform0, + const btDbvtNode* root1, + const btTransform& xform1, + DBVT_IPOLICY) +{ + const btTransform xform=xform0.inverse()*xform1; + collideTT(root0,root1,xform,policy); +} +#endif + +// +DBVT_PREFIX +inline void btDbvt::collideTV( const btDbvtNode* root, + const btDbvtVolume& vol, + DBVT_IPOLICY) const +{ + DBVT_CHECKTYPE + if(root) + { + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); + btAlignedObjectArray stack; + stack.resize(0); + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(root); + do { + const btDbvtNode* n=stack[stack.size()-1]; + stack.pop_back(); + if(Intersect(n->volume,volume)) + { + if(n->isinternal()) + { + stack.push_back(n->childs[0]); + stack.push_back(n->childs[1]); + } + else + { + policy.Process(n); + } + } + } while(stack.size()>0); + } +} + +DBVT_PREFIX +inline void btDbvt::rayTestInternal( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayDirectionInverse, + unsigned int signs[3], + btScalar lambda_max, + const btVector3& aabbMin, + const btVector3& aabbMax, + DBVT_IPOLICY) const +{ + (void) rayTo; + DBVT_CHECKTYPE + if(root) + { + btVector3 resultNormal; + + int depth=1; + int treshold=DOUBLE_STACKSIZE-2; + btAlignedObjectArray& stack = m_rayTestStack; + stack.resize(DOUBLE_STACKSIZE); + stack[0]=root; + btVector3 bounds[2]; + do + { + const btDbvtNode* node=stack[--depth]; + bounds[0] = node->volume.Mins()-aabbMax; + bounds[1] = node->volume.Maxs()-aabbMin; + btScalar tmin=1.f,lambda_min=0.f; + unsigned int result1=false; + result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); + if(result1) + { + if(node->isinternal()) + { + if(depth>treshold) + { + stack.resize(stack.size()*2); + treshold=stack.size()-2; + } + stack[depth++]=node->childs[0]; + stack[depth++]=node->childs[1]; + } + else + { + policy.Process(node); + } + } + } while(depth); + } +} + +// +DBVT_PREFIX +inline void btDbvt::rayTest( const btDbvtNode* root, + const btVector3& rayFrom, + const btVector3& rayTo, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + btVector3 rayDir = (rayTo-rayFrom); + rayDir.normalize (); + + ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT + btVector3 rayDirectionInverse; + rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; + rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; + rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; + unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; + + btScalar lambda_max = rayDir.dot(rayTo-rayFrom); + + btVector3 resultNormal; + + btAlignedObjectArray stack; + + int depth=1; + int treshold=DOUBLE_STACKSIZE-2; + + stack.resize(DOUBLE_STACKSIZE); + stack[0]=root; + btVector3 bounds[2]; + do { + const btDbvtNode* node=stack[--depth]; + + bounds[0] = node->volume.Mins(); + bounds[1] = node->volume.Maxs(); + + btScalar tmin=1.f,lambda_min=0.f; + unsigned int result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); + +#ifdef COMPARE_BTRAY_AABB2 + btScalar param=1.f; + bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal); + btAssert(result1 == result2); +#endif //TEST_BTRAY_AABB2 + + if(result1) + { + if(node->isinternal()) + { + if(depth>treshold) + { + stack.resize(stack.size()*2); + treshold=stack.size()-2; + } + stack[depth++]=node->childs[0]; + stack[depth++]=node->childs[1]; + } + else + { + policy.Process(node); + } + } + } while(depth); + + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideKDOP(const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + int count, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + const int inside=(1< stack; + int signs[sizeof(unsigned)*8]; + btAssert(count=0)?1:0)+ + ((normals[i].y()>=0)?2:0)+ + ((normals[i].z()>=0)?4:0); + } + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(sStkNP(root,0)); + do { + sStkNP se=stack[stack.size()-1]; + bool out=false; + stack.pop_back(); + for(int i=0,j=1;(!out)&&(ivolume.Classify(normals[i],offsets[i],signs[i]); + switch(side) + { + case -1: out=true;break; + case +1: se.mask|=j;break; + } + } + } + if(!out) + { + if((se.mask!=inside)&&(se.node->isinternal())) + { + stack.push_back(sStkNP(se.node->childs[0],se.mask)); + stack.push_back(sStkNP(se.node->childs[1],se.mask)); + } + else + { + if(policy.AllLeaves(se.node)) enumLeaves(se.node,policy); + } + } + } while(stack.size()); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideOCL( const btDbvtNode* root, + const btVector3* normals, + const btScalar* offsets, + const btVector3& sortaxis, + int count, + DBVT_IPOLICY, + bool fsort) +{ + DBVT_CHECKTYPE + if(root) + { + const unsigned srtsgns=(sortaxis[0]>=0?1:0)+ + (sortaxis[1]>=0?2:0)+ + (sortaxis[2]>=0?4:0); + const int inside=(1< stock; + btAlignedObjectArray ifree; + btAlignedObjectArray stack; + int signs[sizeof(unsigned)*8]; + btAssert(count=0)?1:0)+ + ((normals[i].y()>=0)?2:0)+ + ((normals[i].z()>=0)?4:0); + } + stock.reserve(SIMPLE_STACKSIZE); + stack.reserve(SIMPLE_STACKSIZE); + ifree.reserve(SIMPLE_STACKSIZE); + stack.push_back(allocate(ifree,stock,sStkNPS(root,0,root->volume.ProjectMinimum(sortaxis,srtsgns)))); + do { + const int id=stack[stack.size()-1]; + sStkNPS se=stock[id]; + stack.pop_back();ifree.push_back(id); + if(se.mask!=inside) + { + bool out=false; + for(int i=0,j=1;(!out)&&(ivolume.Classify(normals[i],offsets[i],signs[i]); + switch(side) + { + case -1: out=true;break; + case +1: se.mask|=j;break; + } + } + } + if(out) continue; + } + if(policy.Descent(se.node)) + { + if(se.node->isinternal()) + { + const btDbvtNode* pns[]={ se.node->childs[0],se.node->childs[1]}; + sStkNPS nes[]={ sStkNPS(pns[0],se.mask,pns[0]->volume.ProjectMinimum(sortaxis,srtsgns)), + sStkNPS(pns[1],se.mask,pns[1]->volume.ProjectMinimum(sortaxis,srtsgns))}; + const int q=nes[0].value0)) + { + /* Insert 0 */ + j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size()); + stack.push_back(0); +#if DBVT_USE_MEMMOVE + memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); +#else + for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; +#endif + stack[j]=allocate(ifree,stock,nes[q]); + /* Insert 1 */ + j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size()); + stack.push_back(0); +#if DBVT_USE_MEMMOVE + memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1)); +#else + for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1]; +#endif + stack[j]=allocate(ifree,stock,nes[1-q]); + } + else + { + stack.push_back(allocate(ifree,stock,nes[q])); + stack.push_back(allocate(ifree,stock,nes[1-q])); + } + } + else + { + policy.Process(se.node,se.value); + } + } + } while(stack.size()); + } +} + +// +DBVT_PREFIX +inline void btDbvt::collideTU( const btDbvtNode* root, + DBVT_IPOLICY) +{ + DBVT_CHECKTYPE + if(root) + { + btAlignedObjectArray stack; + stack.reserve(SIMPLE_STACKSIZE); + stack.push_back(root); + do { + const btDbvtNode* n=stack[stack.size()-1]; + stack.pop_back(); + if(policy.Descent(n)) + { + if(n->isinternal()) + { stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); } + else + { policy.Process(n); } + } + } while(stack.size()>0); + } +} + +// +// PP Cleanup +// + +#undef DBVT_USE_MEMMOVE +#undef DBVT_USE_TEMPLATE +#undef DBVT_VIRTUAL_DTOR +#undef DBVT_VIRTUAL +#undef DBVT_PREFIX +#undef DBVT_IPOLICY +#undef DBVT_CHECKTYPE +#undef DBVT_IMPL_GENERIC +#undef DBVT_IMPL_SSE +#undef DBVT_USE_INTRINSIC_SSE +#undef DBVT_SELECT_IMPL +#undef DBVT_MERGE_IMPL +#undef DBVT_INT0_IMPL + +#endif diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp new file mode 100644 index 00000000..75cfac64 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -0,0 +1,796 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///btDbvtBroadphase implementation by Nathanael Presson + +#include "btDbvtBroadphase.h" + +// +// Profiling +// + +#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK +#include +#endif + +#if DBVT_BP_PROFILE +struct ProfileScope +{ + __forceinline ProfileScope(btClock& clock,unsigned long& value) : + m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds()) + { + } + __forceinline ~ProfileScope() + { + (*m_value)+=m_clock->getTimeMicroseconds()-m_base; + } + btClock* m_clock; + unsigned long* m_value; + unsigned long m_base; +}; +#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_) +#else +#define SPC(_value_) +#endif + +// +// Helpers +// + +// +template +static inline void listappend(T* item,T*& list) +{ + item->links[0]=0; + item->links[1]=list; + if(list) list->links[0]=item; + list=item; +} + +// +template +static inline void listremove(T* item,T*& list) +{ + if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1]; + if(item->links[1]) item->links[1]->links[0]=item->links[0]; +} + +// +template +static inline int listcount(T* root) +{ + int n=0; + while(root) { ++n;root=root->links[1]; } + return(n); +} + +// +template +static inline void clear(T& value) +{ + static const struct ZeroDummy : T {} zerodummy; + value=zerodummy; +} + +// +// Colliders +// + +/* Tree collider */ +struct btDbvtTreeCollider : btDbvt::ICollide +{ + btDbvtBroadphase* pbp; + btDbvtProxy* proxy; + btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {} + void Process(const btDbvtNode* na,const btDbvtNode* nb) + { + if(na!=nb) + { + btDbvtProxy* pa=(btDbvtProxy*)na->data; + btDbvtProxy* pb=(btDbvtProxy*)nb->data; +#if DBVT_BP_SORTPAIRS + if(pa->m_uniqueId>pb->m_uniqueId) + btSwap(pa,pb); +#endif + pbp->m_paircache->addOverlappingPair(pa,pb); + ++pbp->m_newpairs; + } + } + void Process(const btDbvtNode* n) + { + Process(n,proxy->leaf); + } +}; + +// +// btDbvtBroadphase +// + +// +btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache) +{ + m_deferedcollide = false; + m_needcleanup = true; + m_releasepaircache = (paircache!=0)?false:true; + m_prediction = 0; + m_stageCurrent = 0; + m_fixedleft = 0; + m_fupdates = 1; + m_dupdates = 0; + m_cupdates = 10; + m_newpairs = 1; + m_updates_call = 0; + m_updates_done = 0; + m_updates_ratio = 0; + m_paircache = paircache? paircache : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache(); + m_gid = 0; + m_pid = 0; + m_cid = 0; + for(int i=0;i<=STAGECOUNT;++i) + { + m_stageRoots[i]=0; + } +#if DBVT_BP_PROFILE + clear(m_profiling); +#endif +} + +// +btDbvtBroadphase::~btDbvtBroadphase() +{ + if(m_releasepaircache) + { + m_paircache->~btOverlappingPairCache(); + btAlignedFree(m_paircache); + } +} + +// +btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin, + const btVector3& aabbMax, + int /*shapeType*/, + void* userPtr, + short int collisionFilterGroup, + short int collisionFilterMask, + btDispatcher* /*dispatcher*/, + void* /*multiSapProxy*/) +{ + btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr, + collisionFilterGroup, + collisionFilterMask); + + btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax); + + //bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax); + proxy->stage = m_stageCurrent; + proxy->m_uniqueId = ++m_gid; + proxy->leaf = m_sets[0].insert(aabb,proxy); + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + collider.proxy=proxy; + m_sets[0].collideTV(m_sets[0].m_root,aabb,collider); + m_sets[1].collideTV(m_sets[1].m_root,aabb,collider); + } + return(proxy); +} + +// +void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy, + btDispatcher* dispatcher) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + if(proxy->stage==STAGECOUNT) + m_sets[1].remove(proxy->leaf); + else + m_sets[0].remove(proxy->leaf); + listremove(proxy,m_stageRoots[proxy->stage]); + m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher); + btAlignedFree(proxy); + m_needcleanup=true; +} + +void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + aabbMin = proxy->m_aabbMin; + aabbMax = proxy->m_aabbMax; +} + +struct BroadphaseRayTester : btDbvt::ICollide +{ + btBroadphaseRayCallback& m_rayCallback; + BroadphaseRayTester(btBroadphaseRayCallback& orgCallback) + :m_rayCallback(orgCallback) + { + } + void Process(const btDbvtNode* leaf) + { + btDbvtProxy* proxy=(btDbvtProxy*)leaf->data; + m_rayCallback.process(proxy); + } +}; + +void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + BroadphaseRayTester callback(rayCallback); + + m_sets[0].rayTestInternal( m_sets[0].m_root, + rayFrom, + rayTo, + rayCallback.m_rayDirectionInverse, + rayCallback.m_signs, + rayCallback.m_lambda_max, + aabbMin, + aabbMax, + callback); + + m_sets[1].rayTestInternal( m_sets[1].m_root, + rayFrom, + rayTo, + rayCallback.m_rayDirectionInverse, + rayCallback.m_signs, + rayCallback.m_lambda_max, + aabbMin, + aabbMax, + callback); + +} + + +struct BroadphaseAabbTester : btDbvt::ICollide +{ + btBroadphaseAabbCallback& m_aabbCallback; + BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback) + :m_aabbCallback(orgCallback) + { + } + void Process(const btDbvtNode* leaf) + { + btDbvtProxy* proxy=(btDbvtProxy*)leaf->data; + m_aabbCallback.process(proxy); + } +}; + +void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback) +{ + BroadphaseAabbTester callback(aabbCallback); + + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax); + //process all children, that overlap with the given AABB bounds + m_sets[0].collideTV(m_sets[0].m_root,bounds,callback); + m_sets[1].collideTV(m_sets[1].m_root,bounds,callback); + +} + + + +// +void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy, + const btVector3& aabbMin, + const btVector3& aabbMax, + btDispatcher* /*dispatcher*/) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax); +#if DBVT_BP_PREVENTFALSEUPDATE + if(NotEqual(aabb,proxy->leaf->volume)) +#endif + { + bool docollide=false; + if(proxy->stage==STAGECOUNT) + {/* fixed -> dynamic set */ + m_sets[1].remove(proxy->leaf); + proxy->leaf=m_sets[0].insert(aabb,proxy); + docollide=true; + } + else + {/* dynamic set */ + ++m_updates_call; + if(Intersect(proxy->leaf->volume,aabb)) + {/* Moving */ + + const btVector3 delta=aabbMin-proxy->m_aabbMin; + btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction); + if(delta[0]<0) velocity[0]=-velocity[0]; + if(delta[1]<0) velocity[1]=-velocity[1]; + if(delta[2]<0) velocity[2]=-velocity[2]; + if ( +#ifdef DBVT_BP_MARGIN + m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN) +#else + m_sets[0].update(proxy->leaf,aabb,velocity) +#endif + ) + { + ++m_updates_done; + docollide=true; + } + } + else + {/* Teleporting */ + m_sets[0].update(proxy->leaf,aabb); + ++m_updates_done; + docollide=true; + } + } + listremove(proxy,m_stageRoots[proxy->stage]); + proxy->m_aabbMin = aabbMin; + proxy->m_aabbMax = aabbMax; + proxy->stage = m_stageCurrent; + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(docollide) + { + m_needcleanup=true; + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider); + } + } + } +} + + +// +void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy, + const btVector3& aabbMin, + const btVector3& aabbMax, + btDispatcher* /*dispatcher*/) +{ + btDbvtProxy* proxy=(btDbvtProxy*)absproxy; + ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax); + bool docollide=false; + if(proxy->stage==STAGECOUNT) + {/* fixed -> dynamic set */ + m_sets[1].remove(proxy->leaf); + proxy->leaf=m_sets[0].insert(aabb,proxy); + docollide=true; + } + else + {/* dynamic set */ + ++m_updates_call; + /* Teleporting */ + m_sets[0].update(proxy->leaf,aabb); + ++m_updates_done; + docollide=true; + } + listremove(proxy,m_stageRoots[proxy->stage]); + proxy->m_aabbMin = aabbMin; + proxy->m_aabbMax = aabbMax; + proxy->stage = m_stageCurrent; + listappend(proxy,m_stageRoots[m_stageCurrent]); + if(docollide) + { + m_needcleanup=true; + if(!m_deferedcollide) + { + btDbvtTreeCollider collider(this); + m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider); + } + } +} + +// +void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + collide(dispatcher); +#if DBVT_BP_PROFILE + if(0==(m_pid%DBVT_BP_PROFILING_RATE)) + { + printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs()); + unsigned int total=m_profiling.m_total; + if(total<=0) total=1; + printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE); + printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE); + printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE); + printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE); + const unsigned long sum=m_profiling.m_ddcollide+ + m_profiling.m_fdcollide+ + m_profiling.m_cleanup; + printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE); + printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE)); + clear(m_profiling); + m_clock.reset(); + } +#endif + + performDeferredRemoval(dispatcher); + +} + +void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher) +{ + + if (m_paircache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + int invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;ileaf->volume,pb->leaf->volume); + + if (hasOverlap) + { + needsRemoval = false; + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_paircache->cleanOverlappingPair(pair,dispatcher); + + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + invalidPair++; + } + + } + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + overlappingPairArray.resize(overlappingPairArray.size() - invalidPair); + } +} + +// +void btDbvtBroadphase::collide(btDispatcher* dispatcher) +{ + /*printf("---------------------------------------------------------\n"); + printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves); + printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves); + printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs()); + { + int i; + for (i=0;igetNumOverlappingPairs();i++) + { + printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(), + getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid()); + } + printf("\n"); + } +*/ + + + + SPC(m_profiling.m_total); + /* optimize */ + m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100); + if(m_fixedleft) + { + const int count=1+(m_sets[1].m_leaves*m_fupdates)/100; + m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100); + m_fixedleft=btMax(0,m_fixedleft-count); + } + /* dynamic -> fixed set */ + m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT; + btDbvtProxy* current=m_stageRoots[m_stageCurrent]; + if(current) + { + btDbvtTreeCollider collider(this); + do { + btDbvtProxy* next=current->links[1]; + listremove(current,m_stageRoots[current->stage]); + listappend(current,m_stageRoots[STAGECOUNT]); +#if DBVT_BP_ACCURATESLEEPING + m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher); + collider.proxy=current; + btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider); + btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider); +#endif + m_sets[0].remove(current->leaf); + ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax); + current->leaf = m_sets[1].insert(curAabb,current); + current->stage = STAGECOUNT; + current = next; + } while(current); + m_fixedleft=m_sets[1].m_leaves; + m_needcleanup=true; + } + /* collide dynamics */ + { + btDbvtTreeCollider collider(this); + if(m_deferedcollide) + { + SPC(m_profiling.m_fdcollide); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider); + } + if(m_deferedcollide) + { + SPC(m_profiling.m_ddcollide); + m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider); + } + } + /* clean up */ + if(m_needcleanup) + { + SPC(m_profiling.m_cleanup); + btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray(); + if(pairs.size()>0) + { + + int ni=btMin(pairs.size(),btMax(m_newpairs,(pairs.size()*m_cupdates)/100)); + for(int i=0;ileaf->volume,pb->leaf->volume)) + { +#if DBVT_BP_SORTPAIRS + if(pa->m_uniqueId>pb->m_uniqueId) + btSwap(pa,pb); +#endif + m_paircache->removeOverlappingPair(pa,pb,dispatcher); + --ni;--i; + } + } + if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0; + } + } + ++m_pid; + m_newpairs=1; + m_needcleanup=false; + if(m_updates_call>0) + { m_updates_ratio=m_updates_done/(btScalar)m_updates_call; } + else + { m_updates_ratio=0; } + m_updates_done/=2; + m_updates_call/=2; +} + +// +void btDbvtBroadphase::optimize() +{ + m_sets[0].optimizeTopDown(); + m_sets[1].optimizeTopDown(); +} + +// +btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() +{ + return(m_paircache); +} + +// +const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const +{ + return(m_paircache); +} + +// +void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const +{ + + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds; + + if(!m_sets[0].empty()) + if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume, + m_sets[1].m_root->volume,bounds); + else + bounds=m_sets[0].m_root->volume; + else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume; + else + bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0); + aabbMin=bounds.Mins(); + aabbMax=bounds.Maxs(); +} + +void btDbvtBroadphase::resetPool(btDispatcher* dispatcher) +{ + + int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves; + if (!totalObjects) + { + //reset internal dynamic tree data structures + m_sets[0].clear(); + m_sets[1].clear(); + + m_deferedcollide = false; + m_needcleanup = true; + m_stageCurrent = 0; + m_fixedleft = 0; + m_fupdates = 1; + m_dupdates = 0; + m_cupdates = 10; + m_newpairs = 1; + m_updates_call = 0; + m_updates_done = 0; + m_updates_ratio = 0; + + m_gid = 0; + m_pid = 0; + m_cid = 0; + for(int i=0;i<=STAGECOUNT;++i) + { + m_stageRoots[i]=0; + } + } +} + +// +void btDbvtBroadphase::printStats() +{} + +// +#if DBVT_BP_ENABLE_BENCHMARK + +struct btBroadphaseBenchmark +{ + struct Experiment + { + const char* name; + int object_count; + int update_count; + int spawn_count; + int iterations; + btScalar speed; + btScalar amplitude; + }; + struct Object + { + btVector3 center; + btVector3 extents; + btBroadphaseProxy* proxy; + btScalar time; + void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi) + { + time += speed; + center[0] = btCos(time*(btScalar)2.17)*amplitude+ + btSin(time)*amplitude/2; + center[1] = btCos(time*(btScalar)1.38)*amplitude+ + btSin(time)*amplitude; + center[2] = btSin(time*(btScalar)0.777)*amplitude; + pbi->setAabb(proxy,center-extents,center+extents,0); + } + }; + static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); } + static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); } + static void OutputTime(const char* name,btClock& c,unsigned count=0) + { + const unsigned long us=c.getTimeMicroseconds(); + const unsigned long ms=(us+500)/1000; + const btScalar sec=us/(btScalar)(1000*1000); + if(count>0) + printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec); + else + printf("%s : %u us (%u ms)\r\n",name,us,ms); + } +}; + +void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi) +{ + static const btBroadphaseBenchmark::Experiment experiments[]= + { + {"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100}, + /*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100}, + {"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/ + }; + static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]); + btAlignedObjectArray objects; + btClock wallclock; + /* Begin */ + for(int iexp=0;iexpcenter[0]=btBroadphaseBenchmark::UnitRand()*50; + po->center[1]=btBroadphaseBenchmark::UnitRand()*50; + po->center[2]=btBroadphaseBenchmark::UnitRand()*50; + po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2; + po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2; + po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2; + po->time=btBroadphaseBenchmark::UnitRand()*2000; + po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0); + objects.push_back(po); + } + btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock); + /* First update */ + wallclock.reset(); + for(int i=0;iupdate(speed,amplitude,pbi); + } + btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock); + /* Updates */ + wallclock.reset(); + for(int i=0;iupdate(speed,amplitude,pbi); + } + pbi->calculateOverlappingPairs(0); + } + btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations); + /* Clean up */ + wallclock.reset(); + for(int i=0;idestroyProxy(objects[i]->proxy,0); + delete objects[i]; + } + objects.resize(0); + btBroadphaseBenchmark::OutputTime("\tRelease",wallclock); + } + +} +#else +void btDbvtBroadphase::benchmark(btBroadphaseInterface*) +{} +#endif + +#if DBVT_BP_PROFILE +#undef SPC +#endif + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h new file mode 100644 index 00000000..18b64ad0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -0,0 +1,146 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///btDbvtBroadphase implementation by Nathanael Presson +#ifndef BT_DBVT_BROADPHASE_H +#define BT_DBVT_BROADPHASE_H + +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" + +// +// Compile time config +// + +#define DBVT_BP_PROFILE 0 +//#define DBVT_BP_SORTPAIRS 1 +#define DBVT_BP_PREVENTFALSEUPDATE 0 +#define DBVT_BP_ACCURATESLEEPING 0 +#define DBVT_BP_ENABLE_BENCHMARK 0 +#define DBVT_BP_MARGIN (btScalar)0.05 + +#if DBVT_BP_PROFILE +#define DBVT_BP_PROFILING_RATE 256 +#include "LinearMath/btQuickprof.h" +#endif + +// +// btDbvtProxy +// +struct btDbvtProxy : btBroadphaseProxy +{ + /* Fields */ + //btDbvtAabbMm aabb; + btDbvtNode* leaf; + btDbvtProxy* links[2]; + int stage; + /* ctor */ + btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : + btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask) + { + links[0]=links[1]=0; + } +}; + +typedef btAlignedObjectArray btDbvtProxyArray; + +///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt). +///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other. +///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3. +struct btDbvtBroadphase : btBroadphaseInterface +{ + /* Config */ + enum { + DYNAMIC_SET = 0, /* Dynamic set index */ + FIXED_SET = 1, /* Fixed set index */ + STAGECOUNT = 2 /* Number of stages */ + }; + /* Fields */ + btDbvt m_sets[2]; // Dbvt sets + btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list + btOverlappingPairCache* m_paircache; // Pair cache + btScalar m_prediction; // Velocity prediction + int m_stageCurrent; // Current stage + int m_fupdates; // % of fixed updates per frame + int m_dupdates; // % of dynamic updates per frame + int m_cupdates; // % of cleanup updates per frame + int m_newpairs; // Number of pairs created + int m_fixedleft; // Fixed optimization left + unsigned m_updates_call; // Number of updates call + unsigned m_updates_done; // Number of updates done + btScalar m_updates_ratio; // m_updates_done/m_updates_call + int m_pid; // Parse id + int m_cid; // Cleanup index + int m_gid; // Gen id + bool m_releasepaircache; // Release pair cache on delete + bool m_deferedcollide; // Defere dynamic/static collision to collide call + bool m_needcleanup; // Need to run cleanup? +#if DBVT_BP_PROFILE + btClock m_clock; + struct { + unsigned long m_total; + unsigned long m_ddcollide; + unsigned long m_fdcollide; + unsigned long m_cleanup; + unsigned long m_jobcount; + } m_profiling; +#endif + /* Methods */ + btDbvtBroadphase(btOverlappingPairCache* paircache=0); + ~btDbvtBroadphase(); + void collide(btDispatcher* dispatcher); + void optimize(); + + /* btBroadphaseInterface Implementation */ + btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + virtual btOverlappingPairCache* getOverlappingPairCache(); + virtual const btOverlappingPairCache* getOverlappingPairCache() const; + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const; + virtual void printStats(); + + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + + void performDeferredRemoval(btDispatcher* dispatcher); + + void setVelocityPrediction(btScalar prediction) + { + m_prediction = prediction; + } + btScalar getVelocityPrediction() const + { + return m_prediction; + } + + ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. + ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase. + ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see + ///http://code.google.com/p/bullet/issues/detail?id=223 + void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/); + + static void benchmark(btBroadphaseInterface*); + + +}; + +#endif diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp new file mode 100644 index 00000000..20768225 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btDispatcher.h" + +btDispatcher::~btDispatcher() +{ + +} + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.h new file mode 100644 index 00000000..89c307d1 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_DISPATCHER_H +#define BT_DISPATCHER_H +#include "LinearMath/btScalar.h" + +class btCollisionAlgorithm; +struct btBroadphaseProxy; +class btRigidBody; +class btCollisionObject; +class btOverlappingPairCache; +struct btCollisionObjectWrapper; + +class btPersistentManifold; +class btPoolAllocator; + +struct btDispatcherInfo +{ + enum DispatchFunc + { + DISPATCH_DISCRETE = 1, + DISPATCH_CONTINUOUS + }; + btDispatcherInfo() + :m_timeStep(btScalar(0.)), + m_stepCount(0), + m_dispatchFunc(DISPATCH_DISCRETE), + m_timeOfImpact(btScalar(1.)), + m_useContinuous(true), + m_debugDraw(0), + m_enableSatConvex(false), + m_enableSPU(true), + m_useEpa(true), + m_allowedCcdPenetration(btScalar(0.04)), + m_useConvexConservativeDistanceUtil(false), + m_convexConservativeDistanceThreshold(0.0f) + { + + } + btScalar m_timeStep; + int m_stepCount; + int m_dispatchFunc; + mutable btScalar m_timeOfImpact; + bool m_useContinuous; + class btIDebugDraw* m_debugDraw; + bool m_enableSatConvex; + bool m_enableSPU; + bool m_useEpa; + btScalar m_allowedCcdPenetration; + bool m_useConvexConservativeDistanceUtil; + btScalar m_convexConservativeDistanceThreshold; +}; + +///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. +///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). +class btDispatcher +{ + + +public: + virtual ~btDispatcher() ; + + virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0; + + virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0; + + virtual void releaseManifold(btPersistentManifold* manifold)=0; + + virtual void clearManifold(btPersistentManifold* manifold)=0; + + virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0; + + virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0; + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0; + + virtual int getNumManifolds() const = 0; + + virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0; + + virtual btPersistentManifold** getInternalManifoldPointer() = 0; + + virtual btPoolAllocator* getInternalManifoldPool() = 0; + + virtual const btPoolAllocator* getInternalManifoldPool() const = 0; + + virtual void* allocateCollisionAlgorithm(int size) = 0; + + virtual void freeCollisionAlgorithm(void* ptr) = 0; + +}; + + +#endif //BT_DISPATCHER_H diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp new file mode 100644 index 00000000..81369fe9 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp @@ -0,0 +1,489 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btMultiSapBroadphase.h" + +#include "btSimpleBroadphase.h" +#include "LinearMath/btAabbUtil2.h" +#include "btQuantizedBvh.h" + +/// btSapBroadphaseArray m_sapBroadphases; + +/// btOverlappingPairCache* m_overlappingPairs; +extern int gOverlappingPairs; + +/* +class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache +{ +public: + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy); + } +}; + +*/ + +btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache) +:m_overlappingPairs(pairCache), +m_optimizedAabbTree(0), +m_ownsPairCache(false), +m_invalidPair(0) +{ + if (!m_overlappingPairs) + { + m_ownsPairCache = true; + void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16); + m_overlappingPairs = new (mem)btSortedOverlappingPairCache(); + } + + struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback + { + virtual ~btMultiSapOverlapFilterCallback() + {} + // return true when pairs need collision + virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const + { + btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy; + btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy; + + bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0; + collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask); + + return collides; + } + }; + + void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16); + m_filterCallback = new (mem)btMultiSapOverlapFilterCallback(); + + m_overlappingPairs->setOverlapFilterCallback(m_filterCallback); +// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16); +// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs); +} + +btMultiSapBroadphase::~btMultiSapBroadphase() +{ + if (m_ownsPairCache) + { + m_overlappingPairs->~btOverlappingPairCache(); + btAlignedFree(m_overlappingPairs); + } +} + + +void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax) +{ + m_optimizedAabbTree = new btQuantizedBvh(); + m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax); + QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray(); + for (int i=0;igetBroadphaseAabb(aabbMin,aabbMax); + m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0); + m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1); + int partId = 0; + node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i; + nodes.push_back(node); + } + m_optimizedAabbTree->buildInternal(); +} + +btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/) +{ + //void* ignoreMe -> we could think of recursive multi-sap, if someone is interested + + void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16); + btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask); + m_multiSapProxies.push_back(proxy); + + ///this should deal with inserting/removal into child broadphases + setAabb(proxy,aabbMin,aabbMax,dispatcher); + return proxy; +} + +void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) +{ + ///not yet + btAssert(0); + +} + + +void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase) +{ + void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16); + btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy; + bridgeProxyRef->m_childProxy = childProxy; + bridgeProxyRef->m_childBroadphase = childBroadphase; + parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef); +} + + +bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax); +bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax) +{ +return +amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() && +amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() && +amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ(); +} + + + + + + +void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + btMultiSapProxy* multiProxy = static_cast(proxy); + aabbMin = multiProxy->m_aabbMin; + aabbMax = multiProxy->m_aabbMax; +} + +void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax) +{ + for (int i=0;i + +void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher) +{ + btMultiSapProxy* multiProxy = static_cast(proxy); + multiProxy->m_aabbMin = aabbMin; + multiProxy->m_aabbMax = aabbMax; + + +// bool fullyContained = false; +// bool alreadyInSimple = false; + + + + + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btMultiSapBroadphase* m_multiSap; + btMultiSapProxy* m_multiProxy; + btDispatcher* m_dispatcher; + + MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher) + :m_multiSap(multiSap), + m_multiProxy(multiProxy), + m_dispatcher(dispatcher) + { + + } + + virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex) + { + btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex]; + + int containingBroadphaseIndex = -1; + //already found? + for (int i=0;im_bridgeProxies.size();i++) + { + + if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase) + { + containingBroadphaseIndex = i; + break; + } + } + if (containingBroadphaseIndex<0) + { + //add it + btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy); + m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase); + + } + } + }; + + MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher); + + + + + if (m_optimizedAabbTree) + m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax); + + int i; + + for ( i=0;im_bridgeProxies.size();i++) + { + btVector3 worldAabbMin,worldAabbMax; + multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax); + bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); + if (!overlapsBroadphase) + { + //remove it now + btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i]; + + btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy; + bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher); + + multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1); + multiProxy->m_bridgeProxies.pop_back(); + + } + } + + + /* + + if (1) + { + + //find broadphase that contain this multiProxy + int numChildBroadphases = getBroadphaseArray().size(); + for (int i=0;igetBroadphaseAabb(worldAabbMin,worldAabbMax); + bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); + + // fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax); + int containingBroadphaseIndex = -1; + + //if already contains this + + for (int i=0;im_bridgeProxies.size();i++) + { + if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase) + { + containingBroadphaseIndex = i; + } + alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase); + } + + if (overlapsBroadphase) + { + if (containingBroadphaseIndex<0) + { + btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); + childProxy->m_multiSapParentProxy = multiProxy; + addToChildBroadphase(multiProxy,childProxy,childBroadphase); + } + } else + { + if (containingBroadphaseIndex>=0) + { + //remove + btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex]; + + btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy; + bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher); + + multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1); + multiProxy->m_bridgeProxies.pop_back(); + } + } + } + + + ///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force) + ///hopefully we don't end up with many entries here (can assert/provide feedback on stats) + if (0)//!multiProxy->m_bridgeProxies.size()) + { + ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision + ///this is needed to be able to calculate the aabb overlap + btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); + childProxy->m_multiSapParentProxy = multiProxy; + addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase); + } + } + + if (!multiProxy->m_bridgeProxies.size()) + { + ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision + ///this is needed to be able to calculate the aabb overlap + btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher); + childProxy->m_multiSapParentProxy = multiProxy; + addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase); + } +*/ + + + //update + for ( i=0;im_bridgeProxies.size();i++) + { + btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i]; + bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher); + } + +} +bool stopUpdating=false; + + + +class btMultiSapBroadphasePairSortPredicate +{ + public: + + bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const + { + btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0; + btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0; + btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0; + btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0; + + return aProxy0 > bProxy0 || + (aProxy0 == bProxy0 && aProxy1 > bProxy1) || + (aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); + } +}; + + + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb +void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + +// m_simpleBroadphase->calculateOverlappingPairs(dispatcher); + + if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray(); + + // quicksort(overlappingPairArray,0,overlappingPairArray.size()); + + overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate()); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + // overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + int i; + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;im_multiSapParentProxy : 0; + btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0; + btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0; + btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0; + + bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1); + + previousPair = pair; + + bool needsRemoval = false; + + if (!isDuplicate) + { + bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); + + if (hasOverlap) + { + needsRemoval = false;//callback->processOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: + #define CLEAN_INVALID_PAIRS 1 + #ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + //overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate()); + overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + #endif//CLEAN_INVALID_PAIRS + + //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size()); + } + + +} + + +bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) +{ + btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy; + btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy; + + return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax, + multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax); + +} + + +void btMultiSapBroadphase::printStats() +{ +/* printf("---------------------------------\n"); + + printf("btMultiSapBroadphase.h\n"); + printf("numHandles = %d\n",m_multiSapProxies.size()); + //find broadphase that contain this multiProxy + int numChildBroadphases = getBroadphaseArray().size(); + for (int i=0;iprintStats(); + + } + */ + +} + +void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher) +{ + // not yet +} diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h new file mode 100644 index 00000000..7bcfe6b1 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MULTI_SAP_BROADPHASE +#define BT_MULTI_SAP_BROADPHASE + +#include "btBroadphaseInterface.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btOverlappingPairCache.h" + + +class btBroadphaseInterface; +class btSimpleBroadphase; + + +typedef btAlignedObjectArray btSapBroadphaseArray; + +///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead. +///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. +///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. +///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. +///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 +///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329 +class btMultiSapBroadphase :public btBroadphaseInterface +{ + btSapBroadphaseArray m_sapBroadphases; + + btSimpleBroadphase* m_simpleBroadphase; + + btOverlappingPairCache* m_overlappingPairs; + + class btQuantizedBvh* m_optimizedAabbTree; + + + bool m_ownsPairCache; + + btOverlapFilterCallback* m_filterCallback; + + int m_invalidPair; + + struct btBridgeProxy + { + btBroadphaseProxy* m_childProxy; + btBroadphaseInterface* m_childBroadphase; + }; + + +public: + + struct btMultiSapProxy : public btBroadphaseProxy + { + + ///array with all the entries that this proxy belongs to + btAlignedObjectArray m_bridgeProxies; + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + int m_shapeType; + +/* void* m_userPtr; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; +*/ + btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) + :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax), + m_shapeType(shapeType) + { + m_multiSapParentProxy =this; + } + + + }; + +protected: + + + btAlignedObjectArray m_multiSapProxies; + +public: + + btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0); + + + btSapBroadphaseArray& getBroadphaseArray() + { + return m_sapBroadphases; + } + + const btSapBroadphaseArray& getBroadphaseArray() const + { + return m_sapBroadphases; + } + + virtual ~btMultiSapBroadphase(); + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); + + void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase); + + ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + virtual btOverlappingPairCache* getOverlappingPairCache() + { + return m_overlappingPairs; + } + virtual const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_overlappingPairs; + } + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + } + + void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); + + virtual void printStats(); + + void quicksort (btBroadphasePairArray& a, int lo, int hi); + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + +}; + +#endif //BT_MULTI_SAP_BROADPHASE diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp new file mode 100644 index 00000000..ae22dadc --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -0,0 +1,633 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btOverlappingPairCache.h" + +#include "btDispatcher.h" +#include "btCollisionAlgorithm.h" +#include "LinearMath/btAabbUtil2.h" + +#include + +int gOverlappingPairs = 0; + +int gRemovePairs =0; +int gAddedPairs =0; +int gFindPairs =0; + + + + +btHashedOverlappingPairCache::btHashedOverlappingPairCache(): + m_overlapFilterCallback(0), + m_blockedForChanges(false), + m_ghostPairCallback(0) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); + growTables(); +} + + + + +btHashedOverlappingPairCache::~btHashedOverlappingPairCache() +{ +} + + + +void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) +{ + if (pair.m_algorithm && dispatcher) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + } + } +} + + + + +void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class CleanPairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_cleanProxy; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + + public: + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + if ((pair.m_pProxy0 == m_cleanProxy) || + (pair.m_pProxy1 == m_cleanProxy)) + { + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); + } + return false; + } + + }; + + CleanPairCallback cleanPairs(proxy,this,dispatcher); + + processAllOverlappingPairs(&cleanPairs,dispatcher); + +} + + + + +void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class RemovePairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_obsoleteProxy; + + public: + RemovePairCallback(btBroadphaseProxy* obsoleteProxy) + :m_obsoleteProxy(obsoleteProxy) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + return ((pair.m_pProxy0 == m_obsoleteProxy) || + (pair.m_pProxy1 == m_obsoleteProxy)); + } + + }; + + + RemovePairCallback removeCallback(proxy); + + processAllOverlappingPairs(&removeCallback,dispatcher); +} + + + + + +btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + gFindPairs++; + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast(getHash(static_cast(proxyId1), static_cast(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + if (hash >= m_hashTable.size()) + { + return NULL; + } + + int index = m_hashTable[hash]; + while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if (index == BT_NULL_PAIR) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; +} + +//#include + +void btHashedOverlappingPairCache::growTables() +{ + + int newCapacity = m_overlappingPairArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_NULL_PAIR; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_NULL_PAIR; + } + + for(i=0;igetUid(); + int proxyId2 = pair.m_pProxy1->getUid(); + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + int hashValue = static_cast(getHash(static_cast(proxyId1),static_cast(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + m_next[i] = m_hashTable[hashValue]; + m_hashTable[hashValue] = i; + } + + + } +} + +btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast(getHash(static_cast(proxyId1),static_cast(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair != NULL) + { + return pair; + } + /*for(int i=0;i%u\r\n",proxyId1,proxyId2); + internalFindPair(proxy0, proxy1, hash); + } + }*/ + int count = m_overlappingPairArray.size(); + int oldCapacity = m_overlappingPairArray.capacity(); + void* mem = &m_overlappingPairArray.expandNonInitializing(); + + //this is where we add an actual pair, so also call the 'ghost' + if (m_ghostPairCallback) + m_ghostPairCallback->addOverlappingPair(proxy0,proxy1); + + int newCapacity = m_overlappingPairArray.capacity(); + + if (oldCapacity < newCapacity) + { + growTables(); + //hash with new capacity + hash = static_cast(getHash(static_cast(proxyId1),static_cast(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + } + + pair = new (mem) btBroadphasePair(*proxy0,*proxy1); +// pair->m_pProxy0 = proxy0; +// pair->m_pProxy1 = proxy1; + pair->m_algorithm = 0; + pair->m_internalTmpValue = 0; + + + m_next[count] = m_hashTable[hash]; + m_hashTable[hash] = count; + + return pair; +} + + + +void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher) +{ + gRemovePairs++; + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast(getHash(static_cast(proxyId1),static_cast(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair == NULL) + { + return 0; + } + + cleanOverlappingPair(*pair,dispatcher); + + void* userData = pair->m_internalInfo1; + + btAssert(pair->m_pProxy0->getUid() == proxyId1); + btAssert(pair->m_pProxy1->getUid() == proxyId2); + + int pairIndex = int(pair - &m_overlappingPairArray[0]); + btAssert(pairIndex < m_overlappingPairArray.size()); + + // Remove the pair from the hash table. + int index = m_hashTable[hash]; + btAssert(index != BT_NULL_PAIR); + + int previous = BT_NULL_PAIR; + while (index != pairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == pairIndex); + m_next[previous] = m_next[pairIndex]; + } + else + { + m_hashTable[hash] = m_next[pairIndex]; + } + + // We now move the last pair into spot of the + // pair being removed. We need to fix the hash + // table indices to support the move. + + int lastPairIndex = m_overlappingPairArray.size() - 1; + + if (m_ghostPairCallback) + m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher); + + // If the removed pair is the last pair, we are done. + if (lastPairIndex == pairIndex) + { + m_overlappingPairArray.pop_back(); + return userData; + } + + // Remove the last pair from the hash table. + const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex]; + /* missing swap here too, Nat. */ + int lastHash = static_cast(getHash(static_cast(last->m_pProxy0->getUid()), static_cast(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1)); + + index = m_hashTable[lastHash]; + btAssert(index != BT_NULL_PAIR); + + previous = BT_NULL_PAIR; + while (index != lastPairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == lastPairIndex); + m_next[previous] = m_next[lastPairIndex]; + } + else + { + m_hashTable[lastHash] = m_next[lastPairIndex]; + } + + // Copy the last pair into the remove pair's spot. + m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex]; + + // Insert the last pair into the hash table + m_next[pairIndex] = m_hashTable[lastHash]; + m_hashTable[lastHash] = pairIndex; + + m_overlappingPairArray.pop_back(); + + return userData; +} +//#include + +void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + + int i; + +// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size()); + for (i=0;iprocessOverlap(*pair)) + { + removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); + + gOverlappingPairs--; + } else + { + i++; + } + } +} + +void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) +{ + ///need to keep hashmap in sync with pair address, so rebuild all + btBroadphasePairArray tmpPairs; + int i; + for (i=0;iremoveOverlappingPair(proxy0, proxy1,dispatcher); + + m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1); + m_overlappingPairArray.pop_back(); + return userData; + } + } + + return 0; +} + + + + + + + + +btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + //don't add overlap with own + btAssert(proxy0 != proxy1); + + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + void* mem = &m_overlappingPairArray.expandNonInitializing(); + btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1); + + gOverlappingPairs++; + gAddedPairs++; + + if (m_ghostPairCallback) + m_ghostPairCallback->addOverlappingPair(proxy0, proxy1); + return pair; + +} + +///this findPair becomes really slow. Either sort the list to speedup the query, or +///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed. +///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address) +///Also we can use a 2D bitmap, which can be useful for a future GPU implementation + btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + btBroadphasePair tmpPair(*proxy0,*proxy1); + int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair); + + if (findIndex < m_overlappingPairArray.size()) + { + //btAssert(it != m_overlappingPairSet.end()); + btBroadphasePair* pair = &m_overlappingPairArray[findIndex]; + return pair; + } + return 0; +} + + + + + + + + + + +//#include + +void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + + int i; + + for (i=0;iprocessOverlap(*pair)) + { + cleanOverlappingPair(*pair,dispatcher); + pair->m_pProxy0 = 0; + pair->m_pProxy1 = 0; + m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + m_overlappingPairArray.pop_back(); + gOverlappingPairs--; + } else + { + i++; + } + } +} + + + + +btSortedOverlappingPairCache::btSortedOverlappingPairCache(): + m_blockedForChanges(false), + m_hasDeferredRemoval(true), + m_overlapFilterCallback(0), + m_ghostPairCallback(0) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); +} + +btSortedOverlappingPairCache::~btSortedOverlappingPairCache() +{ +} + +void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) +{ + if (pair.m_algorithm) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + gRemovePairs--; + } + } +} + + +void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class CleanPairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_cleanProxy; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + + public: + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + if ((pair.m_pProxy0 == m_cleanProxy) || + (pair.m_pProxy1 == m_cleanProxy)) + { + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); + } + return false; + } + + }; + + CleanPairCallback cleanPairs(proxy,this,dispatcher); + + processAllOverlappingPairs(&cleanPairs,dispatcher); + +} + + +void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class RemovePairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_obsoleteProxy; + + public: + RemovePairCallback(btBroadphaseProxy* obsoleteProxy) + :m_obsoleteProxy(obsoleteProxy) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + return ((pair.m_pProxy0 == m_obsoleteProxy) || + (pair.m_pProxy1 == m_obsoleteProxy)); + } + + }; + + RemovePairCallback removeCallback(proxy); + + processAllOverlappingPairs(&removeCallback,dispatcher); +} + +void btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) +{ + //should already be sorted +} + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h new file mode 100644 index 00000000..eee90e47 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -0,0 +1,470 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_OVERLAPPING_PAIR_CACHE_H +#define BT_OVERLAPPING_PAIR_CACHE_H + + +#include "btBroadphaseInterface.h" +#include "btBroadphaseProxy.h" +#include "btOverlappingPairCallback.h" + +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; + +typedef btAlignedObjectArray btBroadphasePairArray; + +struct btOverlapCallback +{ + virtual ~btOverlapCallback() + {} + //return true for deletion of the pair + virtual bool processOverlap(btBroadphasePair& pair) = 0; + +}; + +struct btOverlapFilterCallback +{ + virtual ~btOverlapFilterCallback() + {} + // return true when pairs need collision + virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0; +}; + + + + + + + +extern int gRemovePairs; +extern int gAddedPairs; +extern int gFindPairs; + +const int BT_NULL_PAIR=0xffffffff; + +///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. +///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations. +class btOverlappingPairCache : public btOverlappingPairCallback +{ +public: + virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor + + virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0; + + virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0; + + virtual btBroadphasePairArray& getOverlappingPairArray() = 0; + + virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0; + + virtual int getNumOverlappingPairs() const = 0; + + virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0; + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + + virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; + + virtual bool hasDeferredRemoval() = 0; + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0; + + virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0; + + +}; + +/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com +class btHashedOverlappingPairCache : public btOverlappingPairCache +{ + btBroadphasePairArray m_overlappingPairArray; + btOverlapFilterCallback* m_overlapFilterCallback; + bool m_blockedForChanges; + +protected: + + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + btOverlappingPairCallback* m_ghostPairCallback; + + +public: + btHashedOverlappingPairCache(); + virtual ~btHashedOverlappingPairCache(); + + + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + + SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + + return collides; + } + + // Add a pair and return the new pair. If the pair already exists, + // no new pair is created and the old one is returned. + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + gAddedPairs++; + + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + return internalAddPair(proxy0,proxy1); + } + + + + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + + + + btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); + + int GetCount() const { return m_overlappingPairArray.size(); } +// btBroadphasePair* GetPairs() { return m_pairs; } + + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } + + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } +private: + + btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + void growTables(); + + SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2) + { + return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2; + } + + /* + // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm + // This assumes proxyId1 and proxyId2 are 16-bit. + SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2) + { + int key = (proxyId2 << 16) | proxyId1; + key = ~key + (key << 15); + key = key ^ (key >> 12); + key = key + (key << 2); + key = key ^ (key >> 4); + key = key * 2057; + key = key ^ (key >> 16); + return key; + } + */ + + + + SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) + { + int key = static_cast(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16)); + // Thomas Wang's hash + + key += ~(key << 15); + key ^= (key >> 10); + key += (key << 3); + key ^= (key >> 6); + key += ~(key << 11); + key ^= (key >> 16); + return static_cast(key); + } + + + + + + SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash) + { + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat. + if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2); + #endif + + int index = m_hashTable[hash]; + + while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if ( index == BT_NULL_PAIR ) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; + } + + virtual bool hasDeferredRemoval() + { + return false; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + { + m_ghostPairCallback = ghostPairCallback; + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher); + + + +}; + + + + +///btSortedOverlappingPairCache maintains the objects with overlapping AABB +///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase +class btSortedOverlappingPairCache : public btOverlappingPairCache +{ + protected: + //avoid brute-force finding all the time + btBroadphasePairArray m_overlappingPairArray; + + //during the dispatch, check that user doesn't destroy/create proxy + bool m_blockedForChanges; + + ///by default, do the removal during the pair traversal + bool m_hasDeferredRemoval; + + //if set, use the callback instead of the built in filter in needBroadphaseCollision + btOverlapFilterCallback* m_overlapFilterCallback; + + btOverlappingPairCallback* m_ghostPairCallback; + + public: + + btSortedOverlappingPairCache(); + virtual ~btSortedOverlappingPairCache(); + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + + void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + + void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + + btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + + void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + + + inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + + return collides; + } + + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + + + + btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } + + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } + + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } + + virtual bool hasDeferredRemoval() + { + return m_hasDeferredRemoval; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + { + m_ghostPairCallback = ghostPairCallback; + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher); + + +}; + + + +///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing. +class btNullPairCache : public btOverlappingPairCache +{ + + btBroadphasePairArray m_overlappingPairArray; + +public: + + virtual btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual int getNumOverlappingPairs() const + { + return 0; + } + + virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) + { + + } + + virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) + { + } + + virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/) + { + } + + virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual bool hasDeferredRemoval() + { + return true; + } + + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */) + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/) + { + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/) + { + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + { + } + + virtual void sortOverlappingPairs(btDispatcher* dispatcher) + { + (void) dispatcher; + } + + +}; + + +#endif //BT_OVERLAPPING_PAIR_CACHE_H + + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h new file mode 100644 index 00000000..9c7b6f81 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h @@ -0,0 +1,40 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 OVERLAPPING_PAIR_CALLBACK_H +#define OVERLAPPING_PAIR_CALLBACK_H + +class btDispatcher; +struct btBroadphasePair; + +///The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. +class btOverlappingPairCallback +{ +public: + virtual ~btOverlappingPairCallback() + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0; + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0; + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0; + +}; + +#endif //OVERLAPPING_PAIR_CALLBACK_H diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp new file mode 100644 index 00000000..889216df --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp @@ -0,0 +1,1393 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btQuantizedBvh.h" + +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btSerializer.h" + +#define RAYAABB2 + +btQuantizedBvh::btQuantizedBvh() : + m_bulletVersion(BT_BULLET_VERSION), + m_useQuantization(false), + //m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY) + m_traversalMode(TRAVERSAL_STACKLESS) + //m_traversalMode(TRAVERSAL_RECURSIVE) + ,m_subtreeHeaderCount(0) //PCK: add this line +{ + m_bvhAabbMin.setValue(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY); + m_bvhAabbMax.setValue(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY); +} + + + + + +void btQuantizedBvh::buildInternal() +{ + ///assumes that caller filled in the m_quantizedLeafNodes + m_useQuantization = true; + int numLeafNodes = 0; + + if (m_useQuantization) + { + //now we have an array of leafnodes in m_leafNodes + numLeafNodes = m_quantizedLeafNodes.size(); + + m_quantizedContiguousNodes.resize(2*numLeafNodes); + + } + + m_curNodeIndex = 0; + + buildTree(0,numLeafNodes); + + ///if the entire tree is small then subtree size, we need to create a header info for the tree + if(m_useQuantization && !m_SubtreeHeaders.size()) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]); + subtree.m_rootNodeIndex = 0; + subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex(); + } + + //PCK: update the copy of the size + m_subtreeHeaderCount = m_SubtreeHeaders.size(); + + //PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary + m_quantizedLeafNodes.clear(); + m_leafNodes.clear(); +} + + + +///just for debugging, to visualize the individual patches/subtrees +#ifdef DEBUG_PATCH_COLORS +btVector3 color[4]= +{ + btVector3(1,0,0), + btVector3(0,1,0), + btVector3(0,0,1), + btVector3(0,1,1) +}; +#endif //DEBUG_PATCH_COLORS + + + +void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin) +{ + //enlarge the AABB to avoid division by zero when initializing the quantization values + btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); + m_bvhAabbMin = bvhAabbMin - clampValue; + m_bvhAabbMax = bvhAabbMax + clampValue; + btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin; + m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize; + + m_useQuantization = true; + + { + unsigned short vecIn[3]; + btVector3 v; + { + quantize(vecIn,m_bvhAabbMin,false); + v = unQuantize(vecIn); + m_bvhAabbMin.setMin(v-clampValue); + } + { + quantize(vecIn,m_bvhAabbMax,true); + v = unQuantize(vecIn); + m_bvhAabbMax.setMax(v+clampValue); + } + aabbSize = m_bvhAabbMax - m_bvhAabbMin; + m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize; + } +} + + + + +btQuantizedBvh::~btQuantizedBvh() +{ +} + +#ifdef DEBUG_TREE_BUILDING +int gStackDepth = 0; +int gMaxStackDepth = 0; +#endif //DEBUG_TREE_BUILDING + +void btQuantizedBvh::buildTree (int startIndex,int endIndex) +{ +#ifdef DEBUG_TREE_BUILDING + gStackDepth++; + if (gStackDepth > gMaxStackDepth) + gMaxStackDepth = gStackDepth; +#endif //DEBUG_TREE_BUILDING + + + int splitAxis, splitIndex, i; + int numIndices =endIndex-startIndex; + int curIndex = m_curNodeIndex; + + btAssert(numIndices>0); + + if (numIndices==1) + { +#ifdef DEBUG_TREE_BUILDING + gStackDepth--; +#endif //DEBUG_TREE_BUILDING + + assignInternalNodeFromLeafNode(m_curNodeIndex,startIndex); + + m_curNodeIndex++; + return; + } + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + splitAxis = calcSplittingAxis(startIndex,endIndex); + + splitIndex = sortAndCalcSplittingIndex(startIndex,endIndex,splitAxis); + + int internalNodeIndex = m_curNodeIndex; + + //set the min aabb to 'inf' or a max value, and set the max aabb to a -inf/minimum value. + //the aabb will be expanded during buildTree/mergeInternalNodeAabb with actual node values + setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);//can't use btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY)) because of quantization + setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);//can't use btVector3(-SIMD_INFINITY,-SIMD_INFINITY,-SIMD_INFINITY)) because of quantization + + + for (i=startIndex;im_escapeIndex; + + int leftChildNodexIndex = m_curNodeIndex; + + //build left child tree + buildTree(startIndex,splitIndex); + + int rightChildNodexIndex = m_curNodeIndex; + //build right child tree + buildTree(splitIndex,endIndex); + +#ifdef DEBUG_TREE_BUILDING + gStackDepth--; +#endif //DEBUG_TREE_BUILDING + + int escapeIndex = m_curNodeIndex - curIndex; + + if (m_useQuantization) + { + //escapeIndex is the number of nodes of this subtree + const int sizeQuantizedNode =sizeof(btQuantizedBvhNode); + const int treeSizeInBytes = escapeIndex * sizeQuantizedNode; + if (treeSizeInBytes > MAX_SUBTREE_SIZE_IN_BYTES) + { + updateSubtreeHeaders(leftChildNodexIndex,rightChildNodexIndex); + } + } else + { + + } + + setInternalNodeEscapeIndex(internalNodeIndex,escapeIndex); + +} + +void btQuantizedBvh::updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex) +{ + btAssert(m_useQuantization); + + btQuantizedBvhNode& leftChildNode = m_quantizedContiguousNodes[leftChildNodexIndex]; + int leftSubTreeSize = leftChildNode.isLeafNode() ? 1 : leftChildNode.getEscapeIndex(); + int leftSubTreeSizeInBytes = leftSubTreeSize * static_cast(sizeof(btQuantizedBvhNode)); + + btQuantizedBvhNode& rightChildNode = m_quantizedContiguousNodes[rightChildNodexIndex]; + int rightSubTreeSize = rightChildNode.isLeafNode() ? 1 : rightChildNode.getEscapeIndex(); + int rightSubTreeSizeInBytes = rightSubTreeSize * static_cast(sizeof(btQuantizedBvhNode)); + + if(leftSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); + subtree.setAabbFromQuantizeNode(leftChildNode); + subtree.m_rootNodeIndex = leftChildNodexIndex; + subtree.m_subtreeSize = leftSubTreeSize; + } + + if(rightSubTreeSizeInBytes <= MAX_SUBTREE_SIZE_IN_BYTES) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); + subtree.setAabbFromQuantizeNode(rightChildNode); + subtree.m_rootNodeIndex = rightChildNodexIndex; + subtree.m_subtreeSize = rightSubTreeSize; + } + + //PCK: update the copy of the size + m_subtreeHeaderCount = m_SubtreeHeaders.size(); +} + + +int btQuantizedBvh::sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis) +{ + int i; + int splitIndex =startIndex; + int numIndices = endIndex - startIndex; + btScalar splitValue; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + for (i=startIndex;i splitValue) + { + //swap + swapLeafNodes(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + int rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + bool unbal = (splitIndex==startIndex) || (splitIndex == (endIndex)); + (void)unbal; + btAssert(!unbal); + + return splitIndex; +} + + +int btQuantizedBvh::calcSplittingAxis(int startIndex,int endIndex) +{ + int i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + int numIndices = endIndex-startIndex; + + for (i=startIndex;im_aabbMinOrg,rootNode->m_aabbMaxOrg); + isLeafNode = rootNode->m_escapeIndex == -1; + + //PCK: unsigned instead of bool + if (isLeafNode && (aabbOverlap != 0)) + { + nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex); + } + + //PCK: unsigned instead of bool + if ((aabbOverlap != 0) || isLeafNode) + { + rootNode++; + curIndex++; + } else + { + escapeIndex = rootNode->m_escapeIndex; + rootNode += escapeIndex; + curIndex += escapeIndex; + } + } + if (maxIterations < walkIterations) + maxIterations = walkIterations; + +} + +/* +///this was the original recursive traversal, before we optimized towards stackless traversal +void btQuantizedBvh::walkTree(btOptimizedBvhNode* rootNode,btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax); + if (aabbOverlap) + { + isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild); + if (isLeafNode) + { + nodeCallback->processNode(rootNode); + } else + { + walkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax); + walkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax); + } + } + +} +*/ + +void btQuantizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const +{ + btAssert(m_useQuantization); + + bool isLeafNode; + //PCK: unsigned instead of bool + unsigned aabbOverlap; + + //PCK: unsigned instead of bool + aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,currentNode->m_quantizedAabbMin,currentNode->m_quantizedAabbMax); + isLeafNode = currentNode->isLeafNode(); + + //PCK: unsigned instead of bool + if (aabbOverlap != 0) + { + if (isLeafNode) + { + nodeCallback->processNode(currentNode->getPartId(),currentNode->getTriangleIndex()); + } else + { + //process left and right children + const btQuantizedBvhNode* leftChildNode = currentNode+1; + walkRecursiveQuantizedTreeAgainstQueryAabb(leftChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); + + const btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? leftChildNode+1:leftChildNode+leftChildNode->getEscapeIndex(); + walkRecursiveQuantizedTreeAgainstQueryAabb(rightChildNode,nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax); + } + } +} + + + +void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const +{ + btAssert(!m_useQuantization); + + const btOptimizedBvhNode* rootNode = &m_contiguousNodes[0]; + int escapeIndex, curIndex = 0; + int walkIterations = 0; + bool isLeafNode; + //PCK: unsigned instead of bool + unsigned aabbOverlap=0; + unsigned rayBoxOverlap=0; + btScalar lambda_max = 1.0; + + /* Quick pruning by quantized box */ + btVector3 rayAabbMin = raySource; + btVector3 rayAabbMax = raySource; + rayAabbMin.setMin(rayTarget); + rayAabbMax.setMax(rayTarget); + + /* Add box cast extents to bounding box */ + rayAabbMin += aabbMin; + rayAabbMax += aabbMax; + +#ifdef RAYAABB2 + btVector3 rayDir = (rayTarget-raySource); + rayDir.normalize (); + lambda_max = rayDir.dot(rayTarget-raySource); + ///what about division by zero? --> just set rayDirection[i] to 1.0 + btVector3 rayDirectionInverse; + rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; + rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; + rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; + unsigned int sign[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0}; +#endif + + btVector3 bounds[2]; + + while (curIndex < m_curNodeIndex) + { + btScalar param = 1.0; + //catch bugs in tree data + btAssert (walkIterations < m_curNodeIndex); + + walkIterations++; + + bounds[0] = rootNode->m_aabbMinOrg; + bounds[1] = rootNode->m_aabbMaxOrg; + /* Add box cast extents */ + bounds[0] -= aabbMax; + bounds[1] -= aabbMin; + + aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg); + //perhaps profile if it is worth doing the aabbOverlap test first + +#ifdef RAYAABB2 + ///careful with this check: need to check division by zero (above) and fix the unQuantize method + ///thanks Joerg/hiker for the reproduction case! + ///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858 + rayBoxOverlap = aabbOverlap ? btRayAabb2 (raySource, rayDirectionInverse, sign, bounds, param, 0.0f, lambda_max) : false; + +#else + btVector3 normal; + rayBoxOverlap = btRayAabb(raySource, rayTarget,bounds[0],bounds[1],param, normal); +#endif + + isLeafNode = rootNode->m_escapeIndex == -1; + + //PCK: unsigned instead of bool + if (isLeafNode && (rayBoxOverlap != 0)) + { + nodeCallback->processNode(rootNode->m_subPart,rootNode->m_triangleIndex); + } + + //PCK: unsigned instead of bool + if ((rayBoxOverlap != 0) || isLeafNode) + { + rootNode++; + curIndex++; + } else + { + escapeIndex = rootNode->m_escapeIndex; + rootNode += escapeIndex; + curIndex += escapeIndex; + } + } + if (maxIterations < walkIterations) + maxIterations = walkIterations; + +} + + + +void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const +{ + btAssert(m_useQuantization); + + int curIndex = startNodeIndex; + int walkIterations = 0; + int subTreeSize = endNodeIndex - startNodeIndex; + (void)subTreeSize; + + const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex]; + int escapeIndex; + + bool isLeafNode; + //PCK: unsigned instead of bool + unsigned boxBoxOverlap = 0; + unsigned rayBoxOverlap = 0; + + btScalar lambda_max = 1.0; + +#ifdef RAYAABB2 + btVector3 rayDirection = (rayTarget-raySource); + rayDirection.normalize (); + lambda_max = rayDirection.dot(rayTarget-raySource); + ///what about division by zero? --> just set rayDirection[i] to 1.0 + rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0]; + rayDirection[1] = rayDirection[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[1]; + rayDirection[2] = rayDirection[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[2]; + unsigned int sign[3] = { rayDirection[0] < 0.0, rayDirection[1] < 0.0, rayDirection[2] < 0.0}; +#endif + + /* Quick pruning by quantized box */ + btVector3 rayAabbMin = raySource; + btVector3 rayAabbMax = raySource; + rayAabbMin.setMin(rayTarget); + rayAabbMax.setMax(rayTarget); + + /* Add box cast extents to bounding box */ + rayAabbMin += aabbMin; + rayAabbMax += aabbMax; + + unsigned short int quantizedQueryAabbMin[3]; + unsigned short int quantizedQueryAabbMax[3]; + quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0); + quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1); + + while (curIndex < endNodeIndex) + { + +//#define VISUALLY_ANALYZE_BVH 1 +#ifdef VISUALLY_ANALYZE_BVH + //some code snippet to debugDraw aabb, to visually analyze bvh structure + static int drawPatch = 0; + //need some global access to a debugDrawer + extern btIDebugDraw* debugDrawerPtr; + if (curIndex==drawPatch) + { + btVector3 aabbMin,aabbMax; + aabbMin = unQuantize(rootNode->m_quantizedAabbMin); + aabbMax = unQuantize(rootNode->m_quantizedAabbMax); + btVector3 color(1,0,0); + debugDrawerPtr->drawAabb(aabbMin,aabbMax,color); + } +#endif//VISUALLY_ANALYZE_BVH + + //catch bugs in tree data + btAssert (walkIterations < subTreeSize); + + walkIterations++; + //PCK: unsigned instead of bool + // only interested if this is closer than any previous hit + btScalar param = 1.0; + rayBoxOverlap = 0; + boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax); + isLeafNode = rootNode->isLeafNode(); + if (boxBoxOverlap) + { + btVector3 bounds[2]; + bounds[0] = unQuantize(rootNode->m_quantizedAabbMin); + bounds[1] = unQuantize(rootNode->m_quantizedAabbMax); + /* Add box cast extents */ + bounds[0] -= aabbMax; + bounds[1] -= aabbMin; + btVector3 normal; +#if 0 + bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max); + bool ra = btRayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal); + if (ra2 != ra) + { + printf("functions don't match\n"); + } +#endif +#ifdef RAYAABB2 + ///careful with this check: need to check division by zero (above) and fix the unQuantize method + ///thanks Joerg/hiker for the reproduction case! + ///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858 + + //BT_PROFILE("btRayAabb2"); + rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max); + +#else + rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal); +#endif + } + + if (isLeafNode && rayBoxOverlap) + { + nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex()); + } + + //PCK: unsigned instead of bool + if ((rayBoxOverlap != 0) || isLeafNode) + { + rootNode++; + curIndex++; + } else + { + escapeIndex = rootNode->getEscapeIndex(); + rootNode += escapeIndex; + curIndex += escapeIndex; + } + } + if (maxIterations < walkIterations) + maxIterations = walkIterations; + +} + +void btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const +{ + btAssert(m_useQuantization); + + int curIndex = startNodeIndex; + int walkIterations = 0; + int subTreeSize = endNodeIndex - startNodeIndex; + (void)subTreeSize; + + const btQuantizedBvhNode* rootNode = &m_quantizedContiguousNodes[startNodeIndex]; + int escapeIndex; + + bool isLeafNode; + //PCK: unsigned instead of bool + unsigned aabbOverlap; + + while (curIndex < endNodeIndex) + { + +//#define VISUALLY_ANALYZE_BVH 1 +#ifdef VISUALLY_ANALYZE_BVH + //some code snippet to debugDraw aabb, to visually analyze bvh structure + static int drawPatch = 0; + //need some global access to a debugDrawer + extern btIDebugDraw* debugDrawerPtr; + if (curIndex==drawPatch) + { + btVector3 aabbMin,aabbMax; + aabbMin = unQuantize(rootNode->m_quantizedAabbMin); + aabbMax = unQuantize(rootNode->m_quantizedAabbMax); + btVector3 color(1,0,0); + debugDrawerPtr->drawAabb(aabbMin,aabbMax,color); + } +#endif//VISUALLY_ANALYZE_BVH + + //catch bugs in tree data + btAssert (walkIterations < subTreeSize); + + walkIterations++; + //PCK: unsigned instead of bool + aabbOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax); + isLeafNode = rootNode->isLeafNode(); + + if (isLeafNode && aabbOverlap) + { + nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex()); + } + + //PCK: unsigned instead of bool + if ((aabbOverlap != 0) || isLeafNode) + { + rootNode++; + curIndex++; + } else + { + escapeIndex = rootNode->getEscapeIndex(); + rootNode += escapeIndex; + curIndex += escapeIndex; + } + } + if (maxIterations < walkIterations) + maxIterations = walkIterations; + +} + +//This traversal can be called from Playstation 3 SPU +void btQuantizedBvh::walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const +{ + btAssert(m_useQuantization); + + int i; + + + for (i=0;im_SubtreeHeaders.size();i++) + { + const btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; + + //PCK: unsigned instead of bool + unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); + if (overlap != 0) + { + walkStacklessQuantizedTree(nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax, + subtree.m_rootNodeIndex, + subtree.m_rootNodeIndex+subtree.m_subtreeSize); + } + } +} + + +void btQuantizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const +{ + reportBoxCastOverlappingNodex(nodeCallback,raySource,rayTarget,btVector3(0,0,0),btVector3(0,0,0)); +} + + +void btQuantizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const +{ + //always use stackless + + if (m_useQuantization) + { + walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex); + } + else + { + walkStacklessTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex); + } + /* + { + //recursive traversal + btVector3 qaabbMin = raySource; + btVector3 qaabbMax = raySource; + qaabbMin.setMin(rayTarget); + qaabbMax.setMax(rayTarget); + qaabbMin += aabbMin; + qaabbMax += aabbMax; + reportAabbOverlappingNodex(nodeCallback,qaabbMin,qaabbMax); + } + */ + +} + + +void btQuantizedBvh::swapLeafNodes(int i,int splitIndex) +{ + if (m_useQuantization) + { + btQuantizedBvhNode tmp = m_quantizedLeafNodes[i]; + m_quantizedLeafNodes[i] = m_quantizedLeafNodes[splitIndex]; + m_quantizedLeafNodes[splitIndex] = tmp; + } else + { + btOptimizedBvhNode tmp = m_leafNodes[i]; + m_leafNodes[i] = m_leafNodes[splitIndex]; + m_leafNodes[splitIndex] = tmp; + } +} + +void btQuantizedBvh::assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex) +{ + if (m_useQuantization) + { + m_quantizedContiguousNodes[internalNode] = m_quantizedLeafNodes[leafNodeIndex]; + } else + { + m_contiguousNodes[internalNode] = m_leafNodes[leafNodeIndex]; + } +} + +//PCK: include +#include + +#if 0 +//PCK: consts +static const unsigned BVH_ALIGNMENT = 16; +static const unsigned BVH_ALIGNMENT_MASK = BVH_ALIGNMENT-1; + +static const unsigned BVH_ALIGNMENT_BLOCKS = 2; +#endif + + +unsigned int btQuantizedBvh::getAlignmentSerializationPadding() +{ + // I changed this to 0 since the extra padding is not needed or used. + return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT; +} + +unsigned btQuantizedBvh::calculateSerializeBufferSize() const +{ + unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding(); + baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount; + if (m_useQuantization) + { + return baseSize + m_curNodeIndex * sizeof(btQuantizedBvhNode); + } + return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode); +} + +bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const +{ + btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size()); + m_subtreeHeaderCount = m_SubtreeHeaders.size(); + +/* if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0)) + { + ///check alignedment for buffer? + btAssert(0); + return false; + } +*/ + + btQuantizedBvh *targetBvh = (btQuantizedBvh *)o_alignedDataBuffer; + + // construct the class so the virtual function table, etc will be set up + // Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor + new (targetBvh) btQuantizedBvh; + + if (i_swapEndian) + { + targetBvh->m_curNodeIndex = static_cast(btSwapEndian(m_curNodeIndex)); + + + btSwapVector3Endian(m_bvhAabbMin,targetBvh->m_bvhAabbMin); + btSwapVector3Endian(m_bvhAabbMax,targetBvh->m_bvhAabbMax); + btSwapVector3Endian(m_bvhQuantization,targetBvh->m_bvhQuantization); + + targetBvh->m_traversalMode = (btTraversalMode)btSwapEndian(m_traversalMode); + targetBvh->m_subtreeHeaderCount = static_cast(btSwapEndian(m_subtreeHeaderCount)); + } + else + { + targetBvh->m_curNodeIndex = m_curNodeIndex; + targetBvh->m_bvhAabbMin = m_bvhAabbMin; + targetBvh->m_bvhAabbMax = m_bvhAabbMax; + targetBvh->m_bvhQuantization = m_bvhQuantization; + targetBvh->m_traversalMode = m_traversalMode; + targetBvh->m_subtreeHeaderCount = m_subtreeHeaderCount; + } + + targetBvh->m_useQuantization = m_useQuantization; + + unsigned char *nodeData = (unsigned char *)targetBvh; + nodeData += sizeof(btQuantizedBvh); + + unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK; + nodeData += sizeToAdd; + + int nodeCount = m_curNodeIndex; + + if (m_useQuantization) + { + targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount); + + if (i_swapEndian) + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]); + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]); + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]); + + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]); + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]); + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]); + + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast(btSwapEndian(m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex)); + } + } + else + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]; + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]; + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]; + + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]; + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]; + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]; + + targetBvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex; + + + } + } + nodeData += sizeof(btQuantizedBvhNode) * nodeCount; + + // this clears the pointer in the member variable it doesn't really do anything to the data + // it does call the destructor on the contained objects, but they are all classes with no destructor defined + // so the memory (which is not freed) is left alone + targetBvh->m_quantizedContiguousNodes.initializeFromBuffer(NULL, 0, 0); + } + else + { + targetBvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount); + + if (i_swapEndian) + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMinOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg); + btSwapVector3Endian(m_contiguousNodes[nodeIndex].m_aabbMaxOrg, targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg); + + targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast(btSwapEndian(m_contiguousNodes[nodeIndex].m_escapeIndex)); + targetBvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast(btSwapEndian(m_contiguousNodes[nodeIndex].m_subPart)); + targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast(btSwapEndian(m_contiguousNodes[nodeIndex].m_triangleIndex)); + } + } + else + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + targetBvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg = m_contiguousNodes[nodeIndex].m_aabbMinOrg; + targetBvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg = m_contiguousNodes[nodeIndex].m_aabbMaxOrg; + + targetBvh->m_contiguousNodes[nodeIndex].m_escapeIndex = m_contiguousNodes[nodeIndex].m_escapeIndex; + targetBvh->m_contiguousNodes[nodeIndex].m_subPart = m_contiguousNodes[nodeIndex].m_subPart; + targetBvh->m_contiguousNodes[nodeIndex].m_triangleIndex = m_contiguousNodes[nodeIndex].m_triangleIndex; + } + } + nodeData += sizeof(btOptimizedBvhNode) * nodeCount; + + // this clears the pointer in the member variable it doesn't really do anything to the data + // it does call the destructor on the contained objects, but they are all classes with no destructor defined + // so the memory (which is not freed) is left alone + targetBvh->m_contiguousNodes.initializeFromBuffer(NULL, 0, 0); + } + + sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK; + nodeData += sizeToAdd; + + // Now serialize the subtree headers + targetBvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, m_subtreeHeaderCount, m_subtreeHeaderCount); + if (i_swapEndian) + { + for (int i = 0; i < m_subtreeHeaderCount; i++) + { + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[0]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[1]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMin[2]); + + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[0]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[1]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(m_SubtreeHeaders[i].m_quantizedAabbMax[2]); + + targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast(btSwapEndian(m_SubtreeHeaders[i].m_rootNodeIndex)); + targetBvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast(btSwapEndian(m_SubtreeHeaders[i].m_subtreeSize)); + } + } + else + { + for (int i = 0; i < m_subtreeHeaderCount; i++) + { + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = (m_SubtreeHeaders[i].m_quantizedAabbMin[0]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = (m_SubtreeHeaders[i].m_quantizedAabbMin[1]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = (m_SubtreeHeaders[i].m_quantizedAabbMin[2]); + + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = (m_SubtreeHeaders[i].m_quantizedAabbMax[0]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = (m_SubtreeHeaders[i].m_quantizedAabbMax[1]); + targetBvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = (m_SubtreeHeaders[i].m_quantizedAabbMax[2]); + + targetBvh->m_SubtreeHeaders[i].m_rootNodeIndex = (m_SubtreeHeaders[i].m_rootNodeIndex); + targetBvh->m_SubtreeHeaders[i].m_subtreeSize = (m_SubtreeHeaders[i].m_subtreeSize); + + // need to clear padding in destination buffer + targetBvh->m_SubtreeHeaders[i].m_padding[0] = 0; + targetBvh->m_SubtreeHeaders[i].m_padding[1] = 0; + targetBvh->m_SubtreeHeaders[i].m_padding[2] = 0; + } + } + nodeData += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount; + + // this clears the pointer in the member variable it doesn't really do anything to the data + // it does call the destructor on the contained objects, but they are all classes with no destructor defined + // so the memory (which is not freed) is left alone + targetBvh->m_SubtreeHeaders.initializeFromBuffer(NULL, 0, 0); + + // this wipes the virtual function table pointer at the start of the buffer for the class + *((void**)o_alignedDataBuffer) = NULL; + + return true; +} + +btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian) +{ + + if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0)) + { + return NULL; + } + btQuantizedBvh *bvh = (btQuantizedBvh *)i_alignedDataBuffer; + + if (i_swapEndian) + { + bvh->m_curNodeIndex = static_cast(btSwapEndian(bvh->m_curNodeIndex)); + + btUnSwapVector3Endian(bvh->m_bvhAabbMin); + btUnSwapVector3Endian(bvh->m_bvhAabbMax); + btUnSwapVector3Endian(bvh->m_bvhQuantization); + + bvh->m_traversalMode = (btTraversalMode)btSwapEndian(bvh->m_traversalMode); + bvh->m_subtreeHeaderCount = static_cast(btSwapEndian(bvh->m_subtreeHeaderCount)); + } + + unsigned int calculatedBufSize = bvh->calculateSerializeBufferSize(); + btAssert(calculatedBufSize <= i_dataBufferSize); + + if (calculatedBufSize > i_dataBufferSize) + { + return NULL; + } + + unsigned char *nodeData = (unsigned char *)bvh; + nodeData += sizeof(btQuantizedBvh); + + unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK; + nodeData += sizeToAdd; + + int nodeCount = bvh->m_curNodeIndex; + + // Must call placement new to fill in virtual function table, etc, but we don't want to overwrite most data, so call a special version of the constructor + // Also, m_leafNodes and m_quantizedLeafNodes will be initialized to default values by the constructor + new (bvh) btQuantizedBvh(*bvh, false); + + if (bvh->m_useQuantization) + { + bvh->m_quantizedContiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount); + + if (i_swapEndian) + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0]); + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[1]); + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[2]); + + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0]); + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[1]); + bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[2]); + + bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = static_cast(btSwapEndian(bvh->m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex)); + } + } + nodeData += sizeof(btQuantizedBvhNode) * nodeCount; + } + else + { + bvh->m_contiguousNodes.initializeFromBuffer(nodeData, nodeCount, nodeCount); + + if (i_swapEndian) + { + for (int nodeIndex = 0; nodeIndex < nodeCount; nodeIndex++) + { + btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMinOrg); + btUnSwapVector3Endian(bvh->m_contiguousNodes[nodeIndex].m_aabbMaxOrg); + + bvh->m_contiguousNodes[nodeIndex].m_escapeIndex = static_cast(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_escapeIndex)); + bvh->m_contiguousNodes[nodeIndex].m_subPart = static_cast(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_subPart)); + bvh->m_contiguousNodes[nodeIndex].m_triangleIndex = static_cast(btSwapEndian(bvh->m_contiguousNodes[nodeIndex].m_triangleIndex)); + } + } + nodeData += sizeof(btOptimizedBvhNode) * nodeCount; + } + + sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK; + nodeData += sizeToAdd; + + // Now serialize the subtree headers + bvh->m_SubtreeHeaders.initializeFromBuffer(nodeData, bvh->m_subtreeHeaderCount, bvh->m_subtreeHeaderCount); + if (i_swapEndian) + { + for (int i = 0; i < bvh->m_subtreeHeaderCount; i++) + { + bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[0]); + bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[1]); + bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMin[2]); + + bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[0]); + bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[1]); + bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2] = btSwapEndian(bvh->m_SubtreeHeaders[i].m_quantizedAabbMax[2]); + + bvh->m_SubtreeHeaders[i].m_rootNodeIndex = static_cast(btSwapEndian(bvh->m_SubtreeHeaders[i].m_rootNodeIndex)); + bvh->m_SubtreeHeaders[i].m_subtreeSize = static_cast(btSwapEndian(bvh->m_SubtreeHeaders[i].m_subtreeSize)); + } + } + + return bvh; +} + +// Constructor that prevents btVector3's default constructor from being called +btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) : +m_bvhAabbMin(self.m_bvhAabbMin), +m_bvhAabbMax(self.m_bvhAabbMax), +m_bvhQuantization(self.m_bvhQuantization), +m_bulletVersion(BT_BULLET_VERSION) +{ + +} + +void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData) +{ + m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax); + m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin); + m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization); + + m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex; + m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0; + + { + int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes; + m_contiguousNodes.resize(numElem); + + if (numElem) + { + btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr; + + for (int i=0;im_aabbMaxOrg); + m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg); + m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex; + m_contiguousNodes[i].m_subPart = memPtr->m_subPart; + m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex; + } + } + } + + { + int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes; + m_quantizedContiguousNodes.resize(numElem); + + if (numElem) + { + btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr; + for (int i=0;im_escapeIndexOrTriangleIndex; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0]; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1]; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2]; + } + } + } + + m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode); + + { + int numElem = quantizedBvhFloatData.m_numSubtreeHeaders; + m_SubtreeHeaders.resize(numElem); + if (numElem) + { + btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr; + for (int i=0;im_quantizedAabbMax[0] ; + m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1]; + m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2]; + m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0]; + m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1]; + m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2]; + m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex; + m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize; + } + } + } +} + +void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData) +{ + m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax); + m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin); + m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization); + + m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex; + m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0; + + { + int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes; + m_contiguousNodes.resize(numElem); + + if (numElem) + { + btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr; + + for (int i=0;im_aabbMaxOrg); + m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg); + m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex; + m_contiguousNodes[i].m_subPart = memPtr->m_subPart; + m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex; + } + } + } + + { + int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes; + m_quantizedContiguousNodes.resize(numElem); + + if (numElem) + { + btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr; + for (int i=0;im_escapeIndexOrTriangleIndex; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0]; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1]; + m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1]; + m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2]; + } + } + } + + m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode); + + { + int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders; + m_SubtreeHeaders.resize(numElem); + if (numElem) + { + btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr; + for (int i=0;im_quantizedAabbMax[0] ; + m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1]; + m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2]; + m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0]; + m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1]; + m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2]; + m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex; + m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize; + } + } + } + +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer; + + m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax); + m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin); + m_bvhQuantization.serialize(quantizedData->m_bvhQuantization); + + quantizedData->m_curNodeIndex = m_curNodeIndex; + quantizedData->m_useQuantization = m_useQuantization; + + quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size(); + quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0); + if (quantizedData->m_contiguousNodesPtr) + { + int sz = sizeof(btOptimizedBvhNodeData); + int numElem = m_contiguousNodes.size(); + btChunk* chunk = serializer->allocate(sz,numElem); + btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr; + for (int i=0;im_aabbMaxOrg); + m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg); + memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex; + memPtr->m_subPart = m_contiguousNodes[i].m_subPart; + memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex; + } + serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]); + } + + quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size(); +// printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes); + quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0); + if (quantizedData->m_quantizedContiguousNodesPtr) + { + int sz = sizeof(btQuantizedBvhNodeData); + int numElem = m_quantizedContiguousNodes.size(); + btChunk* chunk = serializer->allocate(sz,numElem); + btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr; + for (int i=0;im_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex; + memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0]; + memPtr->m_quantizedAabbMax[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[1]; + memPtr->m_quantizedAabbMax[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[2]; + memPtr->m_quantizedAabbMin[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[0]; + memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1]; + memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2]; + } + serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]); + } + + quantizedData->m_traversalMode = int(m_traversalMode); + quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size(); + + quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0); + if (quantizedData->m_subTreeInfoPtr) + { + int sz = sizeof(btBvhSubtreeInfoData); + int numElem = m_SubtreeHeaders.size(); + btChunk* chunk = serializer->allocate(sz,numElem); + btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr; + for (int i=0;im_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0]; + memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1]; + memPtr->m_quantizedAabbMax[2] = m_SubtreeHeaders[i].m_quantizedAabbMax[2]; + memPtr->m_quantizedAabbMin[0] = m_SubtreeHeaders[i].m_quantizedAabbMin[0]; + memPtr->m_quantizedAabbMin[1] = m_SubtreeHeaders[i].m_quantizedAabbMin[1]; + memPtr->m_quantizedAabbMin[2] = m_SubtreeHeaders[i].m_quantizedAabbMin[2]; + + memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex; + memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize; + } + serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]); + } + return btQuantizedBvhDataName; +} + + + + + diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h new file mode 100644 index 00000000..78382da7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h @@ -0,0 +1,581 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_QUANTIZED_BVH_H +#define BT_QUANTIZED_BVH_H + +class btSerializer; + +//#define DEBUG_CHECK_DEQUANTIZATION 1 +#ifdef DEBUG_CHECK_DEQUANTIZATION +#ifdef __SPU__ +#define printf spu_printf +#endif //__SPU__ + +#include +#include +#endif //DEBUG_CHECK_DEQUANTIZATION + +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedAllocator.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btQuantizedBvhData btQuantizedBvhDoubleData +#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData +#define btQuantizedBvhDataName "btQuantizedBvhDoubleData" +#else +#define btQuantizedBvhData btQuantizedBvhFloatData +#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData +#define btQuantizedBvhDataName "btQuantizedBvhFloatData" +#endif + + + +//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp + + +//Note: currently we have 16 bytes per quantized node +#define MAX_SUBTREE_SIZE_IN_BYTES 2048 + +// 10 gives the potential for 1024 parts, with at most 2^21 (2097152) (minus one +// actually) triangles each (since the sign bit is reserved +#define MAX_NUM_PARTS_IN_BITS 10 + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrTriangleIndex; + + bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrTriangleIndex >= 0); + } + int getEscapeIndex() const + { + btAssert(!isLeafNode()); + return -m_escapeIndexOrTriangleIndex; + } + int getTriangleIndex() const + { + btAssert(isLeafNode()); + unsigned int x=0; + unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS); + // Get only the lower bits where the triangle index is stored + return (m_escapeIndexOrTriangleIndex&~(y)); + } + int getPartId() const + { + btAssert(isLeafNode()); + // Get only the highest bits where the part index is stored + return (m_escapeIndexOrTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + } +} +; + +/// btOptimizedBvhNode contains both internal and leaf node information. +/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes. +ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //32 bytes + btVector3 m_aabbMinOrg; + btVector3 m_aabbMaxOrg; + + //4 + int m_escapeIndex; + + //8 + //for child nodes + int m_subPart; + int m_triangleIndex; + +//pad the size to 64 bytes + char m_padding[20]; +}; + + +///btBvhSubtreeInfo provides info to gather a subtree of limited size +ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes, points to the root of the subtree + int m_rootNodeIndex; + //4 bytes + int m_subtreeSize; + int m_padding[3]; + + btBvhSubtreeInfo() + { + //memset(&m_padding[0], 0, sizeof(m_padding)); + } + + + void setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode) + { + m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0]; + m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1]; + m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2]; + m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0]; + m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1]; + m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2]; + } +} +; + + +class btNodeOverlapCallback +{ +public: + virtual ~btNodeOverlapCallback() {}; + + virtual void processNode(int subPart, int triangleIndex) = 0; +}; + +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btAlignedObjectArray.h" + + + +///for code readability: +typedef btAlignedObjectArray NodeArray; +typedef btAlignedObjectArray QuantizedNodeArray; +typedef btAlignedObjectArray BvhSubtreeInfoArray; + + +///The btQuantizedBvh class stores an AABB tree that can be quickly traversed on CPU and Cell SPU. +///It is used by the btBvhTriangleMeshShape as midphase, and by the btMultiSapBroadphase. +///It is recommended to use quantization for better performance and lower memory requirements. +ATTRIBUTE_ALIGNED16(class) btQuantizedBvh +{ +public: + enum btTraversalMode + { + TRAVERSAL_STACKLESS = 0, + TRAVERSAL_STACKLESS_CACHE_FRIENDLY, + TRAVERSAL_RECURSIVE + }; + +protected: + + + btVector3 m_bvhAabbMin; + btVector3 m_bvhAabbMax; + btVector3 m_bvhQuantization; + + int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess. + + int m_curNodeIndex; + //quantization data + bool m_useQuantization; + + + + NodeArray m_leafNodes; + NodeArray m_contiguousNodes; + QuantizedNodeArray m_quantizedLeafNodes; + QuantizedNodeArray m_quantizedContiguousNodes; + + btTraversalMode m_traversalMode; + BvhSubtreeInfoArray m_SubtreeHeaders; + + //This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray + mutable int m_subtreeHeaderCount; + + + + + + ///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!) + ///this might be refactored into a virtual, it is usually not calculated at run-time + void setInternalNodeAabbMin(int nodeIndex, const btVector3& aabbMin) + { + if (m_useQuantization) + { + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[0] ,aabbMin,0); + } else + { + m_contiguousNodes[nodeIndex].m_aabbMinOrg = aabbMin; + + } + } + void setInternalNodeAabbMax(int nodeIndex,const btVector3& aabbMax) + { + if (m_useQuantization) + { + quantize(&m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[0],aabbMax,1); + } else + { + m_contiguousNodes[nodeIndex].m_aabbMaxOrg = aabbMax; + } + } + + btVector3 getAabbMin(int nodeIndex) const + { + if (m_useQuantization) + { + return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMin[0]); + } + //non-quantized + return m_leafNodes[nodeIndex].m_aabbMinOrg; + + } + btVector3 getAabbMax(int nodeIndex) const + { + if (m_useQuantization) + { + return unQuantize(&m_quantizedLeafNodes[nodeIndex].m_quantizedAabbMax[0]); + } + //non-quantized + return m_leafNodes[nodeIndex].m_aabbMaxOrg; + + } + + + void setInternalNodeEscapeIndex(int nodeIndex, int escapeIndex) + { + if (m_useQuantization) + { + m_quantizedContiguousNodes[nodeIndex].m_escapeIndexOrTriangleIndex = -escapeIndex; + } + else + { + m_contiguousNodes[nodeIndex].m_escapeIndex = escapeIndex; + } + + } + + void mergeInternalNodeAabb(int nodeIndex,const btVector3& newAabbMin,const btVector3& newAabbMax) + { + if (m_useQuantization) + { + unsigned short int quantizedAabbMin[3]; + unsigned short int quantizedAabbMax[3]; + quantize(quantizedAabbMin,newAabbMin,0); + quantize(quantizedAabbMax,newAabbMax,1); + for (int i=0;i<3;i++) + { + if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] > quantizedAabbMin[i]) + m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMin[i] = quantizedAabbMin[i]; + + if (m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] < quantizedAabbMax[i]) + m_quantizedContiguousNodes[nodeIndex].m_quantizedAabbMax[i] = quantizedAabbMax[i]; + + } + } else + { + //non-quantized + m_contiguousNodes[nodeIndex].m_aabbMinOrg.setMin(newAabbMin); + m_contiguousNodes[nodeIndex].m_aabbMaxOrg.setMax(newAabbMax); + } + } + + void swapLeafNodes(int firstIndex,int secondIndex); + + void assignInternalNodeFromLeafNode(int internalNode,int leafNodeIndex); + +protected: + + + + void buildTree (int startIndex,int endIndex); + + int calcSplittingAxis(int startIndex,int endIndex); + + int sortAndCalcSplittingIndex(int startIndex,int endIndex,int splitAxis); + + void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const; + void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const; + void walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const; + + ///tree traversal designed for small-memory processors like PS3 SPU + void walkStacklessQuantizedTreeCacheFriendly(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + + ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal + void walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantizedBvhNode* currentNode,btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax) const; + + ///use the 16-byte stackless 'skipindex' node tree to do a recursive traversal + void walkRecursiveQuantizedTreeAgainstQuantizedTree(const btQuantizedBvhNode* treeNodeA,const btQuantizedBvhNode* treeNodeB,btNodeOverlapCallback* nodeCallback) const; + + + + + void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btQuantizedBvh(); + + virtual ~btQuantizedBvh(); + + + ///***************************************** expert/internal use only ************************* + void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0)); + QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; } + ///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized + void buildInternal(); + ///***************************************** expert/internal use only ************************* + + void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const; + void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const; + void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const; + + SIMD_FORCE_INLINE void quantize(unsigned short* out, const btVector3& point,int isMax) const + { + + btAssert(m_useQuantization); + + btAssert(point.getX() <= m_bvhAabbMax.getX()); + btAssert(point.getY() <= m_bvhAabbMax.getY()); + btAssert(point.getZ() <= m_bvhAabbMax.getZ()); + + btAssert(point.getX() >= m_bvhAabbMin.getX()); + btAssert(point.getY() >= m_bvhAabbMin.getY()); + btAssert(point.getZ() >= m_bvhAabbMin.getZ()); + + btVector3 v = (point - m_bvhAabbMin) * m_bvhQuantization; + ///Make sure rounding is done in a way that unQuantize(quantizeWithClamp(...)) is conservative + ///end-points always set the first bit, so that they are sorted properly (so that neighbouring AABBs overlap properly) + ///@todo: double-check this + if (isMax) + { + out[0] = (unsigned short) (((unsigned short)(v.getX()+btScalar(1.)) | 1)); + out[1] = (unsigned short) (((unsigned short)(v.getY()+btScalar(1.)) | 1)); + out[2] = (unsigned short) (((unsigned short)(v.getZ()+btScalar(1.)) | 1)); + } else + { + out[0] = (unsigned short) (((unsigned short)(v.getX()) & 0xfffe)); + out[1] = (unsigned short) (((unsigned short)(v.getY()) & 0xfffe)); + out[2] = (unsigned short) (((unsigned short)(v.getZ()) & 0xfffe)); + } + + +#ifdef DEBUG_CHECK_DEQUANTIZATION + btVector3 newPoint = unQuantize(out); + if (isMax) + { + if (newPoint.getX() < point.getX()) + { + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + } + if (newPoint.getY() < point.getY()) + { + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + } + if (newPoint.getZ() < point.getZ()) + { + + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + } + } else + { + if (newPoint.getX() > point.getX()) + { + printf("unconservative X, diffX = %f, oldX=%f,newX=%f\n",newPoint.getX()-point.getX(), newPoint.getX(),point.getX()); + } + if (newPoint.getY() > point.getY()) + { + printf("unconservative Y, diffY = %f, oldY=%f,newY=%f\n",newPoint.getY()-point.getY(), newPoint.getY(),point.getY()); + } + if (newPoint.getZ() > point.getZ()) + { + printf("unconservative Z, diffZ = %f, oldZ=%f,newZ=%f\n",newPoint.getZ()-point.getZ(), newPoint.getZ(),point.getZ()); + } + } +#endif //DEBUG_CHECK_DEQUANTIZATION + + } + + + SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point2,int isMax) const + { + + btAssert(m_useQuantization); + + btVector3 clampedPoint(point2); + clampedPoint.setMax(m_bvhAabbMin); + clampedPoint.setMin(m_bvhAabbMax); + + quantize(out,clampedPoint,isMax); + + } + + SIMD_FORCE_INLINE btVector3 unQuantize(const unsigned short* vecIn) const + { + btVector3 vecOut; + vecOut.setValue( + (btScalar)(vecIn[0]) / (m_bvhQuantization.getX()), + (btScalar)(vecIn[1]) / (m_bvhQuantization.getY()), + (btScalar)(vecIn[2]) / (m_bvhQuantization.getZ())); + vecOut += m_bvhAabbMin; + return vecOut; + } + + ///setTraversalMode let's you choose between stackless, recursive or stackless cache friendly tree traversal. Note this is only implemented for quantized trees. + void setTraversalMode(btTraversalMode traversalMode) + { + m_traversalMode = traversalMode; + } + + + SIMD_FORCE_INLINE QuantizedNodeArray& getQuantizedNodeArray() + { + return m_quantizedContiguousNodes; + } + + + SIMD_FORCE_INLINE BvhSubtreeInfoArray& getSubtreeInfoArray() + { + return m_SubtreeHeaders; + } + +//////////////////////////////////////////////////////////////////// + + /////Calculate space needed to store BVH for serialization + unsigned calculateSerializeBufferSize() const; + + /// Data buffer MUST be 16 byte aligned + virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const; + + ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' + static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); + + static unsigned int getAlignmentSerializationPadding(); +////////////////////////////////////////////////////////////////////// + + + virtual int calculateSerializeBufferSizeNew() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData); + + virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData); + + +//////////////////////////////////////////////////////////////////// + + SIMD_FORCE_INLINE bool isQuantized() + { + return m_useQuantization; + } + +private: + // Special "copy" constructor that allows for in-place deserialization + // Prevents btVector3's default constructor from being called, but doesn't inialize much else + // ownsMemory should most likely be false if deserializing, and if you are not, don't call this (it also changes the function signature, which we need) + btQuantizedBvh(btQuantizedBvh &other, bool ownsMemory); + +} +; + + +struct btBvhSubtreeInfoData +{ + int m_rootNodeIndex; + int m_subtreeSize; + unsigned short m_quantizedAabbMin[3]; + unsigned short m_quantizedAabbMax[3]; +}; + +struct btOptimizedBvhNodeFloatData +{ + btVector3FloatData m_aabbMinOrg; + btVector3FloatData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; +}; + +struct btOptimizedBvhNodeDoubleData +{ + btVector3DoubleData m_aabbMinOrg; + btVector3DoubleData m_aabbMaxOrg; + int m_escapeIndex; + int m_subPart; + int m_triangleIndex; + char m_pad[4]; +}; + + +struct btQuantizedBvhNodeData +{ + unsigned short m_quantizedAabbMin[3]; + unsigned short m_quantizedAabbMax[3]; + int m_escapeIndexOrTriangleIndex; +}; + +struct btQuantizedBvhFloatData +{ + btVector3FloatData m_bvhAabbMin; + btVector3FloatData m_bvhAabbMax; + btVector3FloatData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeFloatData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + btBvhSubtreeInfoData *m_subTreeInfoPtr; + int m_traversalMode; + int m_numSubtreeHeaders; + +}; + +struct btQuantizedBvhDoubleData +{ + btVector3DoubleData m_bvhAabbMin; + btVector3DoubleData m_bvhAabbMax; + btVector3DoubleData m_bvhQuantization; + int m_curNodeIndex; + int m_useQuantization; + int m_numContiguousLeafNodes; + int m_numQuantizedContiguousNodes; + btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr; + btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr; + + int m_traversalMode; + int m_numSubtreeHeaders; + btBvhSubtreeInfoData *m_subTreeInfoPtr; +}; + + +SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const +{ + return sizeof(btQuantizedBvhData); +} + + + +#endif //BT_QUANTIZED_BVH_H diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp new file mode 100644 index 00000000..752fcd0f --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -0,0 +1,349 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAabbUtil2.h" + +#include + +extern int gOverlappingPairs; + +void btSimpleBroadphase::validate() +{ + for (int i=0;i~btOverlappingPairCache(); + btAlignedFree(m_pairCache); + } +} + + +btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy) +{ + if (m_numHandles >= m_maxHandles) + { + btAssert(0); + return 0; //should never happen, but don't let the game crash ;-) + } + btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]); + + int newHandleIndex = allocHandle(); + btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy); + + return proxy; +} + +class RemovingOverlapCallback : public btOverlapCallback +{ +protected: + virtual bool processOverlap(btBroadphasePair& pair) + { + (void)pair; + btAssert(0); + return false; + } +}; + +class RemovePairContainingProxy +{ + + btBroadphaseProxy* m_targetProxy; + public: + virtual ~RemovePairContainingProxy() + { + } +protected: + virtual bool processOverlap(btBroadphasePair& pair) + { + btSimpleBroadphaseProxy* proxy0 = static_cast(pair.m_pProxy0); + btSimpleBroadphaseProxy* proxy1 = static_cast(pair.m_pProxy1); + + return ((m_targetProxy == proxy0 || m_targetProxy == proxy1)); + }; +}; + +void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher) +{ + + btSimpleBroadphaseProxy* proxy0 = static_cast(proxyOrg); + freeHandle(proxy0); + + m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher); + + //validate(); + +} + +void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const +{ + const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy); + aabbMin = sbp->m_aabbMin; + aabbMax = sbp->m_aabbMax; +} + +void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/) +{ + btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy); + sbp->m_aabbMin = aabbMin; + sbp->m_aabbMax = aabbMax; +} + +void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax) +{ + for (int i=0; i <= m_LastHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy = &m_pHandles[i]; + if(!proxy->m_clientObject) + { + continue; + } + rayCallback.process(proxy); + } +} + + +void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) +{ + for (int i=0; i <= m_LastHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy = &m_pHandles[i]; + if(!proxy->m_clientObject) + { + continue; + } + if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax)) + { + callback.process(proxy); + } + } +} + + + + + + + +bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1) +{ + return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && + proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] && + proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2]; + +} + + + +//then remove non-overlapping ones +class CheckOverlapCallback : public btOverlapCallback +{ +public: + virtual bool processOverlap(btBroadphasePair& pair) + { + return (!btSimpleBroadphase::aabbOverlap(static_cast(pair.m_pProxy0),static_cast(pair.m_pProxy1))); + } +}; + +void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + //first check for new overlapping pairs + int i,j; + if (m_numHandles >= 0) + { + int new_largest_index = -1; + for (i=0; i <= m_LastHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i]; + if(!proxy0->m_clientObject) + { + continue; + } + new_largest_index = i; + for (j=i+1; j <= m_LastHandleIndex; j++) + { + btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j]; + btAssert(proxy0 != proxy1); + if(!proxy1->m_clientObject) + { + continue; + } + + btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); + btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + + if (aabbOverlap(p0,p1)) + { + if ( !m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->addOverlappingPair(proxy0,proxy1); + } + } else + { + if (!m_pairCache->hasDeferredRemoval()) + { + if ( m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); + } + } + } + } + } + + m_LastHandleIndex = new_largest_index; + + if (m_ownsPairCache && m_pairCache->hasDeferredRemoval()) + { + + btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); + + //perform a sort, to find duplicates and to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; + + + btBroadphasePair previousPair; + previousPair.m_pProxy0 = 0; + previousPair.m_pProxy1 = 0; + previousPair.m_algorithm = 0; + + + for (i=0;iprocessOverlap(pair); + } else + { + needsRemoval = true; + } + } else + { + //remove duplicate + needsRemoval = true; + //should have no algorithm + btAssert(!pair.m_algorithm); + } + + if (needsRemoval) + { + m_pairCache->cleanOverlappingPair(pair,dispatcher); + + // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + // m_overlappingPairArray.pop_back(); + pair.m_pProxy0 = 0; + pair.m_pProxy1 = 0; + m_invalidPair++; + gOverlappingPairs--; + } + + } + + ///if you don't like to skip the invalid pairs in the array, execute following code: +#define CLEAN_INVALID_PAIRS 1 +#ifdef CLEAN_INVALID_PAIRS + + //perform a sort, to sort 'invalid' pairs to the end + overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); + + overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); + m_invalidPair = 0; +#endif//CLEAN_INVALID_PAIRS + + } + } +} + + +bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); + btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + return aabbOverlap(p0,p1); +} + +void btSimpleBroadphase::resetPool(btDispatcher* dispatcher) +{ + //not yet +} diff --git a/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h new file mode 100644 index 00000000..7cb3c40a --- /dev/null +++ b/Code/Physics/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMPLE_BROADPHASE_H +#define BT_SIMPLE_BROADPHASE_H + + +#include "btOverlappingPairCache.h" + + +struct btSimpleBroadphaseProxy : public btBroadphaseProxy +{ + int m_nextFree; + +// int m_handleId; + + + btSimpleBroadphaseProxy() {}; + + btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) + :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) + { + (void)shapeType; + } + + + SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} + SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} + + + + +}; + +///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. +///It is a brute force aabb culling broadphase based on O(n^2) aabb checks +class btSimpleBroadphase : public btBroadphaseInterface +{ + +protected: + + int m_numHandles; // number of active handles + int m_maxHandles; // max number of handles + int m_LastHandleIndex; + + btSimpleBroadphaseProxy* m_pHandles; // handles pool + + void* m_pHandlesRawPtr; + int m_firstFreeHandle; // free handles list + + int allocHandle() + { + btAssert(m_numHandles < m_maxHandles); + int freeHandle = m_firstFreeHandle; + m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree(); + m_numHandles++; + if(freeHandle > m_LastHandleIndex) + { + m_LastHandleIndex = freeHandle; + } + return freeHandle; + } + + void freeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy-m_pHandles); + btAssert(handle >= 0 && handle < m_maxHandles); + if(handle == m_LastHandleIndex) + { + m_LastHandleIndex--; + } + proxy->SetNextFree(m_firstFreeHandle); + m_firstFreeHandle = handle; + + proxy->m_clientObject = 0; + + m_numHandles--; + } + + btOverlappingPairCache* m_pairCache; + bool m_ownsPairCache; + + int m_invalidPair; + + + + inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) + { + btSimpleBroadphaseProxy* proxy0 = static_cast(proxy); + return proxy0; + } + + inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const + { + const btSimpleBroadphaseProxy* proxy0 = static_cast(proxy); + return proxy0; + } + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + + + void validate(); + +protected: + + + + +public: + btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); + virtual ~btSimpleBroadphase(); + + + static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); + + + virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); + virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); + + btOverlappingPairCache* getOverlappingPairCache() + { + return m_pairCache; + } + const btOverlappingPairCache* getOverlappingPairCache() const + { + return m_pairCache; + } + + bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + + + ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame + ///will add some transform later + virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + } + + virtual void printStats() + { +// printf("btSimpleBroadphase.h\n"); +// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + } +}; + + + +#endif //BT_SIMPLE_BROADPHASE_H + diff --git a/Code/Physics/src/BulletCollision/CMakeLists.txt b/Code/Physics/src/BulletCollision/CMakeLists.txt new file mode 100644 index 00000000..c4723ae2 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CMakeLists.txt @@ -0,0 +1,286 @@ +INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src ) + +SET(BulletCollision_SRCS + BroadphaseCollision/btAxisSweep3.cpp + BroadphaseCollision/btBroadphaseProxy.cpp + BroadphaseCollision/btCollisionAlgorithm.cpp + BroadphaseCollision/btDbvt.cpp + BroadphaseCollision/btDbvtBroadphase.cpp + BroadphaseCollision/btDispatcher.cpp + BroadphaseCollision/btMultiSapBroadphase.cpp + BroadphaseCollision/btOverlappingPairCache.cpp + BroadphaseCollision/btQuantizedBvh.cpp + BroadphaseCollision/btSimpleBroadphase.cpp + CollisionDispatch/btActivatingCollisionAlgorithm.cpp + CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp + CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp + CollisionDispatch/btBoxBoxDetector.cpp + CollisionDispatch/btCollisionDispatcher.cpp + CollisionDispatch/btCollisionObject.cpp + CollisionDispatch/btCollisionWorld.cpp + CollisionDispatch/btCompoundCollisionAlgorithm.cpp + CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp + CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp + CollisionDispatch/btConvexConvexAlgorithm.cpp + CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp + CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp + CollisionDispatch/btDefaultCollisionConfiguration.cpp + CollisionDispatch/btEmptyCollisionAlgorithm.cpp + CollisionDispatch/btGhostObject.cpp + CollisionDispatch/btHashedSimplePairCache.cpp + CollisionDispatch/btInternalEdgeUtility.cpp + CollisionDispatch/btInternalEdgeUtility.h + CollisionDispatch/btManifoldResult.cpp + CollisionDispatch/btSimulationIslandManager.cpp + CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp + CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp + CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp + CollisionDispatch/btUnionFind.cpp + CollisionDispatch/SphereTriangleDetector.cpp + CollisionShapes/btBoxShape.cpp + CollisionShapes/btBox2dShape.cpp + CollisionShapes/btBvhTriangleMeshShape.cpp + CollisionShapes/btCapsuleShape.cpp + CollisionShapes/btCollisionShape.cpp + CollisionShapes/btCompoundShape.cpp + CollisionShapes/btConcaveShape.cpp + CollisionShapes/btConeShape.cpp + CollisionShapes/btConvexHullShape.cpp + CollisionShapes/btConvexInternalShape.cpp + CollisionShapes/btConvexPointCloudShape.cpp + CollisionShapes/btConvexPolyhedron.cpp + CollisionShapes/btConvexShape.cpp + CollisionShapes/btConvex2dShape.cpp + CollisionShapes/btConvexTriangleMeshShape.cpp + CollisionShapes/btCylinderShape.cpp + CollisionShapes/btEmptyShape.cpp + CollisionShapes/btHeightfieldTerrainShape.cpp + CollisionShapes/btMinkowskiSumShape.cpp + CollisionShapes/btMultimaterialTriangleMeshShape.cpp + CollisionShapes/btMultiSphereShape.cpp + CollisionShapes/btOptimizedBvh.cpp + CollisionShapes/btPolyhedralConvexShape.cpp + CollisionShapes/btScaledBvhTriangleMeshShape.cpp + CollisionShapes/btShapeHull.cpp + CollisionShapes/btSphereShape.cpp + CollisionShapes/btStaticPlaneShape.cpp + CollisionShapes/btStridingMeshInterface.cpp + CollisionShapes/btTetrahedronShape.cpp + CollisionShapes/btTriangleBuffer.cpp + CollisionShapes/btTriangleCallback.cpp + CollisionShapes/btTriangleIndexVertexArray.cpp + CollisionShapes/btTriangleIndexVertexMaterialArray.cpp + CollisionShapes/btTriangleMesh.cpp + CollisionShapes/btTriangleMeshShape.cpp + CollisionShapes/btUniformScalingShape.cpp + Gimpact/btContactProcessing.cpp + Gimpact/btGenericPoolAllocator.cpp + Gimpact/btGImpactBvh.cpp + Gimpact/btGImpactCollisionAlgorithm.cpp + Gimpact/btGImpactQuantizedBvh.cpp + Gimpact/btGImpactShape.cpp + Gimpact/btTriangleShapeEx.cpp + Gimpact/gim_box_set.cpp + Gimpact/gim_contact.cpp + Gimpact/gim_memory.cpp + Gimpact/gim_tri_collision.cpp + NarrowPhaseCollision/btContinuousConvexCollision.cpp + NarrowPhaseCollision/btConvexCast.cpp + NarrowPhaseCollision/btGjkConvexCast.cpp + NarrowPhaseCollision/btGjkEpa2.cpp + NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp + NarrowPhaseCollision/btGjkPairDetector.cpp + NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp + NarrowPhaseCollision/btPersistentManifold.cpp + NarrowPhaseCollision/btRaycastCallback.cpp + NarrowPhaseCollision/btSubSimplexConvexCast.cpp + NarrowPhaseCollision/btVoronoiSimplexSolver.cpp + NarrowPhaseCollision/btPolyhedralContactClipping.cpp +) + +SET(Root_HDRS + ../btBulletCollisionCommon.h +) +SET(BroadphaseCollision_HDRS + BroadphaseCollision/btAxisSweep3.h + BroadphaseCollision/btBroadphaseInterface.h + BroadphaseCollision/btBroadphaseProxy.h + BroadphaseCollision/btCollisionAlgorithm.h + BroadphaseCollision/btDbvt.h + BroadphaseCollision/btDbvtBroadphase.h + BroadphaseCollision/btDispatcher.h + BroadphaseCollision/btMultiSapBroadphase.h + BroadphaseCollision/btOverlappingPairCache.h + BroadphaseCollision/btOverlappingPairCallback.h + BroadphaseCollision/btQuantizedBvh.h + BroadphaseCollision/btSimpleBroadphase.h +) +SET(CollisionDispatch_HDRS + CollisionDispatch/btActivatingCollisionAlgorithm.h + CollisionDispatch/btBoxBoxCollisionAlgorithm.h + CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h + CollisionDispatch/btBoxBoxDetector.h + CollisionDispatch/btCollisionConfiguration.h + CollisionDispatch/btCollisionCreateFunc.h + CollisionDispatch/btCollisionDispatcher.h + CollisionDispatch/btCollisionObject.h + CollisionDispatch/btCollisionObjectWrapper.h + CollisionDispatch/btCollisionWorld.h + CollisionDispatch/btCompoundCollisionAlgorithm.h + CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h + CollisionDispatch/btConvexConcaveCollisionAlgorithm.h + CollisionDispatch/btConvexConvexAlgorithm.h + CollisionDispatch/btConvex2dConvex2dAlgorithm.h + CollisionDispatch/btConvexPlaneCollisionAlgorithm.h + CollisionDispatch/btDefaultCollisionConfiguration.h + CollisionDispatch/btEmptyCollisionAlgorithm.h + CollisionDispatch/btGhostObject.h + CollisionDispatch/btHashedSimplePairCache.h + CollisionDispatch/btManifoldResult.h + CollisionDispatch/btSimulationIslandManager.h + CollisionDispatch/btSphereBoxCollisionAlgorithm.h + CollisionDispatch/btSphereSphereCollisionAlgorithm.h + CollisionDispatch/btSphereTriangleCollisionAlgorithm.h + CollisionDispatch/btUnionFind.h + CollisionDispatch/SphereTriangleDetector.h +) +SET(CollisionShapes_HDRS + CollisionShapes/btBoxShape.h + CollisionShapes/btBox2dShape.h + CollisionShapes/btBvhTriangleMeshShape.h + CollisionShapes/btCapsuleShape.h + CollisionShapes/btCollisionMargin.h + CollisionShapes/btCollisionShape.h + CollisionShapes/btCompoundShape.h + CollisionShapes/btConcaveShape.h + CollisionShapes/btConeShape.h + CollisionShapes/btConvexHullShape.h + CollisionShapes/btConvexInternalShape.h + CollisionShapes/btConvexPointCloudShape.h + CollisionShapes/btConvexPolyhedron.h + CollisionShapes/btConvexShape.h + CollisionShapes/btConvex2dShape.h + CollisionShapes/btConvexTriangleMeshShape.h + CollisionShapes/btCylinderShape.h + CollisionShapes/btEmptyShape.h + CollisionShapes/btHeightfieldTerrainShape.h + CollisionShapes/btMaterial.h + CollisionShapes/btMinkowskiSumShape.h + CollisionShapes/btMultimaterialTriangleMeshShape.h + CollisionShapes/btMultiSphereShape.h + CollisionShapes/btOptimizedBvh.h + CollisionShapes/btPolyhedralConvexShape.h + CollisionShapes/btScaledBvhTriangleMeshShape.h + CollisionShapes/btShapeHull.h + CollisionShapes/btSphereShape.h + CollisionShapes/btStaticPlaneShape.h + CollisionShapes/btStridingMeshInterface.h + CollisionShapes/btTetrahedronShape.h + CollisionShapes/btTriangleBuffer.h + CollisionShapes/btTriangleCallback.h + CollisionShapes/btTriangleIndexVertexArray.h + CollisionShapes/btTriangleIndexVertexMaterialArray.h + CollisionShapes/btTriangleInfoMap.h + CollisionShapes/btTriangleMesh.h + CollisionShapes/btTriangleMeshShape.h + CollisionShapes/btTriangleShape.h + CollisionShapes/btUniformScalingShape.h +) +SET(Gimpact_HDRS + Gimpact/btBoxCollision.h + Gimpact/btClipPolygon.h + Gimpact/btContactProcessing.h + Gimpact/btGenericPoolAllocator.h + Gimpact/btGeometryOperations.h + Gimpact/btGImpactBvh.h + Gimpact/btGImpactCollisionAlgorithm.h + Gimpact/btGImpactMassUtil.h + Gimpact/btGImpactQuantizedBvh.h + Gimpact/btGImpactShape.h + Gimpact/btQuantization.h + Gimpact/btTriangleShapeEx.h + Gimpact/gim_array.h + Gimpact/gim_basic_geometry_operations.h + Gimpact/gim_bitset.h + Gimpact/gim_box_collision.h + Gimpact/gim_box_set.h + Gimpact/gim_clip_polygon.h + Gimpact/gim_contact.h + Gimpact/gim_geom_types.h + Gimpact/gim_geometry.h + Gimpact/gim_hash_table.h + Gimpact/gim_linear_math.h + Gimpact/gim_math.h + Gimpact/gim_memory.h + Gimpact/gim_radixsort.h + Gimpact/gim_tri_collision.h +) +SET(NarrowPhaseCollision_HDRS + NarrowPhaseCollision/btContinuousConvexCollision.h + NarrowPhaseCollision/btConvexCast.h + NarrowPhaseCollision/btConvexPenetrationDepthSolver.h + NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h + NarrowPhaseCollision/btGjkConvexCast.h + NarrowPhaseCollision/btGjkEpa2.h + NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h + NarrowPhaseCollision/btGjkPairDetector.h + NarrowPhaseCollision/btManifoldPoint.h + NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h + NarrowPhaseCollision/btPersistentManifold.h + NarrowPhaseCollision/btPointCollector.h + NarrowPhaseCollision/btRaycastCallback.h + NarrowPhaseCollision/btSimplexSolverInterface.h + NarrowPhaseCollision/btSubSimplexConvexCast.h + NarrowPhaseCollision/btVoronoiSimplexSolver.h + NarrowPhaseCollision/btPolyhedralContactClipping.h +) + +SET(BulletCollision_HDRS + ${Root_HDRS} + ${BroadphaseCollision_HDRS} + ${CollisionDispatch_HDRS} + ${CollisionShapes_HDRS} + ${Gimpact_HDRS} + ${NarrowPhaseCollision_HDRS} +) + + +ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS}) +SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletCollision LinearMath) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #INSTALL of other files requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletCollision DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + INSTALL(FILES ../btBulletCollisionCommon.h +DESTINATION ${INCLUDE_INSTALL_DIR}/BulletCollision) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true) + + SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}") + # Have to list out sub-directories manually: + SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision) + SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch) + SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes) + SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact) + SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision) + + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp new file mode 100644 index 00000000..63401780 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -0,0 +1,200 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "LinearMath/btScalar.h" +#include "SphereTriangleDetector.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + + +SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold) +:m_sphere(sphere), +m_triangle(triangle), +m_contactBreakingThreshold(contactBreakingThreshold) +{ + +} + +void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) +{ + + (void)debugDraw; + const btTransform& transformA = input.m_transformA; + const btTransform& transformB = input.m_transformB; + + btVector3 point,normal; + btScalar timeOfImpact = btScalar(1.); + btScalar depth = btScalar(0.); +// output.m_distance = btScalar(BT_LARGE_FLOAT); + //move sphere into triangle space + btTransform sphereInTr = transformB.inverseTimes(transformA); + + if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold)) + { + if (swapResults) + { + btVector3 normalOnB = transformB.getBasis()*normal; + btVector3 normalOnA = -normalOnB; + btVector3 pointOnA = transformB*point+normalOnB*depth; + output.addContactPoint(normalOnA,pointOnA,depth); + } else + { + output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth); + } + } + +} + + + +// See also geometrictools.com +// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv +btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest); + +btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) { + btVector3 diff = p - from; + btVector3 v = to - from; + btScalar t = v.dot(diff); + + if (t > 0) { + btScalar dotVV = v.dot(v); + if (t < dotVV) { + t /= dotVV; + diff -= t*v; + } else { + t = 1; + diff -= v; + } + } else + t = 0; + + nearest = from + t*v; + return diff.dot(diff); +} + +bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal) { + btVector3 lp(p); + btVector3 lnormal(normal); + + return pointInTriangle(vertices, lnormal, &lp); +} + +bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold) +{ + + const btVector3* vertices = &m_triangle->getVertexPtr(0); + + btScalar radius = m_sphere->getRadius(); + btScalar radiusWithThreshold = radius + contactBreakingThreshold; + + btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); + normal.normalize(); + btVector3 p1ToCentre = sphereCenter - vertices[0]; + btScalar distanceFromPlane = p1ToCentre.dot(normal); + + if (distanceFromPlane < btScalar(0.)) + { + //triangle facing the other way + distanceFromPlane *= btScalar(-1.); + normal *= btScalar(-1.); + } + + bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold; + + // Check for contact / intersection + bool hasContact = false; + btVector3 contactPoint; + if (isInsideContactPlane) { + if (facecontains(sphereCenter,vertices,normal)) { + // Inside the contact wedge - touches a point on the shell plane + hasContact = true; + contactPoint = sphereCenter - normal*distanceFromPlane; + } else { + // Could be inside one of the contact capsules + btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; + btVector3 nearestOnEdge; + for (int i = 0; i < m_triangle->getNumEdges(); i++) { + + btVector3 pa; + btVector3 pb; + + m_triangle->getEdge(i,pa,pb); + + btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge); + if (distanceSqr < contactCapsuleRadiusSqr) { + // Yep, we're inside a capsule + hasContact = true; + contactPoint = nearestOnEdge; + } + + } + } + } + + if (hasContact) { + btVector3 contactToCentre = sphereCenter - contactPoint; + btScalar distanceSqr = contactToCentre.length2(); + + if (distanceSqr < radiusWithThreshold*radiusWithThreshold) + { + if (distanceSqr>SIMD_EPSILON) + { + btScalar distance = btSqrt(distanceSqr); + resultNormal = contactToCentre; + resultNormal.normalize(); + point = contactPoint; + depth = -(radius-distance); + } else + { + resultNormal = normal; + point = contactPoint; + depth = -radius; + } + return true; + } + } + + return false; +} + + +bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p ) +{ + const btVector3* p1 = &vertices[0]; + const btVector3* p2 = &vertices[1]; + const btVector3* p3 = &vertices[2]; + + btVector3 edge1( *p2 - *p1 ); + btVector3 edge2( *p3 - *p2 ); + btVector3 edge3( *p1 - *p3 ); + + btVector3 p1_to_p( *p - *p1 ); + btVector3 p2_to_p( *p - *p2 ); + btVector3 p3_to_p( *p - *p3 ); + + btVector3 edge1_normal( edge1.cross(normal)); + btVector3 edge2_normal( edge2.cross(normal)); + btVector3 edge3_normal( edge3.cross(normal)); + + btScalar r1, r2, r3; + r1 = edge1_normal.dot( p1_to_p ); + r2 = edge2_normal.dot( p2_to_p ); + r3 = edge3_normal.dot( p3_to_p ); + if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) || + ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) ) + return true; + return false; + +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h new file mode 100644 index 00000000..22953af4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SPHERE_TRIANGLE_DETECTOR_H +#define BT_SPHERE_TRIANGLE_DETECTOR_H + +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + + + +class btSphereShape; +class btTriangleShape; + + + +/// sphere-triangle to match the btDiscreteCollisionDetectorInterface +struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface +{ + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + + SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold); + + virtual ~SphereTriangleDetector() {}; + + bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold); + +private: + + + bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p ); + bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal); + + btSphereShape* m_sphere; + btTriangleShape* m_triangle; + btScalar m_contactBreakingThreshold; + +}; +#endif //BT_SPHERE_TRIANGLE_DETECTOR_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp new file mode 100644 index 00000000..57f14649 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp @@ -0,0 +1,47 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "btActivatingCollisionAlgorithm.h" +#include "btCollisionDispatcher.h" +#include "btCollisionObject.h" + +btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci) +:btCollisionAlgorithm(ci) +//, +//m_colObj0(0), +//m_colObj1(0) +{ +} +btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ) +:btCollisionAlgorithm(ci) +//, +//m_colObj0(0), +//m_colObj1(0) +{ +// if (ci.m_dispatcher1->needsCollision(colObj0,colObj1)) +// { +// m_colObj0 = colObj0; +// m_colObj1 = colObj1; +// +// m_colObj0->activate(); +// m_colObj1->activate(); +// } +} + +btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm() +{ +// m_colObj0->activate(); +// m_colObj1->activate(); +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h new file mode 100644 index 00000000..489812b9 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h @@ -0,0 +1,36 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 __BT_ACTIVATING_COLLISION_ALGORITHM_H +#define __BT_ACTIVATING_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +///This class is not enabled yet (work-in-progress) to more aggressively activate objects. +class btActivatingCollisionAlgorithm : public btCollisionAlgorithm +{ +// btCollisionObject* m_colObj0; +// btCollisionObject* m_colObj1; + +public: + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci); + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btActivatingCollisionAlgorithm(); + +}; +#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp new file mode 100644 index 00000000..2c362778 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp @@ -0,0 +1,421 @@ +/* +Bullet Continuous Collision Detection and Physics Library +* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com + +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. +*/ + +///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library. +///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross + +#include "btBox2dBox2dCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h" +#include "BulletCollision/CollisionShapes/btBox2dShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +#define USE_PERSISTENT_CONTACTS 1 + +btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap) +: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject())) + { + m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()); + m_ownManifold = true; + } +} + +btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm() +{ + + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } + +} + + +void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB); + +//#include +void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + + const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape(); + const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape(); + + resultOut->setPersistentManifold(m_manifoldPtr); + + b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform()); + + // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + +} + +btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + //not yet + return 1.f; +} + + +struct ClipVertex +{ + btVector3 v; + int id; + //b2ContactID id; + //b2ContactID id; +}; + +#define b2Dot(a,b) (a).dot(b) +#define b2Mul(a,b) (a)*(b) +#define b2MulT(a,b) (a).transpose()*(b) +#define b2Cross(a,b) (a).cross(b) +#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f) + +int b2_maxManifoldPoints =2; + +static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2], + const btVector3& normal, btScalar offset) +{ + // Start with no output points + int numOut = 0; + + // Calculate the distance of end points to the line + btScalar distance0 = b2Dot(normal, vIn[0].v) - offset; + btScalar distance1 = b2Dot(normal, vIn[1].v) - offset; + + // If the points are behind the plane + if (distance0 <= 0.0f) vOut[numOut++] = vIn[0]; + if (distance1 <= 0.0f) vOut[numOut++] = vIn[1]; + + // If the points are on different sides of the plane + if (distance0 * distance1 < 0.0f) + { + // Find intersection point of edge and plane + btScalar interp = distance0 / (distance0 - distance1); + vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v); + if (distance0 > 0.0f) + { + vOut[numOut].id = vIn[0].id; + } + else + { + vOut[numOut].id = vIn[1].id; + } + ++numOut; + } + + return numOut; +} + +// Find the separation between poly1 and poly2 for a give edge normal on poly1. +static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1, + const btBox2dShape* poly2, const btTransform& xf2) +{ + const btVector3* vertices1 = poly1->getVertices(); + const btVector3* normals1 = poly1->getNormals(); + + int count2 = poly2->getVertexCount(); + const btVector3* vertices2 = poly2->getVertices(); + + btAssert(0 <= edge1 && edge1 < poly1->getVertexCount()); + + // Convert normal from poly1's frame into poly2's frame. + btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]); + btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World); + + // Find support vertex on poly2 for -normal. + int index = 0; + btScalar minDot = BT_LARGE_FLOAT; + + if( count2 > 0 ) + index = (int) normal1.minDot( vertices2, count2, minDot); + + btVector3 v1 = b2Mul(xf1, vertices1[edge1]); + btVector3 v2 = b2Mul(xf2, vertices2[index]); + btScalar separation = b2Dot(v2 - v1, normal1World); + return separation; +} + +// Find the max separation between poly1 and poly2 using edge normals from poly1. +static btScalar FindMaxSeparation(int* edgeIndex, + const btBox2dShape* poly1, const btTransform& xf1, + const btBox2dShape* poly2, const btTransform& xf2) +{ + int count1 = poly1->getVertexCount(); + const btVector3* normals1 = poly1->getNormals(); + + // Vector pointing from the centroid of poly1 to the centroid of poly2. + btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid()); + btVector3 dLocal1 = b2MulT(xf1.getBasis(), d); + + // Find edge normal on poly1 that has the largest projection onto d. + int edge = 0; + btScalar maxDot; + if( count1 > 0 ) + edge = (int) dLocal1.maxDot( normals1, count1, maxDot); + + // Get the separation for the edge normal. + btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); + if (s > 0.0f) + { + return s; + } + + // Check the separation for the previous edge normal. + int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1; + btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2); + if (sPrev > 0.0f) + { + return sPrev; + } + + // Check the separation for the next edge normal. + int nextEdge = edge + 1 < count1 ? edge + 1 : 0; + btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2); + if (sNext > 0.0f) + { + return sNext; + } + + // Find the best edge and the search direction. + int bestEdge; + btScalar bestSeparation; + int increment; + if (sPrev > s && sPrev > sNext) + { + increment = -1; + bestEdge = prevEdge; + bestSeparation = sPrev; + } + else if (sNext > s) + { + increment = 1; + bestEdge = nextEdge; + bestSeparation = sNext; + } + else + { + *edgeIndex = edge; + return s; + } + + // Perform a local search for the best edge normal. + for ( ; ; ) + { + if (increment == -1) + edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1; + else + edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0; + + s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); + if (s > 0.0f) + { + return s; + } + + if (s > bestSeparation) + { + bestEdge = edge; + bestSeparation = s; + } + else + { + break; + } + } + + *edgeIndex = bestEdge; + return bestSeparation; +} + +static void FindIncidentEdge(ClipVertex c[2], + const btBox2dShape* poly1, const btTransform& xf1, int edge1, + const btBox2dShape* poly2, const btTransform& xf2) +{ + const btVector3* normals1 = poly1->getNormals(); + + int count2 = poly2->getVertexCount(); + const btVector3* vertices2 = poly2->getVertices(); + const btVector3* normals2 = poly2->getNormals(); + + btAssert(0 <= edge1 && edge1 < poly1->getVertexCount()); + + // Get the normal of the reference edge in poly2's frame. + btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1])); + + // Find the incident edge on poly2. + int index = 0; + btScalar minDot = BT_LARGE_FLOAT; + for (int i = 0; i < count2; ++i) + { + btScalar dot = b2Dot(normal1, normals2[i]); + if (dot < minDot) + { + minDot = dot; + index = i; + } + } + + // Build the clip vertices for the incident edge. + int i1 = index; + int i2 = i1 + 1 < count2 ? i1 + 1 : 0; + + c[0].v = b2Mul(xf2, vertices2[i1]); +// c[0].id.features.referenceEdge = (unsigned char)edge1; +// c[0].id.features.incidentEdge = (unsigned char)i1; +// c[0].id.features.incidentVertex = 0; + + c[1].v = b2Mul(xf2, vertices2[i2]); +// c[1].id.features.referenceEdge = (unsigned char)edge1; +// c[1].id.features.incidentEdge = (unsigned char)i2; +// c[1].id.features.incidentVertex = 1; +} + +// Find edge normal of max separation on A - return if separating axis is found +// Find edge normal of max separation on B - return if separation axis is found +// Choose reference edge as min(minA, minB) +// Find incident edge +// Clip + +// The normal points from 1 to 2 +void b2CollidePolygons(btManifoldResult* manifold, + const btBox2dShape* polyA, const btTransform& xfA, + const btBox2dShape* polyB, const btTransform& xfB) +{ + + int edgeA = 0; + btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB); + if (separationA > 0.0f) + return; + + int edgeB = 0; + btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA); + if (separationB > 0.0f) + return; + + const btBox2dShape* poly1; // reference poly + const btBox2dShape* poly2; // incident poly + btTransform xf1, xf2; + int edge1; // reference edge + unsigned char flip; + const btScalar k_relativeTol = 0.98f; + const btScalar k_absoluteTol = 0.001f; + + // TODO_ERIN use "radius" of poly for absolute tolerance. + if (separationB > k_relativeTol * separationA + k_absoluteTol) + { + poly1 = polyB; + poly2 = polyA; + xf1 = xfB; + xf2 = xfA; + edge1 = edgeB; + flip = 1; + } + else + { + poly1 = polyA; + poly2 = polyB; + xf1 = xfA; + xf2 = xfB; + edge1 = edgeA; + flip = 0; + } + + ClipVertex incidentEdge[2]; + FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2); + + int count1 = poly1->getVertexCount(); + const btVector3* vertices1 = poly1->getVertices(); + + btVector3 v11 = vertices1[edge1]; + btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0]; + + //btVector3 dv = v12 - v11; + btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11); + sideNormal.normalize(); + btVector3 frontNormal = btCrossS(sideNormal, 1.0f); + + + v11 = b2Mul(xf1, v11); + v12 = b2Mul(xf1, v12); + + btScalar frontOffset = b2Dot(frontNormal, v11); + btScalar sideOffset1 = -b2Dot(sideNormal, v11); + btScalar sideOffset2 = b2Dot(sideNormal, v12); + + // Clip incident edge against extruded edge1 side edges. + ClipVertex clipPoints1[2]; + clipPoints1[0].v.setValue(0,0,0); + clipPoints1[1].v.setValue(0,0,0); + + ClipVertex clipPoints2[2]; + clipPoints2[0].v.setValue(0,0,0); + clipPoints2[1].v.setValue(0,0,0); + + + int np; + + // Clip to box side 1 + np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1); + + if (np < 2) + return; + + // Clip to negative box side 1 + np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2); + + if (np < 2) + { + return; + } + + // Now clipPoints2 contains the clipped points. + btVector3 manifoldNormal = flip ? -frontNormal : frontNormal; + + int pointCount = 0; + for (int i = 0; i < b2_maxManifoldPoints; ++i) + { + btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset; + + if (separation <= 0.0f) + { + + //b2ManifoldPoint* cp = manifold->points + pointCount; + //btScalar separation = separation; + //cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v); + //cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v); + + manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation); + +// cp->id = clipPoints2[i].id; +// cp->id.features.flip = flip; + ++pointCount; + } + } + +// manifold->pointCount = pointCount;} +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h new file mode 100644 index 00000000..6ea6e89b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H +#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; + +///box-box collision detection +class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btBox2dBox2dCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap); + } + }; + +}; + +#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp new file mode 100644 index 00000000..ac68968f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btBoxBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "btBoxBoxDetector.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#define USE_PERSISTENT_CONTACTS 1 + +btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject())) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + m_ownManifold = true; + } +} + +btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + + const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape(); + const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape(); + + + + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->setPersistentManifold(m_manifoldPtr); +#ifndef USE_PERSISTENT_CONTACTS + m_manifoldPtr->clearManifold(); +#endif //USE_PERSISTENT_CONTACTS + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared = BT_LARGE_FLOAT; + input.m_transformA = body0Wrap->getWorldTransform(); + input.m_transformB = body1Wrap->getWorldTransform(); + + btBoxBoxDetector detector(box0,box1); + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + +#ifdef USE_PERSISTENT_CONTACTS + // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } +#endif //USE_PERSISTENT_CONTACTS + +} + +btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + //not yet + return 1.f; +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h new file mode 100644 index 00000000..59808df5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_BOX_BOX__COLLISION_ALGORITHM_H +#define BT_BOX_BOX__COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; + +///box-box collision detection +class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btBoxBoxCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + int bbsize = sizeof(btBoxBoxCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap); + } + }; + +}; + +#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp new file mode 100644 index 00000000..7043bde3 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp @@ -0,0 +1,718 @@ +/* + * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith + * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. + * All rights reserved. Email: russ@q12.org Web: www.q12.org + Bullet Continuous Collision Detection and Physics Library + Bullet is Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +///ODE box-box collision detection is adapted to work with Bullet + +#include "btBoxBoxDetector.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" + +#include +#include + +btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2) +: m_box1(box1), +m_box2(box2) +{ + +} + + +// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and +// generate contact points. this returns 0 if there is no contact otherwise +// it returns the number of contacts generated. +// `normal' returns the contact normal. +// `depth' returns the maximum penetration depth along that normal. +// `return_code' returns a number indicating the type of contact that was +// detected: +// 1,2,3 = box 2 intersects with a face of box 1 +// 4,5,6 = box 1 intersects with a face of box 2 +// 7..15 = edge-edge contact +// `maxc' is the maximum number of contacts allowed to be generated, i.e. +// the size of the `contact' array. +// `contact' and `skip' are the contact array information provided to the +// collision functions. this function only fills in the position and depth +// fields. +struct dContactGeom; +#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)]) +#define dInfinity FLT_MAX + + +/*PURE_INLINE btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } +PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); } +PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); } +PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); } +*/ +static btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } +static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); } +static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); } +static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); } +#define dMULTIPLYOP1_331(A,op,B,C) \ +{\ + (A)[0] op dDOT41((B),(C)); \ + (A)[1] op dDOT41((B+1),(C)); \ + (A)[2] op dDOT41((B+2),(C)); \ +} + +#define dMULTIPLYOP0_331(A,op,B,C) \ +{ \ + (A)[0] op dDOT((B),(C)); \ + (A)[1] op dDOT((B+4),(C)); \ + (A)[2] op dDOT((B+8),(C)); \ +} + +#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C) +#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C) + +typedef btScalar dMatrix3[4*3]; + +void dLineClosestApproach (const btVector3& pa, const btVector3& ua, + const btVector3& pb, const btVector3& ub, + btScalar *alpha, btScalar *beta); +void dLineClosestApproach (const btVector3& pa, const btVector3& ua, + const btVector3& pb, const btVector3& ub, + btScalar *alpha, btScalar *beta) +{ + btVector3 p; + p[0] = pb[0] - pa[0]; + p[1] = pb[1] - pa[1]; + p[2] = pb[2] - pa[2]; + btScalar uaub = dDOT(ua,ub); + btScalar q1 = dDOT(ua,p); + btScalar q2 = -dDOT(ub,p); + btScalar d = 1-uaub*uaub; + if (d <= btScalar(0.0001f)) { + // @@@ this needs to be made more robust + *alpha = 0; + *beta = 0; + } + else { + d = 1.f/d; + *alpha = (q1 + uaub*q2)*d; + *beta = (uaub*q1 + q2)*d; + } +} + + + +// find all the intersection points between the 2D rectangle with vertices +// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]), +// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]). +// +// the intersection points are returned as x,y pairs in the 'ret' array. +// the number of intersection points is returned by the function (this will +// be in the range 0 to 8). + +static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16]) +{ + // q (and r) contain nq (and nr) coordinate points for the current (and + // chopped) polygons + int nq=4,nr=0; + btScalar buffer[16]; + btScalar *q = p; + btScalar *r = ret; + for (int dir=0; dir <= 1; dir++) { + // direction notation: xy[0] = x axis, xy[1] = y axis + for (int sign=-1; sign <= 1; sign += 2) { + // chop q along the line xy[dir] = sign*h[dir] + btScalar *pq = q; + btScalar *pr = r; + nr = 0; + for (int i=nq; i > 0; i--) { + // go through all points in q and all lines between adjacent points + if (sign*pq[dir] < h[dir]) { + // this point is inside the chopping line + pr[0] = pq[0]; + pr[1] = pq[1]; + pr += 2; + nr++; + if (nr & 8) { + q = r; + goto done; + } + } + btScalar *nextq = (i > 1) ? pq+2 : q; + if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) { + // this line crosses the chopping line + pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) / + (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]); + pr[dir] = sign*h[dir]; + pr += 2; + nr++; + if (nr & 8) { + q = r; + goto done; + } + } + pq += 2; + } + q = r; + r = (q==ret) ? buffer : ret; + nq = nr; + } + } + done: + if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar)); + return nr; +} + + +#define M__PI 3.14159265f + +// given n points in the plane (array p, of size 2*n), generate m points that +// best represent the whole set. the definition of 'best' here is not +// predetermined - the idea is to select points that give good box-box +// collision detection behavior. the chosen point indexes are returned in the +// array iret (of size m). 'i0' is always the first entry in the array. +// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be +// in the range [0..n-1]. + +void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]); +void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]) +{ + // compute the centroid of the polygon in cx,cy + int i,j; + btScalar a,cx,cy,q; + if (n==1) { + cx = p[0]; + cy = p[1]; + } + else if (n==2) { + cx = btScalar(0.5)*(p[0] + p[2]); + cy = btScalar(0.5)*(p[1] + p[3]); + } + else { + a = 0; + cx = 0; + cy = 0; + for (i=0; i<(n-1); i++) { + q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1]; + a += q; + cx += q*(p[i*2]+p[i*2+2]); + cy += q*(p[i*2+1]+p[i*2+3]); + } + q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; + if (btFabs(a+q) > SIMD_EPSILON) + { + a = 1.f/(btScalar(3.0)*(a+q)); + } else + { + a=BT_LARGE_FLOAT; + } + cx = a*(cx + q*(p[n*2-2]+p[0])); + cy = a*(cy + q*(p[n*2-1]+p[1])); + } + + // compute the angle of each point w.r.t. the centroid + btScalar A[8]; + for (i=0; i M__PI) a -= 2*M__PI; + btScalar maxdiff=1e9,diff; + + *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0 + + for (i=0; i M__PI) diff = 2*M__PI - diff; + if (diff < maxdiff) { + maxdiff = diff; + *iret = i; + } + } + } +#if defined(DEBUG) || defined (_DEBUG) + btAssert (*iret != i0); // ensure iret got set +#endif + avail[*iret] = 0; + iret++; + } +} + + + +int dBoxBox2 (const btVector3& p1, const dMatrix3 R1, + const btVector3& side1, const btVector3& p2, + const dMatrix3 R2, const btVector3& side2, + btVector3& normal, btScalar *depth, int *return_code, + int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output); +int dBoxBox2 (const btVector3& p1, const dMatrix3 R1, + const btVector3& side1, const btVector3& p2, + const dMatrix3 R2, const btVector3& side2, + btVector3& normal, btScalar *depth, int *return_code, + int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output) +{ + const btScalar fudge_factor = btScalar(1.05); + btVector3 p,pp,normalC(0.f,0.f,0.f); + const btScalar *normalR = 0; + btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33, + Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l; + int i,j,invert_normal,code; + + // get vector from centers of box 1 to box 2, relative to box 1 + p = p2 - p1; + dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1 + + // get side lengths / 2 + A[0] = side1[0]*btScalar(0.5); + A[1] = side1[1]*btScalar(0.5); + A[2] = side1[2]*btScalar(0.5); + B[0] = side2[0]*btScalar(0.5); + B[1] = side2[1]*btScalar(0.5); + B[2] = side2[2]*btScalar(0.5); + + // Rij is R1'*R2, i.e. the relative rotation between R1 and R2 + R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2); + R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2); + R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2); + + Q11 = btFabs(R11); Q12 = btFabs(R12); Q13 = btFabs(R13); + Q21 = btFabs(R21); Q22 = btFabs(R22); Q23 = btFabs(R23); + Q31 = btFabs(R31); Q32 = btFabs(R32); Q33 = btFabs(R33); + + // for all 15 possible separating axes: + // * see if the axis separates the boxes. if so, return 0. + // * find the depth of the penetration along the separating axis (s2) + // * if this is the largest depth so far, record it. + // the normal vector will be set to the separating axis with the smallest + // depth. note: normalR is set to point to a column of R1 or R2 if that is + // the smallest depth normal so far. otherwise normalR is 0 and normalC is + // set to a vector relative to body 1. invert_normal is 1 if the sign of + // the normal should be flipped. + +#define TST(expr1,expr2,norm,cc) \ + s2 = btFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } + + s = -dInfinity; + invert_normal = 0; + code = 0; + + // separating axis = u1,u2,u3 + TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1); + TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2); + TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3); + + // separating axis = v1,v2,v3 + TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4); + TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5); + TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6); + + // note: cross product axes need to be scaled when s is computed. + // normal (n1,n2,n3) is relative to box 1. +#undef TST +#define TST(expr1,expr2,n1,n2,n3,cc) \ + s2 = btFabs(expr1) - (expr2); \ + if (s2 > SIMD_EPSILON) return 0; \ + l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ + if (l > SIMD_EPSILON) { \ + s2 /= l; \ + if (s2*fudge_factor > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } \ + } + + btScalar fudge2 (1.0e-5f); + + Q11 += fudge2; + Q12 += fudge2; + Q13 += fudge2; + + Q21 += fudge2; + Q22 += fudge2; + Q23 += fudge2; + + Q31 += fudge2; + Q32 += fudge2; + Q33 += fudge2; + + // separating axis = u1 x (v1,v2,v3) + TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7); + TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8); + TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9); + + // separating axis = u2 x (v1,v2,v3) + TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10); + TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11); + TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12); + + // separating axis = u3 x (v1,v2,v3) + TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13); + TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14); + TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15); + +#undef TST + + if (!code) return 0; + + // if we get to this point, the boxes interpenetrate. compute the normal + // in global coordinates. + if (normalR) { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { + dMULTIPLY0_331 (normal,R1,normalC); + } + if (invert_normal) { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + *depth = -s; + + // compute contact point(s) + + if (code > 6) { + // an edge from box 1 touches an edge from box 2. + // find a point pa on the intersecting edge of box 1 + btVector3 pa; + btScalar sign; + for (i=0; i<3; i++) pa[i] = p1[i]; + for (j=0; j<3; j++) { + sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0); + for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j]; + } + + // find a point pb on the intersecting edge of box 2 + btVector3 pb; + for (i=0; i<3; i++) pb[i] = p2[i]; + for (j=0; j<3; j++) { + sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0); + for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j]; + } + + btScalar alpha,beta; + btVector3 ua,ub; + for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4]; + for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4]; + + dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta); + for (i=0; i<3; i++) pa[i] += ua[i]*alpha; + for (i=0; i<3; i++) pb[i] += ub[i]*beta; + + { + + //contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]); + //contact[0].depth = *depth; + btVector3 pointInWorld; + +#ifdef USE_CENTER_POINT + for (i=0; i<3; i++) + pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5); + output.addContactPoint(-normal,pointInWorld,-*depth); +#else + output.addContactPoint(-normal,pb,-*depth); + +#endif // + *return_code = code; + } + return 1; + } + + // okay, we have a face-something intersection (because the separating + // axis is perpendicular to a face). define face 'a' to be the reference + // face (i.e. the normal vector is perpendicular to this) and face 'b' to be + // the incident face (the closest face of the other box). + + const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb; + if (code <= 3) { + Ra = R1; + Rb = R2; + pa = p1; + pb = p2; + Sa = A; + Sb = B; + } + else { + Ra = R2; + Rb = R1; + pa = p2; + pb = p1; + Sa = B; + Sb = A; + } + + // nr = normal vector of reference face dotted with axes of incident box. + // anr = absolute values of nr. + btVector3 normal2,nr,anr; + if (code <= 3) { + normal2[0] = normal[0]; + normal2[1] = normal[1]; + normal2[2] = normal[2]; + } + else { + normal2[0] = -normal[0]; + normal2[1] = -normal[1]; + normal2[2] = -normal[2]; + } + dMULTIPLY1_331 (nr,Rb,normal2); + anr[0] = btFabs (nr[0]); + anr[1] = btFabs (nr[1]); + anr[2] = btFabs (nr[2]); + + // find the largest compontent of anr: this corresponds to the normal + // for the indident face. the other axis numbers of the indicent face + // are stored in a1,a2. + int lanr,a1,a2; + if (anr[1] > anr[0]) { + if (anr[1] > anr[2]) { + a1 = 0; + lanr = 1; + a2 = 2; + } + else { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + else { + if (anr[0] > anr[2]) { + lanr = 0; + a1 = 1; + a2 = 2; + } + else { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + + // compute center point of incident face, in reference-face coordinates + btVector3 center; + if (nr[lanr] < 0) { + for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr]; + } + else { + for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr]; + } + + // find the normal and non-normal axis numbers of the reference box + int codeN,code1,code2; + if (code <= 3) codeN = code-1; else codeN = code-4; + if (codeN==0) { + code1 = 1; + code2 = 2; + } + else if (codeN==1) { + code1 = 0; + code2 = 2; + } + else { + code1 = 0; + code2 = 1; + } + + // find the four corners of the incident face, in reference-face coordinates + btScalar quad[8]; // 2D coordinate of incident face (x,y pairs) + btScalar c1,c2,m11,m12,m21,m22; + c1 = dDOT14 (center,Ra+code1); + c2 = dDOT14 (center,Ra+code2); + // optimize this? - we have already computed this data above, but it is not + // stored in an easy-to-index format. for now it's quicker just to recompute + // the four dot products. + m11 = dDOT44 (Ra+code1,Rb+a1); + m12 = dDOT44 (Ra+code1,Rb+a2); + m21 = dDOT44 (Ra+code2,Rb+a1); + m22 = dDOT44 (Ra+code2,Rb+a2); + { + btScalar k1 = m11*Sb[a1]; + btScalar k2 = m21*Sb[a1]; + btScalar k3 = m12*Sb[a2]; + btScalar k4 = m22*Sb[a2]; + quad[0] = c1 - k1 - k3; + quad[1] = c2 - k2 - k4; + quad[2] = c1 - k1 + k3; + quad[3] = c2 - k2 + k4; + quad[4] = c1 + k1 + k3; + quad[5] = c2 + k2 + k4; + quad[6] = c1 + k1 - k3; + quad[7] = c2 + k2 - k4; + } + + // find the size of the reference face + btScalar rect[2]; + rect[0] = Sa[code1]; + rect[1] = Sa[code2]; + + // intersect the incident and reference faces + btScalar ret[16]; + int n = intersectRectQuad2 (rect,quad,ret); + if (n < 1) return 0; // this should never happen + + // convert the intersection points into reference-face coordinates, + // and compute the contact position and depth for each point. only keep + // those points that have a positive (penetrating) depth. delete points in + // the 'ret' array as necessary so that 'point' and 'ret' correspond. + btScalar point[3*8]; // penetrating contact points + btScalar dep[8]; // depths for those points + btScalar det1 = 1.f/(m11*m22 - m12*m21); + m11 *= det1; + m12 *= det1; + m21 *= det1; + m22 *= det1; + int cnum = 0; // number of penetrating contact points found + for (j=0; j < n; j++) { + btScalar k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2); + btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2); + for (i=0; i<3; i++) point[cnum*3+i] = + center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2]; + dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3); + if (dep[cnum] >= 0) { + ret[cnum*2] = ret[j*2]; + ret[cnum*2+1] = ret[j*2+1]; + cnum++; + } + } + if (cnum < 1) return 0; // this should never happen + + // we can't generate more contacts than we actually have + if (maxc > cnum) maxc = cnum; + if (maxc < 1) maxc = 1; + + if (cnum <= maxc) { + + if (code<4) + { + // we have less contacts than we need, so we use them all + for (j=0; j < cnum; j++) + { + btVector3 pointInWorld; + for (i=0; i<3; i++) + pointInWorld[i] = point[j*3+i] + pa[i]; + output.addContactPoint(-normal,pointInWorld,-dep[j]); + + } + } else + { + // we have less contacts than we need, so we use them all + for (j=0; j < cnum; j++) + { + btVector3 pointInWorld; + for (i=0; i<3; i++) + pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j]; + //pointInWorld[i] = point[j*3+i] + pa[i]; + output.addContactPoint(-normal,pointInWorld,-dep[j]); + } + } + } + else { + // we have more contacts than are wanted, some of them must be culled. + // find the deepest point, it is always the first contact. + int i1 = 0; + btScalar maxdepth = dep[0]; + for (i=1; i maxdepth) { + maxdepth = dep[i]; + i1 = i; + } + } + + int iret[8]; + cullPoints2 (cnum,ret,maxc,i1,iret); + + for (j=0; j < maxc; j++) { +// dContactGeom *con = CONTACT(contact,skip*j); + // for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i]; + // con->depth = dep[iret[j]]; + + btVector3 posInWorld; + for (i=0; i<3; i++) + posInWorld[i] = point[iret[j]*3+i] + pa[i]; + if (code<4) + { + output.addContactPoint(-normal,posInWorld,-dep[iret[j]]); + } else + { + output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]); + } + } + cnum = maxc; + } + + *return_code = code; + return cnum; +} + +void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/) +{ + + const btTransform& transformA = input.m_transformA; + const btTransform& transformB = input.m_transformB; + + int skip = 0; + dContactGeom *contact = 0; + + dMatrix3 R1; + dMatrix3 R2; + + for (int j=0;j<3;j++) + { + R1[0+4*j] = transformA.getBasis()[j].x(); + R2[0+4*j] = transformB.getBasis()[j].x(); + + R1[1+4*j] = transformA.getBasis()[j].y(); + R2[1+4*j] = transformB.getBasis()[j].y(); + + + R1[2+4*j] = transformA.getBasis()[j].z(); + R2[2+4*j] = transformB.getBasis()[j].z(); + + } + + + + btVector3 normal; + btScalar depth; + int return_code; + int maxc = 4; + + + dBoxBox2 (transformA.getOrigin(), + R1, + 2.f*m_box1->getHalfExtentsWithMargin(), + transformB.getOrigin(), + R2, + 2.f*m_box2->getHalfExtentsWithMargin(), + normal, &depth, &return_code, + maxc, contact, skip, + output + ); + +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h new file mode 100644 index 00000000..39243777 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h @@ -0,0 +1,44 @@ +/* + * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith + * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. + * All rights reserved. Email: russ@q12.org Web: www.q12.org + +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_BOX_BOX_DETECTOR_H +#define BT_BOX_BOX_DETECTOR_H + + +class btBoxShape; +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + + +/// btBoxBoxDetector wraps the ODE box-box collision detector +/// re-distributed under the Zlib license with permission from Russell L. Smith +struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface +{ + const btBoxShape* m_box1; + const btBoxShape* m_box2; + +public: + + btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2); + + virtual ~btBoxBoxDetector() {}; + + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + +}; + +#endif //BT_BOX_BOX_DETECTOR_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h new file mode 100644 index 00000000..66949849 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h @@ -0,0 +1,46 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COLLISION_CONFIGURATION +#define BT_COLLISION_CONFIGURATION + +struct btCollisionAlgorithmCreateFunc; + +class btPoolAllocator; + +///btCollisionConfiguration allows to configure Bullet collision detection +///stack allocator size, default collision algorithms and persistent manifold pool size +///@todo: describe the meaning +class btCollisionConfiguration +{ + +public: + + virtual ~btCollisionConfiguration() + { + } + + ///memory pools + virtual btPoolAllocator* getPersistentManifoldPool() = 0; + + virtual btPoolAllocator* getCollisionAlgorithmPool() = 0; + + + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0; + +}; + +#endif //BT_COLLISION_CONFIGURATION + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h new file mode 100644 index 00000000..62ee66c4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h @@ -0,0 +1,45 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COLLISION_CREATE_FUNC +#define BT_COLLISION_CREATE_FUNC + +#include "LinearMath/btAlignedObjectArray.h" +class btCollisionAlgorithm; +class btCollisionObject; +struct btCollisionObjectWrapper; +struct btCollisionAlgorithmConstructionInfo; + +///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm +struct btCollisionAlgorithmCreateFunc +{ + bool m_swapped; + + btCollisionAlgorithmCreateFunc() + :m_swapped(false) + { + } + virtual ~btCollisionAlgorithmCreateFunc(){}; + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + + (void)body0Wrap; + (void)body1Wrap; + return 0; + } +}; +#endif //BT_COLLISION_CREATE_FUNC + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp new file mode 100644 index 00000000..669d0b6b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -0,0 +1,314 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btCollisionDispatcher.h" + + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btPoolAllocator.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +int gNumManifold = 0; + +#ifdef BT_DEBUG +#include +#endif + + +btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): +m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD), + m_collisionConfiguration(collisionConfiguration) +{ + int i; + + setNearCallback(defaultNearCallback); + + m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool(); + + m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool(); + + for (i=0;igetCollisionAlgorithmCreateFunc(i,j); + btAssert(m_doubleDispatch[i][j]); + } + } + + +} + + +void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) +{ + m_doubleDispatch[proxyType0][proxyType1] = createFunc; +} + +btCollisionDispatcher::~btCollisionDispatcher() +{ +} + +btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) +{ + gNumManifold++; + + //btAssert(gNumManifold < 65535); + + + + //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance) + + btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? + btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold)) + : gContactBreakingThreshold ; + + btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold()); + + void* mem = 0; + + if (m_persistentManifoldPoolAllocator->getFreeCount()) + { + mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold)); + } else + { + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0) + { + mem = btAlignedAlloc(sizeof(btPersistentManifold),16); + } else + { + btAssert(0); + //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration + return 0; + } + } + btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold); + manifold->m_index1a = m_manifoldsPtr.size(); + m_manifoldsPtr.push_back(manifold); + + return manifold; +} + +void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold) +{ + manifold->clearManifold(); +} + + +void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) +{ + + gNumManifold--; + + //printf("releaseManifold: gNumManifold %d\n",gNumManifold); + clearManifold(manifold); + + int findIndex = manifold->m_index1a; + btAssert(findIndex < m_manifoldsPtr.size()); + m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1); + m_manifoldsPtr[findIndex]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + + manifold->~btPersistentManifold(); + if (m_persistentManifoldPoolAllocator->validPtr(manifold)) + { + m_persistentManifoldPoolAllocator->freeMemory(manifold); + } else + { + btAlignedFree(manifold); + } + +} + + + +btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold) +{ + + btCollisionAlgorithmConstructionInfo ci; + + ci.m_dispatcher1 = this; + ci.m_manifold = sharedManifold; + btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap); + + return algo; +} + + + + +bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1) +{ + //here you can do filtering + bool hasResponse = + (body0->hasContactResponse() && body1->hasContactResponse()); + //no response between two static/kinematic bodies: + hasResponse = hasResponse && + ((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject())); + return hasResponse; +} + +bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) +{ + btAssert(body0); + btAssert(body1); + + bool needsCollision = true; + +#ifdef BT_DEBUG + if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED)) + { + //broadphase filtering already deals with this + if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject()) + { + m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED; + printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n"); + } + } +#endif //BT_DEBUG + + if ((!body0->isActive()) && (!body1->isActive())) + needsCollision = false; + else if (!body0->checkCollideWith(body1)) + needsCollision = false; + + return needsCollision ; + +} + + + +///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc) +///this is useful for the collision dispatcher. +class btCollisionPairCallback : public btOverlapCallback +{ + const btDispatcherInfo& m_dispatchInfo; + btCollisionDispatcher* m_dispatcher; + +public: + + btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher) + :m_dispatchInfo(dispatchInfo), + m_dispatcher(dispatcher) + { + } + + /*btCollisionPairCallback& operator=(btCollisionPairCallback& other) + { + m_dispatchInfo = other.m_dispatchInfo; + m_dispatcher = other.m_dispatcher; + return *this; + } + */ + + + virtual ~btCollisionPairCallback() {} + + + virtual bool processOverlap(btBroadphasePair& pair) + { + (*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo); + + return false; + } +}; + + + +void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) +{ + //m_blockedForChanges = true; + + btCollisionPairCallback collisionCallback(dispatchInfo,this); + + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); + + //m_blockedForChanges = false; + +} + + + + +//by default, Bullet will use this near callback +void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo) +{ + btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; + + if (dispatcher.needsCollision(colObj0,colObj1)) + { + btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1); + btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1); + + + //dispatcher will keep algorithms persistent in the collision pair + if (!collisionPair.m_algorithm) + { + collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap); + } + + if (collisionPair.m_algorithm) + { + btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap); + + if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE) + { + //discrete collision detection query + + collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult); + } else + { + //continuous collision detection query, time of impact (toi) + btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult); + if (dispatchInfo.m_timeOfImpact > toi) + dispatchInfo.m_timeOfImpact = toi; + + } + } + } + +} + + +void* btCollisionDispatcher::allocateCollisionAlgorithm(int size) +{ + if (m_collisionAlgorithmPoolAllocator->getFreeCount()) + { + return m_collisionAlgorithmPoolAllocator->allocate(size); + } + + //warn user for overflow? + return btAlignedAlloc(static_cast(size), 16); +} + +void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr) +{ + if (m_collisionAlgorithmPoolAllocator->validPtr(ptr)) + { + m_collisionAlgorithmPoolAllocator->freeMemory(ptr); + } else + { + btAlignedFree(ptr); + } +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h new file mode 100644 index 00000000..92696ee5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COLLISION__DISPATCHER_H +#define BT_COLLISION__DISPATCHER_H + +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btAlignedObjectArray.h" + +class btIDebugDraw; +class btOverlappingPairCache; +class btPoolAllocator; +class btCollisionConfiguration; + +#include "btCollisionCreateFunc.h" + +#define USE_DISPATCH_REGISTRY_ARRAY 1 + +class btCollisionDispatcher; +///user can override this nearcallback for collision filtering and more finegrained control over collision detection +typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + + +///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs. +///Time of Impact, Closest Points and Penetration Depth. +class btCollisionDispatcher : public btDispatcher +{ + +protected: + + int m_dispatcherFlags; + + btAlignedObjectArray m_manifoldsPtr; + + btManifoldResult m_defaultManifoldResult; + + btNearCallback m_nearCallback; + + btPoolAllocator* m_collisionAlgorithmPoolAllocator; + + btPoolAllocator* m_persistentManifoldPoolAllocator; + + btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; + + btCollisionConfiguration* m_collisionConfiguration; + + +public: + + enum DispatcherFlags + { + CD_STATIC_STATIC_REPORTED = 1, + CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2, + CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4 + }; + + int getDispatcherFlags() const + { + return m_dispatcherFlags; + } + + void setDispatcherFlags(int flags) + { + m_dispatcherFlags = flags; + } + + ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions + void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); + + int getNumManifolds() const + { + return int( m_manifoldsPtr.size()); + } + + btPersistentManifold** getInternalManifoldPointer() + { + return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0; + } + + btPersistentManifold* getManifoldByIndexInternal(int index) + { + return m_manifoldsPtr[index]; + } + + const btPersistentManifold* getManifoldByIndexInternal(int index) const + { + return m_manifoldsPtr[index]; + } + + btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration); + + virtual ~btCollisionDispatcher(); + + virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1); + + virtual void releaseManifold(btPersistentManifold* manifold); + + + virtual void clearManifold(btPersistentManifold* manifold); + + btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0); + + virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1); + + virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1); + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; + + void setNearCallback(btNearCallback nearCallback) + { + m_nearCallback = nearCallback; + } + + btNearCallback getNearCallback() const + { + return m_nearCallback; + } + + //by default, Bullet will use this near callback + static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo); + + virtual void* allocateCollisionAlgorithm(int size); + + virtual void freeCollisionAlgorithm(void* ptr); + + btCollisionConfiguration* getCollisionConfiguration() + { + return m_collisionConfiguration; + } + + const btCollisionConfiguration* getCollisionConfiguration() const + { + return m_collisionConfiguration; + } + + void setCollisionConfiguration(btCollisionConfiguration* config) + { + m_collisionConfiguration = config; + } + + virtual btPoolAllocator* getInternalManifoldPool() + { + return m_persistentManifoldPoolAllocator; + } + + virtual const btPoolAllocator* getInternalManifoldPool() const + { + return m_persistentManifoldPoolAllocator; + } + +}; + +#endif //BT_COLLISION__DISPATCHER_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp new file mode 100644 index 00000000..d0924100 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -0,0 +1,117 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btCollisionObject.h" +#include "LinearMath/btSerializer.h" + +btCollisionObject::btCollisionObject() + : m_anisotropicFriction(1.f,1.f,1.f), + m_hasAnisotropicFriction(false), + m_contactProcessingThreshold(BT_LARGE_FLOAT), + m_broadphaseHandle(0), + m_collisionShape(0), + m_extensionPointer(0), + m_rootCollisionShape(0), + m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT), + m_islandTag1(-1), + m_companionId(-1), + m_activationState1(1), + m_deactivationTime(btScalar(0.)), + m_friction(btScalar(0.5)), + m_rollingFriction(0.0f), + m_restitution(btScalar(0.)), + m_internalType(CO_COLLISION_OBJECT), + m_userObjectPointer(0), + m_hitFraction(btScalar(1.)), + m_ccdSweptSphereRadius(btScalar(0.)), + m_ccdMotionThreshold(btScalar(0.)), + m_checkCollideWith(false), + m_updateRevision(0) +{ + m_worldTransform.setIdentity(); +} + +btCollisionObject::~btCollisionObject() +{ +} + +void btCollisionObject::setActivationState(int newState) const +{ + if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION)) + m_activationState1 = newState; +} + +void btCollisionObject::forceActivationState(int newState) const +{ + m_activationState1 = newState; +} + +void btCollisionObject::activate(bool forceActivation) const +{ + if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT))) + { + setActivationState(ACTIVE_TAG); + m_deactivationTime = btScalar(0.); + } +} + +const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer; + + m_worldTransform.serialize(dataOut->m_worldTransform); + m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform); + m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity); + m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity); + m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction); + dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction; + dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold; + dataOut->m_broadphaseHandle = 0; + dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape); + dataOut->m_rootCollisionShape = 0;//@todo + dataOut->m_collisionFlags = m_collisionFlags; + dataOut->m_islandTag1 = m_islandTag1; + dataOut->m_companionId = m_companionId; + dataOut->m_activationState1 = m_activationState1; + dataOut->m_deactivationTime = m_deactivationTime; + dataOut->m_friction = m_friction; + dataOut->m_rollingFriction = m_rollingFriction; + dataOut->m_restitution = m_restitution; + dataOut->m_internalType = m_internalType; + + char* name = (char*) serializer->findNameForPointer(this); + dataOut->m_name = (char*)serializer->getUniquePointer(name); + if (dataOut->m_name) + { + serializer->serializeName(name); + } + dataOut->m_hitFraction = m_hitFraction; + dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius; + dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold; + dataOut->m_checkCollideWith = m_checkCollideWith; + + return btCollisionObjectDataName; +} + + +void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const +{ + int len = calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this); +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.h new file mode 100644 index 00000000..89cad168 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -0,0 +1,565 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COLLISION_OBJECT_H +#define BT_COLLISION_OBJECT_H + +#include "LinearMath/btTransform.h" + +//island management, m_activationState1 +#define ACTIVE_TAG 1 +#define ISLAND_SLEEPING 2 +#define WANTS_DEACTIVATION 3 +#define DISABLE_DEACTIVATION 4 +#define DISABLE_SIMULATION 5 + +struct btBroadphaseProxy; +class btCollisionShape; +struct btCollisionShapeData; +#include "LinearMath/btMotionState.h" +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btAlignedObjectArray.h" + +typedef btAlignedObjectArray btCollisionObjectArray; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btCollisionObjectData btCollisionObjectDoubleData +#define btCollisionObjectDataName "btCollisionObjectDoubleData" +#else +#define btCollisionObjectData btCollisionObjectFloatData +#define btCollisionObjectDataName "btCollisionObjectFloatData" +#endif + + +/// btCollisionObject can be used to manage collision detection objects. +/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. +/// They can be added to the btCollisionWorld. +ATTRIBUTE_ALIGNED16(class) btCollisionObject +{ + +protected: + + btTransform m_worldTransform; + + ///m_interpolationWorldTransform is used for CCD and interpolation + ///it can be either previous or future (predicted) transform + btTransform m_interpolationWorldTransform; + //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) + //without destroying the continuous interpolated motion (which uses this interpolation velocities) + btVector3 m_interpolationLinearVelocity; + btVector3 m_interpolationAngularVelocity; + + btVector3 m_anisotropicFriction; + int m_hasAnisotropicFriction; + btScalar m_contactProcessingThreshold; + + btBroadphaseProxy* m_broadphaseHandle; + btCollisionShape* m_collisionShape; + ///m_extensionPointer is used by some internal low-level Bullet extensions. + void* m_extensionPointer; + + ///m_rootCollisionShape is temporarily used to store the original collision shape + ///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes + ///If it is NULL, the m_collisionShape is not temporarily replaced. + btCollisionShape* m_rootCollisionShape; + + int m_collisionFlags; + + int m_islandTag1; + int m_companionId; + + mutable int m_activationState1; + mutable btScalar m_deactivationTime; + + btScalar m_friction; + btScalar m_restitution; + btScalar m_rollingFriction; + + ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. + ///do not assign your own m_internalType unless you write a new dynamics object class. + int m_internalType; + + ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer + union + { + void* m_userObjectPointer; + int m_userIndex; + }; + + ///time of impact calculation + btScalar m_hitFraction; + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + btScalar m_ccdSweptSphereRadius; + + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + btScalar m_ccdMotionThreshold; + + /// If some object should have elaborate collision filtering by sub-classes + int m_checkCollideWith; + + ///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation. + int m_updateRevision; + + virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const + { + return true; + } + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + enum CollisionFlags + { + CF_STATIC_OBJECT= 1, + CF_KINEMATIC_OBJECT= 2, + CF_NO_CONTACT_RESPONSE = 4, + CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution) + CF_CHARACTER_OBJECT = 16, + CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing + CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing + }; + + enum CollisionObjectTypes + { + CO_COLLISION_OBJECT =1, + CO_RIGID_BODY=2, + ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter + ///It is useful for collision sensors, explosion objects, character controller etc. + CO_GHOST_OBJECT=4, + CO_SOFT_BODY=8, + CO_HF_FLUID=16, + CO_USER_TYPE=32, + CO_FEATHERSTONE_LINK=64 + }; + + enum AnisotropicFrictionFlags + { + CF_ANISOTROPIC_FRICTION_DISABLED=0, + CF_ANISOTROPIC_FRICTION = 1, + CF_ANISOTROPIC_ROLLING_FRICTION = 2 + }; + + SIMD_FORCE_INLINE bool mergesSimulationIslands() const + { + ///static objects, kinematic and object without contact response don't merge islands + return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0); + } + + const btVector3& getAnisotropicFriction() const + { + return m_anisotropicFriction; + } + void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION) + { + m_anisotropicFriction = anisotropicFriction; + bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f); + m_hasAnisotropicFriction = isUnity?frictionMode : 0; + } + bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const + { + return (m_hasAnisotropicFriction&frictionMode)!=0; + } + + ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. + ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges + void setContactProcessingThreshold( btScalar contactProcessingThreshold) + { + m_contactProcessingThreshold = contactProcessingThreshold; + } + btScalar getContactProcessingThreshold() const + { + return m_contactProcessingThreshold; + } + + SIMD_FORCE_INLINE bool isStaticObject() const { + return (m_collisionFlags & CF_STATIC_OBJECT) != 0; + } + + SIMD_FORCE_INLINE bool isKinematicObject() const + { + return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0; + } + + SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const + { + return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ; + } + + SIMD_FORCE_INLINE bool hasContactResponse() const { + return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0; + } + + + btCollisionObject(); + + virtual ~btCollisionObject(); + + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + m_updateRevision++; + m_collisionShape = collisionShape; + m_rootCollisionShape = collisionShape; + } + + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const + { + return m_collisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() + { + return m_collisionShape; + } + + + + + + ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. + ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. + void* internalGetExtensionPointer() const + { + return m_extensionPointer; + } + ///Avoid using this internal API call, the extension pointer is used by some Bullet extensions + ///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. + void internalSetExtensionPointer(void* pointer) + { + m_extensionPointer = pointer; + } + + SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;} + + void setActivationState(int newState) const; + + void setDeactivationTime(btScalar time) + { + m_deactivationTime = time; + } + btScalar getDeactivationTime() const + { + return m_deactivationTime; + } + + void forceActivationState(int newState) const; + + void activate(bool forceActivation = false) const; + + SIMD_FORCE_INLINE bool isActive() const + { + return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); + } + + void setRestitution(btScalar rest) + { + m_updateRevision++; + m_restitution = rest; + } + btScalar getRestitution() const + { + return m_restitution; + } + void setFriction(btScalar frict) + { + m_updateRevision++; + m_friction = frict; + } + btScalar getFriction() const + { + return m_friction; + } + + void setRollingFriction(btScalar frict) + { + m_updateRevision++; + m_rollingFriction = frict; + } + btScalar getRollingFriction() const + { + return m_rollingFriction; + } + + + ///reserved for Bullet internal usage + int getInternalType() const + { + return m_internalType; + } + + btTransform& getWorldTransform() + { + return m_worldTransform; + } + + const btTransform& getWorldTransform() const + { + return m_worldTransform; + } + + void setWorldTransform(const btTransform& worldTrans) + { + m_updateRevision++; + m_worldTransform = worldTrans; + } + + + SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle() + { + return m_broadphaseHandle; + } + + SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const + { + return m_broadphaseHandle; + } + + void setBroadphaseHandle(btBroadphaseProxy* handle) + { + m_broadphaseHandle = handle; + } + + + const btTransform& getInterpolationWorldTransform() const + { + return m_interpolationWorldTransform; + } + + btTransform& getInterpolationWorldTransform() + { + return m_interpolationWorldTransform; + } + + void setInterpolationWorldTransform(const btTransform& trans) + { + m_updateRevision++; + m_interpolationWorldTransform = trans; + } + + void setInterpolationLinearVelocity(const btVector3& linvel) + { + m_updateRevision++; + m_interpolationLinearVelocity = linvel; + } + + void setInterpolationAngularVelocity(const btVector3& angvel) + { + m_updateRevision++; + m_interpolationAngularVelocity = angvel; + } + + const btVector3& getInterpolationLinearVelocity() const + { + return m_interpolationLinearVelocity; + } + + const btVector3& getInterpolationAngularVelocity() const + { + return m_interpolationAngularVelocity; + } + + SIMD_FORCE_INLINE int getIslandTag() const + { + return m_islandTag1; + } + + void setIslandTag(int tag) + { + m_islandTag1 = tag; + } + + SIMD_FORCE_INLINE int getCompanionId() const + { + return m_companionId; + } + + void setCompanionId(int id) + { + m_companionId = id; + } + + SIMD_FORCE_INLINE btScalar getHitFraction() const + { + return m_hitFraction; + } + + void setHitFraction(btScalar hitFraction) + { + m_hitFraction = hitFraction; + } + + + SIMD_FORCE_INLINE int getCollisionFlags() const + { + return m_collisionFlags; + } + + void setCollisionFlags(int flags) + { + m_collisionFlags = flags; + } + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + btScalar getCcdSweptSphereRadius() const + { + return m_ccdSweptSphereRadius; + } + + ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: + void setCcdSweptSphereRadius(btScalar radius) + { + m_ccdSweptSphereRadius = radius; + } + + btScalar getCcdMotionThreshold() const + { + return m_ccdMotionThreshold; + } + + btScalar getCcdSquareMotionThreshold() const + { + return m_ccdMotionThreshold*m_ccdMotionThreshold; + } + + + + /// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold + void setCcdMotionThreshold(btScalar ccdMotionThreshold) + { + m_ccdMotionThreshold = ccdMotionThreshold; + } + + ///users can point to their objects, userPointer is not used by Bullet + void* getUserPointer() const + { + return m_userObjectPointer; + } + + int getUserIndex() const + { + return m_userIndex; + } + ///users can point to their objects, userPointer is not used by Bullet + void setUserPointer(void* userPointer) + { + m_userObjectPointer = userPointer; + } + + ///users can point to their objects, userPointer is not used by Bullet + void setUserIndex(int index) + { + m_userIndex = index; + } + + int getUpdateRevisionInternal() const + { + return m_updateRevision; + } + + + inline bool checkCollideWith(const btCollisionObject* co) const + { + if (m_checkCollideWith) + return checkCollideWithOverride(co); + + return true; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + virtual void serializeSingleObject(class btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionObjectDoubleData +{ + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + + btTransformDoubleData m_worldTransform; + btTransformDoubleData m_interpolationWorldTransform; + btVector3DoubleData m_interpolationLinearVelocity; + btVector3DoubleData m_interpolationAngularVelocity; + btVector3DoubleData m_anisotropicFriction; + double m_contactProcessingThreshold; + double m_deactivationTime; + double m_friction; + double m_rollingFriction; + double m_restitution; + double m_hitFraction; + double m_ccdSweptSphereRadius; + double m_ccdMotionThreshold; + + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; + + char m_padding[4]; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionObjectFloatData +{ + void *m_broadphaseHandle; + void *m_collisionShape; + btCollisionShapeData *m_rootCollisionShape; + char *m_name; + + btTransformFloatData m_worldTransform; + btTransformFloatData m_interpolationWorldTransform; + btVector3FloatData m_interpolationLinearVelocity; + btVector3FloatData m_interpolationAngularVelocity; + btVector3FloatData m_anisotropicFriction; + float m_contactProcessingThreshold; + float m_deactivationTime; + float m_friction; + float m_rollingFriction; + + float m_restitution; + float m_hitFraction; + float m_ccdSweptSphereRadius; + float m_ccdMotionThreshold; + + int m_hasAnisotropicFriction; + int m_collisionFlags; + int m_islandTag1; + int m_companionId; + int m_activationState1; + int m_internalType; + int m_checkCollideWith; + char m_padding[4]; +}; + + + +SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const +{ + return sizeof(btCollisionObjectData); +} + + + +#endif //BT_COLLISION_OBJECT_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h new file mode 100644 index 00000000..952440b7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -0,0 +1,43 @@ +#ifndef BT_COLLISION_OBJECT_WRAPPER_H +#define BT_COLLISION_OBJECT_WRAPPER_H + +///btCollisionObjectWrapperis an internal data structure. +///Most users can ignore this and use btCollisionObject and btCollisionShape instead +class btCollisionShape; +class btCollisionObject; +class btTransform; +#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition + +#define BT_DECLARE_STACK_ONLY_OBJECT \ + private: \ + void* operator new(size_t size); \ + void operator delete(void*); + +struct btCollisionObjectWrapper; +struct btCollisionObjectWrapper +{ +BT_DECLARE_STACK_ONLY_OBJECT + +private: + btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed. + btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&); + +public: + const btCollisionObjectWrapper* m_parent; + const btCollisionShape* m_shape; + const btCollisionObject* m_collisionObject; + const btTransform& m_worldTransform; + int m_partId; + int m_index; + + btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index) + : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), + m_partId(partId), m_index(index) + {} + + SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; } + SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; } + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; } +}; + +#endif //BT_COLLISION_OBJECT_WRAPPER_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp new file mode 100644 index 00000000..093c6f9b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -0,0 +1,1552 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btCollisionWorld.h" +#include "btCollisionDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btSerializer.h" +#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#include "BulletCollision/Gimpact/btGImpactShape.h" +//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION + + +//#define USE_BRUTEFORCE_RAYBROADPHASE 1 +//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest +//#define RECALCULATE_AABB_RAYCAST 1 + +//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" + + +///for debug drawing + +//for debug rendering +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionShapes/btConeShape.h" +#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btCylinderShape.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" + + + +btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration) +:m_dispatcher1(dispatcher), +m_broadphasePairCache(pairCache), +m_debugDrawer(0), +m_forceUpdateAllAabbs(true) +{ +} + + +btCollisionWorld::~btCollisionWorld() +{ + + //clean up remaining objects + int i; + for (i=0;igetBroadphaseHandle(); + if (bp) + { + // + // only clear the cached algorithms + // + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); + collisionObject->setBroadphaseHandle(0); + } + } + + +} + + + + + + + + + + +void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask) +{ + + btAssert(collisionObject); + + //check that the object isn't already added + btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size()); + + m_collisionObjects.push_back(collisionObject); + + //calculate new AABB + btTransform trans = collisionObject->getWorldTransform(); + + btVector3 minAabb; + btVector3 maxAabb; + collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb); + + int type = collisionObject->getCollisionShape()->getShapeType(); + collisionObject->setBroadphaseHandle( getBroadphase()->createProxy( + minAabb, + maxAabb, + type, + collisionObject, + collisionFilterGroup, + collisionFilterMask, + m_dispatcher1,0 + )) ; + + + + + +} + + + +void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj) +{ + btVector3 minAabb,maxAabb; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + //need to increase the aabb for contact thresholds + btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); + minAabb -= contactThreshold; + maxAabb += contactThreshold; + + if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject()) + { + btVector3 minAabb2,maxAabb2; + colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); + minAabb2 -= contactThreshold; + maxAabb2 += contactThreshold; + minAabb.setMin(minAabb2); + maxAabb.setMax(maxAabb2); + } + + btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; + + //moving objects should be moderately sized, probably something wrong if not + if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) + { + bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); + } else + { + //something went wrong, investigate + //this assert is unwanted in 3D modelers (danger of loosing work) + colObj->setActivationState(DISABLE_SIMULATION); + + static bool reportMe = true; + if (reportMe && m_debugDrawer) + { + reportMe = false; + m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); + m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); + m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); + m_debugDrawer->reportErrorWarning("Thanks.\n"); + } + } +} + +void btCollisionWorld::updateAabbs() +{ + BT_PROFILE("updateAabbs"); + + btTransform predictedTrans; + for ( int i=0;iisActive()) + { + updateSingleAabb(colObj); + } + } +} + + +void btCollisionWorld::computeOverlappingPairs() +{ + BT_PROFILE("calculateOverlappingPairs"); + m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1); +} + +void btCollisionWorld::performDiscreteCollisionDetection() +{ + BT_PROFILE("performDiscreteCollisionDetection"); + + btDispatcherInfo& dispatchInfo = getDispatchInfo(); + + updateAabbs(); + + computeOverlappingPairs(); + + btDispatcher* dispatcher = getDispatcher(); + { + BT_PROFILE("dispatchAllCollisionPairs"); + if (dispatcher) + dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1); + } + +} + + + +void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + + + //bool removeFromBroadphase = false; + + { + + btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); + if (bp) + { + // + // only clear the cached algorithms + // + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); + collisionObject->setBroadphaseHandle(0); + } + } + + + //swapremove + m_collisionObjects.remove(collisionObject); + +} + + +void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback) +{ + btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1); + btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback); +} + +void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans, + const btCollisionObjectWrapper* collisionObjectWrap, + RayResultCallback& resultCallback) +{ + btSphereShape pointShape(btScalar(0.0)); + pointShape.setMargin(0.f); + const btConvexShape* castShape = &pointShape; + const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape(); + const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform(); + + if (collisionShape->isConvex()) + { + // BT_PROFILE("rayTestConvex"); + btConvexCast::CastResult castResult; + castResult.m_fraction = resultCallback.m_closestHitFraction; + + btConvexShape* convexShape = (btConvexShape*) collisionShape; + btVoronoiSimplexSolver simplexSolver; + btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver); + + btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver); + + //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); + bool condition = true; + btConvexCast* convexCasterPtr = 0; + if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest) + convexCasterPtr = &subSimplexConvexCaster; + else + convexCasterPtr = &gjkConvexCaster; + + btConvexCast& convexCaster = *convexCasterPtr; + + if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST + + castResult.m_normal.normalize(); + btCollisionWorld::LocalRayResult localRayResult + ( + collisionObjectWrap->getCollisionObject(), + 0, + castResult.m_normal, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localRayResult, normalInWorldSpace); + + } + } + } + } else { + if (collisionShape->isConcave()) + { + + //ConvexCast::CastResult + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + const btCollisionObject* m_collisionObject; + const btConcaveShape* m_triangleMesh; + + btTransform m_colObjWorldTransform; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape* triangleMesh,const btTransform& colObjWorldTransform): + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh), + m_colObjWorldTransform(colObjWorldTransform) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalWorld, + hitFraction); + + bool normalInWorldSpace = true; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + } + + }; + + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + // BT_PROFILE("rayTestConcave"); + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + ///optimized version for btBvhTriangleMeshShape + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); + } + else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + { + btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape; + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal); + }else + { + //generic (slower) case + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; + + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + //ConvexCast::CastResult + + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + const btCollisionObject* m_collisionObject; + btConcaveShape* m_triangleMesh; + + btTransform m_colObjWorldTransform; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform): + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh), + m_colObjWorldTransform(colObjWorldTransform) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalWorld, + hitFraction); + + bool normalInWorldSpace = true; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + } + + }; + + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + + btVector3 rayAabbMinLocal = rayFromLocal; + rayAabbMinLocal.setMin(rayToLocal); + btVector3 rayAabbMaxLocal = rayFromLocal; + rayAabbMaxLocal.setMax(rayToLocal); + + concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); + } + } else { + // BT_PROFILE("rayTestCompound"); + if (collisionShape->isCompound()) + { + struct LocalInfoAdder2 : public RayResultCallback + { + RayResultCallback* m_userCallback; + int m_i; + + LocalInfoAdder2 (int i, RayResultCallback *user) + : m_userCallback(user), m_i(i) + { + m_closestHitFraction = m_userCallback->m_closestHitFraction; + m_flags = m_userCallback->m_flags; + } + virtual bool needsCollision(btBroadphaseProxy* p) const + { + return m_userCallback->needsCollision(p); + } + + virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = -1; + shapeInfo.m_triangleIndex = m_i; + if (r.m_localShapeInfo == NULL) + r.m_localShapeInfo = &shapeInfo; + + const btScalar result = m_userCallback->addSingleResult(r, b); + m_closestHitFraction = m_userCallback->m_closestHitFraction; + return result; + } + }; + + struct RayTester : btDbvt::ICollide + { + const btCollisionObject* m_collisionObject; + const btCompoundShape* m_compoundShape; + const btTransform& m_colObjWorldTransform; + const btTransform& m_rayFromTrans; + const btTransform& m_rayToTrans; + RayResultCallback& m_resultCallback; + + RayTester(const btCollisionObject* collisionObject, + const btCompoundShape* compoundShape, + const btTransform& colObjWorldTransform, + const btTransform& rayFromTrans, + const btTransform& rayToTrans, + RayResultCallback& resultCallback): + m_collisionObject(collisionObject), + m_compoundShape(compoundShape), + m_colObjWorldTransform(colObjWorldTransform), + m_rayFromTrans(rayFromTrans), + m_rayToTrans(rayToTrans), + m_resultCallback(resultCallback) + { + + } + + void ProcessLeaf(int i) + { + const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i); + const btTransform& childTrans = m_compoundShape->getChildTransform(i); + btTransform childWorldTrans = m_colObjWorldTransform * childTrans; + + btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i); + // replace collision shape so that callback can determine the triangle + + + + LocalInfoAdder2 my_cb(i, &m_resultCallback); + + rayTestSingleInternal( + m_rayFromTrans, + m_rayToTrans, + &tmpOb, + my_cb); + + } + + void Process(const btDbvtNode* leaf) + { + ProcessLeaf(leaf->dataAsInt); + } + }; + + const btCompoundShape* compoundShape = static_cast(collisionShape); + const btDbvt* dbvt = compoundShape->getDynamicAabbTree(); + + + RayTester rayCB( + collisionObjectWrap->getCollisionObject(), + compoundShape, + colObjWorldTransform, + rayFromTrans, + rayToTrans, + resultCallback); +#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION + if (dbvt) + { + btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin(); + btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin(); + btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB); + } + else +#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION + { + for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i) + { + rayCB.ProcessLeaf(i); + } + } + } + } + } +} + +void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + ConvexResultCallback& resultCallback, btScalar allowedPenetration) +{ + btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1); + btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration); +} + +void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, + const btCollisionObjectWrapper* colObjWrap, + ConvexResultCallback& resultCallback, btScalar allowedPenetration) +{ + const btCollisionShape* collisionShape = colObjWrap->getCollisionShape(); + const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform(); + + if (collisionShape->isConvex()) + { + //BT_PROFILE("convexSweepConvex"); + btConvexCast::CastResult castResult; + castResult.m_allowedPenetration = allowedPenetration; + castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//?? + + btConvexShape* convexShape = (btConvexShape*) collisionShape; + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + + btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver); + //btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver); + //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver); + + btConvexCast* castPtr = &convexCaster1; + + + + if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { + castResult.m_normal.normalize(); + btCollisionWorld::LocalConvexResult localConvexResult + ( + colObjWrap->getCollisionObject(), + 0, + castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localConvexResult, normalInWorldSpace); + + } + } + } + } else { + if (collisionShape->isConcave()) + { + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + //BT_PROFILE("convexSweepbtBvhTriangleMesh"); + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + const btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) + { + + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); + + bool normalInWorldSpace = true; + + + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); + } + return hitFraction; + } + + }; + + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + tccb.m_allowedPenetration = allowedPenetration; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); + } else + { + if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE) + { + btConvexCast::CastResult castResult; + castResult.m_allowedPenetration = allowedPenetration; + castResult.m_fraction = resultCallback.m_closestHitFraction; + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape; + btContinuousConvexCollision convexCaster1(castShape,planeShape); + btConvexCast* castPtr = &convexCaster1; + + if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { + castResult.m_normal.normalize(); + btCollisionWorld::LocalConvexResult localConvexResult + ( + colObjWrap->getCollisionObject(), + 0, + castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localConvexResult, normalInWorldSpace); + } + } + } + + } else + { + //BT_PROFILE("convexSweepConcave"); + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + const btCollisionObject* m_collisionObject; + btConcaveShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) + { + + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); + + bool normalInWorldSpace = false; + + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); + } + return hitFraction; + } + + }; + + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + tccb.m_allowedPenetration = allowedPenetration; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + + btVector3 rayAabbMinLocal = convexFromLocal; + rayAabbMinLocal.setMin(convexToLocal); + btVector3 rayAabbMaxLocal = convexFromLocal; + rayAabbMaxLocal.setMax(convexToLocal); + rayAabbMinLocal += boxMinLocal; + rayAabbMaxLocal += boxMaxLocal; + concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + } + } + } else { + ///@todo : use AABB tree or other BVH acceleration structure! + if (collisionShape->isCompound()) + { + BT_PROFILE("convexSweepCompound"); + const btCompoundShape* compoundShape = static_cast(collisionShape); + int i=0; + for (i=0;igetNumChildShapes();i++) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); + btTransform childWorldTrans = colObjWorldTransform * childTrans; + + struct LocalInfoAdder : public ConvexResultCallback { + ConvexResultCallback* m_userCallback; + int m_i; + + LocalInfoAdder (int i, ConvexResultCallback *user) + : m_userCallback(user), m_i(i) + { + m_closestHitFraction = m_userCallback->m_closestHitFraction; + } + virtual bool needsCollision(btBroadphaseProxy* p) const + { + return m_userCallback->needsCollision(p); + } + virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult& r, bool b) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = -1; + shapeInfo.m_triangleIndex = m_i; + if (r.m_localShapeInfo == NULL) + r.m_localShapeInfo = &shapeInfo; + const btScalar result = m_userCallback->addSingleResult(r, b); + m_closestHitFraction = m_userCallback->m_closestHitFraction; + return result; + + } + }; + + LocalInfoAdder my_cb(i, &resultCallback); + + btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i); + + objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans, + &tmpObj,my_cb, allowedPenetration); + + } + } + } + } +} + + +struct btSingleRayCallback : public btBroadphaseRayCallback +{ + + btVector3 m_rayFromWorld; + btVector3 m_rayToWorld; + btTransform m_rayFromTrans; + btTransform m_rayToTrans; + btVector3 m_hitNormal; + + const btCollisionWorld* m_world; + btCollisionWorld::RayResultCallback& m_resultCallback; + + btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld), + m_world(world), + m_resultCallback(resultCallback) + { + m_rayFromTrans.setIdentity(); + m_rayFromTrans.setOrigin(m_rayFromWorld); + m_rayToTrans.setIdentity(); + m_rayToTrans.setOrigin(m_rayToWorld); + + btVector3 rayDir = (rayToWorld-rayFromWorld); + + rayDir.normalize (); + ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld); + + } + + + + virtual bool process(const btBroadphaseProxy* proxy) + { + ///terminate further ray tests, once the closestHitFraction reached zero + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + //btVector3 collisionObjectAabbMin,collisionObjectAabbMax; +#if 0 +#ifdef RECALCULATE_AABB + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); +#else + //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax); + const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin; + const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax; +#endif +#endif + //btScalar hitLambda = m_resultCallback.m_closestHitFraction; + //culling already done by broadphase + //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal)) + { + m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + m_resultCallback); + } + } + return true; + } +}; + +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const +{ + //BT_PROFILE("rayTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback); + +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB); +#else + for (int i=0;igetNumCollisionObjects();i++) + { + rayCB.process(m_collisionObjects[i]->getBroadphaseHandle()); + } +#endif //USE_BRUTEFORCE_RAYBROADPHASE + +} + + +struct btSingleSweepCallback : public btBroadphaseRayCallback +{ + + btTransform m_convexFromTrans; + btTransform m_convexToTrans; + btVector3 m_hitNormal; + const btCollisionWorld* m_world; + btCollisionWorld::ConvexResultCallback& m_resultCallback; + btScalar m_allowedCcdPenetration; + const btConvexShape* m_castShape; + + + btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration) + :m_convexFromTrans(convexFromTrans), + m_convexToTrans(convexToTrans), + m_world(world), + m_resultCallback(resultCallback), + m_allowedCcdPenetration(allowedPenetration), + m_castShape(castShape) + { + btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin()); + btVector3 rayDir = unnormalizedRayDir.normalized(); + ///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(unnormalizedRayDir); + + } + + virtual bool process(const btBroadphaseProxy* proxy) + { + ///terminate further convex sweep tests, once the closestHitFraction reached zero + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + m_resultCallback, + m_allowedCcdPenetration); + } + + return true; + } +}; + + + +void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const +{ + + BT_PROFILE("convexSweepTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + /// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical + + + + btTransform convexFromTrans,convexToTrans; + convexFromTrans = convexFromWorld; + convexToTrans = convexToWorld; + btVector3 castShapeAabbMin, castShapeAabbMax; + /* Compute AABB that encompasses angular movement */ + { + btVector3 linVel, angVel; + btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel); + btVector3 zeroLinVel; + zeroLinVel.setValue(0,0,0); + btTransform R; + R.setIdentity (); + R.setRotation (convexFromTrans.getRotation()); + castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax); + } + +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + + btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration); + + m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax); + +#else + /// go over all objects, and if the ray intersects their aabb + cast shape aabb, + // do a ray-shape query using convexCaster (CCD) + int i; + for (i=0;igetBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); + AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + allowedCcdPenetration); + } + } + } +#endif //USE_BRUTEFORCE_RAYBROADPHASE +} + + + +struct btBridgedManifoldResult : public btManifoldResult +{ + + btCollisionWorld::ContactResultCallback& m_resultCallback; + + btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback ) + :btManifoldResult(obj0Wrap,obj1Wrap), + m_resultCallback(resultCallback) + { + } + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + btVector3 pointA = pointInWorld + normalOnBInWorld * depth; + btVector3 localA; + btVector3 localB; + if (isSwapped) + { + localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); + localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); + } else + { + localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); + localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); + } + + btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth); + newPt.m_positionWorldOnA = pointA; + newPt.m_positionWorldOnB = pointInWorld; + + //BP mod, store contact triangles. + if (isSwapped) + { + newPt.m_partId0 = m_partId1; + newPt.m_partId1 = m_partId0; + newPt.m_index0 = m_index1; + newPt.m_index1 = m_index0; + } else + { + newPt.m_partId0 = m_partId0; + newPt.m_partId1 = m_partId1; + newPt.m_index0 = m_index0; + newPt.m_index1 = m_index1; + } + + //experimental feature info, for per-triangle material etc. + const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap; + const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap; + m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1); + + } + +}; + + + +struct btSingleContactCallback : public btBroadphaseAabbCallback +{ + + btCollisionObject* m_collisionObject; + btCollisionWorld* m_world; + btCollisionWorld::ContactResultCallback& m_resultCallback; + + + btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback) + :m_collisionObject(collisionObject), + m_world(world), + m_resultCallback(resultCallback) + { + } + + virtual bool process(const btBroadphaseProxy* proxy) + { + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + if (collisionObject == m_collisionObject) + return true; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { + btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1); + btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1); + + btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1); + if (algorithm) + { + btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback); + //discrete collision detection query + + algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult); + + algorithm->~btCollisionAlgorithm(); + m_world->getDispatcher()->freeCollisionAlgorithm(algorithm); + } + } + return true; + } +}; + + +///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback. +///it reports one or more contact points for every overlapping object (including the one with deepest penetration) +void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback) +{ + btVector3 aabbMin,aabbMax; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax); + btSingleContactCallback contactCB(colObj,this,resultCallback); + + m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB); +} + + +///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. +///it reports one or more contact points (including the one with deepest penetration) +void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback) +{ + btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1); + btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1); + + btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB); + if (algorithm) + { + btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback); + //discrete collision detection query + algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult); + + algorithm->~btCollisionAlgorithm(); + getDispatcher()->freeCollisionAlgorithm(algorithm); + } + +} + + + + +class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback +{ + btIDebugDraw* m_debugDrawer; + btVector3 m_color; + btTransform m_worldTrans; + +public: + + DebugDrawcallback(btIDebugDraw* debugDrawer,const btTransform& worldTrans,const btVector3& color) : + m_debugDrawer(debugDrawer), + m_color(color), + m_worldTrans(worldTrans) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + processTriangle(triangle,partId,triangleIndex); + } + + virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + + btVector3 wv0,wv1,wv2; + wv0 = m_worldTrans*triangle[0]; + wv1 = m_worldTrans*triangle[1]; + wv2 = m_worldTrans*triangle[2]; + btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.); + + if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals ) + { + btVector3 normal = (wv1-wv0).cross(wv2-wv0); + normal.normalize(); + btVector3 normalColor(1,1,0); + m_debugDrawer->drawLine(center,center+normal,normalColor); + } + m_debugDrawer->drawLine(wv0,wv1,m_color); + m_debugDrawer->drawLine(wv1,wv2,m_color); + m_debugDrawer->drawLine(wv2,wv0,m_color); + } +}; + + +void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color) +{ + // Draw a small simplex at the center of the object + getDebugDrawer()->drawTransform(worldTransform,1); + + if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) + { + const btCompoundShape* compoundShape = static_cast(shape); + for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* colShape = compoundShape->getChildShape(i); + debugDrawObject(worldTransform*childTrans,colShape,color); + } + + } else + { + + switch (shape->getShapeType()) + { + + case BOX_SHAPE_PROXYTYPE: + { + const btBoxShape* boxShape = static_cast(shape); + btVector3 halfExtents = boxShape->getHalfExtentsWithMargin(); + getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color); + break; + } + + case SPHERE_SHAPE_PROXYTYPE: + { + const btSphereShape* sphereShape = static_cast(shape); + btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin + + getDebugDrawer()->drawSphere(radius, worldTransform, color); + break; + } + case MULTI_SPHERE_SHAPE_PROXYTYPE: + { + const btMultiSphereShape* multiSphereShape = static_cast(shape); + + btTransform childTransform; + childTransform.setIdentity(); + + for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) + { + childTransform.setOrigin(multiSphereShape->getSpherePosition(i)); + getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color); + } + + break; + } + case CAPSULE_SHAPE_PROXYTYPE: + { + const btCapsuleShape* capsuleShape = static_cast(shape); + + btScalar radius = capsuleShape->getRadius(); + btScalar halfHeight = capsuleShape->getHalfHeight(); + + int upAxis = capsuleShape->getUpAxis(); + getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color); + break; + } + case CONE_SHAPE_PROXYTYPE: + { + const btConeShape* coneShape = static_cast(shape); + btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); + btScalar height = coneShape->getHeight();//+coneShape->getMargin(); + + int upAxis= coneShape->getConeUpIndex(); + getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color); + break; + + } + case CYLINDER_SHAPE_PROXYTYPE: + { + const btCylinderShape* cylinder = static_cast(shape); + int upAxis = cylinder->getUpAxis(); + btScalar radius = cylinder->getRadius(); + btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; + getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color); + break; + } + + case STATIC_PLANE_PROXYTYPE: + { + const btStaticPlaneShape* staticPlaneShape = static_cast(shape); + btScalar planeConst = staticPlaneShape->getPlaneConstant(); + const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); + getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color); + break; + + } + default: + { + + /// for polyhedral shapes + if (shape->isPolyhedral()) + { + btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; + + int i; + if (polyshape->getConvexPolyhedron()) + { + const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron(); + for (i=0;im_faces.size();i++) + { + btVector3 centroid(0,0,0); + int numVerts = poly->m_faces[i].m_indices.size(); + if (numVerts) + { + int lastV = poly->m_faces[i].m_indices[numVerts-1]; + for (int v=0;vm_faces[i].m_indices.size();v++) + { + int curVert = poly->m_faces[i].m_indices[v]; + centroid+=poly->m_vertices[curVert]; + getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color); + lastV = curVert; + } + } + centroid*= btScalar(1.f)/btScalar(numVerts); + if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals) + { + btVector3 normalColor(1,1,0); + btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]); + getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor); + } + + } + + + } else + { + for (i=0;igetNumEdges();i++) + { + btVector3 a,b; + polyshape->getEdge(i,a,b); + btVector3 wa = worldTransform * a; + btVector3 wb = worldTransform * b; + getDebugDrawer()->drawLine(wa,wb,color); + } + } + + + } + + if (shape->isConcave()) + { + btConcaveShape* concaveMesh = (btConcaveShape*) shape; + + ///@todo pass camera, for some culling? no -> we are not a graphics lib + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + + DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); + concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + + } + + if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) + { + btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; + //todo: pass camera for some culling + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + //DebugDrawcallback drawCallback; + DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); + convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); + } + + + + } + + } + } +} + + +void btCollisionWorld::debugDrawWorld() +{ + if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints) + { + int numManifolds = getDispatcher()->getNumManifolds(); + btVector3 color(1,1,0); + for (int i=0;igetManifoldByIndexInternal(i); + //btCollisionObject* obA = static_cast(contactManifold->getBody0()); + //btCollisionObject* obB = static_cast(contactManifold->getBody1()); + + int numContacts = contactManifold->getNumContacts(); + for (int j=0;jgetContactPoint(j); + getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); + } + } + } + + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))) + { + int i; + + for ( i=0;igetCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0) + { + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)) + { + btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.)); + switch(colObj->getActivationState()) + { + case ACTIVE_TAG: + color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break; + case ISLAND_SLEEPING: + color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break; + case WANTS_DEACTIVATION: + color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break; + case DISABLE_DEACTIVATION: + color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break; + case DISABLE_SIMULATION: + color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break; + default: + { + color = btVector3(btScalar(1),btScalar(0.),btScalar(0.)); + } + }; + + debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color); + } + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 minAabb,maxAabb; + btVector3 colorvec(1,0,0); + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); + minAabb -= contactThreshold; + maxAabb += contactThreshold; + + btVector3 minAabb2,maxAabb2; + + if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject()) + { + colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); + minAabb2 -= contactThreshold; + maxAabb2 += contactThreshold; + minAabb.setMin(minAabb2); + maxAabb.setMax(maxAabb2); + } + + m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); + } + } + + } + } +} + + +void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) +{ + int i; + //serialize all collision objects + for (i=0;igetInternalType() == btCollisionObject::CO_COLLISION_OBJECT) + { + colObj->serializeSingleObject(serializer); + } + } + + ///keep track of shapes already serialized + btHashMap serializedShapes; + + for (i=0;igetCollisionShape(); + + if (!serializedShapes.find(shape)) + { + serializedShapes.insert(shape,shape); + shape->serializeSingleShape(serializer); + } + } + +} + + +void btCollisionWorld::serialize(btSerializer* serializer) +{ + + serializer->startSerialization(); + + serializeCollisionObjects(serializer); + + serializer->finishSerialization(); +} + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.h new file mode 100644 index 00000000..b3fffdec --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -0,0 +1,526 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. +*/ + + +/** + * @mainpage Bullet Documentation + * + * @section intro_sec Introduction + * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ). + * + * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution. + * There is the Physics Forum for feedback and general Collision Detection and Physics discussions. + * Please visit http://www.bulletphysics.org + * + * @section install_sec Installation + * + * @subsection step1 Step 1: Download + * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list + * + * @subsection step2 Step 2: Building + * Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms. + * Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux. + * Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects. + * On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects: + * cd Bullet/build + * ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4 + * cd Bullet/build/gmake + * make + * + * An alternative to premake is cmake. You can download cmake from http://www.cmake.org + * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles. + * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles. + * You can also use cmake in the command-line. Here are some examples for various platforms: + * cmake . -G "Visual Studio 9 2008" + * cmake . -G Xcode + * cmake . -G "Unix Makefiles" + * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make. + * + * @subsection step3 Step 3: Testing demos + * Try to run and experiment with BasicDemo executable as a starting point. + * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation. + * The Dependencies can be seen in this documentation under Directories + * + * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation + * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform. + * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld. + * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras) + * Bullet Collision Detection can also be used without the Dynamics/Extras. + * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. + * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation. + * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector. + * + * @section copyright Copyright + * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf + * + */ + + + +#ifndef BT_COLLISION_WORLD_H +#define BT_COLLISION_WORLD_H + +class btCollisionShape; +class btConvexShape; +class btBroadphaseInterface; +class btSerializer; + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "btCollisionObject.h" +#include "btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btAlignedObjectArray.h" + +///CollisionWorld is interface and container for the collision detection +class btCollisionWorld +{ + + +protected: + + btAlignedObjectArray m_collisionObjects; + + btDispatcher* m_dispatcher1; + + btDispatcherInfo m_dispatchInfo; + + btBroadphaseInterface* m_broadphasePairCache; + + btIDebugDraw* m_debugDrawer; + + ///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs + ///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB) + bool m_forceUpdateAllAabbs; + + void serializeCollisionObjects(btSerializer* serializer); + +public: + + //this constructor doesn't own the dispatcher and paircache/broadphase + btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration); + + virtual ~btCollisionWorld(); + + void setBroadphase(btBroadphaseInterface* pairCache) + { + m_broadphasePairCache = pairCache; + } + + const btBroadphaseInterface* getBroadphase() const + { + return m_broadphasePairCache; + } + + btBroadphaseInterface* getBroadphase() + { + return m_broadphasePairCache; + } + + btOverlappingPairCache* getPairCache() + { + return m_broadphasePairCache->getOverlappingPairCache(); + } + + + btDispatcher* getDispatcher() + { + return m_dispatcher1; + } + + const btDispatcher* getDispatcher() const + { + return m_dispatcher1; + } + + void updateSingleAabb(btCollisionObject* colObj); + + virtual void updateAabbs(); + + ///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) + ///it can be useful to use if you perform ray tests without collision detection/simulation + virtual void computeOverlappingPairs(); + + + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) + { + m_debugDrawer = debugDrawer; + } + + virtual btIDebugDraw* getDebugDrawer() + { + return m_debugDrawer; + } + + virtual void debugDrawWorld(); + + virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color); + + + ///LocalShapeInfo gives extra information for complex shapes + ///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart + struct LocalShapeInfo + { + int m_shapePart; + int m_triangleIndex; + + //const btCollisionShape* m_shapeTemp; + //const btTransform* m_shapeLocalTransform; + }; + + struct LocalRayResult + { + LocalRayResult(const btCollisionObject* collisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + btScalar hitFraction) + :m_collisionObject(collisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitFraction(hitFraction) + { + } + + const btCollisionObject* m_collisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btScalar m_hitFraction; + + }; + + ///RayResultCallback is used to report new raycast results + struct RayResultCallback + { + btScalar m_closestHitFraction; + const btCollisionObject* m_collisionObject; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke. + unsigned int m_flags; + + virtual ~RayResultCallback() + { + } + bool hasHit() const + { + return (m_collisionObject != 0); + } + + RayResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionObject(0), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + //@BP Mod + m_flags(0) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestRayResultCallback : public RayResultCallback + { + ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + //caller already does the filter on the m_closestHitFraction + btAssert(rayResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = rayResult.m_hitFraction; + m_collisionObject = rayResult.m_collisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + return rayResult.m_hitFraction; + } + }; + + struct AllHitsRayResultCallback : public RayResultCallback + { + AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld) + { + } + + btAlignedObjectArray m_collisionObjects; + + btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_rayToWorld; + + btAlignedObjectArray m_hitNormalWorld; + btAlignedObjectArray m_hitPointWorld; + btAlignedObjectArray m_hitFractions; + + virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) + { + m_collisionObject = rayResult.m_collisionObject; + m_collisionObjects.push_back(rayResult.m_collisionObject); + btVector3 hitNormalWorld; + if (normalInWorldSpace) + { + hitNormalWorld = rayResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal; + } + m_hitNormalWorld.push_back(hitNormalWorld); + btVector3 hitPointWorld; + hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction); + m_hitPointWorld.push_back(hitPointWorld); + m_hitFractions.push_back(rayResult.m_hitFraction); + return m_closestHitFraction; + } + }; + + + struct LocalConvexResult + { + LocalConvexResult(const btCollisionObject* hitCollisionObject, + LocalShapeInfo* localShapeInfo, + const btVector3& hitNormalLocal, + const btVector3& hitPointLocal, + btScalar hitFraction + ) + :m_hitCollisionObject(hitCollisionObject), + m_localShapeInfo(localShapeInfo), + m_hitNormalLocal(hitNormalLocal), + m_hitPointLocal(hitPointLocal), + m_hitFraction(hitFraction) + { + } + + const btCollisionObject* m_hitCollisionObject; + LocalShapeInfo* m_localShapeInfo; + btVector3 m_hitNormalLocal; + btVector3 m_hitPointLocal; + btScalar m_hitFraction; + }; + + ///RayResultCallback is used to report new raycast results + struct ConvexResultCallback + { + btScalar m_closestHitFraction; + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + ConvexResultCallback() + :m_closestHitFraction(btScalar(1.)), + m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ConvexResultCallback() + { + } + + bool hasHit() const + { + return (m_closestHitFraction < btScalar(1.)); + } + + + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0; + }; + + struct ClosestConvexResultCallback : public ConvexResultCallback + { + ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld) + :m_convexFromWorld(convexFromWorld), + m_convexToWorld(convexToWorld), + m_hitCollisionObject(0) + { + } + + btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction + btVector3 m_convexToWorld; + + btVector3 m_hitNormalWorld; + btVector3 m_hitPointWorld; + const btCollisionObject* m_hitCollisionObject; + + virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) + { +//caller already does the filter on the m_closestHitFraction + btAssert(convexResult.m_hitFraction <= m_closestHitFraction); + + m_closestHitFraction = convexResult.m_hitFraction; + m_hitCollisionObject = convexResult.m_hitCollisionObject; + if (normalInWorldSpace) + { + m_hitNormalWorld = convexResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + } + m_hitPointWorld = convexResult.m_hitPointLocal; + return convexResult.m_hitFraction; + } + }; + + ///ContactResultCallback is used to report contact points + struct ContactResultCallback + { + short int m_collisionFilterGroup; + short int m_collisionFilterMask; + + ContactResultCallback() + :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), + m_collisionFilterMask(btBroadphaseProxy::AllFilter) + { + } + + virtual ~ContactResultCallback() + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } + + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0; + }; + + + + int getNumCollisionObjects() const + { + return int(m_collisionObjects.size()); + } + + /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + /// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback + /// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. + void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; + + ///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. + ///it reports one or more contact points for every overlapping object (including the one with deepest penetration) + void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback); + + ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. + ///it reports one or more contact points (including the one with deepest penetration) + void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback); + + + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. + /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. + /// This allows more customization. + static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); + + static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans, + const btCollisionObjectWrapper* collisionObjectWrap, + RayResultCallback& resultCallback); + + /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. + static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, + const btCollisionObjectWrapper* colObjWrap, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + + btCollisionObjectArray& getCollisionObjectArray() + { + return m_collisionObjects; + } + + const btCollisionObjectArray& getCollisionObjectArray() const + { + return m_collisionObjects; + } + + + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void performDiscreteCollisionDetection(); + + btDispatcherInfo& getDispatchInfo() + { + return m_dispatchInfo; + } + + const btDispatcherInfo& getDispatchInfo() const + { + return m_dispatchInfo; + } + + bool getForceUpdateAllAabbs() const + { + return m_forceUpdateAllAabbs; + } + void setForceUpdateAllAabbs( bool forceUpdateAllAabbs) + { + m_forceUpdateAllAabbs = forceUpdateAllAabbs; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + +}; + + +#endif //BT_COLLISION_WORLD_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp new file mode 100644 index 00000000..991841ee --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -0,0 +1,375 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. + +*/ + +#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btAabbUtil2.h" +#include "btManifoldResult.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btShapePairCallback gCompoundChildShapePairCallback = 0; + +btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) +:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_isSwapped(isSwapped), +m_sharedManifold(ci.m_manifold) +{ + m_ownsManifold = false; + + const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap; + btAssert (colObjWrap->getCollisionShape()->isCompound()); + + const btCompoundShape* compoundShape = static_cast(colObjWrap->getCollisionShape()); + m_compoundShapeRevision = compoundShape->getUpdateRevision(); + + + preallocateChildAlgorithms(body0Wrap,body1Wrap); +} + +void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) +{ + const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap; + btAssert (colObjWrap->getCollisionShape()->isCompound()); + + const btCompoundShape* compoundShape = static_cast(colObjWrap->getCollisionShape()); + + int numChildren = compoundShape->getNumChildShapes(); + int i; + + m_childCollisionAlgorithms.resize(numChildren); + for (i=0;igetDynamicAabbTree()) + { + m_childCollisionAlgorithms[i] = 0; + } else + { + + const btCollisionShape* childShape = compoundShape->getChildShape(i); + + btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully) + m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold); + } + } +} + +void btCompoundCollisionAlgorithm::removeChildAlgorithms() +{ + int numChildren = m_childCollisionAlgorithms.size(); + int i; + for (i=0;i~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + } + } +} + +btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() +{ + removeChildAlgorithms(); +} + + + + +struct btCompoundLeafCallback : btDbvt::ICollide +{ + +public: + + const btCollisionObjectWrapper* m_compoundColObjWrap; + const btCollisionObjectWrapper* m_otherObjWrap; + btDispatcher* m_dispatcher; + const btDispatcherInfo& m_dispatchInfo; + btManifoldResult* m_resultOut; + btCollisionAlgorithm** m_childCollisionAlgorithms; + btPersistentManifold* m_sharedManifold; + + btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold) + :m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut), + m_childCollisionAlgorithms(childCollisionAlgorithms), + m_sharedManifold(sharedManifold) + { + + } + + + void ProcessChildShape(const btCollisionShape* childShape,int index) + { + btAssert(index>=0); + const btCompoundShape* compoundShape = static_cast(m_compoundColObjWrap->getCollisionShape()); + btAssert(indexgetNumChildShapes()); + + + //backup + btTransform orgTrans = m_compoundColObjWrap->getWorldTransform(); + btTransform orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(index); + btTransform newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1); + + if (gCompoundChildShapePairCallback) + { + if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape)) + return; + } + + if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index); + + + //the contactpoint is still projected back using the original inverted worldtrans + if (!m_childCollisionAlgorithms[index]) + m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap,m_otherObjWrap,m_sharedManifold); + + + const btCollisionObjectWrapper* tmpWrap = 0; + + ///detect swapping case + if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject()) + { + tmpWrap = m_resultOut->getBody0Wrap(); + m_resultOut->setBody0Wrap(&compoundWrap); + m_resultOut->setShapeIdentifiersA(-1,index); + } else + { + tmpWrap = m_resultOut->getBody1Wrap(); + m_resultOut->setBody1Wrap(&compoundWrap); + m_resultOut->setShapeIdentifiersB(-1,index); + } + + + m_childCollisionAlgorithms[index]->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut); + +#if 0 + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1)); + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1)); + } +#endif + + if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject()) + { + m_resultOut->setBody0Wrap(tmpWrap); + } else + { + m_resultOut->setBody1Wrap(tmpWrap); + } + + } + } + void Process(const btDbvtNode* leaf) + { + int index = leaf->dataAsInt; + + const btCompoundShape* compoundShape = static_cast(m_compoundColObjWrap->getCollisionShape()); + const btCollisionShape* childShape = compoundShape->getChildShape(index); + +#if 0 + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + btTransform orgTrans = m_compoundColObjWrap->getWorldTransform(); + btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax); + m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0)); + } +#endif + + ProcessChildShape(childShape,index); + + } +}; + + + + + + +void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap; + + btAssert (colObjWrap->getCollisionShape()->isCompound()); + const btCompoundShape* compoundShape = static_cast(colObjWrap->getCollisionShape()); + + ///btCompoundShape might have changed: + ////make sure the internal child collision algorithm caches are still valid + if (compoundShape->getUpdateRevision() != m_compoundShapeRevision) + { + ///clear and update all + removeChildAlgorithms(); + + preallocateChildAlgorithms(body0Wrap,body1Wrap); + } + + + const btDbvt* tree = compoundShape->getDynamicAabbTree(); + //use a dynamic aabb tree to cull potential child-overlaps + btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); + + ///we need to refresh all contact manifolds + ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep + ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm + { + int i; + btManifoldArray manifoldArray; + for (i=0;igetAllContactManifolds(manifoldArray); + for (int m=0;mgetNumContacts()) + { + resultOut->setPersistentManifold(manifoldArray[m]); + resultOut->refreshContactPoints(); + resultOut->setPersistentManifold(0);//??necessary? + } + } + manifoldArray.resize(0); + } + } + } + + if (tree) + { + + btVector3 localAabbMin,localAabbMax; + btTransform otherInCompoundSpace; + otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform(); + otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); + + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + //process all children, that overlap with the given AABB bounds + tree->collideTV(tree->m_root,bounds,callback); + + } else + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + for (i=0;igetChildShape(i),i); + } + } + + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + btManifoldArray manifoldArray; + const btCollisionShape* childShape = 0; + btTransform orgTrans; + btTransform orgInterpolationTrans; + btTransform newChildWorldTrans; + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + + for (i=0;igetChildShape(i); + //if not longer overlapping, remove the algorithm + orgTrans = colObjWrap->getWorldTransform(); + orgInterpolationTrans = colObjWrap->getWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(i); + newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1); + + if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + m_childCollisionAlgorithms[i] = 0; + } + } + } + } +} + +btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btAssert(0); + //needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures + btCollisionObject* colObj = m_isSwapped? body1 : body0; + btCollisionObject* otherObj = m_isSwapped? body0 : body1; + + btAssert (colObj->getCollisionShape()->isCompound()); + + btCompoundShape* compoundShape = static_cast(colObj->getCollisionShape()); + + //We will use the OptimizedBVH, AABB tree to cull potential child-overlaps + //If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals + //given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means: + //determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1 + //then use each overlapping node AABB against Tree0 + //and vise versa. + + btScalar hitFraction = btScalar(1.); + + int numChildren = m_childCollisionAlgorithms.size(); + int i; + btTransform orgTrans; + btScalar frac; + for (i=0;igetChildShape(i); + + //backup + orgTrans = colObj->getWorldTransform(); + + const btTransform& childTrans = compoundShape->getChildTransform(i); + //btTransform newChildWorldTrans = orgTrans*childTrans ; + colObj->setWorldTransform( orgTrans*childTrans ); + + //btCollisionShape* tmpShape = colObj->getCollisionShape(); + //colObj->internalSetTemporaryCollisionShape( childShape ); + frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut); + if (fracinternalSetTemporaryCollisionShape( tmpShape); + colObj->setWorldTransform( orgTrans); + } + return hitFraction; + +} + + + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h new file mode 100644 index 00000000..53675145 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h @@ -0,0 +1,99 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_COMPOUND_COLLISION_ALGORITHM_H +#define BT_COMPOUND_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" +class btDispatcher; +class btCollisionObject; + +class btCollisionShape; +typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1); +extern btShapePairCallback gCompoundChildShapePairCallback; + +/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes +class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + btAlignedObjectArray m_childCollisionAlgorithms; + bool m_isSwapped; + + class btPersistentManifold* m_sharedManifold; + bool m_ownsManifold; + + + int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated + + void removeChildAlgorithms(); + + void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + +public: + + btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + virtual ~btCompoundCollisionAlgorithm(); + + btCollisionAlgorithm* getChildAlgorithm (int n) const + { + return m_childCollisionAlgorithms[n]; + } + + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + int i; + for (i=0;igetAllContactManifolds(manifoldArray); + } + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm)); + return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); + } + }; + +}; + +#endif //BT_COMPOUND_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp new file mode 100644 index 00000000..a52dd34f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -0,0 +1,421 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. + +*/ + +#include "btCompoundCompoundCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btAabbUtil2.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + + +btShapePairCallback gCompoundCompoundChildShapePairCallback = 0; + +btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) +:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_sharedManifold(ci.m_manifold) +{ + m_ownsManifold = false; + + void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16); + m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache(); + + const btCollisionObjectWrapper* col0ObjWrap = body0Wrap; + btAssert (col0ObjWrap->getCollisionShape()->isCompound()); + + const btCollisionObjectWrapper* col1ObjWrap = body1Wrap; + btAssert (col1ObjWrap->getCollisionShape()->isCompound()); + + const btCompoundShape* compoundShape0 = static_cast(col0ObjWrap->getCollisionShape()); + m_compoundShapeRevision0 = compoundShape0->getUpdateRevision(); + + const btCompoundShape* compoundShape1 = static_cast(col1ObjWrap->getCollisionShape()); + m_compoundShapeRevision1 = compoundShape1->getUpdateRevision(); + + +} + + +btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm() +{ + removeChildAlgorithms(); + m_childCollisionAlgorithmCache->~btHashedSimplePairCache(); + btAlignedFree(m_childCollisionAlgorithmCache); +} + +void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray) +{ + int i; + btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); + for (i=0;igetAllContactManifolds(manifoldArray); + } + } +} + + +void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms() +{ + btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); + + int numChildren = pairs.size(); + int i; + for (i=0;i~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algo); + } + } + m_childCollisionAlgorithmCache->removeAllPairs(); +} + +struct btCompoundCompoundLeafCallback : btDbvt::ICollide +{ + int m_numOverlapPairs; + + + const btCollisionObjectWrapper* m_compound0ColObjWrap; + const btCollisionObjectWrapper* m_compound1ColObjWrap; + btDispatcher* m_dispatcher; + const btDispatcherInfo& m_dispatchInfo; + btManifoldResult* m_resultOut; + + + class btHashedSimplePairCache* m_childCollisionAlgorithmCache; + + btPersistentManifold* m_sharedManifold; + + btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap, + const btCollisionObjectWrapper* compound0ObjWrap, + btDispatcher* dispatcher, + const btDispatcherInfo& dispatchInfo, + btManifoldResult* resultOut, + btHashedSimplePairCache* childAlgorithmsCache, + btPersistentManifold* sharedManifold) + :m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut), + m_childCollisionAlgorithmCache(childAlgorithmsCache), + m_sharedManifold(sharedManifold), + m_numOverlapPairs(0) + { + + } + + + + + void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1) + { + m_numOverlapPairs++; + + + int childIndex0 = leaf0->dataAsInt; + int childIndex1 = leaf1->dataAsInt; + + + btAssert(childIndex0>=0); + btAssert(childIndex1>=0); + + + const btCompoundShape* compoundShape0 = static_cast(m_compound0ColObjWrap->getCollisionShape()); + btAssert(childIndex0getNumChildShapes()); + + const btCompoundShape* compoundShape1 = static_cast(m_compound1ColObjWrap->getCollisionShape()); + btAssert(childIndex1getNumChildShapes()); + + const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0); + const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1); + + //backup + btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform(); + const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0); + btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ; + + btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform(); + const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1); + btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ; + + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); + childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); + + if (gCompoundCompoundChildShapePairCallback) + { + if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1)) + return; + } + + if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0); + btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1); + + + btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1); + + btCollisionAlgorithm* colAlgo = 0; + + if (pair) + { + colAlgo = (btCollisionAlgorithm*)pair->m_userPointer; + + } else + { + colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold); + pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1); + btAssert(pair); + pair->m_userPointer = colAlgo; + } + + btAssert(colAlgo); + + const btCollisionObjectWrapper* tmpWrap0 = 0; + const btCollisionObjectWrapper* tmpWrap1 = 0; + + tmpWrap0 = m_resultOut->getBody0Wrap(); + tmpWrap1 = m_resultOut->getBody1Wrap(); + + m_resultOut->setBody0Wrap(&compoundWrap0); + m_resultOut->setBody1Wrap(&compoundWrap1); + + m_resultOut->setShapeIdentifiersA(-1,childIndex0); + m_resultOut->setShapeIdentifiersB(-1,childIndex1); + + + colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut); + + m_resultOut->setBody0Wrap(tmpWrap0); + m_resultOut->setBody1Wrap(tmpWrap1); + + + + } + } +}; + + +static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a, + const btDbvtAabbMm& b, const btTransform& xform) +{ + btVector3 newmin,newmax; + btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax); + btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax); + return Intersect(a,newb); +} + + +static inline void MycollideTT( const btDbvtNode* root0, + const btDbvtNode* root1, + const btTransform& xform, + btCompoundCompoundLeafCallback* callback) +{ + + if(root0&&root1) + { + int depth=1; + int treshold=btDbvt::DOUBLE_STACKSIZE-4; + btAlignedObjectArray stkStack; + stkStack.resize(btDbvt::DOUBLE_STACKSIZE); + stkStack[0]=btDbvt::sStkNN(root0,root1); + do { + btDbvt::sStkNN p=stkStack[--depth]; + if(MyIntersect(p.a->volume,p.b->volume,xform)) + { + if(depth>treshold) + { + stkStack.resize(stkStack.size()*2); + treshold=stkStack.size()-4; + } + if(p.a->isinternal()) + { + if(p.b->isinternal()) + { + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]); + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]); + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]); + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]); + } + else + { + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b); + stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b); + } + } + else + { + if(p.b->isinternal()) + { + stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]); + stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]); + } + else + { + callback->Process(p.a,p.b); + } + } + } + } while(depth); + } +} + +void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + const btCollisionObjectWrapper* col0ObjWrap = body0Wrap; + const btCollisionObjectWrapper* col1ObjWrap= body1Wrap; + + btAssert (col0ObjWrap->getCollisionShape()->isCompound()); + btAssert (col1ObjWrap->getCollisionShape()->isCompound()); + const btCompoundShape* compoundShape0 = static_cast(col0ObjWrap->getCollisionShape()); + const btCompoundShape* compoundShape1 = static_cast(col1ObjWrap->getCollisionShape()); + + ///btCompoundShape might have changed: + ////make sure the internal child collision algorithm caches are still valid + if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1)) + { + ///clear all + removeChildAlgorithms(); + } + + + ///we need to refresh all contact manifolds + ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep + ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm + { + int i; + btManifoldArray manifoldArray; + btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); + for (i=0;igetAllContactManifolds(manifoldArray); + for (int m=0;mgetNumContacts()) + { + resultOut->setPersistentManifold(manifoldArray[m]); + resultOut->refreshContactPoints(); + resultOut->setPersistentManifold(0); + } + } + manifoldArray.resize(0); + } + } + } + + + const btDbvt* tree0 = compoundShape0->getDynamicAabbTree(); + const btDbvt* tree1 = compoundShape1->getDynamicAabbTree(); + + btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold); + + + const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform(); + MycollideTT(tree0->m_root,tree1->m_root,xform,&callback); + + //printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs); + + //remove non-overlapping child pairs + + { + btAssert(m_removePairs.size()==0); + + //iterate over all children, perform an AABB check inside ProcessChildShape + btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); + + int i; + btManifoldArray manifoldArray; + + + + + + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + + for (i=0;igetChildShape(pairs[i].m_indexA); + orgTrans0 = col0ObjWrap->getWorldTransform(); + orgInterpolationTrans0 = col0ObjWrap->getWorldTransform(); + const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA); + newChildWorldTrans0 = orgTrans0*childTrans0 ; + childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); + } + + { + btTransform orgInterpolationTrans1; + const btCollisionShape* childShape1 = 0; + btTransform orgTrans1; + btTransform newChildWorldTrans1; + + childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB); + orgTrans1 = col1ObjWrap->getWorldTransform(); + orgInterpolationTrans1 = col1ObjWrap->getWorldTransform(); + const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB); + newChildWorldTrans1 = orgTrans1*childTrans1 ; + childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); + } + + + + if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + algo->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algo); + m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB)); + } + } + } + for (int i=0;iremoveOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB); + } + m_removePairs.clear(); + } + +} + +btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btAssert(0); + return 0.f; + +} + + + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h new file mode 100644 index 00000000..7e2d7ad7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h @@ -0,0 +1,90 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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 BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H +#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h" +class btDispatcher; +class btCollisionObject; + +class btCollisionShape; +typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1); +extern btShapePairCallback gCompoundCompoundChildShapePairCallback; + +/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes +class btCompoundCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + + class btHashedSimplePairCache* m_childCollisionAlgorithmCache; + btSimplePairArray m_removePairs; + + class btPersistentManifold* m_sharedManifold; + bool m_ownsManifold; + + + int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated + int m_compoundShapeRevision1; + + void removeChildAlgorithms(); + +// void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + +public: + + btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + virtual ~btCompoundCompoundCollisionAlgorithm(); + + + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray); + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm)); + return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm)); + return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); + } + }; + +}; + +#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp new file mode 100644 index 00000000..4ec9ae71 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp @@ -0,0 +1,246 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btConvex2dConvex2dAlgorithm.h" + +//#include +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" + + +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" + +#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" + + + +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + +#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" + +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) +{ + m_numPerturbationIterations = 0; + m_minimumPointsPerturbationThreshold = 3; + m_simplexSolver = simplexSolver; + m_pdSolver = pdSolver; +} + +btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc() +{ +} + +btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_simplexSolver(simplexSolver), +m_pdSolver(pdSolver), +m_ownManifold (false), +m_manifoldPtr(mf), +m_lowLevelOfDetail(false), + m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) +{ + (void)body0Wrap; + (void)body1Wrap; +} + + + + +btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel) +{ + m_lowLevelOfDetail = useLowLevel; +} + + + +extern btScalar gContactBreakingThreshold; + + +// +// Convex-Convex collision algorithm +// +void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + if (!m_manifoldPtr) + { + //swapped? + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + m_ownManifold = true; + } + resultOut->setPersistentManifold(m_manifoldPtr); + + //comment-out next line to test multi-contact generation + //resultOut->getPersistentManifold()->clearManifold(); + + + const btConvexShape* min0 = static_cast(body0Wrap->getCollisionShape()); + const btConvexShape* min1 = static_cast(body1Wrap->getCollisionShape()); + + btVector3 normalOnB; + btVector3 pointOnBWorld; + + { + + + btGjkPairDetector::ClosestPointInput input; + + btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); + //TODO: if (dispatchInfo.m_useContinuous) + gjkPairDetector.setMinkowskiA(min0); + gjkPairDetector.setMinkowskiB(min1); + + { + input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); + input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; + } + + input.m_transformA = body0Wrap->getWorldTransform(); + input.m_transformB = body1Wrap->getWorldTransform(); + + gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + + btVector3 v0,v1; + btVector3 sepNormalWorldSpace; + + } + + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + +} + + + + +btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold + + ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold + ///col0->m_worldTransform, + btScalar resultFraction = btScalar(1.); + + + btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2(); + btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2(); + + if (squareMot0 < col0->getCcdSquareMotionThreshold() && + squareMot1 < col1->getCcdSquareMotionThreshold()) + return resultFraction; + + + //An adhoc way of testing the Continuous Collision Detection algorithms + //One object is approximated as a sphere, to simplify things + //Starting in penetration should report no time of impact + //For proper CCD, better accuracy and handling of 'allowed' penetration should be added + //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies) + + + /// Convex0 against sphere for Convex1 + { + btConvexShape* convex0 = static_cast(col0->getCollisionShape()); + + btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation + btConvexCast::CastResult result; + btVoronoiSimplexSolver voronoiSimplex; + //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); + ///Simplification, one object is simplified as a sphere + btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex); + //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); + if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), + col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) + { + + //store result.m_fraction in both bodies + + if (col0->getHitFraction()> result.m_fraction) + col0->setHitFraction( result.m_fraction ); + + if (col1->getHitFraction() > result.m_fraction) + col1->setHitFraction( result.m_fraction); + + if (resultFraction > result.m_fraction) + resultFraction = result.m_fraction; + + } + + + + + } + + /// Sphere (for convex0) against Convex1 + { + btConvexShape* convex1 = static_cast(col1->getCollisionShape()); + + btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation + btConvexCast::CastResult result; + btVoronoiSimplexSolver voronoiSimplex; + //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); + ///Simplification, one object is simplified as a sphere + btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex); + //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); + if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), + col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) + { + + //store result.m_fraction in both bodies + + if (col0->getHitFraction() > result.m_fraction) + col0->setHitFraction( result.m_fraction); + + if (col1->getHitFraction() > result.m_fraction) + col1->setHitFraction( result.m_fraction); + + if (resultFraction > result.m_fraction) + resultFraction = result.m_fraction; + + } + } + + return resultFraction; + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h new file mode 100644 index 00000000..18d9385a --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h @@ -0,0 +1,95 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H +#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil + +class btConvexPenetrationDepthSolver; + + +///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape +///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation +class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm +{ + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + +public: + + btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + + + virtual ~btConvex2dConvex2dAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + + void setLowLevelOfDetail(bool useLowLevel); + + + const btPersistentManifold* getManifold() + { + return m_manifoldPtr; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + + virtual ~CreateFunc(); + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm)); + return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + }; + + +}; + +#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp new file mode 100644 index 00000000..e23f5f7a --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -0,0 +1,335 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btConvexConcaveCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_isSwapped(isSwapped), +m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped) +{ +} + +btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm() +{ +} + +void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray) +{ + if (m_btConvexTriangleCallback.m_manifoldPtr) + { + manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr); + } +} + + +btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped): + m_dispatcher(dispatcher), + m_dispatchInfoPtr(0) +{ + m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap; + m_triBodyWrap = isSwapped? body0Wrap:body1Wrap; + + // + // create the manifold from the dispatcher 'manifold pool' + // + m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject()); + + clearCache(); +} + +btConvexTriangleCallback::~btConvexTriangleCallback() +{ + clearCache(); + m_dispatcher->releaseManifold( m_manifoldPtr ); + +} + + +void btConvexTriangleCallback::clearCache() +{ + m_dispatcher->clearManifold(m_manifoldPtr); +} + + +void btConvexTriangleCallback::processTriangle(btVector3* triangle,int +partId, int triangleIndex) +{ + + if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax)) + { + return; + } + + //just for debugging purposes + //printf("triangle %d",m_triangleCount++); + + const btCollisionObject* ob = const_cast(m_triBodyWrap->getCollisionObject()); + + btCollisionAlgorithmConstructionInfo ci; + ci.m_dispatcher1 = m_dispatcher; + + //const btCollisionObject* ob = static_cast(m_triBodyWrap->getCollisionObject()); + + + + +#if 0 + ///debug drawing of the overlapping triangles + if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe )) + { + btVector3 color(1,1,0); + btTransform& tr = ob->getWorldTransform(); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color); + } +#endif + + if (m_convexBodyWrap->getCollisionShape()->isConvex()) + { + btTriangleShape tm(triangle[0],triangle[1],triangle[2]); + tm.setMargin(m_collisionMarginTriangle); + + + btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform? + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr); + + const btCollisionObjectWrapper* tmpWrap = 0; + + if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject()) + { + tmpWrap = m_resultOut->getBody0Wrap(); + m_resultOut->setBody0Wrap(&triObWrap); + m_resultOut->setShapeIdentifiersA(partId,triangleIndex); + } + else + { + tmpWrap = m_resultOut->getBody1Wrap(); + m_resultOut->setBody1Wrap(&triObWrap); + m_resultOut->setShapeIdentifiersB(partId,triangleIndex); + } + + colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut); + + if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject()) + { + m_resultOut->setBody0Wrap(tmpWrap); + } else + { + m_resultOut->setBody1Wrap(tmpWrap); + } + + + + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + } + +} + + + +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) +{ + m_convexBodyWrap = convexBodyWrap; + m_triBodyWrap = triBodyWrap; + + m_dispatchInfoPtr = &dispatchInfo; + m_collisionMarginTriangle = collisionMarginTriangle; + m_resultOut = resultOut; + + //recalc aabbs + btTransform convexInTriangleSpace; + convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform(); + const btCollisionShape* convexShape = static_cast(m_convexBodyWrap->getCollisionShape()); + //CollisionShape* triangleShape = static_cast(triBody->m_collisionShape); + convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); + btScalar extraMargin = collisionMarginTriangle; + btVector3 extra(extraMargin,extraMargin,extraMargin); + + m_aabbMax += extra; + m_aabbMin -= extra; + +} + +void btConvexConcaveCollisionAlgorithm::clearCache() +{ + m_btConvexTriangleCallback.clearCache(); + +} + +void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + + const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap; + + if (triBodyWrap->getCollisionShape()->isConcave()) + { + + + + const btConcaveShape* concaveShape = static_cast( triBodyWrap->getCollisionShape()); + + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); + + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); + + m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); + + concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + + resultOut->refreshContactPoints(); + + m_btConvexTriangleCallback.clearWrapperData(); + + } + + } + +} + + +btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + btCollisionObject* convexbody = m_isSwapped ? body1 : body0; + btCollisionObject* triBody = m_isSwapped ? body0 : body1; + + + //quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast) + + //only perform CCD above a certain threshold, this prevents blocking on the long run + //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame... + btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); + if (squareMot0 < convexbody->getCcdSquareMotionThreshold()) + { + return btScalar(1.); + } + + //const btVector3& from = convexbody->m_worldTransform.getOrigin(); + //btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin(); + //todo: only do if the motion exceeds the 'radius' + + btTransform triInv = triBody->getWorldTransform().inverse(); + btTransform convexFromLocal = triInv * convexbody->getWorldTransform(); + btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform(); + + struct LocalTriangleSphereCastCallback : public btTriangleCallback + { + btTransform m_ccdSphereFromTrans; + btTransform m_ccdSphereToTrans; + btTransform m_meshTransform; + + btScalar m_ccdSphereRadius; + btScalar m_hitFraction; + + + LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) + :m_ccdSphereFromTrans(from), + m_ccdSphereToTrans(to), + m_ccdSphereRadius(ccdSphereRadius), + m_hitFraction(hitFraction) + { + } + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + //do a swept sphere for now + btTransform ident; + ident.setIdentity(); + btConvexCast::CastResult castResult; + castResult.m_fraction = m_hitFraction; + btSphereShape pointShape(m_ccdSphereRadius); + btTriangleShape triShape(triangle[0],triangle[1],triangle[2]); + btVoronoiSimplexSolver simplexSolver; + btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver); + //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); + //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); + //local space? + + if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans, + ident,ident,castResult)) + { + if (m_hitFraction > castResult.m_fraction) + m_hitFraction = castResult.m_fraction; + } + + } + + }; + + + + + + if (triBody->getCollisionShape()->isConcave()) + { + btVector3 rayAabbMin = convexFromLocal.getOrigin(); + rayAabbMin.setMin(convexToLocal.getOrigin()); + btVector3 rayAabbMax = convexFromLocal.getOrigin(); + rayAabbMax.setMax(convexToLocal.getOrigin()); + btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius(); + rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + + btScalar curHitFraction = btScalar(1.); //is this available? + LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal, + convexbody->getCcdSweptSphereRadius(),curHitFraction); + + raycastCallback.m_hitFraction = convexbody->getHitFraction(); + + btCollisionObject* concavebody = triBody; + + btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape(); + + if (triangleMesh) + { + triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax); + } + + + + if (raycastCallback.m_hitFraction < convexbody->getHitFraction()) + { + convexbody->setHitFraction( raycastCallback.m_hitFraction); + return raycastCallback.m_hitFraction; + } + } + + return btScalar(1.); + +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h new file mode 100644 index 00000000..e90d06eb --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H +#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "btCollisionCreateFunc.h" + +///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. +class btConvexTriangleCallback : public btTriangleCallback +{ + const btCollisionObjectWrapper* m_convexBodyWrap; + const btCollisionObjectWrapper* m_triBodyWrap; + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + + btManifoldResult* m_resultOut; + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + +public: +int m_triangleCount; + + btPersistentManifold* m_manifoldPtr; + + btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut); + + void clearWrapperData() + { + m_convexBodyWrap = 0; + m_triBodyWrap = 0; + } + virtual ~btConvexTriangleCallback(); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + void clearCache(); + + SIMD_FORCE_INLINE const btVector3& getAabbMin() const + { + return m_aabbMin; + } + SIMD_FORCE_INLINE const btVector3& getAabbMax() const + { + return m_aabbMax; + } + +}; + + + + +/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. +class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + + bool m_isSwapped; + + btConvexTriangleCallback m_btConvexTriangleCallback; + + + +public: + + btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + virtual ~btConvexConcaveCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray); + + void clearCache(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); + return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); + } + }; + +}; + +#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp new file mode 100644 index 00000000..7f2722aa --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -0,0 +1,783 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance +///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums +///with reproduction case +//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1 +//#define ZERO_MARGIN + +#include "btConvexConvexAlgorithm.h" + +//#include +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" + + + +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" + +#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" + + + +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + +#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" + +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +/////////// + + + +static SIMD_FORCE_INLINE void segmentsClosestPoints( + btVector3& ptsVector, + btVector3& offsetA, + btVector3& offsetB, + btScalar& tA, btScalar& tB, + const btVector3& translation, + const btVector3& dirA, btScalar hlenA, + const btVector3& dirB, btScalar hlenB ) +{ + // compute the parameters of the closest points on each line segment + + btScalar dirA_dot_dirB = btDot(dirA,dirB); + btScalar dirA_dot_trans = btDot(dirA,translation); + btScalar dirB_dot_trans = btDot(dirB,translation); + + btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB; + + if ( denom == 0.0f ) { + tA = 0.0f; + } else { + tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom; + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + tB = tA * dirA_dot_dirB - dirB_dot_trans; + + if ( tB < -hlenB ) { + tB = -hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } else if ( tB > hlenB ) { + tB = hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + // compute the closest points relative to segment centers. + + offsetA = dirA * tA; + offsetB = dirB * tB; + + ptsVector = translation - offsetA + offsetB; +} + + +static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance( + btVector3& normalOnB, + btVector3& pointOnB, + btScalar capsuleLengthA, + btScalar capsuleRadiusA, + btScalar capsuleLengthB, + btScalar capsuleRadiusB, + int capsuleAxisA, + int capsuleAxisB, + const btTransform& transformA, + const btTransform& transformB, + btScalar distanceThreshold ) +{ + btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA); + btVector3 translationA = transformA.getOrigin(); + btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB); + btVector3 translationB = transformB.getOrigin(); + + // translation between centers + + btVector3 translation = translationB - translationA; + + // compute the closest points of the capsule line segments + + btVector3 ptsVector; // the vector between the closest points + + btVector3 offsetA, offsetB; // offsets from segment centers to their closest points + btScalar tA, tB; // parameters on line segment + + segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation, + directionA, capsuleLengthA, directionB, capsuleLengthB ); + + btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB; + + if ( distance > distanceThreshold ) + return distance; + + btScalar lenSqr = ptsVector.length2(); + if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON)) + { + //degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA' + btVector3 q; + btPlaneSpace1(directionA,normalOnB,q); + } else + { + // compute the contact normal + normalOnB = ptsVector*-btRecipSqrt(lenSqr); + } + pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB; + + return distance; +} + + + + + + + +////////// + + + + + +btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) +{ + m_numPerturbationIterations = 0; + m_minimumPointsPerturbationThreshold = 3; + m_simplexSolver = simplexSolver; + m_pdSolver = pdSolver; +} + +btConvexConvexAlgorithm::CreateFunc::~CreateFunc() +{ +} + +btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_simplexSolver(simplexSolver), +m_pdSolver(pdSolver), +m_ownManifold (false), +m_manifoldPtr(mf), +m_lowLevelOfDetail(false), +#ifdef USE_SEPDISTANCE_UTIL2 +m_sepDistance((static_cast(body0->getCollisionShape()))->getAngularMotionDisc(), + (static_cast(body1->getCollisionShape()))->getAngularMotionDisc()), +#endif +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) +{ + (void)body0Wrap; + (void)body1Wrap; +} + + + + +btConvexConvexAlgorithm::~btConvexConvexAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel) +{ + m_lowLevelOfDetail = useLowLevel; +} + + +struct btPerturbedContactResult : public btManifoldResult +{ + btManifoldResult* m_originalManifoldResult; + btTransform m_transformA; + btTransform m_transformB; + btTransform m_unPerturbedTransform; + bool m_perturbA; + btIDebugDraw* m_debugDrawer; + + + btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer) + :m_originalManifoldResult(originalResult), + m_transformA(transformA), + m_transformB(transformB), + m_unPerturbedTransform(unPerturbedTransform), + m_perturbA(perturbA), + m_debugDrawer(debugDrawer) + { + } + virtual ~ btPerturbedContactResult() + { + } + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth) + { + btVector3 endPt,startPt; + btScalar newDepth; + btVector3 newNormal; + + if (m_perturbA) + { + btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; + endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); + newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); + startPt = endPt+normalOnBInWorld*newDepth; + } else + { + endPt = pointInWorld + normalOnBInWorld*orgDepth; + startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld); + newDepth = (endPt - startPt).dot(normalOnBInWorld); + + } + +//#define DEBUG_CONTACTS 1 +#ifdef DEBUG_CONTACTS + m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0)); + m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0)); + m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1)); +#endif //DEBUG_CONTACTS + + + m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth); + } + +}; + +extern btScalar gContactBreakingThreshold; + + +// +// Convex-Convex collision algorithm +// +void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + if (!m_manifoldPtr) + { + //swapped? + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + m_ownManifold = true; + } + resultOut->setPersistentManifold(m_manifoldPtr); + + //comment-out next line to test multi-contact generation + //resultOut->getPersistentManifold()->clearManifold(); + + + const btConvexShape* min0 = static_cast(body0Wrap->getCollisionShape()); + const btConvexShape* min1 = static_cast(body1Wrap->getCollisionShape()); + + btVector3 normalOnB; + btVector3 pointOnBWorld; +#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER + if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE)) + { + btCapsuleShape* capsuleA = (btCapsuleShape*) min0; + btCapsuleShape* capsuleB = (btCapsuleShape*) min1; + // btVector3 localScalingA = capsuleA->getLocalScaling(); + // btVector3 localScalingB = capsuleB->getLocalScaling(); + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(), + capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(), + body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold); + + if (dist=(SIMD_EPSILON*SIMD_EPSILON)); + resultOut->addContactPoint(normalOnB,pointOnBWorld,dist); + } + resultOut->refreshContactPoints(); + return; + } +#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER + + + + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform()); + } + + if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f) +#endif //USE_SEPDISTANCE_UTIL2 + + { + + + btGjkPairDetector::ClosestPointInput input; + + btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); + //TODO: if (dispatchInfo.m_useContinuous) + gjkPairDetector.setMinkowskiA(min0); + gjkPairDetector.setMinkowskiB(min1); + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + input.m_maximumDistanceSquared = BT_LARGE_FLOAT; + } else +#endif //USE_SEPDISTANCE_UTIL2 + { + //if (dispatchInfo.m_convexMaxDistanceUseCPT) + //{ + // input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold(); + //} else + //{ + input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); +// } + + input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; + } + + input.m_transformA = body0Wrap->getWorldTransform(); + input.m_transformB = body1Wrap->getWorldTransform(); + + + + + +#ifdef USE_SEPDISTANCE_UTIL2 + btScalar sepDist = 0.f; + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + sepDist = gjkPairDetector.getCachedSeparatingDistance(); + if (sepDist>SIMD_EPSILON) + { + sepDist += dispatchInfo.m_convexConservativeDistanceThreshold; + //now perturbe directions to get multiple contact points + + } + } +#endif //USE_SEPDISTANCE_UTIL2 + + if (min0->isPolyhedral() && min1->isPolyhedral()) + { + + + struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result + { + virtual void setShapeIdentifiersA(int partId0,int index0){} + virtual void setShapeIdentifiersB(int partId1,int index1){} + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + } + }; + + + struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result + { + btDiscreteCollisionDetectorInterface::Result* m_originalResult; + btVector3 m_reportedNormalOnWorld; + btScalar m_marginOnA; + btScalar m_marginOnB; + btScalar m_reportedDistance; + + bool m_foundResult; + btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB) + :m_originalResult(result), + m_marginOnA(marginOnA), + m_marginOnB(marginOnB), + m_foundResult(false) + { + } + + virtual void setShapeIdentifiersA(int partId0,int index0){} + virtual void setShapeIdentifiersB(int partId1,int index1){} + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg) + { + m_reportedDistance = depthOrg; + m_reportedNormalOnWorld = normalOnBInWorld; + + btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB; + m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB); + if (m_reportedDistance<0.f) + { + m_foundResult = true; + } + m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance); + } + }; + + + btDummyResult dummy; + +///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it + + btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin(); + btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin(); + + btWithoutMarginResult withoutMargin(resultOut, min0Margin,min1Margin); + + btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0; + btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1; + if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron()) + { + + + + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btScalar minDist = -1e30f; + btVector3 sepNormalWorldSpace; + bool foundSepAxis = true; + + if (dispatchInfo.m_enableSatConvex) + { + foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis( + *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), + body1Wrap->getWorldTransform(), + sepNormalWorldSpace,*resultOut); + } else + { +#ifdef ZERO_MARGIN + gjkPairDetector.setIgnoreMargin(true); + gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); +#else + + + gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw); + //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); +#endif //ZERO_MARGIN + //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + //if (l2>SIMD_EPSILON) + { + sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); + //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance(); + minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin(); + +#ifdef ZERO_MARGIN + foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f; +#else + foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin()); +#endif + } + } + if (foundSepAxis) + { + +// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ()); + + btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), + body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut); + + } + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + return; + + } else + { + //we can also deal with convex versus triangle (without connectivity data) + if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE) + { + + btVertexArray vertices; + btTriangleShape* tri = (btTriangleShape*)polyhedronB; + vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]); + vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]); + vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]); + + //tri->initializePolyhedralFeatures(); + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btVector3 sepNormalWorldSpace; + btScalar minDist =-1e30f; + btScalar maxDist = threshold; + + bool foundSepAxis = false; + if (0) + { + polyhedronB->initializePolyhedralFeatures(); + foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis( + *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), + body1Wrap->getWorldTransform(), + sepNormalWorldSpace,*resultOut); + // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ()); + + } else + { +#ifdef ZERO_MARGIN + gjkPairDetector.setIgnoreMargin(true); + gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); +#else + gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); +#endif//ZERO_MARGIN + + btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + if (l2>SIMD_EPSILON) + { + sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); + //minDist = gjkPairDetector.getCachedSeparatingDistance(); + //maxDist = threshold; + minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin(); + foundSepAxis = true; + } + } + + + if (foundSepAxis) + { + btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut); + } + + + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + + return; + } + + } + + + } + + gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + + //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects + + //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points + if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold) + { + + int i; + btVector3 v0,v1; + btVector3 sepNormalWorldSpace; + btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); + + if (l2>SIMD_EPSILON) + { + sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2); + + btPlaneSpace1(sepNormalWorldSpace,v0,v1); + + + bool perturbeA = true; + const btScalar angleLimit = 0.125f * SIMD_PI; + btScalar perturbeAngle; + btScalar radiusA = min0->getAngularMotionDisc(); + btScalar radiusB = min1->getAngularMotionDisc(); + if (radiusA < radiusB) + { + perturbeAngle = gContactBreakingThreshold /radiusA; + perturbeA = true; + } else + { + perturbeAngle = gContactBreakingThreshold / radiusB; + perturbeA = false; + } + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btTransform unPerturbedTransform; + if (perturbeA) + { + unPerturbedTransform = input.m_transformA; + } else + { + unPerturbedTransform = input.m_transformB; + } + + for ( i=0;iSIMD_EPSILON) + { + btQuaternion perturbeRot(v0,perturbeAngle); + btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); + btQuaternion rotq(sepNormalWorldSpace,iterationAngle); + + + if (perturbeA) + { + input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis()); + input.m_transformB = body1Wrap->getWorldTransform(); + #ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0); + #endif //DEBUG_CONTACTS + } else + { + input.m_transformA = body0Wrap->getWorldTransform(); + input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis()); + #ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0); + #endif + } + + btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw); + gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw); + } + } + } + } + + + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON)) + { + m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform()); + } +#endif //USE_SEPDISTANCE_UTIL2 + + + } + + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + +} + + + +bool disableCcd = false; +btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold + + ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold + ///col0->m_worldTransform, + btScalar resultFraction = btScalar(1.); + + + btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2(); + btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2(); + + if (squareMot0 < col0->getCcdSquareMotionThreshold() && + squareMot1 < col1->getCcdSquareMotionThreshold()) + return resultFraction; + + if (disableCcd) + return btScalar(1.); + + + //An adhoc way of testing the Continuous Collision Detection algorithms + //One object is approximated as a sphere, to simplify things + //Starting in penetration should report no time of impact + //For proper CCD, better accuracy and handling of 'allowed' penetration should be added + //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies) + + + /// Convex0 against sphere for Convex1 + { + btConvexShape* convex0 = static_cast(col0->getCollisionShape()); + + btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation + btConvexCast::CastResult result; + btVoronoiSimplexSolver voronoiSimplex; + //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); + ///Simplification, one object is simplified as a sphere + btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex); + //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); + if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), + col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) + { + + //store result.m_fraction in both bodies + + if (col0->getHitFraction()> result.m_fraction) + col0->setHitFraction( result.m_fraction ); + + if (col1->getHitFraction() > result.m_fraction) + col1->setHitFraction( result.m_fraction); + + if (resultFraction > result.m_fraction) + resultFraction = result.m_fraction; + + } + + + + + } + + /// Sphere (for convex0) against Convex1 + { + btConvexShape* convex1 = static_cast(col1->getCollisionShape()); + + btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation + btConvexCast::CastResult result; + btVoronoiSimplexSolver voronoiSimplex; + //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); + ///Simplification, one object is simplified as a sphere + btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex); + //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); + if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), + col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) + { + + //store result.m_fraction in both bodies + + if (col0->getHitFraction() > result.m_fraction) + col0->setHitFraction( result.m_fraction); + + if (col1->getHitFraction() > result.m_fraction) + col1->setHitFraction( result.m_fraction); + + if (resultFraction > result.m_fraction) + resultFraction = result.m_fraction; + + } + } + + return resultFraction; + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h new file mode 100644 index 00000000..51db0c65 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -0,0 +1,108 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_CONVEX_ALGORITHM_H +#define BT_CONVEX_CONVEX_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil + +class btConvexPenetrationDepthSolver; + +///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise +///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. +///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util +///for certain pairs that have a small size ratio + +//#define USE_SEPDISTANCE_UTIL2 1 + +///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. +///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. +///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 +class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm +{ +#ifdef USE_SEPDISTANCE_UTIL2 + btConvexSeparatingDistanceUtil m_sepDistance; +#endif + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + + ///cache separating vector to speedup collision detection + + +public: + + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + + virtual ~btConvexConvexAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + + void setLowLevelOfDetail(bool useLowLevel); + + + const btPersistentManifold* getManifold() + { + return m_manifoldPtr; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + + virtual ~CreateFunc(); + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + }; + + +}; + +#endif //BT_CONVEX_CONVEX_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp new file mode 100644 index 00000000..cce2d95b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -0,0 +1,174 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btConvexPlaneCollisionAlgorithm.h" + +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +//#include + +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) +: btCollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf), +m_isSwapped(isSwapped), +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) +{ + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap; + + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject())) + { + m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()); + m_ownManifold = true; + } +} + + +btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap; + + btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + btTransform convexWorldTransform = convexObjWrap->getWorldTransform(); + btTransform convexInPlaneTrans; + convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform; + //now perturbe the convex-world transform + convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot); + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform(); + + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected; + + hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); + resultOut->setPersistentManifold(m_manifoldPtr); + if (hasCollision) + { + /// report a contact. internally this will be kept persistent, and contact reduction is done + btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; + btVector3 pOnB = vtxInPlaneWorld; + resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); + } +} + + +void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + if (!m_manifoldPtr) + return; + + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap; + + btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + btTransform planeInConvex; + planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform(); + btTransform convexInPlaneTrans; + convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform(); + + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected; + + hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); + resultOut->setPersistentManifold(m_manifoldPtr); + if (hasCollision) + { + /// report a contact. internally this will be kept persistent, and contact reduction is done + btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; + btVector3 pOnB = vtxInPlaneWorld; + resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); + } + + //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones: + //they keep on rolling forever because of the additional off-center contact points + //so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc) + if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()getAngularMotionDisc(); + perturbeAngle = gContactBreakingThreshold / radius; + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btQuaternion perturbeRot(v0,perturbeAngle); + for (int i=0;igetNumContacts()) + { + resultOut->refreshContactPoints(); + } + } +} + +btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h new file mode 100644 index 00000000..d28c430c --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_PLANE_COLLISION_ALGORITHM_H +#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" + +/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_isSwapped; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + +public: + + btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold); + + virtual ~btConvexPlaneCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc() + : m_numPerturbationIterations(1), + m_minimumPointsPerturbationThreshold(0) + { + } + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } else + { + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + } + }; + +}; + +#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp new file mode 100644 index 00000000..c3cacec4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -0,0 +1,307 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btDefaultCollisionConfiguration.h" + +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h" + +#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM +#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM +#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" + + + +#include "LinearMath/btPoolAllocator.h" + + + + + +btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) +//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) +{ + + void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16); + m_simplexSolver = new (mem)btVoronoiSimplexSolver(); + + if (constructionInfo.m_useEpaPenetrationAlgorithm) + { + mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16); + m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver; + }else + { + mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16); + m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver; + } + + //default CreationFunctions, filling the m_doubleDispatch table + mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16); + m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver); + mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); + m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc; + mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); + m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc; + mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16); + m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16); + m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16); + m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc; + mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16); + m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16); + m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc; +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM + mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16); + m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc; + mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16); + m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc; + m_boxSphereCF->m_swapped = true; +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM + + mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16); + m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc; + mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16); + m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc; + m_triangleSphereCF->m_swapped = true; + + mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16); + m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc; + + //convex versus plane + mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16); + m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; + mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16); + m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; + m_planeConvexCF->m_swapped = true; + + ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool + int maxSize = sizeof(btConvexConvexAlgorithm); + int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm); + int maxSize3 = sizeof(btCompoundCollisionAlgorithm); + int sl = sizeof(btConvexSeparatingDistanceUtil); + sl = sizeof(btGjkPairDetector); + int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize); + collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); + collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3); + + + if (constructionInfo.m_persistentManifoldPool) + { + m_ownsPersistentManifoldPool = false; + m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool; + } else + { + m_ownsPersistentManifoldPool = true; + void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); + m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize); + } + + if (constructionInfo.m_collisionAlgorithmPool) + { + m_ownsCollisionAlgorithmPool = false; + m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool; + } else + { + m_ownsCollisionAlgorithmPool = true; + void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); + m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); + } + + +} + +btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() +{ + if (m_ownsCollisionAlgorithmPool) + { + m_collisionAlgorithmPool->~btPoolAllocator(); + btAlignedFree(m_collisionAlgorithmPool); + } + if (m_ownsPersistentManifoldPool) + { + m_persistentManifoldPool->~btPoolAllocator(); + btAlignedFree(m_persistentManifoldPool); + } + + m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_convexConvexCreateFunc); + + m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_convexConcaveCreateFunc); + m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedConvexConcaveCreateFunc); + + m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_compoundCreateFunc); + + m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree(m_compoundCompoundCreateFunc); + + m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedCompoundCreateFunc); + + m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_emptyCreateFunc); + + m_sphereSphereCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_sphereSphereCF); + +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM + m_sphereBoxCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_sphereBoxCF); + m_boxSphereCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_boxSphereCF); +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM + + m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_sphereTriangleCF); + m_triangleSphereCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_triangleSphereCF); + m_boxBoxCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_boxBoxCF); + + m_convexPlaneCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_convexPlaneCF); + m_planeConvexCF->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_planeConvexCF); + + m_simplexSolver->~btVoronoiSimplexSolver(); + btAlignedFree(m_simplexSolver); + + m_pdSolver->~btConvexPenetrationDepthSolver(); + + btAlignedFree(m_pdSolver); + + +} + + +btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) +{ + + + + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) + { + return m_sphereSphereCF; + } +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE)) + { + return m_sphereBoxCF; + } + + if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) + { + return m_boxSphereCF; + } +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM + + + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE)) + { + return m_sphereTriangleCF; + } + + if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) + { + return m_triangleSphereCF; + } + + if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) + { + return m_boxBoxCF; + } + + if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) + { + return m_convexPlaneCF; + } + + if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE)) + { + return m_planeConvexCF; + } + + + + if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) + { + return m_convexConvexCreateFunc; + } + + if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) + { + return m_convexConcaveCreateFunc; + } + + if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) + { + return m_swappedConvexConcaveCreateFunc; + } + + + if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1)) + { + return m_compoundCompoundCreateFunc; + } + + if (btBroadphaseProxy::isCompound(proxyType0)) + { + return m_compoundCreateFunc; + } else + { + if (btBroadphaseProxy::isCompound(proxyType1)) + { + return m_swappedCompoundCreateFunc; + } + } + + //failed to find an algorithm + return m_emptyCreateFunc; +} + +void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) +{ + btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc; + convexConvex->m_numPerturbationIterations = numPerturbationIterations; + convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; +} + +void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) +{ + btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF; + cpCF->m_numPerturbationIterations = numPerturbationIterations; + cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; + + btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF; + pcCF->m_numPerturbationIterations = numPerturbationIterations; + pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h new file mode 100644 index 00000000..2078420e --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -0,0 +1,127 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_DEFAULT_COLLISION_CONFIGURATION +#define BT_DEFAULT_COLLISION_CONFIGURATION + +#include "btCollisionConfiguration.h" +class btVoronoiSimplexSolver; +class btConvexPenetrationDepthSolver; + +struct btDefaultCollisionConstructionInfo +{ + btPoolAllocator* m_persistentManifoldPool; + btPoolAllocator* m_collisionAlgorithmPool; + int m_defaultMaxPersistentManifoldPoolSize; + int m_defaultMaxCollisionAlgorithmPoolSize; + int m_customCollisionAlgorithmMaxElementSize; + int m_useEpaPenetrationAlgorithm; + + btDefaultCollisionConstructionInfo() + :m_persistentManifoldPool(0), + m_collisionAlgorithmPool(0), + m_defaultMaxPersistentManifoldPoolSize(4096), + m_defaultMaxCollisionAlgorithmPoolSize(4096), + m_customCollisionAlgorithmMaxElementSize(0), + m_useEpaPenetrationAlgorithm(true) + { + } +}; + + + +///btCollisionConfiguration allows to configure Bullet collision detection +///stack allocator, pool memory allocators +///@todo: describe the meaning +class btDefaultCollisionConfiguration : public btCollisionConfiguration +{ + +protected: + + int m_persistentManifoldPoolSize; + + + btPoolAllocator* m_persistentManifoldPool; + bool m_ownsPersistentManifoldPool; + + + btPoolAllocator* m_collisionAlgorithmPool; + bool m_ownsCollisionAlgorithmPool; + + //default simplex/penetration depth solvers + btVoronoiSimplexSolver* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + //default CreationFunctions, filling the m_doubleDispatch table + btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_compoundCreateFunc; + btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc; + + btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc; + btCollisionAlgorithmCreateFunc* m_emptyCreateFunc; + btCollisionAlgorithmCreateFunc* m_sphereSphereCF; + btCollisionAlgorithmCreateFunc* m_sphereBoxCF; + btCollisionAlgorithmCreateFunc* m_boxSphereCF; + + btCollisionAlgorithmCreateFunc* m_boxBoxCF; + btCollisionAlgorithmCreateFunc* m_sphereTriangleCF; + btCollisionAlgorithmCreateFunc* m_triangleSphereCF; + btCollisionAlgorithmCreateFunc* m_planeConvexCF; + btCollisionAlgorithmCreateFunc* m_convexPlaneCF; + +public: + + + btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); + + virtual ~btDefaultCollisionConfiguration(); + + ///memory pools + virtual btPoolAllocator* getPersistentManifoldPool() + { + return m_persistentManifoldPool; + } + + virtual btPoolAllocator* getCollisionAlgorithmPool() + { + return m_collisionAlgorithmPool; + } + + + virtual btVoronoiSimplexSolver* getSimplexSolver() + { + return m_simplexSolver; + } + + + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + + ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. + ///By default, this feature is disabled for best performance. + ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature. + ///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled + ///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. + ///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points. + ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection. + void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); + + void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); + +}; + +#endif //BT_DEFAULT_COLLISION_CONFIGURATION + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp new file mode 100644 index 00000000..5fa1c8be --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp @@ -0,0 +1,34 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btEmptyCollisionAlgorithm.h" + + + +btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btCollisionAlgorithm(ci) +{ +} + +void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* ) +{ +} + +btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* ) +{ + return btScalar(1.); +} + + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h new file mode 100644 index 00000000..cb0f1521 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h @@ -0,0 +1,54 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_EMPTY_ALGORITH +#define BT_EMPTY_ALGORITH +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" + +#define ATTRIBUTE_ALIGNED(a) + +///EmptyAlgorithm is a stub for unsupported collision pairs. +///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame. +class btEmptyAlgorithm : public btCollisionAlgorithm +{ + +public: + + btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + (void)body0Wrap; + (void)body1Wrap; + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm)); + return new(mem) btEmptyAlgorithm(ci); + } + }; + +} ATTRIBUTE_ALIGNED(16); + +#endif //BT_EMPTY_ALGORITH diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.cpp new file mode 100644 index 00000000..86141fa6 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.cpp @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "btGhostObject.h" +#include "btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "LinearMath/btAabbUtil2.h" + +btGhostObject::btGhostObject() +{ + m_internalType = CO_GHOST_OBJECT; +} + +btGhostObject::~btGhostObject() +{ + ///btGhostObject should have been removed from the world, so no overlapping objects + btAssert(!m_overlappingObjects.size()); +} + + +void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + ///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index==m_overlappingObjects.size()) + { + //not found + m_overlappingObjects.push_back(otherObject); + } +} + +void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index~btHashedOverlappingPairCache(); + btAlignedFree( m_hashPairCache ); +} + +void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) +{ + btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle(); + btAssert(actualThisProxy); + + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index==m_overlappingObjects.size()) + { + m_overlappingObjects.push_back(otherObject); + m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy); + } +} + +void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle(); + btAssert(actualThisProxy); + + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (indexremoveOverlappingPair(actualThisProxy,otherProxy,dispatcher); + } +} + + +void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const +{ + btTransform convexFromTrans,convexToTrans; + convexFromTrans = convexFromWorld; + convexToTrans = convexToWorld; + btVector3 castShapeAabbMin, castShapeAabbMax; + /* Compute AABB that encompasses angular movement */ + { + btVector3 linVel, angVel; + btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btTransform R; + R.setIdentity (); + R.setRotation (convexFromTrans.getRotation()); + castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + } + + /// go over all objects, and if the ray intersects their aabb + cast shape aabb, + // do a ray-shape query using convexCaster (CCD) + int i; + for (i=0;igetBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); + AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + allowedCcdPenetration); + } + } + } + +} + +void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const +{ + btTransform rayFromTrans; + rayFromTrans.setIdentity(); + rayFromTrans.setOrigin(rayFromWorld); + btTransform rayToTrans; + rayToTrans.setIdentity(); + rayToTrans.setOrigin(rayToWorld); + + + int i; + for (i=0;igetBroadphaseHandle())) + { + btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback); + } + } +} + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.h new file mode 100644 index 00000000..8ec86138 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btGhostObject.h @@ -0,0 +1,175 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 BT_GHOST_OBJECT_H +#define BT_GHOST_OBJECT_H + + +#include "btCollisionObject.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h" +#include "LinearMath/btAlignedAllocator.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "btCollisionWorld.h" + +class btConvexShape; + +class btDispatcher; + +///The btGhostObject can keep track of all objects that are overlapping +///By default, this overlap is based on the AABB +///This is useful for creating a character controller, collision sensors/triggers, explosions etc. +///We plan on adding rayTest and other queries for the btGhostObject +ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject +{ +protected: + + btAlignedObjectArray m_overlappingObjects; + +public: + + btGhostObject(); + + virtual ~btGhostObject(); + + void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const; + + void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + ///this method is mainly for expert/internal use only. + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + int getNumOverlappingObjects() const + { + return m_overlappingObjects.size(); + } + + btCollisionObject* getOverlappingObject(int index) + { + return m_overlappingObjects[index]; + } + + const btCollisionObject* getOverlappingObject(int index) const + { + return m_overlappingObjects[index]; + } + + btAlignedObjectArray& getOverlappingPairs() + { + return m_overlappingObjects; + } + + const btAlignedObjectArray getOverlappingPairs() const + { + return m_overlappingObjects; + } + + // + // internal cast + // + + static const btGhostObject* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (const btGhostObject*)colObj; + return 0; + } + static btGhostObject* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (btGhostObject*)colObj; + return 0; + } + +}; + +class btPairCachingGhostObject : public btGhostObject +{ + btHashedOverlappingPairCache* m_hashPairCache; + +public: + + btPairCachingGhostObject(); + + virtual ~btPairCachingGhostObject(); + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + btHashedOverlappingPairCache* getOverlappingPairCache() + { + return m_hashPairCache; + } + +}; + + + +///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject. +class btGhostPairCallback : public btOverlappingPairCallback +{ + +public: + btGhostPairCallback() + { + } + + virtual ~btGhostPairCallback() + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->addOverlappingObjectInternal(proxy1, proxy0); + if (ghost1) + ghost1->addOverlappingObjectInternal(proxy0, proxy1); + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0); + if (ghost1) + ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1); + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + { + btAssert(0); + //need to keep track of all ghost objects and call them here + //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher); + } + + + +}; + +#endif + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp new file mode 100644 index 00000000..cfcca565 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp @@ -0,0 +1,278 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btHashedSimplePairCache.h" + + +#include + +int gOverlappingSimplePairs = 0; +int gRemoveSimplePairs =0; +int gAddedSimplePairs =0; +int gFindSimplePairs =0; + + + + +btHashedSimplePairCache::btHashedSimplePairCache(): + m_blockedForChanges(false) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); + growTables(); +} + + + + +btHashedSimplePairCache::~btHashedSimplePairCache() +{ +} + + + + + + +void btHashedSimplePairCache::removeAllPairs() +{ + m_overlappingPairArray.clear(); + m_hashTable.clear(); + m_next.clear(); + + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); + growTables(); +} + + + +btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB) +{ + gFindSimplePairs++; + + + /*if (indexA > indexB) + btSwap(indexA, indexB);*/ + + int hash = static_cast(getHash(static_cast(indexA), static_cast(indexB)) & (m_overlappingPairArray.capacity()-1)); + + if (hash >= m_hashTable.size()) + { + return NULL; + } + + int index = m_hashTable[hash]; + while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false) + { + index = m_next[index]; + } + + if (index == BT_SIMPLE_NULL_PAIR) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; +} + +//#include + +void btHashedSimplePairCache::growTables() +{ + + int newCapacity = m_overlappingPairArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_SIMPLE_NULL_PAIR; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_SIMPLE_NULL_PAIR; + } + + for(i=0;i(getHash(static_cast(indexA),static_cast(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + m_next[i] = m_hashTable[hashValue]; + m_hashTable[hashValue] = i; + } + + + } +} + +btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB) +{ + + int hash = static_cast(getHash(static_cast(indexA),static_cast(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + + + btSimplePair* pair = internalFindPair(indexA, indexB, hash); + if (pair != NULL) + { + return pair; + } + + int count = m_overlappingPairArray.size(); + int oldCapacity = m_overlappingPairArray.capacity(); + void* mem = &m_overlappingPairArray.expandNonInitializing(); + + int newCapacity = m_overlappingPairArray.capacity(); + + if (oldCapacity < newCapacity) + { + growTables(); + //hash with new capacity + hash = static_cast(getHash(static_cast(indexA),static_cast(indexB)) & (m_overlappingPairArray.capacity()-1)); + } + + pair = new (mem) btSimplePair(indexA,indexB); + + pair->m_userPointer = 0; + + m_next[count] = m_hashTable[hash]; + m_hashTable[hash] = count; + + return pair; +} + + + +void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB) +{ + gRemoveSimplePairs++; + + + /*if (indexA > indexB) + btSwap(indexA, indexB);*/ + + int hash = static_cast(getHash(static_cast(indexA),static_cast(indexB)) & (m_overlappingPairArray.capacity()-1)); + + btSimplePair* pair = internalFindPair(indexA, indexB, hash); + if (pair == NULL) + { + return 0; + } + + + void* userData = pair->m_userPointer; + + + int pairIndex = int(pair - &m_overlappingPairArray[0]); + btAssert(pairIndex < m_overlappingPairArray.size()); + + // Remove the pair from the hash table. + int index = m_hashTable[hash]; + btAssert(index != BT_SIMPLE_NULL_PAIR); + + int previous = BT_SIMPLE_NULL_PAIR; + while (index != pairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_SIMPLE_NULL_PAIR) + { + btAssert(m_next[previous] == pairIndex); + m_next[previous] = m_next[pairIndex]; + } + else + { + m_hashTable[hash] = m_next[pairIndex]; + } + + // We now move the last pair into spot of the + // pair being removed. We need to fix the hash + // table indices to support the move. + + int lastPairIndex = m_overlappingPairArray.size() - 1; + + // If the removed pair is the last pair, we are done. + if (lastPairIndex == pairIndex) + { + m_overlappingPairArray.pop_back(); + return userData; + } + + // Remove the last pair from the hash table. + const btSimplePair* last = &m_overlappingPairArray[lastPairIndex]; + /* missing swap here too, Nat. */ + int lastHash = static_cast(getHash(static_cast(last->m_indexA), static_cast(last->m_indexB)) & (m_overlappingPairArray.capacity()-1)); + + index = m_hashTable[lastHash]; + btAssert(index != BT_SIMPLE_NULL_PAIR); + + previous = BT_SIMPLE_NULL_PAIR; + while (index != lastPairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_SIMPLE_NULL_PAIR) + { + btAssert(m_next[previous] == lastPairIndex); + m_next[previous] = m_next[lastPairIndex]; + } + else + { + m_hashTable[lastHash] = m_next[lastPairIndex]; + } + + // Copy the last pair into the remove pair's spot. + m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex]; + + // Insert the last pair into the hash table + m_next[pairIndex] = m_hashTable[lastHash]; + m_hashTable[lastHash] = pairIndex; + + m_overlappingPairArray.pop_back(); + + return userData; +} +//#include + + + + + + + + + + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h new file mode 100644 index 00000000..e88ef97e --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h @@ -0,0 +1,174 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_HASHED_SIMPLE_PAIR_CACHE_H +#define BT_HASHED_SIMPLE_PAIR_CACHE_H + + + +#include "LinearMath/btAlignedObjectArray.h" + +const int BT_SIMPLE_NULL_PAIR=0xffffffff; + +struct btSimplePair +{ + btSimplePair(int indexA,int indexB) + :m_indexA(indexA), + m_indexB(indexB), + m_userPointer(0) + { + } + + int m_indexA; + int m_indexB; + union + { + void* m_userPointer; + int m_userValue; + }; +}; + +typedef btAlignedObjectArray btSimplePairArray; + + + +extern int gOverlappingSimplePairs; +extern int gRemoveSimplePairs; +extern int gAddedSimplePairs; +extern int gFindSimplePairs; + + + + +class btHashedSimplePairCache +{ + btSimplePairArray m_overlappingPairArray; + + bool m_blockedForChanges; + + +protected: + + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + + +public: + btHashedSimplePairCache(); + virtual ~btHashedSimplePairCache(); + + void removeAllPairs(); + + virtual void* removeOverlappingPair(int indexA,int indexB); + + // Add a pair and return the new pair. If the pair already exists, + // no new pair is created and the old one is returned. + virtual btSimplePair* addOverlappingPair(int indexA,int indexB) + { + gAddedSimplePairs++; + + return internalAddPair(indexA,indexB); + } + + + virtual btSimplePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } + + const btSimplePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } + + btSimplePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } + + const btSimplePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } + + + btSimplePair* findPair(int indexA,int indexB); + + int GetCount() const { return m_overlappingPairArray.size(); } + + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } +private: + + btSimplePair* internalAddPair(int indexA, int indexB); + + void growTables(); + + SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB) + { + return pair.m_indexA == indexA && pair.m_indexB == indexB; + } + + + + SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB) + { + int key = static_cast(((unsigned int)indexA) | (((unsigned int)indexB) <<16)); + // Thomas Wang's hash + + key += ~(key << 15); + key ^= (key >> 10); + key += (key << 3); + key ^= (key >> 6); + key += ~(key << 11); + key ^= (key >> 16); + return static_cast(key); + } + + + + + + SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA , int proxyIdB, int hash) + { + + int index = m_hashTable[hash]; + + while( index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false) + { + index = m_next[index]; + } + + if ( index == BT_SIMPLE_NULL_PAIR ) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; + } + + +}; + + + + +#endif //BT_HASHED_SIMPLE_PAIR_CACHE_H + + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp new file mode 100644 index 00000000..73fa4e87 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -0,0 +1,842 @@ +#include "btInternalEdgeUtility.h" + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +//#define DEBUG_INTERNAL_EDGE + +#ifdef DEBUG_INTERNAL_EDGE +#include +#endif //DEBUG_INTERNAL_EDGE + + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW +static btIDebugDraw* gDebugDrawer = 0; + +void btSetDebugDrawer(btIDebugDraw* debugDrawer) +{ + gDebugDrawer = debugDrawer; +} + +static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color) +{ + if (gDebugDrawer) + gDebugDrawer->drawLine(from,to,color); +} +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + +static int btGetHash(int partId, int triangleIndex) +{ + int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + return hash; +} + + + +static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB) +{ + const btVector3 refAxis0 = edgeA; + const btVector3 refAxis1 = normalA; + const btVector3 swingAxis = normalB; + btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); + return angle; +} + + +struct btConnectivityProcessor : public btTriangleCallback +{ + int m_partIdA; + int m_triangleIndexA; + btVector3* m_triangleVerticesA; + btTriangleInfoMap* m_triangleInfoMap; + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + //skip self-collisions + if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex)) + return; + + //skip duplicates (disabled for now) + //if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex)) + // return; + + //search for shared vertices and edges + int numshared = 0; + int sharedVertsA[3]={-1,-1,-1}; + int sharedVertsB[3]={-1,-1,-1}; + + ///skip degenerate triangles + btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2(); + if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold) + return; + + + btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2(); + ///skip degenerate triangles + if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold) + return; + +#if 0 + printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n", + m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(), + m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(), + m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ()); + + printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex); + printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n", + triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(), + triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(), + triangle[2].getX(),triangle[2].getY(),triangle[2].getZ()); +#endif + + for (int i=0;i<3;i++) + { + for (int j=0;j<3;j++) + { + if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold) + { + sharedVertsA[numshared] = i; + sharedVertsB[numshared] = j; + numshared++; + ///degenerate case + if(numshared >= 3) + return; + } + } + ///degenerate case + if(numshared >= 3) + return; + } + switch (numshared) + { + case 0: + { + break; + } + case 1: + { + //shared vertex + break; + } + case 2: + { + //shared edge + //we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct + if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2) + { + sharedVertsA[0] = 2; + sharedVertsA[1] = 0; + int tmp = sharedVertsB[1]; + sharedVertsB[1] = sharedVertsB[0]; + sharedVertsB[0] = tmp; + } + + int hash = btGetHash(m_partIdA,m_triangleIndexA); + + btTriangleInfo* info = m_triangleInfoMap->find(hash); + if (!info) + { + btTriangleInfo tmp; + m_triangleInfoMap->insert(hash,tmp); + info = m_triangleInfoMap->find(hash); + } + + int sumvertsA = sharedVertsA[0]+sharedVertsA[1]; + int otherIndexA = 3-sumvertsA; + + + btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]); + + btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]); + int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]); + + btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]); + //btTriangleShape tB(triangle[0],triangle[1],triangle[2]); + + btVector3 normalA; + btVector3 normalB; + tA.calcNormal(normalA); + tB.calcNormal(normalB); + edge.normalize(); + btVector3 edgeCrossA = edge.cross(normalA).normalize(); + + { + btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]]; + if (edgeCrossA.dot(tmp) < 0) + { + edgeCrossA*=-1; + } + } + + btVector3 edgeCrossB = edge.cross(normalB).normalize(); + + { + btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]]; + if (edgeCrossB.dot(tmp) < 0) + { + edgeCrossB*=-1; + } + } + + btScalar angle2 = 0; + btScalar ang4 = 0.f; + + + btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB); + btScalar len2 = calculatedEdge.length2(); + + btScalar correctedAngle(0); + btVector3 calculatedNormalB = normalA; + bool isConvex = false; + + if (len2m_planarEpsilon) + { + angle2 = 0.f; + ang4 = 0.f; + } else + { + + calculatedEdge.normalize(); + btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA); + calculatedNormalA.normalize(); + angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB); + ang4 = SIMD_PI-angle2; + btScalar dotA = normalA.dot(edgeCrossB); + ///@todo: check if we need some epsilon, due to floating point imprecision + isConvex = (dotA<0.); + + correctedAngle = isConvex ? ang4 : -ang4; + btQuaternion orn2(calculatedEdge,-correctedAngle); + calculatedNormalB = btMatrix3x3(orn2)*normalA; + + + } + + + + + + //alternatively use + //btVector3 calculatedNormalB2 = quatRotate(orn,normalA); + + + switch (sumvertsA) + { + case 1: + { + btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1]; + btQuaternion orn(edge,-correctedAngle); + btVector3 computedNormalB = quatRotate(orn,normalA); + btScalar bla = computedNormalB.dot(normalB); + if (bla<0) + { + computedNormalB*=-1; + info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB; + } +#ifdef DEBUG_INTERNAL_EDGE + if ((computedNormalB-normalB).length()>0.0001) + { + printf("warning: normals not identical\n"); + } +#endif//DEBUG_INTERNAL_EDGE + + info->m_edgeV0V1Angle = -correctedAngle; + + if (isConvex) + info->m_flags |= TRI_INFO_V0V1_CONVEX; + break; + } + case 2: + { + btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0]; + btQuaternion orn(edge,-correctedAngle); + btVector3 computedNormalB = quatRotate(orn,normalA); + if (computedNormalB.dot(normalB)<0) + { + computedNormalB*=-1; + info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB; + } + +#ifdef DEBUG_INTERNAL_EDGE + if ((computedNormalB-normalB).length()>0.0001) + { + printf("warning: normals not identical\n"); + } +#endif //DEBUG_INTERNAL_EDGE + info->m_edgeV2V0Angle = -correctedAngle; + if (isConvex) + info->m_flags |= TRI_INFO_V2V0_CONVEX; + break; + } + case 3: + { + btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2]; + btQuaternion orn(edge,-correctedAngle); + btVector3 computedNormalB = quatRotate(orn,normalA); + if (computedNormalB.dot(normalB)<0) + { + info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB; + computedNormalB*=-1; + } +#ifdef DEBUG_INTERNAL_EDGE + if ((computedNormalB-normalB).length()>0.0001) + { + printf("warning: normals not identical\n"); + } +#endif //DEBUG_INTERNAL_EDGE + info->m_edgeV1V2Angle = -correctedAngle; + + if (isConvex) + info->m_flags |= TRI_INFO_V1V2_CONVEX; + break; + } + } + + break; + } + default: + { + // printf("warning: duplicate triangle\n"); + } + + } + } +}; +///////////////////////////////////////////////////////// +///////////////////////////////////////////////////////// + +void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap) +{ + //the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there! + if (trimeshShape->getTriangleInfoMap()) + return; + + trimeshShape->setTriangleInfoMap(triangleInfoMap); + + btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface(); + const btVector3& meshScaling = meshInterface->getScaling(); + + for (int partId = 0; partId< meshInterface->getNumSubParts();partId++) + { + const unsigned char *vertexbase = 0; + int numverts = 0; + PHY_ScalarType type = PHY_INTEGER; + int stride = 0; + const unsigned char *indexbase = 0; + int indexstride = 0; + int numfaces = 0; + PHY_ScalarType indicestype = PHY_INTEGER; + //PHY_ScalarType indexType=0; + + btVector3 triangleVerts[3]; + meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId); + btVector3 aabbMin,aabbMax; + + for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++) + { + unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride); + + for (int j=2;j>=0;j--) + { + + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ())); + } + } + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangleVerts[0]); + aabbMax.setMax(triangleVerts[0]); + aabbMin.setMin(triangleVerts[1]); + aabbMax.setMax(triangleVerts[1]); + aabbMin.setMin(triangleVerts[2]); + aabbMax.setMax(triangleVerts[2]); + + btConnectivityProcessor connectivityProcessor; + connectivityProcessor.m_partIdA = partId; + connectivityProcessor.m_triangleIndexA = triangleIndex; + connectivityProcessor.m_triangleVerticesA = &triangleVerts[0]; + connectivityProcessor.m_triangleInfoMap = triangleInfoMap; + + trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax); + } + + } + +} + + + + +// Given a point and a line segment (defined by two points), compute the closest point +// in the line. Cap the point at the endpoints of the line segment. +void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint) +{ + btVector3 lineDelta = line1 - line0; + + // Handle degenerate lines + if ( lineDelta.fuzzyZero()) + { + nearestPoint = line0; + } + else + { + btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta); + + // Clamp the point to conform to the segment's endpoints + if ( delta < 0 ) + delta = 0; + else if ( delta > 1 ) + delta = 1; + + nearestPoint = line0 + lineDelta*delta; + } +} + + + + +bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal) +{ + btVector3 tri_normal = tri_normal_org; + //we only have a local triangle normal, not a local contact normal -> only normal in world space... + //either compute the current angle all in local space, or all in world space + + btVector3 edgeCross = edge.cross(tri_normal).normalize(); + btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB); + + if (correctedEdgeAngle<0) + { + if (curAngle < correctedEdgeAngle) + { + btScalar diffAngle = correctedEdgeAngle-curAngle; + btQuaternion rotation(edge,diffAngle ); + clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB; + return true; + } + } + + if (correctedEdgeAngle>=0) + { + if (curAngle > correctedEdgeAngle) + { + btScalar diffAngle = correctedEdgeAngle-curAngle; + btQuaternion rotation(edge,diffAngle ); + clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB; + return true; + } + } + return false; +} + + + +/// Changes a btManifoldPoint collision normal to the normal from the mesh. +void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags) +{ + //btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE); + if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) + return; + + btBvhTriangleMeshShape* trimesh = 0; + + if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) + trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); + else + trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + + btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); + if (!triangleInfoMapPtr) + return; + + int hash = btGetHash(partId0,index0); + + + btTriangleInfo* info = triangleInfoMapPtr->find(hash); + if (!info) + return; + + btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f; + + const btTriangleShape* tri_shape = static_cast(colObj0Wrap->getCollisionShape()); + btVector3 v0,v1,v2; + tri_shape->getVertex(0,v0); + tri_shape->getVertex(1,v1); + tri_shape->getVertex(2,v2); + + //btVector3 center = (v0+v1+v2)*btScalar(1./3.); + + btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0); + btVector3 tri_normal; + tri_shape->calcNormal(tri_normal); + + //btScalar dot = tri_normal.dot(cp.m_normalWorldOnB); + btVector3 nearest; + btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest); + + btVector3 contact = cp.m_localPointB; +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + const btTransform& tr = colObj0->getWorldTransform(); + btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + + + bool isNearEdge = false; + + int numConcaveEdgeHits = 0; + int numConvexEdgeHits = 0; + + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + localContactNormalOnB.normalize();//is this necessary? + + // Get closest edge + int bestedge=-1; + btScalar disttobestedge=BT_LARGE_FLOAT; + // + // Edge 0 -> 1 + if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=0; + disttobestedge=len; + } + } + // Edge 1 -> 2 + if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=1; + disttobestedge=len; + } + } + // Edge 2 -> 0 + if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=2; + disttobestedge=len; + } + } + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f); + btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red ); +#endif + if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black); +#endif + btScalar len = (contact-nearest).length(); + if(lenm_edgeDistanceThreshold) + if( bestedge==0 ) + { + btVector3 edge(v0-v1); + isNearEdge = true; + + if (info->m_edgeV0V1Angle==btScalar(0)) + { + numConcaveEdgeHits++; + } else + { + + bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX); + btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1); + #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white); + #endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btVector3 nA = swapFactor * tri_normal; + + btQuaternion orn(edge,info->m_edgeV0V1Angle); + btVector3 computedNormalB = quatRotate(orn,tri_normal); + if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB) + computedNormalB*=-1; + btVector3 nB = swapFactor*computedNormalB; + + btScalar NdotA = localContactNormalOnB.dot(nA); + btScalar NdotB = localContactNormalOnB.dot(nB); + bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotBm_convexEpsilon); + +#ifdef DEBUG_INTERNAL_EDGE + { + + btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red); + } +#endif //DEBUG_INTERNAL_EDGE + + + if (backFacingNormal) + { + numConcaveEdgeHits++; + } + else + { + numConvexEdgeHits++; + btVector3 clampedLocalNormal; + bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal); + if (isClamped) + { + if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) + { + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. (what about cp.m_distance1?) + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + + } + } + } + } + } + } + + btNearestPointInLineSegment(contact,v1,v2,nearest); +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green ); +#endif + + if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + + + btScalar len = (contact-nearest).length(); + if(lenm_edgeDistanceThreshold) + if( bestedge==1 ) + { + isNearEdge = true; +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btVector3 edge(v1-v2); + + isNearEdge = true; + + if (info->m_edgeV1V2Angle == btScalar(0)) + { + numConcaveEdgeHits++; + } else + { + bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0; + btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1); + #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white); + #endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btVector3 nA = swapFactor * tri_normal; + + btQuaternion orn(edge,info->m_edgeV1V2Angle); + btVector3 computedNormalB = quatRotate(orn,tri_normal); + if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB) + computedNormalB*=-1; + btVector3 nB = swapFactor*computedNormalB; + +#ifdef DEBUG_INTERNAL_EDGE + { + btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red); + } +#endif //DEBUG_INTERNAL_EDGE + + + btScalar NdotA = localContactNormalOnB.dot(nA); + btScalar NdotB = localContactNormalOnB.dot(nB); + bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotBm_convexEpsilon); + + if (backFacingNormal) + { + numConcaveEdgeHits++; + } + else + { + numConvexEdgeHits++; + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + btVector3 clampedLocalNormal; + bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal); + if (isClamped) + { + if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) + { + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + } + } + } + } + } + } + + btNearestPointInLineSegment(contact,v2,v0,nearest); +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue ); +#endif + + if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btScalar len = (contact-nearest).length(); + if(lenm_edgeDistanceThreshold) + if( bestedge==2 ) + { + isNearEdge = true; +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btVector3 edge(v2-v0); + + if (info->m_edgeV2V0Angle==btScalar(0)) + { + numConcaveEdgeHits++; + } else + { + + bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0; + btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1); + #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white); + #endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + btVector3 nA = swapFactor * tri_normal; + btQuaternion orn(edge,info->m_edgeV2V0Angle); + btVector3 computedNormalB = quatRotate(orn,tri_normal); + if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB) + computedNormalB*=-1; + btVector3 nB = swapFactor*computedNormalB; + +#ifdef DEBUG_INTERNAL_EDGE + { + btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red); + } +#endif //DEBUG_INTERNAL_EDGE + + btScalar NdotA = localContactNormalOnB.dot(nA); + btScalar NdotB = localContactNormalOnB.dot(nB); + bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotBm_convexEpsilon); + + if (backFacingNormal) + { + numConcaveEdgeHits++; + } + else + { + numConvexEdgeHits++; + // printf("hitting convex edge\n"); + + + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + btVector3 clampedLocalNormal; + bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal); + if (isClamped) + { + if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) + { + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; + // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); + cp.m_normalWorldOnB = newNormal; + // Reproject collision point along normal. + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + } + } + } + } + + + } + } + +#ifdef DEBUG_INTERNAL_EDGE + { + btVector3 color(0,1,1); + btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color); + } +#endif //DEBUG_INTERNAL_EDGE + + if (isNearEdge) + { + + if (numConcaveEdgeHits>0) + { + if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0) + { + //fix tri_normal so it pointing the same direction as the current local contact normal + if (tri_normal.dot(localContactNormalOnB) < 0) + { + tri_normal *= -1; + } + cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal; + } else + { + btVector3 newNormal = tri_normal *frontFacing; + //if the tri_normal is pointing opposite direction as the current local contact normal, skip it + btScalar d = newNormal.dot(localContactNormalOnB) ; + if (d< 0) + { + return; + } + //modify the normal to be the triangle normal (or backfacing normal) + cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal; + } + + // Reproject collision point along normal. + cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); + } + } +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h new file mode 100644 index 00000000..7d9aafee --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h @@ -0,0 +1,47 @@ + +#ifndef BT_INTERNAL_EDGE_UTILITY_H +#define BT_INTERNAL_EDGE_UTILITY_H + +#include "LinearMath/btHashMap.h" +#include "LinearMath/btVector3.h" + +#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h" + +///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges. +///See also http://code.google.com/p/bullet/issues/detail?id=27 + +class btBvhTriangleMeshShape; +class btCollisionObject; +struct btCollisionObjectWrapper; +class btManifoldPoint; +class btIDebugDraw; + + + +enum btInternalEdgeAdjustFlags +{ + BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1, + BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended + BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4 +}; + + +///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo' +void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap); + + +///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo) +///If this info map is missing, or the triangle is not store in this map, nothing will be done +void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0); + +///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly. +///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap +//#define BT_INTERNAL_EDGE_DEBUG_DRAW + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW +void btSetDebugDrawer(btIDebugDraw* debugDrawer); +#endif //BT_INTERNAL_EDGE_DEBUG_DRAW + + +#endif //BT_INTERNAL_EDGE_UTILITY_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp new file mode 100644 index 00000000..4b2986a0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp @@ -0,0 +1,154 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btManifoldResult.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +///This is to allow MaterialCombiner/Custom Friction/Restitution values +ContactAddedCallback gContactAddedCallback=0; + + + +///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback; +inline btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1) +{ + btScalar friction = body0->getRollingFriction() * body1->getRollingFriction(); + + const btScalar MAX_FRICTION = btScalar(10.); + if (friction < -MAX_FRICTION) + friction = -MAX_FRICTION; + if (friction > MAX_FRICTION) + friction = MAX_FRICTION; + return friction; + +} + + +///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback; +btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1) +{ + btScalar friction = body0->getFriction() * body1->getFriction(); + + const btScalar MAX_FRICTION = btScalar(10.); + if (friction < -MAX_FRICTION) + friction = -MAX_FRICTION; + if (friction > MAX_FRICTION) + friction = MAX_FRICTION; + return friction; + +} + +btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1) +{ + return body0->getRestitution() * body1->getRestitution(); +} + + + +btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + :m_manifoldPtr(0), + m_body0Wrap(body0Wrap), + m_body1Wrap(body1Wrap) +#ifdef DEBUG_PART_INDEX + ,m_partId0(-1), + m_partId1(-1), + m_index0(-1), + m_index1(-1) +#endif //DEBUG_PART_INDEX +{ +} + + +void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) +{ + btAssert(m_manifoldPtr); + //order in manifold needs to match + + if (depth > m_manifoldPtr->getContactBreakingThreshold()) +// if (depth > m_manifoldPtr->getContactProcessingThreshold()) + return; + + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + + btVector3 pointA = pointInWorld + normalOnBInWorld * depth; + + btVector3 localA; + btVector3 localB; + + if (isSwapped) + { + localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); + localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); + } else + { + localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); + localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); + } + + btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth); + newPt.m_positionWorldOnA = pointA; + newPt.m_positionWorldOnB = pointInWorld; + + int insertIndex = m_manifoldPtr->getCacheEntry(newPt); + + newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); + newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); + newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); + btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2); + + + + //BP mod, store contact triangles. + if (isSwapped) + { + newPt.m_partId0 = m_partId1; + newPt.m_partId1 = m_partId0; + newPt.m_index0 = m_index1; + newPt.m_index1 = m_index0; + } else + { + newPt.m_partId0 = m_partId0; + newPt.m_partId1 = m_partId1; + newPt.m_index0 = m_index0; + newPt.m_index1 = m_index1; + } + //printf("depth=%f\n",depth); + ///@todo, check this for any side effects + if (insertIndex >= 0) + { + //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); + m_manifoldPtr->replaceContactPoint(newPt,insertIndex); + } else + { + insertIndex = m_manifoldPtr->addManifoldPoint(newPt); + } + + //User can override friction and/or restitution + if (gContactAddedCallback && + //and if either of the two bodies requires custom material + ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) || + (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK))) + { + //experimental feature info, for per-triangle material etc. + const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap; + const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap; + (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1); + } + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.h new file mode 100644 index 00000000..977b9a02 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -0,0 +1,150 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MANIFOLD_RESULT_H +#define BT_MANIFOLD_RESULT_H + +class btCollisionObject; +struct btCollisionObjectWrapper; + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btManifoldPoint; + +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + +#include "LinearMath/btTransform.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1); +extern ContactAddedCallback gContactAddedCallback; + +//#define DEBUG_PART_INDEX 1 + + +///btManifoldResult is a helper class to manage contact results. +class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result +{ +protected: + + btPersistentManifold* m_manifoldPtr; + + const btCollisionObjectWrapper* m_body0Wrap; + const btCollisionObjectWrapper* m_body1Wrap; + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; + + +public: + + btManifoldResult() +#ifdef DEBUG_PART_INDEX + : + m_partId0(-1), + m_partId1(-1), + m_index0(-1), + m_index1(-1) +#endif //DEBUG_PART_INDEX + { + } + + btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btManifoldResult() {}; + + void setPersistentManifold(btPersistentManifold* manifoldPtr) + { + m_manifoldPtr = manifoldPtr; + } + + const btPersistentManifold* getPersistentManifold() const + { + return m_manifoldPtr; + } + btPersistentManifold* getPersistentManifold() + { + return m_manifoldPtr; + } + + virtual void setShapeIdentifiersA(int partId0,int index0) + { + m_partId0=partId0; + m_index0=index0; + } + + virtual void setShapeIdentifiersB( int partId1,int index1) + { + m_partId1=partId1; + m_index1=index1; + } + + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); + + SIMD_FORCE_INLINE void refreshContactPoints() + { + btAssert(m_manifoldPtr); + if (!m_manifoldPtr->getNumContacts()) + return; + + bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); + + if (isSwapped) + { + m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform()); + } else + { + m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform()); + } + } + + const btCollisionObjectWrapper* getBody0Wrap() const + { + return m_body0Wrap; + } + const btCollisionObjectWrapper* getBody1Wrap() const + { + return m_body1Wrap; + } + + void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap) + { + m_body0Wrap = obj0Wrap; + } + + void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap) + { + m_body1Wrap = obj1Wrap; + } + + const btCollisionObject* getBody0Internal() const + { + return m_body0Wrap->getCollisionObject(); + } + + const btCollisionObject* getBody1Internal() const + { + return m_body1Wrap->getCollisionObject(); + } + + /// in the future we can let the user override the methods to combine restitution and friction + static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1); + static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1); +}; + +#endif //BT_MANIFOLD_RESULT_H diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp new file mode 100644 index 00000000..13447822 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -0,0 +1,450 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "LinearMath/btScalar.h" +#include "btSimulationIslandManager.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" + +//#include +#include "LinearMath/btQuickprof.h" + +btSimulationIslandManager::btSimulationIslandManager(): +m_splitIslands(true) +{ +} + +btSimulationIslandManager::~btSimulationIslandManager() +{ +} + + +void btSimulationIslandManager::initUnionFind(int n) +{ + m_unionFind.reset(n); +} + + +void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btCollisionWorld* colWorld) +{ + + { + btOverlappingPairCache* pairCachePtr = colWorld->getPairCache(); + const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs(); + if (numOverlappingPairs) + { + btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr(); + + for (int i=0;im_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; + + if (((colObj0) && ((colObj0)->mergesSimulationIslands())) && + ((colObj1) && ((colObj1)->mergesSimulationIslands()))) + { + + m_unionFind.unite((colObj0)->getIslandTag(), + (colObj1)->getIslandTag()); + } + } + } + } +} + +#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION +void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher) +{ + + // put the index into m_controllers into m_tag + int index = 0; + { + + int i; + for (i=0;igetCollisionObjectArray().size(); i++) + { + btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; + //Adding filtering here + if (!collisionObject->isStaticOrKinematicObject()) + { + collisionObject->setIslandTag(index++); + } + collisionObject->setCompanionId(-1); + collisionObject->setHitFraction(btScalar(1.)); + } + } + // do the union find + + initUnionFind( index ); + + findUnions(dispatcher,colWorld); +} + +void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld) +{ + // put the islandId ('find' value) into m_tag + { + int index = 0; + int i; + for (i=0;igetCollisionObjectArray().size();i++) + { + btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; + if (!collisionObject->isStaticOrKinematicObject()) + { + collisionObject->setIslandTag( m_unionFind.find(index) ); + //Set the correct object offset in Collision Object Array + m_unionFind.getElement(index).m_sz = i; + collisionObject->setCompanionId(-1); + index++; + } else + { + collisionObject->setIslandTag(-1); + collisionObject->setCompanionId(-2); + } + } + } +} + + +#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION +void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher) +{ + + initUnionFind( int (colWorld->getCollisionObjectArray().size())); + + // put the index into m_controllers into m_tag + { + + int index = 0; + int i; + for (i=0;igetCollisionObjectArray().size(); i++) + { + btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; + collisionObject->setIslandTag(index); + collisionObject->setCompanionId(-1); + collisionObject->setHitFraction(btScalar(1.)); + index++; + + } + } + // do the union find + + findUnions(dispatcher,colWorld); +} + +void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld) +{ + // put the islandId ('find' value) into m_tag + { + + + int index = 0; + int i; + for (i=0;igetCollisionObjectArray().size();i++) + { + btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i]; + if (!collisionObject->isStaticOrKinematicObject()) + { + collisionObject->setIslandTag( m_unionFind.find(index) ); + collisionObject->setCompanionId(-1); + } else + { + collisionObject->setIslandTag(-1); + collisionObject->setCompanionId(-2); + } + index++; + } + } +} + +#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION + +inline int getIslandId(const btPersistentManifold* lhs) +{ + int islandId; + const btCollisionObject* rcolObj0 = static_cast(lhs->getBody0()); + const btCollisionObject* rcolObj1 = static_cast(lhs->getBody1()); + islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag(); + return islandId; + +} + + + +/// function object that routes calls to operator< +class btPersistentManifoldSortPredicate +{ + public: + + SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const + { + return getIslandId(lhs) < getIslandId(rhs); + } +}; + + +void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld) +{ + + BT_PROFILE("islandUnionFindAndQuickSort"); + + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + m_islandmanifold.resize(0); + + //we are going to sort the unionfind array, and store the element id in the size + //afterwards, we clean unionfind, to make sure no-one uses it anymore + + getUnionFind().sortIslands(); + int numElem = getUnionFind().getNumElements(); + + int endIslandIndex=1; + int startIslandIndex; + + + //update the sleeping state for bodies, if all are sleeping + for ( startIslandIndex=0;startIslandIndexgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) + { + if (colObj0->getActivationState()== ACTIVE_TAG) + { + allSleeping = false; + } + if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + { + allSleeping = false; + } + } + } + + + if (allSleeping) + { + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + colObj0->setActivationState( ISLAND_SLEEPING ); + } + } + } else + { + + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + if ( colObj0->getActivationState() == ISLAND_SLEEPING) + { + colObj0->setActivationState( WANTS_DEACTIVATION); + colObj0->setDeactivationTime(0.f); + } + } + } + } + } + + + int i; + int maxNumManifolds = dispatcher->getNumManifolds(); + +//#define SPLIT_ISLANDS 1 +//#ifdef SPLIT_ISLANDS + + +//#endif //SPLIT_ISLANDS + + + for (i=0;igetManifoldByIndexInternal(i); + + const btCollisionObject* colObj0 = static_cast(manifold->getBody0()); + const btCollisionObject* colObj1 = static_cast(manifold->getBody1()); + + ///@todo: check sleeping conditions! + if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) || + ((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING)) + { + + //kinematic objects don't merge islands, but wake up all connected objects + if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING) + { + if (colObj0->hasContactResponse()) + colObj1->activate(); + } + if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING) + { + if (colObj1->hasContactResponse()) + colObj0->activate(); + } + if(m_splitIslands) + { + //filtering for response + if (dispatcher->needsResponse(colObj0,colObj1)) + m_islandmanifold.push_back(manifold); + } + } + } +} + + + +///@todo: this is random access, it can be walked 'cache friendly'! +void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + buildIslands(dispatcher,collisionWorld); + + int endIslandIndex=1; + int startIslandIndex; + int numElem = getUnionFind().getNumElements(); + + BT_PROFILE("processIslands"); + + if(!m_splitIslands) + { + btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer(); + int maxNumManifolds = dispatcher->getNumManifolds(); + callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1); + } + else + { + // Sort manifolds, based on islands + // Sort the vector using predicate and std::sort + //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate); + + int numManifolds = int (m_islandmanifold.size()); + + //tried a radix sort, but quicksort/heapsort seems still faster + //@todo rewrite island management + m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate()); + + //now process all active islands (sets of manifolds for now) + + int startManifoldIndex = 0; + int endManifoldIndex = 1; + + //int islandId; + + + + // printf("Start Islands\n"); + + //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated + for ( startIslandIndex=0;startIslandIndexisActive()) + islandSleeping = false; + } + + + //find the accompanying contact manifold for this islandId + int numIslandManifolds = 0; + btPersistentManifold** startManifold = 0; + + if (startManifoldIndexprocessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId); + // printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds); + } + + if (numIslandManifolds) + { + startManifoldIndex = endManifoldIndex; + } + + m_islandBodies.resize(0); + } + } // else if(!splitIslands) + +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h new file mode 100644 index 00000000..e24c6afe --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMULATION_ISLAND_MANAGER_H +#define BT_SIMULATION_ISLAND_MANAGER_H + +#include "BulletCollision/CollisionDispatch/btUnionFind.h" +#include "btCollisionCreateFunc.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btCollisionObject.h" + +class btCollisionObject; +class btCollisionWorld; +class btDispatcher; +class btPersistentManifold; + + +///SimulationIslandManager creates and handles simulation islands, using btUnionFind +class btSimulationIslandManager +{ + btUnionFind m_unionFind; + + btAlignedObjectArray m_islandmanifold; + btAlignedObjectArray m_islandBodies; + + bool m_splitIslands; + +public: + btSimulationIslandManager(); + virtual ~btSimulationIslandManager(); + + + void initUnionFind(int n); + + + btUnionFind& getUnionFind() { return m_unionFind;} + + virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher); + virtual void storeIslandActivationState(btCollisionWorld* world); + + + void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + + + struct IslandCallback + { + virtual ~IslandCallback() {}; + + virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0; + }; + + void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback); + + void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + bool getSplitIslands() + { + return m_splitIslands; + } + void setSplitIslands(bool doSplitIslands) + { + m_splitIslands = doSplitIslands; + } + +}; + +#endif //BT_SIMULATION_ISLAND_MANAGER_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp new file mode 100644 index 00000000..e8b567e0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp @@ -0,0 +1,214 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSphereBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +//#include + +btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped) +: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf), +m_isSwapped(isSwapped) +{ + const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap; + const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap; + + if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject())) + { + m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()); + m_ownManifold = true; + } +} + + +btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + + + +void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) +{ + (void)dispatchInfo; + (void)resultOut; + if (!m_manifoldPtr) + return; + + const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap; + + btVector3 pOnBox; + + btVector3 normalOnSurfaceB; + btScalar penetrationDepth; + btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin(); + const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape(); + btScalar radius = sphere0->getRadius(); + btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold(); + + resultOut->setPersistentManifold(m_manifoldPtr); + + if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance)) + { + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth); + } + + if (m_ownManifold) + { + if (m_manifoldPtr->getNumContacts()) + { + resultOut->refreshContactPoints(); + } + } + +} + +btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} + + +bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance ) +{ + const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape(); + btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin(); + btScalar boxMargin = boxShape->getMargin(); + penetrationDepth = 1.0f; + + // convert the sphere position to the box's local space + btTransform const &m44T = boxObjWrap->getWorldTransform(); + btVector3 sphereRelPos = m44T.invXform(sphereCenter); + + // Determine the closest point to the sphere center in the box + btVector3 closestPoint = sphereRelPos; + closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) ); + closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) ); + closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) ); + closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) ); + closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) ); + closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) ); + + btScalar intersectionDist = fRadius + boxMargin; + btScalar contactDist = intersectionDist + maxContactDistance; + normal = sphereRelPos - closestPoint; + + //if there is no penetration, we are done + btScalar dist2 = normal.length2(); + if (dist2 > contactDist * contactDist) + { + return false; + } + + btScalar distance; + + //special case if the sphere center is inside the box + if (dist2 <= SIMD_EPSILON) + { + distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal); + } + else //compute the penetration details + { + distance = normal.length(); + normal /= distance; + } + + pointOnBox = closestPoint + normal * boxMargin; +// v3PointOnSphere = sphereRelPos - (normal * fRadius); + penetrationDepth = distance - intersectionDist; + + // transform back in world space + btVector3 tmp = m44T(pointOnBox); + pointOnBox = tmp; +// tmp = m44T(v3PointOnSphere); +// v3PointOnSphere = tmp; + tmp = m44T.getBasis() * normal; + normal = tmp; + + return true; +} + +btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ) +{ + //project the center of the sphere on the closest face of the box + btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX(); + btScalar minDist = faceDist; + closestPoint.setX( boxHalfExtent.getX() ); + normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f)); + + faceDist = boxHalfExtent.getX() + sphereRelPos.getX(); + if (faceDist < minDist) + { + minDist = faceDist; + closestPoint = sphereRelPos; + closestPoint.setX( -boxHalfExtent.getX() ); + normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f)); + } + + faceDist = boxHalfExtent.getY() - sphereRelPos.getY(); + if (faceDist < minDist) + { + minDist = faceDist; + closestPoint = sphereRelPos; + closestPoint.setY( boxHalfExtent.getY() ); + normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f)); + } + + faceDist = boxHalfExtent.getY() + sphereRelPos.getY(); + if (faceDist < minDist) + { + minDist = faceDist; + closestPoint = sphereRelPos; + closestPoint.setY( -boxHalfExtent.getY() ); + normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f)); + } + + faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ(); + if (faceDist < minDist) + { + minDist = faceDist; + closestPoint = sphereRelPos; + closestPoint.setZ( boxHalfExtent.getZ() ); + normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f)); + } + + faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ(); + if (faceDist < minDist) + { + minDist = faceDist; + closestPoint = sphereRelPos; + closestPoint.setZ( -boxHalfExtent.getZ() ); + normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f)); + } + + return minDist; +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h new file mode 100644 index 00000000..eefaedc9 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SPHERE_BOX_COLLISION_ALGORITHM_H +#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" + +/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_isSwapped; + +public: + + btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped); + + virtual ~btSphereBoxCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance ); + + btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal ); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false); + } else + { + return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true); + } + } + }; + +}; + +#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp new file mode 100644 index 00000000..36ba21f5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp @@ -0,0 +1,106 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSphereSphereCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap) +: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr) + { + m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject()); + m_ownManifold = true; + } +} + +btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + + if (!m_manifoldPtr) + return; + + resultOut->setPersistentManifold(m_manifoldPtr); + + btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape(); + btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape(); + + btVector3 diff = col0Wrap->getWorldTransform().getOrigin()- col1Wrap->getWorldTransform().getOrigin(); + btScalar len = diff.length(); + btScalar radius0 = sphere0->getRadius(); + btScalar radius1 = sphere1->getRadius(); + +#ifdef CLEAR_MANIFOLD + m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting +#endif + + ///iff distance positive, don't generate a new contact + if ( len > (radius0+radius1)) + { +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD + return; + } + ///distance (negative means penetration) + btScalar dist = len - (radius0+radius1); + + btVector3 normalOnSurfaceB(1,0,0); + if (len > SIMD_EPSILON) + { + normalOnSurfaceB = diff / len; + } + + ///point on A (worldspace) + ///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; + ///point on B (worldspace) + btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB; + + /// report a contact. internally this will be kept persistent, and contact reduction is done + + + resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); + +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD + +} + +btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)col0; + (void)col1; + (void)dispatchInfo; + (void)resultOut; + + //not yet + return btScalar(1.); +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h new file mode 100644 index 00000000..3517a568 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H +#define BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btCollisionDispatcher.h" + +class btPersistentManifold; + +/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +/// Also provides the most basic sample for custom/user btCollisionAlgorithm +class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + +public: + btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap); + + btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + virtual ~btSphereSphereCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm)); + return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap); + } + }; + +}; + +#endif //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp new file mode 100644 index 00000000..280a4d35 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btSphereTriangleCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "SphereTriangleDetector.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf), +m_swapped(swapped) +{ + if (!m_manifoldPtr) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + m_ownManifold = true; + } +} + +btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap; + const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap; + + btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape(); + btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape(); + + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->setPersistentManifold(m_manifoldPtr); + SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()); + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds + input.m_transformA = sphereObjWrap->getWorldTransform(); + input.m_transformB = triObjWrap->getWorldTransform(); + + bool swapResults = m_swapped; + + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults); + + if (m_ownManifold) + resultOut->refreshContactPoints(); + +} + +btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h new file mode 100644 index 00000000..6b6e39a7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h @@ -0,0 +1,69 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H +#define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "btCollisionDispatcher.h" + +/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +/// Also provides the most basic sample for custom/user btCollisionAlgorithm +class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_swapped; + +public: + btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped); + + btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btActivatingCollisionAlgorithm(ci) {} + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + { + manifoldArray.push_back(m_manifoldPtr); + } + } + + virtual ~btSphereTriangleCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm)); + + return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_swapped); + } + }; + +}; + +#endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H + diff --git a/Code/Physics/src/BulletCollision/CollisionDispatch/btUnionFind.cpp b/Code/Physics/src/BulletCollision/CollisionDispatch/btUnionFind.cpp new file mode 100644 index 00000000..52229335 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionDispatch/btUnionFind.cpp @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btUnionFind.h" + + + +btUnionFind::~btUnionFind() +{ + Free(); + +} + +btUnionFind::btUnionFind() +{ + +} + +void btUnionFind::allocate(int N) +{ + m_elements.resize(N); +} +void btUnionFind::Free() +{ + m_elements.clear(); +} + + +void btUnionFind::reset(int N) +{ + allocate(N); + + for (int i = 0; i < N; i++) + { + m_elements[i].m_id = i; m_elements[i].m_sz = 1; + } +} + + +class btUnionFindElementSortPredicate +{ + public: + + bool operator() ( const btElement& lhs, const btElement& rhs ) const + { + return lhs.m_id < rhs.m_id; + } +}; + +///this is a special operation, destroying the content of btUnionFind. +///it sorts the elements, based on island id, in order to make it easy to iterate over islands +void btUnionFind::sortIslands() +{ + + //first store the original body index, and islandId + int numElements = m_elements.size(); + + for (int i=0;i m_elements; + + public: + + btUnionFind(); + ~btUnionFind(); + + + //this is a special operation, destroying the content of btUnionFind. + //it sorts the elements, based on island id, in order to make it easy to iterate over islands + void sortIslands(); + + void reset(int N); + + SIMD_FORCE_INLINE int getNumElements() const + { + return int(m_elements.size()); + } + SIMD_FORCE_INLINE bool isRoot(int x) const + { + return (x == m_elements[x].m_id); + } + + btElement& getElement(int index) + { + return m_elements[index]; + } + const btElement& getElement(int index) const + { + return m_elements[index]; + } + + void allocate(int N); + void Free(); + + + + + int find(int p, int q) + { + return (find(p) == find(q)); + } + + void unite(int p, int q) + { + int i = find(p), j = find(q); + if (i == j) + return; + +#ifndef USE_PATH_COMPRESSION + //weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) ) + if (m_elements[i].m_sz < m_elements[j].m_sz) + { + m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; + } + else + { + m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz; + } +#else + m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz; +#endif //USE_PATH_COMPRESSION + } + + int find(int x) + { + //btAssert(x < m_N); + //btAssert(x >= 0); + + while (x != m_elements[x].m_id) + { + //not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically + + #ifdef USE_PATH_COMPRESSION + const btElement* elementPtr = &m_elements[m_elements[x].m_id]; + m_elements[x].m_id = elementPtr->m_id; + x = elementPtr->m_id; + #else// + x = m_elements[x].m_id; + #endif + //btAssert(x < m_N); + //btAssert(x >= 0); + + } + return x; + } + + + }; + + +#endif //BT_UNION_FIND_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.cpp new file mode 100644 index 00000000..ecce028c --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.cpp @@ -0,0 +1,42 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btBox2dShape.h" + + +//{ + + +void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + + +void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //btScalar margin = btScalar(0.); + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.h new file mode 100644 index 00000000..ce333783 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBox2dShape.h @@ -0,0 +1,371 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_OBB_BOX_2D_SHAPE_H +#define BT_OBB_BOX_2D_SHAPE_H + +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMinMax.h" + +///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. +ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape +{ + + //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead + + btVector3 m_centroid; + btVector3 m_vertices[4]; + btVector3 m_normals[4]; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + for (int i=0;iboxHalfExtents.getY()) + minDimension = boxHalfExtents.getY(); + setSafeMargin(minDimension); + + m_shapeType = BOX_2D_SHAPE_PROXYTYPE; + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; + }; + + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + virtual void setLocalScaling(const btVector3& scaling) + { + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; + + btConvexInternalShape::setLocalScaling(scaling); + + m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; + + } + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + + + + int getVertexCount() const + { + return 4; + } + + virtual int getNumVertices()const + { + return 4; + } + + const btVector3* getVertices() const + { + return &m_vertices[0]; + } + + const btVector3* getNormals() const + { + return &m_normals[0]; + } + + + + + + + + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const + { + //this plane might not be aligned... + btVector4 plane ; + getPlaneEquation(plane,i); + planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ()); + planeSupport = localGetSupportingVertex(-planeNormal); + } + + + const btVector3& getCentroid() const + { + return m_centroid; + } + + virtual int getNumPlanes() const + { + return 6; + } + + + + virtual int getNumEdges() const + { + return 12; + } + + + virtual void getVertex(int i,btVector3& vtx) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + vtx = btVector3( + halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1), + halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1), + halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2)); + } + + + virtual void getPlaneEquation(btVector4& plane,int i) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + switch (i) + { + case 0: + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 1: + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 2: + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); + break; + case 3: + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); + break; + case 4: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); + break; + case 5: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); + break; + default: + btAssert(0); + } + } + + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + //virtual void getEdge(int i,Edge& edge) const + { + int edgeVert0 = 0; + int edgeVert1 = 0; + + switch (i) + { + case 0: + edgeVert0 = 0; + edgeVert1 = 1; + break; + case 1: + edgeVert0 = 0; + edgeVert1 = 2; + break; + case 2: + edgeVert0 = 1; + edgeVert1 = 3; + + break; + case 3: + edgeVert0 = 2; + edgeVert1 = 3; + break; + case 4: + edgeVert0 = 0; + edgeVert1 = 4; + break; + case 5: + edgeVert0 = 1; + edgeVert1 = 5; + + break; + case 6: + edgeVert0 = 2; + edgeVert1 = 6; + break; + case 7: + edgeVert0 = 3; + edgeVert1 = 7; + break; + case 8: + edgeVert0 = 4; + edgeVert1 = 5; + break; + case 9: + edgeVert0 = 4; + edgeVert1 = 6; + break; + case 10: + edgeVert0 = 5; + edgeVert1 = 7; + break; + case 11: + edgeVert0 = 6; + edgeVert1 = 7; + break; + default: + btAssert(0); + + } + + getVertex(edgeVert0,pa ); + getVertex(edgeVert1,pb ); + } + + + + + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + //btScalar minDist = 2*tolerance; + + bool result = (pt.x() <= (halfExtents.x()+tolerance)) && + (pt.x() >= (-halfExtents.x()-tolerance)) && + (pt.y() <= (halfExtents.y()+tolerance)) && + (pt.y() >= (-halfExtents.y()-tolerance)) && + (pt.z() <= (halfExtents.z()+tolerance)) && + (pt.z() >= (-halfExtents.z()-tolerance)); + + return result; + } + + + //debugging + virtual const char* getName()const + { + return "Box2d"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 6; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + switch (index) + { + case 0: + penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); + break; + case 1: + penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); + break; + case 2: + penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); + break; + case 3: + penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); + break; + case 4: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); + break; + case 5: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); + break; + default: + btAssert(0); + } + } + +}; + +#endif //BT_OBB_BOX_2D_SHAPE_H + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.cpp new file mode 100644 index 00000000..3859138f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ +#include "btBoxShape.h" + +btBoxShape::btBoxShape( const btVector3& boxHalfExtents) +: btPolyhedralConvexShape() +{ + m_shapeType = BOX_SHAPE_PROXYTYPE; + + setSafeMargin(boxHalfExtents); + + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; +}; + + + + +void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + + +void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //btScalar margin = btScalar(0.); + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.h new file mode 100644 index 00000000..715e3f2a --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBoxShape.h @@ -0,0 +1,314 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_OBB_BOX_MINKOWSKI_H +#define BT_OBB_BOX_MINKOWSKI_H + +#include "btPolyhedralConvexShape.h" +#include "btCollisionMargin.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMinMax.h" + +///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. +ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape +{ + + //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead + + +public: + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//scaling is included, margin is not + } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()), + btFsels(vec.y(), halfExtents.y(), -halfExtents.y()), + btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + const btVector3& halfExtents = getHalfExtentsWithoutMargin(); + + for (int i=0;i>1)) - halfExtents.y() * ((i&2)>>1), + halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2)); + } + + + virtual void getPlaneEquation(btVector4& plane,int i) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + switch (i) + { + case 0: + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 1: + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); + break; + case 2: + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); + break; + case 3: + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); + break; + case 4: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); + break; + case 5: + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); + break; + default: + btAssert(0); + } + } + + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + //virtual void getEdge(int i,Edge& edge) const + { + int edgeVert0 = 0; + int edgeVert1 = 0; + + switch (i) + { + case 0: + edgeVert0 = 0; + edgeVert1 = 1; + break; + case 1: + edgeVert0 = 0; + edgeVert1 = 2; + break; + case 2: + edgeVert0 = 1; + edgeVert1 = 3; + + break; + case 3: + edgeVert0 = 2; + edgeVert1 = 3; + break; + case 4: + edgeVert0 = 0; + edgeVert1 = 4; + break; + case 5: + edgeVert0 = 1; + edgeVert1 = 5; + + break; + case 6: + edgeVert0 = 2; + edgeVert1 = 6; + break; + case 7: + edgeVert0 = 3; + edgeVert1 = 7; + break; + case 8: + edgeVert0 = 4; + edgeVert1 = 5; + break; + case 9: + edgeVert0 = 4; + edgeVert1 = 6; + break; + case 10: + edgeVert0 = 5; + edgeVert1 = 7; + break; + case 11: + edgeVert0 = 6; + edgeVert1 = 7; + break; + default: + btAssert(0); + + } + + getVertex(edgeVert0,pa ); + getVertex(edgeVert1,pb ); + } + + + + + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + + //btScalar minDist = 2*tolerance; + + bool result = (pt.x() <= (halfExtents.x()+tolerance)) && + (pt.x() >= (-halfExtents.x()-tolerance)) && + (pt.y() <= (halfExtents.y()+tolerance)) && + (pt.y() >= (-halfExtents.y()-tolerance)) && + (pt.z() <= (halfExtents.z()+tolerance)) && + (pt.z() >= (-halfExtents.z()-tolerance)); + + return result; + } + + + //debugging + virtual const char* getName()const + { + return "Box"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 6; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + switch (index) + { + case 0: + penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); + break; + case 1: + penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); + break; + case 2: + penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); + break; + case 3: + penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); + break; + case 4: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); + break; + case 5: + penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); + break; + default: + btAssert(0); + } + } + +}; + + +#endif //BT_OBB_BOX_MINKOWSKI_H + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp new file mode 100644 index 00000000..ace4cfa2 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp @@ -0,0 +1,466 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +//#define DISABLE_BVH + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" +#include "LinearMath/btSerializer.h" + +///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization. +///Uses an interface to access the triangles to allow for sharing graphics/physics triangles. +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_triangleInfoMap(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + //construct bvh from meshInterface +#ifndef DISABLE_BVH + + if (buildBvh) + { + buildOptimizedBvh(); + } + +#endif //DISABLE_BVH + +} + +btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh) +:btTriangleMeshShape(meshInterface), +m_bvh(0), +m_triangleInfoMap(0), +m_useQuantizedAabbCompression(useQuantizedAabbCompression), +m_ownsBvh(false) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + //construct bvh from meshInterface +#ifndef DISABLE_BVH + + if (buildBvh) + { + void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16); + m_bvh = new (mem) btOptimizedBvh(); + + m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax); + m_ownsBvh = true; + } + +#endif //DISABLE_BVH + +} + +void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax) +{ + m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax ); + + m_localAabbMin.setMin(aabbMin); + m_localAabbMax.setMax(aabbMax); +} + + +void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax) +{ + m_bvh->refit( m_meshInterface, aabbMin,aabbMax ); + + recalcLocalAabb(); +} + +btBvhTriangleMeshShape::~btBvhTriangleMeshShape() +{ + if (m_ownsBvh) + { + m_bvh->~btOptimizedBvh(); + btAlignedFree(m_bvh); + } +} + +void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) +{ + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + btVector3 m_triangle[3]; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } + } + + /* Perform ray vs. triangle collision here */ + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget); +} + +void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax) +{ + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + btVector3 m_triangle[3]; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3(btScalar(graphicsbase[0])*meshScaling.getX(),btScalar(graphicsbase[1])*meshScaling.getY(),btScalar(graphicsbase[2])*meshScaling.getZ()); + } + } + + /* Perform ray vs. triangle collision here */ + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax); +} + +//perform bvh tree traversal and report overlapping triangles to 'callback' +void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + +#ifdef DISABLE_BVH + //brute force traverse all triangles + btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax); +#else + + //first get all the nodes + + + struct MyNodeOverlapCallback : public btNodeOverlapCallback + { + btStridingMeshInterface* m_meshInterface; + btTriangleCallback* m_callback; + btVector3 m_triangle[3]; + + + MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface) + :m_meshInterface(meshInterface), + m_callback(callback) + { + } + + virtual void processNode(int nodeSubPart, int nodeTriangleIndex) + { + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + nodeSubPart); + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR); + + const btVector3& meshScaling = m_meshInterface->getScaling(); + for (int j=2;j>=0;j--) + { + + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j]; + + +#ifdef DEBUG_TRIANGLE_MESH + printf("%d ,",graphicsindex); +#endif //DEBUG_TRIANGLE_MESH + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + + m_triangle[j] = btVector3( + btScalar(graphicsbase[0])*meshScaling.getX(), + btScalar(graphicsbase[1])*meshScaling.getY(), + btScalar(graphicsbase[2])*meshScaling.getZ()); + } +#ifdef DEBUG_TRIANGLE_MESH + printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z()); +#endif //DEBUG_TRIANGLE_MESH + } + + m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex); + m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart); + } + + }; + + MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface); + + m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax); + + +#endif//DISABLE_BVH + + +} + +void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) + { + btTriangleMeshShape::setLocalScaling(scaling); + buildOptimizedBvh(); + } +} + +void btBvhTriangleMeshShape::buildOptimizedBvh() +{ + if (m_ownsBvh) + { + m_bvh->~btOptimizedBvh(); + btAlignedFree(m_bvh); + } + ///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work + void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16); + m_bvh = new(mem) btOptimizedBvh(); + //rebuild the bvh... + m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax); + m_ownsBvh = true; +} + +void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling) +{ + btAssert(!m_bvh); + btAssert(!m_ownsBvh); + + m_bvh = bvh; + m_ownsBvh = false; + // update the scaling without rebuilding the bvh + if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON) + { + btTriangleMeshShape::setLocalScaling(scaling); + } +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTriangleMeshShapeData* trimeshData = (btTriangleMeshShapeData*) dataBuffer; + + btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer); + + m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer); + + trimeshData->m_collisionMargin = float(m_collisionMargin); + + + + if (m_bvh && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_BVH)) + { + void* chunk = serializer->findPointer(m_bvh); + if (chunk) + { +#ifdef BT_USE_DOUBLE_PRECISION + trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)chunk; + trimeshData->m_quantizedFloatBvh = 0; +#else + trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)chunk; + trimeshData->m_quantizedDoubleBvh= 0; +#endif //BT_USE_DOUBLE_PRECISION + } else + { + +#ifdef BT_USE_DOUBLE_PRECISION + trimeshData->m_quantizedDoubleBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh); + trimeshData->m_quantizedFloatBvh = 0; +#else + trimeshData->m_quantizedFloatBvh = (btQuantizedBvhData*)serializer->getUniquePointer(m_bvh); + trimeshData->m_quantizedDoubleBvh= 0; +#endif //BT_USE_DOUBLE_PRECISION + + int sz = m_bvh->calculateSerializeBufferSizeNew(); + btChunk* chunk = serializer->allocate(sz,1); + const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,m_bvh); + } + } else + { + trimeshData->m_quantizedFloatBvh = 0; + trimeshData->m_quantizedDoubleBvh = 0; + } + + + + if (m_triangleInfoMap && !(serializer->getSerializationFlags()&BT_SERIALIZE_NO_TRIANGLEINFOMAP)) + { + void* chunk = serializer->findPointer(m_triangleInfoMap); + if (chunk) + { + trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)chunk; + } else + { + trimeshData->m_triangleInfoMap = (btTriangleInfoMapData*)serializer->getUniquePointer(m_triangleInfoMap); + int sz = m_triangleInfoMap->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(sz,1); + const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,m_triangleInfoMap); + } + } else + { + trimeshData->m_triangleInfoMap = 0; + } + + return "btTriangleMeshShapeData"; +} + +void btBvhTriangleMeshShape::serializeSingleBvh(btSerializer* serializer) const +{ + if (m_bvh) + { + int len = m_bvh->calculateSerializeBufferSizeNew(); //make sure not to use calculateSerializeBufferSize because it is used for in-place + btChunk* chunk = serializer->allocate(len,1); + const char* structType = m_bvh->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_QUANTIZED_BVH_CODE,(void*)m_bvh); + } +} + +void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap(btSerializer* serializer) const +{ + if (m_triangleInfoMap) + { + int len = m_triangleInfoMap->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = m_triangleInfoMap->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_TRIANLGE_INFO_MAP,(void*)m_triangleInfoMap); + } +} + + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h new file mode 100644 index 00000000..493d6355 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -0,0 +1,145 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_BVH_TRIANGLE_MESH_SHAPE_H +#define BT_BVH_TRIANGLE_MESH_SHAPE_H + +#include "btTriangleMeshShape.h" +#include "btOptimizedBvh.h" +#include "LinearMath/btAlignedAllocator.h" +#include "btTriangleInfoMap.h" + +///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. +///If you required moving concave triangle meshes, it is recommended to perform convex decomposition +///using HACD, see Bullet/Demos/ConvexDecompositionDemo. +///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. +///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and +///cache friendly traversal for PlayStation 3 Cell SPU. +///It is recommended to enable useQuantizedAabbCompression for better memory usage. +///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. +///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. +///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example. +ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape +{ + + btOptimizedBvh* m_bvh; + btTriangleInfoMap* m_triangleInfoMap; + + bool m_useQuantizedAabbCompression; + bool m_ownsBvh; + bool m_pad[11];////need padding due to alignment + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true); + + ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb + btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true); + + virtual ~btBvhTriangleMeshShape(); + + bool getOwnsBvh () const + { + return m_ownsBvh; + } + + + + void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget); + void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax); + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + void refitTree(const btVector3& aabbMin,const btVector3& aabbMax); + + ///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks + void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax); + + //debugging + virtual const char* getName()const {return "BVHTRIANGLEMESH";} + + + virtual void setLocalScaling(const btVector3& scaling); + + btOptimizedBvh* getOptimizedBvh() + { + return m_bvh; + } + + void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1)); + + void buildOptimizedBvh(); + + bool usesQuantizedAabbCompression() const + { + return m_useQuantizedAabbCompression; + } + + void setTriangleInfoMap(btTriangleInfoMap* triangleInfoMap) + { + m_triangleInfoMap = triangleInfoMap; + } + + const btTriangleInfoMap* getTriangleInfoMap() const + { + return m_triangleInfoMap; + } + + btTriangleInfoMap* getTriangleInfoMap() + { + return m_triangleInfoMap; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void serializeSingleBvh(btSerializer* serializer) const; + + virtual void serializeSingleTriangleInfoMap(btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btTriangleMeshShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btStridingMeshInterfaceData m_meshInterface; + + btQuantizedBvhFloatData *m_quantizedFloatBvh; + btQuantizedBvhDoubleData *m_quantizedDoubleBvh; + + btTriangleInfoMapData *m_triangleInfoMap; + + float m_collisionMargin; + + char m_pad3[4]; + +}; + + +SIMD_FORCE_INLINE int btBvhTriangleMeshShape::calculateSerializeBufferSize() const +{ + return sizeof(btTriangleMeshShapeData); +} + + + +#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp new file mode 100644 index 00000000..864df26e --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btCapsuleShape.h" + +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "LinearMath/btQuaternion.h" + +btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape () +{ + m_shapeType = CAPSULE_SHAPE_PROXYTYPE; + m_upAxis = 1; + m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); +} + + + btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + + btVector3 supVec(0,0,0); + + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + 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; + } + + btVector3 vtx; + btScalar newDot; + + btScalar radius = getRadius(); + + + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = getHalfHeight(); + + vtx = pos +vec*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); + + vtx = pos +vec*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + + return supVec; + +} + + void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + + + btScalar radius = getRadius(); + + for (int j=0;j maxDot) + { + maxDot = newDot; + supportVerticesOut[j] = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[getUpAxis()] = -getHalfHeight(); + vtx = pos +vec*(radius) - vec * getMargin(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supportVerticesOut[j] = vtx; + } + } + + } +} + + +void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //as an approximation, take the inertia of the box that bounds the spheres + + btTransform ident; + ident.setIdentity(); + + + btScalar radius = getRadius(); + + btVector3 halfExtents(radius,radius,radius); + halfExtents[getUpAxis()]+=getHalfHeight(); + + btScalar margin = CONVEX_DISTANCE_MARGIN; + + btScalar lx=btScalar(2.)*(halfExtents[0]+margin); + btScalar ly=btScalar(2.)*(halfExtents[1]+margin); + btScalar lz=btScalar(2.)*(halfExtents[2]+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(.08333333); + + inertia[0] = scaledmass * (y2+z2); + inertia[1] = scaledmass * (x2+z2); + inertia[2] = scaledmass * (x2+y2); + +} + +btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) +{ + m_upAxis = 0; + m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); +} + + + + + + +btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height) +{ + m_upAxis = 2; + m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); +} + + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.h new file mode 100644 index 00000000..7578bb25 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -0,0 +1,184 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CAPSULE_SHAPE_H +#define BT_CAPSULE_SHAPE_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + + +///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. +///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. +ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape +{ +protected: + int m_upAxis; + +protected: + ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. + btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCapsuleShape(btScalar radius,btScalar height); + + ///CollisionShape Interface + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + /// btConvexShape Interface + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + + virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const + { + btVector3 halfExtents(getRadius(),getRadius(),getRadius()); + halfExtents[m_upAxis] = getRadius() + getHalfHeight(); + halfExtents += btVector3(getMargin(),getMargin(),getMargin()); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + + aabbMin = center - extent; + aabbMax = center + extent; + } + + virtual const char* getName()const + { + return "CapsuleShape"; + } + + int getUpAxis() const + { + return m_upAxis; + } + + btScalar getRadius() const + { + int radiusAxis = (m_upAxis+2)%3; + return m_implicitShapeDimensions[radiusAxis]; + } + + btScalar getHalfHeight() const + { + return m_implicitShapeDimensions[m_upAxis]; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; + + btConvexInternalShape::setLocalScaling(scaling); + + m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; + + } + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + btVector3 aniDir(0,0,0); + aniDir[getUpAxis()]=1; + return aniDir; + } + + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///btCapsuleShapeX represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeX : public btCapsuleShape +{ +public: + + btCapsuleShapeX(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleX"; + } + + + +}; + +///btCapsuleShapeZ represents a capsule around the Z axis +///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. +class btCapsuleShapeZ : public btCapsuleShape +{ +public: + btCapsuleShapeZ(btScalar radius,btScalar height); + + //debugging + virtual const char* getName()const + { + return "CapsuleZ"; + } + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCapsuleShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upAxis; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const +{ + return sizeof(btCapsuleShapeData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + + shapeData->m_upAxis = m_upAxis; + + return "btCapsuleShapeData"; +} + +#endif //BT_CAPSULE_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionMargin.h b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionMargin.h new file mode 100644 index 00000000..474bf1fb --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionMargin.h @@ -0,0 +1,27 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_COLLISION_MARGIN_H +#define BT_COLLISION_MARGIN_H + +///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape. +///This collision margin is used by Gjk and some other algorithms +///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API +#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01) + + + +#endif //BT_COLLISION_MARGIN_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.cpp new file mode 100644 index 00000000..39ee21ca --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.cpp @@ -0,0 +1,119 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "LinearMath/btSerializer.h" + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" +{ +void btBulletCollisionProbe (); + +void btBulletCollisionProbe () {} +} + + + +void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const +{ + btTransform tr; + tr.setIdentity(); + btVector3 aabbMin,aabbMax; + + getAabb(tr,aabbMin,aabbMax); + + radius = (aabbMax-aabbMin).length()*btScalar(0.5); + center = (aabbMin+aabbMax)*btScalar(0.5); +} + + +btScalar btCollisionShape::getContactBreakingThreshold(btScalar defaultContactThreshold) const +{ + return getAngularMotionDisc() * defaultContactThreshold; +} + +btScalar btCollisionShape::getAngularMotionDisc() const +{ + ///@todo cache this value, to improve performance + btVector3 center; + btScalar disc; + getBoundingSphere(center,disc); + disc += (center).length(); + return disc; +} + +void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const +{ + //start with static aabb + getAabb(curTrans,temporalAabbMin,temporalAabbMax); + + btScalar temporalAabbMaxx = temporalAabbMax.getX(); + btScalar temporalAabbMaxy = temporalAabbMax.getY(); + btScalar temporalAabbMaxz = temporalAabbMax.getZ(); + btScalar temporalAabbMinx = temporalAabbMin.getX(); + btScalar temporalAabbMiny = temporalAabbMin.getY(); + btScalar temporalAabbMinz = temporalAabbMin.getZ(); + + // add linear motion + btVector3 linMotion = linvel*timeStep; + ///@todo: simd would have a vector max/min operation, instead of per-element access + if (linMotion.x() > btScalar(0.)) + temporalAabbMaxx += linMotion.x(); + else + temporalAabbMinx += linMotion.x(); + if (linMotion.y() > btScalar(0.)) + temporalAabbMaxy += linMotion.y(); + else + temporalAabbMiny += linMotion.y(); + if (linMotion.z() > btScalar(0.)) + temporalAabbMaxz += linMotion.z(); + else + temporalAabbMinz += linMotion.z(); + + //add conservative angular motion + btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep; + btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); + temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); + temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); + + temporalAabbMin -= angularMotion3d; + temporalAabbMax += angularMotion3d; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btCollisionShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer; + char* name = (char*) serializer->findNameForPointer(this); + shapeData->m_name = (char*)serializer->getUniquePointer(name); + if (shapeData->m_name) + { + serializer->serializeName(name); + } + shapeData->m_shapeType = m_shapeType; + //shapeData->m_padding//?? + return "btCollisionShapeData"; +} + +void btCollisionShape::serializeSingleShape(btSerializer* serializer) const +{ + int len = calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,(void*)this); +} \ No newline at end of file diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.h new file mode 100644 index 00000000..ff017a20 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -0,0 +1,159 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_COLLISION_SHAPE_H +#define BT_COLLISION_SHAPE_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types +class btSerializer; + + +///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. +ATTRIBUTE_ALIGNED16(class) btCollisionShape +{ +protected: + int m_shapeType; + void* m_userPointer; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0) + { + } + + virtual ~btCollisionShape() + { + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; + + ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. + virtual btScalar getAngularMotionDisc() const; + + virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const; + + + ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) + ///result is conservative + void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const; + + + + SIMD_FORCE_INLINE bool isPolyhedral() const + { + return btBroadphaseProxy::isPolyhedral(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex2d() const + { + return btBroadphaseProxy::isConvex2d(getShapeType()); + } + + SIMD_FORCE_INLINE bool isConvex() const + { + return btBroadphaseProxy::isConvex(getShapeType()); + } + SIMD_FORCE_INLINE bool isNonMoving() const + { + return btBroadphaseProxy::isNonMoving(getShapeType()); + } + SIMD_FORCE_INLINE bool isConcave() const + { + return btBroadphaseProxy::isConcave(getShapeType()); + } + SIMD_FORCE_INLINE bool isCompound() const + { + return btBroadphaseProxy::isCompound(getShapeType()); + } + + SIMD_FORCE_INLINE bool isSoftBody() const + { + return btBroadphaseProxy::isSoftBody(getShapeType()); + } + + ///isInfinite is used to catch simulation error (aabb check) + SIMD_FORCE_INLINE bool isInfinite() const + { + return btBroadphaseProxy::isInfinite(getShapeType()); + } + +#ifndef __SPU__ + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0; + + +//debugging support + virtual const char* getName()const =0 ; +#endif //__SPU__ + + + int getShapeType() const { return m_shapeType; } + + ///the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction + ///See Bullet/Demos/RollingFrictionDemo for an example + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3(1,1,1); + } + virtual void setMargin(btScalar margin) = 0; + virtual btScalar getMargin() const = 0; + + + ///optional user data pointer + void setUserPointer(void* userPtr) + { + m_userPointer = userPtr; + } + + void* getUserPointer() const + { + return m_userPointer; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + virtual void serializeSingleShape(btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCollisionShapeData +{ + char *m_name; + int m_shapeType; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const +{ + return sizeof(btCollisionShapeData); +} + + + +#endif //BT_COLLISION_SHAPE_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.cpp new file mode 100644 index 00000000..0aa75f2b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -0,0 +1,356 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btCompoundShape.h" +#include "btCollisionShape.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btSerializer.h" + +btCompoundShape::btCompoundShape(bool enableDynamicAabbTree) +: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)), +m_localAabbMax(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)), +m_dynamicAabbTree(0), +m_updateRevision(1), +m_collisionMargin(btScalar(0.)), +m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)) +{ + m_shapeType = COMPOUND_SHAPE_PROXYTYPE; + + if (enableDynamicAabbTree) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + } +} + + +btCompoundShape::~btCompoundShape() +{ + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->~btDbvt(); + btAlignedFree(m_dynamicAabbTree); + } +} + +void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape) +{ + m_updateRevision++; + //m_childTransforms.push_back(localTransform); + //m_childShapes.push_back(shape); + btCompoundShapeChild child; + child.m_node = 0; + child.m_transform = localTransform; + child.m_childShape = shape; + child.m_childShapeType = shape->getShapeType(); + child.m_childMargin = shape->getMargin(); + + + //extend the local aabbMin/aabbMax + btVector3 localAabbMin,localAabbMax; + shape->getAabb(localTransform,localAabbMin,localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + { + m_localAabbMin[i] = localAabbMin[i]; + } + if (m_localAabbMax[i] < localAabbMax[i]) + { + m_localAabbMax[i] = localAabbMax[i]; + } + + } + if (m_dynamicAabbTree) + { + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + int index = m_children.size(); + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + + m_children.push_back(child); + +} + +void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb) +{ + m_children[childIndex].m_transform = newChildTransform; + + if (m_dynamicAabbTree) + { + ///update the dynamic aabb tree + btVector3 localAabbMin,localAabbMax; + m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax); + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + //int index = m_children.size()-1; + m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds); + } + + if (shouldRecalculateLocalAabb) + { + recalculateLocalAabb(); + } +} + +void btCompoundShape::removeChildShapeByIndex(int childShapeIndex) +{ + m_updateRevision++; + btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size()); + if (m_dynamicAabbTree) + { + m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node); + } + m_children.swap(childShapeIndex,m_children.size()-1); + if (m_dynamicAabbTree) + m_children[childShapeIndex].m_node->dataAsInt = childShapeIndex; + m_children.pop_back(); + +} + + + +void btCompoundShape::removeChildShape(btCollisionShape* shape) +{ + m_updateRevision++; + // Find the children containing the shape specified, and remove those children. + //note: there might be multiple children using the same shape! + for(int i = m_children.size()-1; i >= 0 ; i--) + { + if(m_children[i].m_childShape == shape) + { + removeChildShapeByIndex(i); + } + } + + + + recalculateLocalAabb(); +} + +void btCompoundShape::recalculateLocalAabb() +{ + // Recalculate the local aabb + // Brute force, it iterates over all the shapes left. + + m_localAabbMin = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_localAabbMax = btVector3(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + + //extend the local aabbMin/aabbMax + for (int j = 0; j < m_children.size(); j++) + { + btVector3 localAabbMin,localAabbMax; + m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax); + for (int i=0;i<3;i++) + { + if (m_localAabbMin[i] > localAabbMin[i]) + m_localAabbMin[i] = localAabbMin[i]; + if (m_localAabbMax[i] < localAabbMax[i]) + m_localAabbMax[i] = localAabbMax[i]; + } + } +} + +///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); + + //avoid an illegal AABB when there are no children + if (!m_children.size()) + { + localHalfExtents.setValue(0,0,0); + localCenter.setValue(0,0,0); + } + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); + + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center-extent; + aabbMax = center+extent; + +} + +void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //approximation: take the inertia from the aabb for now + btTransform ident; + ident.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(ident,aabbMin,aabbMax); + + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz); + inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz); + inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly); + +} + + + + +void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const +{ + int n = m_children.size(); + + btScalar totalMass = 0; + btVector3 center(0, 0, 0); + int k; + + for (k = 0; k < n; k++) + { + btAssert(masses[k]>0); + center += m_children[k].m_transform.getOrigin() * masses[k]; + totalMass += masses[k]; + } + + btAssert(totalMass>0); + + center /= totalMass; + principal.setOrigin(center); + + btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0); + for ( k = 0; k < n; k++) + { + btVector3 i; + m_children[k].m_childShape->calculateLocalInertia(masses[k], i); + + const btTransform& t = m_children[k].m_transform; + btVector3 o = t.getOrigin() - center; + + //compute inertia tensor in coordinate system of compound shape + btMatrix3x3 j = t.getBasis().transpose(); + j[0] *= i[0]; + j[1] *= i[1]; + j[2] *= i[2]; + j = t.getBasis() * j; + + //add inertia tensor + tensor[0] += j[0]; + tensor[1] += j[1]; + tensor[2] += j[2]; + + //compute inertia tensor of pointmass at o + btScalar o2 = o.length2(); + j[0].setValue(o2, 0, 0); + j[1].setValue(0, o2, 0); + j[2].setValue(0, 0, o2); + j[0] += o * -o.x(); + j[1] += o * -o.y(); + j[2] += o * -o.z(); + + //add inertia tensor of pointmass + tensor[0] += masses[k] * j[0]; + tensor[1] += masses[k] * j[1]; + tensor[2] += masses[k] * j[2]; + } + + tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]); +} + + + + + +void btCompoundShape::setLocalScaling(const btVector3& scaling) +{ + + for(int i = 0; i < m_children.size(); i++) + { + btTransform childTrans = getChildTransform(i); + btVector3 childScale = m_children[i].m_childShape->getLocalScaling(); +// childScale = childScale * (childTrans.getBasis() * scaling); + childScale = childScale * scaling / m_localScaling; + m_children[i].m_childShape->setLocalScaling(childScale); + childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling); + updateChildTransform(i, childTrans,false); + } + + m_localScaling = scaling; + recalculateLocalAabb(); + +} + + +void btCompoundShape::createAabbTreeFromChildren() +{ + if ( !m_dynamicAabbTree ) + { + void* mem = btAlignedAlloc(sizeof(btDbvt),16); + m_dynamicAabbTree = new(mem) btDbvt(); + btAssert(mem==m_dynamicAabbTree); + + for ( int index = 0; index < m_children.size(); index++ ) + { + btCompoundShapeChild &child = m_children[index]; + + //extend the local aabbMin/aabbMax + btVector3 localAabbMin,localAabbMax; + child.m_childShape->getAabb(child.m_transform,localAabbMin,localAabbMax); + + const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index); + } + } +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + shapeData->m_collisionMargin = float(m_collisionMargin); + shapeData->m_numChildShapes = m_children.size(); + shapeData->m_childShapePtr = 0; + if (shapeData->m_numChildShapes) + { + btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes); + btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr; + shapeData->m_childShapePtr = (btCompoundShapeChildData*)serializer->getUniquePointer(memPtr); + + for (int i=0;im_numChildShapes;i++,memPtr++) + { + memPtr->m_childMargin = float(m_children[i].m_childMargin); + memPtr->m_childShape = (btCollisionShapeData*)serializer->getUniquePointer(m_children[i].m_childShape); + //don't serialize shapes that already have been serialized + if (!serializer->findPointer(m_children[i].m_childShape)) + { + btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1); + const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer); + serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape); + } + + memPtr->m_childShapeType = m_children[i].m_childShapeType; + m_children[i].m_transform.serializeFloat(memPtr->m_transform); + } + serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + return "btCompoundShapeData"; +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.h new file mode 100644 index 00000000..141034a8 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCompoundShape.h @@ -0,0 +1,212 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_COMPOUND_SHAPE_H +#define BT_COMPOUND_SHAPE_H + +#include "btCollisionShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" +#include "LinearMath/btAlignedObjectArray.h" + +//class btOptimizedBvh; +struct btDbvt; + +ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTransform m_transform; + btCollisionShape* m_childShape; + int m_childShapeType; + btScalar m_childMargin; + struct btDbvtNode* m_node; +}; + +SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2) +{ + return ( c1.m_transform == c2.m_transform && + c1.m_childShape == c2.m_childShape && + c1.m_childShapeType == c2.m_childShapeType && + c1.m_childMargin == c2.m_childMargin ); +} + +/// The btCompoundShape allows to store multiple other btCollisionShapes +/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape. +/// It has an (optional) dynamic aabb tree to accelerate early rejection tests. +/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25 +/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape) +ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape +{ + btAlignedObjectArray m_children; + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + + btDbvt* m_dynamicAabbTree; + + ///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated + int m_updateRevision; + + btScalar m_collisionMargin; + +protected: + btVector3 m_localScaling; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCompoundShape(bool enableDynamicAabbTree = true); + + virtual ~btCompoundShape(); + + void addChildShape(const btTransform& localTransform,btCollisionShape* shape); + + /// Remove all children shapes that contain the specified shape + virtual void removeChildShape(btCollisionShape* shape); + + void removeChildShapeByIndex(int childShapeindex); + + + int getNumChildShapes() const + { + return int (m_children.size()); + } + + btCollisionShape* getChildShape(int index) + { + return m_children[index].m_childShape; + } + const btCollisionShape* getChildShape(int index) const + { + return m_children[index].m_childShape; + } + + btTransform& getChildTransform(int index) + { + return m_children[index].m_transform; + } + const btTransform& getChildTransform(int index) const + { + return m_children[index].m_transform; + } + + ///set a new transform for a child, and update internal data structures (local aabb and dynamic tree) + void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true); + + + btCompoundShapeChild* getChildList() + { + return &m_children[0]; + } + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + /** Re-calculate the local Aabb. Is called at the end of removeChildShapes. + Use this yourself if you modify the children or their transforms. */ + virtual void recalculateLocalAabb(); + + virtual void setLocalScaling(const btVector3& scaling); + + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + } + virtual btScalar getMargin() const + { + return m_collisionMargin; + } + virtual const char* getName()const + { + return "Compound"; + } + + const btDbvt* getDynamicAabbTree() const + { + return m_dynamicAabbTree; + } + + btDbvt* getDynamicAabbTree() + { + return m_dynamicAabbTree; + } + + void createAabbTreeFromChildren(); + + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform + ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. + void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + + int getUpdateRevision() const + { + return m_updateRevision; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCompoundShapeChildData +{ + btTransformFloatData m_transform; + btCollisionShapeData *m_childShape; + int m_childShapeType; + float m_childMargin; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCompoundShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btCompoundShapeChildData *m_childShapePtr; + + int m_numChildShapes; + + float m_collisionMargin; + +}; + + +SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const +{ + return sizeof(btCompoundShapeData); +} + + + + + + + +#endif //BT_COMPOUND_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.cpp new file mode 100644 index 00000000..58ff84a5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.cpp @@ -0,0 +1,27 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btConcaveShape.h" + +btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.)) +{ + +} + +btConcaveShape::~btConcaveShape() +{ + +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.h new file mode 100644 index 00000000..2917cc5b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConcaveShape.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONCAVE_SHAPE_H +#define BT_CONCAVE_SHAPE_H + +#include "btCollisionShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btTriangleCallback.h" + +/// PHY_ScalarType enumerates possible scalar types. +/// See the btStridingMeshInterface or btHeightfieldTerrainShape for its use +typedef enum PHY_ScalarType { + PHY_FLOAT, + PHY_DOUBLE, + PHY_INTEGER, + PHY_SHORT, + PHY_FIXEDPOINT88, + PHY_UCHAR +} PHY_ScalarType; + +///The btConcaveShape class provides an interface for non-moving (static) concave shapes. +///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape. +ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape +{ +protected: + btScalar m_collisionMargin; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConcaveShape(); + + virtual ~btConcaveShape(); + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0; + + virtual btScalar getMargin() const { + return m_collisionMargin; + } + virtual void setMargin(btScalar collisionMargin) + { + m_collisionMargin = collisionMargin; + } + + + +}; + +#endif //BT_CONCAVE_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConeShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConeShape.cpp new file mode 100644 index 00000000..2d83c8bf --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConeShape.cpp @@ -0,0 +1,147 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btConeShape.h" + + + +btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (), +m_radius (radius), +m_height(height) +{ + m_shapeType = CONE_SHAPE_PROXYTYPE; + setConeUpIndex(1); + btVector3 halfExtents; + m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height)); +} + +btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height): +btConeShape(radius,height) +{ + setConeUpIndex(2); +} + +btConeShapeX::btConeShapeX (btScalar radius,btScalar height): +btConeShape(radius,height) +{ + setConeUpIndex(0); +} + +///choose upAxis index +void btConeShape::setConeUpIndex(int upIndex) +{ + switch (upIndex) + { + case 0: + m_coneIndices[0] = 1; + m_coneIndices[1] = 0; + m_coneIndices[2] = 2; + break; + case 1: + m_coneIndices[0] = 0; + m_coneIndices[1] = 1; + m_coneIndices[2] = 2; + break; + case 2: + m_coneIndices[0] = 0; + m_coneIndices[1] = 2; + m_coneIndices[2] = 1; + break; + default: + btAssert(0); + }; + + m_implicitShapeDimensions[m_coneIndices[0]] = m_radius; + m_implicitShapeDimensions[m_coneIndices[1]] = m_height; + m_implicitShapeDimensions[m_coneIndices[2]] = m_radius; +} + +btVector3 btConeShape::coneLocalSupport(const btVector3& v) const +{ + + btScalar halfHeight = m_height * btScalar(0.5); + + if (v[m_coneIndices[1]] > v.length() * m_sinAngle) + { + btVector3 tmp; + + tmp[m_coneIndices[0]] = btScalar(0.); + tmp[m_coneIndices[1]] = halfHeight; + tmp[m_coneIndices[2]] = btScalar(0.); + return tmp; + } + else { + btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]); + if (s > SIMD_EPSILON) { + btScalar d = m_radius / s; + btVector3 tmp; + tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d; + tmp[m_coneIndices[1]] = -halfHeight; + tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d; + return tmp; + } + else { + btVector3 tmp; + tmp[m_coneIndices[0]] = btScalar(0.); + tmp[m_coneIndices[1]] = -halfHeight; + tmp[m_coneIndices[2]] = btScalar(0.); + return tmp; + } + } + +} + +btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const +{ + return coneLocalSupport(vec); +} + +void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;im_convexInternalShapeData,serializer); + + shapeData->m_upIndex = m_coneIndices[1]; + + return "btConeShapeData"; +} + +#endif //BT_CONE_MINKOWSKI_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.cpp new file mode 100644 index 00000000..10ea3e98 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.cpp @@ -0,0 +1,92 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btConvex2dShape.h" + +btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape): +btConvexShape (), m_childConvexShape(convexChildShape) +{ + m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE; +} + +btConvex2dShape::~btConvex2dShape() +{ +} + + + +btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); +} + +void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); +} + + +btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const +{ + return m_childConvexShape->localGetSupportingVertex(vec); +} + + +void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + ///this linear upscaling is not realistic, but we don't deal with large mass ratios... + m_childConvexShape->calculateLocalInertia(mass,inertia); +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabb(t,aabbMin,aabbMax); +} + +void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax); +} + +void btConvex2dShape::setLocalScaling(const btVector3& scaling) +{ + m_childConvexShape->setLocalScaling(scaling); +} + +const btVector3& btConvex2dShape::getLocalScaling() const +{ + return m_childConvexShape->getLocalScaling(); +} + +void btConvex2dShape::setMargin(btScalar margin) +{ + m_childConvexShape->setMargin(margin); +} +btScalar btConvex2dShape::getMargin() const +{ + return m_childConvexShape->getMargin(); +} + +int btConvex2dShape::getNumPreferredPenetrationDirections() const +{ + return m_childConvexShape->getNumPreferredPenetrationDirections(); +} + +void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const +{ + m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.h new file mode 100644 index 00000000..bbd1caf4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvex2dShape.h @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_2D_SHAPE_H +#define BT_CONVEX_2D_SHAPE_H + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0. +///For 2d boxes, the btBox2dShape is recommended. +ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape +{ + btConvexShape* m_childConvexShape; + + public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvex2dShape( btConvexShape* convexChildShape); + + virtual ~btConvex2dShape(); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + btConvexShape* getChildShape() + { + return m_childConvexShape; + } + + const btConvexShape* getChildShape() const + { + return m_childConvexShape; + } + + virtual const char* getName()const + { + return "Convex2dShape"; + } + + + + /////////////////////////// + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void setLocalScaling(const btVector3& scaling) ; + virtual const btVector3& getLocalScaling() const ; + + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual int getNumPreferredPenetrationDirections() const; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; + + +}; + +#endif //BT_CONVEX_2D_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp new file mode 100644 index 00000000..0623e351 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -0,0 +1,250 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + +#include "btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" + +btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride) : btPolyhedralConvexAabbCachingShape () +{ + m_shapeType = CONVEX_HULL_SHAPE_PROXYTYPE; + m_unscaledPoints.resize(numPoints); + + unsigned char* pointsAddress = (unsigned char*)points; + + for (int i=0;im_convexInternalShapeData, serializer); + + int numElem = m_unscaledPoints.size(); + shapeData->m_numUnscaledPoints = numElem; +#ifdef BT_USE_DOUBLE_PRECISION + shapeData->m_unscaledPointsFloatPtr = 0; + shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; +#else + shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)serializer->getUniquePointer((void*)&m_unscaledPoints[0]): 0; + shapeData->m_unscaledPointsDoublePtr = 0; +#endif + + if (numElem) + { + int sz = sizeof(btVector3Data); + // int sz2 = sizeof(btVector3DoubleData); + // int sz3 = sizeof(btVector3FloatData); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); + } + + return "btConvexHullShapeData"; +} + +void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const +{ +#if 1 + minProj = FLT_MAX; + maxProj = -FLT_MAX; + + int numVerts = m_unscaledPoints.size(); + for(int i=0;i maxProj) + { + maxProj = dp; + witnesPtMax=pt; + } + } +#else + btVector3 localAxis = dir*trans.getBasis(); + witnesPtMin = trans(localGetSupportingVertex(localAxis)); + witnesPtMax = trans(localGetSupportingVertex(-localAxis)); + + minProj = witnesPtMin.dot(dir); + maxProj = witnesPtMax.dot(dir); +#endif + + if(minProj>maxProj) + { + btSwap(minProj,maxProj); + btSwap(witnesPtMin,witnesPtMax); + } + + +} + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.h new file mode 100644 index 00000000..3bd598ec --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -0,0 +1,122 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_HULL_SHAPE_H +#define BT_CONVEX_HULL_SHAPE_H + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" + + +///The btConvexHullShape implements an implicit convex hull of an array of vertices. +///Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex. +ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexAabbCachingShape +{ + btAlignedObjectArray m_unscaledPoints; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + ///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. + ///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. + ///btConvexHullShape make an internal copy of the points. + btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3)); + + void addPoint(const btVector3& point, bool recalculateLocalAabb = true); + + + btVector3* getUnscaledPoints() + { + return &m_unscaledPoints[0]; + } + + const btVector3* getUnscaledPoints() const + { + return &m_unscaledPoints[0]; + } + + ///getPoints is obsolete, please use getUnscaledPoints + const btVector3* getPoints() const + { + return getUnscaledPoints(); + } + + + + + SIMD_FORCE_INLINE btVector3 getScaledPoint(int i) const + { + return m_unscaledPoints[i] * m_localScaling; + } + + SIMD_FORCE_INLINE int getNumPoints() const + { + return m_unscaledPoints.size(); + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; + + + //debugging + virtual const char* getName()const {return "Convex";} + + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConvexHullShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + btVector3FloatData *m_unscaledPointsFloatPtr; + btVector3DoubleData *m_unscaledPointsDoublePtr; + + int m_numUnscaledPoints; + char m_padding3[4]; + +}; + + +SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const +{ + return sizeof(btConvexHullShapeData); +} + + +#endif //BT_CONVEX_HULL_SHAPE_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp new file mode 100644 index 00000000..083d60b1 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btConvexInternalShape.h" + + + +btConvexInternalShape::btConvexInternalShape() +: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)), +m_collisionMargin(CONVEX_DISTANCE_MARGIN) +{ +} + + +void btConvexInternalShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling.absolute(); +} + + + +void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const +{ +#ifndef __SPU__ + //use localGetSupportingVertexWithoutMargin? + btScalar margin = getMargin(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportingVertex(vec*trans.getBasis()); + + btVector3 tmp = trans(sv); + maxAabb[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = trans(localGetSupportingVertex(vec*trans.getBasis())); + minAabb[i] = tmp[i]-margin; + } +#endif +} + + + +btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const +{ +#ifndef __SPU__ + + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; + +#else + btAssert(0); + return btVector3(0,0,0); +#endif //__SPU__ + + } + + +btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape() + : btConvexInternalShape(), +m_localAabbMin(1,1,1), +m_localAabbMax(-1,-1,-1), +m_isLocalAabbValid(false) +{ +} + + +void btConvexInternalAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); +} + +void btConvexInternalAabbCachingShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} + + +void btConvexInternalAabbCachingShape::recalcLocalAabb() +{ + m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else + + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } + #endif +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.h new file mode 100644 index 00000000..37e04f5f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexInternalShape.h @@ -0,0 +1,224 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_INTERNAL_SHAPE_H +#define BT_CONVEX_INTERNAL_SHAPE_H + +#include "btConvexShape.h" +#include "LinearMath/btAabbUtil2.h" + + +///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. +///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. +///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h +///Note that when creating small shapes (derived from btConvexInternalShape), +///you need to make sure to set a smaller collision margin, using the 'setMargin' API +///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape +ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape +{ + + protected: + + //local scaling. collisionMargin is not scaled ! + btVector3 m_localScaling; + + btVector3 m_implicitShapeDimensions; + + btScalar m_collisionMargin; + + btScalar m_padding; + + btConvexInternalShape(); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual ~btConvexInternalShape() + { + + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + const btVector3& getImplicitShapeDimensions() const + { + return m_implicitShapeDimensions; + } + + ///warning: use setImplicitShapeDimensions with care + ///changing a collision shape while the body is in the world is not recommended, + ///it is best to remove the body from the world, then make the change, and re-add it + ///alternatively flush the contact points, see documentation for 'cleanProxyFromPairs' + void setImplicitShapeDimensions(const btVector3& dimensions) + { + m_implicitShapeDimensions = dimensions; + } + + void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f) + { + btScalar safeMargin = defaultMarginMultiplier*minDimension; + if (safeMargin < getMargin()) + { + setMargin(safeMargin); + } + } + void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f) + { + //see http://code.google.com/p/bullet/issues/detail?id=349 + //this margin check could could be added to other collision shapes too, + //or add some assert/warning somewhere + btScalar minDimension=halfExtents[halfExtents.minAxis()]; + setSafeMargin(minDimension, defaultMarginMultiplier); + } + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + getAabbSlow(t,aabbMin,aabbMax); + } + + + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + const btVector3& getLocalScalingNV() const + { + return m_localScaling; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + } + virtual btScalar getMargin() const + { + return m_collisionMargin; + } + + btScalar getMarginNV() const + { + return m_collisionMargin; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 0; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + (void)penetrationVector; + (void)index; + btAssert(0); + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConvexInternalShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btVector3FloatData m_localScaling; + + btVector3FloatData m_implicitShapeDimensions; + + float m_collisionMargin; + + int m_padding; + +}; + + + +SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const +{ + return sizeof(btConvexInternalShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; + btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); + + m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions); + m_localScaling.serializeFloat(shapeData->m_localScaling); + shapeData->m_collisionMargin = float(m_collisionMargin); + + return "btConvexInternalShapeData"; +} + + + + +///btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations +class btConvexInternalAabbCachingShape : public btConvexInternalShape +{ + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: + + btConvexInternalAabbCachingShape(); + + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + { + + //lazy evaluation of local aabb + btAssert(m_isLocalAabbValid); + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + } + +public: + + virtual void setLocalScaling(const btVector3& scaling); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + void recalcLocalAabb(); + +}; + +#endif //BT_CONVEX_INTERNAL_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp new file mode 100644 index 00000000..ad1d1bf7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp @@ -0,0 +1,139 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btConvexPointCloudShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; + recalcLocalAabb(); +} + +#ifndef __SPU__ +btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + btScalar maxDot = btScalar(-BT_LARGE_FLOAT); + + 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; + } + + if( m_numPoints > 0 ) + { + // Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically. + // btVector3 scaled = vec * m_localScaling; + int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints + return getScaledPoint(index); + } + + return supVec; +} + +void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + for( int j = 0; j < numVectors; j++ ) + { + const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c) + btScalar maxDot; + int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); + supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT); + if( 0 <= index ) + { + //WARNING: don't swap next lines, the w component would get overwritten! + supportVerticesOut[j] = getScaledPoint(index); + supportVerticesOut[j][3] = maxDot; + } + } + +} + + + +btVector3 btConvexPointCloudShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + +#endif + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo +int btConvexPointCloudShape::getNumVertices() const +{ + return m_numPoints; +} + +int btConvexPointCloudShape::getNumEdges() const +{ + return 0; +} + +void btConvexPointCloudShape::getEdge(int i,btVector3& pa,btVector3& pb) const +{ + btAssert (0); +} + +void btConvexPointCloudShape::getVertex(int i,btVector3& vtx) const +{ + vtx = m_unscaledPoints[i]*m_localScaling; +} + +int btConvexPointCloudShape::getNumPlanes() const +{ + return 0; +} + +void btConvexPointCloudShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + + btAssert(0); +} + +//not yet +bool btConvexPointCloudShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h new file mode 100644 index 00000000..54b5afac --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h @@ -0,0 +1,105 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_POINT_CLOUD_SHAPE_H +#define BT_CONVEX_POINT_CLOUD_SHAPE_H + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" + +///The btConvexPointCloudShape implements an implicit convex hull of an array of vertices. +ATTRIBUTE_ALIGNED16(class) btConvexPointCloudShape : public btPolyhedralConvexAabbCachingShape +{ + btVector3* m_unscaledPoints; + int m_numPoints; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexPointCloudShape() + { + m_localScaling.setValue(1.f,1.f,1.f); + m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; + m_unscaledPoints = 0; + m_numPoints = 0; + } + + btConvexPointCloudShape(btVector3* points,int numPoints, const btVector3& localScaling,bool computeAabb = true) + { + m_localScaling = localScaling; + m_shapeType = CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE; + m_unscaledPoints = points; + m_numPoints = numPoints; + + if (computeAabb) + recalcLocalAabb(); + } + + void setPoints (btVector3* points, int numPoints, bool computeAabb = true,const btVector3& localScaling=btVector3(1.f,1.f,1.f)) + { + m_unscaledPoints = points; + m_numPoints = numPoints; + m_localScaling = localScaling; + + if (computeAabb) + recalcLocalAabb(); + } + + SIMD_FORCE_INLINE btVector3* getUnscaledPoints() + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE const btVector3* getUnscaledPoints() const + { + return m_unscaledPoints; + } + + SIMD_FORCE_INLINE int getNumPoints() const + { + return m_numPoints; + } + + SIMD_FORCE_INLINE btVector3 getScaledPoint( int index) const + { + return m_unscaledPoints[index] * m_localScaling; + } + +#ifndef __SPU__ + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; +#endif + + + //debugging + virtual const char* getName()const {return "ConvexPointCloud";} + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + ///in case we receive negative scaling + virtual void setLocalScaling(const btVector3& scaling); +}; + + +#endif //BT_CONVEX_POINT_CLOUD_SHAPE_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp new file mode 100644 index 00000000..f4324c1f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -0,0 +1,302 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://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. +*/ + + +///This file was written by Erwin Coumans +///Separating axis rest based on work from Pierre Terdiman, see +///And contact clipping based on work from Simon Hobbs + +#include "btConvexPolyhedron.h" +#include "LinearMath/btHashMap.h" + +btConvexPolyhedron::btConvexPolyhedron() +{ + +} +btConvexPolyhedron::~btConvexPolyhedron() +{ + +} + + +inline bool IsAlmostZero(const btVector3& v) +{ + if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false; + return true; +} + +struct btInternalVertexPair +{ + btInternalVertexPair(short int v0,short int v1) + :m_v0(v0), + m_v1(v1) + { + if (m_v1>m_v0) + btSwap(m_v0,m_v1); + } + short int m_v0; + short int m_v1; + int getHash() const + { + return m_v0+(m_v1<<16); + } + bool equals(const btInternalVertexPair& other) const + { + return m_v0==other.m_v0 && m_v1==other.m_v1; + } +}; + +struct btInternalEdge +{ + btInternalEdge() + :m_face0(-1), + m_face1(-1) + { + } + short int m_face0; + short int m_face1; +}; + +// + +#ifdef TEST_INTERNAL_OBJECTS +bool btConvexPolyhedron::testContainment() const +{ + for(int p=0;p<8;p++) + { + btVector3 LocalPt; + if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]); + else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]); + else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]); + else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]); + else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]); + else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]); + else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]); + else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]); + + for(int i=0;i0.0f) + return false; + } + } + return true; +} +#endif + +void btConvexPolyhedron::initialize() +{ + + btHashMap edges; + + btScalar TotalArea = 0.0f; + + m_localCenter.setValue(0, 0, 0); + for(int i=0;im_face0>=0); + btAssert(edptr->m_face1<0); + edptr->m_face1 = i; + } else + { + btInternalEdge ed; + ed.m_face0 = i; + edges.insert(vp,ed); + } + } + } + +#ifdef USE_CONNECTED_FACES + for(int i=0;im_face0>=0); + btAssert(edptr->m_face1>=0); + + int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0; + m_faces[i].m_connectedFaces[j] = connectedFace; + } + } +#endif//USE_CONNECTED_FACES + + for(int i=0;iMaxX) MaxX = pt.x(); + if(pt.y()MaxY) MaxY = pt.y(); + if(pt.z()MaxZ) MaxZ = pt.z(); + } + mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ); + mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ); + + + +// const btScalar r = m_radius / sqrtf(2.0f); + const btScalar r = m_radius / sqrtf(3.0f); + const int LargestExtent = mE.maxAxis(); + const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f; + m_extents[0] = m_extents[1] = m_extents[2] = r; + m_extents[LargestExtent] = mE[LargestExtent]*0.5f; + bool FoundBox = false; + for(int j=0;j<1024;j++) + { + if(testContainment()) + { + FoundBox = true; + break; + } + + m_extents[LargestExtent] -= Step; + } + if(!FoundBox) + { + m_extents[0] = m_extents[1] = m_extents[2] = r; + } + else + { + // Refine the box + const btScalar Step = (m_radius - r)/1024.0f; + const int e0 = (1< maxProj) + { + maxProj = dp; + witnesPtMax = pt; + } + } + if(minProj>maxProj) + { + btSwap(minProj,maxProj); + btSwap(witnesPtMin,witnesPtMax); + } +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h new file mode 100644 index 00000000..d3cd066a --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexPolyhedron.h @@ -0,0 +1,65 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://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. +*/ + + +///This file was written by Erwin Coumans + + +#ifndef _BT_POLYHEDRAL_FEATURES_H +#define _BT_POLYHEDRAL_FEATURES_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btAlignedObjectArray.h" + +#define TEST_INTERNAL_OBJECTS 1 + + +struct btFace +{ + btAlignedObjectArray m_indices; +// btAlignedObjectArray m_connectedFaces; + btScalar m_plane[4]; +}; + + +ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron +{ + public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexPolyhedron(); + virtual ~btConvexPolyhedron(); + + btAlignedObjectArray m_vertices; + btAlignedObjectArray m_faces; + btAlignedObjectArray m_uniqueEdges; + + btVector3 m_localCenter; + btVector3 m_extents; + btScalar m_radius; + btVector3 mC; + btVector3 mE; + + void initialize(); + bool testContainment() const; + + void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; +}; + + +#endif //_BT_POLYHEDRAL_FEATURES_H + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.cpp new file mode 100644 index 00000000..f03d0b21 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -0,0 +1,455 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + +#include "btConvexShape.h" +#include "btTriangleShape.h" +#include "btSphereShape.h" +#include "btCylinderShape.h" +#include "btConeShape.h" +#include "btCapsuleShape.h" +#include "btConvexHullShape.h" +#include "btConvexPointCloudShape.h" + +///not supported on IBM SDK, until we fix the alignment of btVector3 +#if defined (__CELLOS_LV2__) && defined (__SPU__) +#include +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 () +{ +} + +btConvexShape::~btConvexShape() +{ + +} + + +void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const +{ + btVector3 localAxis = dir*trans.getBasis(); + btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); + btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis)); + + min = vtx1.dot(dir); + max = vtx2.dot(dir); + + if(min>max) + { + btScalar tmp = min; + min = max; + max = tmp; + } +} + + +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 maxDot; + long ptIndex = vec.maxDot( points, numPoints, maxDot); + btAssert(ptIndex >= 0); + btVector3 supVec = points[ptIndex] * localScaling; + return supVec; +#endif //__SPU__ +} + +btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + return btVector3(0,0,0); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + const btVector3& halfExtents = convexShape->getImplicitShapeDimensions(); + +#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON )) + #if defined( BT_USE_SSE ) + return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 )); + #elif defined( BT_USE_NEON ) + return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 )); + #else + #error unknown vector arch + #endif +#else + return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()), + btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()), + btFsels(localDir.z(), halfExtents.z(), -halfExtents.z())); +#endif + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ()); + btVector3* vertices = &triangleShape->m_vertices1[0]; + btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]); + btVector3 sup = vertices[dots.maxAxis()]; + return btVector3(sup.getX(),sup.getY(),sup.getZ()); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis) + + btVector3 halfExtents = cylShape->getImplicitShapeDimensions(); + btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ()); + int cylinderUpAxis = cylShape->getUpAxis(); + int XX(1),YY(0),ZZ(2); + + switch (cylinderUpAxis) + { + case 0: + { + XX = 1; + YY = 0; + ZZ = 2; + } + break; + case 1: + { + XX = 0; + YY = 1; + ZZ = 2; + } + break; + case 2: + { + XX = 0; + YY = 2; + ZZ = 1; + + } + break; + default: + btAssert(0); + break; + }; + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } else { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return btVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); + + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btScalar halfHeight = capsuleShape->getHalfHeight(); + int capsuleUpAxis = capsuleShape->getUpAxis(); + + btScalar radius = capsuleShape->getRadius(); + btVector3 supVec(0,0,0); + + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + 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; + } + btVector3 vtx; + btScalar newDot; + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + + + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + { + btVector3 pos(0,0,0); + pos[capsuleUpAxis] = -halfHeight; + + //vtx = pos +vec*(radius); + vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); + newDot = vec.dot(vtx); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = vtx; + } + } + return btVector3(supVec.getX(),supVec.getY(),supVec.getZ()); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + { + btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this; + btVector3* points = convexPointCloudShape->getUnscaledPoints (); + int numPoints = convexPointCloudShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV()); + } + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btConvexHullShape* convexHullShape = (btConvexHullShape*)this; + btVector3* points = convexHullShape->getUnscaledPoints(); + int numPoints = convexHullShape->getNumPoints (); + return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV()); + } + default: +#ifndef __SPU__ + return this->localGetSupportingVertexWithoutMargin (localDir); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f)); +} + +btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const +{ + btVector3 localDirNorm = localDir; + if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + localDirNorm.normalize (); + + return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm; +} + +/* TODO: This should be bumped up to btCollisionShape () */ +btScalar btConvexShape::getMarginNonVirtual () const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + return sphereShape->getRadius (); + } + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + return convexShape->getMarginNV (); + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + return triangleShape->getMarginNV (); + } + case CYLINDER_SHAPE_PROXYTYPE: + { + btCylinderShape* cylShape = (btCylinderShape*)this; + return cylShape->getMarginNV(); + } + case CONE_SHAPE_PROXYTYPE: + { + btConeShape* conShape = (btConeShape*)this; + return conShape->getMarginNV(); + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + return capsuleShape->getMarginNV(); + } + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + /* fall through */ + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this; + return convexHullShape->getMarginNV(); + } + default: +#ifndef __SPU__ + return this->getMargin (); +#else + btAssert (0); +#endif + } + + // should never reach here + btAssert (0); + return btScalar(0.0f); +} +#ifndef __SPU__ +void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const +{ + switch (m_shapeType) + { + case SPHERE_SHAPE_PROXYTYPE: + { + btSphereShape* sphereShape = (btSphereShape*)this; + btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX(); + btScalar margin = radius + sphereShape->getMarginNonVirtual(); + const btVector3& center = t.getOrigin(); + btVector3 extent(margin,margin,margin); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CYLINDER_SHAPE_PROXYTYPE: + /* fall through */ + case BOX_SHAPE_PROXYTYPE: + { + btBoxShape* convexShape = (btBoxShape*)this; + btScalar margin=convexShape->getMarginNonVirtual(); + btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); + halfExtents += btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case TRIANGLE_SHAPE_PROXYTYPE: + { + btTriangleShape* triangleShape = (btTriangleShape*)this; + btScalar margin = triangleShape->getMarginNonVirtual(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + + btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()); + + btVector3 tmp = t(sv); + aabbMax[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis())); + aabbMin[i] = tmp[i]-margin; + } + } + break; + case CAPSULE_SHAPE_PROXYTYPE: + { + btCapsuleShape* capsuleShape = (btCapsuleShape*)this; + btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius()); + int m_upAxis = capsuleShape->getUpAxis(); + halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight(); + halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual()); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; + aabbMax = center + extent; + } + break; + case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this; + btScalar margin = convexHullShape->getMarginNonVirtual(); + convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin); + } + break; + default: +#ifndef __SPU__ + this->getAabb (t, aabbMin, aabbMax); +#else + btAssert (0); +#endif + break; + } + + // should never reach here + btAssert (0); +} + +#endif //__SPU__ diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.h new file mode 100644 index 00000000..290cd9fd --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexShape.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_SHAPE_INTERFACE1 +#define BT_CONVEX_SHAPE_INTERFACE1 + +#include "btCollisionShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" +#include "LinearMath/btAlignedAllocator.h" + +#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10 + +/// The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. +/// It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector. +ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape +{ + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexShape (); + + virtual ~btConvexShape(); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const = 0; + + //////// + #ifndef __SPU__ + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const=0; + #endif //#ifndef __SPU__ + + btVector3 localGetSupportVertexWithoutMarginNonVirtual (const btVector3& vec) const; + btVector3 localGetSupportVertexNonVirtual (const btVector3& vec) const; + btScalar getMarginNonVirtual () const; + void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const; + + virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const; + + + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0; + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0; + + virtual void setLocalScaling(const btVector3& scaling) =0; + virtual const btVector3& getLocalScaling() const =0; + + virtual void setMargin(btScalar margin)=0; + + virtual btScalar getMargin() const=0; + + virtual int getNumPreferredPenetrationDirections() const=0; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0; + + + + +}; + + + +#endif //BT_CONVEX_SHAPE_INTERFACE1 diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp new file mode 100644 index 00000000..0f9ced55 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp @@ -0,0 +1,315 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" + + +btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface, bool calcAabb) +: btPolyhedralConvexAabbCachingShape(), m_stridingMesh(meshInterface) +{ + m_shapeType = CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; + if ( calcAabb ) + recalcLocalAabb(); +} + + + + +///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once +///but then we are duplicating +class LocalSupportVertexCallback: public btInternalTriangleIndexCallback +{ + + btVector3 m_supportVertexLocal; +public: + + btScalar m_maxDot; + btVector3 m_supportVecLocal; + + LocalSupportVertexCallback(const btVector3& supportVecLocal) + : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), + m_maxDot(btScalar(-BT_LARGE_FLOAT)), + m_supportVecLocal(supportVecLocal) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + (void)triangleIndex; + (void)partId; + + for (int i=0;i<3;i++) + { + btScalar dot = m_supportVecLocal.dot(triangle[i]); + if (dot > m_maxDot) + { + m_maxDot = dot; + m_supportVertexLocal = triangle[i]; + } + } + } + + btVector3 GetSupportVertexLocal() + { + return m_supportVertexLocal; + } + +}; + + + + + +btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.)); + + 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; + } + + LocalSupportVertexCallback supportCallback(vec); + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax); + supVec = supportCallback.GetSupportVertexLocal(); + + return supVec; +} + +void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + //use 'w' component of supportVerticesOut? + { + for (int i=0;iInternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax); + supportVerticesOut[j] = supportCallback.GetSupportVertexLocal(); + } + +} + + + +btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec); + + if ( getMargin()!=btScalar(0.) ) + { + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + } + return supVertex; +} + + + + + + + + + +//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection +//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo +int btConvexTriangleMeshShape::getNumVertices() const +{ + //cache this? + return 0; + +} + +int btConvexTriangleMeshShape::getNumEdges() const +{ + return 0; +} + +void btConvexTriangleMeshShape::getEdge(int ,btVector3& ,btVector3& ) const +{ + btAssert(0); +} + +void btConvexTriangleMeshShape::getVertex(int ,btVector3& ) const +{ + btAssert(0); +} + +int btConvexTriangleMeshShape::getNumPlanes() const +{ + return 0; +} + +void btConvexTriangleMeshShape::getPlane(btVector3& ,btVector3& ,int ) const +{ + btAssert(0); +} + +//not yet +bool btConvexTriangleMeshShape::isInside(const btVector3& ,btScalar ) const +{ + btAssert(0); + return false; +} + + + +void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_stridingMesh->setScaling(scaling); + + recalcLocalAabb(); + +} + + +const btVector3& btConvexTriangleMeshShape::getLocalScaling() const +{ + return m_stridingMesh->getScaling(); +} + +void btConvexTriangleMeshShape::calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const +{ + class CenterCallback: public btInternalTriangleIndexCallback + { + bool first; + btVector3 ref; + btVector3 sum; + btScalar volume; + + public: + + CenterCallback() : first(true), ref(0, 0, 0), sum(0, 0, 0), volume(0) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + if (first) + { + ref = triangle[0]; + first = false; + } + else + { + btScalar vol = btFabs((triangle[0] - ref).triple(triangle[1] - ref, triangle[2] - ref)); + sum += (btScalar(0.25) * vol) * ((triangle[0] + triangle[1] + triangle[2] + ref)); + volume += vol; + } + } + + btVector3 getCenter() + { + return (volume > 0) ? sum / volume : ref; + } + + btScalar getVolume() + { + return volume * btScalar(1. / 6); + } + + }; + + class InertiaCallback: public btInternalTriangleIndexCallback + { + btMatrix3x3 sum; + btVector3 center; + + public: + + InertiaCallback(btVector3& center) : sum(0, 0, 0, 0, 0, 0, 0, 0, 0), center(center) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex) + { + (void) triangleIndex; + (void) partId; + btMatrix3x3 i; + btVector3 a = triangle[0] - center; + btVector3 b = triangle[1] - center; + btVector3 c = triangle[2] - center; + btScalar volNeg = -btFabs(a.triple(b, c)) * btScalar(1. / 6); + for (int j = 0; j < 3; j++) + { + for (int k = 0; k <= j; k++) + { + i[j][k] = i[k][j] = volNeg * (btScalar(0.1) * (a[j] * a[k] + b[j] * b[k] + c[j] * c[k]) + + btScalar(0.05) * (a[j] * b[k] + a[k] * b[j] + a[j] * c[k] + a[k] * c[j] + b[j] * c[k] + b[k] * c[j])); + } + } + btScalar i00 = -i[0][0]; + btScalar i11 = -i[1][1]; + btScalar i22 = -i[2][2]; + i[0][0] = i11 + i22; + i[1][1] = i22 + i00; + i[2][2] = i00 + i11; + sum[0] += i[0]; + sum[1] += i[1]; + sum[2] += i[2]; + } + + btMatrix3x3& getInertia() + { + return sum; + } + + }; + + CenterCallback centerCallback; + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_stridingMesh->InternalProcessAllTriangles(¢erCallback, -aabbMax, aabbMax); + btVector3 center = centerCallback.getCenter(); + principal.setOrigin(center); + volume = centerCallback.getVolume(); + + InertiaCallback inertiaCallback(center); + m_stridingMesh->InternalProcessAllTriangles(&inertiaCallback, -aabbMax, aabbMax); + + btMatrix3x3& i = inertiaCallback.getInertia(); + i.diagonalize(principal.getBasis(), btScalar(0.00001), 20); + inertia.setValue(i[0][0], i[1][1], i[2][2]); + inertia /= volume; +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h new file mode 100644 index 00000000..f338865c --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h @@ -0,0 +1,77 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_CONVEX_TRIANGLEMESH_SHAPE_H +#define BT_CONVEX_TRIANGLEMESH_SHAPE_H + + +#include "btPolyhedralConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + + +/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. +/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead. +ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape +{ + + class btStridingMeshInterface* m_stridingMesh; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true); + + class btStridingMeshInterface* getMeshInterface() + { + return m_stridingMesh; + } + const class btStridingMeshInterface* getMeshInterface() const + { + return m_stridingMesh; + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + //debugging + virtual const char* getName()const {return "ConvexTrimesh";} + + virtual int getNumVertices() const; + virtual int getNumEdges() const; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const; + virtual void getVertex(int i,btVector3& vtx) const; + virtual int getNumPlanes() const; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const; + virtual bool isInside(const btVector3& pt,btScalar tolerance) const; + + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + ///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia + ///and the center of mass to the current coordinate system. A mass of 1 is assumed, for other masses just multiply the computed "inertia" + ///by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the + ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform + ///of the collision object by the principal transform. This method also computes the volume of the convex mesh. + void calculatePrincipalAxisTransform(btTransform& principal, btVector3& inertia, btScalar& volume) const; + +}; + + + +#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btCylinderShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btCylinderShape.cpp new file mode 100644 index 00000000..6cfe43be --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btCylinderShape.cpp @@ -0,0 +1,281 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btCylinderShape.h" + +btCylinderShape::btCylinderShape (const btVector3& halfExtents) +:btConvexInternalShape(), +m_upAxis(1) +{ + setSafeMargin(halfExtents); + + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin; + m_shapeType = CYLINDER_SHAPE_PROXYTYPE; +} + + +btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents) +:btCylinderShape(halfExtents) +{ + m_upAxis = 0; + +} + + +btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents) +:btCylinderShape(halfExtents) +{ + m_upAxis = 2; + +} + +void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + +void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + +//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility +//#define USE_BOX_INERTIA_APPROXIMATION 1 +#ifndef USE_BOX_INERTIA_APPROXIMATION + + /* + cylinder is defined as following: + * + * - principle axis aligned along y by default, radius in x, z-value not used + * - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used + * - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used + * + */ + + btScalar radius2; // square of cylinder radius + btScalar height2; // square of cylinder height + btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension + btScalar div12 = mass / 12.f; + btScalar div4 = mass / 4.f; + btScalar div2 = mass / 2.f; + int idxRadius, idxHeight; + + switch (m_upAxis) // get indices of radius and height of cylinder + { + case 0: // cylinder is aligned along x + idxRadius = 1; + idxHeight = 0; + break; + case 2: // cylinder is aligned along z + idxRadius = 0; + idxHeight = 2; + break; + default: // cylinder is aligned along y + idxRadius = 0; + idxHeight = 1; + } + + // calculate squares + radius2 = halfExtents[idxRadius] * halfExtents[idxRadius]; + height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight]; + + // calculate tensor terms + btScalar t1 = div12 * height2 + div4 * radius2; + btScalar t2 = div2 * radius2; + + switch (m_upAxis) // set diagonal elements of inertia tensor + { + case 0: // cylinder is aligned along x + inertia.setValue(t2,t1,t1); + break; + case 2: // cylinder is aligned along z + inertia.setValue(t1,t1,t2); + break; + default: // cylinder is aligned along y + inertia.setValue(t1,t2,t1); + } +#else //USE_BOX_INERTIA_APPROXIMATION + //approximation of box shape + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); +#endif //USE_BOX_INERTIA_APPROXIMATION +} + + +SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) +{ +const int cylinderUpAxis = 0; +const int XX = 1; +const int YY = 0; +const int ZZ = 2; + + //mapping depends on how cylinder local orientation is + // extents of the cylinder is: X,Y is for radius, and Z for height + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + + +} + + + + + + +inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) +{ + +const int cylinderUpAxis = 1; +const int XX = 0; +const int YY = 1; +const int ZZ = 2; + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + +} + +inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) +{ +const int cylinderUpAxis = 2; +const int XX = 0; +const int YY = 2; +const int ZZ = 1; + + //mapping depends on how cylinder local orientation is + // extents of the cylinder is: X,Y is for radius, and Z for height + + + btScalar radius = halfExtents[XX]; + btScalar halfHeight = halfExtents[cylinderUpAxis]; + + + btVector3 tmp; + btScalar d ; + + btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); + if (s != btScalar(0.0)) + { + d = radius / s; + tmp[XX] = v[XX] * d; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = v[ZZ] * d; + return tmp; + } + else + { + tmp[XX] = radius; + tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; + tmp[ZZ] = btScalar(0.0); + return tmp; + } + + +} + +btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec); +} + + +btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec); +} +btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec); +} + +void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + for (int i=0;im_convexInternalShapeData,serializer); + + shapeData->m_upAxis = m_upAxis; + + return "btCylinderShapeData"; +} + + + +#endif //BT_CYLINDER_MINKOWSKI_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.cpp new file mode 100644 index 00000000..a9e6df5c --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.cpp @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btEmptyShape.h" + + +#include "btCollisionShape.h" + + +btEmptyShape::btEmptyShape() : btConcaveShape () +{ + m_shapeType = EMPTY_SHAPE_PROXYTYPE; +} + + +btEmptyShape::~btEmptyShape() +{ +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 margin(getMargin(),getMargin(),getMargin()); + + aabbMin = t.getOrigin() - margin; + + aabbMax = t.getOrigin() + margin; + +} + +void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const +{ + btAssert(0); +} + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.h new file mode 100644 index 00000000..069a7940 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btEmptyShape.h @@ -0,0 +1,72 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_EMPTY_SHAPE_H +#define BT_EMPTY_SHAPE_H + +#include "btConcaveShape.h" + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "btCollisionMargin.h" + + + + +/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class. +/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed. +ATTRIBUTE_ALIGNED16(class) btEmptyShape : public btConcaveShape +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btEmptyShape(); + + virtual ~btEmptyShape(); + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + virtual void setLocalScaling(const btVector3& scaling) + { + m_localScaling = scaling; + } + virtual const btVector3& getLocalScaling() const + { + return m_localScaling; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "Empty"; + } + + virtual void processAllTriangles(btTriangleCallback* ,const btVector3& ,const btVector3& ) const + { + } + +protected: + btVector3 m_localScaling; + +}; + + + +#endif //BT_EMPTY_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp new file mode 100644 index 00000000..26322791 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -0,0 +1,410 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btHeightfieldTerrainShape.h" + +#include "LinearMath/btTransformUtil.h" + + + +btHeightfieldTerrainShape::btHeightfieldTerrainShape +( +int heightStickWidth, int heightStickLength, const void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) +{ + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} + + + +btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges) +{ + // legacy constructor: support only float or unsigned char, + // and min height is zero + PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR; + btScalar minHeight = 0.0f; + + // previously, height = uchar * maxHeight / 65535. + // So to preserve legacy behavior, heightScale = maxHeight / 65535 + btScalar heightScale = maxHeight / 65535; + + initialize(heightStickWidth, heightStickLength, heightfieldData, + heightScale, minHeight, maxHeight, upAxis, hdt, + flipQuadEdges); +} + + + +void btHeightfieldTerrainShape::initialize +( +int heightStickWidth, int heightStickLength, const void* heightfieldData, +btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, +PHY_ScalarType hdt, bool flipQuadEdges +) +{ + // validation + btAssert(heightStickWidth > 1 && "bad width"); + btAssert(heightStickLength > 1 && "bad length"); + btAssert(heightfieldData && "null heightfield data"); + // btAssert(heightScale) -- do we care? Trust caller here + btAssert(minHeight <= maxHeight && "bad min/max height"); + btAssert(upAxis >= 0 && upAxis < 3 && + "bad upAxis--should be in range [0,2]"); + btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT && + "Bad height data type enum"); + + // initialize member variables + m_shapeType = TERRAIN_SHAPE_PROXYTYPE; + m_heightStickWidth = heightStickWidth; + m_heightStickLength = heightStickLength; + m_minHeight = minHeight; + m_maxHeight = maxHeight; + m_width = (btScalar) (heightStickWidth - 1); + m_length = (btScalar) (heightStickLength - 1); + m_heightScale = heightScale; + m_heightfieldDataUnknown = heightfieldData; + m_heightDataType = hdt; + m_flipQuadEdges = flipQuadEdges; + m_useDiamondSubdivision = false; + m_useZigzagSubdivision = false; + m_upAxis = upAxis; + m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.)); + + // determine min/max axis-aligned bounding box (aabb) values + switch (m_upAxis) + { + case 0: + { + m_localAabbMin.setValue(m_minHeight, 0, 0); + m_localAabbMax.setValue(m_maxHeight, m_width, m_length); + break; + } + case 1: + { + m_localAabbMin.setValue(0, m_minHeight, 0); + m_localAabbMax.setValue(m_width, m_maxHeight, m_length); + break; + }; + case 2: + { + m_localAabbMin.setValue(0, 0, m_minHeight); + m_localAabbMax.setValue(m_width, m_length, m_maxHeight); + break; + } + default: + { + //need to get valid m_upAxis + btAssert(0 && "Bad m_upAxis"); + } + } + + // remember origin (defined as exact middle of aabb) + m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax); +} + + + +btHeightfieldTerrainShape::~btHeightfieldTerrainShape() +{ +} + + + +void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5); + + btVector3 localOrigin(0, 0, 0); + localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5); + localOrigin *= m_localScaling; + + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + extent += btVector3(getMargin(),getMargin(),getMargin()); + + aabbMin = center - extent; + aabbMax = center + extent; +} + + +/// This returns the "raw" (user's initial) height, not the actual height. +/// The actual height needs to be adjusted to be relative to the center +/// of the heightfield's AABB. +btScalar +btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const +{ + btScalar val = 0.f; + switch (m_heightDataType) + { + case PHY_FLOAT: + { + val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x]; + break; + } + + case PHY_UCHAR: + { + unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x]; + val = heightFieldValue * m_heightScale; + break; + } + + case PHY_SHORT: + { + short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x]; + val = hfValue * m_heightScale; + break; + } + + default: + { + btAssert(!"Bad m_heightDataType"); + } + } + + return val; +} + + + + +/// this returns the vertex in bullet-local coordinates +void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const +{ + btAssert(x>=0); + btAssert(y>=0); + btAssert(xstartX) + startX = quantizedAabbMin[1]; + if (quantizedAabbMax[1]startJ) + startJ = quantizedAabbMin[2]; + if (quantizedAabbMax[2]startX) + startX = quantizedAabbMin[0]; + if (quantizedAabbMax[0]startJ) + startJ = quantizedAabbMin[2]; + if (quantizedAabbMax[2]startX) + startX = quantizedAabbMin[0]; + if (quantizedAabbMax[0]startJ) + startJ = quantizedAabbMin[1]; + if (quantizedAabbMax[1]processTriangle(vertices,x,j); + //second triangle + // getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman + getVertex(x+1,j+1,vertices[1]); + getVertex(x,j+1,vertices[2]); + callback->processTriangle(vertices,x,j); + } else + { + //first triangle + getVertex(x,j,vertices[0]); + getVertex(x,j+1,vertices[1]); + getVertex(x+1,j,vertices[2]); + callback->processTriangle(vertices,x,j); + //second triangle + getVertex(x+1,j,vertices[0]); + //getVertex(x,j+1,vertices[1]); + getVertex(x+1,j+1,vertices[2]); + callback->processTriangle(vertices,x,j); + } + } + } + + + +} + +void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const +{ + //moving concave objects not supported + + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} +const btVector3& btHeightfieldTerrainShape::getLocalScaling() const +{ + return m_localScaling; +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h new file mode 100644 index 00000000..4a7a4a4b --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h @@ -0,0 +1,167 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_HEIGHTFIELD_TERRAIN_SHAPE_H +#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H + +#include "btConcaveShape.h" + +///btHeightfieldTerrainShape simulates a 2D heightfield terrain +/** + The caller is responsible for maintaining the heightfield array; this + class does not make a copy. + + The heightfield can be dynamic so long as the min/max height values + capture the extremes (heights must always be in that range). + + The local origin of the heightfield is assumed to be the exact + center (as determined by width and length and height, with each + axis multiplied by the localScaling). + + \b NOTE: be careful with coordinates. If you have a heightfield with a local + min height of -100m, and a max height of +500m, you may be tempted to place it + at the origin (0,0) and expect the heights in world coordinates to be + -100 to +500 meters. + Actually, the heights will be -300 to +300m, because bullet will re-center + the heightfield based on its AABB (which is determined by the min/max + heights). So keep in mind that once you create a btHeightfieldTerrainShape + object, the heights will be adjusted relative to the center of the AABB. This + is different to the behavior of many rendering engines, but is useful for + physics engines. + + Most (but not all) rendering and heightfield libraries assume upAxis = 1 + (that is, the y-axis is "up"). This class allows any of the 3 coordinates + to be "up". Make sure your choice of axis is consistent with your rendering + system. + + The heightfield heights are determined from the data type used for the + heightfieldData array. + + - PHY_UCHAR: height at a point is the uchar value at the + grid point, multipled by heightScale. uchar isn't recommended + because of its inability to deal with negative values, and + low resolution (8-bit). + + - PHY_SHORT: height at a point is the short int value at that grid + point, multipled by heightScale. + + - PHY_FLOAT: height at a point is the float value at that grid + point. heightScale is ignored when using the float heightfield + data type. + + Whatever the caller specifies as minHeight and maxHeight will be honored. + The class will not inspect the heightfield to discover the actual minimum + or maximum heights. These values are used to determine the heightfield's + axis-aligned bounding box, multiplied by localScaling. + + For usage and testing see the TerrainDemo. + */ +ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + btVector3 m_localOrigin; + + ///terrain data + int m_heightStickWidth; + int m_heightStickLength; + btScalar m_minHeight; + btScalar m_maxHeight; + btScalar m_width; + btScalar m_length; + btScalar m_heightScale; + union + { + const unsigned char* m_heightfieldDataUnsignedChar; + const short* m_heightfieldDataShort; + const btScalar* m_heightfieldDataFloat; + const void* m_heightfieldDataUnknown; + }; + + PHY_ScalarType m_heightDataType; + bool m_flipQuadEdges; + bool m_useDiamondSubdivision; + bool m_useZigzagSubdivision; + + int m_upAxis; + + btVector3 m_localScaling; + + virtual btScalar getRawHeightFieldValue(int x,int y) const; + void quantizeWithClamp(int* out, const btVector3& point,int isMax) const; + void getVertex(int x,int y,btVector3& vertex) const; + + + + /// protected initialization + /** + Handles the work of constructors so that public constructors can be + backwards-compatible without a lot of copy/paste. + */ + void initialize(int heightStickWidth, int heightStickLength, + const void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, int upAxis, + PHY_ScalarType heightDataType, bool flipQuadEdges); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + /// preferred constructor + /** + This constructor supports a range of heightfield + data types, and allows for a non-zero minimum height value. + heightScale is needed for any integer-based heightfield data types. + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength, + const void* heightfieldData, btScalar heightScale, + btScalar minHeight, btScalar maxHeight, + int upAxis, PHY_ScalarType heightDataType, + bool flipQuadEdges); + + /// legacy constructor + /** + The legacy constructor assumes the heightfield has a minimum height + of zero. Only unsigned char or floats are supported. For legacy + compatibility reasons, heightScale is calculated as maxHeight / 65535 + (and is only used when useFloatData = false). + */ + btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges); + + virtual ~btHeightfieldTerrainShape(); + + + void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;} + + ///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625 + void setUseZigzagSubdivision(bool useZigzagSubdivision=true) { m_useZigzagSubdivision = useZigzagSubdivision;} + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + + virtual const btVector3& getLocalScaling() const; + + //debugging + virtual const char* getName()const {return "HEIGHTFIELD";} + +}; + +#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMaterial.h b/Code/Physics/src/BulletCollision/CollisionShapes/btMaterial.h new file mode 100644 index 00000000..866f9b4d --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMaterial.h @@ -0,0 +1,35 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +/// This file was created by Alex Silverman + +#ifndef BT_MATERIAL_H +#define BT_MATERIAL_H + +// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties +class btMaterial +{ + // public members so that materials can change due to world events +public: + btScalar m_friction; + btScalar m_restitution; + int pad[2]; + + btMaterial(){} + btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; } +}; + +#endif // BT_MATERIAL_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp new file mode 100644 index 00000000..06707e24 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btMinkowskiSumShape.h" + + +btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) +: btConvexInternalShape (), +m_shapeA(shapeA), +m_shapeB(shapeB) +{ + m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; + m_transA.setIdentity(); + m_transB.setIdentity(); +} + +btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); + return supVertexA - supVertexB; +} + +void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + ///@todo: could make recursive use of batching. probably this shape is not used frequently. + for (int i=0;igetMargin() + m_shapeB->getMargin(); +} + + +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + btAssert(0); + inertia.setValue(0,0,0); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h new file mode 100644 index 00000000..a3f9a472 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_MINKOWSKI_SUM_SHAPE_H +#define BT_MINKOWSKI_SUM_SHAPE_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. +ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape +{ + + btTransform m_transA; + btTransform m_transB; + const btConvexShape* m_shapeA; + const btConvexShape* m_shapeB; + +public: + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + void setTransformA(const btTransform& transA) { m_transA = transA;} + void setTransformB(const btTransform& transB) { m_transB = transB;} + + const btTransform& getTransformA()const { return m_transA;} + const btTransform& GetTransformB()const { return m_transB;} + + + virtual btScalar getMargin() const; + + const btConvexShape* getShapeA() const { return m_shapeA;} + const btConvexShape* getShapeB() const { return m_shapeB;} + + virtual const char* getName()const + { + return "MinkowskiSum"; + } +}; + +#endif //BT_MINKOWSKI_SUM_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp new file mode 100644 index 00000000..a7362ea0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -0,0 +1,182 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + +#include "btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btSerializer.h" + +btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres) +:btConvexInternalAabbCachingShape () +{ + m_shapeType = MULTI_SPHERE_SHAPE_PROXYTYPE; + //btScalar startMargin = btScalar(BT_LARGE_FLOAT); + + m_localPositionArray.resize(numSpheres); + m_radiArray.resize(numSpheres); + for (int i=0;i maxDot ) + { + maxDot = newDot; + supVec = temp[i]; + } + } + + return supVec; + +} + + void btMultiSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + + for (int j=0;j maxDot ) + { + maxDot = newDot; + supportVerticesOut[j] = temp[i]; + } + } + + } +} + + + + + + + + +void btMultiSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //as an approximation, take the inertia of the box that bounds the spheres + + btVector3 localAabbMin,localAabbMax; + getCachedLocalAabb(localAabbMin,localAabbMax); + btVector3 halfExtents = (localAabbMax-localAabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btMultiSphereShapeData* shapeData = (btMultiSphereShapeData*) dataBuffer; + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); + + int numElem = m_localPositionArray.size(); + shapeData->m_localPositionArrayPtr = numElem ? (btPositionAndRadius*)serializer->getUniquePointer((void*)&m_localPositionArray[0]): 0; + + shapeData->m_localPositionArraySize = numElem; + if (numElem) + { + btChunk* chunk = serializer->allocate(sizeof(btPositionAndRadius),numElem); + btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr; + for (int i=0;im_pos); + memPtr->m_radius = float(m_radiArray[i]); + } + serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]); + } + + return "btMultiSphereShapeData"; +} + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.h new file mode 100644 index 00000000..5d3b4026 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMultiSphereShape.h @@ -0,0 +1,101 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_MULTI_SPHERE_MINKOWSKI_H +#define BT_MULTI_SPHERE_MINKOWSKI_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btAabbUtil2.h" + + + +///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes. +///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius +ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape +{ + + btAlignedObjectArray m_localPositionArray; + btAlignedObjectArray m_radiArray; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres); + + ///CollisionShape Interface + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + /// btConvexShape Interface + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + int getSphereCount() const + { + return m_localPositionArray.size(); + } + + const btVector3& getSpherePosition(int index) const + { + return m_localPositionArray[index]; + } + + btScalar getSphereRadius(int index) const + { + return m_radiArray[index]; + } + + + virtual const char* getName()const + { + return "MultiSphere"; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + + +struct btPositionAndRadius +{ + btVector3FloatData m_pos; + float m_radius; +}; + +struct btMultiSphereShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + btPositionAndRadius *m_localPositionArrayPtr; + int m_localPositionArraySize; + char m_padding[4]; +}; + + + +SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const +{ + return sizeof(btMultiSphereShapeData); +} + + + +#endif //BT_MULTI_SPHERE_MINKOWSKI_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp new file mode 100644 index 00000000..58799ac9 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp @@ -0,0 +1,45 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +/// This file was created by Alex Silverman + +#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h" +//#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" + + +///Obtains the material for a specific triangle +const btMaterial * btMultimaterialTriangleMeshShape::getMaterialProperties(int partID, int triIndex) +{ + const unsigned char * materialBase = 0; + int numMaterials; + PHY_ScalarType materialType; + int materialStride; + const unsigned char * triangleMaterialBase = 0; + int numTriangles; + int triangleMaterialStride; + PHY_ScalarType triangleType; + + ((btTriangleIndexVertexMaterialArray*)m_meshInterface)->getLockedReadOnlyMaterialBase(&materialBase, numMaterials, materialType, materialStride, + &triangleMaterialBase, numTriangles, triangleMaterialStride, triangleType, partID); + + // return the pointer to the place with the friction for the triangle + // TODO: This depends on whether it's a moving mesh or not + // BUG IN GIMPACT + //return (btScalar*)(&materialBase[triangleMaterialBase[(triIndex-1) * triangleMaterialStride] * materialStride]); + int * matInd = (int *)(&(triangleMaterialBase[(triIndex * triangleMaterialStride)])); + btMaterial *matVal = (btMaterial *)(&(materialBase[*matInd * materialStride])); + return (matVal); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h new file mode 100644 index 00000000..2b92ab7d --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h @@ -0,0 +1,120 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +/// This file was created by Alex Silverman + +#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H +#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H + +#include "btBvhTriangleMeshShape.h" +#include "btMaterial.h" + +///The BvhTriangleMaterialMeshShape extends the btBvhTriangleMeshShape. Its main contribution is the interface into a material array, which allows per-triangle friction and restitution. +ATTRIBUTE_ALIGNED16(class) btMultimaterialTriangleMeshShape : public btBvhTriangleMeshShape +{ + btAlignedObjectArray m_materialList; + int ** m_triangleMaterials; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true): + btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, buildBvh) + { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16)); + + for(int i = 0; i < meshInterface->getNumSubParts(); i++) + { + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + i); + //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces, 16)); + } + } + + ///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb + btMultimaterialTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true): + btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, buildBvh) + { + m_shapeType = MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE; + + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + //m_materialLookup = (int**)(btAlignedAlloc(sizeof(int*) * meshInterface->getNumSubParts(), 16)); + + for(int i = 0; i < meshInterface->getNumSubParts(); i++) + { + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + i); + //m_materialLookup[i] = (int*)(btAlignedAlloc(sizeof(int) * numfaces * 2, 16)); + } + } + + virtual ~btMultimaterialTriangleMeshShape() + { +/* + for(int i = 0; i < m_meshInterface->getNumSubParts(); i++) + { + btAlignedFree(m_materialValues[i]); + m_materialLookup[i] = NULL; + } + btAlignedFree(m_materialValues); + m_materialLookup = NULL; +*/ + } + //debugging + virtual const char* getName()const {return "MULTIMATERIALTRIANGLEMESH";} + + ///Obtains the material for a specific triangle + const btMaterial * getMaterialProperties(int partID, int triIndex); + +} +; + +#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp new file mode 100644 index 00000000..6f36775f --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp @@ -0,0 +1,391 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btOptimizedBvh.h" +#include "btStridingMeshInterface.h" +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btIDebugDraw.h" + + +btOptimizedBvh::btOptimizedBvh() +{ +} + +btOptimizedBvh::~btOptimizedBvh() +{ +} + + +void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax) +{ + m_useQuantization = useQuantizedAabbCompression; + + + // NodeArray triangleNodes; + + struct NodeTriangleCallback : public btInternalTriangleIndexCallback + { + + NodeArray& m_triangleNodes; + + NodeTriangleCallback& operator=(NodeTriangleCallback& other) + { + m_triangleNodes.copyFromArray(other.m_triangleNodes); + return *this; + } + + NodeTriangleCallback(NodeArray& triangleNodes) + :m_triangleNodes(triangleNodes) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + btOptimizedBvhNode node; + btVector3 aabbMin,aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + //with quantization? + node.m_aabbMinOrg = aabbMin; + node.m_aabbMaxOrg = aabbMax; + + node.m_escapeIndex = -1; + + //for child nodes + node.m_subPart = partId; + node.m_triangleIndex = triangleIndex; + m_triangleNodes.push_back(node); + } + }; + struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback + { + QuantizedNodeArray& m_triangleNodes; + const btQuantizedBvh* m_optimizedTree; // for quantization + + QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other) + { + m_triangleNodes.copyFromArray(other.m_triangleNodes); + m_optimizedTree = other.m_optimizedTree; + return *this; + } + + QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree) + :m_triangleNodes(triangleNodes),m_optimizedTree(tree) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + // The partId and triangle index must fit in the same (positive) integer + btAssert(partId < (1<=0); + + btQuantizedBvhNode node; + btVector3 aabbMin,aabbMax; + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangle[0]); + aabbMax.setMax(triangle[0]); + aabbMin.setMin(triangle[1]); + aabbMax.setMax(triangle[1]); + aabbMin.setMin(triangle[2]); + aabbMax.setMax(triangle[2]); + + //PCK: add these checks for zero dimensions of aabb + const btScalar MIN_AABB_DIMENSION = btScalar(0.002); + const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001); + if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION) + { + aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION); + aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION) + { + aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION); + aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION); + } + if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION) + { + aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION); + aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION); + } + + m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0); + m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1); + + node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + + m_triangleNodes.push_back(node); + } + }; + + + + int numLeafNodes = 0; + + + if (m_useQuantization) + { + + //initialize quantization values + setQuantizationValues(bvhAabbMin,bvhAabbMax); + + QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this); + + + triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax); + + //now we have an array of leafnodes in m_leafNodes + numLeafNodes = m_quantizedLeafNodes.size(); + + + m_quantizedContiguousNodes.resize(2*numLeafNodes); + + + } else + { + NodeTriangleCallback callback(m_leafNodes); + + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + + triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax); + + //now we have an array of leafnodes in m_leafNodes + numLeafNodes = m_leafNodes.size(); + + m_contiguousNodes.resize(2*numLeafNodes); + } + + m_curNodeIndex = 0; + + buildTree(0,numLeafNodes); + + ///if the entire tree is small then subtree size, we need to create a header info for the tree + if(m_useQuantization && !m_SubtreeHeaders.size()) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand(); + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]); + subtree.m_rootNodeIndex = 0; + subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex(); + } + + //PCK: update the copy of the size + m_subtreeHeaderCount = m_SubtreeHeaders.size(); + + //PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary + m_quantizedLeafNodes.clear(); + m_leafNodes.clear(); +} + + + + +void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax) +{ + if (m_useQuantization) + { + + setQuantizationValues(aabbMin,aabbMax); + + updateBvhNodes(meshInterface,0,m_curNodeIndex,0); + + ///now update all subtree headers + + int i; + for (i=0;i m_bvhAabbMin.getX()); + btAssert(aabbMin.getY() > m_bvhAabbMin.getY()); + btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ()); + + btAssert(aabbMax.getX() < m_bvhAabbMax.getX()); + btAssert(aabbMax.getY() < m_bvhAabbMax.getY()); + btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ()); + + ///we should update all quantization values, using updateBvhNodes(meshInterface); + ///but we only update chunks that overlap the given aabb + + unsigned short quantizedQueryAabbMin[3]; + unsigned short quantizedQueryAabbMax[3]; + + quantize(&quantizedQueryAabbMin[0],aabbMin,0); + quantize(&quantizedQueryAabbMax[0],aabbMax,1); + + int i; + for (i=0;im_SubtreeHeaders.size();i++) + { + btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i]; + + //PCK: unsigned instead of bool + unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); + if (overlap != 0) + { + updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i); + + subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]); + } + } + +} + +void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index) +{ + (void)index; + + btAssert(m_useQuantization); + + int curNodeSubPart=-1; + + //get access info to trianglemesh data + const unsigned char *vertexbase = 0; + int numverts = 0; + PHY_ScalarType type = PHY_INTEGER; + int stride = 0; + const unsigned char *indexbase = 0; + int indexstride = 0; + int numfaces = 0; + PHY_ScalarType indicestype = PHY_INTEGER; + + btVector3 triangleVerts[3]; + btVector3 aabbMin,aabbMax; + const btVector3& meshScaling = meshInterface->getScaling(); + + int i; + for (i=endNode-1;i>=firstNode;i--) + { + + + btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i]; + if (curNode.isLeafNode()) + { + //recalc aabb from triangle data + int nodeSubPart = curNode.getPartId(); + int nodeTriangleIndex = curNode.getTriangleIndex(); + if (nodeSubPart != curNodeSubPart) + { + if (curNodeSubPart >= 0) + meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); + meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart); + + curNodeSubPart = nodeSubPart; + btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT); + } + //triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts, + + unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride); + + + for (int j=2;j>=0;j--) + { + + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + if (type == PHY_FLOAT) + { + float* graphicsbase = (float*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( + graphicsbase[0]*meshScaling.getX(), + graphicsbase[1]*meshScaling.getY(), + graphicsbase[2]*meshScaling.getZ()); + } + else + { + double* graphicsbase = (double*)(vertexbase+graphicsindex*stride); + triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ())); + } + } + + + + aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMin.setMin(triangleVerts[0]); + aabbMax.setMax(triangleVerts[0]); + aabbMin.setMin(triangleVerts[1]); + aabbMax.setMax(triangleVerts[1]); + aabbMin.setMin(triangleVerts[2]); + aabbMax.setMax(triangleVerts[2]); + + quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0); + quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1); + + } else + { + //combine aabb from both children + + btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1]; + + btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] : + &m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()]; + + + { + for (int i=0;i<3;i++) + { + curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i]; + if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i]) + curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i]; + + curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i]; + if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i]) + curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i]; + } + } + } + + } + + if (curNodeSubPart >= 0) + meshInterface->unLockReadOnlyVertexBase(curNodeSubPart); + + +} + +///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' +btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian) +{ + btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian); + + //we don't add additional data so just do a static upcast + return static_cast(bvh); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.h b/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.h new file mode 100644 index 00000000..715961f5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btOptimizedBvh.h @@ -0,0 +1,65 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///Contains contributions from Disney Studio's + +#ifndef BT_OPTIMIZED_BVH_H +#define BT_OPTIMIZED_BVH_H + +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" + +class btStridingMeshInterface; + + +///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface. +ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh +{ + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + +protected: + +public: + + btOptimizedBvh(); + + virtual ~btOptimizedBvh(); + + void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax); + + void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax); + + void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax); + + void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index); + + /// Data buffer MUST be 16 byte aligned + virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const + { + return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian); + + } + + ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place' + static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian); + + +}; + + +#endif //BT_OPTIMIZED_BVH_H + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp new file mode 100644 index 00000000..4854f370 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -0,0 +1,500 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" +#include "btConvexPolyhedron.h" +#include "LinearMath/btConvexHullComputer.h" +#include +#include "LinearMath/btGeometryUtil.h" +#include "LinearMath/btGrahamScan2dConvexHull.h" + + +btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(), +m_polyhedron(0) +{ + +} + +btPolyhedralConvexShape::~btPolyhedralConvexShape() +{ + if (m_polyhedron) + { + m_polyhedron->~btConvexPolyhedron(); + btAlignedFree(m_polyhedron); + } +} + + +bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) +{ + + if (m_polyhedron) + { + m_polyhedron->~btConvexPolyhedron(); + btAlignedFree(m_polyhedron); + } + + void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16); + m_polyhedron = new (mem) btConvexPolyhedron; + + btAlignedObjectArray orgVertices; + + for (int i=0;i planeEquations; + btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations); + + btAlignedObjectArray shiftedPlaneEquations; + for (int p=0;p tmpVertices; + + btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices); + + conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f); + } else + { + + conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); + } + + + + btAlignedObjectArray faceNormals; + int numFaces = conv.faces.size(); + faceNormals.resize(numFaces); + btConvexHullComputer* convexUtil = &conv; + + + btAlignedObjectArray tmpFaces; + tmpFaces.resize(numFaces); + + int numVertices = convexUtil->vertices.size(); + m_polyhedron->m_vertices.resize(numVertices); + for (int p=0;pm_vertices[p] = convexUtil->vertices[p]; + } + + + for (int i=0;ifaces[i]; + //printf("face=%d\n",face); + const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face]; + const btConvexHullComputer::Edge* edge = firstEdge; + + btVector3 edges[3]; + int numEdges = 0; + //compute face normals + + do + { + + int src = edge->getSourceVertex(); + tmpFaces[i].m_indices.push_back(src); + int targ = edge->getTargetVertex(); + btVector3 wa = convexUtil->vertices[src]; + + btVector3 wb = convexUtil->vertices[targ]; + btVector3 newEdge = wb-wa; + newEdge.normalize(); + if (numEdges<2) + edges[numEdges++] = newEdge; + + edge = edge->getNextEdgeOfFace(); + } while (edge!=firstEdge); + + btScalar planeEq = 1e30f; + + + if (numEdges==2) + { + faceNormals[i] = edges[0].cross(edges[1]); + faceNormals[i].normalize(); + tmpFaces[i].m_plane[0] = faceNormals[i].getX(); + tmpFaces[i].m_plane[1] = faceNormals[i].getY(); + tmpFaces[i].m_plane[2] = faceNormals[i].getZ(); + tmpFaces[i].m_plane[3] = planeEq; + + } + else + { + btAssert(0);//degenerate? + faceNormals[i].setZero(); + } + + for (int v=0;vm_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]); + if (planeEq>eq) + { + planeEq=eq; + } + } + tmpFaces[i].m_plane[3] = -planeEq; + } + + //merge coplanar faces and copy them to m_polyhedron + + btScalar faceWeldThreshold= 0.999f; + btAlignedObjectArray todoFaces; + for (int i=0;i coplanarFaceGroup; + int refFace = todoFaces[todoFaces.size()-1]; + + coplanarFaceGroup.push_back(refFace); + btFace& faceA = tmpFaces[refFace]; + todoFaces.pop_back(); + + btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]); + for (int j=todoFaces.size()-1;j>=0;j--) + { + int i = todoFaces[j]; + btFace& faceB = tmpFaces[i]; + btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]); + if (faceNormalA.dot(faceNormalB)>faceWeldThreshold) + { + coplanarFaceGroup.push_back(i); + todoFaces.remove(i); + } + } + + + bool did_merge = false; + if (coplanarFaceGroup.size()>1) + { + //do the merge: use Graham Scan 2d convex hull + + btAlignedObjectArray orgpoints; + btVector3 averageFaceNormal(0,0,0); + + for (int i=0;im_faces.push_back(tmpFaces[coplanarFaceGroup[i]]); + + btFace& face = tmpFaces[coplanarFaceGroup[i]]; + btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]); + averageFaceNormal+=faceNormal; + for (int f=0;fm_vertices[orgIndex]; + + bool found = false; + + for (int i=0;i hull; + + averageFaceNormal.normalize(); + GrahamScanConvexHull2D(orgpoints,hull,averageFaceNormal); + + for (int i=0;im_faces.push_back(combinedFace); + } + } + if(!did_merge) + { + for (int i=0;im_faces.push_back(face); + } + + } + + + + } + + m_polyhedron->initialize(); + + return true; +} + +#ifndef MIN + #define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b)) +#endif + +btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const +{ + + + btVector3 supVec(0,0,0); +#ifndef __SPU__ + int i; + btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); + + 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; + } + + btVector3 vtx; + btScalar newDot; + + for( int k = 0; k < getNumVertices(); k += 128 ) + { + btVector3 temp[128]; + int inner_count = MIN(getNumVertices() - k, 128); + for( i = 0; i < inner_count; i++ ) + getVertex(i,temp[i]); + i = (int) vec.maxDot( temp, inner_count, newDot); + if (newDot > maxDot) + { + maxDot = newDot; + supVec = temp[i]; + } + } + +#endif //__SPU__ + return supVec; +} + + + +void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ +#ifndef __SPU__ + int i; + + btVector3 vtx; + btScalar newDot; + + for (i=0;i supportVerticesOut[j][3]) + { + supportVerticesOut[j] = temp[i]; + supportVerticesOut[j][3] = newDot; + } + } + } + +#endif //__SPU__ +} + + + +void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ +#ifndef __SPU__ + //not yet, return box inertia + + btScalar margin = getMargin(); + + btTransform ident; + ident.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(ident,aabbMin,aabbMax); + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar lx=btScalar(2.)*(halfExtents.x()+margin); + btScalar ly=btScalar(2.)*(halfExtents.y()+margin); + btScalar lz=btScalar(2.)*(halfExtents.z()+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); +#endif //__SPU__ +} + + + +void btPolyhedralConvexAabbCachingShape::setLocalScaling(const btVector3& scaling) +{ + btConvexInternalShape::setLocalScaling(scaling); + recalcLocalAabb(); +} + +btPolyhedralConvexAabbCachingShape::btPolyhedralConvexAabbCachingShape() +:btPolyhedralConvexShape(), +m_localAabbMin(1,1,1), +m_localAabbMax(-1,-1,-1), +m_isLocalAabbValid(false) +{ +} + +void btPolyhedralConvexAabbCachingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin()); +} + +void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() +{ + m_isLocalAabbValid = true; + + #if 1 + static const btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + for ( int i = 0; i < 3; ++i ) + { + m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; + m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; + } + + #else + + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]; + } + #endif +} + + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h new file mode 100644 index 00000000..961d001a --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -0,0 +1,116 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_POLYHEDRAL_CONVEX_SHAPE_H +#define BT_POLYHEDRAL_CONVEX_SHAPE_H + +#include "LinearMath/btMatrix3x3.h" +#include "btConvexInternalShape.h" +class btConvexPolyhedron; + + +///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. +ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape +{ + + +protected: + + btConvexPolyhedron* m_polyhedron; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + btPolyhedralConvexShape(); + + virtual ~btPolyhedralConvexShape(); + + ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) + ///experimental/work-in-progress + virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0); + + const btConvexPolyhedron* getConvexPolyhedron() const + { + return m_polyhedron; + } + + //brute force implementations + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + virtual int getNumVertices() const = 0 ; + virtual int getNumEdges() const = 0; + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0; + virtual void getVertex(int i,btVector3& vtx) const = 0; + virtual int getNumPlanes() const = 0; + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0; +// virtual int getIndex(int i) const = 0 ; + + virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0; + +}; + + +///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape +class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape +{ + + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + bool m_isLocalAabbValid; + +protected: + + void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax) + { + m_isLocalAabbValid = true; + m_localAabbMin = aabbMin; + m_localAabbMax = aabbMax; + } + + inline void getCachedLocalAabb (btVector3& aabbMin, btVector3& aabbMax) const + { + btAssert(m_isLocalAabbValid); + aabbMin = m_localAabbMin; + aabbMax = m_localAabbMax; + } + +public: + + btPolyhedralConvexAabbCachingShape(); + + inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const + { + + //lazy evaluation of local aabb + btAssert(m_isLocalAabbValid); + btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax); + } + + virtual void setLocalScaling(const btVector3& scaling); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + void recalcLocalAabb(); + +}; + +#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp new file mode 100644 index 00000000..6a337c78 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btScaledBvhTriangleMeshShape.h" + +btScaledBvhTriangleMeshShape::btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling) +:m_localScaling(localScaling),m_bvhTriMeshShape(childShape) +{ + m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; +} + +btScaledBvhTriangleMeshShape::~btScaledBvhTriangleMeshShape() +{ +} + + +class btScaledTriangleCallback : public btTriangleCallback +{ + btTriangleCallback* m_originalCallback; + + btVector3 m_localScaling; + +public: + + btScaledTriangleCallback(btTriangleCallback* originalCallback,const btVector3& localScaling) + :m_originalCallback(originalCallback), + m_localScaling(localScaling) + { + } + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btVector3 newTriangle[3]; + newTriangle[0] = triangle[0]*m_localScaling; + newTriangle[1] = triangle[1]*m_localScaling; + newTriangle[2] = triangle[2]*m_localScaling; + m_originalCallback->processTriangle(&newTriangle[0],partId,triangleIndex); + } +}; + +void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + btScaledTriangleCallback scaledCallback(callback,m_localScaling); + + btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); + btVector3 scaledAabbMin,scaledAabbMax; + + ///support negative scaling + scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + scaledAabbMin[3] = 0.f; + + scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + scaledAabbMax[3] = 0.f; + + + m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax); +} + + +void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); + btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); + + btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling; + btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling; + + localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; + localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; + + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + btScalar margin = m_bvhTriMeshShape->getMargin(); + localHalfExtents += btVector3(margin,margin,margin); + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; + aabbMax = center + extent; + +} + +void btScaledBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} + +const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const +{ + return m_localScaling; +} + +void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + ///don't make this a movable object! +// btAssert(0); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h new file mode 100644 index 00000000..39049eaf --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h @@ -0,0 +1,95 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H +#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H + +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" + + +///The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMeshShape. +///Note that each btBvhTriangleMeshShape still can have its own local scaling, independent from this btScaledBvhTriangleMeshShape 'localScaling' +ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape +{ + + + btVector3 m_localScaling; + + btBvhTriangleMeshShape* m_bvhTriMeshShape; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling); + + virtual ~btScaledBvhTriangleMeshShape(); + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + btBvhTriangleMeshShape* getChildShape() + { + return m_bvhTriMeshShape; + } + + const btBvhTriangleMeshShape* getChildShape() const + { + return m_bvhTriMeshShape; + } + + //debugging + virtual const char* getName()const {return "SCALEDBVHTRIANGLEMESH";} + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btScaledTriangleMeshShapeData +{ + btTriangleMeshShapeData m_trimeshShapeData; + + btVector3FloatData m_localScaling; +}; + + +SIMD_FORCE_INLINE int btScaledBvhTriangleMeshShape::calculateSerializeBufferSize() const +{ + return sizeof(btScaledTriangleMeshShapeData); +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btScaledBvhTriangleMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btScaledTriangleMeshShapeData* scaledMeshData = (btScaledTriangleMeshShapeData*) dataBuffer; + m_bvhTriMeshShape->serialize(&scaledMeshData->m_trimeshShapeData,serializer); + scaledMeshData->m_trimeshShapeData.m_collisionShapeData.m_shapeType = SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE; + m_localScaling.serializeFloat(scaledMeshData->m_localScaling); + return "btScaledTriangleMeshShapeData"; +} + + +#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.cpp new file mode 100644 index 00000000..3beaf865 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.cpp @@ -0,0 +1,170 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +//btShapeHull was implemented by John McCutchan. + + +#include "btShapeHull.h" +#include "LinearMath/btConvexHull.h" + +#define NUM_UNITSPHERE_POINTS 42 + +btShapeHull::btShapeHull (const btConvexShape* shape) +{ + m_shape = shape; + m_vertices.clear (); + m_indices.clear(); + m_numIndices = 0; +} + +btShapeHull::~btShapeHull () +{ + m_indices.clear(); + m_vertices.clear (); +} + +bool +btShapeHull::buildHull (btScalar /*margin*/) +{ + int numSampleDirections = NUM_UNITSPHERE_POINTS; + { + int numPDA = m_shape->getNumPreferredPenetrationDirections(); + if (numPDA) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + getUnitSpherePoints()[numSampleDirections] = norm; + numSampleDirections++; + } + } + } + + btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + int i; + for (i = 0; i < numSampleDirections; i++) + { + supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]); + } + + HullDesc hd; + hd.mFlags = QF_TRIANGLES; + hd.mVcount = static_cast(numSampleDirections); + +#ifdef BT_USE_DOUBLE_PRECISION + hd.mVertices = &supportPoints[0]; + hd.mVertexStride = sizeof(btVector3); +#else + hd.mVertices = &supportPoints[0]; + hd.mVertexStride = sizeof (btVector3); +#endif + + HullLibrary hl; + HullResult hr; + if (hl.CreateConvexHull (hd, hr) == QE_FAIL) + { + return false; + } + + m_vertices.resize (static_cast(hr.mNumOutputVertices)); + + + for (i = 0; i < static_cast(hr.mNumOutputVertices); i++) + { + m_vertices[i] = hr.m_OutputVertices[i]; + } + m_numIndices = hr.mNumIndices; + m_indices.resize(static_cast(m_numIndices)); + for (i = 0; i < static_cast(m_numIndices); i++) + { + m_indices[i] = hr.m_Indices[i]; + } + + // free temporary hull result that we just copied + hl.ReleaseResult (hr); + + return true; +} + +int +btShapeHull::numTriangles () const +{ + return static_cast(m_numIndices / 3); +} + +int +btShapeHull::numVertices () const +{ + return m_vertices.size (); +} + +int +btShapeHull::numIndices () const +{ + return static_cast(m_numIndices); +} + + +btVector3* btShapeHull::getUnitSpherePoints() +{ + static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = + { + btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), + btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), + btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), + btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), + btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), + btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), + btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), + btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), + btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), + btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), + btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), + btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), + btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), + btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), + btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), + btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), + btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), + btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), + btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), + btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), + btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), + btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), + btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), + btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), + btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), + btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), + btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), + btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), + btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), + btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) + }; + return sUnitSpherePoints; +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.h b/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.h new file mode 100644 index 00000000..e959f198 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btShapeHull.h @@ -0,0 +1,61 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///btShapeHull implemented by John McCutchan. + +#ifndef BT_SHAPE_HULL_H +#define BT_SHAPE_HULL_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + + +///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices. +///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object. +///It approximates the convex hull using the supporting vertex of 42 directions. +ATTRIBUTE_ALIGNED16(class) btShapeHull +{ +protected: + + btAlignedObjectArray m_vertices; + btAlignedObjectArray m_indices; + unsigned int m_numIndices; + const btConvexShape* m_shape; + + static btVector3* getUnitSpherePoints(); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btShapeHull (const btConvexShape* shape); + ~btShapeHull (); + + bool buildHull (btScalar margin); + + int numTriangles () const; + int numVertices () const; + int numIndices () const; + + const btVector3* getVertexPointer() const + { + return &m_vertices[0]; + } + const unsigned int* getIndexPointer() const + { + return &m_indices[0]; + } +}; + +#endif //BT_SHAPE_HULL_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btSphereShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btSphereShape.cpp new file mode 100644 index 00000000..b9a736c0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -0,0 +1,71 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btSphereShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + (void)vec; + return btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + (void)vectors; + + for (int i=0;iprocessTriangle(triangle,0,0); + + triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius; + triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius; + triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius; + + callback->processTriangle(triangle,0,1); + +} + +void btStaticPlaneShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + + //moving concave objects not supported + + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btStaticPlaneShape::setLocalScaling(const btVector3& scaling) +{ + m_localScaling = scaling; +} +const btVector3& btStaticPlaneShape::getLocalScaling() const +{ + return m_localScaling; +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h new file mode 100644 index 00000000..e6e32883 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h @@ -0,0 +1,105 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_STATIC_PLANE_SHAPE_H +#define BT_STATIC_PLANE_SHAPE_H + +#include "btConcaveShape.h" + + +///The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. +ATTRIBUTE_ALIGNED16(class) btStaticPlaneShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + + btVector3 m_planeNormal; + btScalar m_planeConstant; + btVector3 m_localScaling; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant); + + virtual ~btStaticPlaneShape(); + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + const btVector3& getPlaneNormal() const + { + return m_planeNormal; + } + + const btScalar& getPlaneConstant() const + { + return m_planeConstant; + } + + //debugging + virtual const char* getName()const {return "STATICPLANE";} + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btStaticPlaneShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btVector3FloatData m_localScaling; + btVector3FloatData m_planeNormal; + float m_planeConstant; + char m_pad[4]; +}; + + +SIMD_FORCE_INLINE int btStaticPlaneShape::calculateSerializeBufferSize() const +{ + return sizeof(btStaticPlaneShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer; + btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer); + + m_localScaling.serializeFloat(planeData->m_localScaling); + m_planeNormal.serializeFloat(planeData->m_planeNormal); + planeData->m_planeConstant = float(m_planeConstant); + + return "btStaticPlaneShapeData"; +} + + +#endif //BT_STATIC_PLANE_SHAPE_H + + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp new file mode 100644 index 00000000..b3d44967 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp @@ -0,0 +1,381 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btStridingMeshInterface.h" +#include "LinearMath/btSerializer.h" + +btStridingMeshInterface::~btStridingMeshInterface() +{ + +} + + +void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + (void)aabbMin; + (void)aabbMax; + int numtotalphysicsverts = 0; + int part,graphicssubparts = getNumSubParts(); + const unsigned char * vertexbase; + const unsigned char * indexbase; + int indexstride; + PHY_ScalarType type; + PHY_ScalarType gfxindextype; + int stride,numverts,numtriangles; + int gfxindex; + btVector3 triangle[3]; + + btVector3 meshScaling = getScaling(); + + ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype + for (part=0;partinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_SHORT: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_UCHAR: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + default: + btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT)); + } + break; + } + + case PHY_DOUBLE: + { + double* graphicsbase; + + switch (gfxindextype) + { + case PHY_INTEGER: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_SHORT: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + case PHY_UCHAR: + { + for (gfxindex=0;gfxindexinternalProcessTriangleIndex(triangle,part,gfxindex); + } + break; + } + default: + btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT)); + } + break; + } + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } +} + +void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax) +{ + + struct AabbCalculationCallback : public btInternalTriangleIndexCallback + { + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + AabbCalculationCallback() + { + m_aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + (void)partId; + (void)triangleIndex; + + m_aabbMin.setMin(triangle[0]); + m_aabbMax.setMax(triangle[0]); + m_aabbMin.setMin(triangle[1]); + m_aabbMax.setMax(triangle[1]); + m_aabbMin.setMin(triangle[2]); + m_aabbMax.setMax(triangle[2]); + } + }; + + //first calculate the total aabb for all triangles + AabbCalculationCallback aabbCallback; + aabbMin.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + aabbMax.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax); + + aabbMin = aabbCallback.m_aabbMin; + aabbMax = aabbCallback.m_aabbMax; +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btStridingMeshInterfaceData* trimeshData = (btStridingMeshInterfaceData*) dataBuffer; + + trimeshData->m_numMeshParts = getNumSubParts(); + + //void* uniquePtr = 0; + + trimeshData->m_meshPartsPtr = 0; + + if (trimeshData->m_numMeshParts) + { + btChunk* chunk = serializer->allocate(sizeof(btMeshPartData),trimeshData->m_numMeshParts); + btMeshPartData* memPtr = (btMeshPartData*)chunk->m_oldPtr; + trimeshData->m_meshPartsPtr = (btMeshPartData *)serializer->getUniquePointer(memPtr); + + + // int numtotalphysicsverts = 0; + int part,graphicssubparts = getNumSubParts(); + const unsigned char * vertexbase; + const unsigned char * indexbase; + int indexstride; + PHY_ScalarType type; + PHY_ScalarType gfxindextype; + int stride,numverts,numtriangles; + int gfxindex; + // btVector3 triangle[3]; + + // btVector3 meshScaling = getScaling(); + + ///if the number of parts is big, the performance might drop due to the innerloop switch on indextype + for (part=0;partm_numTriangles = numtriangles;//indices = 3*numtriangles + memPtr->m_numVertices = numverts; + memPtr->m_indices16 = 0; + memPtr->m_indices32 = 0; + memPtr->m_3indices16 = 0; + memPtr->m_3indices8 = 0; + memPtr->m_vertices3f = 0; + memPtr->m_vertices3d = 0; + + + switch (gfxindextype) + { + case PHY_INTEGER: + { + int numindices = numtriangles*3; + + if (numindices) + { + btChunk* chunk = serializer->allocate(sizeof(btIntIndexData),numindices); + btIntIndexData* tmpIndices = (btIntIndexData*)chunk->m_oldPtr; + memPtr->m_indices32 = (btIntIndexData*)serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindexfinalizeChunk(chunk,"btIntIndexData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + case PHY_SHORT: + { + if (numtriangles) + { + btChunk* chunk = serializer->allocate(sizeof(btShortIntIndexTripletData),numtriangles); + btShortIntIndexTripletData* tmpIndices = (btShortIntIndexTripletData*)chunk->m_oldPtr; + memPtr->m_3indices16 = (btShortIntIndexTripletData*) serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindexfinalizeChunk(chunk,"btShortIntIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + case PHY_UCHAR: + { + if (numtriangles) + { + btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles); + btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr; + memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices); + for (gfxindex=0;gfxindexfinalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + default: + { + btAssert(0); + //unknown index type + } + } + + switch (type) + { + case PHY_FLOAT: + { + float* graphicsbase; + + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3FloatData),numverts); + btVector3FloatData* tmpVertices = (btVector3FloatData*) chunk->m_oldPtr; + memPtr->m_vertices3f = (btVector3FloatData *)serializer->getUniquePointer(tmpVertices); + for (int i=0;ifinalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + case PHY_DOUBLE: + { + if (numverts) + { + btChunk* chunk = serializer->allocate(sizeof(btVector3DoubleData),numverts); + btVector3DoubleData* tmpVertices = (btVector3DoubleData*) chunk->m_oldPtr; + memPtr->m_vertices3d = (btVector3DoubleData *) serializer->getUniquePointer(tmpVertices); + for (int i=0;ifinalizeChunk(chunk,"btVector3DoubleData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr); + } + break; + } + + default: + btAssert((type == PHY_FLOAT) || (type == PHY_DOUBLE)); + } + + unLockReadOnlyVertexBase(part); + } + + serializer->finalizeChunk(chunk,"btMeshPartData",BT_ARRAY_CODE,chunk->m_oldPtr); + } + + + m_scaling.serializeFloat(trimeshData->m_scaling); + return "btStridingMeshInterfaceData"; +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h b/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h new file mode 100644 index 00000000..9fbe1397 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h @@ -0,0 +1,164 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_STRIDING_MESHINTERFACE_H +#define BT_STRIDING_MESHINTERFACE_H + +#include "LinearMath/btVector3.h" +#include "btTriangleCallback.h" +#include "btConcaveShape.h" + + + + + +/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes. +/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips. +/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory. +ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface +{ + protected: + + btVector3 m_scaling; + + public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.)) + { + + } + + virtual ~btStridingMeshInterface(); + + + + virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + ///brute force method to calculate aabb + void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax); + + /// get read and write access to a subpart of a triangle mesh + /// this subpart has a continuous array of vertices and indices + /// in this way the mesh can be handled as chunks of memory with striding + /// very similar to OpenGL vertexarray support + /// make a call to unLockVertexBase when the read and write access is finished + virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0; + + virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0; + + /// unLockVertexBase finishes the access to a subpart of the triangle mesh + /// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished + virtual void unLockVertexBase(int subpart)=0; + + virtual void unLockReadOnlyVertexBase(int subpart) const=0; + + + /// getNumSubParts returns the number of seperate subparts + /// each subpart has a continuous array of vertices and indices + virtual int getNumSubParts() const=0; + + virtual void preallocateVertices(int numverts)=0; + virtual void preallocateIndices(int numindices)=0; + + virtual bool hasPremadeAabb() const { return false; } + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const + { + (void) aabbMin; + (void) aabbMax; + } + + const btVector3& getScaling() const { + return m_scaling; + } + void setScaling(const btVector3& scaling) + { + m_scaling = scaling; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +struct btIntIndexData +{ + int m_value; +}; + +struct btShortIntIndexData +{ + short m_value; + char m_pad[2]; +}; + +struct btShortIntIndexTripletData +{ + short m_values[3]; + char m_pad[2]; +}; + +struct btCharIndexTripletData +{ + unsigned char m_values[3]; + char m_pad; +}; + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btMeshPartData +{ + btVector3FloatData *m_vertices3f; + btVector3DoubleData *m_vertices3d; + + btIntIndexData *m_indices32; + btShortIntIndexTripletData *m_3indices16; + btCharIndexTripletData *m_3indices8; + + btShortIntIndexData *m_indices16;//backwards compatibility + + int m_numTriangles;//length of m_indices = m_numTriangles + int m_numVertices; +}; + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btStridingMeshInterfaceData +{ + btMeshPartData *m_meshPartsPtr; + btVector3FloatData m_scaling; + int m_numMeshParts; + char m_padding[4]; +}; + + + + +SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const +{ + return sizeof(btStridingMeshInterfaceData); +} + + + +#endif //BT_STRIDING_MESHINTERFACE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp new file mode 100644 index 00000000..52f346bf --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp @@ -0,0 +1,218 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btTetrahedronShape.h" +#include "LinearMath/btMatrix3x3.h" + +btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); +} + +btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (), +m_numVertices(0) +{ + m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE; + addVertex(pt0); + addVertex(pt1); + addVertex(pt2); + addVertex(pt3); +} + + +void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ +#if 1 + btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax); +#else + aabbMin.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + aabbMax.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); + + //just transform the vertices in worldspace, and take their AABB + for (int i=0;iprocessAllTriangles(&triBuf,aabbMin, aabbMax); +/// for (int i=0;i m_triangleBuffer; + +public: + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + int getNumTriangles() const + { + return int(m_triangleBuffer.size()); + } + + const btTriangle& getTriangle(int index) const + { + return m_triangleBuffer[index]; + } + + void clearBuffer() + { + m_triangleBuffer.clear(); + } + +}; + + +#endif //BT_TRIANGLE_BUFFER_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.cpp new file mode 100644 index 00000000..f558bf6d --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.cpp @@ -0,0 +1,28 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btTriangleCallback.h" + +btTriangleCallback::~btTriangleCallback() +{ + +} + + +btInternalTriangleIndexCallback::~btInternalTriangleIndexCallback() +{ + +} + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.h new file mode 100644 index 00000000..461c57f8 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleCallback.h @@ -0,0 +1,42 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_TRIANGLE_CALLBACK_H +#define BT_TRIANGLE_CALLBACK_H + +#include "LinearMath/btVector3.h" + + +///The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTriangles. +///This callback is called by processAllTriangles for all btConcaveShape derived class, such as btBvhTriangleMeshShape, btStaticPlaneShape and btHeightfieldTerrainShape. +class btTriangleCallback +{ +public: + + virtual ~btTriangleCallback(); + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) = 0; +}; + +class btInternalTriangleIndexCallback +{ +public: + + virtual ~btInternalTriangleIndexCallback(); + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) = 0; +}; + + + +#endif //BT_TRIANGLE_CALLBACK_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp new file mode 100644 index 00000000..a665024c --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp @@ -0,0 +1,95 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btTriangleIndexVertexArray.h" + +btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride) +: m_hasAabb(0) +{ + btIndexedMesh mesh; + + mesh.m_numTriangles = numTriangles; + mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase; + mesh.m_triangleIndexStride = triangleIndexStride; + mesh.m_numVertices = numVertices; + mesh.m_vertexBase = (const unsigned char *)vertexBase; + mesh.m_vertexStride = vertexStride; + + addIndexedMesh(mesh); + +} + +btTriangleIndexVertexArray::~btTriangleIndexVertexArray() +{ + +} + +void btTriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) +{ + btAssert(subpart< getNumSubParts() ); + + btIndexedMesh& mesh = m_indexedMeshes[subpart]; + + numverts = mesh.m_numVertices; + (*vertexbase) = (unsigned char *) mesh.m_vertexBase; + + type = mesh.m_vertexType; + + vertexStride = mesh.m_vertexStride; + + numfaces = mesh.m_numTriangles; + + (*indexbase) = (unsigned char *)mesh.m_triangleIndexBase; + indexstride = mesh.m_triangleIndexStride; + indicestype = mesh.m_indexType; +} + +void btTriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const +{ + const btIndexedMesh& mesh = m_indexedMeshes[subpart]; + + numverts = mesh.m_numVertices; + (*vertexbase) = (const unsigned char *)mesh.m_vertexBase; + + type = mesh.m_vertexType; + + vertexStride = mesh.m_vertexStride; + + numfaces = mesh.m_numTriangles; + (*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase; + indexstride = mesh.m_triangleIndexStride; + indicestype = mesh.m_indexType; +} + +bool btTriangleIndexVertexArray::hasPremadeAabb() const +{ + return (m_hasAabb == 1); +} + + +void btTriangleIndexVertexArray::setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const +{ + m_aabbMin = aabbMin; + m_aabbMax = aabbMax; + m_hasAabb = 1; // this is intentionally an int see notes in header +} + +void btTriangleIndexVertexArray::getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const +{ + *aabbMin = m_aabbMin; + *aabbMax = m_aabbMax; +} + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h new file mode 100644 index 00000000..9e1544e8 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -0,0 +1,133 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_TRIANGLE_INDEX_VERTEX_ARRAY_H +#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H + +#include "btStridingMeshInterface.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btScalar.h" + + +///The btIndexedMesh indexes a single vertex and index array. Multiple btIndexedMesh objects can be passed into a btTriangleIndexVertexArray using addIndexedMesh. +///Instead of the number of indices, we pass the number of triangles. +ATTRIBUTE_ALIGNED16( struct) btIndexedMesh +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_numTriangles; + const unsigned char * m_triangleIndexBase; + // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed) + int m_triangleIndexStride; + int m_numVertices; + const unsigned char * m_vertexBase; + // Size of a vertex, in bytes + int m_vertexStride; + + // The index type is set when adding an indexed mesh to the + // btTriangleIndexVertexArray, do not set it manually + PHY_ScalarType m_indexType; + + // The vertex type has a default type similar to Bullet's precision mode (float or double) + // but can be set manually if you for example run Bullet with double precision but have + // mesh data in single precision.. + PHY_ScalarType m_vertexType; + + + btIndexedMesh() + :m_indexType(PHY_INTEGER), +#ifdef BT_USE_DOUBLE_PRECISION + m_vertexType(PHY_DOUBLE) +#else // BT_USE_DOUBLE_PRECISION + m_vertexType(PHY_FLOAT) +#endif // BT_USE_DOUBLE_PRECISION + { + } +} +; + + +typedef btAlignedObjectArray IndexedMeshArray; + +///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays. +///Additional meshes can be added using addIndexedMesh +///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays. +///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray. +ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface +{ +protected: + IndexedMeshArray m_indexedMeshes; + int m_pad[2]; + mutable int m_hasAabb; // using int instead of bool to maintain alignment + mutable btVector3 m_aabbMin; + mutable btVector3 m_aabbMax; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTriangleIndexVertexArray() : m_hasAabb(0) + { + } + + virtual ~btTriangleIndexVertexArray(); + + //just to be backwards compatible + btTriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,btScalar* vertexBase,int vertexStride); + + void addIndexedMesh(const btIndexedMesh& mesh, PHY_ScalarType indexType = PHY_INTEGER) + { + m_indexedMeshes.push_back(mesh); + m_indexedMeshes[m_indexedMeshes.size()-1].m_indexType = indexType; + } + + + virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0); + + virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const; + + /// unLockVertexBase finishes the access to a subpart of the triangle mesh + /// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished + virtual void unLockVertexBase(int subpart) {(void)subpart;} + + virtual void unLockReadOnlyVertexBase(int subpart) const {(void)subpart;} + + /// getNumSubParts returns the number of seperate subparts + /// each subpart has a continuous array of vertices and indices + virtual int getNumSubParts() const { + return (int)m_indexedMeshes.size(); + } + + IndexedMeshArray& getIndexedMeshArray() + { + return m_indexedMeshes; + } + + const IndexedMeshArray& getIndexedMeshArray() const + { + return m_indexedMeshes; + } + + virtual void preallocateVertices(int numverts){(void) numverts;} + virtual void preallocateIndices(int numindices){(void) numindices;} + + virtual bool hasPremadeAabb() const; + virtual void setPremadeAabb(const btVector3& aabbMin, const btVector3& aabbMax ) const; + virtual void getPremadeAabb(btVector3* aabbMin, btVector3* aabbMax ) const; + +} +; + +#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp new file mode 100644 index 00000000..dc562941 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp @@ -0,0 +1,86 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///This file was created by Alex Silverman + +#include "btTriangleIndexVertexMaterialArray.h" + +btTriangleIndexVertexMaterialArray::btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride, + int numVertices,btScalar* vertexBase,int vertexStride, + int numMaterials, unsigned char* materialBase, int materialStride, + int* triangleMaterialsBase, int materialIndexStride) : +btTriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride) +{ + btMaterialProperties mat; + + mat.m_numMaterials = numMaterials; + mat.m_materialBase = materialBase; + mat.m_materialStride = materialStride; +#ifdef BT_USE_DOUBLE_PRECISION + mat.m_materialType = PHY_DOUBLE; +#else + mat.m_materialType = PHY_FLOAT; +#endif + + mat.m_numTriangles = numTriangles; + mat.m_triangleMaterialsBase = (unsigned char *)triangleMaterialsBase; + mat.m_triangleMaterialStride = materialIndexStride; + mat.m_triangleType = PHY_INTEGER; + + addMaterialProperties(mat); +} + + +void btTriangleIndexVertexMaterialArray::getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart) +{ + btAssert(subpart< getNumSubParts() ); + + btMaterialProperties& mats = m_materials[subpart]; + + numMaterials = mats.m_numMaterials; + (*materialBase) = (unsigned char *) mats.m_materialBase; +#ifdef BT_USE_DOUBLE_PRECISION + materialType = PHY_DOUBLE; +#else + materialType = PHY_FLOAT; +#endif + materialStride = mats.m_materialStride; + + numTriangles = mats.m_numTriangles; + (*triangleMaterialBase) = (unsigned char *)mats.m_triangleMaterialsBase; + triangleMaterialStride = mats.m_triangleMaterialStride; + triangleType = mats.m_triangleType; +} + +void btTriangleIndexVertexMaterialArray::getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart) +{ + btMaterialProperties& mats = m_materials[subpart]; + + numMaterials = mats.m_numMaterials; + (*materialBase) = (const unsigned char *) mats.m_materialBase; +#ifdef BT_USE_DOUBLE_PRECISION + materialType = PHY_DOUBLE; +#else + materialType = PHY_FLOAT; +#endif + materialStride = mats.m_materialStride; + + numTriangles = mats.m_numTriangles; + (*triangleMaterialBase) = (const unsigned char *)mats.m_triangleMaterialsBase; + triangleMaterialStride = mats.m_triangleMaterialStride; + triangleType = mats.m_triangleType; +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h new file mode 100644 index 00000000..ba4f7b46 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +///This file was created by Alex Silverman + +#ifndef BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H +#define BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H + +#include "btTriangleIndexVertexArray.h" + + +ATTRIBUTE_ALIGNED16( struct) btMaterialProperties +{ + ///m_materialBase ==========> 2 btScalar values make up one material, friction then restitution + int m_numMaterials; + const unsigned char * m_materialBase; + int m_materialStride; + PHY_ScalarType m_materialType; + ///m_numTriangles <=========== This exists in the btIndexedMesh object for the same subpart, but since we're + /// padding the structure, it can be reproduced at no real cost + ///m_triangleMaterials =====> 1 integer value makes up one entry + /// eg: m_triangleMaterials[1] = 5; // This will set triangle 2 to use material 5 + int m_numTriangles; + const unsigned char * m_triangleMaterialsBase; + int m_triangleMaterialStride; + ///m_triangleType <========== Automatically set in addMaterialProperties + PHY_ScalarType m_triangleType; +}; + +typedef btAlignedObjectArray MaterialArray; + +///Teh btTriangleIndexVertexMaterialArray is built on TriangleIndexVertexArray +///The addition of a material array allows for the utilization of the partID and +///triangleIndex that are returned in the ContactAddedCallback. As with +///TriangleIndexVertexArray, no duplicate is made of the material data, so it +///is the users responsibility to maintain the array during the lifetime of the +///TriangleIndexVertexMaterialArray. +ATTRIBUTE_ALIGNED16(class) btTriangleIndexVertexMaterialArray : public btTriangleIndexVertexArray +{ +protected: + MaterialArray m_materials; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btTriangleIndexVertexMaterialArray() + { + } + + btTriangleIndexVertexMaterialArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride, + int numVertices,btScalar* vertexBase,int vertexStride, + int numMaterials, unsigned char* materialBase, int materialStride, + int* triangleMaterialsBase, int materialIndexStride); + + virtual ~btTriangleIndexVertexMaterialArray() {} + + void addMaterialProperties(const btMaterialProperties& mat, PHY_ScalarType triangleType = PHY_INTEGER) + { + m_materials.push_back(mat); + m_materials[m_materials.size()-1].m_triangleType = triangleType; + } + + virtual void getLockedMaterialBase(unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType ,int subpart = 0); + + virtual void getLockedReadOnlyMaterialBase(const unsigned char **materialBase, int& numMaterials, PHY_ScalarType& materialType, int& materialStride, + const unsigned char ** triangleMaterialBase, int& numTriangles, int& triangleMaterialStride, PHY_ScalarType& triangleType, int subpart = 0); + +} +; + +#endif //BT_MULTIMATERIAL_TRIANGLE_INDEX_VERTEX_ARRAY_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h new file mode 100644 index 00000000..17deef89 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h @@ -0,0 +1,241 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2010 Erwin Coumans http://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 _BT_TRIANGLE_INFO_MAP_H +#define _BT_TRIANGLE_INFO_MAP_H + + +#include "LinearMath/btHashMap.h" +#include "LinearMath/btSerializer.h" + + +///for btTriangleInfo m_flags +#define TRI_INFO_V0V1_CONVEX 1 +#define TRI_INFO_V1V2_CONVEX 2 +#define TRI_INFO_V2V0_CONVEX 4 + +#define TRI_INFO_V0V1_SWAP_NORMALB 8 +#define TRI_INFO_V1V2_SWAP_NORMALB 16 +#define TRI_INFO_V2V0_SWAP_NORMALB 32 + + +///The btTriangleInfo structure stores information to adjust collision normals to avoid collisions against internal edges +///it can be generated using +struct btTriangleInfo +{ + btTriangleInfo() + { + m_edgeV0V1Angle = SIMD_2_PI; + m_edgeV1V2Angle = SIMD_2_PI; + m_edgeV2V0Angle = SIMD_2_PI; + m_flags=0; + } + + int m_flags; + + btScalar m_edgeV0V1Angle; + btScalar m_edgeV1V2Angle; + btScalar m_edgeV2V0Angle; + +}; + +typedef btHashMap btInternalTriangleInfoMap; + + +///The btTriangleInfoMap stores edge angle information for some triangles. You can compute this information yourself or using btGenerateInternalEdgeInfo. +struct btTriangleInfoMap : public btInternalTriangleInfoMap +{ + btScalar m_convexEpsilon;///used to determine if an edge or contact normal is convex, using the dot product + btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle + btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared' + btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge" + btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold + btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold) + + + btTriangleInfoMap() + { + m_convexEpsilon = 0.00f; + m_planarEpsilon = 0.0001f; + m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001); + m_edgeDistanceThreshold = btScalar(0.1); + m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001); + m_maxEdgeAngleThreshold = SIMD_2_PI; + } + virtual ~btTriangleInfoMap() {} + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + void deSerialize(struct btTriangleInfoMapData& data); + +}; + +///those fields have to be float and not btScalar for the serialization to work properly +struct btTriangleInfoData +{ + int m_flags; + float m_edgeV0V1Angle; + float m_edgeV1V2Angle; + float m_edgeV2V0Angle; +}; + +struct btTriangleInfoMapData +{ + int *m_hashTablePtr; + int *m_nextPtr; + btTriangleInfoData *m_valueArrayPtr; + int *m_keyArrayPtr; + + float m_convexEpsilon; + float m_planarEpsilon; + float m_equalVertexThreshold; + float m_edgeDistanceThreshold; + float m_zeroAreaThreshold; + + int m_nextSize; + int m_hashTableSize; + int m_numValues; + int m_numKeys; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btTriangleInfoMap::calculateSerializeBufferSize() const +{ + return sizeof(btTriangleInfoMapData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btTriangleInfoMap::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTriangleInfoMapData* tmapData = (btTriangleInfoMapData*) dataBuffer; + tmapData->m_convexEpsilon = (float)m_convexEpsilon; + tmapData->m_planarEpsilon = (float)m_planarEpsilon; + tmapData->m_equalVertexThreshold =(float) m_equalVertexThreshold; + tmapData->m_edgeDistanceThreshold = (float)m_edgeDistanceThreshold; + tmapData->m_zeroAreaThreshold = (float)m_zeroAreaThreshold; + + tmapData->m_hashTableSize = m_hashTable.size(); + + tmapData->m_hashTablePtr = tmapData->m_hashTableSize ? (int*)serializer->getUniquePointer((void*)&m_hashTable[0]) : 0; + if (tmapData->m_hashTablePtr) + { + //serialize an int buffer + int sz = sizeof(int); + int numElem = tmapData->m_hashTableSize; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_hashTable[0]); + + } + + tmapData->m_nextSize = m_next.size(); + tmapData->m_nextPtr = tmapData->m_nextSize? (int*)serializer->getUniquePointer((void*)&m_next[0]): 0; + if (tmapData->m_nextPtr) + { + int sz = sizeof(int); + int numElem = tmapData->m_nextSize; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_next[0]); + } + + tmapData->m_numValues = m_valueArray.size(); + tmapData->m_valueArrayPtr = tmapData->m_numValues ? (btTriangleInfoData*)serializer->getUniquePointer((void*)&m_valueArray[0]): 0; + if (tmapData->m_valueArrayPtr) + { + int sz = sizeof(btTriangleInfoData); + int numElem = tmapData->m_numValues; + btChunk* chunk = serializer->allocate(sz,numElem); + btTriangleInfoData* memPtr = (btTriangleInfoData*)chunk->m_oldPtr; + for (int i=0;im_edgeV0V1Angle = (float)m_valueArray[i].m_edgeV0V1Angle; + memPtr->m_edgeV1V2Angle = (float)m_valueArray[i].m_edgeV1V2Angle; + memPtr->m_edgeV2V0Angle = (float)m_valueArray[i].m_edgeV2V0Angle; + memPtr->m_flags = m_valueArray[i].m_flags; + } + serializer->finalizeChunk(chunk,"btTriangleInfoData",BT_ARRAY_CODE,(void*) &m_valueArray[0]); + } + + tmapData->m_numKeys = m_keyArray.size(); + tmapData->m_keyArrayPtr = tmapData->m_numKeys ? (int*)serializer->getUniquePointer((void*)&m_keyArray[0]) : 0; + if (tmapData->m_keyArrayPtr) + { + int sz = sizeof(int); + int numElem = tmapData->m_numValues; + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*) &m_keyArray[0]); + + } + return "btTriangleInfoMapData"; +} + + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE void btTriangleInfoMap::deSerialize(btTriangleInfoMapData& tmapData ) +{ + + + m_convexEpsilon = tmapData.m_convexEpsilon; + m_planarEpsilon = tmapData.m_planarEpsilon; + m_equalVertexThreshold = tmapData.m_equalVertexThreshold; + m_edgeDistanceThreshold = tmapData.m_edgeDistanceThreshold; + m_zeroAreaThreshold = tmapData.m_zeroAreaThreshold; + m_hashTable.resize(tmapData.m_hashTableSize); + int i =0; + for (i=0;i m_4componentVertices; + btAlignedObjectArray m_3componentVertices; + + btAlignedObjectArray m_32bitIndices; + btAlignedObjectArray m_16bitIndices; + bool m_use32bitIndices; + bool m_use4componentVertices; + + + public: + btScalar m_weldingThreshold; + + btTriangleMesh (bool use32bitIndices=true,bool use4componentVertices=true); + + bool getUse32bitIndices() const + { + return m_use32bitIndices; + } + + bool getUse4componentVertices() const + { + return m_use4componentVertices; + } + ///By default addTriangle won't search for duplicate vertices, because the search is very slow for large triangle meshes. + ///In general it is better to directly use btTriangleIndexVertexArray instead. + void addTriangle(const btVector3& vertex0,const btVector3& vertex1,const btVector3& vertex2, bool removeDuplicateVertices=false); + + int getNumTriangles() const; + + virtual void preallocateVertices(int numverts); + virtual void preallocateIndices(int numindices); + + ///findOrAddVertex is an internal method, use addTriangle instead + int findOrAddVertex(const btVector3& vertex, bool removeDuplicateVertices); + ///addIndex is an internal method, use addTriangle instead + void addIndex(int index); + +}; + +#endif //BT_TRIANGLE_MESH_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp new file mode 100644 index 00000000..0e179514 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp @@ -0,0 +1,207 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btTriangleMeshShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "btStridingMeshInterface.h" +#include "LinearMath/btAabbUtil2.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + + +btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface) +: btConcaveShape (), m_meshInterface(meshInterface) +{ + m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; + if(meshInterface->hasPremadeAabb()) + { + meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax); + } + else + { + recalcLocalAabb(); + } +} + + +btTriangleMeshShape::~btTriangleMeshShape() +{ + +} + + + + +void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + + btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin); + localHalfExtents += btVector3(getMargin(),getMargin(),getMargin()); + btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin); + + btMatrix3x3 abs_b = trans.getBasis().absolute(); + + btVector3 center = trans(localCenter); + + btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); + aabbMin = center - extent; + aabbMax = center + extent; +} + +void btTriangleMeshShape::recalcLocalAabb() +{ + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); + m_localAabbMax[i] = tmp[i]+m_collisionMargin; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); + m_localAabbMin[i] = tmp[i]-m_collisionMargin; + } +} + + + +class SupportVertexCallback : public btTriangleCallback +{ + + btVector3 m_supportVertexLocal; +public: + + btTransform m_worldTrans; + btScalar m_maxDot; + btVector3 m_supportVecLocal; + + SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans) + : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT)) + + { + m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis(); + } + + virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + for (int i=0;i<3;i++) + { + btScalar dot = m_supportVecLocal.dot(triangle[i]); + if (dot > m_maxDot) + { + m_maxDot = dot; + m_supportVertexLocal = triangle[i]; + } + } + } + + btVector3 GetSupportVertexWorldSpace() + { + return m_worldTrans(m_supportVertexLocal); + } + + btVector3 GetSupportVertexLocal() + { + return m_supportVertexLocal; + } + +}; + + +void btTriangleMeshShape::setLocalScaling(const btVector3& scaling) +{ + m_meshInterface->setScaling(scaling); + recalcLocalAabb(); +} + +const btVector3& btTriangleMeshShape::getLocalScaling() const +{ + return m_meshInterface->getScaling(); +} + + + + + + +//#define DEBUG_TRIANGLE_MESH + + + +void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + struct FilteredCallback : public btInternalTriangleIndexCallback + { + btTriangleCallback* m_callback; + btVector3 m_aabbMin; + btVector3 m_aabbMax; + + FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) + :m_callback(callback), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax)) + { + //check aabb in triangle-space, before doing this + m_callback->processTriangle(triangle,partId,triangleIndex); + } + + } + + }; + + FilteredCallback filterCallback(callback,aabbMin,aabbMax); + + m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax); +} + + + + + +void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + //moving concave objects not supported + btAssert(0); + inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +} + + +btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const +{ + btVector3 supportVertex; + + btTransform ident; + ident.setIdentity(); + + SupportVertexCallback supportCallback(vec,ident); + + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + + processAllTriangles(&supportCallback,-aabbMax,aabbMax); + + supportVertex = supportCallback.GetSupportVertexLocal(); + + return supportVertex; +} + + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h new file mode 100644 index 00000000..453e5800 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h @@ -0,0 +1,90 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_TRIANGLE_MESH_SHAPE_H +#define BT_TRIANGLE_MESH_SHAPE_H + +#include "btConcaveShape.h" +#include "btStridingMeshInterface.h" + + +///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead. +ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape +{ +protected: + btVector3 m_localAabbMin; + btVector3 m_localAabbMax; + btStridingMeshInterface* m_meshInterface; + + ///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class. + ///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead! + btTriangleMeshShape(btStridingMeshInterface* meshInterface); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual ~btTriangleMeshShape(); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + btAssert(0); + return localGetSupportingVertex(vec); + } + + void recalcLocalAabb(); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + + btStridingMeshInterface* getMeshInterface() + { + return m_meshInterface; + } + + const btStridingMeshInterface* getMeshInterface() const + { + return m_meshInterface; + } + + const btVector3& getLocalAabbMin() const + { + return m_localAabbMin; + } + const btVector3& getLocalAabbMax() const + { + return m_localAabbMax; + } + + + + //debugging + virtual const char* getName()const {return "TRIANGLEMESH";} + + + +}; + + + + +#endif //BT_TRIANGLE_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleShape.h new file mode 100644 index 00000000..a8a80f82 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btTriangleShape.h @@ -0,0 +1,184 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_OBB_TRIANGLE_MINKOWSKI_H +#define BT_OBB_TRIANGLE_MINKOWSKI_H + +#include "btConvexShape.h" +#include "btBoxShape.h" + +ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape +{ + + +public: + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 m_vertices1[3]; + + virtual int getNumVertices() const + { + return 3; + } + + btVector3& getVertexPtr(int index) + { + return m_vertices1[index]; + } + + const btVector3& getVertexPtr(int index) const + { + return m_vertices1[index]; + } + virtual void getVertex(int index,btVector3& vert) const + { + vert = m_vertices1[index]; + } + + virtual int getNumEdges() const + { + return 3; + } + + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const + { + getVertex(i,pa); + getVertex((i+1)%3,pb); + } + + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + { +// btAssert(0); + getAabbSlow(t,aabbMin,aabbMax); + } + + btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const + { + btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]); + return m_vertices1[dots.maxAxis()]; + + } + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + { + for (int i=0;i= -tolerance && dist <= tolerance) + { + //inside check on edge-planes + int i; + for (i=0;i<3;i++) + { + btVector3 pa,pb; + getEdge(i,pa,pb); + btVector3 edge = pb-pa; + btVector3 edgeNormal = edge.cross(normal); + edgeNormal.normalize(); + btScalar dist = pt.dot( edgeNormal); + btScalar edgeConst = pa.dot(edgeNormal); + dist -= edgeConst; + if (dist < -tolerance) + return false; + } + + return true; + } + + return false; + } + //debugging + virtual const char* getName()const + { + return "Triangle"; + } + + virtual int getNumPreferredPenetrationDirections() const + { + return 2; + } + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const + { + calcNormal(penetrationVector); + if (index) + penetrationVector *= btScalar(-1.); + } + + +}; + +#endif //BT_OBB_TRIANGLE_MINKOWSKI_H + diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp b/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp new file mode 100644 index 00000000..b148bbd9 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp @@ -0,0 +1,160 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + +#include "btUniformScalingShape.h" + +btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor): +btConvexShape (), m_childConvexShape(convexChildShape), +m_uniformScalingFactor(uniformScalingFactor) +{ + m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; +} + +btUniformScalingShape::~btUniformScalingShape() +{ +} + + +btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 tmpVertex; + tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec); + return tmpVertex*m_uniformScalingFactor; +} + +void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors); + int i; + for (i=0;ilocalGetSupportingVertex(vec); + return tmpVertex*m_uniformScalingFactor; +} + + +void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + + ///this linear upscaling is not realistic, but we don't deal with large mass ratios... + btVector3 tmpInertia; + m_childConvexShape->calculateLocalInertia(mass,tmpInertia); + inertia = tmpInertia * m_uniformScalingFactor; +} + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version +void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const +{ + getAabbSlow(trans,aabbMin,aabbMax); + +} + +void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ +#if 1 + btVector3 _directions[] = + { + btVector3( 1., 0., 0.), + btVector3( 0., 1., 0.), + btVector3( 0., 0., 1.), + btVector3( -1., 0., 0.), + btVector3( 0., -1., 0.), + btVector3( 0., 0., -1.) + }; + + btVector3 _supporting[] = + { + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.), + btVector3( 0., 0., 0.) + }; + + for (int i=0;i<6;i++) + { + _directions[i] = _directions[i]*t.getBasis(); + } + + batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6); + + btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0); + + for ( int i = 0; i < 3; ++i ) + { + aabbMax1[i] = t(_supporting[i])[i]; + aabbMin1[i] = t(_supporting[i + 3])[i]; + } + btVector3 marginVec(getMargin(),getMargin(),getMargin()); + aabbMin = aabbMin1-marginVec; + aabbMax = aabbMax1+marginVec; + +#else + + btScalar margin = getMargin(); + for (int i=0;i<3;i++) + { + btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 sv = localGetSupportingVertex(vec*t.getBasis()); + btVector3 tmp = t(sv); + aabbMax[i] = tmp[i]+margin; + vec[i] = btScalar(-1.); + sv = localGetSupportingVertex(vec*t.getBasis()); + tmp = t(sv); + aabbMin[i] = tmp[i]-margin; + } + +#endif +} + +void btUniformScalingShape::setLocalScaling(const btVector3& scaling) +{ + m_childConvexShape->setLocalScaling(scaling); +} + +const btVector3& btUniformScalingShape::getLocalScaling() const +{ + return m_childConvexShape->getLocalScaling(); +} + +void btUniformScalingShape::setMargin(btScalar margin) +{ + m_childConvexShape->setMargin(margin); +} +btScalar btUniformScalingShape::getMargin() const +{ + return m_childConvexShape->getMargin() * m_uniformScalingFactor; +} + +int btUniformScalingShape::getNumPreferredPenetrationDirections() const +{ + return m_childConvexShape->getNumPreferredPenetrationDirections(); +} + +void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const +{ + m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector); +} diff --git a/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.h b/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.h new file mode 100644 index 00000000..a10f58d2 --- /dev/null +++ b/Code/Physics/src/BulletCollision/CollisionShapes/btUniformScalingShape.h @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_UNIFORM_SCALING_SHAPE_H +#define BT_UNIFORM_SCALING_SHAPE_H + +#include "btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. +///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it. +ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape +{ + btConvexShape* m_childConvexShape; + + btScalar m_uniformScalingFactor; + + public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor); + + virtual ~btUniformScalingShape(); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + btScalar getUniformScalingFactor() const + { + return m_uniformScalingFactor; + } + + btConvexShape* getChildShape() + { + return m_childConvexShape; + } + + const btConvexShape* getChildShape() const + { + return m_childConvexShape; + } + + virtual const char* getName()const + { + return "UniformScalingShape"; + } + + + + /////////////////////////// + + + ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void setLocalScaling(const btVector3& scaling) ; + virtual const btVector3& getLocalScaling() const ; + + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual int getNumPreferredPenetrationDirections() const; + + virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const; + + +}; + +#endif //BT_UNIFORM_SCALING_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/Doxyfile b/Code/Physics/src/BulletCollision/Doxyfile new file mode 100644 index 00000000..4ecb6acb --- /dev/null +++ b/Code/Physics/src/BulletCollision/Doxyfile @@ -0,0 +1,746 @@ +# Doxyfile 1.2.4 + +# This file describes the settings to be used by doxygen for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# General configuration options +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. +PROJECT_NAME = "Bullet Continuous Collision Detection Library" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. 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If left blank the directory on the local machine +# will be used. + +DOC_ABSPATH = + +# The BIN_ABSPATH tag must point to the directory where the doxysearch binary +# is installed. + +BIN_ABSPATH = c:\program files\doxygen\bin + +# The EXT_DOC_PATHS tag can be used to specify one or more paths to +# documentation generated for other projects. This allows doxysearch to search +# the documentation for these projects as well. + +EXT_DOC_PATHS = diff --git a/Code/Physics/src/BulletCollision/Gimpact/btBoxCollision.h b/Code/Physics/src/BulletCollision/Gimpact/btBoxCollision.h new file mode 100644 index 00000000..0a0357e5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btBoxCollision.h @@ -0,0 +1,645 @@ +#ifndef BT_BOX_COLLISION_H_INCLUDED +#define BT_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "LinearMath/btTransform.h" + + +///Swap numbers +#define BT_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + + +#define BT_MAX(a,b) (ab?b:a) + +#define BT_GREATER(x, y) btFabs(x) > (y) + +#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c)) +#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c)) + + + + + + +enum eBT_PLANE_INTERSECTION_TYPE +{ + BT_CONST_BACK_PLANE = 0, + BT_CONST_COLLIDE_PLANE, + BT_CONST_FRONT_PLANE +}; + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// BT_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + BT_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + +//! Returns the dot product between a vec3f and the col of a matrix +SIMD_FORCE_INLINE btScalar bt_mat3_dot_col( +const btMatrix3x3 & mat, const btVector3 & vec3, int colindex) +{ + return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]; +} + + +//! Class for transforming a model1 to the space of model0 +ATTRIBUTE_ALIGNED16 (class) BT_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { +// static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); +// m_AR[0] = vepsi + m_R1to0[0].absolute(); +// m_AR[1] = vepsi + m_R1to0[1].absolute(); +// m_AR[2] = vepsi + m_R1to0[2].absolute(); + + int i,j; + + for(i=0;i<3;i++) + { + for(j=0;j<3;j++ ) + { + m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]); + } + } + + } + + BT_BOX_BOX_TRANSFORM_CACHE() + { + } + + + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + btTransform temp_trans = trans0.inverse(); + temp_trans = temp_trans * trans1; + + m_T1to0 = temp_trans.getOrigin(); + m_R1to0 = temp_trans.getBasis(); + + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const + { + return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0; + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +ATTRIBUTE_ALIGNED16 (class) btAABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + btAABB() + {} + + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + btAABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + btAABB(const btAABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + btAABB(const btAABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = SIMD_INFINITY; + m_min[1] = SIMD_INFINITY; + m_min[2] = SIMD_INFINITY; + m_max[0] = -SIMD_INFINITY; + m_max[1] = -SIMD_INFINITY; + m_max[2] = -SIMD_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + } + + template + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), + trans.getBasis().getRow(1).absolute(), + trans.getBasis().getRow(2).absolute()); + + m_min = center - textends; + m_max = center + textends; + } + + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans.transform(center); + + btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(), + trans.m_R1to0.getRow(1).absolute(), + trans.m_R1to0.getRow(2).absolute()); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const btAABB & box) + { + m_min[0] = BT_MIN(m_min[0],box.m_min[0]); + m_min[1] = BT_MIN(m_min[1],box.m_min[1]); + m_min[2] = BT_MIN(m_min[2],box.m_min[2]); + + m_max[0] = BT_MAX(m_max[0],box.m_max[0]); + m_max[1] = BT_MAX(m_max[1],box.m_max[1]); + m_max[2] = BT_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = BT_MIN(m_min[0],point[0]); + m_min[1] = BT_MIN(m_min[1],point[1]); + m_min[2] = BT_MIN(m_min[2],point[2]); + + m_max[0] = BT_MAX(m_max[0],point[0]); + m_max[1] = BT_MAX(m_max[1],point[1]); + m_max[2] = BT_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection) const + { + intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) const + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return BT_CONST_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return BT_CONST_COLLIDE_PLANE; //1 + } + return BT_CONST_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box, + const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const + { + btAABB tbox = box; + tbox.appy_transform_trans_cache(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(BT_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = bt_mat3_dot_col(transcache.m_R1to0,T,i); + t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i]; + if(BT_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(BT_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) const + { + eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == BT_CONST_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) const + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/btClipPolygon.h b/Code/Physics/src/BulletCollision/Gimpact/btClipPolygon.h new file mode 100644 index 00000000..de0a5231 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btClipPolygon.h @@ -0,0 +1,182 @@ +#ifndef BT_CLIP_POLYGON_H_INCLUDED +#define BT_CLIP_POLYGON_H_INCLUDED + +/*! \file btClipPolygon.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "LinearMath/btTransform.h" +#include "LinearMath/btGeometryUtil.h" + + +SIMD_FORCE_INLINE btScalar bt_distance_point_plane(const btVector4 & plane,const btVector3 &point) +{ + return point.dot(plane) - plane[3]; +} + +/*! Vector blending +Takes two vectors a, b, blends them together*/ +SIMD_FORCE_INLINE void bt_vec_blend(btVector3 &vr, const btVector3 &va,const btVector3 &vb, btScalar blend_factor) +{ + vr = (1-blend_factor)*va + blend_factor*vb; +} + +//! This function calcs the distance from a 3D plane +SIMD_FORCE_INLINE void bt_plane_clip_polygon_collect( + const btVector3 & point0, + const btVector3 & point1, + btScalar dist0, + btScalar dist1, + btVector3 * clipped, + int & clipped_count) +{ + bool _prevclassif = (dist0>SIMD_EPSILON); + bool _classif = (dist1>SIMD_EPSILON); + if(_classif!=_prevclassif) + { + btScalar blendfactor = -dist0/(dist1-dist0); + bt_vec_blend(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + clipped[clipped_count] = point1; + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +SIMD_FORCE_INLINE int bt_plane_clip_polygon( + const btVector4 & plane, + const btVector3 * polygon_points, + int polygon_point_count, + btVector3 * clipped) +{ + int clipped_count = 0; + + + //clip first point + btScalar firstdist = bt_distance_point_plane(plane,polygon_points[0]);; + if(!(firstdist>SIMD_EPSILON)) + { + clipped[clipped_count] = polygon_points[0]; + clipped_count++; + } + + btScalar olddist = firstdist; + for(int i=1;iSIMD_EPSILON)) + { + clipped[clipped_count] = point0; + clipped_count++; + } + + // point 1 + btScalar olddist = firstdist; + btScalar dist = bt_distance_point_plane(plane,point1); + + bt_plane_clip_polygon_collect( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = bt_distance_point_plane(plane,point2); + + bt_plane_clip_polygon_collect( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point0 + bt_plane_clip_polygon_collect( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/Code/Physics/src/BulletCollision/Gimpact/btCompoundFromGimpact.h new file mode 100644 index 00000000..02f8b678 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btCompoundFromGimpact.h @@ -0,0 +1,93 @@ +#ifndef BT_COMPOUND_FROM_GIMPACT +#define BT_COMPOUND_FROM_GIMPACT + +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "btGImpactShape.h" +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" + +struct MyCallback : public btTriangleRaycastCallback + { + int m_ignorePart; + int m_ignoreTriangleIndex; + + + MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex) + :btTriangleRaycastCallback(from,to), + m_ignorePart(ignorePart), + m_ignoreTriangleIndex(ignoreTriangleIndex) + { + + } + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) + { + if (partId!=m_ignorePart || triangleIndex!=m_ignoreTriangleIndex) + { + if (hitFraction < m_hitFraction) + return hitFraction; + } + + return m_hitFraction; + } + }; + struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback + { + const btGImpactMeshShape* m_gimpactShape; + btCompoundShape* m_colShape; + btScalar m_depth; + + MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth) + :m_colShape(colShape), + m_gimpactShape(meshShape), + m_depth(depth) + { + } + + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + btVector3 scale = m_gimpactShape->getLocalScaling(); + btVector3 v0=triangle[0]*scale; + btVector3 v1=triangle[1]*scale; + btVector3 v2=triangle[2]*scale; + + btVector3 centroid = (v0+v1+v2)/3; + btVector3 normal = (v1-v0).cross(v2-v0); + normal.normalize(); + btVector3 rayFrom = centroid; + btVector3 rayTo = centroid-normal*m_depth; + + MyCallback cb(rayFrom,rayTo,partId,triangleIndex); + + m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo); + if (cb.m_hitFraction<1) + { + rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction); + //rayTo = cb.m_from; + //rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction); + //gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0)); + } + + + + btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo); + btTransform ident; + ident.setIdentity(); + m_colShape->addChildShape(ident,tet); + } + }; + +btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth) +{ + btCompoundShape* colShape = new btCompoundShape(); + + btTransform tr; + tr.setIdentity(); + + MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth); + btVector3 aabbMin,aabbMax; + gimpactMesh->getAabb(tr,aabbMin,aabbMax); + gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax); + + return colShape; +} + +#endif //BT_COMPOUND_FROM_GIMPACT \ No newline at end of file diff --git a/Code/Physics/src/BulletCollision/Gimpact/btContactProcessing.cpp b/Code/Physics/src/BulletCollision/Gimpact/btContactProcessing.cpp new file mode 100644 index 00000000..eed31d83 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btContactProcessing.cpp @@ -0,0 +1,181 @@ + +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ +#include "btContactProcessing.h" + +#define MAX_COINCIDENT 8 + +struct CONTACT_KEY_TOKEN +{ + unsigned int m_key; + int m_value; + CONTACT_KEY_TOKEN() + { + } + + CONTACT_KEY_TOKEN(unsigned int key,int token) + { + m_key = key; + m_value = token; + } + + CONTACT_KEY_TOKEN(const CONTACT_KEY_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const CONTACT_KEY_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const CONTACT_KEY_TOKEN& other) const + { + return (m_key > other.m_key); + } + +}; + +class CONTACT_KEY_TOKEN_COMP +{ + public: + + bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const + { + return ( a < b ); + } +}; + + +void btContactArray::merge_contacts( + const btContactArray & contacts, bool normal_contact_average) +{ + clear(); + + int i; + if(contacts.size()==0) return; + + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + btAlignedObjectArray keycontacts; + + keycontacts.reserve(contacts.size()); + + //fill key contacts + + for ( i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &(*this)[this->size()-1]; + } + last_key = key; + } +} + +void btContactArray::merge_contacts_unique(const btContactArray & contacts) +{ + clear(); + + if(contacts.size()==0) return; + + if(contacts.size()==1) + { + push_back(contacts[0]); + return; + } + + GIM_CONTACT average_contact = contacts[0]; + + for (int i=1;i +{ +public: + btContactArray() + { + reserve(64); + } + + SIMD_FORCE_INLINE void push_contact( + const btVector3 &point,const btVector3 & normal, + btScalar depth, int feature1, int feature2) + { + push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) ); + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT & tricontact, + int feature1,int feature2) + { + for(int i = 0;i splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + //swapLeafNodes(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + int rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex)))); + + return splitIndex; + +} + + +void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + int curIndex = m_num_nodes; + m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if ((endIndex-startIndex)==1) + { + //We have a leaf node + setNodeBound(curIndex,primitive_boxes[startIndex].m_bound); + m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data); + + return; + } + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + //split axis + int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex); + + splitIndex = _sort_and_calc_splitting_index( + primitive_boxes,startIndex,endIndex, + splitIndex//split axis + ); + + + //calc this node bounding box + + btAABB node_bound; + node_bound.invalidate(); + + for (int i=startIndex;iget_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount); + //get left bound + btAABB bound; + bound.invalidate(); + + btAABB temp_box; + + int child_node = getLeftNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + child_node = getRightNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + setNodeBound(nodecount,bound); + } + } +} + +//! this rebuild the entire set +void btGImpactBvh::buildSet() +{ + //obtain primitive boxes + GIM_BVH_DATA_ARRAY primitive_boxes; + primitive_boxes.resize(m_primitive_manager->get_primitive_count()); + + for (int i = 0;iget_primitive_box(i,primitive_boxes[i].m_bound); + primitive_boxes[i].m_data = i; + } + + m_box_tree.build_tree(primitive_boxes); +} + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactBvh::rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + +SIMD_FORCE_INLINE bool _node_collision( + btGImpactBvh * boxset0, btGImpactBvh * boxset1, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0 ,int node1, bool complete_primitive_tests) +{ + btAABB box0; + boxset0->getNodeBound(node0,box0); + btAABB box1; + boxset1->getNodeBound(node1,box1); + + return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests ); +// box1.appy_transform_trans_cache(trans_cache_1to0); +// return box0.has_collision(box1); + +} + + +//stackless recursive collision routine +static void _find_collision_pairs_recursive( + btGImpactBvh * boxset0, btGImpactBvh * boxset1, + btPairSet * collision_pairs, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0, int node1, bool complete_primitive_tests) +{ + + + + if( _node_collision( + boxset0,boxset1,trans_cache_1to0, + node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes + + if(boxset0->isLeafNode(node0)) + { + if(boxset1->isLeafNode(node1)) + { + // collision result + collision_pairs->push_pair( + boxset0->getNodeData(node0),boxset1->getNodeData(node1)); + return; + } + else + { + + //collide left recursive + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getLeftNode(node1),false); + + //collide right recursive + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getRightNode(node1),false); + + + } + } + else + { + if(boxset1->isLeafNode(node1)) + { + + //collide left recursive + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),node1,false); + + + //collide right recursive + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),node1,false); + + + } + else + { + //collide left0 left1 + + + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false); + + //collide left0 right1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false); + + + //collide right0 left1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false); + + //collide right0 right1 + + _find_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getRightNode(node1),false); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf +} + + +void btGImpactBvh::find_collision(btGImpactBvh * boxset0, const btTransform & trans0, + btGImpactBvh * boxset1, const btTransform & trans1, + btPairSet & collision_pairs) +{ + + if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return; + + BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + + trans_cache_1to0.calc_from_homogenic(trans0,trans1); + +#ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_tree_time(); +#endif //TRI_COLLISION_PROFILING + + _find_collision_pairs_recursive( + boxset0,boxset1, + &collision_pairs,trans_cache_1to0,0,0,true); +#ifdef TRI_COLLISION_PROFILING + bt_end_gim02_tree_time(); +#endif //TRI_COLLISION_PROFILING + +} + diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactBvh.h b/Code/Physics/src/BulletCollision/Gimpact/btGImpactBvh.h new file mode 100644 index 00000000..6174ae97 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactBvh.h @@ -0,0 +1,396 @@ +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btBoxCollision.h" +#include "btTriangleShapeEx.h" + + + + + +//! Overlapping pair +struct GIM_PAIR +{ + int m_index1; + int m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(int index1, int index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class btPairSet: public btAlignedObjectArray +{ +public: + btPairSet() + { + reserve(32); + } + inline void push_pair(int index1,int index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(int index1,int index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +///GIM_BVH_DATA is an internal GIMPACT collision structure to contain axis aligned bounding box +struct GIM_BVH_DATA +{ + btAABB m_bound; + int m_data; +}; + +//! Node Structure for trees +class GIM_BVH_TREE_NODE +{ +public: + btAABB m_bound; +protected: + int m_escapeIndexOrDataIndex; +public: + GIM_BVH_TREE_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + +}; + + +class GIM_BVH_DATA_ARRAY:public btAlignedObjectArray +{ +}; + + +class GIM_BVH_TREE_NODE_ARRAY:public btAlignedObjectArray +{ +}; + + + + +//! Basic Box tree structure +class btBvhTree +{ +protected: + int m_num_nodes; + GIM_BVH_TREE_NODE_ARRAY m_node_array; +protected: + int _sort_and_calc_splitting_index( + GIM_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class btPrimitiveManagerBase +{ +public: + + virtual ~btPrimitiveManagerBase() {} + + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() const = 0; + virtual int get_primitive_count() const = 0; + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const = 0; + //! retrieves only the points of the triangle, and the collision margin + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const= 0; +}; + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactBvh +{ +protected: + btBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const GIM_BVH_TREE_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + +#ifdef TRI_COLLISION_PROFILING + static float getAverageTreeCollisionTime(); +#endif //TRI_COLLISION_PROFILING + + static void find_collision(btGImpactBvh * boxset1, const btTransform & trans1, + btGImpactBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp new file mode 100644 index 00000000..2e87475e --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -0,0 +1,932 @@ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ +/* +Author: Francisco Len Nßjera +Concave-Concave Collision + +*/ + +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "btGImpactCollisionAlgorithm.h" +#include "btContactProcessing.h" +#include "LinearMath/btQuickprof.h" + + +//! Class for accessing the plane equation +class btPlaneShape : public btStaticPlaneShape +{ +public: + + btPlaneShape(const btVector3& v, float f) + :btStaticPlaneShape(v,f) + { + } + + void get_plane_equation(btVector4 &equation) + { + equation[0] = m_planeNormal[0]; + equation[1] = m_planeNormal[1]; + equation[2] = m_planeNormal[2]; + equation[3] = m_planeConstant; + } + + + void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const + { + equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal); + equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal); + equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal); + equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant; + } +}; + + + +////////////////////////////////////////////////////////////////////////////////////////////// +#ifdef TRI_COLLISION_PROFILING + +btClock g_triangle_clock; + +float g_accum_triangle_collision_time = 0; +int g_count_triangle_collision = 0; + +void bt_begin_gim02_tri_time() +{ + g_triangle_clock.reset(); +} + +void bt_end_gim02_tri_time() +{ + g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds(); + g_count_triangle_collision++; +} +#endif //TRI_COLLISION_PROFILING +//! Retrieving shapes shapes +/*! +Declared here due of insuficent space on Pool allocators +*/ +//!@{ +class GIM_ShapeRetriever +{ +public: + const btGImpactShapeInterface * m_gim_shape; + btTriangleShapeEx m_trishape; + btTetrahedronShapeEx m_tetrashape; + +public: + class ChildShapeRetriever + { + public: + GIM_ShapeRetriever * m_parent; + virtual const btCollisionShape * getChildShape(int index) + { + return m_parent->m_gim_shape->getChildShape(index); + } + virtual ~ChildShapeRetriever() {} + }; + + class TriangleShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape); + return &m_parent->m_trishape; + } + virtual ~TriangleShapeRetriever() {} + }; + + class TetraShapeRetriever:public ChildShapeRetriever + { + public: + + virtual btCollisionShape * getChildShape(int index) + { + m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape); + return &m_parent->m_tetrashape; + } + }; +public: + ChildShapeRetriever m_child_retriever; + TriangleShapeRetriever m_tri_retriever; + TetraShapeRetriever m_tetra_retriever; + ChildShapeRetriever * m_current_retriever; + + GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape) + { + m_gim_shape = gim_shape; + //select retriever + if(m_gim_shape->needsRetrieveTriangles()) + { + m_current_retriever = &m_tri_retriever; + } + else if(m_gim_shape->needsRetrieveTetrahedrons()) + { + m_current_retriever = &m_tetra_retriever; + } + else + { + m_current_retriever = &m_child_retriever; + } + + m_current_retriever->m_parent = this; + } + + const btCollisionShape * getChildShape(int index) + { + return m_current_retriever->getChildShape(index); + } + + +}; + + + +//!@} + + +#ifdef TRI_COLLISION_PROFILING + +//! Gets the average time in miliseconds of tree collisions +float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime() +{ + return btGImpactBoxSet::getAverageTreeCollisionTime(); + +} + +//! Gets the average time in miliseconds of triangle collisions +float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() +{ + if(g_count_triangle_collision == 0) return 0; + + float avgtime = g_accum_triangle_collision_time; + avgtime /= (float)g_count_triangle_collision; + + g_accum_triangle_collision_time = 0; + g_count_triangle_collision = 0; + + return avgtime; +} + +#endif //TRI_COLLISION_PROFILING + + + +btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap) +{ + m_manifoldPtr = NULL; + m_convex_algorithm = NULL; +} + +btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() +{ + clearCache(); +} + + + + + +void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btVector3 & point, + const btVector3 & normal, + btScalar distance) +{ + m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); + m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); + checkManifold(body0Wrap,body1Wrap); + m_resultOut->addContactPoint(normal,point,distance); +} + + +void btGImpactCollisionAlgorithm::shape_vs_shape_collision( + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape * shape0, + const btCollisionShape * shape1) +{ + + + { + + btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap); + // post : checkManifold is called + + m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); + m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); + + algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut); + + algor->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algor); + } + +} + +void btGImpactCollisionAlgorithm::convex_vs_convex_collision( + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape* shape0, + const btCollisionShape* shape1) +{ + + m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); + m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); + + btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0); + btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1); + checkConvexAlgorithm(&ob0,&ob1); + m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut); + + +} + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1,btPairSet & pairset) +{ + if(shape0->hasBoxSet() && shape1->hasBoxSet()) + { + btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset); + } + else + { + btAABB boxshape0; + btAABB boxshape1; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + int j = shape1->getNumChildShapes(); + while(j--) + { + shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max); + + if(boxshape1.has_collision(boxshape0)) + { + pairset.push_pair(i,j); + } + } + } + } + + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1, + btAlignedObjectArray & collided_primitives) +{ + + btAABB boxshape; + + + if(shape0->hasBoxSet()) + { + btTransform trans1to0 = trans0.inverse(); + trans1to0 *= trans1; + + shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max); + + shape0->getBoxSet()->boxQuery(boxshape, collided_primitives); + } + else + { + shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max); + + btAABB boxshape0; + int i = shape0->getNumChildShapes(); + + while(i--) + { + shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max); + + if(boxshape.has_collision(boxshape0)) + { + collided_primitives.push_back(i); + } + } + + } + +} + + +void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTriangleShapeEx tri0; + btTriangleShapeEx tri1; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + + shape0->getBulletTriangle(m_triface0,tri0); + shape1->getBulletTriangle(m_triface1,tri1); + + + //collide two convex shapes + if(tri0.overlap_test_conservative(tri1)) + { + convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1); + } + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count) +{ + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); + + btPrimitiveTriangle ptri0; + btPrimitiveTriangle ptri1; + GIM_TRIANGLE_CONTACT contact_data; + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + const int * pair_pointer = pairs; + + while(pair_count--) + { + + m_triface0 = *(pair_pointer); + m_triface1 = *(pair_pointer+1); + pair_pointer+=2; + + + shape0->getPrimitiveTriangle(m_triface0,ptri0); + shape1->getPrimitiveTriangle(m_triface1,ptri1); + + #ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_tri_time(); + #endif + + ptri0.applyTransform(orgtrans0); + ptri1.applyTransform(orgtrans1); + + + //build planes + ptri0.buildTriPlane(); + ptri1.buildTriPlane(); + // test conservative + + + + if(ptri0.overlap_test_conservative(ptri1)) + { + if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data)) + { + + int j = contact_data.m_point_count; + while(j--) + { + + addContactPoint(body0Wrap, body1Wrap, + contact_data.m_points[j], + contact_data.m_separating_normal, + -contact_data.m_penetration_depth); + } + } + } + + #ifdef TRI_COLLISION_PROFILING + bt_end_gim02_tri_time(); + #endif + + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); + +} + + +void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1) +{ + + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + const btGImpactMeshShape * meshshape0 = static_cast(shape0); + m_part0 = meshshape0->getMeshPartCount(); + + while(m_part0--) + { + gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1); + } + + return; + } + + if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + const btGImpactMeshShape * meshshape1 = static_cast(shape1); + m_part1 = meshshape1->getMeshPartCount(); + + while(m_part1--) + { + + gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1)); + + } + + return; + } + + + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); + + btPairSet pairset; + + gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset); + + if(pairset.size()== 0) return; + + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) + { + const btGImpactMeshShapePart * shapepart0 = static_cast(shape0); + const btGImpactMeshShapePart * shapepart1 = static_cast(shape1); + //specialized function + #ifdef BULLET_TRIANGLE_COLLISION + collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #else + collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + #endif + + return; + } + + //general function + + shape0->lockChildShapes(); + shape1->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + GIM_ShapeRetriever retriever1(shape1); + + bool child_has_transform0 = shape0->childrenHasTransform(); + bool child_has_transform1 = shape1->childrenHasTransform(); + + int i = pairset.size(); + while(i--) + { + GIM_PAIR * pair = &pairset[i]; + m_triface0 = pair->m_index1; + m_triface1 = pair->m_index2; + const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); + const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); + + btTransform tr0 = body0Wrap->getWorldTransform(); + btTransform tr1 = body1Wrap->getWorldTransform(); + + if(child_has_transform0) + { + tr0 = orgtrans0*shape0->getChildTransform(m_triface0); + } + + if(child_has_transform1) + { + tr1 = orgtrans1*shape1->getChildTransform(m_triface1); + } + + btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0); + btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1); + + //collide two convex shapes + convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1); + } + + shape0->unlockChildShapes(); + shape1->unlockChildShapes(); +} + +void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1,bool swapped) +{ + if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) + { + const btGImpactMeshShape * meshshape0 = static_cast(shape0); + int& part = swapped ? m_part1 : m_part0; + part = meshshape0->getMeshPartCount(); + + while(part--) + { + + gimpact_vs_shape(body0Wrap, + body1Wrap, + meshshape0->getMeshPart(part), + shape1,swapped); + + } + + return; + } + + #ifdef GIMPACT_VS_PLANE_COLLISION + if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && + shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) + { + const btGImpactMeshShapePart * shapepart = static_cast(shape0); + const btStaticPlaneShape * planeshape = static_cast(shape1); + gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped); + return; + } + + #endif + + + + if(shape1->isCompound()) + { + const btCompoundShape * compoundshape = static_cast(shape1); + gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped); + return; + } + else if(shape1->isConcave()) + { + const btConcaveShape * concaveshape = static_cast(shape1); + gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped); + return; + } + + + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + + btTransform orgtrans1 = body1Wrap->getWorldTransform(); + + btAlignedObjectArray collided_results; + + gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results); + + if(collided_results.size() == 0) return; + + + shape0->lockChildShapes(); + + GIM_ShapeRetriever retriever0(shape0); + + + bool child_has_transform0 = shape0->childrenHasTransform(); + + + int i = collided_results.size(); + + while(i--) + { + int child_index = collided_results[i]; + if(swapped) + m_triface1 = child_index; + else + m_triface0 = child_index; + + const btCollisionShape * colshape0 = retriever0.getChildShape(child_index); + + btTransform tr0 = body0Wrap->getWorldTransform(); + + if(child_has_transform0) + { + tr0 = orgtrans0*shape0->getChildTransform(child_index); + } + + btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0); + const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap(); + + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject()) + { + m_resultOut->setBody0Wrap(&ob0); + } else + { + m_resultOut->setBody1Wrap(&ob0); + } + + //collide two shapes + if(swapped) + { + + shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0); + } + else + { + + shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1); + } + m_resultOut->setBody0Wrap(prevObj0); + + } + + shape0->unlockChildShapes(); + +} + +void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface * shape0, + const btCompoundShape * shape1,bool swapped) +{ + btTransform orgtrans1 = body1Wrap->getWorldTransform(); + + int i = shape1->getNumChildShapes(); + while(i--) + { + + const btCollisionShape * colshape1 = shape1->getChildShape(i); + btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i); + + btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i); + + const btCollisionObjectWrapper* tmp = 0; + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject()) + { + tmp = m_resultOut->getBody0Wrap(); + m_resultOut->setBody0Wrap(&ob1); + } else + { + tmp = m_resultOut->getBody1Wrap(); + m_resultOut->setBody1Wrap(&ob1); + } + //collide child shape + gimpact_vs_shape(body0Wrap, &ob1, + shape0,colshape1,swapped); + + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject()) + { + m_resultOut->setBody0Wrap(tmp); + } else + { + m_resultOut->setBody1Wrap(tmp); + } + } +} + +void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btStaticPlaneShape * shape1,bool swapped) +{ + + + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); + + const btPlaneShape * planeshape = static_cast(shape1); + btVector4 plane; + planeshape->get_plane_equation_transformed(orgtrans1,plane); + + //test box against plane + + btAABB tribox; + shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max); + tribox.increment_margin(planeshape->getMargin()); + + if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return; + + shape0->lockChildShapes(); + + btScalar margin = shape0->getMargin() + planeshape->getMargin(); + + btVector3 vertex; + int vi = shape0->getVertexCount(); + while(vi--) + { + shape0->getVertex(vi,vertex); + vertex = orgtrans0(vertex); + + btScalar distance = vertex.dot(plane) - plane[3] - margin; + + if(distance<0.0)//add contact + { + if(swapped) + { + addContactPoint(body1Wrap, body0Wrap, + vertex, + -plane, + distance); + } + else + { + addContactPoint(body0Wrap, body1Wrap, + vertex, + plane, + distance); + } + } + } + + shape0->unlockChildShapes(); +} + + + + +class btGImpactTriangleCallback: public btTriangleCallback +{ +public: + btGImpactCollisionAlgorithm * algorithm; + const btCollisionObjectWrapper * body0Wrap; + const btCollisionObjectWrapper * body1Wrap; + const btGImpactShapeInterface * gimpactshape0; + bool swapped; + btScalar margin; + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]); + tri1.setMargin(margin); + if(swapped) + { + algorithm->setPart0(partId); + algorithm->setFace0(triangleIndex); + } + else + { + algorithm->setPart1(partId); + algorithm->setFace1(triangleIndex); + } + + btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex); + const btCollisionObjectWrapper * tmp = 0; + + if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject()) + { + tmp = algorithm->internalGetResultOut()->getBody0Wrap(); + algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap); + } else + { + tmp = algorithm->internalGetResultOut()->getBody1Wrap(); + algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap); + } + + algorithm->gimpact_vs_shape( + body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped); + + if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject()) + { + algorithm->internalGetResultOut()->setBody0Wrap(tmp); + } else + { + algorithm->internalGetResultOut()->setBody1Wrap(tmp); + } + + } +}; + + + + +void btGImpactCollisionAlgorithm::gimpact_vs_concave( + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btConcaveShape * shape1,bool swapped) +{ + //create the callback + btGImpactTriangleCallback tricallback; + tricallback.algorithm = this; + tricallback.body0Wrap = body0Wrap; + tricallback.body1Wrap = body1Wrap; + tricallback.gimpactshape0 = shape0; + tricallback.swapped = swapped; + tricallback.margin = shape1->getMargin(); + + //getting the trimesh AABB + btTransform gimpactInConcaveSpace; + + gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform(); + + btVector3 minAABB,maxAABB; + shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB); + + shape1->processAllTriangles(&tricallback,minAABB,maxAABB); + +} + + + +void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + clearCache(); + + m_resultOut = resultOut; + m_dispatchInfo = &dispatchInfo; + const btGImpactShapeInterface * gimpactshape0; + const btGImpactShapeInterface * gimpactshape1; + + if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + { + gimpactshape0 = static_cast(body0Wrap->getCollisionShape()); + + if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast(body1Wrap->getCollisionShape()); + + gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1); + } + else + { + gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false); + } + + } + else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + { + gimpactshape1 = static_cast(body1Wrap->getCollisionShape()); + + gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true); + } +} + + +btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + return 1.f; + +} + +///////////////////////////////////// REGISTERING ALGORITHM ////////////////////////////////////////////// + + + +//! Use this function for register the algorithm externally +void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher) +{ + + static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf; + + int i; + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&s_gimpact_cf); + } + + for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ ) + { + dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&s_gimpact_cf); + } + +} diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h new file mode 100644 index 00000000..f85a94cb --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -0,0 +1,310 @@ +/*! \file btGImpactShape.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H +#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + + +//! Collision Algorithm for GImpact Shapes +/*! +For register this algorithm in Bullet, proceed as following: + \code +btCollisionDispatcher * dispatcher = static_cast(m_dynamicsWorld ->getDispatcher()); +btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); + \endcode +*/ +class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ +protected: + btCollisionAlgorithm * m_convex_algorithm; + btPersistentManifold * m_manifoldPtr; + btManifoldResult* m_resultOut; + const btDispatcherInfo * m_dispatchInfo; + int m_triface0; + int m_part0; + int m_triface1; + int m_part1; + + + //! Creates a new contact point + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + return m_manifoldPtr; + } + + SIMD_FORCE_INLINE void destroyConvexAlgorithm() + { + if(m_convex_algorithm) + { + m_convex_algorithm->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); + m_convex_algorithm = NULL; + } + } + + SIMD_FORCE_INLINE void destroyContactManifolds() + { + if(m_manifoldPtr == NULL) return; + m_dispatcher->releaseManifold(m_manifoldPtr); + m_manifoldPtr = NULL; + } + + SIMD_FORCE_INLINE void clearCache() + { + destroyContactManifolds(); + destroyConvexAlgorithm(); + + m_triface0 = -1; + m_part0 = -1; + m_triface1 = -1; + m_part1 = -1; + } + + SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() + { + return m_manifoldPtr; + } + + + // Call before process collision + SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + if(getLastManifold() == 0) + { + newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + } + + m_resultOut->setPersistentManifold(getLastManifold()); + } + + // Call before process collision + SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + checkManifold(body0Wrap,body1Wrap); + + btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( + body0Wrap,body1Wrap,getLastManifold()); + return convex_algorithm ; + } + + // Call before process collision + SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + if(m_convex_algorithm) return; + m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap); + } + + + + + void addContactPoint(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btVector3 & point, + const btVector3 & normal, + btScalar distance); + +//! Collision routines +//!@{ + + void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, + const int * pairs, int pair_count); + + + + + void shape_vs_shape_collision( + const btCollisionObjectWrapper* body0, + const btCollisionObjectWrapper* body1, + const btCollisionShape * shape0, + const btCollisionShape * shape1); + + void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape* shape0, + const btCollisionShape* shape1); + + + + void gimpact_vs_gimpact_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1,btPairSet & pairset); + + void gimpact_vs_shape_find_pairs( + const btTransform & trans0, + const btTransform & trans1, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1, + btAlignedObjectArray & collided_primitives); + + + void gimpacttrimeshpart_vs_plane_collision( + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btStaticPlaneShape * shape1,bool swapped); + + +public: + + btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btGImpactCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + btManifoldResult* internalGetResultOut() + { + return m_resultOut; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); + return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap); + } + }; + + //! Use this function for register the algorithm externally + static void registerAlgorithm(btCollisionDispatcher * dispatcher); +#ifdef TRI_COLLISION_PROFILING + //! Gets the average time in miliseconds of tree collisions + static float getAverageTreeCollisionTime(); + + //! Gets the average time in miliseconds of triangle collisions + static float getAverageTriangleCollisionTime(); +#endif //TRI_COLLISION_PROFILING + + //! Collides two gimpact shapes + /*! + \pre shape0 and shape1 couldn't be btGImpactMeshShape objects + */ + + + void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1); + + void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1,bool swapped); + + void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btCompoundShape * shape1,bool swapped); + + void gimpact_vs_concave( + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btConcaveShape * shape1,bool swapped); + + + + + /// Accessor/Mutator pairs for Part and triangleID + void setFace0(int value) + { + m_triface0 = value; + } + int getFace0() + { + return m_triface0; + } + void setFace1(int value) + { + m_triface1 = value; + } + int getFace1() + { + return m_triface1; + } + void setPart0(int value) + { + m_part0 = value; + } + int getPart0() + { + return m_part0; + } + void setPart1(int value) + { + m_part1 = value; + } + int getPart1() + { + return m_part1; + } + +}; + + +//algorithm details +//#define BULLET_TRIANGLE_COLLISION 1 +#define GIMPACT_VS_PLANE_COLLISION 1 + + + +#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactMassUtil.h b/Code/Physics/src/BulletCollision/Gimpact/btGImpactMassUtil.h new file mode 100644 index 00000000..2543aefc --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactMassUtil.h @@ -0,0 +1,60 @@ +/*! \file btGImpactMassUtil.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 GIMPACT_MASS_UTIL_H +#define GIMPACT_MASS_UTIL_H + +#include "LinearMath/btTransform.h" + + + +SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( + const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform) +{ + btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); + + btScalar x2 = transform.getOrigin()[0]; + x2*= x2; + btScalar y2 = transform.getOrigin()[1]; + y2*= y2; + btScalar z2 = transform.getOrigin()[2]; + z2*= z2; + + btScalar ix = rotatedTensor[0][0]*(y2+z2); + btScalar iy = rotatedTensor[1][1]*(x2+z2); + btScalar iz = rotatedTensor[2][2]*(x2+y2); + + return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz); +} + +SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass) +{ + btScalar x2 = point[0]*point[0]; + btScalar y2 = point[1]*point[1]; + btScalar z2 = point[2]*point[2]; + return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2)); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp b/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp new file mode 100644 index 00000000..4528758c --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp @@ -0,0 +1,528 @@ +/*! \file gim_box_set.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btGImpactQuantizedBvh.h" +#include "LinearMath/btQuickprof.h" + +#ifdef TRI_COLLISION_PROFILING +btClock g_q_tree_clock; + + +float g_q_accum_tree_collision_time = 0; +int g_q_count_traversing = 0; + + +void bt_begin_gim02_q_tree_time() +{ + g_q_tree_clock.reset(); +} + +void bt_end_gim02_q_tree_time() +{ + g_q_accum_tree_collision_time += g_q_tree_clock.getTimeMicroseconds(); + g_q_count_traversing++; +} + + +//! Gets the average time in miliseconds of tree collisions +float btGImpactQuantizedBvh::getAverageTreeCollisionTime() +{ + if(g_q_count_traversing == 0) return 0; + + float avgtime = g_q_accum_tree_collision_time; + avgtime /= (float)g_q_count_traversing; + + g_q_accum_tree_collision_time = 0; + g_q_count_traversing = 0; + return avgtime; + +// float avgtime = g_q_count_traversing; +// g_q_count_traversing = 0; +// return avgtime; + +} + +#endif //TRI_COLLISION_PROFILING + +/////////////////////// btQuantizedBvhTree ///////////////////////////////// + +void btQuantizedBvhTree::calc_quantization( + GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin) +{ + //calc globa box + btAABB global_bound; + global_bound.invalidate(); + + for (int i=0;i splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + //swapLeafNodes(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + int rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex)))); + + return splitIndex; + +} + + +void btQuantizedBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex) +{ + int curIndex = m_num_nodes; + m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if ((endIndex-startIndex)==1) + { + //We have a leaf node + setNodeBound(curIndex,primitive_boxes[startIndex].m_bound); + m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data); + + return; + } + //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'. + + //split axis + int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex); + + splitIndex = _sort_and_calc_splitting_index( + primitive_boxes,startIndex,endIndex, + splitIndex//split axis + ); + + + //calc this node bounding box + + btAABB node_bound; + node_bound.invalidate(); + + for (int i=startIndex;iget_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount); + //get left bound + btAABB bound; + bound.invalidate(); + + btAABB temp_box; + + int child_node = getLeftNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + child_node = getRightNode(nodecount); + if(child_node) + { + getNodeBound(child_node,temp_box); + bound.merge(temp_box); + } + + setNodeBound(nodecount,bound); + } + } +} + +//! this rebuild the entire set +void btGImpactQuantizedBvh::buildSet() +{ + //obtain primitive boxes + GIM_BVH_DATA_ARRAY primitive_boxes; + primitive_boxes.resize(m_primitive_manager->get_primitive_count()); + + for (int i = 0;iget_primitive_box(i,primitive_boxes[i].m_bound); + primitive_boxes[i].m_data = i; + } + + m_box_tree.build_tree(primitive_boxes); +} + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactQuantizedBvh::boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + //quantize box + + unsigned short quantizedMin[3]; + unsigned short quantizedMax[3]; + + m_box_tree.quantizePoint(quantizedMin,box.m_min); + m_box_tree.quantizePoint(quantizedMax,box.m_max); + + + while (curIndex < numNodes) + { + + //catch bugs in tree data + + bool aabbOverlap = m_box_tree.testQuantizedBoxOverlapp(curIndex, quantizedMin,quantizedMax); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + + +//! returns the indices of the primitives in the m_primitive_manager +bool btGImpactQuantizedBvh::rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const +{ + int curIndex = 0; + int numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + btAABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getEscapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; +} + + +SIMD_FORCE_INLINE bool _quantized_node_collision( + const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0 ,int node1, bool complete_primitive_tests) +{ + btAABB box0; + boxset0->getNodeBound(node0,box0); + btAABB box1; + boxset1->getNodeBound(node1,box1); + + return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests ); +// box1.appy_transform_trans_cache(trans_cache_1to0); +// return box0.has_collision(box1); + +} + + +//stackless recursive collision routine +static void _find_quantized_collision_pairs_recursive( + const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1, + btPairSet * collision_pairs, + const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0, + int node0, int node1, bool complete_primitive_tests) +{ + + + + if( _quantized_node_collision( + boxset0,boxset1,trans_cache_1to0, + node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes + + if(boxset0->isLeafNode(node0)) + { + if(boxset1->isLeafNode(node1)) + { + // collision result + collision_pairs->push_pair( + boxset0->getNodeData(node0),boxset1->getNodeData(node1)); + return; + } + else + { + + //collide left recursive + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getLeftNode(node1),false); + + //collide right recursive + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + node0,boxset1->getRightNode(node1),false); + + + } + } + else + { + if(boxset1->isLeafNode(node1)) + { + + //collide left recursive + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),node1,false); + + + //collide right recursive + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),node1,false); + + + } + else + { + //collide left0 left1 + + + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false); + + //collide left0 right1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false); + + + //collide right0 left1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false); + + //collide right0 right1 + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + collision_pairs,trans_cache_1to0, + boxset0->getRightNode(node0),boxset1->getRightNode(node1),false); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf +} + + +void btGImpactQuantizedBvh::find_collision(const btGImpactQuantizedBvh * boxset0, const btTransform & trans0, + const btGImpactQuantizedBvh * boxset1, const btTransform & trans1, + btPairSet & collision_pairs) +{ + + if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return; + + BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + + trans_cache_1to0.calc_from_homogenic(trans0,trans1); + +#ifdef TRI_COLLISION_PROFILING + bt_begin_gim02_q_tree_time(); +#endif //TRI_COLLISION_PROFILING + + _find_quantized_collision_pairs_recursive( + boxset0,boxset1, + &collision_pairs,trans_cache_1to0,0,0,true); +#ifdef TRI_COLLISION_PROFILING + bt_end_gim02_q_tree_time(); +#endif //TRI_COLLISION_PROFILING + +} + + diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h b/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h new file mode 100644 index 00000000..e6e52fff --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h @@ -0,0 +1,372 @@ +#ifndef GIM_QUANTIZED_SET_H_INCLUDED +#define GIM_QUANTIZED_SET_H_INCLUDED + +/*! \file btGImpactQuantizedBvh.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btGImpactBvh.h" +#include "btQuantization.h" + + + + + +///btQuantizedBvhNode is a compressed aabb node, 16 bytes. +///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range). +ATTRIBUTE_ALIGNED16 (struct) BT_QUANTIZED_BVH_NODE +{ + //12 bytes + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; + //4 bytes + int m_escapeIndexOrDataIndex; + + BT_QUANTIZED_BVH_NODE() + { + m_escapeIndexOrDataIndex = 0; + } + + SIMD_FORCE_INLINE bool isLeafNode() const + { + //skipindex is negative (internal node), triangleindex >=0 (leafnode) + return (m_escapeIndexOrDataIndex>=0); + } + + SIMD_FORCE_INLINE int getEscapeIndex() const + { + //btAssert(m_escapeIndexOrDataIndex < 0); + return -m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setEscapeIndex(int index) + { + m_escapeIndexOrDataIndex = -index; + } + + SIMD_FORCE_INLINE int getDataIndex() const + { + //btAssert(m_escapeIndexOrDataIndex >= 0); + + return m_escapeIndexOrDataIndex; + } + + SIMD_FORCE_INLINE void setDataIndex(int index) + { + m_escapeIndexOrDataIndex = index; + } + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + if(m_quantizedAabbMin[0] > quantizedMax[0] || + m_quantizedAabbMax[0] < quantizedMin[0] || + m_quantizedAabbMin[1] > quantizedMax[1] || + m_quantizedAabbMax[1] < quantizedMin[1] || + m_quantizedAabbMin[2] > quantizedMax[2] || + m_quantizedAabbMax[2] < quantizedMin[2]) + { + return false; + } + return true; + } + +}; + + + +class GIM_QUANTIZED_BVH_NODE_ARRAY:public btAlignedObjectArray +{ +}; + + + + +//! Basic Box tree structure +class btQuantizedBvhTree +{ +protected: + int m_num_nodes; + GIM_QUANTIZED_BVH_NODE_ARRAY m_node_array; + btAABB m_global_bound; + btVector3 m_bvhQuantization; +protected: + void calc_quantization(GIM_BVH_DATA_ARRAY & primitive_boxes, btScalar boundMargin = btScalar(1.0) ); + + int _sort_and_calc_splitting_index( + GIM_BVH_DATA_ARRAY & primitive_boxes, + int startIndex, int endIndex, int splitAxis); + + int _calc_splitting_axis(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); + + void _build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex); +public: + btQuantizedBvhTree() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(GIM_BVH_DATA_ARRAY & primitive_boxes); + + SIMD_FORCE_INLINE void quantizePoint( + unsigned short * quantizedpoint, const btVector3 & point) const + { + bt_quantize_clamp(quantizedpoint,point,m_global_bound.m_min,m_global_bound.m_max,m_bvhQuantization); + } + + + SIMD_FORCE_INLINE bool testQuantizedBoxOverlapp( + int node_index, + unsigned short * quantizedMin,unsigned short * quantizedMax) const + { + return m_node_array[node_index].testQuantizedBoxOverlapp(quantizedMin,quantizedMax); + } + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_node_array[nodeindex].isLeafNode(); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_node_array[nodeindex].getDataIndex(); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + bound.m_min = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMin, + m_global_bound.m_min,m_bvhQuantization); + + bound.m_max = bt_unquantize( + m_node_array[nodeindex].m_quantizedAabbMax, + m_global_bound.m_min,m_bvhQuantization); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMin, + bound.m_min, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + + bt_quantize_clamp( m_node_array[nodeindex].m_quantizedAabbMax, + bound.m_max, + m_global_bound.m_min, + m_global_bound.m_max, + m_bvhQuantization); + } + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return nodeindex+1; + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + if(m_node_array[nodeindex+1].isLeafNode()) return nodeindex+2; + return nodeindex+1 + m_node_array[nodeindex+1].getEscapeIndex(); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_node_array[nodeindex].getEscapeIndex(); + } + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return &m_node_array[index]; + } + + //!@} +}; + + + +//! Structure for containing Boxes +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like btPrimitiveManagerBase ) +*/ +class btGImpactQuantizedBvh +{ +protected: + btQuantizedBvhTree m_box_tree; + btPrimitiveManagerBase * m_primitive_manager; + +protected: + //stackless refit + void refit(); +public: + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh() + { + m_primitive_manager = NULL; + } + + //! this constructor doesn't build the tree. you must call buildSet + btGImpactQuantizedBvh(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btAABB getGlobalBox() const + { + btAABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(btPrimitiveManagerBase * primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + SIMD_FORCE_INLINE btPrimitiveManagerBase * getPrimitiveManager() const + { + return m_primitive_manager; + } + + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + void buildSet(); + + //! returns the indices of the primitives in the m_primitive_manager + bool boxQuery(const btAABB & box, btAlignedObjectArray & collided_results) const; + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const btAABB & box, + const btTransform & transform, btAlignedObjectArray & collided_results) const + { + btAABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + btAlignedObjectArray & collided_results) const; + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager->is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE int getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(int nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE int getNodeData(int nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(int nodeindex, btAABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(int nodeindex, const btAABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + + SIMD_FORCE_INLINE int getLeftNode(int nodeindex) const + { + return m_box_tree.getLeftNode(nodeindex); + } + + SIMD_FORCE_INLINE int getRightNode(int nodeindex) const + { + return m_box_tree.getRightNode(nodeindex); + } + + SIMD_FORCE_INLINE int getEscapeNodeIndex(int nodeindex) const + { + return m_box_tree.getEscapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(int nodeindex,btPrimitiveTriangle & triangle) const + { + m_primitive_manager->get_primitive_triangle(getNodeData(nodeindex),triangle); + } + + + SIMD_FORCE_INLINE const BT_QUANTIZED_BVH_NODE * get_node_pointer(int index = 0) const + { + return m_box_tree.get_node_pointer(index); + } + +#ifdef TRI_COLLISION_PROFILING + static float getAverageTreeCollisionTime(); +#endif //TRI_COLLISION_PROFILING + + static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1, + const btGImpactQuantizedBvh * boxset2, const btTransform & trans2, + btPairSet & collision_pairs); +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.cpp b/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.cpp new file mode 100644 index 00000000..ac8efdf3 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -0,0 +1,238 @@ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + + +#include "btGImpactShape.h" +#include "btGImpactMassUtil.h" + + +#define CALC_EXACT_INERTIA 1 + + +void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getNumChildShapes(); + btScalar shapemass = mass/btScalar(i); + + while(i--) + { + btVector3 temp_inertia; + m_childShapes[i]->calculateLocalInertia(shapemass,temp_inertia); + if(childrenHasTransform()) + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,m_childTransforms[i]); + } + else + { + inertia = gim_inertia_add_transformed( inertia,temp_inertia,btTransform::getIdentity()); + } + + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + unlockChildShapes(); +} + + + +void btGImpactMeshShapePart::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + lockChildShapes(); + + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getVertexCount(); + btScalar pointmass = mass/btScalar(i); + + while(i--) + { + btVector3 pointintertia; + this->getVertex(i,pointintertia); + pointintertia = gim_get_point_inertia(pointintertia,pointmass); + inertia+=pointintertia; + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif + + unlockChildShapes(); +} + +void btGImpactMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + +#ifdef CALC_EXACT_INERTIA + inertia.setValue(0.f,0.f,0.f); + + int i = this->getMeshPartCount(); + btScalar partmass = mass/btScalar(i); + + while(i--) + { + btVector3 partinertia; + getMeshPart(i)->calculateLocalInertia(partmass,partinertia); + inertia+=partinertia; + } + +#else + + // Calc box inertia + + btScalar lx= m_localAABB.m_max[0] - m_localAABB.m_min[0]; + btScalar ly= m_localAABB.m_max[1] - m_localAABB.m_min[1]; + btScalar lz= m_localAABB.m_max[2] - m_localAABB.m_min[2]; + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +#endif +} + +void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const +{ +} + +void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const +{ + lockChildShapes(); + + btAlignedObjectArray collided; + btVector3 rayDir(rayTo - rayFrom); + rayDir.normalize(); + m_box_set.rayQuery(rayDir, rayFrom, collided); + + if(collided.size()==0) + { + unlockChildShapes(); + return; + } + + int part = (int)getPart(); + btPrimitiveTriangle triangle; + int i = collided.size(); + while(i--) + { + getPrimitiveTriangle(collided[i],triangle); + callback->processTriangle(triangle.m_vertices,part,collided[i]); + } + unlockChildShapes(); +} + +void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + lockChildShapes(); + btAABB box; + box.m_min = aabbMin; + box.m_max = aabbMax; + + btAlignedObjectArray collided; + m_box_set.boxQuery(box,collided); + + if(collided.size()==0) + { + unlockChildShapes(); + return; + } + + int part = (int)getPart(); + btPrimitiveTriangle triangle; + int i = collided.size(); + while(i--) + { + this->getPrimitiveTriangle(collided[i],triangle); + callback->processTriangle(triangle.m_vertices,part,collided[i]); + } + unlockChildShapes(); + +} + +void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->processAllTriangles(callback,aabbMin,aabbMax); + } +} + +void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const +{ + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo); + } +} + + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btGImpactMeshShapeData* trimeshData = (btGImpactMeshShapeData*) dataBuffer; + + btCollisionShape::serialize(&trimeshData->m_collisionShapeData,serializer); + + m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer); + + trimeshData->m_collisionMargin = float(m_collisionMargin); + + localScaling.serializeFloat(trimeshData->m_localScaling); + + trimeshData->m_gimpactSubType = int(getGImpactShapeType()); + + return "btGImpactMeshShapeData"; +} + diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.h b/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.h new file mode 100644 index 00000000..3d1f48d4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGImpactShape.h @@ -0,0 +1,1184 @@ +/*! \file btGImpactShape.h +\author Francisco Len Nßjera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 GIMPACT_SHAPE_H +#define GIMPACT_SHAPE_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + +#include "btGImpactQuantizedBvh.h" // box tree class + + +//! declare Quantized trees, (you can change to float based trees) +typedef btGImpactQuantizedBvh btGImpactBoxSet; + +enum eGIMPACT_SHAPE_TYPE +{ + CONST_GIMPACT_COMPOUND_SHAPE = 0, + CONST_GIMPACT_TRIMESH_SHAPE_PART, + CONST_GIMPACT_TRIMESH_SHAPE +}; + + + +//! Helper class for tetrahedrons +class btTetrahedronShapeEx:public btBU_Simplex1to4 +{ +public: + btTetrahedronShapeEx() + { + m_numVertices = 4; + } + + + SIMD_FORCE_INLINE void setVertices( + const btVector3 & v0,const btVector3 & v1, + const btVector3 & v2,const btVector3 & v3) + { + m_vertices[0] = v0; + m_vertices[1] = v1; + m_vertices[2] = v2; + m_vertices[3] = v3; + recalcLocalAabb(); + } +}; + + +//! Base class for gimpact shapes +class btGImpactShapeInterface : public btConcaveShape +{ +protected: + btAABB m_localAABB; + bool m_needs_update; + btVector3 localScaling; + btGImpactBoxSet m_box_set;// optionally boxset + + //! use this function for perfofm refit in bounding boxes + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + lockChildShapes(); + if(m_box_set.getNodeCount() == 0) + { + m_box_set.buildSet(); + } + else + { + m_box_set.update(); + } + unlockChildShapes(); + + m_localAABB = m_box_set.getGlobalBox(); + } + + +public: + btGImpactShapeInterface() + { + m_shapeType=GIMPACT_SHAPE_PROXYTYPE; + m_localAABB.invalidate(); + m_needs_update = true; + localScaling.setValue(1.f,1.f,1.f); + } + + + //! performs refit operation + /*! + Updates the entire Box set of this shape. + \pre postUpdate() must be called for attemps to calculating the box set, else this function + will does nothing. + \post if m_needs_update == true, then it calls calcLocalAABB(); + */ + SIMD_FORCE_INLINE void updateBound() + { + if(!m_needs_update) return; + calcLocalAABB(); + m_needs_update = false; + } + + //! If the Bounding box is not updated, then this class attemps to calculate it. + /*! + \post Calls updateBound() for update the box set. + */ + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB transformedbox = m_localAABB; + transformedbox.appy_transform(t); + aabbMin = transformedbox.m_min; + aabbMax = transformedbox.m_max; + } + + //! Tells to this object that is needed to refit the box set + virtual void postUpdate() + { + m_needs_update = true; + } + + //! Obtains the local box, which is the global calculated box of the total of subshapes + SIMD_FORCE_INLINE const btAABB & getLocalBox() + { + return m_localAABB; + } + + + virtual int getShapeType() const + { + return GIMPACT_SHAPE_PROXYTYPE; + } + + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return localScaling; + } + + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + int i = getNumChildShapes(); + while(i--) + { + btCollisionShape* child = getChildShape(i); + child->setMargin(margin); + } + + m_needs_update = true; + } + + + //! Subshape member functions + //!@{ + + //! Base method for determinig which kind of GIMPACT shape we get + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ; + + //! gets boxset + SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const + { + return &m_box_set; + } + + //! Determines if this class has a hierarchy structure for sorting its primitives + SIMD_FORCE_INLINE bool hasBoxSet() const + { + if(m_box_set.getNodeCount() == 0) return false; + return true; + } + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const = 0; + + + //! Gets the number of children + virtual int getNumChildShapes() const = 0; + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const = 0; + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const = 0; + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const = 0; + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const = 0; + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const = 0; + + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + } + + virtual void unlockChildShapes() const + { + } + + //! if this trimesh + SIMD_FORCE_INLINE void getPrimitiveTriangle(int index,btPrimitiveTriangle & triangle) const + { + getPrimitiveManager()->get_primitive_triangle(index,triangle); + } + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + btAABB child_aabb; + getPrimitiveManager()->get_primitive_box(child_index,child_aabb); + child_aabb.appy_transform(t); + aabbMin = child_aabb.m_min; + aabbMax = child_aabb.m_max; + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) = 0; + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const = 0; + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const = 0; + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) = 0; + + //!@} + + + //! virtual method for ray collision + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const + { + (void) rayFrom; (void) rayTo; (void) resultCallback; + } + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const + { + (void) callback; (void) aabbMin; (void) aabbMax; + } + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/,const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const + { + + } + + //!@} + +}; + + +//! btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once +/*! +This class only can manage Convex subshapes +*/ +class btGImpactCompoundShape : public btGImpactShapeInterface +{ +public: + //! compound primitive manager + class CompoundPrimitiveManager:public btPrimitiveManagerBase + { + public: + virtual ~CompoundPrimitiveManager() {} + btGImpactCompoundShape * m_compoundShape; + + + CompoundPrimitiveManager(const CompoundPrimitiveManager& compound) + : btPrimitiveManagerBase() + { + m_compoundShape = compound.m_compoundShape; + } + + CompoundPrimitiveManager(btGImpactCompoundShape * compoundShape) + { + m_compoundShape = compoundShape; + } + + CompoundPrimitiveManager() + { + m_compoundShape = NULL; + } + + virtual bool is_trimesh() const + { + return false; + } + + virtual int get_primitive_count() const + { + return (int )m_compoundShape->getNumChildShapes(); + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btTransform prim_trans; + if(m_compoundShape->childrenHasTransform()) + { + prim_trans = m_compoundShape->getChildTransform(prim_index); + } + else + { + prim_trans.setIdentity(); + } + const btCollisionShape* shape = m_compoundShape->getChildShape(prim_index); + shape->getAabb(prim_trans,primbox.m_min,primbox.m_max); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + btAssert(0); + (void) prim_index; (void) triangle; + } + + }; + + + +protected: + CompoundPrimitiveManager m_primitive_manager; + btAlignedObjectArray m_childTransforms; + btAlignedObjectArray m_childShapes; + + +public: + + btGImpactCompoundShape(bool children_has_transform = true) + { + (void) children_has_transform; + m_primitive_manager.m_compoundShape = this; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactCompoundShape() + { + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + if(m_childTransforms.size()==0) return false; + return true; + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + //! Obtains the compopund primitive manager + SIMD_FORCE_INLINE CompoundPrimitiveManager * getCompoundPrimitiveManager() + { + return &m_primitive_manager; + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_childShapes.size(); + } + + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(const btTransform& localTransform,btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childTransforms.push_back(localTransform); + m_childShapes.push_back(shape); + } + + //! Use this method for adding children. Only Convex shapes are allowed. + void addChildShape(btCollisionShape* shape) + { + btAssert(shape->isConvex()); + m_childShapes.push_back(shape); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + return m_childShapes[index]; + } + + //! Gets the children + virtual const btCollisionShape* getChildShape(int index) const + { + return m_childShapes[index]; + } + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + + if(childrenHasTransform()) + { + m_childShapes[child_index]->getAabb(t*m_childTransforms[child_index],aabbMin,aabbMax); + } + else + { + m_childShapes[child_index]->getAabb(t,aabbMin,aabbMax); + } + } + + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + return m_childTransforms[index]; + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + btAssert(m_childTransforms.size() == m_childShapes.size()); + m_childTransforms[index] = transform; + postUpdate(); + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + (void) prim_index; (void) triangle; + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; (void) tetrahedron; + btAssert(0); + } + + + //! Calculates the exact inertia tensor for this shape + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual const char* getName()const + { + return "GImpactCompound"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_COMPOUND_SHAPE; + } + +}; + + + +//! This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface. +/*! +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShapePart, then you must call updateBound() after creating the mesh +- When making operations with this shape, you must call lock before accessing to the trimesh primitives, and then call unlock +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShapePart : public btGImpactShapeInterface +{ +public: + //! Trimesh primitive manager + /*! + Manages the info from btStridingMeshInterface object and controls the Lock/Unlock mechanism + */ + class TrimeshPrimitiveManager:public btPrimitiveManagerBase + { + public: + btScalar m_margin; + btStridingMeshInterface * m_meshInterface; + btVector3 m_scale; + int m_part; + int m_lock_count; + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + + TrimeshPrimitiveManager() + { + m_meshInterface = NULL; + m_part = 0; + m_margin = 0.01f; + m_scale = btVector3(1.f,1.f,1.f); + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + } + + TrimeshPrimitiveManager(const TrimeshPrimitiveManager & manager) + : btPrimitiveManagerBase() + { + m_meshInterface = manager.m_meshInterface; + m_part = manager.m_part; + m_margin = manager.m_margin; + m_scale = manager.m_scale; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + TrimeshPrimitiveManager( + btStridingMeshInterface * meshInterface, int part) + { + m_meshInterface = meshInterface; + m_part = part; + m_scale = m_meshInterface->getScaling(); + m_margin = 0.1f; + m_lock_count = 0; + vertexbase = 0; + numverts = 0; + stride = 0; + indexbase = 0; + indexstride = 0; + numfaces = 0; + + } + + virtual ~TrimeshPrimitiveManager() {} + + void lock() + { + if(m_lock_count>0) + { + m_lock_count++; + return; + } + m_meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase,numverts, + type, stride,&indexbase, indexstride, numfaces,indicestype,m_part); + + m_lock_count = 1; + } + + void unlock() + { + if(m_lock_count == 0) return; + if(m_lock_count>1) + { + --m_lock_count; + return; + } + m_meshInterface->unLockReadOnlyVertexBase(m_part); + vertexbase = NULL; + m_lock_count = 0; + } + + virtual bool is_trimesh() const + { + return true; + } + + virtual int get_primitive_count() const + { + return (int )numfaces; + } + + SIMD_FORCE_INLINE int get_vertex_count() const + { + return (int )numverts; + } + + SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const + { + if(indicestype == PHY_SHORT) + { + unsigned short* s_indices = (unsigned short *)(indexbase + face_index * indexstride); + i0 = s_indices[0]; + i1 = s_indices[1]; + i2 = s_indices[2]; + } + else + { + unsigned int * i_indices = (unsigned int *)(indexbase + face_index*indexstride); + i0 = i_indices[0]; + i1 = i_indices[1]; + i2 = i_indices[2]; + } + } + + SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const + { + if(type == PHY_DOUBLE) + { + double * dvertices = (double *)(vertexbase + vertex_index*stride); + vertex[0] = btScalar(dvertices[0]*m_scale[0]); + vertex[1] = btScalar(dvertices[1]*m_scale[1]); + vertex[2] = btScalar(dvertices[2]*m_scale[2]); + } + else + { + float * svertices = (float *)(vertexbase + vertex_index*stride); + vertex[0] = svertices[0]*m_scale[0]; + vertex[1] = svertices[1]*m_scale[1]; + vertex[2] = svertices[2]*m_scale[2]; + } + } + + virtual void get_primitive_box(int prim_index ,btAABB & primbox) const + { + btPrimitiveTriangle triangle; + get_primitive_triangle(prim_index,triangle); + primbox.calc_from_triangle_margin( + triangle.m_vertices[0], + triangle.m_vertices[1],triangle.m_vertices[2],triangle.m_margin); + } + + virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const + { + unsigned int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices[0]); + get_vertex(indices[1],triangle.m_vertices[1]); + get_vertex(indices[2],triangle.m_vertices[2]); + triangle.m_margin = m_margin; + } + + SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const + { + unsigned int indices[3]; + get_indices(prim_index,indices[0],indices[1],indices[2]); + get_vertex(indices[0],triangle.m_vertices1[0]); + get_vertex(indices[1],triangle.m_vertices1[1]); + get_vertex(indices[2],triangle.m_vertices1[2]); + triangle.setMargin(m_margin); + } + + }; + + +protected: + TrimeshPrimitiveManager m_primitive_manager; +public: + + btGImpactMeshShapePart() + { + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + + btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) + { + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager(&m_primitive_manager); + } + + virtual ~btGImpactMeshShapePart() + { + } + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + return false; + } + + + //! call when reading child shapes + virtual void lockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->lock(); + } + + virtual void unlockChildShapes() const + { + void * dummy = (void*)(m_box_set.getPrimitiveManager()); + TrimeshPrimitiveManager * dummymanager = static_cast(dummy); + dummymanager->unlock(); + } + + //! Gets the number of children + virtual int getNumChildShapes() const + { + return m_primitive_manager.get_primitive_count(); + } + + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + (void) index; + btAssert(0); + return NULL; + } + + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + (void) index; + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + (void) index; + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + (void) index; + (void) transform; + btAssert(0); + } + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + return &m_primitive_manager; + } + + SIMD_FORCE_INLINE TrimeshPrimitiveManager * getTrimeshPrimitiveManager() + { + return &m_primitive_manager; + } + + + + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + + + virtual const char* getName()const + { + return "GImpactMeshShapePart"; + } + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_TRIMESH_SHAPE_PART; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + return true; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + m_primitive_manager.get_bullet_triangle(prim_index,triangle); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; + (void) tetrahedron; + btAssert(0); + } + + + + SIMD_FORCE_INLINE int getVertexCount() const + { + return m_primitive_manager.get_vertex_count(); + } + + SIMD_FORCE_INLINE void getVertex(int vertex_index, btVector3 & vertex) const + { + m_primitive_manager.get_vertex(vertex_index,vertex); + } + + SIMD_FORCE_INLINE void setMargin(btScalar margin) + { + m_primitive_manager.m_margin = margin; + postUpdate(); + } + + SIMD_FORCE_INLINE btScalar getMargin() const + { + return m_primitive_manager.m_margin; + } + + virtual void setLocalScaling(const btVector3& scaling) + { + m_primitive_manager.m_scale = scaling; + postUpdate(); + } + + virtual const btVector3& getLocalScaling() const + { + return m_primitive_manager.m_scale; + } + + SIMD_FORCE_INLINE int getPart() const + { + return (int)m_primitive_manager.m_part; + } + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + virtual void processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const; +}; + + +//! This class manages a mesh supplied by the btStridingMeshInterface interface. +/*! +Set of btGImpactMeshShapePart parts +- Simply create this shape by passing the btStridingMeshInterface to the constructor btGImpactMeshShape, then you must call updateBound() after creating the mesh + +- You can handle deformable meshes with this shape, by calling postUpdate() every time when changing the mesh vertices. + +*/ +class btGImpactMeshShape : public btGImpactShapeInterface +{ + btStridingMeshInterface* m_meshInterface; + +protected: + btAlignedObjectArray m_mesh_parts; + void buildMeshParts(btStridingMeshInterface * meshInterface) + { + for (int i=0;igetNumSubParts() ;++i ) + { + btGImpactMeshShapePart * newpart = new btGImpactMeshShapePart(meshInterface,i); + m_mesh_parts.push_back(newpart); + } + } + + //! use this function for perfofm refit in bounding boxes + virtual void calcLocalAABB() + { + m_localAABB.invalidate(); + int i = m_mesh_parts.size(); + while(i--) + { + m_mesh_parts[i]->updateBound(); + m_localAABB.merge(m_mesh_parts[i]->getLocalBox()); + } + } + +public: + btGImpactMeshShape(btStridingMeshInterface * meshInterface) + { + m_meshInterface = meshInterface; + buildMeshParts(meshInterface); + } + + virtual ~btGImpactMeshShape() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + delete part; + } + m_mesh_parts.clear(); + } + + + btStridingMeshInterface* getMeshInterface() + { + return m_meshInterface; + } + + const btStridingMeshInterface* getMeshInterface() const + { + return m_meshInterface; + } + + int getMeshPartCount() const + { + return m_mesh_parts.size(); + } + + btGImpactMeshShapePart * getMeshPart(int index) + { + return m_mesh_parts[index]; + } + + + + const btGImpactMeshShapePart * getMeshPart(int index) const + { + return m_mesh_parts[index]; + } + + + virtual void setLocalScaling(const btVector3& scaling) + { + localScaling = scaling; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setLocalScaling(scaling); + } + + m_needs_update = true; + } + + virtual void setMargin(btScalar margin) + { + m_collisionMargin = margin; + + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->setMargin(margin); + } + + m_needs_update = true; + } + + //! Tells to this object that is needed to refit all the meshes + virtual void postUpdate() + { + int i = m_mesh_parts.size(); + while(i--) + { + btGImpactMeshShapePart * part = m_mesh_parts[i]; + part->postUpdate(); + } + + m_needs_update = true; + } + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + //! Obtains the primitive manager + virtual const btPrimitiveManagerBase * getPrimitiveManager() const + { + btAssert(0); + return NULL; + } + + + //! Gets the number of children + virtual int getNumChildShapes() const + { + btAssert(0); + return 0; + } + + + //! if true, then its children must get transforms. + virtual bool childrenHasTransform() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has triangles + virtual bool needsRetrieveTriangles() const + { + btAssert(0); + return false; + } + + //! Determines if this shape has tetrahedrons + virtual bool needsRetrieveTetrahedrons() const + { + btAssert(0); + return false; + } + + virtual void getBulletTriangle(int prim_index,btTriangleShapeEx & triangle) const + { + (void) prim_index; (void) triangle; + btAssert(0); + } + + virtual void getBulletTetrahedron(int prim_index,btTetrahedronShapeEx & tetrahedron) const + { + (void) prim_index; (void) tetrahedron; + btAssert(0); + } + + //! call when reading child shapes + virtual void lockChildShapes() const + { + btAssert(0); + } + + virtual void unlockChildShapes() const + { + btAssert(0); + } + + + + + //! Retrieves the bound from a child + /*! + */ + virtual void getChildAabb(int child_index,const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + (void) child_index; (void) t; (void) aabbMin; (void) aabbMax; + btAssert(0); + } + + //! Gets the children + virtual btCollisionShape* getChildShape(int index) + { + (void) index; + btAssert(0); + return NULL; + } + + + //! Gets the child + virtual const btCollisionShape* getChildShape(int index) const + { + (void) index; + btAssert(0); + return NULL; + } + + //! Gets the children transform + virtual btTransform getChildTransform(int index) const + { + (void) index; + btAssert(0); + return btTransform(); + } + + //! Sets the children transform + /*! + \post You must call updateBound() for update the box set. + */ + virtual void setChildTransform(int index, const btTransform & transform) + { + (void) index; (void) transform; + btAssert(0); + } + + + virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const + { + return CONST_GIMPACT_TRIMESH_SHAPE; + } + + + virtual const char* getName()const + { + return "GImpactMesh"; + } + + virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btCollisionWorld::RayResultCallback& resultCallback) const; + + //! Function for retrieve triangles. + /*! + It gives the triangles in local space + */ + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + virtual void processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGImpactMeshShapeData +{ + btCollisionShapeData m_collisionShapeData; + + btStridingMeshInterfaceData m_meshInterface; + + btVector3FloatData m_localScaling; + + float m_collisionMargin; + + int m_gimpactSubType; +}; + +SIMD_FORCE_INLINE int btGImpactMeshShape::calculateSerializeBufferSize() const +{ + return sizeof(btGImpactMeshShapeData); +} + + +#endif //GIMPACT_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp b/Code/Physics/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp new file mode 100644 index 00000000..5d07d1ad --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp @@ -0,0 +1,283 @@ +/*! \file btGenericPoolAllocator.cpp +\author Francisco Leon Najera. email projectileman@yahoo.com + +General purpose allocator class +*/ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btGenericPoolAllocator.h" + + + +/// *************** btGenericMemoryPool ******************/////////// + +size_t btGenericMemoryPool::allocate_from_free_nodes(size_t num_elements) +{ + size_t ptr = BT_UINT_MAX; + + if(m_free_nodes_count == 0) return BT_UINT_MAX; + // find an avaliable free node with the correct size + size_t revindex = m_free_nodes_count; + + while(revindex-- && ptr == BT_UINT_MAX) + { + if(m_allocated_sizes[m_free_nodes[revindex]]>=num_elements) + { + ptr = revindex; + } + } + if(ptr == BT_UINT_MAX) return BT_UINT_MAX; // not found + + + revindex = ptr; + ptr = m_free_nodes[revindex]; + // post: ptr contains the node index, and revindex the index in m_free_nodes + + size_t finalsize = m_allocated_sizes[ptr]; + finalsize -= num_elements; + + m_allocated_sizes[ptr] = num_elements; + + // post: finalsize>=0, m_allocated_sizes[ptr] has the requested size + + if(finalsize>0) // preserve free node, there are some free memory + { + m_free_nodes[revindex] = ptr + num_elements; + m_allocated_sizes[ptr + num_elements] = finalsize; + } + else // delete free node + { + // swap with end + m_free_nodes[revindex] = m_free_nodes[m_free_nodes_count-1]; + m_free_nodes_count--; + } + + return ptr; +} + +size_t btGenericMemoryPool::allocate_from_pool(size_t num_elements) +{ + if(m_allocated_count+num_elements>m_max_element_count) return BT_UINT_MAX; + + size_t ptr = m_allocated_count; + + m_allocated_sizes[m_allocated_count] = num_elements; + m_allocated_count+=num_elements; + + return ptr; +} + + +void btGenericMemoryPool::init_pool(size_t element_size, size_t element_count) +{ + m_allocated_count = 0; + m_free_nodes_count = 0; + + m_element_size = element_size; + m_max_element_count = element_count; + + + + + m_pool = (unsigned char *) btAlignedAlloc(m_element_size*m_max_element_count,16); + m_free_nodes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + m_allocated_sizes = (size_t *) btAlignedAlloc(sizeof(size_t)*m_max_element_count,16); + + for (size_t i = 0;i< m_max_element_count;i++ ) + { + m_allocated_sizes[i] = 0; + } +} + +void btGenericMemoryPool::end_pool() +{ + btAlignedFree(m_pool); + btAlignedFree(m_free_nodes); + btAlignedFree(m_allocated_sizes); + m_allocated_count = 0; + m_free_nodes_count = 0; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericMemoryPool::allocate(size_t size_bytes) +{ + + size_t module = size_bytes%m_element_size; + size_t element_count = size_bytes/m_element_size; + if(module>0) element_count++; + + size_t alloc_pos = allocate_from_free_nodes(element_count); + // a free node is found + if(alloc_pos != BT_UINT_MAX) + { + return get_element_data(alloc_pos); + } + // allocate directly on pool + alloc_pos = allocate_from_pool(element_count); + + if(alloc_pos == BT_UINT_MAX) return NULL; // not space + return get_element_data(alloc_pos); +} + +bool btGenericMemoryPool::freeMemory(void * pointer) +{ + unsigned char * pointer_pos = (unsigned char *)pointer; + unsigned char * pool_pos = (unsigned char *)m_pool; + // calc offset + if(pointer_pos=get_pool_capacity()) return false;// far away + + // find free position + m_free_nodes[m_free_nodes_count] = offset/m_element_size; + m_free_nodes_count++; + return true; +} + + +/// *******************! btGenericPoolAllocator *******************!/// + + +btGenericPoolAllocator::~btGenericPoolAllocator() +{ + // destroy pools + size_t i; + for (i=0;iend_pool(); + btAlignedFree(m_pools[i]); + } +} + + +// creates a pool +btGenericMemoryPool * btGenericPoolAllocator::push_new_pool() +{ + if(m_pool_count >= BT_DEFAULT_MAX_POOLS) return NULL; + + btGenericMemoryPool * newptr = (btGenericMemoryPool *)btAlignedAlloc(sizeof(btGenericMemoryPool),16); + + m_pools[m_pool_count] = newptr; + + m_pools[m_pool_count]->init_pool(m_pool_element_size,m_pool_element_count); + + m_pool_count++; + return newptr; +} + +void * btGenericPoolAllocator::failback_alloc(size_t size_bytes) +{ + + btGenericMemoryPool * pool = NULL; + + + if(size_bytes<=get_pool_capacity()) + { + pool = push_new_pool(); + } + + if(pool==NULL) // failback + { + return btAlignedAlloc(size_bytes,16); + } + + return pool->allocate(size_bytes); +} + +bool btGenericPoolAllocator::failback_free(void * pointer) +{ + btAlignedFree(pointer); + return true; +} + + +//! Allocates memory in pool +/*! +\param size_bytes size in bytes of the buffer +*/ +void * btGenericPoolAllocator::allocate(size_t size_bytes) +{ + void * ptr = NULL; + + size_t i = 0; + while(iallocate(size_bytes); + ++i; + } + + if(ptr) return ptr; + + return failback_alloc(size_bytes); +} + +bool btGenericPoolAllocator::freeMemory(void * pointer) +{ + bool result = false; + + size_t i = 0; + while(ifreeMemory(pointer); + ++i; + } + + if(result) return true; + + return failback_free(pointer); +} + +/// ************** STANDARD ALLOCATOR ***************************/// + + +#define BT_DEFAULT_POOL_SIZE 32768 +#define BT_DEFAULT_POOL_ELEMENT_SIZE 8 + +// main allocator +class GIM_STANDARD_ALLOCATOR: public btGenericPoolAllocator +{ +public: + GIM_STANDARD_ALLOCATOR():btGenericPoolAllocator(BT_DEFAULT_POOL_ELEMENT_SIZE,BT_DEFAULT_POOL_SIZE) + { + } +}; + +// global allocator +GIM_STANDARD_ALLOCATOR g_main_allocator; + + +void * btPoolAlloc(size_t size) +{ + return g_main_allocator.allocate(size); +} + +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize) +{ + void * newptr = btPoolAlloc(newsize); + size_t copysize = oldsize +#include +#include +#include "LinearMath/btAlignedAllocator.h" + +#define BT_UINT_MAX UINT_MAX +#define BT_DEFAULT_MAX_POOLS 16 + + +//! Generic Pool class +class btGenericMemoryPool +{ +public: + unsigned char * m_pool; //[m_element_size*m_max_element_count]; + size_t * m_free_nodes; //[m_max_element_count];//! free nodes + size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node + size_t m_allocated_count; + size_t m_free_nodes_count; +protected: + size_t m_element_size; + size_t m_max_element_count; + + size_t allocate_from_free_nodes(size_t num_elements); + size_t allocate_from_pool(size_t num_elements); + +public: + + void init_pool(size_t element_size, size_t element_count); + + void end_pool(); + + + btGenericMemoryPool(size_t element_size, size_t element_count) + { + init_pool(element_size, element_count); + } + + ~btGenericMemoryPool() + { + end_pool(); + } + + + inline size_t get_pool_capacity() + { + return m_element_size*m_max_element_count; + } + + inline size_t gem_element_size() + { + return m_element_size; + } + + inline size_t get_max_element_count() + { + return m_max_element_count; + } + + inline size_t get_allocated_count() + { + return m_allocated_count; + } + + inline size_t get_free_positions_count() + { + return m_free_nodes_count; + } + + inline void * get_element_data(size_t element_index) + { + return &m_pool[element_index*m_element_size]; + } + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + + +//! Generic Allocator with pools +/*! +General purpose Allocator which can create Memory Pools dynamiacally as needed. +*/ +class btGenericPoolAllocator +{ +protected: + size_t m_pool_element_size; + size_t m_pool_element_count; +public: + btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS]; + size_t m_pool_count; + + + inline size_t get_pool_capacity() + { + return m_pool_element_size*m_pool_element_count; + } + + +protected: + // creates a pool + btGenericMemoryPool * push_new_pool(); + + void * failback_alloc(size_t size_bytes); + + bool failback_free(void * pointer); +public: + + btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count) + { + m_pool_count = 0; + m_pool_element_size = pool_element_size; + m_pool_element_count = pool_element_count; + } + + virtual ~btGenericPoolAllocator(); + + //! Allocates memory in pool + /*! + \param size_bytes size in bytes of the buffer + */ + void * allocate(size_t size_bytes); + + bool freeMemory(void * pointer); +}; + + + +void * btPoolAlloc(size_t size); +void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize); +void btPoolFree(void *ptr); + + +#endif diff --git a/Code/Physics/src/BulletCollision/Gimpact/btGeometryOperations.h b/Code/Physics/src/BulletCollision/Gimpact/btGeometryOperations.h new file mode 100644 index 00000000..60f06510 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btGeometryOperations.h @@ -0,0 +1,212 @@ +#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED +#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED + +/*! \file btGeometryOperations.h +*\author Francisco Leon Najera + +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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. +*/ + +#include "btBoxCollision.h" + + + + + +#define PLANEDIREPSILON 0.0000001f +#define PARALELENORMALS 0.000001f + + +#define BT_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) + +/// Calc a plane from a triangle edge an a normal. plane is a vec4f +SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 & e2, const btVector3 & normal,btVector4 & plane) +{ + btVector3 planenormal = (e2-e1).cross(normal); + planenormal.normalize(); + plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal)); +} + + + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +SIMD_FORCE_INLINE void bt_closest_point_on_segment( + btVector3 & cp, const btVector3 & v, + const btVector3 &e1,const btVector3 &e2) +{ + btVector3 n = e2-e1; + cp = v - e1; + btScalar _scalar = cp.dot(n)/n.dot(n); + if(_scalar <0.0f) + { + cp = e1; + } + else if(_scalar >1.0f) + { + cp = e2; + } + else + { + cp = _scalar*n + e1; + } +} + + +//! line plane collision +/*! +*\return + -0 if the ray never intersects + -1 if the ray collides in front + -2 if the ray collides in back +*/ + +SIMD_FORCE_INLINE int bt_line_plane_collision( + const btVector4 & plane, + const btVector3 & vDir, + const btVector3 & vPoint, + btVector3 & pout, + btScalar &tparam, + btScalar tmin, btScalar tmax) +{ + + btScalar _dotdir = vDir.dot(plane); + + if(btFabs(_dotdir)tmax) + { + returnvalue = 0; + tparam = tmax; + } + pout = tparam*vDir + vPoint; + return returnvalue; +} + + +//! Find closest points on segments +SIMD_FORCE_INLINE void bt_segment_collision( + const btVector3 & vA1, + const btVector3 & vA2, + const btVector3 & vB1, + const btVector3 & vB2, + btVector3 & vPointA, + btVector3 & vPointB) +{ + btVector3 AD = vA2 - vA1; + btVector3 BD = vB2 - vB1; + btVector3 N = AD.cross(BD); + btScalar tp = N.length2(); + + btVector4 _M;//plane + + if(tp_M[1]) + { + invert_b_order = true; + BT_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = vA1.dot(AD); + _M[3] = vA2.dot(AD); + //mid points + N[0] = (_M[0]+_M[1])*0.5f; + N[1] = (_M[2]+_M[3])*0.5f; + + if(N[0]=0.0f) + { + if (_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if ((_dist+SIMD_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for ( _k=0;_k0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(other.m_plane,m_vertices[0]) - total_margin; + + dis1 = bt_distance_point_plane(other.m_plane,m_vertices[1]) - total_margin; + + dis2 = bt_distance_point_plane(other.m_plane,m_vertices[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + +int btPrimitiveTriangle::clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ) +{ + // edge 0 + + btVector3 temp_points[MAX_TRI_CLIPPING]; + + + btVector4 edgeplane; + + get_edge_plane(0,edgeplane); + + + int clipped_count = bt_plane_clip_triangle( + edgeplane,other.m_vertices[0],other.m_vertices[1],other.m_vertices[2],temp_points); + + if (clipped_count == 0) return 0; + + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + + // edge 1 + get_edge_plane(1,edgeplane); + + + clipped_count = bt_plane_clip_polygon(edgeplane,temp_points,clipped_count,temp_points1); + + if (clipped_count == 0) return 0; + + // edge 2 + get_edge_plane(2,edgeplane); + + clipped_count = bt_plane_clip_polygon( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; +} + +bool btPrimitiveTriangle::find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts) +{ + btScalar margin = m_margin + other.m_margin; + + btVector3 clipped_points[MAX_TRI_CLIPPING]; + int clipped_count; + //create planes + // plane v vs U points + + GIM_TRIANGLE_CONTACT contacts1; + + contacts1.m_separating_normal = m_plane; + + + clipped_count = clip_triangle(other,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts1.m_point_count == 0) return false; // too far + //Normal pointing to this triangle + contacts1.m_separating_normal *= -1.f; + + + //Clip tri1 by tri2 edges + GIM_TRIANGLE_CONTACT contacts2; + contacts2.m_separating_normal = other.m_plane; + + clipped_count = other.clip_triangle(*this,clipped_points); + + if (clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if (contacts2.m_point_count == 0) return false; // too far + + + + + ////check most dir for contacts + if (contacts2.m_penetration_depth0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + // classify points on this triangle + dis0 = bt_distance_point_plane(plane1,m_vertices1[0]) - total_margin; + + dis1 = bt_distance_point_plane(plane1,m_vertices1[1]) - total_margin; + + dis2 = bt_distance_point_plane(plane1,m_vertices1[2]) - total_margin; + + if (dis0>0.0f&&dis1>0.0f&&dis2>0.0f) return false; + + return true; +} + + diff --git a/Code/Physics/src/BulletCollision/Gimpact/btTriangleShapeEx.h b/Code/Physics/src/BulletCollision/Gimpact/btTriangleShapeEx.h new file mode 100644 index 00000000..973c2ed1 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/btTriangleShapeEx.h @@ -0,0 +1,180 @@ +/*! \file btGImpactShape.h +\author Francisco Leon Najera +*/ +/* +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + +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 GIMPACT_TRIANGLE_SHAPE_EX_H +#define GIMPACT_TRIANGLE_SHAPE_EX_H + +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "btBoxCollision.h" +#include "btClipPolygon.h" +#include "btGeometryOperations.h" + + +#define MAX_TRI_CLIPPING 16 + +//! Structure for collision +struct GIM_TRIANGLE_CONTACT +{ + btScalar m_penetration_depth; + int m_point_count; + btVector4 m_separating_normal; + btVector3 m_points[MAX_TRI_CLIPPING]; + + SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other) + { + m_penetration_depth = other.m_penetration_depth; + m_separating_normal = other.m_separating_normal; + m_point_count = other.m_point_count; + int i = m_point_count; + while(i--) + { + m_points[i] = other.m_points[i]; + } + } + + GIM_TRIANGLE_CONTACT() + { + } + + GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other) + { + copy_from(other); + } + + //! classify points that are closer + void merge_points(const btVector4 & plane, + btScalar margin, const btVector3 * points, int point_count); + +}; + + + +class btPrimitiveTriangle +{ +public: + btVector3 m_vertices[3]; + btVector4 m_plane; + btScalar m_margin; + btScalar m_dummy; + btPrimitiveTriangle():m_margin(0.01f) + { + + } + + + SIMD_FORCE_INLINE void buildTriPlane() + { + btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]); + normal.normalize(); + m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal)); + } + + //! Test if triangles could collide + bool overlap_test_conservative(const btPrimitiveTriangle& other); + + //! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane + /*! + \pre this triangle must have its plane calculated. + */ + SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane) const + { + const btVector3 & e0 = m_vertices[edge_index]; + const btVector3 & e1 = m_vertices[(edge_index+1)%3]; + bt_edge_plane(e0,e1,m_plane,plane); + } + + void applyTransform(const btTransform& t) + { + m_vertices[0] = t(m_vertices[0]); + m_vertices[1] = t(m_vertices[1]); + m_vertices[2] = t(m_vertices[2]); + } + + //! Clips the triangle against this + /*! + \pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated. + \return the number of clipped points + */ + int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points ); + + //! Find collision using the clipping method + /*! + \pre this triangle and other must have their triangles calculated + */ + bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts); +}; + + + +//! Helper class for colliding Bullet Triangle Shapes +/*! +This class implements a better getAabb method than the previous btTriangleShape class +*/ +class btTriangleShapeEx: public btTriangleShape +{ +public: + + btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0)) + { + } + + btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2): btTriangleShape(p0,p1,p2) + { + } + + btTriangleShapeEx(const btTriangleShapeEx & other): btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2]) + { + } + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const + { + btVector3 tv0 = t(m_vertices1[0]); + btVector3 tv1 = t(m_vertices1[1]); + btVector3 tv2 = t(m_vertices1[2]); + + btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin); + aabbMin = trianglebox.m_min; + aabbMax = trianglebox.m_max; + } + + void applyTransform(const btTransform& t) + { + m_vertices1[0] = t(m_vertices1[0]); + m_vertices1[1] = t(m_vertices1[1]); + m_vertices1[2] = t(m_vertices1[2]); + } + + SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const + { + btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]); + normal.normalize(); + plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal)); + } + + bool overlap_test_conservative(const btTriangleShapeEx& other); +}; + + +#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_array.h b/Code/Physics/src/BulletCollision/Gimpact/gim_array.h new file mode 100644 index 00000000..27e6f32f --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_array.h @@ -0,0 +1,324 @@ +#ifndef GIM_ARRAY_H_INCLUDED +#define GIM_ARRAY_H_INCLUDED +/*! \file gim_array.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + + +#define GIM_ARRAY_GROW_INCREMENT 2 +#define GIM_ARRAY_GROW_FACTOR 2 + +//! Very simple array container with fast access and simd memory +template +class gim_array +{ +public: +//! properties +//!@{ + T *m_data; + GUINT m_size; + GUINT m_allocated_size; +//!@} +//! protected operations +//!@{ + + inline void destroyData() + { + m_allocated_size = 0; + if(m_data==NULL) return; + gim_free(m_data); + m_data = NULL; + } + + inline bool resizeData(GUINT newsize) + { + if(newsize==0) + { + destroyData(); + return true; + } + + if(m_size>0) + { + m_data = (T*)gim_realloc(m_data,m_size*sizeof(T),newsize*sizeof(T)); + } + else + { + m_data = (T*)gim_alloc(newsize*sizeof(T)); + } + m_allocated_size = newsize; + return true; + } + + inline bool growingCheck() + { + if(m_allocated_size<=m_size) + { + GUINT requestsize = m_size; + m_size = m_allocated_size; + if(resizeData((requestsize+GIM_ARRAY_GROW_INCREMENT)*GIM_ARRAY_GROW_FACTOR)==false) return false; + } + return true; + } + +//!@} +//! public operations +//!@{ + inline bool reserve(GUINT size) + { + if(m_allocated_size>=size) return false; + return resizeData(size); + } + + inline void clear_range(GUINT start_range) + { + while(m_size>start_range) + { + m_data[--m_size].~T(); + } + } + + inline void clear() + { + if(m_size==0)return; + clear_range(0); + } + + inline void clear_memory() + { + clear(); + destroyData(); + } + + gim_array() + { + m_data = 0; + m_size = 0; + m_allocated_size = 0; + } + + gim_array(GUINT reservesize) + { + m_data = 0; + m_size = 0; + + m_allocated_size = 0; + reserve(reservesize); + } + + ~gim_array() + { + clear_memory(); + } + + inline GUINT size() const + { + return m_size; + } + + inline GUINT max_size() const + { + return m_allocated_size; + } + + inline T & operator[](size_t i) + { + return m_data[i]; + } + inline const T & operator[](size_t i) const + { + return m_data[i]; + } + + inline T * pointer(){ return m_data;} + inline const T * pointer() const + { return m_data;} + + + inline T * get_pointer_at(GUINT i) + { + return m_data + i; + } + + inline const T * get_pointer_at(GUINT i) const + { + return m_data + i; + } + + inline T & at(GUINT i) + { + return m_data[i]; + } + + inline const T & at(GUINT i) const + { + return m_data[i]; + } + + inline T & front() + { + return *m_data; + } + + inline const T & front() const + { + return *m_data; + } + + inline T & back() + { + return m_data[m_size-1]; + } + + inline const T & back() const + { + return m_data[m_size-1]; + } + + + inline void swap(GUINT i, GUINT j) + { + gim_swap_elements(m_data,i,j); + } + + inline void push_back(const T & obj) + { + this->growingCheck(); + m_data[m_size] = obj; + m_size++; + } + + //!Simply increase the m_size, doesn't call the new element constructor + inline void push_back_mem() + { + this->growingCheck(); + m_size++; + } + + inline void push_back_memcpy(const T & obj) + { + this->growingCheck(); + irr_simd_memcpy(&m_data[m_size],&obj,sizeof(T)); + m_size++; + } + + inline void pop_back() + { + m_size--; + m_data[m_size].~T(); + } + + //!Simply decrease the m_size, doesn't call the deleted element destructor + inline void pop_back_mem() + { + m_size--; + } + + //! fast erase + inline void erase(GUINT index) + { + if(indexgrowingCheck(); + for(GUINT i = m_size;i>index;i--) + { + gim_simd_memcpy(m_data+i,m_data+i-1,sizeof(T)); + } + m_size++; + } + + inline void insert(const T & obj,GUINT index) + { + insert_mem(index); + m_data[index] = obj; + } + + inline void resize(GUINT size, bool call_constructor = true, const T& fillData=T()) + { + if(size>m_size) + { + reserve(size); + if(call_constructor) + { + while(m_size +SIMD_FORCE_INLINE bool POINT_IN_HULL( + const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) +{ + GREAL _dis; + for (GUINT _i = 0;_i< plane_count;++_i) + { + _dis = DISTANCE_PLANE_POINT(planes[_i],point); + if(_dis>0.0f) return false; + } + return true; +} + +template +SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( + const CLASS_POINT& s1, + const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1,_dis2; + _dis1 = DISTANCE_PLANE_POINT(plane,s1); + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); +} + +enum ePLANE_INTERSECTION_TYPE +{ + G_BACK_PLANE = 0, + G_COLLIDE_PLANE, + G_FRONT_PLANE +}; + +enum eLINE_PLANE_INTERSECTION_TYPE +{ + G_FRONT_PLANE_S1 = 0, + G_FRONT_PLANE_S2, + G_BACK_PLANE_S1, + G_BACK_PLANE_S2, + G_COLLIDE_PLANE_S1, + G_COLLIDE_PLANE_S2 +}; + +//! Confirms if the plane intersect the edge or nor +/*! +intersection type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ + +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane,CLASS_POINT &clipped) +{ + GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); + GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); + if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) + { + if(_dis1<_dis2) return G_FRONT_PLANE_S1; + return G_FRONT_PLANE_S2; + } + else if(_dis1 _dis2) return G_BACK_PLANE_S1; + return G_BACK_PLANE_S2; + } + + VEC_DIFF(clipped,s2,s1); + _dis2 = VEC_DOT(clipped,plane); + VEC_SCALE(clipped,-_dis1/_dis2,clipped); + VEC_SUM(clipped,clipped,s1); + if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; + return G_COLLIDE_PLANE_S2; +} + +//! Confirms if the plane intersect the edge or not +/*! +clipped1 and clipped2 are the vertices behind the plane. +clipped1 is the closest + +intersection_type must have the following values +
    +
  • 0 : Segment in front of plane, s1 closest +
  • 1 : Segment in front of plane, s2 closest +
  • 2 : Segment in back of plane, s1 closest +
  • 3 : Segment in back of plane, s2 closest +
  • 4 : Segment collides plane, s1 in back +
  • 5 : Segment collides plane, s2 in back +
+*/ +template +SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( + const CLASS_POINT& s1, + const CLASS_POINT &s2, + const CLASS_PLANE &plane, + CLASS_POINT &clipped1,CLASS_POINT &clipped2) +{ + eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); + switch(intersection_type) + { + case G_FRONT_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_FRONT_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_BACK_PLANE_S1: + VEC_COPY(clipped1,s1); + VEC_COPY(clipped2,s2); + break; + case G_BACK_PLANE_S2: + VEC_COPY(clipped1,s2); + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S1: + VEC_COPY(clipped2,s1); + break; + case G_COLLIDE_PLANE_S2: + VEC_COPY(clipped2,s2); + break; + } + return intersection_type; +} + + +//! Finds the 2 smallest cartesian coordinates of a plane normal +#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) + +//! Ray plane collision in one way +/*! +Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).
+It uses the PLANEDIREPSILON constant. +*/ +template +SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout,T &tparam) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(_dotdir +SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( + const CLASS_PLANE & plane, + const CLASS_POINT & vDir, + const CLASS_POINT & vPoint, + CLASS_POINT & pout, + T &tparam, + T tmin, T tmax) +{ + GREAL _dis,_dotdir; + _dotdir = VEC_DOT(plane,vDir); + if(btFabs(_dotdir)tmax) + { + returnvalue = 0; + tparam = tmax; + } + + VEC_SCALE(pout,tparam,vDir); + VEC_SUM(pout,vPoint,pout); + return returnvalue; +} + +/*! \brief Returns the Ray on which 2 planes intersect if they do. + Written by Rodrigo Hernandez on ODE convex collision + + \param p1 Plane 1 + \param p2 Plane 2 + \param p Contains the origin of the ray upon returning if planes intersect + \param d Contains the direction of the ray upon returning if planes intersect + \return true if the planes intersect, 0 if paralell. + +*/ +template +SIMD_FORCE_INLINE bool INTERSECT_PLANES( + const CLASS_PLANE &p1, + const CLASS_PLANE &p2, + CLASS_POINT &p, + CLASS_POINT &d) +{ + VEC_CROSS(d,p1,p2); + GREAL denom = VEC_DOT(d, d); + if(GIM_IS_ZERO(denom)) return false; + vec3f _n; + _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; + _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; + _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; + VEC_CROSS(p,_n,d); + p[0]/=denom; + p[1]/=denom; + p[2]/=denom; + return true; +} + +//***************** SEGMENT and LINE FUNCTIONS **********************************/// + +/*! Finds the closest point(cp) to (v) on a segment (e1,e2) + */ +template +SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( + CLASS_POINT & cp, const CLASS_POINT & v, + const CLASS_POINT &e1,const CLASS_POINT &e2) +{ + vec3f _n; + VEC_DIFF(_n,e2,e1); + VEC_DIFF(cp,v,e1); + GREAL _scalar = VEC_DOT(cp, _n); + _scalar/= VEC_DOT(_n, _n); + if(_scalar <0.0f) + { + VEC_COPY(cp,e1); + } + else if(_scalar >1.0f) + { + VEC_COPY(cp,e2); + } + else + { + VEC_SCALE(cp,_scalar,_n); + VEC_SUM(cp,cp,e1); + } +} + + +/*! \brief Finds the line params where these lines intersect. + +\param dir1 Direction of line 1 +\param point1 Point of line 1 +\param dir2 Direction of line 2 +\param point2 Point of line 2 +\param t1 Result Parameter for line 1 +\param t2 Result Parameter for line 2 +\param dointersect 0 if the lines won't intersect, else 1 + +*/ +template +SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( + const CLASS_POINT & dir1, + CLASS_POINT & point1, + const CLASS_POINT & dir2, + CLASS_POINT & point2, + T& t1,T& t2) +{ + GREAL det; + GREAL e1e1 = VEC_DOT(dir1,dir1); + GREAL e1e2 = VEC_DOT(dir1,dir2); + GREAL e2e2 = VEC_DOT(dir2,dir2); + vec3f p1p2; + VEC_DIFF(p1p2,point1,point2); + GREAL p1p2e1 = VEC_DOT(p1p2,dir1); + GREAL p1p2e2 = VEC_DOT(p1p2,dir2); + det = e1e2*e1e2 - e1e1*e2e2; + if(GIM_IS_ZERO(det)) return false; + t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; + t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; + return true; +} + +//! Find closest points on segments +template +SIMD_FORCE_INLINE void SEGMENT_COLLISION( + const CLASS_POINT & vA1, + const CLASS_POINT & vA2, + const CLASS_POINT & vB1, + const CLASS_POINT & vB2, + CLASS_POINT & vPointA, + CLASS_POINT & vPointB) +{ + CLASS_POINT _AD,_BD,_N; + vec4f _M;//plane + VEC_DIFF(_AD,vA2,vA1); + VEC_DIFF(_BD,vB2,vB1); + VEC_CROSS(_N,_AD,_BD); + GREAL _tp = VEC_DOT(_N,_N); + if(_tp_M[1]) + { + invert_b_order = true; + GIM_SWAP_NUMBERS(_M[0],_M[1]); + } + _M[2] = VEC_DOT(vA1,_AD); + _M[3] = VEC_DOT(vA2,_AD); + //mid points + _N[0] = (_M[0]+_M[1])*0.5f; + _N[1] = (_M[2]+_M[3])*0.5f; + + if(_N[0]<_N[1]) + { + if(_M[1]<_M[2]) + { + vPointB = invert_b_order?vB1:vB2; + vPointA = vA1; + } + else if(_M[1]<_M[3]) + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + else + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + } + else + { + if(_M[3]<_M[0]) + { + vPointB = invert_b_order?vB2:vB1; + vPointA = vA2; + } + else if(_M[3]<_M[1]) + { + vPointA = vA2; + CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); + } + else + { + vPointB = invert_b_order?vB1:vB2; + CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); + } + } + return; + } + + + VEC_CROSS(_M,_N,_BD); + _M[3] = VEC_DOT(_M,vB1); + + LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); + /*Closest point on segment*/ + VEC_DIFF(vPointB,vPointA,vB1); + _tp = VEC_DOT(vPointB, _BD); + _tp/= VEC_DOT(_BD, _BD); + _tp = GIM_CLAMP(_tp,0.0f,1.0f); + VEC_SCALE(vPointB,_tp,_BD); + VEC_SUM(vPointB,vPointB,vB1); +} + + + + +//! Line box intersection in one dimension +/*! + +*\param pos Position of the ray +*\param dir Projection of the Direction of the ray +*\param bmin Minimum bound of the box +*\param bmax Maximum bound of the box +*\param tfirst the minimum projection. Assign to 0 at first. +*\param tlast the maximum projection. Assign to INFINITY at first. +*\return true if there is an intersection. +*/ +template +SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) +{ + if(GIM_IS_ZERO(dir)) + { + return !(pos < bmin || pos > bmax); + } + GREAL a0 = (bmin - pos) / dir; + GREAL a1 = (bmax - pos) / dir; + if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); + tfirst = GIM_MAX(a0, tfirst); + tlast = GIM_MIN(a1, tlast); + if (tlast < tfirst) return false; + return true; +} + + +//! Sorts 3 componets +template +SIMD_FORCE_INLINE void SORT_3_INDICES( + const T * values, + GUINT * order_indices) +{ + //get minimum + order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); + + //get second and third + GUINT i0 = (order_indices[0] + 1)%3; + GUINT i1 = (i0 + 1)%3; + + if(values[i0] < values[i1]) + { + order_indices[1] = i0; + order_indices[2] = i1; + } + else + { + order_indices[1] = i1; + order_indices[2] = i0; + } +} + + + + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_bitset.h b/Code/Physics/src/BulletCollision/Gimpact/gim_bitset.h new file mode 100644 index 00000000..7dee48a4 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_bitset.h @@ -0,0 +1,123 @@ +#ifndef GIM_BITSET_H_INCLUDED +#define GIM_BITSET_H_INCLUDED +/*! \file gim_bitset.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_array.h" + + +#define GUINT_BIT_COUNT 32 +#define GUINT_EXPONENT 5 + +class gim_bitset +{ +public: + gim_array m_container; + + gim_bitset() + { + + } + + gim_bitset(GUINT bits_count) + { + resize(bits_count); + } + + ~gim_bitset() + { + } + + inline bool resize(GUINT newsize) + { + GUINT oldsize = m_container.size(); + m_container.resize(newsize/GUINT_BIT_COUNT + 1,false); + while(oldsize=size()) + { + resize(bit_index); + } + m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1))); + } + + ///Return 0 or 1 + inline char get(GUINT bit_index) + { + if(bit_index>=size()) + { + return 0; + } + char value = m_container[bit_index >> GUINT_EXPONENT] & + (1 << (bit_index & (GUINT_BIT_COUNT-1))); + return value; + } + + inline void clear(GUINT bit_index) + { + m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1))); + } +}; + + + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_box_collision.h b/Code/Physics/src/BulletCollision/Gimpact/gim_box_collision.h new file mode 100644 index 00000000..9c572638 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_box_collision.h @@ -0,0 +1,588 @@ +#ifndef GIM_BOX_COLLISION_H_INCLUDED +#define GIM_BOX_COLLISION_H_INCLUDED + +/*! \file gim_box_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ +#include "gim_basic_geometry_operations.h" +#include "LinearMath/btTransform.h" + + + +//SIMD_FORCE_INLINE bool test_cross_edge_box( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, const btVector3 & extend, +// int dir_index0, +// int dir_index1 +// int component_index0, +// int component_index1) +//{ +// // dir coords are -z and y +// +// const btScalar dir0 = -edge[dir_index0]; +// const btScalar dir1 = edge[dir_index1]; +// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; +// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; +// //find minmax +// if(pmin>pmax) +// { +// GIM_SWAP_NUMBERS(pmin,pmax); +// } +// //find extends +// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + +// extend[component_index1] * absolute_edge[dir_index1]; +// +// if(pmin>rad || -rad>pmax) return false; +// return true; +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); +//} +// +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); +//} +// +//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( +// const btVector3 & edge, +// const btVector3 & absolute_edge, +// const btVector3 & pointa, +// const btVector3 & pointb, btVector3 & extend) +//{ +// +// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); +//} + +#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ +{\ + const btScalar dir0 = -edge[i_dir_0];\ + const btScalar dir1 = edge[i_dir_1];\ + btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ + btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ + if(pmin>pmax)\ + {\ + GIM_SWAP_NUMBERS(pmin,pmax); \ + }\ + const btScalar abs_dir0 = absolute_edge[i_dir_0];\ + const btScalar abs_dir1 = absolute_edge[i_dir_1];\ + const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ + if(pmin>rad || -rad>pmax) return false;\ +}\ + + +#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ +}\ + +#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ +{\ + TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ +}\ + + + +//! Class for transforming a model1 to the space of model0 +class GIM_BOX_BOX_TRANSFORM_CACHE +{ +public: + btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 + btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 + btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 + + SIMD_FORCE_INLINE void calc_absolute_matrix() + { + static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); + m_AR[0] = vepsi + m_R1to0[0].absolute(); + m_AR[1] = vepsi + m_R1to0[1].absolute(); + m_AR[2] = vepsi + m_R1to0[2].absolute(); + } + + GIM_BOX_BOX_TRANSFORM_CACHE() + { + } + + + GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0) + { + COPY_MATRIX_3X3(m_R1to0,trans1_to_0) + MAT_GET_TRANSLATION(trans1_to_0,m_T1to0) + calc_absolute_matrix(); + } + + //! Calc the transformation relative 1 to 0. Inverts matrics by transposing + SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) + { + + m_R1to0 = trans0.getBasis().transpose(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + //! Calcs the full invertion of the matrices. Useful for scaling matrices + SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) + { + m_R1to0 = trans0.getBasis().inverse(); + m_T1to0 = m_R1to0 * (-trans0.getOrigin()); + + m_T1to0 += m_R1to0*trans1.getOrigin(); + m_R1to0 *= trans1.getBasis(); + + calc_absolute_matrix(); + } + + SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) + { + return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0; + } +}; + + +#define BOX_PLANE_EPSILON 0.000001f + +//! Axis aligned box +class GIM_AABB +{ +public: + btVector3 m_min; + btVector3 m_max; + + GIM_AABB() + {} + + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + GIM_AABB(const btVector3 & V1, + const btVector3 & V2, + const btVector3 & V3, + GREAL margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + GIM_AABB(const GIM_AABB &other): + m_min(other.m_min),m_max(other.m_max) + { + } + + GIM_AABB(const GIM_AABB &other,btScalar margin ): + m_min(other.m_min),m_max(other.m_max) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void invalidate() + { + m_min[0] = G_REAL_INFINITY; + m_min[1] = G_REAL_INFINITY; + m_min[2] = G_REAL_INFINITY; + m_max[0] = -G_REAL_INFINITY; + m_max[1] = -G_REAL_INFINITY; + m_max[2] = -G_REAL_INFINITY; + } + + SIMD_FORCE_INLINE void increment_margin(btScalar margin) + { + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin) + { + m_min[0] = other.m_min[0] - margin; + m_min[1] = other.m_min[1] - margin; + m_min[2] = other.m_min[2] - margin; + + m_max[0] = other.m_max[0] + margin; + m_max[1] = other.m_max[1] + margin; + m_max[2] = other.m_max[2] + margin; + } + + template + SIMD_FORCE_INLINE void calc_from_triangle( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + } + + template + SIMD_FORCE_INLINE void calc_from_triangle_margin( + const CLASS_POINT & V1, + const CLASS_POINT & V2, + const CLASS_POINT & V3, btScalar margin) + { + m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]); + m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]); + m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]); + + m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]); + m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]); + m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]); + + m_min[0] -= margin; + m_min[1] -= margin; + m_min[2] -= margin; + m_max[0] += margin; + m_max[1] += margin; + m_max[2] += margin; + } + + //! Apply a transform to an AABB + SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extends = m_max - center; + // Compute new center + center = trans(center); + + btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), + trans.getBasis().getRow(1).absolute(), + trans.getBasis().getRow(2).absolute()); + + m_min = center - textends; + m_max = center + textends; + } + + //! Merges a Box + SIMD_FORCE_INLINE void merge(const GIM_AABB & box) + { + m_min[0] = GIM_MIN(m_min[0],box.m_min[0]); + m_min[1] = GIM_MIN(m_min[1],box.m_min[1]); + m_min[2] = GIM_MIN(m_min[2],box.m_min[2]); + + m_max[0] = GIM_MAX(m_max[0],box.m_max[0]); + m_max[1] = GIM_MAX(m_max[1],box.m_max[1]); + m_max[2] = GIM_MAX(m_max[2],box.m_max[2]); + } + + //! Merges a point + template + SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) + { + m_min[0] = GIM_MIN(m_min[0],point[0]); + m_min[1] = GIM_MIN(m_min[1],point[1]); + m_min[2] = GIM_MIN(m_min[2],point[2]); + + m_max[0] = GIM_MAX(m_max[0],point[0]); + m_max[1] = GIM_MAX(m_max[1],point[1]); + m_max[2] = GIM_MAX(m_max[2],point[2]); + } + + //! Gets the extend and center + SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const + { + center = (m_max+m_min)*0.5f; + extend = m_max - center; + } + + //! Finds the intersecting box between this box and the other. + SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const + { + intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]); + intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]); + intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]); + + intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]); + intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]); + intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]); + } + + + SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const + { + if(m_min[0] > other.m_max[0] || + m_max[0] < other.m_min[0] || + m_min[1] > other.m_max[1] || + m_max[1] < other.m_min[1] || + m_min[2] > other.m_max[2] || + m_max[2] < other.m_min[2]) + { + return false; + } + return true; + } + + /*! \brief Finds the Ray intersection parameter. + \param aabb Aligned box + \param vorigin A vec3f with the origin of the ray + \param vdir A vec3f with the direction of the ray + */ + SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) + { + btVector3 extents,center; + this->get_center_extend(center,extents);; + + btScalar Dx = vorigin[0] - center[0]; + if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; + btScalar Dy = vorigin[1] - center[1]; + if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; + btScalar Dz = vorigin[2] - center[2]; + if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; + + + btScalar f = vdir[1] * Dz - vdir[2] * Dy; + if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; + f = vdir[2] * Dx - vdir[0] * Dz; + if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; + f = vdir[0] * Dy - vdir[1] * Dx; + if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; + return true; + } + + + SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const + { + btVector3 center = (m_max+m_min)*0.5f; + btVector3 extend = m_max-center; + + btScalar _fOrigin = direction.dot(center); + btScalar _fMaximumExtent = extend.dot(direction.absolute()); + vmin = _fOrigin - _fMaximumExtent; + vmax = _fOrigin + _fMaximumExtent; + } + + SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const + { + btScalar _fmin,_fmax; + this->projection_interval(plane,_fmin,_fmax); + + if(plane[3] > _fmax + BOX_PLANE_EPSILON) + { + return G_BACK_PLANE; // 0 + } + + if(plane[3]+BOX_PLANE_EPSILON >=_fmin) + { + return G_COLLIDE_PLANE; //1 + } + return G_FRONT_PLANE;//2 + } + + SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0) + { + GIM_AABB tbox = box; + tbox.appy_transform(trans1_to_0); + return has_collision(tbox); + } + + //! transcache is the transformation cache from box to this AABB + SIMD_FORCE_INLINE bool overlapping_trans_cache( + const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) + { + + //Taken from OPCODE + btVector3 ea,eb;//extends + btVector3 ca,cb;//extends + get_center_extend(ca,ea); + box.get_center_extend(cb,eb); + + + btVector3 T; + btScalar t,t2; + int i; + + // Class I : A's basis vectors + for(i=0;i<3;i++) + { + T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; + t = transcache.m_AR[i].dot(eb) + ea[i]; + if(GIM_GREATER(T[i], t)) return false; + } + // Class II : B's basis vectors + for(i=0;i<3;i++) + { + t = MAT_DOT_COL(transcache.m_R1to0,T,i); + t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i]; + if(GIM_GREATER(t,t2)) return false; + } + // Class III : 9 cross products + if(fulltest) + { + int j,m,n,o,p,q,r; + for(i=0;i<3;i++) + { + m = (i+1)%3; + n = (i+2)%3; + o = i==0?1:0; + p = i==2?1:2; + for(j=0;j<3;j++) + { + q = j==2?1:2; + r = j==0?1:0; + t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; + t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + + eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; + if(GIM_GREATER(t,t2)) return false; + } + } + } + return true; + } + + //! Simple test for planes. + SIMD_FORCE_INLINE bool collide_plane( + const btVector4 & plane) + { + ePLANE_INTERSECTION_TYPE classify = plane_classify(plane); + return (classify == G_COLLIDE_PLANE); + } + + //! test for a triangle, with edges + SIMD_FORCE_INLINE bool collide_triangle_exact( + const btVector3 & p1, + const btVector3 & p2, + const btVector3 & p3, + const btVector4 & triangle_plane) + { + if(!collide_plane(triangle_plane)) return false; + + btVector3 center,extends; + this->get_center_extend(center,extends); + + const btVector3 v1(p1 - center); + const btVector3 v2(p2 - center); + const btVector3 v3(p3 - center); + + //First axis + btVector3 diff(v2 - v1); + btVector3 abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); + + + diff = v3 - v2; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); + + diff = v1 - v3; + abs_diff = diff.absolute(); + //Test With X axis + TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Y axis + TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); + //Test With Z axis + TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); + + return true; + } +}; + + +//! Compairison of transformation objects +SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) +{ + if(!(t1.getOrigin() == t2.getOrigin()) ) return false; + + if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; + if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; + if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; + return true; +} + + + +#endif // GIM_BOX_COLLISION_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.cpp b/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.cpp new file mode 100644 index 00000000..0c3d7ba8 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.cpp @@ -0,0 +1,182 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_box_set.h" + + +GUINT GIM_BOX_TREE::_calc_splitting_axis( + gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT i; + + btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.)); + GUINT numIndices = endIndex-startIndex; + + for (i=startIndex;i & primitive_boxes, GUINT startIndex, + GUINT endIndex, GUINT splitAxis) +{ + GUINT i; + GUINT splitIndex =startIndex; + GUINT numIndices = endIndex - startIndex; + + // average of centers + btScalar splitValue = 0.0f; + for (i=startIndex;i splitValue) + { + //swap + primitive_boxes.swap(i,splitIndex); + splitIndex++; + } + } + + //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex + //otherwise the tree-building might fail due to stack-overflows in certain cases. + //unbalanced1 is unsafe: it can cause stack overflows + //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1))); + + //unbalanced2 should work too: always use center (perfect balanced trees) + //bool unbalanced2 = true; + + //this should be safe too: + GUINT rangeBalancedIndices = numIndices/3; + bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices))); + + if (unbalanced) + { + splitIndex = startIndex+ (numIndices>>1); + } + + btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex)))); + + return splitIndex; +} + + +void GIM_BOX_TREE::_build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex) +{ + GUINT current_index = m_num_nodes++; + + btAssert((endIndex-startIndex)>0); + + if((endIndex-startIndex) == 1) //we got a leaf + { + m_node_array[current_index].m_left = 0; + m_node_array[current_index].m_right = 0; + m_node_array[current_index].m_escapeIndex = 0; + + m_node_array[current_index].m_bound = primitive_boxes[startIndex].m_bound; + m_node_array[current_index].m_data = primitive_boxes[startIndex].m_data; + return; + } + + //configure inner node + + GUINT splitIndex; + + //calc this node bounding box + m_node_array[current_index].m_bound.invalidate(); + for (splitIndex=startIndex;splitIndex & primitive_boxes) +{ + // initialize node count to 0 + m_num_nodes = 0; + // allocate nodes + m_node_array.resize(primitive_boxes.size()*2); + + _build_sub_tree(primitive_boxes, 0, primitive_boxes.size()); +} + + diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.h b/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.h new file mode 100644 index 00000000..61d190a7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_box_set.h @@ -0,0 +1,674 @@ +#ifndef GIM_BOX_SET_H_INCLUDED +#define GIM_BOX_SET_H_INCLUDED + +/*! \file gim_box_set.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_array.h" +#include "gim_radixsort.h" +#include "gim_box_collision.h" +#include "gim_tri_collision.h" + + + +//! Overlapping pair +struct GIM_PAIR +{ + GUINT m_index1; + GUINT m_index2; + GIM_PAIR() + {} + + GIM_PAIR(const GIM_PAIR & p) + { + m_index1 = p.m_index1; + m_index2 = p.m_index2; + } + + GIM_PAIR(GUINT index1, GUINT index2) + { + m_index1 = index1; + m_index2 = index2; + } +}; + +//! A pairset array +class gim_pair_set: public gim_array +{ +public: + gim_pair_set():gim_array(32) + { + } + inline void push_pair(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index1,index2)); + } + + inline void push_pair_inv(GUINT index1,GUINT index2) + { + push_back(GIM_PAIR(index2,index1)); + } +}; + + +//! Prototype Base class for primitive classification +/*! +This class is a wrapper for primitive collections. +This tells relevant info for the Bounding Box set classes, which take care of space classification. +This class can manage Compound shapes and trimeshes, and if it is managing trimesh then the Hierarchy Bounding Box classes will take advantage of primitive Vs Box overlapping tests for getting optimal results and less Per Box compairisons. +*/ +class GIM_PRIMITIVE_MANAGER_PROTOTYPE +{ +public: + + virtual ~GIM_PRIMITIVE_MANAGER_PROTOTYPE() {} + //! determines if this manager consist on only triangles, which special case will be optimized + virtual bool is_trimesh() = 0; + virtual GUINT get_primitive_count() = 0; + virtual void get_primitive_box(GUINT prim_index ,GIM_AABB & primbox) = 0; + virtual void get_primitive_triangle(GUINT prim_index,GIM_TRIANGLE & triangle) = 0; +}; + + +struct GIM_AABB_DATA +{ + GIM_AABB m_bound; + GUINT m_data; +}; + +//! Node Structure for trees +struct GIM_BOX_TREE_NODE +{ + GIM_AABB m_bound; + GUINT m_left;//!< Left subtree + GUINT m_right;//!< Right subtree + GUINT m_escapeIndex;//!< Scape index for traversing + GUINT m_data;//!< primitive index if apply + + GIM_BOX_TREE_NODE() + { + m_left = 0; + m_right = 0; + m_escapeIndex = 0; + m_data = 0; + } + + SIMD_FORCE_INLINE bool is_leaf_node() const + { + return (!m_left && !m_right); + } +}; + +//! Basic Box tree structure +class GIM_BOX_TREE +{ +protected: + GUINT m_num_nodes; + gim_array m_node_array; +protected: + GUINT _sort_and_calc_splitting_index( + gim_array & primitive_boxes, + GUINT startIndex, GUINT endIndex, GUINT splitAxis); + + GUINT _calc_splitting_axis(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); + + void _build_sub_tree(gim_array & primitive_boxes, GUINT startIndex, GUINT endIndex); +public: + GIM_BOX_TREE() + { + m_num_nodes = 0; + } + + //! prototype functions for box tree management + //!@{ + void build_tree(gim_array & primitive_boxes); + + SIMD_FORCE_INLINE void clearNodes() + { + m_node_array.clear(); + m_num_nodes = 0; + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_num_nodes; + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_node_array[nodeindex].is_leaf_node(); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_data; + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + bound = m_node_array[nodeindex].m_bound; + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_node_array[nodeindex].m_bound = bound; + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_left; + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_right; + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_node_array[nodeindex].m_escapeIndex; + } + + //!@} +}; + + +//! Generic Box Tree Template +/*! +This class offers an structure for managing a box tree of primitives. +Requires a Primitive prototype (like GIM_PRIMITIVE_MANAGER_PROTOTYPE ) and +a Box tree structure ( like GIM_BOX_TREE). +*/ +template +class GIM_BOX_TREE_TEMPLATE_SET +{ +protected: + _GIM_PRIMITIVE_MANAGER_PROTOTYPE m_primitive_manager; + _GIM_BOX_TREE_PROTOTYPE m_box_tree; +protected: + //stackless refit + SIMD_FORCE_INLINE void refit() + { + GUINT nodecount = getNodeCount(); + while(nodecount--) + { + if(isLeafNode(nodecount)) + { + GIM_AABB leafbox; + m_primitive_manager.get_primitive_box(getNodeData(nodecount),leafbox); + setNodeBound(nodecount,leafbox); + } + else + { + //get left bound + GUINT childindex = getLeftNodeIndex(nodecount); + GIM_AABB bound; + getNodeBound(childindex,bound); + //get right bound + childindex = getRightNodeIndex(nodecount); + GIM_AABB bound2; + getNodeBound(childindex,bound2); + bound.merge(bound2); + + setNodeBound(nodecount,bound); + } + } + } +public: + + GIM_BOX_TREE_TEMPLATE_SET() + { + } + + SIMD_FORCE_INLINE GIM_AABB getGlobalBox() const + { + GIM_AABB totalbox; + getNodeBound(0, totalbox); + return totalbox; + } + + SIMD_FORCE_INLINE void setPrimitiveManager(const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & primitive_manager) + { + m_primitive_manager = primitive_manager; + } + + const _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() const + { + return m_primitive_manager; + } + + _GIM_PRIMITIVE_MANAGER_PROTOTYPE & getPrimitiveManager() + { + return m_primitive_manager; + } + +//! node manager prototype functions +///@{ + + //! this attemps to refit the box set. + SIMD_FORCE_INLINE void update() + { + refit(); + } + + //! this rebuild the entire set + SIMD_FORCE_INLINE void buildSet() + { + //obtain primitive boxes + gim_array primitive_boxes; + primitive_boxes.resize(m_primitive_manager.get_primitive_count(),false); + + for (GUINT i = 0;i & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.has_collision(box); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData(curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool boxQueryTrans(const GIM_AABB & box, + const btTransform & transform, gim_array & collided_results) const + { + GIM_AABB transbox=box; + transbox.appy_transform(transform); + return boxQuery(transbox,collided_results); + } + + //! returns the indices of the primitives in the m_primitive_manager + SIMD_FORCE_INLINE bool rayQuery( + const btVector3 & ray_dir,const btVector3 & ray_origin , + gim_array & collided_results) const + { + GUINT curIndex = 0; + GUINT numNodes = getNodeCount(); + + while (curIndex < numNodes) + { + GIM_AABB bound; + getNodeBound(curIndex,bound); + + //catch bugs in tree data + + bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir); + bool isleafnode = isLeafNode(curIndex); + + if (isleafnode && aabbOverlap) + { + collided_results.push_back(getNodeData( curIndex)); + } + + if (aabbOverlap || isleafnode) + { + //next subnode + curIndex++; + } + else + { + //skip node + curIndex+= getScapeNodeIndex(curIndex); + } + } + if(collided_results.size()>0) return true; + return false; + } + + //! tells if this set has hierarcht + SIMD_FORCE_INLINE bool hasHierarchy() const + { + return true; + } + + //! tells if this set is a trimesh + SIMD_FORCE_INLINE bool isTrimesh() const + { + return m_primitive_manager.is_trimesh(); + } + + //! node count + SIMD_FORCE_INLINE GUINT getNodeCount() const + { + return m_box_tree.getNodeCount(); + } + + //! tells if the node is a leaf + SIMD_FORCE_INLINE bool isLeafNode(GUINT nodeindex) const + { + return m_box_tree.isLeafNode(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getNodeData(GUINT nodeindex) const + { + return m_box_tree.getNodeData(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeBound(GUINT nodeindex, GIM_AABB & bound) const + { + m_box_tree.getNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE void setNodeBound(GUINT nodeindex, const GIM_AABB & bound) + { + m_box_tree.setNodeBound(nodeindex, bound); + } + + SIMD_FORCE_INLINE GUINT getLeftNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getLeftNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getRightNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getRightNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE GUINT getScapeNodeIndex(GUINT nodeindex) const + { + return m_box_tree.getScapeNodeIndex(nodeindex); + } + + SIMD_FORCE_INLINE void getNodeTriangle(GUINT nodeindex,GIM_TRIANGLE & triangle) const + { + m_primitive_manager.get_primitive_triangle(getNodeData(nodeindex),triangle); + } + +}; + +//! Class for Box Tree Sets +/*! +this has the GIM_BOX_TREE implementation for bounding boxes. +*/ +template +class GIM_BOX_TREE_SET: public GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE> +{ +public: + +}; + + + + + +/// GIM_BOX_SET collision methods +template +class GIM_TREE_TREE_COLLIDER +{ +public: + gim_pair_set * m_collision_pairs; + BOX_SET_CLASS0 * m_boxset0; + BOX_SET_CLASS1 * m_boxset1; + GUINT current_node0; + GUINT current_node1; + bool node0_is_leaf; + bool node1_is_leaf; + bool t0_is_trimesh; + bool t1_is_trimesh; + bool node0_has_triangle; + bool node1_has_triangle; + GIM_AABB m_box0; + GIM_AABB m_box1; + GIM_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0; + btTransform trans_cache_0to1; + GIM_TRIANGLE m_tri0; + btVector4 m_tri0_plane; + GIM_TRIANGLE m_tri1; + btVector4 m_tri1_plane; + + +public: + GIM_TREE_TREE_COLLIDER() + { + current_node0 = G_UINT_INFINITY; + current_node1 = G_UINT_INFINITY; + } +protected: + SIMD_FORCE_INLINE void retrieve_node0_triangle(GUINT node0) + { + if(node0_has_triangle) return; + m_boxset0->getNodeTriangle(node0,m_tri0); + //transform triangle + m_tri0.m_vertices[0] = trans_cache_0to1(m_tri0.m_vertices[0]); + m_tri0.m_vertices[1] = trans_cache_0to1(m_tri0.m_vertices[1]); + m_tri0.m_vertices[2] = trans_cache_0to1(m_tri0.m_vertices[2]); + m_tri0.get_plane(m_tri0_plane); + + node0_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node1_triangle(GUINT node1) + { + if(node1_has_triangle) return; + m_boxset1->getNodeTriangle(node1,m_tri1); + //transform triangle + m_tri1.m_vertices[0] = trans_cache_1to0.transform(m_tri1.m_vertices[0]); + m_tri1.m_vertices[1] = trans_cache_1to0.transform(m_tri1.m_vertices[1]); + m_tri1.m_vertices[2] = trans_cache_1to0.transform(m_tri1.m_vertices[2]); + m_tri1.get_plane(m_tri1_plane); + + node1_has_triangle = true; + } + + SIMD_FORCE_INLINE void retrieve_node0_info(GUINT node0) + { + if(node0 == current_node0) return; + m_boxset0->getNodeBound(node0,m_box0); + node0_is_leaf = m_boxset0->isLeafNode(node0); + node0_has_triangle = false; + current_node0 = node0; + } + + SIMD_FORCE_INLINE void retrieve_node1_info(GUINT node1) + { + if(node1 == current_node1) return; + m_boxset1->getNodeBound(node1,m_box1); + node1_is_leaf = m_boxset1->isLeafNode(node1); + node1_has_triangle = false; + current_node1 = node1; + } + + SIMD_FORCE_INLINE bool node_collision(GUINT node0 ,GUINT node1) + { + retrieve_node0_info(node0); + retrieve_node1_info(node1); + bool result = m_box0.overlapping_trans_cache(m_box1,trans_cache_1to0,true); + if(!result) return false; + + if(t0_is_trimesh && node0_is_leaf) + { + //perform primitive vs box collision + retrieve_node0_triangle(node0); + //do triangle vs box collision + m_box1.increment_margin(m_tri0.m_margin); + + result = m_box1.collide_triangle_exact( + m_tri0.m_vertices[0],m_tri0.m_vertices[1],m_tri0.m_vertices[2],m_tri0_plane); + + m_box1.increment_margin(-m_tri0.m_margin); + + if(!result) return false; + return true; + } + else if(t1_is_trimesh && node1_is_leaf) + { + //perform primitive vs box collision + retrieve_node1_triangle(node1); + //do triangle vs box collision + m_box0.increment_margin(m_tri1.m_margin); + + result = m_box0.collide_triangle_exact( + m_tri1.m_vertices[0],m_tri1.m_vertices[1],m_tri1.m_vertices[2],m_tri1_plane); + + m_box0.increment_margin(-m_tri1.m_margin); + + if(!result) return false; + return true; + } + return true; + } + + //stackless collision routine + void find_collision_pairs() + { + gim_pair_set stack_collisions; + stack_collisions.reserve(32); + + //add the first pair + stack_collisions.push_pair(0,0); + + + while(stack_collisions.size()) + { + //retrieve the last pair and pop + GUINT node0 = stack_collisions.back().m_index1; + GUINT node1 = stack_collisions.back().m_index2; + stack_collisions.pop_back(); + if(node_collision(node0,node1)) // a collision is found + { + if(node0_is_leaf) + { + if(node1_is_leaf) + { + m_collision_pairs->push_pair(m_boxset0->getNodeData(node0),m_boxset1->getNodeData(node1)); + } + else + { + //collide left + stack_collisions.push_pair(node0,m_boxset1->getLeftNodeIndex(node1)); + + //collide right + stack_collisions.push_pair(node0,m_boxset1->getRightNodeIndex(node1)); + } + } + else + { + if(node1_is_leaf) + { + //collide left + stack_collisions.push_pair(m_boxset0->getLeftNodeIndex(node0),node1); + //collide right + stack_collisions.push_pair(m_boxset0->getRightNodeIndex(node0),node1); + } + else + { + GUINT left0 = m_boxset0->getLeftNodeIndex(node0); + GUINT right0 = m_boxset0->getRightNodeIndex(node0); + GUINT left1 = m_boxset1->getLeftNodeIndex(node1); + GUINT right1 = m_boxset1->getRightNodeIndex(node1); + //collide left + stack_collisions.push_pair(left0,left1); + //collide right + stack_collisions.push_pair(left0,right1); + //collide left + stack_collisions.push_pair(right0,left1); + //collide right + stack_collisions.push_pair(right0,right1); + + }// else if node1 is not a leaf + }// else if node0 is not a leaf + + }// if(node_collision(node0,node1)) + }//while(stack_collisions.size()) + } +public: + void find_collision(BOX_SET_CLASS0 * boxset1, const btTransform & trans1, + BOX_SET_CLASS1 * boxset2, const btTransform & trans2, + gim_pair_set & collision_pairs, bool complete_primitive_tests = true) + { + m_collision_pairs = &collision_pairs; + m_boxset0 = boxset1; + m_boxset1 = boxset2; + + trans_cache_1to0.calc_from_homogenic(trans1,trans2); + + trans_cache_0to1 = trans2.inverse(); + trans_cache_0to1 *= trans1; + + + if(complete_primitive_tests) + { + t0_is_trimesh = boxset1->getPrimitiveManager().is_trimesh(); + t1_is_trimesh = boxset2->getPrimitiveManager().is_trimesh(); + } + else + { + t0_is_trimesh = false; + t1_is_trimesh = false; + } + + find_collision_pairs(); + } +}; + + +#endif // GIM_BOXPRUNING_H_INCLUDED + + diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_clip_polygon.h b/Code/Physics/src/BulletCollision/Gimpact/gim_clip_polygon.h new file mode 100644 index 00000000..e342459c --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_clip_polygon.h @@ -0,0 +1,210 @@ +#ifndef GIM_CLIP_POLYGON_H_INCLUDED +#define GIM_CLIP_POLYGON_H_INCLUDED + +/*! \file gim_tri_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +//! This function calcs the distance from a 3D plane +class DISTANCE_PLANE_3D_FUNC +{ +public: + template + inline GREAL operator()(const CLASS_PLANE & plane, const CLASS_POINT & point) + { + return DISTANCE_PLANE_POINT(plane, point); + } +}; + + + +template +SIMD_FORCE_INLINE void PLANE_CLIP_POLYGON_COLLECT( + const CLASS_POINT & point0, + const CLASS_POINT & point1, + GREAL dist0, + GREAL dist1, + CLASS_POINT * clipped, + GUINT & clipped_count) +{ + GUINT _prevclassif = (dist0>G_EPSILON); + GUINT _classif = (dist1>G_EPSILON); + if(_classif!=_prevclassif) + { + GREAL blendfactor = -dist0/(dist1-dist0); + VEC_BLEND(clipped[clipped_count],point0,point1,blendfactor); + clipped_count++; + } + if(!_classif) + { + VEC_COPY(clipped[clipped_count],point1); + clipped_count++; + } +} + + +//! Clips a polygon by a plane +/*! +*\return The count of the clipped counts +*/ +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + + //clip first point + GREAL firstdist = distance_func(plane,polygon_points[0]);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],polygon_points[0]); + clipped_count++; + } + + GREAL olddist = firstdist; + for(GUINT _i=1;_i +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE_GENERIC( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped,DISTANCE_PLANE_FUNC distance_func) +{ + GUINT clipped_count = 0; + + //clip first point + GREAL firstdist = distance_func(plane,point0);; + if(!(firstdist>G_EPSILON)) + { + VEC_COPY(clipped[clipped_count],point0); + clipped_count++; + } + + // point 1 + GREAL olddist = firstdist; + GREAL dist = distance_func(plane,point1); + + PLANE_CLIP_POLYGON_COLLECT( + point0,point1, + olddist, + dist, + clipped, + clipped_count); + + olddist = dist; + + + // point 2 + dist = distance_func(plane,point2); + + PLANE_CLIP_POLYGON_COLLECT( + point1,point2, + olddist, + dist, + clipped, + clipped_count); + olddist = dist; + + + + //RETURN TO FIRST point + PLANE_CLIP_POLYGON_COLLECT( + point2,point0, + olddist, + firstdist, + clipped, + clipped_count); + + return clipped_count; +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_POLYGON3D( + const CLASS_PLANE & plane, + const CLASS_POINT * polygon_points, + GUINT polygon_point_count, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_POLYGON_GENERIC(plane,polygon_points,polygon_point_count,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + +template +SIMD_FORCE_INLINE GUINT PLANE_CLIP_TRIANGLE3D( + const CLASS_PLANE & plane, + const CLASS_POINT & point0, + const CLASS_POINT & point1, + const CLASS_POINT & point2, + CLASS_POINT * clipped) +{ + return PLANE_CLIP_TRIANGLE_GENERIC(plane,point0,point1,point2,clipped,DISTANCE_PLANE_3D_FUNC()); +} + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_contact.cpp b/Code/Physics/src/BulletCollision/Gimpact/gim_contact.cpp new file mode 100644 index 00000000..20e41de0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_contact.cpp @@ -0,0 +1,146 @@ + +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_contact.h" + +#define MAX_COINCIDENT 8 + +void gim_contact_array::merge_contacts( + const gim_contact_array & contacts, bool normal_contact_average) +{ + clear(); + + if(contacts.size()==1) + { + push_back(contacts.back()); + return; + } + + gim_array keycontacts(contacts.size()); + keycontacts.resize(contacts.size(),false); + + //fill key contacts + + GUINT i; + + for (i = 0;im_depth - CONTACT_DIFF_EPSILON > scontact->m_depth)//) + { + *pcontact = *scontact; + coincident_count = 0; + } + else if(normal_contact_average) + { + if(btFabs(pcontact->m_depth - scontact->m_depth)m_normal; + coincident_count++; + } + } + } + } + else + {//add new contact + + if(normal_contact_average && coincident_count>0) + { + pcontact->interpolate_normals(coincident_normals,coincident_count); + coincident_count = 0; + } + + push_back(*scontact); + pcontact = &back(); + } + last_key = key; + } +} + +void gim_contact_array::merge_contacts_unique(const gim_contact_array & contacts) +{ + clear(); + + if(contacts.size()==1) + { + push_back(contacts.back()); + return; + } + + GIM_CONTACT average_contact = contacts.back(); + + for (GUINT i=1;i +{ +public: + gim_contact_array():gim_array(64) + { + } + + SIMD_FORCE_INLINE void push_contact(const btVector3 &point,const btVector3 & normal, + GREAL depth, GUINT feature1, GUINT feature2) + { + push_back_mem(); + GIM_CONTACT & newele = back(); + newele.m_point = point; + newele.m_normal = normal; + newele.m_depth = depth; + newele.m_feature1 = feature1; + newele.m_feature2 = feature2; + } + + SIMD_FORCE_INLINE void push_triangle_contacts( + const GIM_TRIANGLE_CONTACT_DATA & tricontact, + GUINT feature1,GUINT feature2) + { + for(GUINT i = 0;i +struct GIM_HASH_TABLE_NODE +{ + GUINT m_key; + T m_data; + GIM_HASH_TABLE_NODE() + { + } + + GIM_HASH_TABLE_NODE(const GIM_HASH_TABLE_NODE & value) + { + m_key = value.m_key; + m_data = value.m_data; + } + + GIM_HASH_TABLE_NODE(GUINT key, const T & data) + { + m_key = key; + m_data = data; + } + + bool operator <(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key < other.m_key) return true; + return false; + } + + bool operator >(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key > other.m_key) return true; + return false; + } + + bool operator ==(const GIM_HASH_TABLE_NODE & other) const + { + ///inverse order, further objects are first + if(m_key == other.m_key) return true; + return false; + } +}; + +///Macro for getting the key +class GIM_HASH_NODE_GET_KEY +{ +public: + template + inline GUINT operator()( const T& a) + { + return a.m_key; + } +}; + + + +///Macro for comparing the key and the element +class GIM_HASH_NODE_CMP_KEY_MACRO +{ +public: + template + inline int operator() ( const T& a, GUINT key) + { + return ((int)(a.m_key - key)); + } +}; + +///Macro for comparing Hash nodes +class GIM_HASH_NODE_CMP_MACRO +{ +public: + template + inline int operator() ( const T& a, const T& b ) + { + return ((int)(a.m_key - b.m_key)); + } +}; + + + + + +//! Sorting for hash table +/*! +switch automatically between quicksort and radixsort +*/ +template +void gim_sort_hash_node_array(T * array, GUINT array_count) +{ + if(array_count + +
    +
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. +When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
  • If node_size != 0, then this container becomes a hash table for ever +
+ +*/ +template +class gim_hash_table +{ +protected: + typedef GIM_HASH_TABLE_NODE _node_type; + + //!The nodes + //array< _node_type, SuperAllocator<_node_type> > m_nodes; + gim_array< _node_type > m_nodes; + //SuperBufferedArray< _node_type > m_nodes; + bool m_sorted; + + ///Hash table data management. The hash table has the indices to the corresponding m_nodes array + GUINT * m_hash_table;//!< + GUINT m_table_size;//!< + GUINT m_node_size;//!< + GUINT m_min_hash_table_size; + + + + //! Returns the cell index + inline GUINT _find_cell(GUINT hashkey) + { + _node_type * nodesptr = m_nodes.pointer(); + GUINT start_index = (hashkey%m_table_size)*m_node_size; + GUINT end_index = start_index + m_node_size; + + while(start_index= m_nodes.size()) return false; + if(m_nodes[index].m_key != GIM_INVALID_HASH) + { + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(m_nodes[index].m_key); + + btAssert(cell_index!=GIM_INVALID_HASH); + btAssert(m_hash_table[cell_index]==index); + + m_hash_table[cell_index] = GIM_INVALID_HASH; + } + + return this->_erase_unsorted(index); + } + + //! erase by key in hash table + inline bool _erase_hash_table(GUINT hashkey) + { + if(hashkey == GIM_INVALID_HASH) return false; + + //Search for the avaliable cell in buffer + GUINT cell_index = _find_cell(hashkey); + if(cell_index ==GIM_INVALID_HASH) return false; + + GUINT index = m_hash_table[cell_index]; + m_hash_table[cell_index] = GIM_INVALID_HASH; + + return this->_erase_unsorted(index); + } + + + + //! insert an element in hash table + /*! + If the element exists, this won't insert the element + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) return value_key;// Not overrited + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + //! insert an element in hash table. + /*! + If the element exists, this replaces the element. + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT _insert_hash_table_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH) + { + //Insert anyway + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + } + + GUINT cell_index = _assign_hash_table_cell(hashkey); + + GUINT value_key = m_hash_table[cell_index]; + + if(value_key!= GIM_INVALID_HASH) + {//replaces the existing + m_nodes[value_key] = _node_type(hashkey,value); + return value_key;// index of the replaced element + } + + m_hash_table[cell_index] = m_nodes.size(); + + _insert_unsorted(hashkey,value); + return GIM_INVALID_HASH; + + } + + + ///Sorted array data management. The hash table has the indices to the corresponding m_nodes array + inline bool _erase_sorted(GUINT index) + { + if(index>=(GUINT)m_nodes.size()) return false; + m_nodes.erase_sorted(index); + if(m_nodes.size()<2) m_sorted = false; + return true; + } + + //! faster, but unsorted + inline bool _erase_unsorted(GUINT index) + { + if(index>=m_nodes.size()) return false; + + GUINT lastindex = m_nodes.size()-1; + if(indexcheck_for_switching_to_hashtable(); + } + + //! Insert an element in an ordered array + inline GUINT _insert_sorted(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + + + GUINT result_ind=0; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + //Insert before found index + if(found) + { + return result_ind; + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return GIM_INVALID_HASH; + } + + inline GUINT _insert_sorted_replace(GUINT hashkey, const T & value) + { + if(hashkey==GIM_INVALID_HASH || size()==0) + { + m_nodes.push_back(_node_type(hashkey,value)); + return GIM_INVALID_HASH; + } + //Insert at last position + //Sort element + GUINT result_ind; + GUINT last_index = m_nodes.size()-1; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex( + ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + //Insert before found index + if(found) + { + m_nodes[result_ind] = _node_type(hashkey,value); + } + else + { + _insert_in_pos(hashkey, value, result_ind); + } + return result_ind; + } + + //! Fast insertion in m_nodes array + inline GUINT _insert_unsorted(GUINT hashkey, const T & value) + { + m_nodes.push_back(_node_type(hashkey,value)); + m_sorted = false; + return GIM_INVALID_HASH; + } + + + +public: + + /*! +
  • if node_size = 0, then this container becomes a simple sorted array allocator. reserve_size is used for reserve memory in m_nodes. + When the array size reaches the size equivalent to 'min_hash_table_size', then it becomes a hash table by calling check_for_switching_to_hashtable. +
  • If node_size != 0, then this container becomes a hash table for ever + + */ + gim_hash_table(GUINT reserve_size = GIM_DEFAULT_HASH_TABLE_SIZE, + GUINT node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE, + GUINT min_hash_table_size = GIM_INVALID_HASH) + { + m_hash_table = NULL; + m_table_size = 0; + m_sorted = false; + m_node_size = node_size; + m_min_hash_table_size = min_hash_table_size; + + if(m_node_size!=0) + { + if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + _reserve_table_memory(reserve_size); + _invalidate_keys(); + } + else + { + m_nodes.reserve(GIM_DEFAULT_HASH_TABLE_SIZE); + _reserve_table_memory(GIM_DEFAULT_HASH_TABLE_SIZE); + _invalidate_keys(); + } + } + else if(reserve_size!=0) + { + m_nodes.reserve(reserve_size); + } + + } + + ~gim_hash_table() + { + _destroy(); + } + + inline bool is_hash_table() + { + if(m_hash_table) return true; + return false; + } + + inline bool is_sorted() + { + if(size()<2) return true; + return m_sorted; + } + + bool sort() + { + if(is_sorted()) return true; + if(m_nodes.size()<2) return false; + + + _node_type * ptr = m_nodes.pointer(); + GUINT siz = m_nodes.size(); + gim_sort_hash_node_array(ptr,siz); + m_sorted=true; + + + + if(m_hash_table) + { + _rehash(); + } + return true; + } + + bool switch_to_hashtable() + { + if(m_hash_table) return false; + if(m_node_size==0) m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + if(m_nodes.size()m_hash_table) return true; + + if(!(m_nodes.size()< m_min_hash_table_size)) + { + if(m_node_size == 0) + { + m_node_size = GIM_DEFAULT_HASH_TABLE_NODE_SIZE; + } + + _resize_table(m_nodes.size()+1); + return true; + } + return false; + } + + inline void set_sorted(bool value) + { + m_sorted = value; + } + + //! Retrieves the amount of keys. + inline GUINT size() const + { + return m_nodes.size(); + } + + //! Retrieves the hash key. + inline GUINT get_key(GUINT index) const + { + return m_nodes[index].m_key; + } + + //! Retrieves the value by index + /*! + */ + inline T * get_value_by_index(GUINT index) + { + return &m_nodes[index].m_data; + } + + inline const T& operator[](GUINT index) const + { + return m_nodes[index].m_data; + } + + inline T& operator[](GUINT index) + { + return m_nodes[index].m_data; + } + + //! Finds the index of the element with the key + /*! + \return the index in the array of the existing element,or GIM_INVALID_HASH if the element has been inserted + If so, the element has been inserted at the last position of the array. + */ + inline GUINT find(GUINT hashkey) + { + if(m_hash_table) + { + GUINT cell_index = _find_cell(hashkey); + if(cell_index==GIM_INVALID_HASH) return GIM_INVALID_HASH; + return m_hash_table[cell_index]; + } + GUINT last_index = m_nodes.size(); + if(last_index<2) + { + if(last_index==0) return GIM_INVALID_HASH; + if(m_nodes[0].m_key == hashkey) return 0; + return GIM_INVALID_HASH; + } + else if(m_sorted) + { + //Binary search + GUINT result_ind = 0; + last_index--; + _node_type * ptr = m_nodes.pointer(); + + bool found = gim_binary_search_ex(ptr,0,last_index,result_ind,hashkey,GIM_HASH_NODE_CMP_KEY_MACRO()); + + + if(found) return result_ind; + } + return GIM_INVALID_HASH; + } + + //! Retrieves the value associated with the index + /*! + \return the found element, or null + */ + inline T * get_value(GUINT hashkey) + { + GUINT index = find(hashkey); + if(index == GIM_INVALID_HASH) return NULL; + return &m_nodes[index].m_data; + } + + + /*! + */ + inline bool erase_by_index(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + if(is_sorted()) + { + return this->_erase_sorted(index); + } + else + { + return this->_erase_unsorted(index); + } + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + inline bool erase_by_index_unsorted(GUINT index) + { + if(index > m_nodes.size()) return false; + + if(m_hash_table == NULL) + { + return this->_erase_unsorted(index); + } + else + { + return this->_erase_by_index_hash_table(index); + } + return false; + } + + + + /*! + + */ + inline bool erase_by_key(GUINT hashkey) + { + if(size()==0) return false; + + if(m_hash_table) + { + return this->_erase_hash_table(hashkey); + } + //Binary search + + if(is_sorted()==false) return false; + + GUINT result_ind = find(hashkey); + if(result_ind!= GIM_INVALID_HASH) + { + return this->_erase_sorted(result_ind); + } + return false; + } + + void clear() + { + m_nodes.clear(); + + if(m_hash_table==NULL) return; + GUINT datasize = m_table_size*m_node_size; + //Initialize the hashkeys. + GUINT i; + for(i=0;i_insert_hash_table(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + //! Insert an element into the hash, and could overrite an existing object with the same hash. + /*! + \return If GIM_INVALID_HASH, the object has been inserted succesfully. Else it returns the position + of the replaced element. + */ + inline GUINT insert_override(GUINT hashkey, const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table_replace(hashkey,element); + } + if(this->is_sorted()) + { + return this->_insert_sorted_replace(hashkey,element); + } + this->_insert_unsorted(hashkey,element); + return m_nodes.size(); + } + + + + //! Insert an element into the hash,But if this container is a sorted array, this inserts it unsorted + /*! + */ + inline GUINT insert_unsorted(GUINT hashkey,const T & element) + { + if(m_hash_table) + { + return this->_insert_hash_table(hashkey,element); + } + return this->_insert_unsorted(hashkey,element); + } + + +}; + + + +#endif // GIM_CONTAINERS_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_linear_math.h b/Code/Physics/src/BulletCollision/Gimpact/gim_linear_math.h new file mode 100644 index 00000000..64f11b49 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_linear_math.h @@ -0,0 +1,1573 @@ +#ifndef GIM_LINEAR_H_INCLUDED +#define GIM_LINEAR_H_INCLUDED + +/*! \file gim_linear_math.h +*\author Francisco Leon Najera +Type Independant Vector and matrix operations. +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_math.h" +#include "gim_geom_types.h" + + + + +//! Zero out a 2D vector +#define VEC_ZERO_2(a) \ +{ \ + (a)[0] = (a)[1] = 0.0f; \ +}\ + + +//! Zero out a 3D vector +#define VEC_ZERO(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = 0.0f; \ +}\ + + +/// Zero out a 4D vector +#define VEC_ZERO_4(a) \ +{ \ + (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ +}\ + + +/// Vector copy +#define VEC_COPY_2(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ +}\ + + +/// Copy 3D vector +#define VEC_COPY(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ +}\ + + +/// Copy 4D vector +#define VEC_COPY_4(b,a) \ +{ \ + (b)[0] = (a)[0]; \ + (b)[1] = (a)[1]; \ + (b)[2] = (a)[2]; \ + (b)[3] = (a)[3]; \ +}\ + +/// VECTOR SWAP +#define VEC_SWAP(b,a) \ +{ \ + GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ + GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ + GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ +}\ + +/// Vector difference +#define VEC_DIFF_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ +}\ + + +/// Vector difference +#define VEC_DIFF(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ +}\ + + +/// Vector difference +#define VEC_DIFF_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] - (v1)[0]; \ + (v21)[1] = (v2)[1] - (v1)[1]; \ + (v21)[2] = (v2)[2] - (v1)[2]; \ + (v21)[3] = (v2)[3] - (v1)[3]; \ +}\ + + +/// Vector sum +#define VEC_SUM_2(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ +}\ + + +/// Vector sum +#define VEC_SUM(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ +}\ + + +/// Vector sum +#define VEC_SUM_4(v21,v2,v1) \ +{ \ + (v21)[0] = (v2)[0] + (v1)[0]; \ + (v21)[1] = (v2)[1] + (v1)[1]; \ + (v21)[2] = (v2)[2] + (v1)[2]; \ + (v21)[3] = (v2)[3] + (v1)[3]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_2(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ +}\ + + +/// scalar times vector +#define VEC_SCALE_4(c,a,b) \ +{ \ + (c)[0] = (a)*(b)[0]; \ + (c)[1] = (a)*(b)[1]; \ + (c)[2] = (a)*(b)[2]; \ + (c)[3] = (a)*(b)[3]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_2(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ +}\ + + +/// accumulate scaled vector +#define VEC_ACCUM_4(c,a,b) \ +{ \ + (c)[0] += (a)*(b)[0]; \ + (c)[1] += (a)*(b)[1]; \ + (c)[2] += (a)*(b)[2]; \ + (c)[3] += (a)*(b)[3]; \ +}\ + + +/// Vector dot product +#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) + + +/// Vector dot product +#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) + +/// Vector dot product +#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) + +/// vector impact parameter (squared) +#define VEC_IMPACT_SQ(bsq,direction,position) {\ + GREAL _llel_ = VEC_DOT(direction, position);\ + bsq = VEC_DOT(position, position) - _llel_*_llel_;\ +}\ + + +/// vector impact parameter +#define VEC_IMPACT(bsq,direction,position) {\ + VEC_IMPACT_SQ(bsq,direction,position); \ + GIM_SQRT(bsq,bsq); \ +}\ + +/// Vector length +#define VEC_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_SQRT(_pp,l);\ +}\ + +/// Vector inv length +#define VEC_INV_LENGTH_2(a,l)\ +{\ + GREAL _pp = VEC_DOT_2(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH(a,l)\ +{\ + GREAL _pp = VEC_DOT(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + +/// Vector inv length +#define VEC_INV_LENGTH_4(a,l)\ +{\ + GREAL _pp = VEC_DOT_4(a,a);\ + GIM_INV_SQRT(_pp,l);\ +}\ + + + +/// distance between two points +#define VEC_DISTANCE(_len,_va,_vb) {\ + vec3f _tmp_; \ + VEC_DIFF(_tmp_, _vb, _va); \ + VEC_LENGTH(_tmp_,_len); \ +}\ + + +/// Vector length +#define VEC_CONJUGATE_LENGTH(a,l)\ +{\ + GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ + GIM_SQRT(_pp,l);\ +}\ + + +/// Vector length +#define VEC_NORMALIZE(a) { \ + GREAL len;\ + VEC_INV_LENGTH(a,len); \ + if(lenA[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ +}\ + +//! Finds the 2 smallest cartesian coordinates from a vector +#define VEC_MINOR_AXES(vec, i0, i1)\ +{\ + VEC_MAYOR_COORD(vec,i0);\ + i0 = (i0+1)%3;\ + i1 = (i0+1)%3;\ +}\ + + + + +#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) + +#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) + + +/// Vector cross +#define X_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = 0.0f; \ + dst[1] = -src[2]; \ + dst[2] = src[1]; \ +}\ + +#define Y_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = src[2]; \ + dst[1] = 0.0f; \ + dst[2] = -src[0]; \ +}\ + +#define Z_AXIS_CROSS_VEC(dst,src)\ +{ \ + dst[0] = -src[1]; \ + dst[1] = src[0]; \ + dst[2] = 0.0f; \ +}\ + + + + + + +/// initialize matrix +#define IDENTIFY_MATRIX_3X3(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ +}\ + +/*! initialize matrix */ +#define IDENTIFY_MATRIX_4X4(m) \ +{ \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! initialize matrix */ +#define ZERO_MATRIX_4X4(m) \ +{ \ + m[0][0] = 0.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 0.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 0.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 0.0; \ +}\ + +/*! matrix rotation X */ +#define ROTX_CS(m,cosine,sine) \ +{ \ + /* rotation about the x-axis */ \ + \ + m[0][0] = 1.0; \ + m[0][1] = 0.0; \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = (cosine); \ + m[1][2] = (sine); \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = -(sine); \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Y */ +#define ROTY_CS(m,cosine,sine) \ +{ \ + /* rotation about the y-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = 0.0; \ + m[0][2] = -(sine); \ + m[0][3] = 0.0; \ + \ + m[1][0] = 0.0; \ + m[1][1] = 1.0; \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = (sine); \ + m[2][1] = 0.0; \ + m[2][2] = (cosine); \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix rotation Z */ +#define ROTZ_CS(m,cosine,sine) \ +{ \ + /* rotation about the z-axis */ \ + \ + m[0][0] = (cosine); \ + m[0][1] = (sine); \ + m[0][2] = 0.0; \ + m[0][3] = 0.0; \ + \ + m[1][0] = -(sine); \ + m[1][1] = (cosine); \ + m[1][2] = 0.0; \ + m[1][3] = 0.0; \ + \ + m[2][0] = 0.0; \ + m[2][1] = 0.0; \ + m[2][2] = 1.0; \ + m[2][3] = 0.0; \ + \ + m[3][0] = 0.0; \ + m[3][1] = 0.0; \ + m[3][2] = 0.0; \ + m[3][3] = 1.0; \ +}\ + +/*! matrix copy */ +#define COPY_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_2X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix copy */ +#define COPY_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[0][1]; \ + b[0][2] = a[0][2]; \ + b[0][3] = a[0][3]; \ + \ + b[1][0] = a[1][0]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[1][2]; \ + b[1][3] = a[1][3]; \ + \ + b[2][0] = a[2][0]; \ + b[2][1] = a[2][1]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[2][3]; \ + \ + b[3][0] = a[3][0]; \ + b[3][1] = a[3][1]; \ + b[3][2] = a[3][2]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_2X2(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_3X3(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ +}\ + + +/*! matrix transpose */ +#define TRANSPOSE_MATRIX_4X4(b,a) \ +{ \ + b[0][0] = a[0][0]; \ + b[0][1] = a[1][0]; \ + b[0][2] = a[2][0]; \ + b[0][3] = a[3][0]; \ + \ + b[1][0] = a[0][1]; \ + b[1][1] = a[1][1]; \ + b[1][2] = a[2][1]; \ + b[1][3] = a[3][1]; \ + \ + b[2][0] = a[0][2]; \ + b[2][1] = a[1][2]; \ + b[2][2] = a[2][2]; \ + b[2][3] = a[3][2]; \ + \ + b[3][0] = a[0][3]; \ + b[3][1] = a[1][3]; \ + b[3][2] = a[2][3]; \ + b[3][3] = a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] = (s) * a[0][0]; \ + b[0][1] = (s) * a[0][1]; \ + b[0][2] = (s) * a[0][2]; \ + b[0][3] = (s) * a[0][3]; \ + \ + b[1][0] = (s) * a[1][0]; \ + b[1][1] = (s) * a[1][1]; \ + b[1][2] = (s) * a[1][2]; \ + b[1][3] = (s) * a[1][3]; \ + \ + b[2][0] = (s) * a[2][0]; \ + b[2][1] = (s) * a[2][1]; \ + b[2][2] = (s) * a[2][2]; \ + b[2][3] = (s) * a[2][3]; \ + \ + b[3][0] = s * a[3][0]; \ + b[3][1] = s * a[3][1]; \ + b[3][2] = s * a[3][2]; \ + b[3][3] = s * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_2X2(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */ +#define SCALE_VEC_MATRIX_3X3(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define SCALE_VEC_MATRIX_4X4(b,svec,a) \ +{ \ + b[0][0] = svec[0] * a[0][0]; \ + b[1][0] = svec[0] * a[1][0]; \ + b[2][0] = svec[0] * a[2][0]; \ + b[3][0] = svec[0] * a[3][0]; \ + \ + b[0][1] = svec[1] * a[0][1]; \ + b[1][1] = svec[1] * a[1][1]; \ + b[2][1] = svec[1] * a[2][1]; \ + b[3][1] = svec[1] * a[3][1]; \ + \ + b[0][2] = svec[2] * a[0][2]; \ + b[1][2] = svec[2] * a[1][2]; \ + b[2][2] = svec[2] * a[2][2]; \ + b[3][2] = svec[2] * a[3][2]; \ + \ + b[0][3] = svec[3] * a[0][3]; \ + b[1][3] = svec[3] * a[1][3]; \ + b[2][3] = svec[3] * a[2][3]; \ + b[3][3] = svec[3] * a[3][3]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ +}\ + + +/*! multiply matrix by scalar */ +#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ +{ \ + b[0][0] += (s) * a[0][0]; \ + b[0][1] += (s) * a[0][1]; \ + b[0][2] += (s) * a[0][2]; \ + b[0][3] += (s) * a[0][3]; \ + \ + b[1][0] += (s) * a[1][0]; \ + b[1][1] += (s) * a[1][1]; \ + b[1][2] += (s) * a[1][2]; \ + b[1][3] += (s) * a[1][3]; \ + \ + b[2][0] += (s) * a[2][0]; \ + b[2][1] += (s) * a[2][1]; \ + b[2][2] += (s) * a[2][2]; \ + b[2][3] += (s) * a[2][3]; \ + \ + b[3][0] += (s) * a[3][0]; \ + b[3][1] += (s) * a[3][1]; \ + b[3][2] += (s) * a[3][2]; \ + b[3][3] += (s) * a[3][3]; \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_2X2(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ + \ +}\ + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_3X3(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ +}\ + + +/*! matrix product */ +/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/ +#define MATRIX_PRODUCT_4X4(c,a,b) \ +{ \ + c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ + c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ + c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ + c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ + \ + c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ + c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ + c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ + c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ + \ + c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ + c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ + c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ + c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ + \ + c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ + c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ + c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ + c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ +}\ + + +/*! matrix times vector */ +#define MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ +}\ + + +/*! matrix times vector +v is a vec4f +*/ +#define MAT_DOT_VEC_4X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ + p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ +}\ + +/*! matrix times vector +v is a vec3f +and m is a mat4f
    +Last column is added as the position +*/ +#define MAT_DOT_VEC_3X4(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ + p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ +}\ + + +/*! vector transpose times matrix */ +/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */ +#define VEC_DOT_MAT_3X3(p,v,m) \ +{ \ + p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ + p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ + p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ +}\ + + +/*! affine matrix times vector */ +/** The matrix is assumed to be an affine matrix, with last two + * entries representing a translation */ +#define MAT_DOT_VEC_2X3(p,m,v) \ +{ \ + p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ + p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ +}\ + +//! Transform a plane +#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ +{ \ + pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ + pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ + pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ + pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ +}\ + + + +/** inverse transpose of matrix times vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * + * DANGER !!! Do Not use this on normal vectors!!! + * It will leave normals the wrong length !!! + * See macro below for use on normals. + */ +#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ +{ \ + GREAL det; \ + \ + det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + /* if matrix not singular, and not orthonormal, then renormalize */ \ + if ((det!=1.0f) && (det != 0.0f)) { \ + det = 1.0f / det; \ + p[0] *= det; \ + p[1] *= det; \ + } \ +}\ + + +/** transform normal vector by inverse transpose of matrix + * and then renormalize the vector + * + * This macro computes inverse transpose of matrix m, + * and multiplies vector v into it, to yeild vector p + * Vector p is then normalized. + */ +#define NORM_XFORM_2X2(p,m,v) \ +{ \ + GREAL len; \ + \ + /* do nothing if off-diagonals are zero and diagonals are \ + * equal */ \ + if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ + p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ + p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ + \ + len = p[0]*p[0] + p[1]*p[1]; \ + GIM_INV_SQRT(len,len); \ + p[0] *= len; \ + p[1] *= len; \ + } else { \ + VEC_COPY_2 (p, v); \ + } \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] = v[0] * t[0]; \ + m[0][1] = v[0] * t[1]; \ + m[0][2] = v[0] * t[2]; \ + m[0][3] = v[0] * t[3]; \ + \ + m[1][0] = v[1] * t[0]; \ + m[1][1] = v[1] * t[1]; \ + m[1][2] = v[1] * t[2]; \ + m[1][3] = v[1] * t[3]; \ + \ + m[2][0] = v[2] * t[0]; \ + m[2][1] = v[2] * t[1]; \ + m[2][2] = v[2] * t[2]; \ + m[2][3] = v[2] * t[3]; \ + \ + m[3][0] = v[3] * t[0]; \ + m[3][1] = v[3] * t[1]; \ + m[3][2] = v[3] * t[2]; \ + m[3][3] = v[3] * t[3]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ +}\ + + +/** outer product of vector times vector transpose + * + * The outer product of vector v and vector transpose t yeilds + * dyadic matrix m. + */ +#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ +{ \ + m[0][0] += v[0] * t[0]; \ + m[0][1] += v[0] * t[1]; \ + m[0][2] += v[0] * t[2]; \ + m[0][3] += v[0] * t[3]; \ + \ + m[1][0] += v[1] * t[0]; \ + m[1][1] += v[1] * t[1]; \ + m[1][2] += v[1] * t[2]; \ + m[1][3] += v[1] * t[3]; \ + \ + m[2][0] += v[2] * t[0]; \ + m[2][1] += v[2] * t[1]; \ + m[2][2] += v[2] * t[2]; \ + m[2][3] += v[2] * t[3]; \ + \ + m[3][0] += v[3] * t[0]; \ + m[3][1] += v[3] * t[1]; \ + m[3][2] += v[3] * t[2]; \ + m[3][3] += v[3] * t[3]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_2X2(d,m) \ +{ \ + d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ +}\ + + +/** determinant of matrix + * + * Computes determinant of matrix m, returning d + */ +#define DETERMINANT_3X3(d,m) \ +{ \ + d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ + d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ + d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ +}\ + + +/** i,j,th cofactor of a 4x4 matrix + * + */ +#define COFACTOR_4X4_IJ(fac,m,i,j) \ +{ \ + GUINT __ii[4], __jj[4], __k; \ + \ + for (__k=0; __k +*/ +#define INV_MAT_DOT_VEC_3X3(p,m,v) \ +{ \ + p[0] = MAT_DOT_COL(m,v,0); \ + p[1] = MAT_DOT_COL(m,v,1); \ + p[2] = MAT_DOT_COL(m,v,2); \ +}\ + + + +#endif // GIM_VECTOR_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_math.h b/Code/Physics/src/BulletCollision/Gimpact/gim_math.h new file mode 100644 index 00000000..939079e1 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_math.h @@ -0,0 +1,157 @@ +#ifndef GIM_MATH_H_INCLUDED +#define GIM_MATH_H_INCLUDED +/*! \file gim_math.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "LinearMath/btScalar.h" + + + +#define GREAL btScalar +#define GREAL2 double +#define GINT int +#define GUINT unsigned int +#define GSHORT short +#define GUSHORT unsigned short +#define GINT64 long long +#define GUINT64 unsigned long long + + + +#define G_PI 3.14159265358979f +#define G_HALF_PI 1.5707963f +//267948966 +#define G_TWO_PI 6.28318530f +//71795864 +#define G_ROOT3 1.73205f +#define G_ROOT2 1.41421f +#define G_UINT_INFINITY 0xffffffff //!< A very very high value +#define G_REAL_INFINITY FLT_MAX +#define G_SIGN_BITMASK 0x80000000 +#define G_EPSILON SIMD_EPSILON + + + +enum GIM_SCALAR_TYPES +{ + G_STYPE_REAL =0, + G_STYPE_REAL2, + G_STYPE_SHORT, + G_STYPE_USHORT, + G_STYPE_INT, + G_STYPE_UINT, + G_STYPE_INT64, + G_STYPE_UINT64 +}; + + + +#define G_DEGTORAD(X) ((X)*3.1415926f/180.0f) +#define G_RADTODEG(X) ((X)*180.0f/3.1415926f) + +//! Integer representation of a floating-point value. +#define GIM_IR(x) ((GUINT&)(x)) + +//! Signed integer representation of a floating-point value. +#define GIM_SIR(x) ((GINT&)(x)) + +//! Absolute integer representation of a floating-point value +#define GIM_AIR(x) (GIM_IR(x)&0x7fffffff) + +//! Floating-point representation of an integer value. +#define GIM_FR(x) ((GREAL&)(x)) + +#define GIM_MAX(a,b) (ab?b:a) + +#define GIM_MAX3(a,b,c) GIM_MAX(a,GIM_MAX(b,c)) +#define GIM_MIN3(a,b,c) GIM_MIN(a,GIM_MIN(b,c)) + +#define GIM_IS_ZERO(value) (value < G_EPSILON && value > -G_EPSILON) + +#define GIM_IS_NEGATIVE(value) (value <= -G_EPSILON) + +#define GIM_IS_POSISITVE(value) (value >= G_EPSILON) + +#define GIM_NEAR_EQUAL(v1,v2) GIM_IS_ZERO((v1-v2)) + +///returns a clamped number +#define GIM_CLAMP(number,minval,maxval) (numbermaxval?maxval:number)) + +#define GIM_GREATER(x, y) btFabs(x) > (y) + +///Swap numbers +#define GIM_SWAP_NUMBERS(a,b){ \ + a = a+b; \ + b = a-b; \ + a = a-b; \ +}\ + +#define GIM_INV_SQRT(va,isva)\ +{\ + if(va<=0.0000001f)\ + {\ + isva = G_REAL_INFINITY;\ + }\ + else\ + {\ + GREAL _x = va * 0.5f;\ + GUINT _y = 0x5f3759df - ( GIM_IR(va) >> 1);\ + isva = GIM_FR(_y);\ + isva = isva * ( 1.5f - ( _x * isva * isva ) );\ + }\ +}\ + +#define GIM_SQRT(va,sva)\ +{\ + GIM_INV_SQRT(va,sva);\ + sva = 1.0f/sva;\ +}\ + +//! Computes 1.0f / sqrtf(x). Comes from Quake3. See http://www.magic-software.com/3DGEDInvSqrt.html +inline GREAL gim_inv_sqrt(GREAL f) +{ + GREAL r; + GIM_INV_SQRT(f,r); + return r; +} + +inline GREAL gim_sqrt(GREAL f) +{ + GREAL r; + GIM_SQRT(f,r); + return r; +} + + + +#endif // GIM_MATH_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_memory.cpp b/Code/Physics/src/BulletCollision/Gimpact/gim_memory.cpp new file mode 100644 index 00000000..1636eb78 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_memory.cpp @@ -0,0 +1,135 @@ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + + +#include "gim_memory.h" +#include "stdlib.h" + +#ifdef GIM_SIMD_MEMORY +#include "LinearMath/btAlignedAllocator.h" +#endif + +static gim_alloc_function *g_allocfn = 0; +static gim_alloca_function *g_allocafn = 0; +static gim_realloc_function *g_reallocfn = 0; +static gim_free_function *g_freefn = 0; + +void gim_set_alloc_handler (gim_alloc_function *fn) +{ + g_allocfn = fn; +} + +void gim_set_alloca_handler (gim_alloca_function *fn) +{ + g_allocafn = fn; +} + +void gim_set_realloc_handler (gim_realloc_function *fn) +{ + g_reallocfn = fn; +} + +void gim_set_free_handler (gim_free_function *fn) +{ + g_freefn = fn; +} + +gim_alloc_function *gim_get_alloc_handler() +{ + return g_allocfn; +} + +gim_alloca_function *gim_get_alloca_handler() +{ + return g_allocafn; +} + + +gim_realloc_function *gim_get_realloc_handler () +{ + return g_reallocfn; +} + + +gim_free_function *gim_get_free_handler () +{ + return g_freefn; +} + + +void * gim_alloc(size_t size) +{ + void * ptr; + if (g_allocfn) + { + ptr = g_allocfn(size); + } + else + { +#ifdef GIM_SIMD_MEMORY + ptr = btAlignedAlloc(size,16); +#else + ptr = malloc(size); +#endif + } + return ptr; +} + +void * gim_alloca(size_t size) +{ + if (g_allocafn) return g_allocafn(size); else return gim_alloc(size); +} + + +void * gim_realloc(void *ptr, size_t oldsize, size_t newsize) +{ + void * newptr = gim_alloc(newsize); + size_t copysize = oldsize + +#ifdef PREFETCH +#include // for prefetch +#define pfval 64 +#define pfval2 128 +//! Prefetch 64 +#define pf(_x,_i) _mm_prefetch((void *)(_x + _i + pfval), 0) +//! Prefetch 128 +#define pf2(_x,_i) _mm_prefetch((void *)(_x + _i + pfval2), 0) +#else +//! Prefetch 64 +#define pf(_x,_i) +//! Prefetch 128 +#define pf2(_x,_i) +#endif + + +///Functions for manip packed arrays of numbers +#define GIM_COPY_ARRAYS(dest_array,source_array,element_count)\ +{\ + for (GUINT _i_=0;_i_=SIMD_T_SIZE) + { + *(ui_dst_ptr++) = *(ui_src_ptr++); + copysize-=SIMD_T_SIZE; + } + if(copysize==0) return; +*/ + + char * c_src_ptr = (char *)src; + char * c_dst_ptr = (char *)dst; + while(copysize>0) + { + *(c_dst_ptr++) = *(c_src_ptr++); + copysize--; + } + return; +#else + memcpy(dst,src,copysize); +#endif +} + + + +template +inline void gim_swap_elements(T* _array,size_t _i,size_t _j) +{ + T _e_tmp_ = _array[_i]; + _array[_i] = _array[_j]; + _array[_j] = _e_tmp_; +} + + +template +inline void gim_swap_elements_memcpy(T* _array,size_t _i,size_t _j) +{ + char _e_tmp_[sizeof(T)]; + gim_simd_memcpy(_e_tmp_,&_array[_i],sizeof(T)); + gim_simd_memcpy(&_array[_i],&_array[_j],sizeof(T)); + gim_simd_memcpy(&_array[_j],_e_tmp_,sizeof(T)); +} + +template +inline void gim_swap_elements_ptr(char * _array,size_t _i,size_t _j) +{ + char _e_tmp_[SIZE]; + _i*=SIZE; + _j*=SIZE; + gim_simd_memcpy(_e_tmp_,_array+_i,SIZE); + gim_simd_memcpy(_array+_i,_array+_j,SIZE); + gim_simd_memcpy(_array+_j,_e_tmp_,SIZE); +} + +#endif // GIM_MEMORY_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_radixsort.h b/Code/Physics/src/BulletCollision/Gimpact/gim_radixsort.h new file mode 100644 index 00000000..c246ef12 --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_radixsort.h @@ -0,0 +1,406 @@ +#ifndef GIM_RADIXSORT_H_INCLUDED +#define GIM_RADIXSORT_H_INCLUDED +/*! \file gim_radixsort.h +\author Francisco Leon Najera. +Based on the work of Michael Herf : "fast floating-point radix sort" +Avaliable on http://www.stereopsis.com/radix.html +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_memory.h" + +///Macros for sorting. +//! Prototype for comparators +class less_comparator +{ + public: + + template + inline int operator() ( const T& a, const Z& b ) + { + return ( ab?1:0)); + } +}; + +//! Prototype for comparators +class integer_comparator +{ + public: + + template + inline int operator() ( const T& a, const T& b ) + { + return (int)(a-b); + } +}; + +//!Prototype for getting the integer representation of an object +class uint_key_func +{ +public: + template + inline GUINT operator()( const T& a) + { + return (GUINT)a; + } +}; + + +//!Prototype for copying elements +class copy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + a = b; + } +}; + +//!Prototype for copying elements +class memcopy_elements_func +{ +public: + template + inline void operator()(T& a,T& b) + { + gim_simd_memcpy(&a,&b,sizeof(T)); + } +}; + + +//! @{ +struct GIM_RSORT_TOKEN +{ + GUINT m_key; + GUINT m_value; + GIM_RSORT_TOKEN() + { + } + GIM_RSORT_TOKEN(const GIM_RSORT_TOKEN& rtoken) + { + m_key = rtoken.m_key; + m_value = rtoken.m_value; + } + + inline bool operator <(const GIM_RSORT_TOKEN& other) const + { + return (m_key < other.m_key); + } + + inline bool operator >(const GIM_RSORT_TOKEN& other) const + { + return (m_key > other.m_key); + } +}; + +//! Prototype for comparators +class GIM_RSORT_TOKEN_COMPARATOR +{ + public: + + inline int operator()( const GIM_RSORT_TOKEN& a, const GIM_RSORT_TOKEN& b ) + { + return (int)((a.m_key) - (b.m_key)); + } +}; + + + +#define kHist 2048 +// ---- utils for accessing 11-bit quantities +#define D11_0(x) (x & 0x7FF) +#define D11_1(x) (x >> 11 & 0x7FF) +#define D11_2(x) (x >> 22 ) + + + +///Radix sort for unsigned integer keys +inline void gim_radix_sort_rtokens( + GIM_RSORT_TOKEN * array, + GIM_RSORT_TOKEN * sorted, GUINT element_count) +{ + GUINT i; + GUINT b0[kHist * 3]; + GUINT *b1 = b0 + kHist; + GUINT *b2 = b1 + kHist; + for (i = 0; i < kHist * 3; ++i) + { + b0[i] = 0; + } + GUINT fi; + GUINT pos; + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + b0[D11_0(fi)] ++; + b1[D11_1(fi)] ++; + b2[D11_2(fi)] ++; + } + { + GUINT sum0 = 0, sum1 = 0, sum2 = 0; + GUINT tsum; + for (i = 0; i < kHist; ++i) + { + tsum = b0[i] + sum0; + b0[i] = sum0 - 1; + sum0 = tsum; + tsum = b1[i] + sum1; + b1[i] = sum1 - 1; + sum1 = tsum; + tsum = b2[i] + sum2; + b2[i] = sum2 - 1; + sum2 = tsum; + } + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_0(fi); + pos = ++b0[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = sorted[i].m_key; + pos = D11_1(fi); + pos = ++b1[pos]; + array[pos].m_key = sorted[i].m_key; + array[pos].m_value = sorted[i].m_value; + } + for (i = 0; i < element_count; ++i) + { + fi = array[i].m_key; + pos = D11_2(fi); + pos = ++b2[pos]; + sorted[pos].m_key = array[i].m_key; + sorted[pos].m_value = array[i].m_value; + } +} + + + + +/// Get the sorted tokens from an array. For generic use. Tokens are IRR_RSORT_TOKEN +/*! +*\param array Array of elements to sort +*\param sorted_tokens Tokens of sorted elements +*\param element_count element count +*\param uintkey_macro Functor which retrieves the integer representation of an array element +*/ +template +void gim_radix_sort_array_tokens( + T* array , + GIM_RSORT_TOKEN * sorted_tokens, + GUINT element_count,GETKEY_CLASS uintkey_macro) +{ + GIM_RSORT_TOKEN * _unsorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + for (GUINT _i=0;_i +void gim_radix_sort( + T * array, GUINT element_count, + GETKEY_CLASS get_uintkey_macro, COPY_CLASS copy_elements_macro) +{ + GIM_RSORT_TOKEN * _sorted = (GIM_RSORT_TOKEN *) gim_alloc(sizeof(GIM_RSORT_TOKEN)*element_count); + gim_radix_sort_array_tokens(array,_sorted,element_count,get_uintkey_macro); + T * _original_array = (T *) gim_alloc(sizeof(T)*element_count); + gim_simd_memcpy(_original_array,array,sizeof(T)*element_count); + for (GUINT _i=0;_i +bool gim_binary_search_ex( + const T* _array, GUINT _start_i, + GUINT _end_i,GUINT & _result_index, + const KEYCLASS & _search_key, + COMP_CLASS _comp_macro) +{ + GUINT _k; + int _comp_result; + GUINT _i = _start_i; + GUINT _j = _end_i+1; + while (_i < _j) + { + _k = (_j+_i-1)/2; + _comp_result = _comp_macro(_array[_k], _search_key); + if (_comp_result == 0) + { + _result_index = _k; + return true; + } + else if (_comp_result < 0) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +//! Failsafe Iterative binary search,Template version +/*! +If the element is not found, it returns the nearest upper element position, may be the further position after the last element. +\param _array +\param _start_i the beginning of the array +\param _end_i the ending index of the array +\param _search_key Value to find +\param _result_index the index of the found element, or if not found then it will get the index of the closest bigger value +\return true if found, else false +*/ +template +bool gim_binary_search( + const T*_array,GUINT _start_i, + GUINT _end_i,const T & _search_key, + GUINT & _result_index) +{ + GUINT _i = _start_i; + GUINT _j = _end_i+1; + GUINT _k; + while(_i < _j) + { + _k = (_j+_i-1)/2; + if(_array[_k]==_search_key) + { + _result_index = _k; + return true; + } + else if (_array[_k]<_search_key) + { + _i = _k+1; + } + else + { + _j = _k; + } + } + _result_index = _i; + return false; +} + + + +///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ +template +void gim_down_heap(T *pArr, GUINT k, GUINT n,COMP_CLASS CompareFunc) +{ + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < (int)n) && CompareFunc(pArr[child - 1] , pArr[child])<0) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])<0) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; +} /*downHeap*/ + + +template +void gim_heap_sort(T *pArr, GUINT element_count, COMP_CLASS CompareFunc) +{ + /* sort a[0..N-1], N.B. 0 to N-1 */ + GUINT k; + GUINT n = element_count; + for (k = n/2; k > 0; k--) + { + gim_down_heap(pArr, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=2 ) + { + gim_swap_elements(pArr,0,n-1); /* largest of a[0..n-1] */ + --n; + /* restore a[1..i-1] heap */ + gim_down_heap(pArr, 1, n, CompareFunc); + } +} + + + + +#endif // GIM_RADIXSORT_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/Gimpact/gim_tri_collision.cpp b/Code/Physics/src/BulletCollision/Gimpact/gim_tri_collision.cpp new file mode 100644 index 00000000..f9727e1d --- /dev/null +++ b/Code/Physics/src/BulletCollision/Gimpact/gim_tri_collision.cpp @@ -0,0 +1,640 @@ + +/*! \file gim_tri_collision.h +\author Francisco Leon Najera +*/ +/* +----------------------------------------------------------------------------- +This source file is part of GIMPACT Library. + +For the latest info, see http://gimpact.sourceforge.net/ + +Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. +email: projectileman@yahoo.com + + This library is free software; you can redistribute it and/or + modify it under the terms of EITHER: + (1) The GNU Lesser General Public License as published by the Free + Software Foundation; either version 2.1 of the License, or (at + your option) any later version. The text of the GNU Lesser + General Public License is included with this library in the + file GIMPACT-LICENSE-LGPL.TXT. + (2) The BSD-style license that is included with this library in + the file GIMPACT-LICENSE-BSD.TXT. + (3) The zlib/libpng license that is included with this library in + the file GIMPACT-LICENSE-ZLIB.TXT. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files + GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. + +----------------------------------------------------------------------------- +*/ + +#include "gim_tri_collision.h" + + +#define TRI_LOCAL_EPSILON 0.000001f +#define MIN_EDGE_EDGE_DIS 0.00001f + + +class GIM_TRIANGLE_CALCULATION_CACHE +{ +public: + GREAL margin; + btVector3 tu_vertices[3]; + btVector3 tv_vertices[3]; + btVector4 tu_plane; + btVector4 tv_plane; + btVector3 closest_point_u; + btVector3 closest_point_v; + btVector3 edge_edge_dir; + btVector3 distances; + GREAL du[4]; + GREAL du0du1; + GREAL du0du2; + GREAL dv[4]; + GREAL dv0dv1; + GREAL dv0dv2; + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + btVector3 contact_points[MAX_TRI_CLIPPING]; + + + + //! if returns false, the faces are paralele + SIMD_FORCE_INLINE bool compute_intervals( + const GREAL &D0, + const GREAL &D1, + const GREAL &D2, + const GREAL &D0D1, + const GREAL &D0D2, + GREAL & scale_edge0, + GREAL & scale_edge1, + GUINT &edge_index0, + GUINT &edge_index1) + { + if(D0D1>0.0f) + { + /* here we know that D0D2<=0.0 */ + /* that is D0, D1 are on the same side, D2 on the other or on the plane */ + scale_edge0 = -D2/(D0-D2); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 2;edge_index1 = 1; + } + else if(D0D2>0.0f) + { + /* here we know that d0d1<=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D1/(D2-D1); + edge_index0 = 0;edge_index1 = 1; + } + else if(D1*D2>0.0f || D0!=0.0f) + { + /* here we know that d0d1<=0.0 or that D0!=0.0 */ + scale_edge0 = -D0/(D1-D0); + scale_edge1 = -D2/(D0-D2); + edge_index0 = 0 ;edge_index1 = 2; + } + else + { + return false; + } + return true; + } + + + //! clip triangle + /*! + */ + SIMD_FORCE_INLINE GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clip_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clip_points); + + return clipped_count; + + + /*GUINT i0 = (tri_plane.closestAxis()+1)%3; + GUINT i1 = (i0+1)%3; + // edge 0 + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + + GUINT clipped_count= PLANE_CLIP_TRIANGLE_GENERIC( + 0,srcpoints[0],srcpoints[1],srcpoints[2],temp_points, + DISTANCE_EDGE(tripoints[0],tripoints[1],i0,i1)); + + + if(clipped_count == 0) return 0; + + // edge 1 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points,clipped_count,temp_points1, + DISTANCE_EDGE(tripoints[1],tripoints[2],i0,i1)); + + if(clipped_count == 0) return 0; + + // edge 2 + clipped_count = PLANE_CLIP_POLYGON_GENERIC( + 0,temp_points1,clipped_count,clipped_points, + DISTANCE_EDGE(tripoints[2],tripoints[0],i0,i1)); + + return clipped_count;*/ + } + + SIMD_FORCE_INLINE void sort_isect( + GREAL & isect0,GREAL & isect1,GUINT &e0,GUINT &e1,btVector3 & vec0,btVector3 & vec1) + { + if(isect1=isect_v[1]) // face U casts face V + { + return 1; + } + else if(isect_v[0]<=isect_u[0]) // face V casts face U + { + return 2; + } + // closest points + closest_point_u = up_e1; + closest_point_v = vp_e0; + // calc edges and separation + + if(isect_u[1]+ MIN_EDGE_EDGE_DIS=isect_u[1]) // face V casts face U + { + return 2; + } + else if(isect_u[0]<=isect_v[0]) // face U casts face V + { + return 1; + } + // closest points + closest_point_u = up_e0; + closest_point_v = vp_e1; + // calc edges and separation + + if(isect_v[1]+MIN_EDGE_EDGE_DIS0.0f && du0du2>0.0f) // same sign on all of them + not equal 0 ? + { + if(du[0]<0) //we need test behind the triangle plane + { + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + if(distances[0]>margin) return false; //never intersect + + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + if(distances[0]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[0] = (du[0]+du[1]+du[2])/3.0f; //centroid + + if(distances[0]<0.0f) + { + //reorder triangle v + VEC_SWAP(tv_vertices[0],tv_vertices[1]); + VEC_SCALE_4(tv_plane,-1.0f,tv_plane); + + distances[0] = GIM_MAX3(du[0],du[1],du[2]); + distances[0] = -distances[0]; + } + else + { + distances[0] = GIM_MIN3(du[0],du[1],du[2]); + } + } + + + // plane U vs V points + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],tu_plane); + + dv[0] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[0]); + dv[1] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[1]); + dv[2] = DISTANCE_PLANE_POINT(tu_plane,tv_vertices[2]); + + dv0dv1 = dv[0] * dv[1]; + dv0dv2 = dv[0] * dv[2]; + + + if(dv0dv1>0.0f && dv0dv2>0.0f) // same sign on all of them + not equal 0 ? + { + if(dv[0]<0) //we need test behind the triangle plane + { + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + if(distances[1]>margin) return false; //never intersect + + //reorder triangle u + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + if(distances[1]>margin) return false; //never intersect + } + } + else + { + //Look if we need to invert the triangle + distances[1] = (dv[0]+dv[1]+dv[2])/3.0f; //centroid + + if(distances[1]<0.0f) + { + //reorder triangle v + VEC_SWAP(tu_vertices[0],tu_vertices[1]); + VEC_SCALE_4(tu_plane,-1.0f,tu_plane); + + distances[1] = GIM_MAX3(dv[0],dv[1],dv[2]); + distances[1] = -distances[1]; + } + else + { + distances[1] = GIM_MIN3(dv[0],dv[1],dv[2]); + } + } + + GUINT bl; + /* bl = cross_line_intersection_test(); + if(bl==3) + { + //take edge direction too + bl = distances.maxAxis(); + } + else + {*/ + bl = 0; + if(distances[0]margin) return false; + + contacts.m_penetration_depth = -distances[2] + margin; + contacts.m_points[0] = closest_point_v; + contacts.m_point_count = 1; + VEC_COPY(contacts.m_separating_normal,edge_edge_dir); + + return true; + } + + //clip face against other + + + GUINT point_count; + //TODO + if(bl == 0) //clip U points against V + { + point_count = clip_triangle(tv_plane,tv_vertices,tu_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tv_plane,margin,contact_points,point_count); + } + else //clip V points against U + { + point_count = clip_triangle(tu_plane,tu_vertices,tv_vertices,contact_points); + if(point_count == 0) return false; + contacts.merge_points(tu_plane,margin,contact_points,point_count); + contacts.m_separating_normal *= -1.f; + } + if(contacts.m_point_count == 0) return false; + return true; + } + +}; + + +/*class GIM_TRIANGLE_CALCULATION_CACHE +{ +public: + GREAL margin; + GUINT clipped_count; + btVector3 tu_vertices[3]; + btVector3 tv_vertices[3]; + btVector3 temp_points[MAX_TRI_CLIPPING]; + btVector3 temp_points1[MAX_TRI_CLIPPING]; + btVector3 clipped_points[MAX_TRI_CLIPPING]; + GIM_TRIANGLE_CONTACT_DATA contacts1; + GIM_TRIANGLE_CONTACT_DATA contacts2; + + + //! clip triangle + GUINT clip_triangle( + const btVector4 & tri_plane, + const btVector3 * tripoints, + const btVector3 * srcpoints, + btVector3 * clipped_points) + { + // edge 0 + + btVector4 edgeplane; + + EDGE_PLANE(tripoints[0],tripoints[1],tri_plane,edgeplane); + + GUINT clipped_count = PLANE_CLIP_TRIANGLE3D( + edgeplane,srcpoints[0],srcpoints[1],srcpoints[2],temp_points); + + if(clipped_count == 0) return 0; + + // edge 1 + + EDGE_PLANE(tripoints[1],tripoints[2],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points,clipped_count,temp_points1); + + if(clipped_count == 0) return 0; + + // edge 2 + + EDGE_PLANE(tripoints[2],tripoints[0],tri_plane,edgeplane); + + clipped_count = PLANE_CLIP_POLYGON3D( + edgeplane,temp_points1,clipped_count,clipped_points); + + return clipped_count; + } + + + + + //! collides only on one side + bool triangle_collision( + const btVector3 & u0, + const btVector3 & u1, + const btVector3 & u2, + GREAL margin_u, + const btVector3 & v0, + const btVector3 & v1, + const btVector3 & v2, + GREAL margin_v, + GIM_TRIANGLE_CONTACT_DATA & contacts) + { + + margin = margin_u + margin_v; + + + tu_vertices[0] = u0; + tu_vertices[1] = u1; + tu_vertices[2] = u2; + + tv_vertices[0] = v0; + tv_vertices[1] = v1; + tv_vertices[2] = v2; + + //create planes + // plane v vs U points + + + TRIANGLE_PLANE(tv_vertices[0],tv_vertices[1],tv_vertices[2],contacts1.m_separating_normal); + + clipped_count = clip_triangle( + contacts1.m_separating_normal,tv_vertices,tu_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts1.merge_points(contacts1.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts1.m_point_count == 0) return false; // too far + + //Normal pointing to triangle1 + //contacts1.m_separating_normal *= -1.f; + + //Clip tri1 by tri2 edges + + TRIANGLE_PLANE(tu_vertices[0],tu_vertices[1],tu_vertices[2],contacts2.m_separating_normal); + + clipped_count = clip_triangle( + contacts2.m_separating_normal,tu_vertices,tv_vertices,clipped_points); + + if(clipped_count == 0 ) + { + return false;//Reject + } + + //find most deep interval face1 + contacts2.merge_points(contacts2.m_separating_normal,margin,clipped_points,clipped_count); + if(contacts2.m_point_count == 0) return false; // too far + + contacts2.m_separating_normal *= -1.f; + + ////check most dir for contacts + if(contacts2.m_penetration_depth + SIMD_FORCE_INLINE void mergepoints_generic(const CLASS_PLANE & plane, + GREAL margin, const btVector3 * points, GUINT point_count, DISTANCE_FUNC distance_func) + { + m_point_count = 0; + m_penetration_depth= -1000.0f; + + GUINT point_indices[MAX_TRI_CLIPPING]; + + GUINT _k; + + for(_k=0;_k=0.0f) + { + if(_dist>m_penetration_depth) + { + m_penetration_depth = _dist; + point_indices[0] = _k; + m_point_count=1; + } + else if((_dist+G_EPSILON)>=m_penetration_depth) + { + point_indices[m_point_count] = _k; + m_point_count++; + } + } + } + + for( _k=0;_k u*axe1[i1] + ((vecproj[i2] - u*axe1[i2])/axe2[i2])*axe2[i1] = vecproj[i1] + + --> u*axe1[i1] + vecproj[i2]*axe2[i1]/axe2[i2] - u*axe1[i2]*axe2[i1]/axe2[i2] = vecproj[i1] + + --> u*(axe1[i1] - axe1[i2]*axe2[i1]/axe2[i2]) = vecproj[i1] - vecproj[i2]*axe2[i1]/axe2[i2] + + --> u*((axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1])/axe2[i2]) = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1])/axe2[i2] + + --> u*(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) = vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1] + + --> u = (vecproj[i1]*axe2[i2] - vecproj[i2]*axe2[i1]) /(axe1[i1]*axe2[i2] - axe1[i2]*axe2[i1]) + +if 0.0<= u+v <=1.0 then they are inside of triangle + + \return false if the point is outside of triangle.This function doesn't take the margin + */ + SIMD_FORCE_INLINE bool get_uv_parameters( + const btVector3 & point, + const btVector3 & tri_plane, + GREAL & u, GREAL & v) const + { + btVector3 _axe1 = m_vertices[1]-m_vertices[0]; + btVector3 _axe2 = m_vertices[2]-m_vertices[0]; + btVector3 _vecproj = point - m_vertices[0]; + GUINT _i1 = (tri_plane.closestAxis()+1)%3; + GUINT _i2 = (_i1+1)%3; + if(btFabs(_axe2[_i2])G_EPSILON) + { + return false; + } + } + return true; + } + + //! is point in triangle beam? + /*! + Test if point is in triangle, with m_margin tolerance + */ + SIMD_FORCE_INLINE bool is_point_inside(const btVector3 & point, const btVector3 & tri_normal) const + { + //Test with edge 0 + btVector4 edge_plane; + this->get_edge_plane(0,tri_normal,edge_plane); + GREAL dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(1,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + + this->get_edge_plane(2,tri_normal,edge_plane); + dist = DISTANCE_PLANE_POINT(edge_plane,point); + if(dist-m_margin>0.0f) return false; // outside plane + return true; + } + + + //! Bidireccional ray collision + SIMD_FORCE_INLINE bool ray_collision( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res == 0) return false; + if(! is_point_inside(pout,faceplane)) return false; + + if(res==2) //invert normal + { + triangle_normal.setValue(-faceplane[0],-faceplane[1],-faceplane[2]); + } + else + { + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + } + + VEC_NORMALIZE(triangle_normal); + + return true; + } + + + //! one direccion ray collision + SIMD_FORCE_INLINE bool ray_collision_front_side( + const btVector3 & vPoint, + const btVector3 & vDir, btVector3 & pout, btVector3 & triangle_normal, + GREAL & tparam, GREAL tmax = G_REAL_INFINITY) + { + btVector4 faceplane; + { + btVector3 dif1 = m_vertices[1] - m_vertices[0]; + btVector3 dif2 = m_vertices[2] - m_vertices[0]; + VEC_CROSS(faceplane,dif1,dif2); + faceplane[3] = m_vertices[0].dot(faceplane); + } + + GUINT res = LINE_PLANE_COLLISION(faceplane,vDir,vPoint,pout,tparam, btScalar(0), tmax); + if(res != 1) return false; + + if(!is_point_inside(pout,faceplane)) return false; + + triangle_normal.setValue(faceplane[0],faceplane[1],faceplane[2]); + + VEC_NORMALIZE(triangle_normal); + + return true; + } + +}; + + + + +#endif // GIM_TRI_COLLISION_H_INCLUDED diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp new file mode 100644 index 00000000..940282f5 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -0,0 +1,242 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btContinuousConvexCollision.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" +#include "LinearMath/btTransformUtil.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + +#include "btGjkPairDetector.h" +#include "btPointCollector.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" + + + +btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) +:m_simplexSolver(simplexSolver), +m_penetrationDepthSolver(penetrationDepthSolver), +m_convexA(convexA),m_convexB1(convexB),m_planeShape(0) +{ +} + + +btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane) +:m_simplexSolver(0), +m_penetrationDepthSolver(0), +m_convexA(convexA),m_convexB1(0),m_planeShape(plane) +{ +} + + +/// This maximum should not be necessary. It allows for untested/degenerate cases in production code. +/// You don't want your game ever to lock-up. +#define MAX_ITERATIONS 64 + +void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector) +{ + if (m_convexB1) + { + m_simplexSolver->reset(); + btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver); + btGjkPairDetector::ClosestPointInput input; + input.m_transformA = transA; + input.m_transformB = transB; + gjk.getClosestPoints(input,pointCollector,0); + } else + { + //convex versus plane + const btConvexShape* convexShape = m_convexA; + const btStaticPlaneShape* planeShape = m_planeShape; + + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + btTransform convexWorldTransform = transA; + btTransform convexInPlaneTrans; + convexInPlaneTrans= transB.inverse() * convexWorldTransform; + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * transB; + + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected; + btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal; + + pointCollector.addContactPoint( + normalOnSurfaceB, + vtxInPlaneWorld, + distance); + } +} + +bool btContinuousConvexCollision::calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result) +{ + + + /// compute linear and angular velocity for this interval, to interpolate + btVector3 linVelA,angVelA,linVelB,angVelB; + btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA); + btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB); + + + btScalar boundingRadiusA = m_convexA->getAngularMotionDisc(); + btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f; + + btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + + btScalar relLinVelocLength = (linVelB-linVelA).length(); + + if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) + return false; + + + + btScalar lambda = btScalar(0.); + btVector3 v(1,0,0); + + int maxIter = MAX_ITERATIONS; + + btVector3 n; + n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + bool hasResult = false; + btVector3 c; + + btScalar lastLambda = lambda; + //btScalar epsilon = btScalar(0.001); + + int numIter = 0; + //first solution, using GJK + + + btScalar radius = 0.001f; +// result.drawCoordSystem(sphereTr); + + btPointCollector pointCollector1; + + { + + computeClosestPoints(fromA,fromB,pointCollector1); + + hasResult = pointCollector1.m_hasResult; + c = pointCollector1.m_pointInWorld; + } + + if (hasResult) + { + btScalar dist; + dist = pointCollector1.m_distance + result.m_allowedPenetration; + n = pointCollector1.m_normalOnBInWorld; + btScalar projectedLinearVelocity = relLinVel.dot(n); + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) + return false; + + //not close enough + while (dist > radius) + { + if (result.m_debugDrawer) + { + result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1)); + } + btScalar dLambda = btScalar(0.); + + projectedLinearVelocity = relLinVel.dot(n); + + + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) + return false; + + dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); + + + + lambda = lambda + dLambda; + + if (lambda > btScalar(1.)) + return false; + + if (lambda < btScalar(0.)) + return false; + + + //todo: next check with relative epsilon + if (lambda <= lastLambda) + { + return false; + //n.setValue(0,0,0); + break; + } + lastLambda = lambda; + + + + //interpolate to next lambda + btTransform interpolatedTransA,interpolatedTransB,relativeTrans; + + btTransformUtil::integrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA); + btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB); + relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA); + + if (result.m_debugDrawer) + { + result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0)); + } + + result.DebugDraw( lambda ); + + btPointCollector pointCollector; + computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector); + + if (pointCollector.m_hasResult) + { + dist = pointCollector.m_distance+result.m_allowedPenetration; + c = pointCollector.m_pointInWorld; + n = pointCollector.m_normalOnBInWorld; + } else + { + result.reportFailure(-1, numIter); + return false; + } + + numIter++; + if (numIter > maxIter) + { + result.reportFailure(-2, numIter); + return false; + } + } + + result.m_fraction = lambda; + result.m_normal = n; + result.m_hitPoint = c; + return true; + } + + return false; + +} + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h new file mode 100644 index 00000000..bdc0572f --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -0,0 +1,59 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONTINUOUS_COLLISION_CONVEX_CAST_H +#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H + +#include "btConvexCast.h" +#include "btSimplexSolverInterface.h" +class btConvexPenetrationDepthSolver; +class btConvexShape; +class btStaticPlaneShape; + +/// btContinuousConvexCollision implements angular and linear time of impact for convex objects. +/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). +/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. +/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops +class btContinuousConvexCollision : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + const btConvexShape* m_convexA; + //second object is either a convex or a plane (code sharing) + const btConvexShape* m_convexB1; + const btStaticPlaneShape* m_planeShape; + + void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector); + +public: + + btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + + btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane ); + + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + + +}; + + +#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp new file mode 100644 index 00000000..d2a1310b --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp @@ -0,0 +1,20 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btConvexCast.h" + +btConvexCast::~btConvexCast() +{ +} diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h new file mode 100644 index 00000000..bfd79d03 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h @@ -0,0 +1,73 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_CAST_H +#define BT_CONVEX_CAST_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btScalar.h" +class btMinkowskiSumShape; +#include "LinearMath/btIDebugDraw.h" + +/// btConvexCast is an interface for Casting +class btConvexCast +{ +public: + + + virtual ~btConvexCast(); + + ///RayResult stores the closest result + /// alternatively, add a callback method to decide about closest/all results + struct CastResult + { + //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0; + + virtual void DebugDraw(btScalar fraction) {(void)fraction;} + virtual void drawCoordSystem(const btTransform& trans) {(void)trans;} + virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;} + CastResult() + :m_fraction(btScalar(BT_LARGE_FLOAT)), + m_debugDrawer(0), + m_allowedPenetration(btScalar(0)) + { + } + + + virtual ~CastResult() {}; + + btTransform m_hitTransformA; + btTransform m_hitTransformB; + btVector3 m_normal; + btVector3 m_hitPoint; + btScalar m_fraction; //input and output + btIDebugDraw* m_debugDrawer; + btScalar m_allowedPenetration; + + }; + + + /// cast a convex against another convex object + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result) = 0; +}; + +#endif //BT_CONVEX_CAST_H diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h new file mode 100644 index 00000000..29620abf --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONVEX_PENETRATION_DEPTH_H +#define BT_CONVEX_PENETRATION_DEPTH_H + +class btVector3; +#include "btSimplexSolverInterface.h" +class btConvexShape; +class btTransform; + +///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. +class btConvexPenetrationDepthSolver +{ +public: + + virtual ~btConvexPenetrationDepthSolver() {}; + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw) = 0; + + +}; +#endif //BT_CONVEX_PENETRATION_DEPTH_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h new file mode 100644 index 00000000..46ce1ab7 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @@ -0,0 +1,88 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H +#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H + +#include "LinearMath/btTransform.h" +#include "LinearMath/btVector3.h" + +/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations +/// This interface allows to query for closest points and penetration depth between two (convex) objects +/// the closest point is on the second object (B), and the normal points from the surface on B towards A. +/// distance is between closest points on B and closest point on A. So you can calculate closest point on A +/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB +struct btDiscreteCollisionDetectorInterface +{ + + struct Result + { + + virtual ~Result(){} + + ///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner + virtual void setShapeIdentifiersA(int partId0,int index0)=0; + virtual void setShapeIdentifiersB(int partId1,int index1)=0; + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0; + }; + + struct ClosestPointInput + { + ClosestPointInput() + :m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)) + { + } + + btTransform m_transformA; + btTransform m_transformB; + btScalar m_maximumDistanceSquared; + }; + + virtual ~btDiscreteCollisionDetectorInterface() {}; + + // + // give either closest points (distance > 0) or penetration (distance) + // the normal always points from B towards A + // + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0; + +}; + +struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result +{ + btVector3 m_normalOnSurfaceB; + btVector3 m_closestPointInB; + btScalar m_distance; //negative means penetration ! + + btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT)) + { + + } + virtual ~btStorageResult() {}; + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + if (depth < m_distance) + { + m_normalOnSurfaceB = normalOnBInWorld; + m_closestPointInB = pointInWorld; + m_distance = depth; + } + } +}; + +#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp new file mode 100644 index 00000000..bef697a0 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp @@ -0,0 +1,176 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btGjkConvexCast.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "btGjkPairDetector.h" +#include "btPointCollector.h" +#include "LinearMath/btTransformUtil.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define MAX_ITERATIONS 64 +#else +#define MAX_ITERATIONS 32 +#endif + +btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) +:m_simplexSolver(simplexSolver), +m_convexA(convexA), +m_convexB(convexB) +{ +} + +bool btGjkConvexCast::calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result) +{ + + + m_simplexSolver->reset(); + + /// compute linear velocity for this interval, to interpolate + //assume no rotation/angular velocity, assert here? + btVector3 linVelA,linVelB; + linVelA = toA.getOrigin()-fromA.getOrigin(); + linVelB = toB.getOrigin()-fromB.getOrigin(); + + btScalar radius = btScalar(0.001); + btScalar lambda = btScalar(0.); + btVector3 v(1,0,0); + + int maxIter = MAX_ITERATIONS; + + btVector3 n; + n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + bool hasResult = false; + btVector3 c; + btVector3 r = (linVelA-linVelB); + + btScalar lastLambda = lambda; + //btScalar epsilon = btScalar(0.001); + + int numIter = 0; + //first solution, using GJK + + + btTransform identityTrans; + identityTrans.setIdentity(); + + +// result.drawCoordSystem(sphereTr); + + btPointCollector pointCollector; + + + btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,0);//m_penetrationDepthSolver); + btGjkPairDetector::ClosestPointInput input; + + //we don't use margins during CCD + // gjk.setIgnoreMargin(true); + + input.m_transformA = fromA; + input.m_transformB = fromB; + gjk.getClosestPoints(input,pointCollector,0); + + hasResult = pointCollector.m_hasResult; + c = pointCollector.m_pointInWorld; + + if (hasResult) + { + btScalar dist; + dist = pointCollector.m_distance; + n = pointCollector.m_normalOnBInWorld; + + + + //not close enough + while (dist > radius) + { + numIter++; + if (numIter > maxIter) + { + return false; //todo: report a failure + } + btScalar dLambda = btScalar(0.); + + btScalar projectedLinearVelocity = r.dot(n); + + dLambda = dist / (projectedLinearVelocity); + + lambda = lambda - dLambda; + + if (lambda > btScalar(1.)) + return false; + + if (lambda < btScalar(0.)) + return false; + + //todo: next check with relative epsilon + if (lambda <= lastLambda) + { + return false; + //n.setValue(0,0,0); + break; + } + lastLambda = lambda; + + //interpolate to next lambda + result.DebugDraw( lambda ); + input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); + input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); + + gjk.getClosestPoints(input,pointCollector,0); + if (pointCollector.m_hasResult) + { + if (pointCollector.m_distance < btScalar(0.)) + { + result.m_fraction = lastLambda; + n = pointCollector.m_normalOnBInWorld; + result.m_normal=n; + result.m_hitPoint = pointCollector.m_pointInWorld; + return true; + } + c = pointCollector.m_pointInWorld; + n = pointCollector.m_normalOnBInWorld; + dist = pointCollector.m_distance; + } else + { + //?? + return false; + } + + } + + //is n normalized? + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (n.dot(r)>=-result.m_allowedPenetration) + return false; + + result.m_fraction = lambda; + result.m_normal = n; + result.m_hitPoint = c; + return true; + } + + return false; + + +} + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h new file mode 100644 index 00000000..6a42ee63 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GJK_CONVEX_CAST_H +#define BT_GJK_CONVEX_CAST_H + +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btVector3.h" +#include "btConvexCast.h" +class btConvexShape; +class btMinkowskiSumShape; +#include "btSimplexSolverInterface.h" + +///GjkConvexCast performs a raycast on a convex object using support mapping. +class btGjkConvexCast : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + +public: + + btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver); + + /// cast a convex against another convex object + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + +}; + +#endif //BT_GJK_CONVEX_CAST_H diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp new file mode 100644 index 00000000..3268f06c --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp @@ -0,0 +1,1031 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +GJK-EPA collision solver by Nathanael Presson, 2008 +*/ +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "btGjkEpa2.h" + +#if defined(DEBUG) || defined (_DEBUG) +#include //for debug printf +#ifdef __SPU__ +#include +#define printf spu_printf +#endif //__SPU__ +#endif + +namespace gjkepa2_impl +{ + + // Config + + /* GJK */ +#define GJK_MAX_ITERATIONS 128 +#define GJK_ACCURARY ((btScalar)0.0001) +#define GJK_MIN_DISTANCE ((btScalar)0.0001) +#define GJK_DUPLICATED_EPS ((btScalar)0.0001) +#define GJK_SIMPLEX2_EPS ((btScalar)0.0) +#define GJK_SIMPLEX3_EPS ((btScalar)0.0) +#define GJK_SIMPLEX4_EPS ((btScalar)0.0) + + /* EPA */ +#define EPA_MAX_VERTICES 64 +#define EPA_MAX_FACES (EPA_MAX_VERTICES*2) +#define EPA_MAX_ITERATIONS 255 +#define EPA_ACCURACY ((btScalar)0.0001) +#define EPA_FALLBACK (10*EPA_ACCURACY) +#define EPA_PLANE_EPS ((btScalar)0.00001) +#define EPA_INSIDE_EPS ((btScalar)0.01) + + + // Shorthands + typedef unsigned int U; + typedef unsigned char U1; + + // MinkowskiDiff + struct MinkowskiDiff + { + const btConvexShape* m_shapes[2]; + btMatrix3x3 m_toshape1; + btTransform m_toshape0; +#ifdef __SPU__ + bool m_enableMargin; +#else + btVector3 (btConvexShape::*Ls)(const btVector3&) const; +#endif//__SPU__ + + + MinkowskiDiff() + { + + } +#ifdef __SPU__ + void EnableMargin(bool enable) + { + m_enableMargin = enable; + } + inline btVector3 Support0(const btVector3& d) const + { + if (m_enableMargin) + { + return m_shapes[0]->localGetSupportVertexNonVirtual(d); + } else + { + return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d); + } + } + inline btVector3 Support1(const btVector3& d) const + { + if (m_enableMargin) + { + return m_toshape0*(m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1*d)); + } else + { + return m_toshape0*(m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1*d)); + } + } +#else + void EnableMargin(bool enable) + { + if(enable) + Ls=&btConvexShape::localGetSupportVertexNonVirtual; + else + Ls=&btConvexShape::localGetSupportVertexWithoutMarginNonVirtual; + } + inline btVector3 Support0(const btVector3& d) const + { + return(((m_shapes[0])->*(Ls))(d)); + } + inline btVector3 Support1(const btVector3& d) const + { + return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d)); + } +#endif //__SPU__ + + inline btVector3 Support(const btVector3& d) const + { + return(Support0(d)-Support1(-d)); + } + btVector3 Support(const btVector3& d,U index) const + { + if(index) + return(Support1(d)); + else + return(Support0(d)); + } + }; + + typedef MinkowskiDiff tShape; + + + // GJK + struct GJK + { + /* Types */ + struct sSV + { + btVector3 d,w; + }; + struct sSimplex + { + sSV* c[4]; + btScalar p[4]; + U rank; + }; + struct eStatus { enum _ { + Valid, + Inside, + Failed };}; + /* Fields */ + tShape m_shape; + btVector3 m_ray; + btScalar m_distance; + sSimplex m_simplices[2]; + sSV m_store[4]; + sSV* m_free[4]; + U m_nfree; + U m_current; + sSimplex* m_simplex; + eStatus::_ m_status; + /* Methods */ + GJK() + { + Initialize(); + } + void Initialize() + { + m_ray = btVector3(0,0,0); + m_nfree = 0; + m_status = eStatus::Failed; + m_current = 0; + m_distance = 0; + } + eStatus::_ Evaluate(const tShape& shapearg,const btVector3& guess) + { + U iterations=0; + btScalar sqdist=0; + btScalar alpha=0; + btVector3 lastw[4]; + U clastw=0; + /* Initialize solver */ + m_free[0] = &m_store[0]; + m_free[1] = &m_store[1]; + m_free[2] = &m_store[2]; + m_free[3] = &m_store[3]; + m_nfree = 4; + m_current = 0; + m_status = eStatus::Valid; + m_shape = shapearg; + m_distance = 0; + /* Initialize simplex */ + m_simplices[0].rank = 0; + m_ray = guess; + const btScalar sqrl= m_ray.length2(); + appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0)); + m_simplices[0].p[0] = 1; + m_ray = m_simplices[0].c[0]->w; + sqdist = sqrl; + lastw[0] = + lastw[1] = + lastw[2] = + lastw[3] = m_ray; + /* Loop */ + do { + const U next=1-m_current; + sSimplex& cs=m_simplices[m_current]; + sSimplex& ns=m_simplices[next]; + /* Check zero */ + const btScalar rl=m_ray.length(); + if(rlw; + bool found=false; + for(U i=0;i<4;++i) + { + if((w-lastw[i]).length2()w, + cs.c[1]->w, + weights,mask);break; + case 3: sqdist=projectorigin( cs.c[0]->w, + cs.c[1]->w, + cs.c[2]->w, + weights,mask);break; + case 4: sqdist=projectorigin( cs.c[0]->w, + cs.c[1]->w, + cs.c[2]->w, + cs.c[3]->w, + weights,mask);break; + } + if(sqdist>=0) + {/* Valid */ + ns.rank = 0; + m_ray = btVector3(0,0,0); + m_current = next; + for(U i=0,ni=cs.rank;iw*weights[i]; + } + else + { + m_free[m_nfree++] = cs.c[i]; + } + } + if(mask==15) m_status=eStatus::Inside; + } + else + {/* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } + m_status=((++iterations)rank) + { + case 1: + { + for(U i=0;i<3;++i) + { + btVector3 axis=btVector3(0,0,0); + axis[i]=1; + appendvertice(*m_simplex, axis); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-axis); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + break; + case 2: + { + const btVector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w; + for(U i=0;i<3;++i) + { + btVector3 axis=btVector3(0,0,0); + axis[i]=1; + const btVector3 p=btCross(d,axis); + if(p.length2()>0) + { + appendvertice(*m_simplex, p); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-p); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + } + break; + case 3: + { + const btVector3 n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w, + m_simplex->c[2]->w-m_simplex->c[0]->w); + if(n.length2()>0) + { + appendvertice(*m_simplex,n); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-n); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + break; + case 4: + { + if(btFabs(det( m_simplex->c[0]->w-m_simplex->c[3]->w, + m_simplex->c[1]->w-m_simplex->c[3]->w, + m_simplex->c[2]->w-m_simplex->c[3]->w))>0) + return(true); + } + break; + } + return(false); + } + /* Internals */ + void getsupport(const btVector3& d,sSV& sv) const + { + sv.d = d/d.length(); + sv.w = m_shape.Support(sv.d); + } + void removevertice(sSimplex& simplex) + { + m_free[m_nfree++]=simplex.c[--simplex.rank]; + } + void appendvertice(sSimplex& simplex,const btVector3& v) + { + simplex.p[simplex.rank]=0; + simplex.c[simplex.rank]=m_free[--m_nfree]; + getsupport(v,*simplex.c[simplex.rank++]); + } + static btScalar det(const btVector3& a,const btVector3& b,const btVector3& c) + { + return( a.y()*b.z()*c.x()+a.z()*b.x()*c.y()- + a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+ + a.x()*b.y()*c.z()-a.z()*b.y()*c.x()); + } + static btScalar projectorigin( const btVector3& a, + const btVector3& b, + btScalar* w,U& m) + { + const btVector3 d=b-a; + const btScalar l=d.length2(); + if(l>GJK_SIMPLEX2_EPS) + { + const btScalar t(l>0?-btDot(a,d)/l:0); + if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); } + else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); } + else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); } + } + return(-1); + } + static btScalar projectorigin( const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar* w,U& m) + { + static const U imd3[]={1,2,0}; + const btVector3* vt[]={&a,&b,&c}; + const btVector3 dl[]={a-b,b-c,c-a}; + const btVector3 n=btCross(dl[0],dl[1]); + const btScalar l=n.length2(); + if(l>GJK_SIMPLEX3_EPS) + { + btScalar mindist=-1; + btScalar subw[2]={0.f,0.f}; + U subm(0); + for(U i=0;i<3;++i) + { + if(btDot(*vt[i],btCross(dl[i],n))>0) + { + const U j=imd3[i]; + const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm)); + if((mindist<0)||(subd(((subm&1)?1<GJK_SIMPLEX4_EPS)) + { + btScalar mindist=-1; + btScalar subw[3]={0.f,0.f,0.f}; + U subm(0); + for(U i=0;i<3;++i) + { + const U j=imd3[i]; + const btScalar s=vl*btDot(d,btCross(dl[i],dl[j])); + if(s>0) + { + const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm); + if((mindist<0)||(subd((subm&1?1<e[ea]=(U1)eb;fa->f[ea]=fb; + fb->e[eb]=(U1)ea;fb->f[eb]=fa; + } + static inline void append(sList& list,sFace* face) + { + face->l[0] = 0; + face->l[1] = list.root; + if(list.root) list.root->l[0]=face; + list.root = face; + ++list.count; + } + static inline void remove(sList& list,sFace* face) + { + if(face->l[1]) face->l[1]->l[0]=face->l[0]; + if(face->l[0]) face->l[0]->l[1]=face->l[1]; + if(face==list.root) list.root=face->l[1]; + --list.count; + } + + + void Initialize() + { + m_status = eStatus::Failed; + m_normal = btVector3(0,0,0); + m_depth = 0; + m_nextsv = 0; + for(U i=0;i1)&&gjk.EncloseOrigin()) + { + + /* Clean up */ + while(m_hull.root) + { + sFace* f = m_hull.root; + remove(m_hull,f); + append(m_stock,f); + } + m_status = eStatus::Valid; + m_nextsv = 0; + /* Orient simplex */ + if(gjk.det( simplex.c[0]->w-simplex.c[3]->w, + simplex.c[1]->w-simplex.c[3]->w, + simplex.c[2]->w-simplex.c[3]->w)<0) + { + btSwap(simplex.c[0],simplex.c[1]); + btSwap(simplex.p[0],simplex.p[1]); + } + /* Build initial hull */ + sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true), + newface(simplex.c[1],simplex.c[0],simplex.c[3],true), + newface(simplex.c[2],simplex.c[1],simplex.c[3],true), + newface(simplex.c[0],simplex.c[2],simplex.c[3],true)}; + if(m_hull.count==4) + { + sFace* best=findbest(); + sFace outer=*best; + U pass=0; + U iterations=0; + bind(tetra[0],0,tetra[1],0); + bind(tetra[0],1,tetra[2],0); + bind(tetra[0],2,tetra[3],0); + bind(tetra[1],1,tetra[3],2); + bind(tetra[1],2,tetra[2],1); + bind(tetra[2],2,tetra[3],1); + m_status=eStatus::Valid; + for(;iterationspass = (U1)(++pass); + gjk.getsupport(best->n,*w); + const btScalar wdist=btDot(best->n,w->w)-best->d; + if(wdist>EPA_ACCURACY) + { + for(U j=0;(j<3)&&valid;++j) + { + valid&=expand( pass,w, + best->f[j],best->e[j], + horizon); + } + if(valid&&(horizon.nf>=3)) + { + bind(horizon.cf,1,horizon.ff,2); + remove(m_hull,best); + append(m_stock,best); + best=findbest(); + outer=*best; + } else { m_status=eStatus::InvalidHull;break; } + } else { m_status=eStatus::AccuraryReached;break; } + } else { m_status=eStatus::OutOfVertices;break; } + } + const btVector3 projection=outer.n*outer.d; + m_normal = outer.n; + m_depth = outer.d; + m_result.rank = 3; + m_result.c[0] = outer.c[0]; + m_result.c[1] = outer.c[1]; + m_result.c[2] = outer.c[2]; + m_result.p[0] = btCross( outer.c[1]->w-projection, + outer.c[2]->w-projection).length(); + m_result.p[1] = btCross( outer.c[2]->w-projection, + outer.c[0]->w-projection).length(); + m_result.p[2] = btCross( outer.c[0]->w-projection, + outer.c[1]->w-projection).length(); + const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2]; + m_result.p[0] /= sum; + m_result.p[1] /= sum; + m_result.p[2] /= sum; + return(m_status); + } + } + /* Fallback */ + m_status = eStatus::FallBack; + m_normal = -guess; + const btScalar nl=m_normal.length(); + if(nl>0) + m_normal = m_normal/nl; + else + m_normal = btVector3(1,0,0); + m_depth = 0; + m_result.rank=1; + m_result.c[0]=simplex.c[0]; + m_result.p[0]=1; + return(m_status); + } + bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist) + { + const btVector3 ba = b->w - a->w; + const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane + const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required + + if(a_dot_nab < 0) + { + // Outside of edge a->b + + const btScalar ba_l2 = ba.length2(); + const btScalar a_dot_ba = btDot(a->w, ba); + const btScalar b_dot_ba = btDot(b->w, ba); + + if(a_dot_ba > 0) + { + // Pick distance vertex a + dist = a->w.length(); + } + else if(b_dot_ba < 0) + { + // Pick distance vertex b + dist = b->w.length(); + } + else + { + // Pick distance to edge a->b + const btScalar a_dot_b = btDot(a->w, b->w); + dist = btSqrt(btMax((a->w.length2() * b->w.length2() - a_dot_b * a_dot_b) / ba_l2, (btScalar)0)); + } + + return true; + } + + return false; + } + sFace* newface(sSV* a,sSV* b,sSV* c,bool forced) + { + if(m_stock.root) + { + sFace* face=m_stock.root; + remove(m_stock,face); + append(m_hull,face); + face->pass = 0; + face->c[0] = a; + face->c[1] = b; + face->c[2] = c; + face->n = btCross(b->w-a->w,c->w-a->w); + const btScalar l=face->n.length(); + const bool v=l>EPA_ACCURACY; + + if(v) + { + if(!(getedgedist(face, a, b, face->d) || + getedgedist(face, b, c, face->d) || + getedgedist(face, c, a, face->d))) + { + // Origin projects to the interior of the triangle + // Use distance to triangle plane + face->d = btDot(a->w, face->n) / l; + } + + face->n /= l; + if(forced || (face->d >= -EPA_PLANE_EPS)) + { + return face; + } + else + m_status=eStatus::NonConvex; + } + else + m_status=eStatus::Degenerated; + + remove(m_hull, face); + append(m_stock, face); + return 0; + + } + m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces; + return 0; + } + sFace* findbest() + { + sFace* minf=m_hull.root; + btScalar mind=minf->d*minf->d; + for(sFace* f=minf->l[1];f;f=f->l[1]) + { + const btScalar sqd=f->d*f->d; + if(sqdpass!=pass) + { + const U e1=i1m3[e]; + if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS) + { + sFace* nf=newface(f->c[e1],f->c[e],w,false); + if(nf) + { + bind(nf,0,f,e); + if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf; + horizon.cf=nf; + ++horizon.nf; + return(true); + } + } + else + { + const U e2=i2m3[e]; + f->pass = (U1)pass; + if( expand(pass,w,f->f[e1],f->e[e1],horizon)&& + expand(pass,w,f->f[e2],f->e[e2],horizon)) + { + remove(m_hull,f); + append(m_stock,f); + return(true); + } + } + } + return(false); + } + + }; + + // + static void Initialize( const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + btGjkEpaSolver2::sResults& results, + tShape& shape, + bool withmargins) + { + /* Results */ + results.witnesses[0] = + results.witnesses[1] = btVector3(0,0,0); + results.status = btGjkEpaSolver2::sResults::Separated; + /* Shape */ + shape.m_shapes[0] = shape0; + shape.m_shapes[1] = shape1; + shape.m_toshape1 = wtrs1.getBasis().transposeTimes(wtrs0.getBasis()); + shape.m_toshape0 = wtrs0.inverseTimes(wtrs1); + shape.EnableMargin(withmargins); + } + +} + +// +// Api +// + +using namespace gjkepa2_impl; + +// +int btGjkEpaSolver2::StackSizeRequirement() +{ + return(sizeof(GJK)+sizeof(EPA)); +} + +// +bool btGjkEpaSolver2::Distance( const btConvexShape* shape0, + const btTransform& wtrs0, + const btConvexShape* shape1, + const btTransform& wtrs1, + const btVector3& guess, + sResults& results) +{ + tShape shape; + Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); + GJK gjk; + GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess); + if(gjk_status==GJK::eStatus::Valid) + { + btVector3 w0=btVector3(0,0,0); + btVector3 w1=btVector3(0,0,0); + for(U i=0;irank;++i) + { + const btScalar p=gjk.m_simplex->p[i]; + w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p; + w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p; + } + results.witnesses[0] = wtrs0*w0; + results.witnesses[1] = wtrs0*w1; + results.normal = w0-w1; + results.distance = results.normal.length(); + results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1; + return(true); + } + else + { + results.status = gjk_status==GJK::eStatus::Inside? + sResults::Penetrating : + sResults::GJK_Failed ; + return(false); + } +} + +// +bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0, + const btTransform& wtrs0, + const btConvexShape* shape1, + const btTransform& wtrs1, + const btVector3& guess, + sResults& results, + bool usemargins) +{ + tShape shape; + Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,usemargins); + GJK gjk; + GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess); + switch(gjk_status) + { + case GJK::eStatus::Inside: + { + EPA epa; + EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess); + if(epa_status!=EPA::eStatus::Failed) + { + btVector3 w0=btVector3(0,0,0); + for(U i=0;id,0)*epa.m_result.p[i]; + } + results.status = sResults::Penetrating; + results.witnesses[0] = wtrs0*w0; + results.witnesses[1] = wtrs0*(w0-epa.m_normal*epa.m_depth); + results.normal = -epa.m_normal; + results.distance = -epa.m_depth; + return(true); + } else results.status=sResults::EPA_Failed; + } + break; + case GJK::eStatus::Failed: + results.status=sResults::GJK_Failed; + break; + default: + { + } + } + return(false); +} + +#ifndef __SPU__ +// +btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position, + btScalar margin, + const btConvexShape* shape0, + const btTransform& wtrs0, + sResults& results) +{ + tShape shape; + btSphereShape shape1(margin); + btTransform wtrs1(btQuaternion(0,0,0,1),position); + Initialize(shape0,wtrs0,&shape1,wtrs1,results,shape,false); + GJK gjk; + GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,btVector3(1,1,1)); + if(gjk_status==GJK::eStatus::Valid) + { + btVector3 w0=btVector3(0,0,0); + btVector3 w1=btVector3(0,0,0); + for(U i=0;irank;++i) + { + const btScalar p=gjk.m_simplex->p[i]; + w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p; + w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p; + } + results.witnesses[0] = wtrs0*w0; + results.witnesses[1] = wtrs0*w1; + const btVector3 delta= results.witnesses[1]- + results.witnesses[0]; + const btScalar margin= shape0->getMarginNonVirtual()+ + shape1.getMarginNonVirtual(); + const btScalar length= delta.length(); + results.normal = delta/length; + results.witnesses[0] += results.normal*margin; + return(length-margin); + } + else + { + if(gjk_status==GJK::eStatus::Inside) + { + if(Penetration(shape0,wtrs0,&shape1,wtrs1,gjk.m_ray,results)) + { + const btVector3 delta= results.witnesses[0]- + results.witnesses[1]; + const btScalar length= delta.length(); + if (length >= SIMD_EPSILON) + results.normal = delta/length; + return(-length); + } + } + } + return(SIMD_INFINITY); +} + +// +bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0, + const btTransform& wtrs0, + const btConvexShape* shape1, + const btTransform& wtrs1, + const btVector3& guess, + sResults& results) +{ + if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results)) + return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false)); + else + return(true); +} +#endif //__SPU__ + +/* Symbols cleanup */ + +#undef GJK_MAX_ITERATIONS +#undef GJK_ACCURARY +#undef GJK_MIN_DISTANCE +#undef GJK_DUPLICATED_EPS +#undef GJK_SIMPLEX2_EPS +#undef GJK_SIMPLEX3_EPS +#undef GJK_SIMPLEX4_EPS + +#undef EPA_MAX_VERTICES +#undef EPA_MAX_FACES +#undef EPA_MAX_ITERATIONS +#undef EPA_ACCURACY +#undef EPA_FALLBACK +#undef EPA_PLANE_EPS +#undef EPA_INSIDE_EPS diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h new file mode 100644 index 00000000..ac501d5e --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +GJK-EPA collision solver by Nathanael Presson, 2008 +*/ +#ifndef BT_GJK_EPA2_H +#define BT_GJK_EPA2_H + +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +///btGjkEpaSolver contributed under zlib by Nathanael Presson +struct btGjkEpaSolver2 +{ +struct sResults + { + enum eStatus + { + Separated, /* Shapes doesnt penetrate */ + Penetrating, /* Shapes are penetrating */ + GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ + EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ + } status; + btVector3 witnesses[2]; + btVector3 normal; + btScalar distance; + }; + +static int StackSizeRequirement(); + +static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results); + +static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results, + bool usemargins=true); +#ifndef __SPU__ +static btScalar SignedDistance( const btVector3& position, + btScalar margin, + const btConvexShape* shape, + const btTransform& wtrs, + sResults& results); + +static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0, + const btConvexShape* shape1,const btTransform& wtrs1, + const btVector3& guess, + sResults& results); +#endif //__SPU__ + +}; + +#endif //BT_GJK_EPA2_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp new file mode 100644 index 00000000..572ec36f --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +EPA Copyright (c) Ricardo Padrela 2006 + +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. +*/ + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "btGjkEpaPenetrationDepthSolver.h" + + +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" + +bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, + const btTransform& transformA, const btTransform& transformB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, + class btIDebugDraw* debugDraw) +{ + + (void)debugDraw; + (void)v; + (void)simplexSolver; + +// const btScalar radialmargin(btScalar(0.)); + + btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin()); + btGjkEpaSolver2::sResults results; + + + if(btGjkEpaSolver2::Penetration(pConvexA,transformA, + pConvexB,transformB, + guessVector,results)) + + { + // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); + //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); + wWitnessOnA = results.witnesses[0]; + wWitnessOnB = results.witnesses[1]; + v = results.normal; + return true; + } else + { + if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results)) + { + wWitnessOnA = results.witnesses[0]; + wWitnessOnB = results.witnesses[1]; + v = results.normal; + return false; + } + } + + return false; +} + + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h new file mode 100644 index 00000000..1ed6340a --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h @@ -0,0 +1,43 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +EPA Copyright (c) Ricardo Padrela 2006 + +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 BT_GJP_EPA_PENETRATION_DEPTH_H +#define BT_GJP_EPA_PENETRATION_DEPTH_H + +#include "btConvexPenetrationDepthSolver.h" + +///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to +///calculate the penetration depth between two convex shapes. +class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ + public : + + btGjkEpaPenetrationDepthSolver() + { + } + + bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, + const btTransform& transformA, const btTransform& transformB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, + class btIDebugDraw* debugDraw); + + private : + +}; + +#endif // BT_GJP_EPA_PENETRATION_DEPTH_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp new file mode 100644 index 00000000..88775794 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -0,0 +1,480 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btGjkPairDetector.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" + + + +#if defined(DEBUG) || defined (_DEBUG) +//#define TEST_NON_VIRTUAL 1 +#include //for debug printf +#ifdef __SPU__ +#include +#define printf spu_printf +//#define DEBUG_SPU_COLLISION_DETECTION 1 +#endif //__SPU__ +#endif + +//must be above the machine epsilon +#define REL_ERROR2 btScalar(1.0e-6) + +//temp globals, to improve GJK/EPA/penetration calculations +int gNumDeepPenetrationChecks = 0; +int gNumGjkChecks = 0; + + +btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) +:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)), +m_penetrationDepthSolver(penetrationDepthSolver), +m_simplexSolver(simplexSolver), +m_minkowskiA(objectA), +m_minkowskiB(objectB), +m_shapeTypeA(objectA->getShapeType()), +m_shapeTypeB(objectB->getShapeType()), +m_marginA(objectA->getMargin()), +m_marginB(objectB->getMargin()), +m_ignoreMargin(false), +m_lastUsedMethod(-1), +m_catchDegeneracies(1), +m_fixContactNormalDirection(1) +{ +} +btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) +:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)), +m_penetrationDepthSolver(penetrationDepthSolver), +m_simplexSolver(simplexSolver), +m_minkowskiA(objectA), +m_minkowskiB(objectB), +m_shapeTypeA(shapeTypeA), +m_shapeTypeB(shapeTypeB), +m_marginA(marginA), +m_marginB(marginB), +m_ignoreMargin(false), +m_lastUsedMethod(-1), +m_catchDegeneracies(1), +m_fixContactNormalDirection(1) +{ +} + +void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) +{ + (void)swapResults; + + getClosestPointsNonVirtual(input,output,debugDraw); +} + +#ifdef __SPU__ +void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +#else +void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +#endif +{ + m_cachedSeparatingDistance = 0.f; + + btScalar distance=btScalar(0.); + btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 pointOnA,pointOnB; + btTransform localTransA = input.m_transformA; + btTransform localTransB = input.m_transformB; + btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5); + localTransA.getOrigin() -= positionOffset; + localTransB.getOrigin() -= positionOffset; + + bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d(); + + btScalar marginA = m_marginA; + btScalar marginB = m_marginB; + + gNumGjkChecks++; + +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("inside gjk\n"); +#endif + //for CCD we don't use margins + if (m_ignoreMargin) + { + marginA = btScalar(0.); + marginB = btScalar(0.); +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("ignoring margin\n"); +#endif + } + + m_curIter = 0; + int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN? + m_cachedSeparatingAxis.setValue(0,1,0); + + bool isValid = false; + bool checkSimplex = false; + bool checkPenetration = true; + m_degenerateSimplex = 0; + + m_lastUsedMethod = -1; + + { + btScalar squaredDistance = BT_LARGE_FLOAT; + btScalar delta = btScalar(0.); + + btScalar margin = marginA + marginB; + + + + m_simplexSolver->reset(); + + for ( ; ; ) + //while (true) + { + + btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); + btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); + +#if 1 + + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + +// btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA); +// btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB); + +#else +#ifdef __SPU__ + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); +#else + btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); +#ifdef TEST_NON_VIRTUAL + btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); + btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); + btAssert((pInAv-pInA).length() < 0.0001); + btAssert((qInBv-qInB).length() < 0.0001); +#endif // +#endif //__SPU__ +#endif + + + btVector3 pWorld = localTransA(pInA); + btVector3 qWorld = localTransB(qInB); + +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("got local supporting vertices\n"); +#endif + + if (check2d) + { + pWorld[2] = 0.f; + qWorld[2] = 0.f; + } + + btVector3 w = pWorld - qWorld; + delta = m_cachedSeparatingAxis.dot(w); + + // potential exit, they don't overlap + if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) + { + m_degenerateSimplex = 10; + checkSimplex=true; + //checkPenetration = false; + break; + } + + //exit 0: the new point is already in the simplex, or we didn't come any closer + if (m_simplexSolver->inSimplex(w)) + { + m_degenerateSimplex = 1; + checkSimplex = true; + break; + } + // are we getting any closer ? + btScalar f0 = squaredDistance - delta; + btScalar f1 = squaredDistance * REL_ERROR2; + + if (f0 <= f1) + { + if (f0 <= btScalar(0.)) + { + m_degenerateSimplex = 2; + } else + { + m_degenerateSimplex = 11; + } + checkSimplex = true; + break; + } + +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("addVertex 1\n"); +#endif + //add current vertex to simplex + m_simplexSolver->addVertex(w, pWorld, qWorld); +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("addVertex 2\n"); +#endif + btVector3 newCachedSeparatingAxis; + + //calculate the closest point to the origin (update vector v) + if (!m_simplexSolver->closest(newCachedSeparatingAxis)) + { + m_degenerateSimplex = 3; + checkSimplex = true; + break; + } + + if(newCachedSeparatingAxis.length2()previousSquaredDistance) + { + m_degenerateSimplex = 7; + squaredDistance = previousSquaredDistance; + checkSimplex = false; + break; + } +#endif // + + + //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); + + //are we getting any closer ? + if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) + { +// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + checkSimplex = true; + m_degenerateSimplex = 12; + + break; + } + + m_cachedSeparatingAxis = newCachedSeparatingAxis; + + //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject + if (m_curIter++ > gGjkMaxIter) + { + #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION) + + printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter); + printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", + m_cachedSeparatingAxis.getX(), + m_cachedSeparatingAxis.getY(), + m_cachedSeparatingAxis.getZ(), + squaredDistance, + m_minkowskiA->getShapeType(), + m_minkowskiB->getShapeType()); + + #endif + break; + + } + + + bool check = (!m_simplexSolver->fullSimplex()); + //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); + + if (!check) + { + //do we need this backup_closest here ? +// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + m_degenerateSimplex = 13; + break; + } + } + + if (checkSimplex) + { + m_simplexSolver->compute_points(pointOnA, pointOnB); + normalInB = m_cachedSeparatingAxis; + btScalar lenSqr =m_cachedSeparatingAxis.length2(); + + //valid normal + if (lenSqr < 0.0001) + { + m_degenerateSimplex = 5; + } + if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); + normalInB *= rlen; //normalize + btScalar s = btSqrt(squaredDistance); + + btAssert(s > btScalar(0.0)); + pointOnA -= m_cachedSeparatingAxis * (marginA / s); + pointOnB += m_cachedSeparatingAxis * (marginB / s); + distance = ((btScalar(1.)/rlen) - margin); + isValid = true; + + m_lastUsedMethod = 1; + } else + { + m_lastUsedMethod = 2; + } + } + + bool catchDegeneratePenetrationCase = + (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01)); + + //if (checkPenetration && !isValid) + if (checkPenetration && (!isValid || catchDegeneratePenetrationCase )) + { + //penetration case + + //if there is no way to handle penetrations, bail out + if (m_penetrationDepthSolver) + { + // Penetration depth case. + btVector3 tmpPointOnA,tmpPointOnB; + + gNumDeepPenetrationChecks++; + m_cachedSeparatingAxis.setZero(); + + bool isValid2 = m_penetrationDepthSolver->calcPenDepth( + *m_simplexSolver, + m_minkowskiA,m_minkowskiB, + localTransA,localTransB, + m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB, + debugDraw + ); + + + if (isValid2) + { + btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; + btScalar lenSqr = tmpNormalInB.length2(); + if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON)) + { + tmpNormalInB = m_cachedSeparatingAxis; + lenSqr = m_cachedSeparatingAxis.length2(); + } + + if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) + { + tmpNormalInB /= btSqrt(lenSqr); + btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); + //only replace valid penetrations when the result is deeper (check) + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + normalInB = tmpNormalInB; + isValid = true; + m_lastUsedMethod = 3; + } else + { + m_lastUsedMethod = 8; + } + } else + { + m_lastUsedMethod = 9; + } + } else + + { + ///this is another degenerate case, where the initial GJK calculation reports a degenerate case + ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) + ///reports a valid positive distance. Use the results of the second GJK instead of failing. + ///thanks to Jacob.Langford for the reproduction case + ///http://code.google.com/p/bullet/issues/detail?id=250 + + + if (m_cachedSeparatingAxis.length2() > btScalar(0.)) + { + btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin; + //only replace valid distances when the distance is less + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + pointOnA -= m_cachedSeparatingAxis * marginA ; + pointOnB += m_cachedSeparatingAxis * marginB ; + normalInB = m_cachedSeparatingAxis; + normalInB.normalize(); + isValid = true; + m_lastUsedMethod = 6; + } else + { + m_lastUsedMethod = 5; + } + } + } + + } + + } + } + + + + if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared))) + { +#if 0 +///some debugging +// if (check2d) + { + printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]); + printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex); + } +#endif + + if (m_fixContactNormalDirection) + { + ///@workaround for sticky convex collisions + //in some degenerate cases (usually when the use uses very small margins) + //the contact normal is pointing the wrong direction + //so fix it now (until we can deal with all degenerate cases in GJK and EPA) + //contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A + //We like to use a dot product of the normal against the difference of the centroids, + //once the centroid is available in the API + //until then we use the center of the aabb to approximate the centroid + btVector3 aabbMin,aabbMax; + m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax); + btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5); + + m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax); + btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5); + + btVector3 diff = posA-posB; + if (diff.dot(normalInB) < 0.f) + normalInB *= -1.f; + } + m_cachedSeparatingAxis = normalInB; + m_cachedSeparatingDistance = distance; + + output.addContactPoint( + normalInB, + pointOnB+positionOffset, + distance); + + } + + +} + + + + + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h new file mode 100644 index 00000000..feeae686 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GJK_PAIR_DETECTOR_H +#define BT_GJK_PAIR_DETECTOR_H + +#include "btDiscreteCollisionDetectorInterface.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +class btConvexShape; +#include "btSimplexSolverInterface.h" +class btConvexPenetrationDepthSolver; + +/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface +class btGjkPairDetector : public btDiscreteCollisionDetectorInterface +{ + + + btVector3 m_cachedSeparatingAxis; + btConvexPenetrationDepthSolver* m_penetrationDepthSolver; + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_minkowskiA; + const btConvexShape* m_minkowskiB; + int m_shapeTypeA; + int m_shapeTypeB; + btScalar m_marginA; + btScalar m_marginB; + + bool m_ignoreMargin; + btScalar m_cachedSeparatingDistance; + + +public: + + //some debugging to fix degeneracy problems + int m_lastUsedMethod; + int m_curIter; + int m_degenerateSimplex; + int m_catchDegeneracies; + int m_fixContactNormalDirection; + + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + virtual ~btGjkPairDetector() {}; + + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + + void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + + + void setMinkowskiA(const btConvexShape* minkA) + { + m_minkowskiA = minkA; + } + + void setMinkowskiB(const btConvexShape* minkB) + { + m_minkowskiB = minkB; + } + void setCachedSeperatingAxis(const btVector3& seperatingAxis) + { + m_cachedSeparatingAxis = seperatingAxis; + } + + const btVector3& getCachedSeparatingAxis() const + { + return m_cachedSeparatingAxis; + } + btScalar getCachedSeparatingDistance() const + { + return m_cachedSeparatingDistance; + } + + void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver) + { + m_penetrationDepthSolver = penetrationDepthSolver; + } + + ///don't use setIgnoreMargin, it's for Bullet's internal use + void setIgnoreMargin(bool ignoreMargin) + { + m_ignoreMargin = ignoreMargin; + } + + +}; + +#endif //BT_GJK_PAIR_DETECTOR_H diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h new file mode 100644 index 00000000..e40fb1d3 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h @@ -0,0 +1,156 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MANIFOLD_CONTACT_POINT_H +#define BT_MANIFOLD_CONTACT_POINT_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransformUtil.h" + +#ifdef PFX_USE_FREE_VECTORMATH + #include "physics_effects/base_level/solver/pfx_constraint_row.h" +typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow; +#else + // Don't change following order of parameters + ATTRIBUTE_ALIGNED16(struct) btConstraintRow { + btScalar m_normal[3]; + btScalar m_rhs; + btScalar m_jacDiagInv; + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_accumImpulse; + }; + typedef btConstraintRow PfxConstraintRow; +#endif //PFX_USE_FREE_VECTORMATH + + + +/// ManifoldContactPoint collects and maintains persistent contactpoints. +/// used to improve stability and performance of rigidbody dynamics response. +class btManifoldPoint + { + public: + btManifoldPoint() + :m_userPersistentData(0), + m_lateralFrictionInitialized(false), + m_appliedImpulse(0.f), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), + m_contactMotion1(0.f), + m_contactMotion2(0.f), + m_contactCFM1(0.f), + m_contactCFM2(0.f), + m_lifeTime(0) + { + } + + btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB, + const btVector3 &normal, + btScalar distance ) : + m_localPointA( pointA ), + m_localPointB( pointB ), + m_normalWorldOnB( normal ), + m_distance1( distance ), + m_combinedFriction(btScalar(0.)), + m_combinedRollingFriction(btScalar(0.)), + m_combinedRestitution(btScalar(0.)), + m_userPersistentData(0), + m_lateralFrictionInitialized(false), + m_appliedImpulse(0.f), + m_appliedImpulseLateral1(0.f), + m_appliedImpulseLateral2(0.f), + m_contactMotion1(0.f), + m_contactMotion2(0.f), + m_contactCFM1(0.f), + m_contactCFM2(0.f), + m_lifeTime(0) + { + + } + + + + btVector3 m_localPointA; + btVector3 m_localPointB; + btVector3 m_positionWorldOnB; + ///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity + btVector3 m_positionWorldOnA; + btVector3 m_normalWorldOnB; + + btScalar m_distance1; + btScalar m_combinedFriction; + btScalar m_combinedRollingFriction; + btScalar m_combinedRestitution; + + //BP mod, store contact triangles. + int m_partId0; + int m_partId1; + int m_index0; + int m_index1; + + mutable void* m_userPersistentData; + bool m_lateralFrictionInitialized; + + btScalar m_appliedImpulse; + btScalar m_appliedImpulseLateral1; + btScalar m_appliedImpulseLateral2; + btScalar m_contactMotion1; + btScalar m_contactMotion2; + btScalar m_contactCFM1; + btScalar m_contactCFM2; + + int m_lifeTime;//lifetime of the contactpoint in frames + + btVector3 m_lateralFrictionDir1; + btVector3 m_lateralFrictionDir2; + + + + + btScalar getDistance() const + { + return m_distance1; + } + int getLifeTime() const + { + return m_lifeTime; + } + + const btVector3& getPositionWorldOnA() const { + return m_positionWorldOnA; +// return m_positionWorldOnB + m_normalWorldOnB * m_distance1; + } + + const btVector3& getPositionWorldOnB() const + { + return m_positionWorldOnB; + } + + void setDistance(btScalar dist) + { + m_distance1 = dist; + } + + ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver + btScalar getAppliedImpulse() const + { + return m_appliedImpulse; + } + + + + }; + +#endif //BT_MANIFOLD_CONTACT_POINT_H diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp new file mode 100644 index 00000000..fa45f490 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -0,0 +1,361 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btMinkowskiPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +#define NUM_UNITSPHERE_POINTS 42 + + +bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw + ) +{ + + (void)v; + + bool check2d= convexA->isConvex2d() && convexB->isConvex2d(); + + struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result + { + + btIntermediateResult():m_hasResult(false) + { + } + + btVector3 m_normalOnBInWorld; + btVector3 m_pointInWorld; + btScalar m_depth; + bool m_hasResult; + + virtual void setShapeIdentifiersA(int partId0,int index0) + { + (void)partId0; + (void)index0; + } + virtual void setShapeIdentifiersB(int partId1,int index1) + { + (void)partId1; + (void)index1; + } + void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + m_normalOnBInWorld = normalOnBInWorld; + m_pointInWorld = pointInWorld; + m_depth = depth; + m_hasResult = true; + } + }; + + //just take fixed number of orientation, and sample the penetration depth in that direction + btScalar minProj = btScalar(BT_LARGE_FLOAT); + btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.)); + btVector3 minA,minB; + btVector3 seperatingAxisInA,seperatingAxisInB; + btVector3 pInA,qInB,pWorld,qWorld,w; + +#ifndef __SPU__ +#define USE_BATCHED_SUPPORT 1 +#endif +#ifdef USE_BATCHED_SUPPORT + + btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + int i; + + int numSampleDirections = NUM_UNITSPHERE_POINTS; + + for (i=0;igetNumPreferredPenetrationDirections(); + if (numPDA) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transA.getBasis() * norm; + getPenetrationDirections()[numSampleDirections] = norm; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + numSampleDirections++; + } + } + } + + { + int numPDB = convexB->getNumPreferredPenetrationDirections(); + if (numPDB) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transB.getBasis() * norm; + getPenetrationDirections()[numSampleDirections] = norm; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + numSampleDirections++; + } + } + } + + + + + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections); + + for (i=0;i0.01) + { + + seperatingAxisInA = seperatingAxisInABatch[i]; + seperatingAxisInB = seperatingAxisInBBatch[i]; + + pInA = supportVerticesABatch[i]; + qInB = supportVerticesBBatch[i]; + + pWorld = transA(pInA); + qWorld = transB(qInB); + if (check2d) + { + pWorld[2] = 0.f; + qWorld[2] = 0.f; + } + + w = qWorld - pWorld; + btScalar delta = norm.dot(w); + //find smallest delta + if (delta < minProj) + { + minProj = delta; + minNorm = norm; + minA = pWorld; + minB = qWorld; + } + } + } +#else + + int numSampleDirections = NUM_UNITSPHERE_POINTS; + +#ifndef __SPU__ + { + int numPDA = convexA->getNumPreferredPenetrationDirections(); + if (numPDA) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transA.getBasis() * norm; + getPenetrationDirections()[numSampleDirections] = norm; + numSampleDirections++; + } + } + } + + { + int numPDB = convexB->getNumPreferredPenetrationDirections(); + if (numPDB) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transB.getBasis() * norm; + getPenetrationDirections()[numSampleDirections] = norm; + numSampleDirections++; + } + } + } +#endif // __SPU__ + + for (int i=0;ilocalGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + pWorld = transA(pInA); + qWorld = transB(qInB); + w = qWorld - pWorld; + btScalar delta = norm.dot(w); + //find smallest delta + if (delta < minProj) + { + minProj = delta; + minNorm = norm; + minA = pWorld; + minB = qWorld; + } + } +#endif //USE_BATCHED_SUPPORT + + //add the margins + + minA += minNorm*convexA->getMarginNonVirtual(); + minB -= minNorm*convexB->getMarginNonVirtual(); + //no penetration + if (minProj < btScalar(0.)) + return false; + + btScalar extraSeparation = 0.5f;///scale dependent + minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual()); + + + + + +//#define DEBUG_DRAW 1 +#ifdef DEBUG_DRAW + if (debugDraw) + { + btVector3 color(0,1,0); + debugDraw->drawLine(minA,minB,color); + color = btVector3 (1,1,1); + btVector3 vec = minB-minA; + btScalar prj2 = minNorm.dot(vec); + debugDraw->drawLine(minA,minA+(minNorm*minProj),color); + + } +#endif //DEBUG_DRAW + + + + btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0); + + btScalar offsetDist = minProj; + btVector3 offset = minNorm * offsetDist; + + + + btGjkPairDetector::ClosestPointInput input; + + btVector3 newOrg = transA.getOrigin() + offset; + + btTransform displacedTrans = transA; + displacedTrans.setOrigin(newOrg); + + input.m_transformA = displacedTrans; + input.m_transformB = transB; + input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj; + + btIntermediateResult res; + gjkdet.setCachedSeperatingAxis(-minNorm); + gjkdet.getClosestPoints(input,res,debugDraw); + + btScalar correctedMinNorm = minProj - res.m_depth; + + + //the penetration depth is over-estimated, relax it + btScalar penetration_relaxation= btScalar(1.); + minNorm*=penetration_relaxation; + + + if (res.m_hasResult) + { + + pa = res.m_pointInWorld - minNorm * correctedMinNorm; + pb = res.m_pointInWorld; + v = minNorm; + +#ifdef DEBUG_DRAW + if (debugDraw) + { + btVector3 color(1,0,0); + debugDraw->drawLine(pa,pb,color); + } +#endif//DEBUG_DRAW + + + } + return res.m_hasResult; +} + +btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections() +{ + static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = + { + btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), + btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), + btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), + btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), + btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), + btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), + btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), + btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), + btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), + btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), + btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), + btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), + btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), + btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), + btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), + btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), + btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), + btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), + btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), + btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), + btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), + btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), + btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), + btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), + btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), + btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), + btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), + btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), + btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), + btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), + btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), + btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), + btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), + btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), + btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), + btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) + }; + + return sPenetrationDirections; +} + + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h new file mode 100644 index 00000000..fd533b4f --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H +#define BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + +#include "btConvexPenetrationDepthSolver.h" + +///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. +///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. +class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +protected: + + static btVector3* getPenetrationDirections(); + +public: + + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw + ); +}; + +#endif //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp new file mode 100644 index 00000000..4d92e853 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -0,0 +1,305 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btPersistentManifold.h" +#include "LinearMath/btTransform.h" + + +btScalar gContactBreakingThreshold = btScalar(0.02); +ContactDestroyedCallback gContactDestroyedCallback = 0; +ContactProcessedCallback gContactProcessedCallback = 0; +///gContactCalcArea3Points will approximate the convex hull area using 3 points +///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower +bool gContactCalcArea3Points = true; + + +btPersistentManifold::btPersistentManifold() +:btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), +m_body0(0), +m_body1(0), +m_cachedPoints (0), +m_index1a(0) +{ +} + + + + +#ifdef DEBUG_PERSISTENCY +#include +void btPersistentManifold::DebugPersistency() +{ + int i; + printf("DebugPersistency : numPoints %d\n",m_cachedPoints); + for (i=0;i1) + printf("error in clearUserCache\n"); + } + } + btAssert(occurance<=0); +#endif //DEBUG_PERSISTENCY + + if (pt.m_userPersistentData && gContactDestroyedCallback) + { + (*gContactDestroyedCallback)(pt.m_userPersistentData); + pt.m_userPersistentData = 0; + } + +#ifdef DEBUG_PERSISTENCY + DebugPersistency(); +#endif + } + + +} + +static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,const btVector3 &p2,const btVector3 &p3) +{ + // It calculates possible 3 area constructed from random 4 points and returns the biggest one. + + btVector3 a[3],b[3]; + a[0] = p0 - p1; + a[1] = p0 - p2; + a[2] = p0 - p3; + b[0] = p2 - p3; + b[1] = p1 - p3; + b[2] = p1 - p2; + + //todo: Following 3 cross production can be easily optimized by SIMD. + btVector3 tmp0 = a[0].cross(b[0]); + btVector3 tmp1 = a[1].cross(b[1]); + btVector3 tmp2 = a[2].cross(b[2]); + + return btMax(btMax(tmp0.length2(),tmp1.length2()),tmp2.length2()); +} + +int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt) +{ + //calculate 4 possible cases areas, and take biggest area + //also need to keep 'deepest' + + int maxPenetrationIndex = -1; +#define KEEP_DEEPEST_POINT 1 +#ifdef KEEP_DEEPEST_POINT + btScalar maxPenetration = pt.getDistance(); + for (int i=0;i<4;i++) + { + if (m_pointCache[i].getDistance() < maxPenetration) + { + maxPenetrationIndex = i; + maxPenetration = m_pointCache[i].getDistance(); + } + } +#endif //KEEP_DEEPEST_POINT + + btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.)); + + if (gContactCalcArea3Points) + { + if (maxPenetrationIndex != 0) + { + btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA; + btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA; + btVector3 cross = a0.cross(b0); + res0 = cross.length2(); + } + if (maxPenetrationIndex != 1) + { + btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA; + btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA; + btVector3 cross = a1.cross(b1); + res1 = cross.length2(); + } + + if (maxPenetrationIndex != 2) + { + btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA; + btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA; + btVector3 cross = a2.cross(b2); + res2 = cross.length2(); + } + + if (maxPenetrationIndex != 3) + { + btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA; + btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA; + btVector3 cross = a3.cross(b3); + res3 = cross.length2(); + } + } + else + { + if(maxPenetrationIndex != 0) { + res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA); + } + + if(maxPenetrationIndex != 1) { + res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA); + } + + if(maxPenetrationIndex != 2) { + res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA); + } + + if(maxPenetrationIndex != 3) { + res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA); + } + } + btVector4 maxvec(res0,res1,res2,res3); + int biggestarea = maxvec.closestAxis4(); + return biggestarea; + +} + + +int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const +{ + btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold(); + int size = getNumContacts(); + int nearestPoint = -1; + for( int i = 0; i < size; i++ ) + { + const btManifoldPoint &mp = m_pointCache[i]; + + btVector3 diffA = mp.m_localPointA- newPoint.m_localPointA; + const btScalar distToManiPoint = diffA.dot(diffA); + if( distToManiPoint < shortestDist ) + { + shortestDist = distToManiPoint; + nearestPoint = i; + } + } + return nearestPoint; +} + +int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive) +{ + if (!isPredictive) + { + btAssert(validContactDistance(newPoint)); + } + + int insertIndex = getNumContacts(); + if (insertIndex == MANIFOLD_CACHE_SIZE) + { +#if MANIFOLD_CACHE_SIZE >= 4 + //sort cache so best points come first, based on area + insertIndex = sortCachedPoints(newPoint); +#else + insertIndex = 0; +#endif + clearUserCache(m_pointCache[insertIndex]); + + } else + { + m_cachedPoints++; + + + } + if (insertIndex<0) + insertIndex=0; + + btAssert(m_pointCache[insertIndex].m_userPersistentData==0); + m_pointCache[insertIndex] = newPoint; + return insertIndex; +} + +btScalar btPersistentManifold::getContactBreakingThreshold() const +{ + return m_contactBreakingThreshold; +} + + + +void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB) +{ + int i; +#ifdef DEBUG_PERSISTENCY + printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n", + trA.getOrigin().getX(), + trA.getOrigin().getY(), + trA.getOrigin().getZ(), + trB.getOrigin().getX(), + trB.getOrigin().getY(), + trB.getOrigin().getZ()); +#endif //DEBUG_PERSISTENCY + /// first refresh worldspace positions and distance + for (i=getNumContacts()-1;i>=0;i--) + { + btManifoldPoint &manifoldPoint = m_pointCache[i]; + manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA ); + manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB ); + manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB); + manifoldPoint.m_lifeTime++; + } + + /// then + btScalar distance2d; + btVector3 projectedDifference,projectedPoint; + for (i=getNumContacts()-1;i>=0;i--) + { + + btManifoldPoint &manifoldPoint = m_pointCache[i]; + //contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction) + if (!validContactDistance(manifoldPoint)) + { + removeContactPoint(i); + } else + { + //contact also becomes invalid when relative movement orthogonal to normal exceeds margin + projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1; + projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint; + distance2d = projectedDifference.dot(projectedDifference); + if (distance2d > getContactBreakingThreshold()*getContactBreakingThreshold() ) + { + removeContactPoint(i); + } else + { + //contact point processed callback + if (gContactProcessedCallback) + (*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1); + } + } + } +#ifdef DEBUG_PERSISTENCY + DebugPersistency(); +#endif // +} + + + + + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h new file mode 100644 index 00000000..2ceaab75 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -0,0 +1,240 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_PERSISTENT_MANIFOLD_H +#define BT_PERSISTENT_MANIFOLD_H + + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" +#include "btManifoldPoint.h" +class btCollisionObject; +#include "LinearMath/btAlignedAllocator.h" + +struct btCollisionResult; + +///maximum contact breaking and merging threshold +extern btScalar gContactBreakingThreshold; + +typedef bool (*ContactDestroyedCallback)(void* userPersistentData); +typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1); +extern ContactDestroyedCallback gContactDestroyedCallback; +extern ContactProcessedCallback gContactProcessedCallback; + +//the enum starts at 1024 to avoid type conflicts with btTypedConstraint +enum btContactManifoldTypes +{ + MIN_CONTACT_MANIFOLD_TYPE = 1024, + BT_PERSISTENT_MANIFOLD_TYPE +}; + +#define MANIFOLD_CACHE_SIZE 4 + +///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. +///Those contact points are created by the collision narrow phase. +///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. +///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) +///reduces the cache to 4 points, when more then 4 points are added, using following rules: +///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points +///note that some pairs of objects might have more then one contact manifold. + + +ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject +//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject +{ + + btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]; + + /// this two body pointers can point to the physics rigidbody class. + const btCollisionObject* m_body0; + const btCollisionObject* m_body1; + + int m_cachedPoints; + + btScalar m_contactBreakingThreshold; + btScalar m_contactProcessingThreshold; + + + /// sort cached points so most isolated points come first + int sortCachedPoints(const btManifoldPoint& pt); + + int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_companionIdA; + int m_companionIdB; + + int m_index1a; + + btPersistentManifold(); + + btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold) + : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), + m_body0(body0),m_body1(body1),m_cachedPoints(0), + m_contactBreakingThreshold(contactBreakingThreshold), + m_contactProcessingThreshold(contactProcessingThreshold) + { + } + + SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;} + SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;} + + void setBodies(const btCollisionObject* body0,const btCollisionObject* body1) + { + m_body0 = body0; + m_body1 = body1; + } + + void clearUserCache(btManifoldPoint& pt); + +#ifdef DEBUG_PERSISTENCY + void DebugPersistency(); +#endif // + + SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;} + /// the setNumContacts API is usually not used, except when you gather/fill all contacts manually + void setNumContacts(int cachedPoints) + { + m_cachedPoints = cachedPoints; + } + + + SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const + { + btAssert(index < m_cachedPoints); + return m_pointCache[index]; + } + + SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index) + { + btAssert(index < m_cachedPoints); + return m_pointCache[index]; + } + + ///@todo: get this margin from the current physics / collision environment + btScalar getContactBreakingThreshold() const; + + btScalar getContactProcessingThreshold() const + { + return m_contactProcessingThreshold; + } + + void setContactBreakingThreshold(btScalar contactBreakingThreshold) + { + m_contactBreakingThreshold = contactBreakingThreshold; + } + + void setContactProcessingThreshold(btScalar contactProcessingThreshold) + { + m_contactProcessingThreshold = contactProcessingThreshold; + } + + + + + int getCacheEntry(const btManifoldPoint& newPoint) const; + + int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false); + + void removeContactPoint (int index) + { + clearUserCache(m_pointCache[index]); + + int lastUsedIndex = getNumContacts() - 1; +// m_pointCache[index] = m_pointCache[lastUsedIndex]; + if(index != lastUsedIndex) + { + m_pointCache[index] = m_pointCache[lastUsedIndex]; + //get rid of duplicated userPersistentData pointer + m_pointCache[lastUsedIndex].m_userPersistentData = 0; + m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; + m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; + m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; + m_pointCache[lastUsedIndex].m_lifeTime = 0; + } + + btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); + m_cachedPoints--; + } + void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex) + { + btAssert(validContactDistance(newPoint)); + +#define MAINTAIN_PERSISTENCY 1 +#ifdef MAINTAIN_PERSISTENCY + int lifeTime = m_pointCache[insertIndex].getLifeTime(); + btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; + btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; + btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; +// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized; + + + + btAssert(lifeTime>=0); + void* cache = m_pointCache[insertIndex].m_userPersistentData; + + m_pointCache[insertIndex] = newPoint; + + m_pointCache[insertIndex].m_userPersistentData = cache; + m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; + m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; + + m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; + m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; + m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; + + + m_pointCache[insertIndex].m_lifeTime = lifeTime; +#else + clearUserCache(m_pointCache[insertIndex]); + m_pointCache[insertIndex] = newPoint; + +#endif + } + + + bool validContactDistance(const btManifoldPoint& pt) const + { + return pt.m_distance1 <= getContactBreakingThreshold(); + } + /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin + void refreshContactPoints( const btTransform& trA,const btTransform& trB); + + + SIMD_FORCE_INLINE void clearManifold() + { + int i; + for (i=0;i //for FLT_MAX + +int gExpectedNbTests=0; +int gActualNbTests = 0; +bool gUseInternalObject = true; + +// Clips a face to the back of a plane +void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS) +{ + + int ve; + btScalar ds, de; + int numVerts = pVtxIn.size(); + if (numVerts < 2) + return; + + btVector3 firstVertex=pVtxIn[pVtxIn.size()-1]; + btVector3 endVertex = pVtxIn[0]; + + ds = planeNormalWS.dot(firstVertex)+planeEqWS; + + for (ve = 0; ve < numVerts; ve++) + { + endVertex=pVtxIn[ve]; + + de = planeNormalWS.dot(endVertex)+planeEqWS; + + if (ds<0) + { + if (de<0) + { + // Start < 0, end < 0, so output endVertex + ppVtxOut.push_back(endVertex); + } + else + { + // Start < 0, end >= 0, so output intersection + ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de)))); + } + } + else + { + if (de<0) + { + // Start >= 0, end < 0 so output intersection and end + ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de)))); + ppVtxOut.push_back(endVertex); + } + } + firstVertex = endVertex; + ds = de; + } +} + + +static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth, btVector3& witnessPointA, btVector3& witnessPointB) +{ + btScalar Min0,Max0; + btScalar Min1,Max1; + btVector3 witnesPtMinA,witnesPtMaxA; + btVector3 witnesPtMinB,witnesPtMaxB; + + hullA.project(transA,sep_axis, Min0, Max0,witnesPtMinA,witnesPtMaxA); + hullB.project(transB, sep_axis, Min1, Max1,witnesPtMinB,witnesPtMaxB); + + if(Max0=0.0f); + btScalar d1 = Max1 - Min0; + btAssert(d1>=0.0f); + if (d01e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false; + return true; +} + +#ifdef TEST_INTERNAL_OBJECTS + +inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3]) +{ + // This version is ~11.000 cycles (4%) faster overall in one of the tests. +// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK); +// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK); +// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK); + p[0] = sv[0] < 0.0f ? -extents[0] : extents[0]; + p[1] = sv[1] < 0.0f ? -extents[1] : extents[1]; + p[2] = sv[2] < 0.0f ? -extents[2] : extents[2]; +} + +void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr) +{ + const btMatrix3x3& rot = tr.getBasis(); + const btVector3& r0 = rot[0]; + const btVector3& r1 = rot[1]; + const btVector3& r2 = rot[2]; + + const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z(); + const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z(); + const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z(); + + out.setValue(x, y, z); +} + + bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin) +{ + const btScalar dp = delta_c.dot(axis); + + btVector3 localAxis0; + InverseTransformPoint3x3(localAxis0, axis,trans0); + btVector3 localAxis1; + InverseTransformPoint3x3(localAxis1, axis,trans1); + + btScalar p0[3]; + BoxSupport(convex0.m_extents, localAxis0, p0); + btScalar p1[3]; + BoxSupport(convex1.m_extents, localAxis1, p1); + + const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z(); + const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z(); + + const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius; + const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius; + + const btScalar MinMaxRadius = MaxRadius + MinRadius; + const btScalar d0 = MinMaxRadius + dp; + const btScalar d1 = MinMaxRadius - dp; + + const btScalar depth = d0dmin) + return false; + return true; +} +#endif //TEST_INTERNAL_OBJECTS + + + + SIMD_FORCE_INLINE void btSegmentsClosestPoints( + btVector3& ptsVector, + btVector3& offsetA, + btVector3& offsetB, + btScalar& tA, btScalar& tB, + const btVector3& translation, + const btVector3& dirA, btScalar hlenA, + const btVector3& dirB, btScalar hlenB ) +{ + // compute the parameters of the closest points on each line segment + + btScalar dirA_dot_dirB = btDot(dirA,dirB); + btScalar dirA_dot_trans = btDot(dirA,translation); + btScalar dirB_dot_trans = btDot(dirB,translation); + + btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB; + + if ( denom == 0.0f ) { + tA = 0.0f; + } else { + tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom; + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + tB = tA * dirA_dot_dirB - dirB_dot_trans; + + if ( tB < -hlenB ) { + tB = -hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } else if ( tB > hlenB ) { + tB = hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + // compute the closest points relative to segment centers. + + offsetA = dirA * tA; + offsetB = dirB * tB; + + ptsVector = translation - offsetA + offsetB; +} + + + +bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut) +{ + gActualSATPairTests++; + +//#ifdef TEST_INTERNAL_OBJECTS + const btVector3 c0 = transA * hullA.m_localCenter; + const btVector3 c1 = transB * hullB.m_localCenter; + const btVector3 DeltaC2 = c0 - c1; +//#endif + + btScalar dmin = FLT_MAX; + int curPlaneTests=0; + + int numFacesA = hullA.m_faces.size(); + // Test normals from hullA + for(int i=0;i=0&&edgeB>=0) + { +// printf("edge-edge\n"); + //add an edge-edge contact + + btVector3 ptsVector; + btVector3 offsetA; + btVector3 offsetB; + btScalar tA; + btScalar tB; + + btVector3 translation = witnessPointB-witnessPointA; + + btVector3 dirA = worldEdgeA; + btVector3 dirB = worldEdgeB; + + btScalar hlenB = 1e30f; + btScalar hlenA = 1e30f; + + btSegmentsClosestPoints(ptsVector,offsetA,offsetB,tA,tB, + translation, + dirA, hlenA, + dirB,hlenB); + + btScalar nlSqrt = ptsVector.length2(); + if (nlSqrt>SIMD_EPSILON) + { + btScalar nl = btSqrt(nlSqrt); + ptsVector *= 1.f/nl; + if (ptsVector.dot(DeltaC2)<0.f) + { + ptsVector*=-1.f; + } + btVector3 ptOnB = witnessPointB + offsetB; + btScalar distance = nl; + resultOut.addContactPoint(ptsVector, ptOnB,-distance); + } + + } + + + if((DeltaC2.dot(sep))<0.0f) + sep = -sep; + + return true; +} + +void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut) +{ + btVertexArray worldVertsB2; + btVertexArray* pVtxIn = &worldVertsB1; + btVertexArray* pVtxOut = &worldVertsB2; + pVtxOut->reserve(pVtxIn->size()); + + int closestFaceA=-1; + { + btScalar dmin = FLT_MAX; + for(int face=0;faceresize(0); + } + + + +//#define ONLY_REPORT_DEEPEST_POINT + + btVector3 point; + + + // only keep points that are behind the witness face + { + btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]); + btScalar localPlaneEq = polyA.m_plane[3]; + btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal; + btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin()); + for (int i=0;isize();i++) + { + btVector3 vtx = pVtxIn->at(i); + btScalar depth = planeNormalWS.dot(vtx)+planeEqWS; + if (depth <=minDist) + { +// printf("clamped: depth=%f to minDist=%f\n",depth,minDist); + depth = minDist; + } + + if (depth <=maxDist) + { + btVector3 point = pVtxIn->at(i); +#ifdef ONLY_REPORT_DEEPEST_POINT + curMaxDist = depth; +#else +#if 0 + if (depth<-3) + { + printf("error in btPolyhedralContactClipping depth = %f\n", depth); + printf("likely wrong separatingNormal passed in\n"); + } +#endif + resultOut.addContactPoint(separatingNormal,point,depth); +#endif + } + } + } +#ifdef ONLY_REPORT_DEEPEST_POINT + if (curMaxDist dmax) + { + dmax = d; + closestFaceB = face; + } + } + } + btVertexArray worldVertsB1; + { + const btFace& polyB = hullB.m_faces[closestFaceB]; + const int numVertices = polyB.m_indices.size(); + for(int e0=0;e0=0) + clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut); + +} diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h new file mode 100644 index 00000000..b87bd4f3 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h @@ -0,0 +1,46 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://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. +*/ + + +///This file was written by Erwin Coumans + + +#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H +#define BT_POLYHEDRAL_CONTACT_CLIPPING_H + + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btTransform.h" +#include "btDiscreteCollisionDetectorInterface.h" + +class btConvexPolyhedron; + +typedef btAlignedObjectArray btVertexArray; + +// Clips a face to the back of a plane +struct btPolyhedralContactClipping +{ + static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut); + static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut); + + static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut); + + ///the clipFace method is used internally + static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS); + +}; + +#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp new file mode 100644 index 00000000..786efd18 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp @@ -0,0 +1,178 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +//#include + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "btRaycastCallback.h" + +btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags) + : + m_from(from), + m_to(to), + //@BP Mod + m_flags(flags), + m_hitFraction(btScalar(1.)) +{ + +} + + + +void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) +{ + const btVector3 &vert0=triangle[0]; + const btVector3 &vert1=triangle[1]; + const btVector3 &vert2=triangle[2]; + + btVector3 v10; v10 = vert1 - vert0 ; + btVector3 v20; v20 = vert2 - vert0 ; + + btVector3 triangleNormal; triangleNormal = v10.cross( v20 ); + + const btScalar dist = vert0.dot(triangleNormal); + btScalar dist_a = triangleNormal.dot(m_from) ; + dist_a-= dist; + btScalar dist_b = triangleNormal.dot(m_to); + dist_b -= dist; + + if ( dist_a * dist_b >= btScalar(0.0) ) + { + return ; // same sign + } + + if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0))) + { + // Backface, skip check + return; + } + + + const btScalar proj_length=dist_a-dist_b; + const btScalar distance = (dist_a)/(proj_length); + // Now we have the intersection point on the plane, we'll see if it's inside the triangle + // Add an epsilon as a tolerance for the raycast, + // in case the ray hits exacly on the edge of the triangle. + // It must be scaled for the triangle size. + + if(distance < m_hitFraction) + { + + + btScalar edge_tolerance =triangleNormal.length2(); + edge_tolerance *= btScalar(-0.0001); + btVector3 point; point.setInterpolate3( m_from, m_to, distance); + { + btVector3 v0p; v0p = vert0 - point; + btVector3 v1p; v1p = vert1 - point; + btVector3 cp0; cp0 = v0p.cross( v1p ); + + if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) + { + + + btVector3 v2p; v2p = vert2 - point; + btVector3 cp1; + cp1 = v1p.cross( v2p); + if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) + { + btVector3 cp2; + cp2 = v2p.cross(v0p); + + if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) + { + //@BP Mod + // Triangle normal isn't normalized + triangleNormal.normalize(); + + //@BP Mod - Allow for unflipped normal when raycasting against backfaces + if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0))) + { + m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex); + } + else + { + m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex); + } + } + } + } + } + } +} + + +btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin) +{ + m_convexShape = convexShape; + m_convexShapeFrom = convexShapeFrom; + m_convexShapeTo = convexShapeTo; + m_triangleToWorld = triangleToWorld; + m_hitFraction = 1.0f; + m_triangleCollisionMargin = triangleCollisionMargin; + m_allowedPenetration = 0.f; +} + +void +btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex) +{ + btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]); + triangleShape.setMargin(m_triangleCollisionMargin); + + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + +//#define USE_SUBSIMPLEX_CONVEX_CAST 1 +//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver); +#else + //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver); + btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver); +#endif //#USE_SUBSIMPLEX_CONVEX_CAST + + btConvexCast::CastResult castResult; + castResult.m_fraction = btScalar(1.); + castResult.m_allowedPenetration = m_allowedPenetration; + if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < m_hitFraction) + { +/* btContinuousConvexCast's normal is already in world space */ +/* +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST +*/ + castResult.m_normal.normalize(); + + reportHit (castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction, + partId, + triangleIndex); + } + } + } +} diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h new file mode 100644 index 00000000..3999d400 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -0,0 +1,72 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_RAYCAST_TRI_CALLBACK_H +#define BT_RAYCAST_TRI_CALLBACK_H + +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "LinearMath/btTransform.h" +struct btBroadphaseProxy; +class btConvexShape; + +class btTriangleRaycastCallback: public btTriangleCallback +{ +public: + + //input + btVector3 m_from; + btVector3 m_to; + + //@BP Mod - allow backface filtering and unflipped normals + enum EFlags + { + kF_None = 0, + kF_FilterBackfaces = 1 << 0, + kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle + kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm + kF_Terminator = 0xFFFFFFFF + }; + unsigned int m_flags; + + btScalar m_hitFraction; + + btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) = 0; + +}; + +class btTriangleConvexcastCallback : public btTriangleCallback +{ +public: + const btConvexShape* m_convexShape; + btTransform m_convexShapeFrom; + btTransform m_convexShapeTo; + btTransform m_triangleToWorld; + btScalar m_hitFraction; + btScalar m_triangleCollisionMargin; + btScalar m_allowedPenetration; + + btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin); + + virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex); + + virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0; +}; + +#endif //BT_RAYCAST_TRI_CALLBACK_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h new file mode 100644 index 00000000..da8a1391 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h @@ -0,0 +1,63 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMPLEX_SOLVER_INTERFACE_H +#define BT_SIMPLEX_SOLVER_INTERFACE_H + +#include "LinearMath/btVector3.h" + +#define NO_VIRTUAL_INTERFACE 1 +#ifdef NO_VIRTUAL_INTERFACE +#include "btVoronoiSimplexSolver.h" +#define btSimplexSolverInterface btVoronoiSimplexSolver +#else + +/// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices +/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on +/// voronoi regions or barycentric coordinates +class btSimplexSolverInterface +{ + public: + virtual ~btSimplexSolverInterface() {}; + + virtual void reset() = 0; + + virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0; + + virtual bool closest(btVector3& v) = 0; + + virtual btScalar maxVertex() = 0; + + virtual bool fullSimplex() const = 0; + + virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0; + + virtual bool inSimplex(const btVector3& w) = 0; + + virtual void backup_closest(btVector3& v) = 0; + + virtual bool emptySimplex() const = 0; + + virtual void compute_points(btVector3& p1, btVector3& p2) = 0; + + virtual int numVertices() const =0; + + +}; +#endif +#endif //BT_SIMPLEX_SOLVER_INTERFACE_H + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp new file mode 100644 index 00000000..18eb662d --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp @@ -0,0 +1,160 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btSubSimplexConvexCast.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" +#include "btPointCollector.h" +#include "LinearMath/btTransformUtil.h" + +btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) +:m_simplexSolver(simplexSolver), +m_convexA(convexA),m_convexB(convexB) +{ +} + +///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases. +///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565 +#ifdef BT_USE_DOUBLE_PRECISION +#define MAX_ITERATIONS 64 +#else +#define MAX_ITERATIONS 32 +#endif +bool btSubsimplexConvexCast::calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result) +{ + + m_simplexSolver->reset(); + + btVector3 linVelA,linVelB; + linVelA = toA.getOrigin()-fromA.getOrigin(); + linVelB = toB.getOrigin()-fromB.getOrigin(); + + btScalar lambda = btScalar(0.); + + btTransform interpolatedTransA = fromA; + btTransform interpolatedTransB = fromB; + + ///take relative motion + btVector3 r = (linVelA-linVelB); + btVector3 v; + + btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis())); + btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis())); + v = supVertexA-supVertexB; + int maxIter = MAX_ITERATIONS; + + btVector3 n; + n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + bool hasResult = false; + btVector3 c; + + btScalar lastLambda = lambda; + + + btScalar dist2 = v.length2(); +#ifdef BT_USE_DOUBLE_PRECISION + btScalar epsilon = btScalar(0.0001); +#else + btScalar epsilon = btScalar(0.0001); +#endif //BT_USE_DOUBLE_PRECISION + btVector3 w,p; + btScalar VdotR; + + while ( (dist2 > epsilon) && maxIter--) + { + supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis())); + supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis())); + w = supVertexA-supVertexB; + + btScalar VdotW = v.dot(w); + + if (lambda > btScalar(1.0)) + { + return false; + } + + if ( VdotW > btScalar(0.)) + { + VdotR = v.dot(r); + + if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON)) + return false; + else + { + lambda = lambda - VdotW / VdotR; + //interpolate to next lambda + // x = s + lambda * r; + interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); + interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); + //m_simplexSolver->reset(); + //check next line + w = supVertexA-supVertexB; + lastLambda = lambda; + n = v; + hasResult = true; + } + } + ///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc. + if (!m_simplexSolver->inSimplex(w)) + m_simplexSolver->addVertex( w, supVertexA , supVertexB); + + if (m_simplexSolver->closest(v)) + { + dist2 = v.length2(); + hasResult = true; + //todo: check this normal for validity + //n=v; + //printf("V=%f , %f, %f\n",v[0],v[1],v[2]); + //printf("DIST2=%f\n",dist2); + //printf("numverts = %i\n",m_simplexSolver->numVertices()); + } else + { + dist2 = btScalar(0.); + } + } + + //int numiter = MAX_ITERATIONS - maxIter; +// printf("number of iterations: %d", numiter); + + //don't report a time of impact when moving 'away' from the hitnormal + + + result.m_fraction = lambda; + if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON)) + result.m_normal = n.normalized(); + else + result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (result.m_normal.dot(r)>=-result.m_allowedPenetration) + return false; + + btVector3 hitA,hitB; + m_simplexSolver->compute_points(hitA,hitB); + result.m_hitPoint=hitB; + return true; +} + + + + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h new file mode 100644 index 00000000..6c812798 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SUBSIMPLEX_CONVEX_CAST_H +#define BT_SUBSIMPLEX_CONVEX_CAST_H + +#include "btConvexCast.h" +#include "btSimplexSolverInterface.h" +class btConvexShape; + +/// btSubsimplexConvexCast implements Gino van den Bergens' paper +///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" +/// GJK based Ray Cast, optimized version +/// Objects should not start in overlap, otherwise results are not defined. +class btSubsimplexConvexCast : public btConvexCast +{ + btSimplexSolverInterface* m_simplexSolver; + const btConvexShape* m_convexA; + const btConvexShape* m_convexB; + +public: + + btSubsimplexConvexCast (const btConvexShape* shapeA,const btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver); + + //virtual ~btSubsimplexConvexCast(); + ///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. + ///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector. + virtual bool calcTimeOfImpact( + const btTransform& fromA, + const btTransform& toA, + const btTransform& fromB, + const btTransform& toB, + CastResult& result); + +}; + +#endif //BT_SUBSIMPLEX_CONVEX_CAST_H diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp new file mode 100644 index 00000000..a775198a --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp @@ -0,0 +1,609 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. + + Elsevier CDROM license agreements grants nonexclusive license to use the software + for any purpose, commercial or non-commercial as long as the following credit is included + identifying the original source of the software: + + Parts of the source are "from the book Real-Time Collision Detection by + Christer Ericson, published by Morgan Kaufmann Publishers, + (c) 2005 Elsevier Inc." + +*/ + + +#include "btVoronoiSimplexSolver.h" + +#define VERTA 0 +#define VERTB 1 +#define VERTC 2 +#define VERTD 3 + +#define CATCH_DEGENERATE_TETRAHEDRON 1 +void btVoronoiSimplexSolver::removeVertex(int index) +{ + + btAssert(m_numVertices>0); + m_numVertices--; + m_simplexVectorW[index] = m_simplexVectorW[m_numVertices]; + m_simplexPointsP[index] = m_simplexPointsP[m_numVertices]; + m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices]; +} + +void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts) +{ + if ((numVertices() >= 4) && (!usedVerts.usedVertexD)) + removeVertex(3); + + if ((numVertices() >= 3) && (!usedVerts.usedVertexC)) + removeVertex(2); + + if ((numVertices() >= 2) && (!usedVerts.usedVertexB)) + removeVertex(1); + + if ((numVertices() >= 1) && (!usedVerts.usedVertexA)) + removeVertex(0); + +} + + + + + +//clear the simplex, remove all the vertices +void btVoronoiSimplexSolver::reset() +{ + m_cachedValidClosest = false; + m_numVertices = 0; + m_needsUpdate = true; + m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + m_cachedBC.reset(); +} + + + + //add a vertex +void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q) +{ + m_lastW = w; + m_needsUpdate = true; + + m_simplexVectorW[m_numVertices] = w; + m_simplexPointsP[m_numVertices] = p; + m_simplexPointsQ[m_numVertices] = q; + + m_numVertices++; +} + +bool btVoronoiSimplexSolver::updateClosestVectorAndPoints() +{ + + if (m_needsUpdate) + { + m_cachedBC.reset(); + + m_needsUpdate = false; + + switch (numVertices()) + { + case 0: + m_cachedValidClosest = false; + break; + case 1: + { + m_cachedP1 = m_simplexPointsP[0]; + m_cachedP2 = m_simplexPointsQ[0]; + m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0] + m_cachedBC.reset(); + m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.)); + m_cachedValidClosest = m_cachedBC.isValid(); + break; + }; + case 2: + { + //closest point origin from line segment + const btVector3& from = m_simplexVectorW[0]; + const btVector3& to = m_simplexVectorW[1]; + btVector3 nearest; + + btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); + btVector3 diff = p - from; + btVector3 v = to - from; + btScalar t = v.dot(diff); + + if (t > 0) { + btScalar dotVV = v.dot(v); + if (t < dotVV) { + t /= dotVV; + diff -= t*v; + m_cachedBC.m_usedVertices.usedVertexA = true; + m_cachedBC.m_usedVertices.usedVertexB = true; + } else { + t = 1; + diff -= v; + //reduce to 1 point + m_cachedBC.m_usedVertices.usedVertexB = true; + } + } else + { + t = 0; + //reduce to 1 point + m_cachedBC.m_usedVertices.usedVertexA = true; + } + m_cachedBC.setBarycentricCoordinates(1-t,t); + nearest = from + t*v; + + m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]); + m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]); + m_cachedV = m_cachedP1 - m_cachedP2; + + reduceVertices(m_cachedBC.m_usedVertices); + + m_cachedValidClosest = m_cachedBC.isValid(); + break; + } + case 3: + { + //closest point origin from triangle + btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); + + const btVector3& a = m_simplexVectorW[0]; + const btVector3& b = m_simplexVectorW[1]; + const btVector3& c = m_simplexVectorW[2]; + + closestPtPointTriangle(p,a,b,c,m_cachedBC); + m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2]; + + m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] + + m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2]; + + m_cachedV = m_cachedP1-m_cachedP2; + + reduceVertices (m_cachedBC.m_usedVertices); + m_cachedValidClosest = m_cachedBC.isValid(); + + break; + } + case 4: + { + + + btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.)); + + const btVector3& a = m_simplexVectorW[0]; + const btVector3& b = m_simplexVectorW[1]; + const btVector3& c = m_simplexVectorW[2]; + const btVector3& d = m_simplexVectorW[3]; + + bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC); + + if (hasSeperation) + { + + m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] + + m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] + + m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3]; + + m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] + + m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] + + m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] + + m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3]; + + m_cachedV = m_cachedP1-m_cachedP2; + reduceVertices (m_cachedBC.m_usedVertices); + } else + { +// printf("sub distance got penetration\n"); + + if (m_cachedBC.m_degenerate) + { + m_cachedValidClosest = false; + } else + { + m_cachedValidClosest = true; + //degenerate case == false, penetration = true + zero + m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + break; + } + + m_cachedValidClosest = m_cachedBC.isValid(); + + //closest point origin from tetrahedron + break; + } + default: + { + m_cachedValidClosest = false; + } + }; + } + + return m_cachedValidClosest; + +} + +//return/calculate the closest vertex +bool btVoronoiSimplexSolver::closest(btVector3& v) +{ + bool succes = updateClosestVectorAndPoints(); + v = m_cachedV; + return succes; +} + + + +btScalar btVoronoiSimplexSolver::maxVertex() +{ + int i, numverts = numVertices(); + btScalar maxV = btScalar(0.); + for (i=0;i= btScalar(0.0) && d4 <= d3) + { + result.m_closestPointOnSimplex = b; + result.m_usedVertices.usedVertexB = true; + result.setBarycentricCoordinates(0,1,0); + + return true; // b; // barycentric coordinates (0,1,0) + } + // Check if P in edge region of AB, if so return projection of P onto AB + btScalar vc = d1*d4 - d3*d2; + if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) { + btScalar v = d1 / (d1 - d3); + result.m_closestPointOnSimplex = a + v * ab; + result.m_usedVertices.usedVertexA = true; + result.m_usedVertices.usedVertexB = true; + result.setBarycentricCoordinates(1-v,v,0); + return true; + //return a + v * ab; // barycentric coordinates (1-v,v,0) + } + + // Check if P in vertex region outside C + btVector3 cp = p - c; + btScalar d5 = ab.dot(cp); + btScalar d6 = ac.dot(cp); + if (d6 >= btScalar(0.0) && d5 <= d6) + { + result.m_closestPointOnSimplex = c; + result.m_usedVertices.usedVertexC = true; + result.setBarycentricCoordinates(0,0,1); + return true;//c; // barycentric coordinates (0,0,1) + } + + // Check if P in edge region of AC, if so return projection of P onto AC + btScalar vb = d5*d2 - d1*d6; + if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) { + btScalar w = d2 / (d2 - d6); + result.m_closestPointOnSimplex = a + w * ac; + result.m_usedVertices.usedVertexA = true; + result.m_usedVertices.usedVertexC = true; + result.setBarycentricCoordinates(1-w,0,w); + return true; + //return a + w * ac; // barycentric coordinates (1-w,0,w) + } + + // Check if P in edge region of BC, if so return projection of P onto BC + btScalar va = d3*d6 - d5*d4; + if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) { + btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6)); + + result.m_closestPointOnSimplex = b + w * (c - b); + result.m_usedVertices.usedVertexB = true; + result.m_usedVertices.usedVertexC = true; + result.setBarycentricCoordinates(0,1-w,w); + return true; + // return b + w * (c - b); // barycentric coordinates (0,1-w,w) + } + + // P inside face region. Compute Q through its barycentric coordinates (u,v,w) + btScalar denom = btScalar(1.0) / (va + vb + vc); + btScalar v = vb * denom; + btScalar w = vc * denom; + + result.m_closestPointOnSimplex = a + ab * v + ac * w; + result.m_usedVertices.usedVertexA = true; + result.m_usedVertices.usedVertexB = true; + result.m_usedVertices.usedVertexC = true; + result.setBarycentricCoordinates(1-v-w,v,w); + + return true; +// return a + ab * v + ac * w; // = u*a + v*b + w*c, u = va * denom = btScalar(1.0) - v - w + +} + + + + + +/// Test if point p and d lie on opposite sides of plane through abc +int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d) +{ + btVector3 normal = (b-a).cross(c-a); + + btScalar signp = (p - a).dot(normal); // [AP AB AC] + btScalar signd = (d - a).dot( normal); // [AD AB AC] + +#ifdef CATCH_DEGENERATE_TETRAHEDRON +#ifdef BT_USE_DOUBLE_PRECISION +if (signd * signd < (btScalar(1e-8) * btScalar(1e-8))) + { + return -1; + } +#else + if (signd * signd < (btScalar(1e-4) * btScalar(1e-4))) + { +// printf("affine dependent/degenerate\n");// + return -1; + } +#endif + +#endif + // Points on opposite sides if expression signs are opposite + return signp * signd < btScalar(0.); +} + + +bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult) +{ + btSubSimplexClosestResult tempResult; + + // Start out assuming point inside all halfspaces, so closest to itself + finalResult.m_closestPointOnSimplex = p; + finalResult.m_usedVertices.reset(); + finalResult.m_usedVertices.usedVertexA = true; + finalResult.m_usedVertices.usedVertexB = true; + finalResult.m_usedVertices.usedVertexC = true; + finalResult.m_usedVertices.usedVertexD = true; + + int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d); + int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b); + int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c); + int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a); + + if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0) + { + finalResult.m_degenerate = true; + return false; + } + + if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC) + { + return false; + } + + + btScalar bestSqDist = FLT_MAX; + // If point outside face abc then compute closest point on abc + if (pointOutsideABC) + { + closestPtPointTriangle(p, a, b, c,tempResult); + btVector3 q = tempResult.m_closestPointOnSimplex; + + btScalar sqDist = (q - p).dot( q - p); + // Update best closest point if (squared) distance is less than current best + if (sqDist < bestSqDist) { + bestSqDist = sqDist; + finalResult.m_closestPointOnSimplex = q; + //convert result bitmask! + finalResult.m_usedVertices.reset(); + finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA; + finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB; + finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC; + finalResult.setBarycentricCoordinates( + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTB], + tempResult.m_barycentricCoords[VERTC], + 0 + ); + + } + } + + + // Repeat test for face acd + if (pointOutsideACD) + { + closestPtPointTriangle(p, a, c, d,tempResult); + btVector3 q = tempResult.m_closestPointOnSimplex; + //convert result bitmask! + + btScalar sqDist = (q - p).dot( q - p); + if (sqDist < bestSqDist) + { + bestSqDist = sqDist; + finalResult.m_closestPointOnSimplex = q; + finalResult.m_usedVertices.reset(); + finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA; + + finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB; + finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC; + finalResult.setBarycentricCoordinates( + tempResult.m_barycentricCoords[VERTA], + 0, + tempResult.m_barycentricCoords[VERTB], + tempResult.m_barycentricCoords[VERTC] + ); + + } + } + // Repeat test for face adb + + + if (pointOutsideADB) + { + closestPtPointTriangle(p, a, d, b,tempResult); + btVector3 q = tempResult.m_closestPointOnSimplex; + //convert result bitmask! + + btScalar sqDist = (q - p).dot( q - p); + if (sqDist < bestSqDist) + { + bestSqDist = sqDist; + finalResult.m_closestPointOnSimplex = q; + finalResult.m_usedVertices.reset(); + finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA; + finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC; + + finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB; + finalResult.setBarycentricCoordinates( + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTC], + 0, + tempResult.m_barycentricCoords[VERTB] + ); + + } + } + // Repeat test for face bdc + + + if (pointOutsideBDC) + { + closestPtPointTriangle(p, b, d, c,tempResult); + btVector3 q = tempResult.m_closestPointOnSimplex; + //convert result bitmask! + btScalar sqDist = (q - p).dot( q - p); + if (sqDist < bestSqDist) + { + bestSqDist = sqDist; + finalResult.m_closestPointOnSimplex = q; + finalResult.m_usedVertices.reset(); + // + finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA; + finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC; + finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB; + + finalResult.setBarycentricCoordinates( + 0, + tempResult.m_barycentricCoords[VERTA], + tempResult.m_barycentricCoords[VERTC], + tempResult.m_barycentricCoords[VERTB] + ); + + } + } + + //help! we ended up full ! + + if (finalResult.m_usedVertices.usedVertexA && + finalResult.m_usedVertices.usedVertexB && + finalResult.m_usedVertices.usedVertexC && + finalResult.m_usedVertices.usedVertexD) + { + return true; + } + + return true; +} + diff --git a/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h new file mode 100644 index 00000000..2f389e27 --- /dev/null +++ b/Code/Physics/src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h @@ -0,0 +1,181 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_VORONOI_SIMPLEX_SOLVER_H +#define BT_VORONOI_SIMPLEX_SOLVER_H + +#include "btSimplexSolverInterface.h" + + + +#define VORONOI_SIMPLEX_MAX_VERTS 5 + +///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure +#define BT_USE_EQUAL_VERTEX_THRESHOLD +#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f + + +struct btUsageBitfield{ + btUsageBitfield() + { + reset(); + } + + void reset() + { + usedVertexA = false; + usedVertexB = false; + usedVertexC = false; + usedVertexD = false; + } + unsigned short usedVertexA : 1; + unsigned short usedVertexB : 1; + unsigned short usedVertexC : 1; + unsigned short usedVertexD : 1; + unsigned short unused1 : 1; + unsigned short unused2 : 1; + unsigned short unused3 : 1; + unsigned short unused4 : 1; +}; + + +struct btSubSimplexClosestResult +{ + btVector3 m_closestPointOnSimplex; + //MASK for m_usedVertices + //stores the simplex vertex-usage, using the MASK, + // if m_usedVertices & MASK then the related vertex is used + btUsageBitfield m_usedVertices; + btScalar m_barycentricCoords[4]; + bool m_degenerate; + + void reset() + { + m_degenerate = false; + setBarycentricCoordinates(); + m_usedVertices.reset(); + } + bool isValid() + { + bool valid = (m_barycentricCoords[0] >= btScalar(0.)) && + (m_barycentricCoords[1] >= btScalar(0.)) && + (m_barycentricCoords[2] >= btScalar(0.)) && + (m_barycentricCoords[3] >= btScalar(0.)); + + + return valid; + } + void setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.)) + { + m_barycentricCoords[0] = a; + m_barycentricCoords[1] = b; + m_barycentricCoords[2] = c; + m_barycentricCoords[3] = d; + } + +}; + +/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. +/// Can be used with GJK, as an alternative to Johnson distance algorithm. +#ifdef NO_VIRTUAL_INTERFACE +ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver +#else +ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface +#endif +{ +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + int m_numVertices; + + btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]; + btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]; + btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]; + + + + btVector3 m_cachedP1; + btVector3 m_cachedP2; + btVector3 m_cachedV; + btVector3 m_lastW; + + btScalar m_equalVertexThreshold; + bool m_cachedValidClosest; + + + btSubSimplexClosestResult m_cachedBC; + + bool m_needsUpdate; + + void removeVertex(int index); + void reduceVertices (const btUsageBitfield& usedVerts); + bool updateClosestVectorAndPoints(); + + bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult); + int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d); + bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result); + +public: + + btVoronoiSimplexSolver() + : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD) + { + } + void reset(); + + void addVertex(const btVector3& w, const btVector3& p, const btVector3& q); + + void setEqualVertexThreshold(btScalar threshold) + { + m_equalVertexThreshold = threshold; + } + + btScalar getEqualVertexThreshold() const + { + return m_equalVertexThreshold; + } + + bool closest(btVector3& v); + + btScalar maxVertex(); + + bool fullSimplex() const + { + return (m_numVertices == 4); + } + + int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const; + + bool inSimplex(const btVector3& w); + + void backup_closest(btVector3& v) ; + + bool emptySimplex() const ; + + void compute_points(btVector3& p1, btVector3& p2) ; + + int numVertices() const + { + return m_numVertices; + } + + +}; + +#endif //BT_VORONOI_SIMPLEX_SOLVER_H + diff --git a/Code/Physics/src/BulletCollision/premake4.lua b/Code/Physics/src/BulletCollision/premake4.lua new file mode 100644 index 00000000..9bc0a9e6 --- /dev/null +++ b/Code/Physics/src/BulletCollision/premake4.lua @@ -0,0 +1,11 @@ + project "BulletCollision" + + kind "StaticLib" + targetdir "../../lib" + includedirs { + "..", + } + files { + "**.cpp", + "**.h" + } \ No newline at end of file diff --git a/Code/Physics/src/BulletDynamics/CMakeLists.txt b/Code/Physics/src/BulletDynamics/CMakeLists.txt new file mode 100644 index 00000000..cc472763 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/CMakeLists.txt @@ -0,0 +1,153 @@ +INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src ) + + + +SET(BulletDynamics_SRCS + Character/btKinematicCharacterController.cpp + ConstraintSolver/btConeTwistConstraint.cpp + ConstraintSolver/btContactConstraint.cpp + ConstraintSolver/btFixedConstraint.cpp + ConstraintSolver/btGearConstraint.cpp + ConstraintSolver/btGeneric6DofConstraint.cpp + ConstraintSolver/btGeneric6DofSpringConstraint.cpp + ConstraintSolver/btHinge2Constraint.cpp + ConstraintSolver/btHingeConstraint.cpp + ConstraintSolver/btPoint2PointConstraint.cpp + ConstraintSolver/btSequentialImpulseConstraintSolver.cpp + ConstraintSolver/btSliderConstraint.cpp + ConstraintSolver/btSolve2LinearConstraint.cpp + ConstraintSolver/btTypedConstraint.cpp + ConstraintSolver/btUniversalConstraint.cpp + Dynamics/btDiscreteDynamicsWorld.cpp + Dynamics/btRigidBody.cpp + Dynamics/btSimpleDynamicsWorld.cpp + Dynamics/Bullet-C-API.cpp + Vehicle/btRaycastVehicle.cpp + Vehicle/btWheelInfo.cpp + Featherstone/btMultiBody.cpp + Featherstone/btMultiBodyConstraintSolver.cpp + Featherstone/btMultiBodyDynamicsWorld.cpp + Featherstone/btMultiBodyJointLimitConstraint.cpp + Featherstone/btMultiBodyConstraint.cpp + Featherstone/btMultiBodyPoint2Point.cpp + Featherstone/btMultiBodyJointMotor.cpp + MLCPSolvers/btDantzigLCP.cpp + MLCPSolvers/btMLCPSolver.cpp +) + +SET(Root_HDRS + ../btBulletDynamicsCommon.h + ../btBulletCollisionCommon.h +) +SET(ConstraintSolver_HDRS + ConstraintSolver/btConeTwistConstraint.h + ConstraintSolver/btConstraintSolver.h + ConstraintSolver/btContactConstraint.h + ConstraintSolver/btContactSolverInfo.h + ConstraintSolver/btFixedConstraint.h + ConstraintSolver/btGearConstraint.h + ConstraintSolver/btGeneric6DofConstraint.h + ConstraintSolver/btGeneric6DofSpringConstraint.h + ConstraintSolver/btHinge2Constraint.h + ConstraintSolver/btHingeConstraint.h + ConstraintSolver/btJacobianEntry.h + ConstraintSolver/btPoint2PointConstraint.h + ConstraintSolver/btSequentialImpulseConstraintSolver.h + ConstraintSolver/btSliderConstraint.h + ConstraintSolver/btSolve2LinearConstraint.h + ConstraintSolver/btSolverBody.h + ConstraintSolver/btSolverConstraint.h + ConstraintSolver/btTypedConstraint.h + ConstraintSolver/btUniversalConstraint.h +) +SET(Dynamics_HDRS + Dynamics/btActionInterface.h + Dynamics/btDiscreteDynamicsWorld.h + Dynamics/btDynamicsWorld.h + Dynamics/btSimpleDynamicsWorld.h + Dynamics/btRigidBody.h +) +SET(Vehicle_HDRS + Vehicle/btRaycastVehicle.h + Vehicle/btVehicleRaycaster.h + Vehicle/btWheelInfo.h +) + +SET(Featherstone_HDRS + Featherstone/btMultiBody.h + Featherstone/btMultiBodyConstraintSolver.h + Featherstone/btMultiBodyDynamicsWorld.h + Featherstone/btMultiBodyLink.h + Featherstone/btMultiBodyLinkCollider.h + Featherstone/btMultiBodySolverConstraint.h + Featherstone/btMultiBodyConstraint.h + Featherstone/btMultiBodyJointLimitConstraint.h + Featherstone/btMultiBodyConstraint.h + Featherstone/btMultiBodyPoint2Point.h + Featherstone/btMultiBodyJointMotor.h +) + +SET(MLCPSolvers_HDRS + MLCPSolvers/btDantzigLCP.h + MLCPSolvers/btDantzigSolver.h + MLCPSolvers/btMLCPSolver.h + MLCPSolvers/btMLCPSolverInterface.h + MLCPSolvers/btPATHSolver.h + MLCPSolvers/btSolveProjectedGaussSeidel.h +) + +SET(Character_HDRS + Character/btCharacterControllerInterface.h + Character/btKinematicCharacterController.h +) + + + +SET(BulletDynamics_HDRS + ${Root_HDRS} + ${ConstraintSolver_HDRS} + ${Dynamics_HDRS} + ${Vehicle_HDRS} + ${Character_HDRS} + ${Featherstone_HDRS} + ${MLCPSolvers_HDRS} +) + + +ADD_LIBRARY(BulletDynamics ${BulletDynamics_SRCS} ${BulletDynamics_HDRS}) +SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath) +ENDIF (BUILD_SHARED_LIBS) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletDynamics DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletDynamics RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + INSTALL(FILES ../btBulletDynamicsCommon.h +DESTINATION ${INCLUDE_INSTALL_DIR}/BulletDynamics) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES PUBLIC_HEADER "${Root_HDRS}") + # Have to list out sub-directories manually: + SET_PROPERTY(SOURCE ${ConstraintSolver_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/ConstraintSolver) + SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics) + SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle) + SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character) + SET_PROPERTY(SOURCE ${Featherstone_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Featherstone) + SET_PROPERTY(SOURCE ${MLCPSolvers_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MLCPSolvers) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletDynamics/Character/btCharacterControllerInterface.h b/Code/Physics/src/BulletDynamics/Character/btCharacterControllerInterface.h new file mode 100644 index 00000000..dffb06df --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Character/btCharacterControllerInterface.h @@ -0,0 +1,47 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 BT_CHARACTER_CONTROLLER_INTERFACE_H +#define BT_CHARACTER_CONTROLLER_INTERFACE_H + +#include "LinearMath/btVector3.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" + +class btCollisionShape; +class btRigidBody; +class btCollisionWorld; + +class btCharacterControllerInterface : public btActionInterface +{ +public: + btCharacterControllerInterface () {}; + virtual ~btCharacterControllerInterface () {}; + + virtual void setWalkDirection(const btVector3& walkDirection) = 0; + virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0; + virtual void reset ( btCollisionWorld* collisionWorld ) = 0; + virtual void warp (const btVector3& origin) = 0; + + virtual void preStep ( btCollisionWorld* collisionWorld) = 0; + virtual void playerStep (btCollisionWorld* collisionWorld, btScalar dt) = 0; + virtual bool canJump () const = 0; + virtual void jump () = 0; + + virtual bool onGround () const = 0; + virtual void setUpInterpolate (bool value) = 0; +}; + +#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H + diff --git a/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.cpp new file mode 100644 index 00000000..8f1cd20b --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -0,0 +1,770 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +#include +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionDispatch/btGhostObject.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "LinearMath/btDefaultMotionState.h" +#include "btKinematicCharacterController.h" + + +// static helper method +static btVector3 +getNormalizedVector(const btVector3& v) +{ + btVector3 n = v.normalized(); + if (n.length() < SIMD_EPSILON) { + n.setValue(0, 0, 0); + } + return n; +} + + +///@todo Interact with dynamic objects, +///Ride kinematicly animated platforms properly +///More realistic (or maybe just a config option) falling +/// -> Should integrate falling velocity manually and use that in stepDown() +///Support jumping +///Support ducking +class btKinematicClosestNotMeRayResultCallback : public btCollisionWorld::ClosestRayResultCallback +{ +public: + btKinematicClosestNotMeRayResultCallback (btCollisionObject* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)) + { + m_me = me; + } + + virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace) + { + if (rayResult.m_collisionObject == m_me) + return 1.0; + + return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace); + } +protected: + btCollisionObject* m_me; +}; + +class btKinematicClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback +{ +public: + btKinematicClosestNotMeConvexResultCallback (btCollisionObject* me, const btVector3& up, btScalar minSlopeDot) + : btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)) + , m_me(me) + , m_up(up) + , m_minSlopeDot(minSlopeDot) + { + } + + virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) + { + if (convexResult.m_hitCollisionObject == m_me) + return btScalar(1.0); + + if (!convexResult.m_hitCollisionObject->hasContactResponse()) + return btScalar(1.0); + + btVector3 hitNormalWorld; + if (normalInWorldSpace) + { + hitNormalWorld = convexResult.m_hitNormalLocal; + } else + { + ///need to transform normal into worldspace + hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal; + } + + btScalar dotUp = m_up.dot(hitNormalWorld); + if (dotUp < m_minSlopeDot) { + return btScalar(1.0); + } + + return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace); + } +protected: + btCollisionObject* m_me; + const btVector3 m_up; + btScalar m_minSlopeDot; +}; + +/* + * Returns the reflection direction of a ray going 'direction' hitting a surface with normal 'normal' + * + * from: http://www-cs-students.stanford.edu/~adityagp/final/node3.html + */ +btVector3 btKinematicCharacterController::computeReflectionDirection (const btVector3& direction, const btVector3& normal) +{ + return direction - (btScalar(2.0) * direction.dot(normal)) * normal; +} + +/* + * Returns the portion of 'direction' that is parallel to 'normal' + */ +btVector3 btKinematicCharacterController::parallelComponent (const btVector3& direction, const btVector3& normal) +{ + btScalar magnitude = direction.dot(normal); + return normal * magnitude; +} + +/* + * Returns the portion of 'direction' that is perpindicular to 'normal' + */ +btVector3 btKinematicCharacterController::perpindicularComponent (const btVector3& direction, const btVector3& normal) +{ + return direction - parallelComponent(direction, normal); +} + +btKinematicCharacterController::btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis) +{ + m_upAxis = upAxis; + m_addedMargin = 0.02; + m_walkDirection.setValue(0,0,0); + m_useGhostObjectSweepTest = true; + m_ghostObject = ghostObject; + m_stepHeight = stepHeight; + m_turnAngle = btScalar(0.0); + m_convexShape=convexShape; + m_useWalkDirection = true; // use walk direction by default, legacy behavior + m_velocityTimeInterval = 0.0; + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + m_gravity = 9.8 * 3 ; // 3G acceleration. + m_fallSpeed = 55.0; // Terminal velocity of a sky diver in m/s. + m_jumpSpeed = 10.0; // ? + m_wasOnGround = false; + m_wasJumping = false; + m_interpolateUp = true; + setMaxSlope(btRadians(45.0)); + m_currentStepOffset = 0; + full_drop = false; + bounce_fix = false; +} + +btKinematicCharacterController::~btKinematicCharacterController () +{ +} + +btPairCachingGhostObject* btKinematicCharacterController::getGhostObject() +{ + return m_ghostObject; +} + +bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld* collisionWorld) +{ + // Here we must refresh the overlapping paircache as the penetrating movement itself or the + // previous recovery iteration might have used setWorldTransform and pushed us into an object + // that is not in the previous cache contents from the last timestep, as will happen if we + // are pushed into a new AABB overlap. Unhandled this means the next convex sweep gets stuck. + // + // Do this by calling the broadphase's setAabb with the moved AABB, this will update the broadphase + // paircache and the ghostobject's internal paircache at the same time. /BW + + btVector3 minAabb, maxAabb; + m_convexShape->getAabb(m_ghostObject->getWorldTransform(), minAabb,maxAabb); + collisionWorld->getBroadphase()->setAabb(m_ghostObject->getBroadphaseHandle(), + minAabb, + maxAabb, + collisionWorld->getDispatcher()); + + bool penetration = false; + + collisionWorld->getDispatcher()->dispatchAllCollisionPairs(m_ghostObject->getOverlappingPairCache(), collisionWorld->getDispatchInfo(), collisionWorld->getDispatcher()); + + m_currentPosition = m_ghostObject->getWorldTransform().getOrigin(); + + btScalar maxPen = btScalar(0.0); + for (int i = 0; i < m_ghostObject->getOverlappingPairCache()->getNumOverlappingPairs(); i++) + { + m_manifoldArray.resize(0); + + btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i]; + + btCollisionObject* obj0 = static_cast(collisionPair->m_pProxy0->m_clientObject); + btCollisionObject* obj1 = static_cast(collisionPair->m_pProxy1->m_clientObject); + + if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse())) + continue; + + if (collisionPair->m_algorithm) + collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray); + + + for (int j=0;jgetBody0() == m_ghostObject ? btScalar(-1.0) : btScalar(1.0); + for (int p=0;pgetNumContacts();p++) + { + const btManifoldPoint&pt = manifold->getContactPoint(p); + + btScalar dist = pt.getDistance(); + + if (dist < 0.0) + { + if (dist < maxPen) + { + maxPen = dist; + m_touchingNormal = pt.m_normalWorldOnB * directionSign;//?? + + } + m_currentPosition += pt.m_normalWorldOnB * directionSign * dist * btScalar(0.2); + penetration = true; + } else { + //printf("touching %f\n", dist); + } + } + + //manifold->clearManifold(); + } + } + btTransform newTrans = m_ghostObject->getWorldTransform(); + newTrans.setOrigin(m_currentPosition); + m_ghostObject->setWorldTransform(newTrans); +// printf("m_touchingNormal = %f,%f,%f\n",m_touchingNormal[0],m_touchingNormal[1],m_touchingNormal[2]); + return penetration; +} + +void btKinematicCharacterController::stepUp ( btCollisionWorld* world) +{ + // phase 1: up + btTransform start, end; + m_targetPosition = m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_stepHeight + (m_verticalOffset > 0.f?m_verticalOffset:0.f)); + + start.setIdentity (); + end.setIdentity (); + + /* FIXME: Handle penetration properly */ + start.setOrigin (m_currentPosition + getUpAxisDirections()[m_upAxis] * (m_convexShape->getMargin() + m_addedMargin)); + end.setOrigin (m_targetPosition); + + btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, -getUpAxisDirections()[m_upAxis], btScalar(0.7071)); + callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; + + if (m_useGhostObjectSweepTest) + { + m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration); + } + else + { + world->convexSweepTest (m_convexShape, start, end, callback); + } + + if (callback.hasHit()) + { + // Only modify the position if the hit was a slope and not a wall or ceiling. + if(callback.m_hitNormalWorld.dot(getUpAxisDirections()[m_upAxis]) > 0.0) + { + // we moved up only a fraction of the step height + m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction; + if (m_interpolateUp == true) + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + else + m_currentPosition = m_targetPosition; + } + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + } else { + m_currentStepOffset = m_stepHeight; + m_currentPosition = m_targetPosition; + } +} + +void btKinematicCharacterController::updateTargetPositionBasedOnCollision (const btVector3& hitNormal, btScalar tangentMag, btScalar normalMag) +{ + btVector3 movementDirection = m_targetPosition - m_currentPosition; + btScalar movementLength = movementDirection.length(); + if (movementLength>SIMD_EPSILON) + { + movementDirection.normalize(); + + btVector3 reflectDir = computeReflectionDirection (movementDirection, hitNormal); + reflectDir.normalize(); + + btVector3 parallelDir, perpindicularDir; + + parallelDir = parallelComponent (reflectDir, hitNormal); + perpindicularDir = perpindicularComponent (reflectDir, hitNormal); + + m_targetPosition = m_currentPosition; + if (0)//tangentMag != 0.0) + { + btVector3 parComponent = parallelDir * btScalar (tangentMag*movementLength); +// printf("parComponent=%f,%f,%f\n",parComponent[0],parComponent[1],parComponent[2]); + m_targetPosition += parComponent; + } + + if (normalMag != 0.0) + { + btVector3 perpComponent = perpindicularDir * btScalar (normalMag*movementLength); +// printf("perpComponent=%f,%f,%f\n",perpComponent[0],perpComponent[1],perpComponent[2]); + m_targetPosition += perpComponent; + } + } else + { +// printf("movementLength don't normalize a zero vector\n"); + } +} + +void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* collisionWorld, const btVector3& walkMove) +{ + // printf("m_normalizedDirection=%f,%f,%f\n", + // m_normalizedDirection[0],m_normalizedDirection[1],m_normalizedDirection[2]); + // phase 2: forward and strafe + btTransform start, end; + m_targetPosition = m_currentPosition + walkMove; + + start.setIdentity (); + end.setIdentity (); + + btScalar fraction = 1.0; + btScalar distance2 = (m_currentPosition-m_targetPosition).length2(); +// printf("distance2=%f\n",distance2); + + if (m_touchingContact) + { + if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0)) + { + //interferes with step movement + //updateTargetPositionBasedOnCollision (m_touchingNormal); + } + } + + int maxIter = 10; + + while (fraction > btScalar(0.01) && maxIter-- > 0) + { + start.setOrigin (m_currentPosition); + end.setOrigin (m_targetPosition); + btVector3 sweepDirNegative(m_currentPosition - m_targetPosition); + + btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, sweepDirNegative, btScalar(0.0)); + callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; + + + btScalar margin = m_convexShape->getMargin(); + m_convexShape->setMargin(margin + m_addedMargin); + + + if (m_useGhostObjectSweepTest) + { + m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } else + { + collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + + m_convexShape->setMargin(margin); + + + fraction -= callback.m_closestHitFraction; + + if (callback.hasHit()) + { + // we moved only a fraction + btScalar hitDistance; + hitDistance = (callback.m_hitPointWorld - m_currentPosition).length(); + +// m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + + updateTargetPositionBasedOnCollision (callback.m_hitNormalWorld); + btVector3 currentDir = m_targetPosition - m_currentPosition; + distance2 = currentDir.length2(); + if (distance2 > SIMD_EPSILON) + { + currentDir.normalize(); + /* See Quake2: "If velocity is against original velocity, stop ead to avoid tiny oscilations in sloping corners." */ + if (currentDir.dot(m_normalizedDirection) <= btScalar(0.0)) + { + break; + } + } else + { +// printf("currentDir: don't normalize a zero vector\n"); + break; + } + + } else { + // we moved whole way + m_currentPosition = m_targetPosition; + } + + // if (callback.m_closestHitFraction == 0.f) + // break; + + } +} + +void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt) +{ + btTransform start, end, end_double; + bool runonce = false; + + // phase 3: down + /*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0; + btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + additionalDownStep); + btScalar downVelocity = (additionalDownStep == 0.0 && m_verticalVelocity<0.0?-m_verticalVelocity:0.0) * dt; + btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity; + m_targetPosition -= (step_drop + gravity_drop);*/ + + btVector3 orig_position = m_targetPosition; + + btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + + if(downVelocity > 0.0 && downVelocity > m_fallSpeed + && (m_wasOnGround || !m_wasJumping)) + downVelocity = m_fallSpeed; + + btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + m_targetPosition -= step_drop; + + btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; + + btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine); + callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup; + callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask; + + while (1) + { + start.setIdentity (); + end.setIdentity (); + + end_double.setIdentity (); + + start.setOrigin (m_currentPosition); + end.setOrigin (m_targetPosition); + + //set double test for 2x the step drop, to check for a large drop vs small drop + end_double.setOrigin (m_targetPosition - step_drop); + + if (m_useGhostObjectSweepTest) + { + m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + + if (!callback.hasHit()) + { + //test a double fall height, to see if the character should interpolate it's fall (full) or not (partial) + m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + } else + { + collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + + if (!callback.hasHit()) + { + //test a double fall height, to see if the character should interpolate it's fall (large) or not (small) + collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration); + } + } + + btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + bool has_hit = false; + if (bounce_fix == true) + has_hit = callback.hasHit() || callback2.hasHit(); + else + has_hit = callback2.hasHit(); + + if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false + && (m_wasOnGround || !m_wasJumping)) + { + //redo the velocity calculation when falling a small amount, for fast stairs motion + //for larger falls, use the smoother/slower interpolated movement by not touching the target position + + m_targetPosition = orig_position; + downVelocity = m_stepHeight; + + btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + m_targetPosition -= step_drop; + runonce = true; + continue; //re-run previous tests + } + break; + } + + if (callback.hasHit() || runonce == true) + { + // we dropped a fraction of the height -> hit floor + + btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2; + + //printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY()); + + if (bounce_fix == true) + { + if (full_drop == true) + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + else + //due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction); + } + else + m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction); + + full_drop = false; + + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + m_wasJumping = false; + } else { + // we dropped the full height + + full_drop = true; + + if (bounce_fix == true) + { + downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt; + if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping)) + { + m_targetPosition += step_drop; //undo previous target change + downVelocity = m_fallSpeed; + step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity); + m_targetPosition -= step_drop; + } + } + //printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY()); + + m_currentPosition = m_targetPosition; + } +} + + + +void btKinematicCharacterController::setWalkDirection +( +const btVector3& walkDirection +) +{ + m_useWalkDirection = true; + m_walkDirection = walkDirection; + m_normalizedDirection = getNormalizedVector(m_walkDirection); +} + + + +void btKinematicCharacterController::setVelocityForTimeInterval +( +const btVector3& velocity, +btScalar timeInterval +) +{ +// printf("setVelocity!\n"); +// printf(" interval: %f\n", timeInterval); +// printf(" velocity: (%f, %f, %f)\n", +// velocity.x(), velocity.y(), velocity.z()); + + m_useWalkDirection = false; + m_walkDirection = velocity; + m_normalizedDirection = getNormalizedVector(m_walkDirection); + m_velocityTimeInterval += timeInterval; +} + +void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld ) +{ + m_verticalVelocity = 0.0; + m_verticalOffset = 0.0; + m_wasOnGround = false; + m_wasJumping = false; + m_walkDirection.setValue(0,0,0); + m_velocityTimeInterval = 0.0; + + //clear pair cache + btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache(); + while (cache->getOverlappingPairArray().size() > 0) + { + cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher()); + } +} + +void btKinematicCharacterController::warp (const btVector3& origin) +{ + btTransform xform; + xform.setIdentity(); + xform.setOrigin (origin); + m_ghostObject->setWorldTransform (xform); +} + + +void btKinematicCharacterController::preStep ( btCollisionWorld* collisionWorld) +{ + + int numPenetrationLoops = 0; + m_touchingContact = false; + while (recoverFromPenetration (collisionWorld)) + { + numPenetrationLoops++; + m_touchingContact = true; + if (numPenetrationLoops > 4) + { + //printf("character could not recover from penetration = %d\n", numPenetrationLoops); + break; + } + } + + m_currentPosition = m_ghostObject->getWorldTransform().getOrigin(); + m_targetPosition = m_currentPosition; +// printf("m_targetPosition=%f,%f,%f\n",m_targetPosition[0],m_targetPosition[1],m_targetPosition[2]); + + +} + +#include + +void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWorld, btScalar dt) +{ +// printf("playerStep(): "); +// printf(" dt = %f", dt); + + // quick check... + if (!m_useWalkDirection && m_velocityTimeInterval <= 0.0) { +// printf("\n"); + return; // no motion + } + + m_wasOnGround = onGround(); + + // Update fall velocity. + m_verticalVelocity -= m_gravity * dt; + if(m_verticalVelocity > 0.0 && m_verticalVelocity > m_jumpSpeed) + { + m_verticalVelocity = m_jumpSpeed; + } + if(m_verticalVelocity < 0.0 && btFabs(m_verticalVelocity) > btFabs(m_fallSpeed)) + { + m_verticalVelocity = -btFabs(m_fallSpeed); + } + m_verticalOffset = m_verticalVelocity * dt; + + + btTransform xform; + xform = m_ghostObject->getWorldTransform (); + +// printf("walkDirection(%f,%f,%f)\n",walkDirection[0],walkDirection[1],walkDirection[2]); +// printf("walkSpeed=%f\n",walkSpeed); + + stepUp (collisionWorld); + if (m_useWalkDirection) { + stepForwardAndStrafe (collisionWorld, m_walkDirection); + } else { + //printf(" time: %f", m_velocityTimeInterval); + // still have some time left for moving! + btScalar dtMoving = + (dt < m_velocityTimeInterval) ? dt : m_velocityTimeInterval; + m_velocityTimeInterval -= dt; + + // how far will we move while we are moving? + btVector3 move = m_walkDirection * dtMoving; + + //printf(" dtMoving: %f", dtMoving); + + // okay, step + stepForwardAndStrafe(collisionWorld, move); + } + stepDown (collisionWorld, dt); + + // printf("\n"); + + xform.setOrigin (m_currentPosition); + m_ghostObject->setWorldTransform (xform); +} + +void btKinematicCharacterController::setFallSpeed (btScalar fallSpeed) +{ + m_fallSpeed = fallSpeed; +} + +void btKinematicCharacterController::setJumpSpeed (btScalar jumpSpeed) +{ + m_jumpSpeed = jumpSpeed; +} + +void btKinematicCharacterController::setMaxJumpHeight (btScalar maxJumpHeight) +{ + m_maxJumpHeight = maxJumpHeight; +} + +bool btKinematicCharacterController::canJump () const +{ + return onGround(); +} + +void btKinematicCharacterController::jump () +{ + if (!canJump()) + return; + + m_verticalVelocity = m_jumpSpeed; + m_wasJumping = true; + +#if 0 + currently no jumping. + btTransform xform; + m_rigidBody->getMotionState()->getWorldTransform (xform); + btVector3 up = xform.getBasis()[1]; + up.normalize (); + btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0); + m_rigidBody->applyCentralImpulse (up * magnitude); +#endif +} + +void btKinematicCharacterController::setGravity(btScalar gravity) +{ + m_gravity = gravity; +} + +btScalar btKinematicCharacterController::getGravity() const +{ + return m_gravity; +} + +void btKinematicCharacterController::setMaxSlope(btScalar slopeRadians) +{ + m_maxSlopeRadians = slopeRadians; + m_maxSlopeCosine = btCos(slopeRadians); +} + +btScalar btKinematicCharacterController::getMaxSlope() const +{ + return m_maxSlopeRadians; +} + +bool btKinematicCharacterController::onGround () const +{ + return m_verticalVelocity == 0.0 && m_verticalOffset == 0.0; +} + + +btVector3* btKinematicCharacterController::getUpAxisDirections() +{ + static btVector3 sUpAxisDirection[3] = { btVector3(1.0f, 0.0f, 0.0f), btVector3(0.0f, 1.0f, 0.0f), btVector3(0.0f, 0.0f, 1.0f) }; + + return sUpAxisDirection; +} + +void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer) +{ +} + +void btKinematicCharacterController::setUpInterpolate(bool value) +{ + m_interpolateUp = value; +} diff --git a/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.h b/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.h new file mode 100644 index 00000000..add6f30a --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Character/btKinematicCharacterController.h @@ -0,0 +1,170 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 BT_KINEMATIC_CHARACTER_CONTROLLER_H +#define BT_KINEMATIC_CHARACTER_CONTROLLER_H + +#include "LinearMath/btVector3.h" + +#include "btCharacterControllerInterface.h" + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + + +class btCollisionShape; +class btConvexShape; +class btRigidBody; +class btCollisionWorld; +class btCollisionDispatcher; +class btPairCachingGhostObject; + +///btKinematicCharacterController is an object that supports a sliding motion in a world. +///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations. +///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user. +ATTRIBUTE_ALIGNED16(class) btKinematicCharacterController : public btCharacterControllerInterface +{ +protected: + + btScalar m_halfHeight; + + btPairCachingGhostObject* m_ghostObject; + btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast + + btScalar m_verticalVelocity; + btScalar m_verticalOffset; + btScalar m_fallSpeed; + btScalar m_jumpSpeed; + btScalar m_maxJumpHeight; + btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value) + btScalar m_maxSlopeCosine; // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization) + btScalar m_gravity; + + btScalar m_turnAngle; + + btScalar m_stepHeight; + + btScalar m_addedMargin;//@todo: remove this and fix the code + + ///this is the desired walk direction, set by the user + btVector3 m_walkDirection; + btVector3 m_normalizedDirection; + + //some internal variables + btVector3 m_currentPosition; + btScalar m_currentStepOffset; + btVector3 m_targetPosition; + + ///keep track of the contact manifolds + btManifoldArray m_manifoldArray; + + bool m_touchingContact; + btVector3 m_touchingNormal; + + bool m_wasOnGround; + bool m_wasJumping; + bool m_useGhostObjectSweepTest; + bool m_useWalkDirection; + btScalar m_velocityTimeInterval; + int m_upAxis; + + static btVector3* getUpAxisDirections(); + bool m_interpolateUp; + bool full_drop; + bool bounce_fix; + + btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); + btVector3 parallelComponent (const btVector3& direction, const btVector3& normal); + btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal); + + bool recoverFromPenetration ( btCollisionWorld* collisionWorld); + void stepUp (btCollisionWorld* collisionWorld); + void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0)); + void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove); + void stepDown (btCollisionWorld* collisionWorld, btScalar dt); +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1); + ~btKinematicCharacterController (); + + + ///btActionInterface interface + virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime) + { + preStep ( collisionWorld); + playerStep (collisionWorld, deltaTime); + } + + ///btActionInterface interface + void debugDraw(btIDebugDraw* debugDrawer); + + void setUpAxis (int axis) + { + if (axis < 0) + axis = 0; + if (axis > 2) + axis = 2; + m_upAxis = axis; + } + + /// This should probably be called setPositionIncrementPerSimulatorStep. + /// This is neither a direction nor a velocity, but the amount to + /// increment the position each simulation iteration, regardless + /// of dt. + /// This call will reset any velocity set by setVelocityForTimeInterval(). + virtual void setWalkDirection(const btVector3& walkDirection); + + /// Caller provides a velocity with which the character should move for + /// the given time period. After the time period, velocity is reset + /// to zero. + /// This call will reset any walk direction set by setWalkDirection(). + /// Negative time intervals will result in no motion. + virtual void setVelocityForTimeInterval(const btVector3& velocity, + btScalar timeInterval); + + void reset ( btCollisionWorld* collisionWorld ); + void warp (const btVector3& origin); + + void preStep ( btCollisionWorld* collisionWorld); + void playerStep ( btCollisionWorld* collisionWorld, btScalar dt); + + void setFallSpeed (btScalar fallSpeed); + void setJumpSpeed (btScalar jumpSpeed); + void setMaxJumpHeight (btScalar maxJumpHeight); + bool canJump () const; + + void jump (); + + void setGravity(btScalar gravity); + btScalar getGravity() const; + + /// The max slope determines the maximum angle that the controller can walk up. + /// The slope angle is measured in radians. + void setMaxSlope(btScalar slopeRadians); + btScalar getMaxSlope() const; + + btPairCachingGhostObject* getGhostObject(); + void setUseGhostSweepTest(bool useGhostObjectSweepTest) + { + m_useGhostObjectSweepTest = useGhostObjectSweepTest; + } + + bool onGround () const; + void setUpInterpolate (bool value); +}; + +#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp new file mode 100644 index 00000000..15a4c92d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -0,0 +1,1141 @@ +/* +Bullet Continuous Collision Detection and Physics Library +btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marcus Hennix +*/ + + +#include "btConeTwistConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btMinMax.h" +#include + + + +//#define CONETWIST_USE_OBSOLETE_SOLVER true +#define CONETWIST_USE_OBSOLETE_SOLVER false +#define CONETWIST_DEF_FIX_THRESH btScalar(.05f) + + +SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis, const btMatrix3x3& invInertiaWorld) +{ + btVector3 vec = axis * invInertiaWorld; + return axis.dot(vec); +} + + + + +btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB, + const btTransform& rbAFrame,const btTransform& rbBFrame) + :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), + m_angularOnly(false), + m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER) +{ + init(); +} + +btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame) + :btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame), + m_angularOnly(false), + m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER) +{ + m_rbBFrame = m_rbAFrame; + m_rbBFrame.setOrigin(btVector3(0., 0., 0.)); + init(); +} + + +void btConeTwistConstraint::init() +{ + m_angularOnly = false; + m_solveTwistLimit = false; + m_solveSwingLimit = false; + m_bMotorEnabled = false; + m_maxMotorImpulse = btScalar(-1); + + setLimit(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT)); + m_damping = btScalar(0.01); + m_fixThresh = CONETWIST_DEF_FIX_THRESH; + m_flags = 0; + m_linCFM = btScalar(0.f); + m_linERP = btScalar(0.7f); + m_angCFM = btScalar(0.f); +} + + +void btConeTwistConstraint::getInfo1 (btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } + else + { + info->m_numConstraintRows = 3; + info->nub = 3; + calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld()); + if(m_solveSwingLimit) + { + info->m_numConstraintRows++; + info->nub--; + if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh)) + { + info->m_numConstraintRows++; + info->nub--; + } + } + if(m_solveTwistLimit) + { + info->m_numConstraintRows++; + info->nub--; + } + } +} + +void btConeTwistConstraint::getInfo1NonVirtual (btConstraintInfo1* info) +{ + //always reserve 6 rows: object transform is not available on SPU + info->m_numConstraintRows = 6; + info->nub = 0; + +} + + +void btConeTwistConstraint::getInfo2 (btConstraintInfo2* info) +{ + getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld()); +} + +void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB) +{ + calcAngleInfo2(transA,transB,invInertiaWorldA,invInertiaWorldB); + + btAssert(!m_useSolveConstraintObsolete); + // set jacobian + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip+1] = 1; + info->m_J1linearAxis[2*info->rowskip+2] = 1; + btVector3 a1 = transA.getBasis() * m_rbAFrame.getOrigin(); + { + btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip); + btVector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[info->rowskip+1] = -1; + info->m_J2linearAxis[2*info->rowskip+2] = -1; + btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin(); + { + btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + // set right hand side + btScalar linERP = (m_flags & BT_CONETWIST_FLAGS_LIN_ERP) ? m_linERP : info->erp; + btScalar k = info->fps * linERP; + int j; + for (j=0; j<3; j++) + { + info->m_constraintError[j*info->rowskip] = k * (a2[j] + transB.getOrigin()[j] - a1[j] - transA.getOrigin()[j]); + info->m_lowerLimit[j*info->rowskip] = -SIMD_INFINITY; + info->m_upperLimit[j*info->rowskip] = SIMD_INFINITY; + if(m_flags & BT_CONETWIST_FLAGS_LIN_CFM) + { + info->cfm[j*info->rowskip] = m_linCFM; + } + } + int row = 3; + int srow = row * info->rowskip; + btVector3 ax1; + // angular limits + if(m_solveSwingLimit) + { + btScalar *J1 = info->m_J1angularAxis; + btScalar *J2 = info->m_J2angularAxis; + if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh)) + { + btTransform trA = transA*m_rbAFrame; + btVector3 p = trA.getBasis().getColumn(1); + btVector3 q = trA.getBasis().getColumn(2); + int srow1 = srow + info->rowskip; + J1[srow+0] = p[0]; + J1[srow+1] = p[1]; + J1[srow+2] = p[2]; + J1[srow1+0] = q[0]; + J1[srow1+1] = q[1]; + J1[srow1+2] = q[2]; + J2[srow+0] = -p[0]; + J2[srow+1] = -p[1]; + J2[srow+2] = -p[2]; + J2[srow1+0] = -q[0]; + J2[srow1+1] = -q[1]; + J2[srow1+2] = -q[2]; + btScalar fact = info->fps * m_relaxationFactor; + info->m_constraintError[srow] = fact * m_swingAxis.dot(p); + info->m_constraintError[srow1] = fact * m_swingAxis.dot(q); + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + info->m_lowerLimit[srow1] = -SIMD_INFINITY; + info->m_upperLimit[srow1] = SIMD_INFINITY; + srow = srow1 + info->rowskip; + } + else + { + ax1 = m_swingAxis * m_relaxationFactor * m_relaxationFactor; + J1[srow+0] = ax1[0]; + J1[srow+1] = ax1[1]; + J1[srow+2] = ax1[2]; + J2[srow+0] = -ax1[0]; + J2[srow+1] = -ax1[1]; + J2[srow+2] = -ax1[2]; + btScalar k = info->fps * m_biasFactor; + + info->m_constraintError[srow] = k * m_swingCorrection; + if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM) + { + info->cfm[srow] = m_angCFM; + } + // m_swingCorrection is always positive or 0 + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + srow += info->rowskip; + } + } + if(m_solveTwistLimit) + { + ax1 = m_twistAxis * m_relaxationFactor * m_relaxationFactor; + btScalar *J1 = info->m_J1angularAxis; + btScalar *J2 = info->m_J2angularAxis; + J1[srow+0] = ax1[0]; + J1[srow+1] = ax1[1]; + J1[srow+2] = ax1[2]; + J2[srow+0] = -ax1[0]; + J2[srow+1] = -ax1[1]; + J2[srow+2] = -ax1[2]; + btScalar k = info->fps * m_biasFactor; + info->m_constraintError[srow] = k * m_twistCorrection; + if(m_flags & BT_CONETWIST_FLAGS_ANG_CFM) + { + info->cfm[srow] = m_angCFM; + } + if(m_twistSpan > 0.0f) + { + + if(m_twistCorrection > 0.0f) + { + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + } + else + { + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + srow += info->rowskip; + } +} + + + +void btConeTwistConstraint::buildJacobian() +{ + if (m_useSolveConstraintObsolete) + { + m_appliedImpulse = btScalar(0.); + m_accTwistLimitImpulse = btScalar(0.); + m_accSwingLimitImpulse = btScalar(0.); + m_accMotorImpulse = btVector3(0.,0.,0.); + + if (!m_angularOnly) + { + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); + btVector3 relPos = pivotBInW - pivotAInW; + + btVector3 normal[3]; + if (relPos.length2() > SIMD_EPSILON) + { + normal[0] = relPos.normalized(); + } + else + { + normal[0].setValue(btScalar(1.0),0,0); + } + + btPlaneSpace1(normal[0], normal[1], normal[2]); + + for (int i=0;i<3;i++) + { + new (&m_jac[i]) btJacobianEntry( + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + pivotAInW - m_rbA.getCenterOfMassPosition(), + pivotBInW - m_rbB.getCenterOfMassPosition(), + normal[i], + m_rbA.getInvInertiaDiagLocal(), + m_rbA.getInvMass(), + m_rbB.getInvInertiaDiagLocal(), + m_rbB.getInvMass()); + } + } + + calcAngleInfo2(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getInvInertiaTensorWorld(),m_rbB.getInvInertiaTensorWorld()); + } +} + + + +void btConeTwistConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep) +{ + #ifndef __SPU__ + if (m_useSolveConstraintObsolete) + { + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); + + btScalar tau = btScalar(0.3); + + //linear part + if (!m_angularOnly) + { + btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); + btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + + btVector3 vel1; + bodyA.internalGetVelocityInLocalPointObsolete(rel_pos1,vel1); + btVector3 vel2; + bodyB.internalGetVelocityInLocalPointObsolete(rel_pos2,vel2); + btVector3 vel = vel1 - vel2; + + for (int i=0;i<3;i++) + { + const btVector3& normal = m_jac[i].m_linearJointAxis; + btScalar jacDiagABInv = btScalar(1.) / m_jac[i].getDiagonal(); + + btScalar rel_vel; + rel_vel = normal.dot(vel); + //positional error (zeroth order error) + btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal + btScalar impulse = depth*tau/timeStep * jacDiagABInv - rel_vel * jacDiagABInv; + m_appliedImpulse += impulse; + + btVector3 ftorqueAxis1 = rel_pos1.cross(normal); + btVector3 ftorqueAxis2 = rel_pos2.cross(normal); + bodyA.internalApplyImpulse(normal*m_rbA.getInvMass(), m_rbA.getInvInertiaTensorWorld()*ftorqueAxis1,impulse); + bodyB.internalApplyImpulse(normal*m_rbB.getInvMass(), m_rbB.getInvInertiaTensorWorld()*ftorqueAxis2,-impulse); + + } + } + + // apply motor + if (m_bMotorEnabled) + { + // compute current and predicted transforms + btTransform trACur = m_rbA.getCenterOfMassTransform(); + btTransform trBCur = m_rbB.getCenterOfMassTransform(); + btVector3 omegaA; bodyA.internalGetAngularVelocity(omegaA); + btVector3 omegaB; bodyB.internalGetAngularVelocity(omegaB); + btTransform trAPred; trAPred.setIdentity(); + btVector3 zerovec(0,0,0); + btTransformUtil::integrateTransform( + trACur, zerovec, omegaA, timeStep, trAPred); + btTransform trBPred; trBPred.setIdentity(); + btTransformUtil::integrateTransform( + trBCur, zerovec, omegaB, timeStep, trBPred); + + // compute desired transforms in world + btTransform trPose(m_qTarget); + btTransform trABDes = m_rbBFrame * trPose * m_rbAFrame.inverse(); + btTransform trADes = trBPred * trABDes; + btTransform trBDes = trAPred * trABDes.inverse(); + + // compute desired omegas in world + btVector3 omegaADes, omegaBDes; + + btTransformUtil::calculateVelocity(trACur, trADes, timeStep, zerovec, omegaADes); + btTransformUtil::calculateVelocity(trBCur, trBDes, timeStep, zerovec, omegaBDes); + + // compute delta omegas + btVector3 dOmegaA = omegaADes - omegaA; + btVector3 dOmegaB = omegaBDes - omegaB; + + // compute weighted avg axis of dOmega (weighting based on inertias) + btVector3 axisA, axisB; + btScalar kAxisAInv = 0, kAxisBInv = 0; + + if (dOmegaA.length2() > SIMD_EPSILON) + { + axisA = dOmegaA.normalized(); + kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(axisA); + } + + if (dOmegaB.length2() > SIMD_EPSILON) + { + axisB = dOmegaB.normalized(); + kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(axisB); + } + + btVector3 avgAxis = kAxisAInv * axisA + kAxisBInv * axisB; + + static bool bDoTorque = true; + if (bDoTorque && avgAxis.length2() > SIMD_EPSILON) + { + avgAxis.normalize(); + kAxisAInv = getRigidBodyA().computeAngularImpulseDenominator(avgAxis); + kAxisBInv = getRigidBodyB().computeAngularImpulseDenominator(avgAxis); + btScalar kInvCombined = kAxisAInv + kAxisBInv; + + btVector3 impulse = (kAxisAInv * dOmegaA - kAxisBInv * dOmegaB) / + (kInvCombined * kInvCombined); + + if (m_maxMotorImpulse >= 0) + { + btScalar fMaxImpulse = m_maxMotorImpulse; + if (m_bNormalizedMotorStrength) + fMaxImpulse = fMaxImpulse/kAxisAInv; + + btVector3 newUnclampedAccImpulse = m_accMotorImpulse + impulse; + btScalar newUnclampedMag = newUnclampedAccImpulse.length(); + if (newUnclampedMag > fMaxImpulse) + { + newUnclampedAccImpulse.normalize(); + newUnclampedAccImpulse *= fMaxImpulse; + impulse = newUnclampedAccImpulse - m_accMotorImpulse; + } + m_accMotorImpulse += impulse; + } + + btScalar impulseMag = impulse.length(); + btVector3 impulseAxis = impulse / impulseMag; + + bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag); + bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag); + + } + } + else if (m_damping > SIMD_EPSILON) // no motor: do a little damping + { + btVector3 angVelA; bodyA.internalGetAngularVelocity(angVelA); + btVector3 angVelB; bodyB.internalGetAngularVelocity(angVelB); + btVector3 relVel = angVelB - angVelA; + if (relVel.length2() > SIMD_EPSILON) + { + btVector3 relVelAxis = relVel.normalized(); + btScalar m_kDamping = btScalar(1.) / + (getRigidBodyA().computeAngularImpulseDenominator(relVelAxis) + + getRigidBodyB().computeAngularImpulseDenominator(relVelAxis)); + btVector3 impulse = m_damping * m_kDamping * relVel; + + btScalar impulseMag = impulse.length(); + btVector3 impulseAxis = impulse / impulseMag; + bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*impulseAxis, impulseMag); + bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*impulseAxis, -impulseMag); + } + } + + // joint limits + { + ///solve angular part + btVector3 angVelA; + bodyA.internalGetAngularVelocity(angVelA); + btVector3 angVelB; + bodyB.internalGetAngularVelocity(angVelB); + + // solve swing limit + if (m_solveSwingLimit) + { + btScalar amplitude = m_swingLimitRatio * m_swingCorrection*m_biasFactor/timeStep; + btScalar relSwingVel = (angVelB - angVelA).dot(m_swingAxis); + if (relSwingVel > 0) + amplitude += m_swingLimitRatio * relSwingVel * m_relaxationFactor; + btScalar impulseMag = amplitude * m_kSwing; + + // Clamp the accumulated impulse + btScalar temp = m_accSwingLimitImpulse; + m_accSwingLimitImpulse = btMax(m_accSwingLimitImpulse + impulseMag, btScalar(0.0) ); + impulseMag = m_accSwingLimitImpulse - temp; + + btVector3 impulse = m_swingAxis * impulseMag; + + // don't let cone response affect twist + // (this can happen since body A's twist doesn't match body B's AND we use an elliptical cone limit) + { + btVector3 impulseTwistCouple = impulse.dot(m_twistAxisA) * m_twistAxisA; + btVector3 impulseNoTwistCouple = impulse - impulseTwistCouple; + impulse = impulseNoTwistCouple; + } + + impulseMag = impulse.length(); + btVector3 noTwistSwingAxis = impulse / impulseMag; + + bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*noTwistSwingAxis, impulseMag); + bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*noTwistSwingAxis, -impulseMag); + } + + + // solve twist limit + if (m_solveTwistLimit) + { + btScalar amplitude = m_twistLimitRatio * m_twistCorrection*m_biasFactor/timeStep; + btScalar relTwistVel = (angVelB - angVelA).dot( m_twistAxis ); + if (relTwistVel > 0) // only damp when moving towards limit (m_twistAxis flipping is important) + amplitude += m_twistLimitRatio * relTwistVel * m_relaxationFactor; + btScalar impulseMag = amplitude * m_kTwist; + + // Clamp the accumulated impulse + btScalar temp = m_accTwistLimitImpulse; + m_accTwistLimitImpulse = btMax(m_accTwistLimitImpulse + impulseMag, btScalar(0.0) ); + impulseMag = m_accTwistLimitImpulse - temp; + + // btVector3 impulse = m_twistAxis * impulseMag; + + bodyA.internalApplyImpulse(btVector3(0,0,0), m_rbA.getInvInertiaTensorWorld()*m_twistAxis,impulseMag); + bodyB.internalApplyImpulse(btVector3(0,0,0), m_rbB.getInvInertiaTensorWorld()*m_twistAxis,-impulseMag); + } + } + } +#else +btAssert(0); +#endif //__SPU__ +} + + + + +void btConeTwistConstraint::updateRHS(btScalar timeStep) +{ + (void)timeStep; + +} + + +#ifndef __SPU__ +void btConeTwistConstraint::calcAngleInfo() +{ + m_swingCorrection = btScalar(0.); + m_twistLimitSign = btScalar(0.); + m_solveTwistLimit = false; + m_solveSwingLimit = false; + + btVector3 b1Axis1,b1Axis2,b1Axis3; + btVector3 b2Axis1,b2Axis2; + + b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0); + b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0); + + btScalar swing1=btScalar(0.),swing2 = btScalar(0.); + + btScalar swx=btScalar(0.),swy = btScalar(0.); + btScalar thresh = btScalar(10.); + btScalar fact; + + // Get Frame into world space + if (m_swingSpan1 >= btScalar(0.05f)) + { + b1Axis2 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(1); + swx = b2Axis1.dot(b1Axis1); + swy = b2Axis1.dot(b1Axis2); + swing1 = btAtan2Fast(swy, swx); + fact = (swy*swy + swx*swx) * thresh * thresh; + fact = fact / (fact + btScalar(1.0)); + swing1 *= fact; + } + + if (m_swingSpan2 >= btScalar(0.05f)) + { + b1Axis3 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(2); + swx = b2Axis1.dot(b1Axis1); + swy = b2Axis1.dot(b1Axis3); + swing2 = btAtan2Fast(swy, swx); + fact = (swy*swy + swx*swx) * thresh * thresh; + fact = fact / (fact + btScalar(1.0)); + swing2 *= fact; + } + + btScalar RMaxAngle1Sq = 1.0f / (m_swingSpan1*m_swingSpan1); + btScalar RMaxAngle2Sq = 1.0f / (m_swingSpan2*m_swingSpan2); + btScalar EllipseAngle = btFabs(swing1*swing1)* RMaxAngle1Sq + btFabs(swing2*swing2) * RMaxAngle2Sq; + + if (EllipseAngle > 1.0f) + { + m_swingCorrection = EllipseAngle-1.0f; + m_solveSwingLimit = true; + // Calculate necessary axis & factors + m_swingAxis = b2Axis1.cross(b1Axis2* b2Axis1.dot(b1Axis2) + b1Axis3* b2Axis1.dot(b1Axis3)); + m_swingAxis.normalize(); + btScalar swingAxisSign = (b2Axis1.dot(b1Axis1) >= 0.0f) ? 1.0f : -1.0f; + m_swingAxis *= swingAxisSign; + } + + // Twist limits + if (m_twistSpan >= btScalar(0.)) + { + btVector3 b2Axis2 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(1); + btQuaternion rotationArc = shortestArcQuat(b2Axis1,b1Axis1); + btVector3 TwistRef = quatRotate(rotationArc,b2Axis2); + btScalar twist = btAtan2Fast( TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2) ); + m_twistAngle = twist; + +// btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? m_limitSoftness : btScalar(0.); + btScalar lockedFreeFactor = (m_twistSpan > btScalar(0.05f)) ? btScalar(1.0f) : btScalar(0.); + if (twist <= -m_twistSpan*lockedFreeFactor) + { + m_twistCorrection = -(twist + m_twistSpan); + m_solveTwistLimit = true; + m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f; + m_twistAxis.normalize(); + m_twistAxis *= -1.0f; + } + else if (twist > m_twistSpan*lockedFreeFactor) + { + m_twistCorrection = (twist - m_twistSpan); + m_solveTwistLimit = true; + m_twistAxis = (b2Axis1 + b1Axis1) * 0.5f; + m_twistAxis.normalize(); + } + } +} +#endif //__SPU__ + +static btVector3 vTwist(1,0,0); // twist axis in constraint's space + + + +void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTransform& transB, const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB) +{ + m_swingCorrection = btScalar(0.); + m_twistLimitSign = btScalar(0.); + m_solveTwistLimit = false; + m_solveSwingLimit = false; + // compute rotation of A wrt B (in constraint space) + if (m_bMotorEnabled && (!m_useSolveConstraintObsolete)) + { // it is assumed that setMotorTarget() was alredy called + // and motor target m_qTarget is within constraint limits + // TODO : split rotation to pure swing and pure twist + // compute desired transforms in world + btTransform trPose(m_qTarget); + btTransform trA = transA * m_rbAFrame; + btTransform trB = transB * m_rbBFrame; + btTransform trDeltaAB = trB * trPose * trA.inverse(); + btQuaternion qDeltaAB = trDeltaAB.getRotation(); + btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); + float swingAxisLen2 = swingAxis.length2(); + if(btFuzzyZero(swingAxisLen2)) + { + return; + } + m_swingAxis = swingAxis; + m_swingAxis.normalize(); + m_swingCorrection = qDeltaAB.getAngle(); + if(!btFuzzyZero(m_swingCorrection)) + { + m_solveSwingLimit = true; + } + return; + } + + + { + // compute rotation of A wrt B (in constraint space) + btQuaternion qA = transA.getRotation() * m_rbAFrame.getRotation(); + btQuaternion qB = transB.getRotation() * m_rbBFrame.getRotation(); + btQuaternion qAB = qB.inverse() * qA; + // split rotation into cone and twist + // (all this is done from B's perspective. Maybe I should be averaging axes...) + btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize(); + btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize(); + btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize(); + + if (m_swingSpan1 >= m_fixThresh && m_swingSpan2 >= m_fixThresh) + { + btScalar swingAngle, swingLimit = 0; btVector3 swingAxis; + computeConeLimitInfo(qABCone, swingAngle, swingAxis, swingLimit); + + if (swingAngle > swingLimit * m_limitSoftness) + { + m_solveSwingLimit = true; + + // compute limit ratio: 0->1, where + // 0 == beginning of soft limit + // 1 == hard/real limit + m_swingLimitRatio = 1.f; + if (swingAngle < swingLimit && m_limitSoftness < 1.f - SIMD_EPSILON) + { + m_swingLimitRatio = (swingAngle - swingLimit * m_limitSoftness)/ + (swingLimit - swingLimit * m_limitSoftness); + } + + // swing correction tries to get back to soft limit + m_swingCorrection = swingAngle - (swingLimit * m_limitSoftness); + + // adjustment of swing axis (based on ellipse normal) + adjustSwingAxisToUseEllipseNormal(swingAxis); + + // Calculate necessary axis & factors + m_swingAxis = quatRotate(qB, -swingAxis); + + m_twistAxisA.setValue(0,0,0); + + m_kSwing = btScalar(1.) / + (computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldA) + + computeAngularImpulseDenominator(m_swingAxis,invInertiaWorldB)); + } + } + else + { + // you haven't set any limits; + // or you're trying to set at least one of the swing limits too small. (if so, do you really want a conetwist constraint?) + // anyway, we have either hinge or fixed joint + btVector3 ivA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0); + btVector3 jvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1); + btVector3 kvA = transA.getBasis() * m_rbAFrame.getBasis().getColumn(2); + btVector3 ivB = transB.getBasis() * m_rbBFrame.getBasis().getColumn(0); + btVector3 target; + btScalar x = ivB.dot(ivA); + btScalar y = ivB.dot(jvA); + btScalar z = ivB.dot(kvA); + if((m_swingSpan1 < m_fixThresh) && (m_swingSpan2 < m_fixThresh)) + { // fixed. We'll need to add one more row to constraint + if((!btFuzzyZero(y)) || (!(btFuzzyZero(z)))) + { + m_solveSwingLimit = true; + m_swingAxis = -ivB.cross(ivA); + } + } + else + { + if(m_swingSpan1 < m_fixThresh) + { // hinge around Y axis +// if(!(btFuzzyZero(y))) + if((!(btFuzzyZero(x))) || (!(btFuzzyZero(z)))) + { + m_solveSwingLimit = true; + if(m_swingSpan2 >= m_fixThresh) + { + y = btScalar(0.f); + btScalar span2 = btAtan2(z, x); + if(span2 > m_swingSpan2) + { + x = btCos(m_swingSpan2); + z = btSin(m_swingSpan2); + } + else if(span2 < -m_swingSpan2) + { + x = btCos(m_swingSpan2); + z = -btSin(m_swingSpan2); + } + } + } + } + else + { // hinge around Z axis +// if(!btFuzzyZero(z)) + if((!(btFuzzyZero(x))) || (!(btFuzzyZero(y)))) + { + m_solveSwingLimit = true; + if(m_swingSpan1 >= m_fixThresh) + { + z = btScalar(0.f); + btScalar span1 = btAtan2(y, x); + if(span1 > m_swingSpan1) + { + x = btCos(m_swingSpan1); + y = btSin(m_swingSpan1); + } + else if(span1 < -m_swingSpan1) + { + x = btCos(m_swingSpan1); + y = -btSin(m_swingSpan1); + } + } + } + } + target[0] = x * ivA[0] + y * jvA[0] + z * kvA[0]; + target[1] = x * ivA[1] + y * jvA[1] + z * kvA[1]; + target[2] = x * ivA[2] + y * jvA[2] + z * kvA[2]; + target.normalize(); + m_swingAxis = -ivB.cross(target); + m_swingCorrection = m_swingAxis.length(); + m_swingAxis.normalize(); + } + } + + if (m_twistSpan >= btScalar(0.f)) + { + btVector3 twistAxis; + computeTwistLimitInfo(qABTwist, m_twistAngle, twistAxis); + + if (m_twistAngle > m_twistSpan*m_limitSoftness) + { + m_solveTwistLimit = true; + + m_twistLimitRatio = 1.f; + if (m_twistAngle < m_twistSpan && m_limitSoftness < 1.f - SIMD_EPSILON) + { + m_twistLimitRatio = (m_twistAngle - m_twistSpan * m_limitSoftness)/ + (m_twistSpan - m_twistSpan * m_limitSoftness); + } + + // twist correction tries to get back to soft limit + m_twistCorrection = m_twistAngle - (m_twistSpan * m_limitSoftness); + + m_twistAxis = quatRotate(qB, -twistAxis); + + m_kTwist = btScalar(1.) / + (computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldA) + + computeAngularImpulseDenominator(m_twistAxis,invInertiaWorldB)); + } + + if (m_solveSwingLimit) + m_twistAxisA = quatRotate(qA, -twistAxis); + } + else + { + m_twistAngle = btScalar(0.f); + } + } +} + + + +// given a cone rotation in constraint space, (pre: twist must already be removed) +// this method computes its corresponding swing angle and axis. +// more interestingly, it computes the cone/swing limit (angle) for this cone "pose". +void btConeTwistConstraint::computeConeLimitInfo(const btQuaternion& qCone, + btScalar& swingAngle, // out + btVector3& vSwingAxis, // out + btScalar& swingLimit) // out +{ + swingAngle = qCone.getAngle(); + if (swingAngle > SIMD_EPSILON) + { + vSwingAxis = btVector3(qCone.x(), qCone.y(), qCone.z()); + vSwingAxis.normalize(); +#if 0 + // non-zero twist?! this should never happen. + btAssert(fabs(vSwingAxis.x()) <= SIMD_EPSILON)); +#endif + + // Compute limit for given swing. tricky: + // Given a swing axis, we're looking for the intersection with the bounding cone ellipse. + // (Since we're dealing with angles, this ellipse is embedded on the surface of a sphere.) + + // For starters, compute the direction from center to surface of ellipse. + // This is just the perpendicular (ie. rotate 2D vector by PI/2) of the swing axis. + // (vSwingAxis is the cone rotation (in z,y); change vars and rotate to (x,y) coords.) + btScalar xEllipse = vSwingAxis.y(); + btScalar yEllipse = -vSwingAxis.z(); + + // Now, we use the slope of the vector (using x/yEllipse) and find the length + // of the line that intersects the ellipse: + // x^2 y^2 + // --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits) + // a^2 b^2 + // Do the math and it should be clear. + + swingLimit = m_swingSpan1; // if xEllipse == 0, we have a pure vSwingAxis.z rotation: just use swingspan1 + if (fabs(xEllipse) > SIMD_EPSILON) + { + btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse); + btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2); + norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1); + btScalar swingLimit2 = (1 + surfaceSlope2) / norm; + swingLimit = sqrt(swingLimit2); + } + + // test! + /*swingLimit = m_swingSpan2; + if (fabs(vSwingAxis.z()) > SIMD_EPSILON) + { + btScalar mag_2 = m_swingSpan1*m_swingSpan1 + m_swingSpan2*m_swingSpan2; + btScalar sinphi = m_swingSpan2 / sqrt(mag_2); + btScalar phi = asin(sinphi); + btScalar theta = atan2(fabs(vSwingAxis.y()),fabs(vSwingAxis.z())); + btScalar alpha = 3.14159f - theta - phi; + btScalar sinalpha = sin(alpha); + swingLimit = m_swingSpan1 * sinphi/sinalpha; + }*/ + } + else if (swingAngle < 0) + { + // this should never happen! +#if 0 + btAssert(0); +#endif + } +} + +btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const +{ + // compute x/y in ellipse using cone angle (0 -> 2*PI along surface of cone) + btScalar xEllipse = btCos(fAngleInRadians); + btScalar yEllipse = btSin(fAngleInRadians); + + // Use the slope of the vector (using x/yEllipse) and find the length + // of the line that intersects the ellipse: + // x^2 y^2 + // --- + --- = 1, where a and b are semi-major axes 2 and 1 respectively (ie. the limits) + // a^2 b^2 + // Do the math and it should be clear. + + float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1) + if (fabs(xEllipse) > SIMD_EPSILON) + { + btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse); + btScalar norm = 1 / (m_swingSpan2 * m_swingSpan2); + norm += surfaceSlope2 / (m_swingSpan1 * m_swingSpan1); + btScalar swingLimit2 = (1 + surfaceSlope2) / norm; + swingLimit = sqrt(swingLimit2); + } + + // convert into point in constraint space: + // note: twist is x-axis, swing 1 and 2 are along the z and y axes respectively + btVector3 vSwingAxis(0, xEllipse, -yEllipse); + btQuaternion qSwing(vSwingAxis, swingLimit); + btVector3 vPointInConstraintSpace(fLength,0,0); + return quatRotate(qSwing, vPointInConstraintSpace); +} + +// given a twist rotation in constraint space, (pre: cone must already be removed) +// this method computes its corresponding angle and axis. +void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist, + btScalar& twistAngle, // out + btVector3& vTwistAxis) // out +{ + btQuaternion qMinTwist = qTwist; + twistAngle = qTwist.getAngle(); + + if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate. + { + qMinTwist = -(qTwist); + twistAngle = qMinTwist.getAngle(); + } + if (twistAngle < 0) + { + // this should never happen +#if 0 + btAssert(0); +#endif + } + + vTwistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z()); + if (twistAngle > SIMD_EPSILON) + vTwistAxis.normalize(); +} + + +void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const +{ + // the swing axis is computed as the "twist-free" cone rotation, + // but the cone limit is not circular, but elliptical (if swingspan1 != swingspan2). + // so, if we're outside the limits, the closest way back inside the cone isn't + // along the vector back to the center. better (and more stable) to use the ellipse normal. + + // convert swing axis to direction from center to surface of ellipse + // (ie. rotate 2D vector by PI/2) + btScalar y = -vSwingAxis.z(); + btScalar z = vSwingAxis.y(); + + // do the math... + if (fabs(z) > SIMD_EPSILON) // avoid division by 0. and we don't need an update if z == 0. + { + // compute gradient/normal of ellipse surface at current "point" + btScalar grad = y/z; + grad *= m_swingSpan2 / m_swingSpan1; + + // adjust y/z to represent normal at point (instead of vector to point) + if (y > 0) + y = fabs(grad * z); + else + y = -fabs(grad * z); + + // convert ellipse direction back to swing axis + vSwingAxis.setZ(-y); + vSwingAxis.setY( z); + vSwingAxis.normalize(); + } +} + + + +void btConeTwistConstraint::setMotorTarget(const btQuaternion &q) +{ + btTransform trACur = m_rbA.getCenterOfMassTransform(); + btTransform trBCur = m_rbB.getCenterOfMassTransform(); +// btTransform trABCur = trBCur.inverse() * trACur; +// btQuaternion qABCur = trABCur.getRotation(); +// btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame); + //btQuaternion qConstraintCur = trConstraintCur.getRotation(); + + btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * q * m_rbAFrame.getRotation(); + setMotorTargetInConstraintSpace(qConstraint); +} + + +void btConeTwistConstraint::setMotorTargetInConstraintSpace(const btQuaternion &q) +{ + m_qTarget = q; + + // clamp motor target to within limits + { + btScalar softness = 1.f;//m_limitSoftness; + + // split into twist and cone + btVector3 vTwisted = quatRotate(m_qTarget, vTwist); + btQuaternion qTargetCone = shortestArcQuat(vTwist, vTwisted); qTargetCone.normalize(); + btQuaternion qTargetTwist = qTargetCone.inverse() * m_qTarget; qTargetTwist.normalize(); + + // clamp cone + if (m_swingSpan1 >= btScalar(0.05f) && m_swingSpan2 >= btScalar(0.05f)) + { + btScalar swingAngle, swingLimit; btVector3 swingAxis; + computeConeLimitInfo(qTargetCone, swingAngle, swingAxis, swingLimit); + + if (fabs(swingAngle) > SIMD_EPSILON) + { + if (swingAngle > swingLimit*softness) + swingAngle = swingLimit*softness; + else if (swingAngle < -swingLimit*softness) + swingAngle = -swingLimit*softness; + qTargetCone = btQuaternion(swingAxis, swingAngle); + } + } + + // clamp twist + if (m_twistSpan >= btScalar(0.05f)) + { + btScalar twistAngle; btVector3 twistAxis; + computeTwistLimitInfo(qTargetTwist, twistAngle, twistAxis); + + if (fabs(twistAngle) > SIMD_EPSILON) + { + // eddy todo: limitSoftness used here??? + if (twistAngle > m_twistSpan*softness) + twistAngle = m_twistSpan*softness; + else if (twistAngle < -m_twistSpan*softness) + twistAngle = -m_twistSpan*softness; + qTargetTwist = btQuaternion(twistAxis, twistAngle); + } + } + + m_qTarget = qTargetCone * qTargetTwist; + } +} + +///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). +///If no axis is provided, it uses the default axis for this constraint. +void btConeTwistConstraint::setParam(int num, btScalar value, int axis) +{ + switch(num) + { + case BT_CONSTRAINT_ERP : + case BT_CONSTRAINT_STOP_ERP : + if((axis >= 0) && (axis < 3)) + { + m_linERP = value; + m_flags |= BT_CONETWIST_FLAGS_LIN_ERP; + } + else + { + m_biasFactor = value; + } + break; + case BT_CONSTRAINT_CFM : + case BT_CONSTRAINT_STOP_CFM : + if((axis >= 0) && (axis < 3)) + { + m_linCFM = value; + m_flags |= BT_CONETWIST_FLAGS_LIN_CFM; + } + else + { + m_angCFM = value; + m_flags |= BT_CONETWIST_FLAGS_ANG_CFM; + } + break; + default: + btAssertConstrParams(0); + break; + } +} + +///return the local value of parameter +btScalar btConeTwistConstraint::getParam(int num, int axis) const +{ + btScalar retVal = 0; + switch(num) + { + case BT_CONSTRAINT_ERP : + case BT_CONSTRAINT_STOP_ERP : + if((axis >= 0) && (axis < 3)) + { + btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_ERP); + retVal = m_linERP; + } + else if((axis >= 3) && (axis < 6)) + { + retVal = m_biasFactor; + } + else + { + btAssertConstrParams(0); + } + break; + case BT_CONSTRAINT_CFM : + case BT_CONSTRAINT_STOP_CFM : + if((axis >= 0) && (axis < 3)) + { + btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_LIN_CFM); + retVal = m_linCFM; + } + else if((axis >= 3) && (axis < 6)) + { + btAssertConstrParams(m_flags & BT_CONETWIST_FLAGS_ANG_CFM); + retVal = m_angCFM; + } + else + { + btAssertConstrParams(0); + } + break; + default : + btAssertConstrParams(0); + } + return retVal; +} + + +void btConeTwistConstraint::setFrames(const btTransform & frameA, const btTransform & frameB) +{ + m_rbAFrame = frameA; + m_rbBFrame = frameB; + buildJacobian(); + //calculateTransforms(); +} + + + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h new file mode 100644 index 00000000..1735b524 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -0,0 +1,381 @@ +/* +Bullet Continuous Collision Detection and Physics Library +btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marcus Hennix +*/ + + + +/* +Overview: + +btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc). +It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint". +It divides the 3 rotational DOFs into swing (movement within a cone) and twist. +Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape. +(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.) + +In the contraint's frame of reference: +twist is along the x-axis, +and swing 1 and 2 are along the z and y axes respectively. +*/ + + + +#ifndef BT_CONETWISTCONSTRAINT_H +#define BT_CONETWISTCONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData +#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData" +#else +#define btConeTwistConstraintData2 btConeTwistConstraintData +#define btConeTwistConstraintDataName "btConeTwistConstraintData" +#endif //BT_USE_DOUBLE_PRECISION + + +class btRigidBody; + +enum btConeTwistFlags +{ + BT_CONETWIST_FLAGS_LIN_CFM = 1, + BT_CONETWIST_FLAGS_LIN_ERP = 2, + BT_CONETWIST_FLAGS_ANG_CFM = 4 +}; + +///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) +ATTRIBUTE_ALIGNED16(class) btConeTwistConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btTransform m_rbAFrame; + btTransform m_rbBFrame; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; + + btScalar m_damping; + + btScalar m_swingSpan1; + btScalar m_swingSpan2; + btScalar m_twistSpan; + + btScalar m_fixThresh; + + btVector3 m_swingAxis; + btVector3 m_twistAxis; + + btScalar m_kSwing; + btScalar m_kTwist; + + btScalar m_twistLimitSign; + btScalar m_swingCorrection; + btScalar m_twistCorrection; + + btScalar m_twistAngle; + + btScalar m_accSwingLimitImpulse; + btScalar m_accTwistLimitImpulse; + + bool m_angularOnly; + bool m_solveTwistLimit; + bool m_solveSwingLimit; + + bool m_useSolveConstraintObsolete; + + // not yet used... + btScalar m_swingLimitRatio; + btScalar m_twistLimitRatio; + btVector3 m_twistAxisA; + + // motor + bool m_bMotorEnabled; + bool m_bNormalizedMotorStrength; + btQuaternion m_qTarget; + btScalar m_maxMotorImpulse; + btVector3 m_accMotorImpulse; + + // parameters + int m_flags; + btScalar m_linCFM; + btScalar m_linERP; + btScalar m_angCFM; + +protected: + + void init(); + + void computeConeLimitInfo(const btQuaternion& qCone, // in + btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs + + void computeTwistLimitInfo(const btQuaternion& qTwist, // in + btScalar& twistAngle, btVector3& vTwistAxis); // all outs + + void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const; + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame); + + btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame); + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); + + virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); + + + void updateRHS(btScalar timeStep); + + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + void setAngularOnly(bool angularOnly) + { + m_angularOnly = angularOnly; + } + + void setLimit(int limitIndex,btScalar limitValue) + { + switch (limitIndex) + { + case 3: + { + m_twistSpan = limitValue; + break; + } + case 4: + { + m_swingSpan2 = limitValue; + break; + } + case 5: + { + m_swingSpan1 = limitValue; + break; + } + default: + { + } + }; + } + + // setLimit(), a few notes: + // _softness: + // 0->1, recommend ~0.8->1. + // describes % of limits where movement is free. + // beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached. + // _biasFactor: + // 0->1?, recommend 0.3 +/-0.3 or so. + // strength with which constraint resists zeroth order (angular, not angular velocity) limit violation. + // __relaxationFactor: + // 0->1, recommend to stay near 1. + // the lower the value, the less the constraint will fight velocities which violate the angular limits. + void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_swingSpan1 = _swingSpan1; + m_swingSpan2 = _swingSpan2; + m_twistSpan = _twistSpan; + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + } + + const btTransform& getAFrame() { return m_rbAFrame; }; + const btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveTwistLimit() + { + return m_solveTwistLimit; + } + + inline int getSolveSwingLimit() + { + return m_solveTwistLimit; + } + + inline btScalar getTwistLimitSign() + { + return m_twistLimitSign; + } + + void calcAngleInfo(); + void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); + + inline btScalar getSwingSpan1() + { + return m_swingSpan1; + } + inline btScalar getSwingSpan2() + { + return m_swingSpan2; + } + inline btScalar getTwistSpan() + { + return m_twistSpan; + } + inline btScalar getTwistAngle() + { + return m_twistAngle; + } + bool isPastSwingLimit() { return m_solveSwingLimit; } + + void setDamping(btScalar damping) { m_damping = damping; } + + void enableMotor(bool b) { m_bMotorEnabled = b; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; } + void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; } + + btScalar getFixThresh() { return m_fixThresh; } + void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; } + + // setMotorTarget: + // q: the desired rotation of bodyA wrt bodyB. + // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability) + // note: don't forget to enableMotor() + void setMotorTarget(const btQuaternion &q); + + // same as above, but q is the desired rotation of frameA wrt frameB in constraint space + void setMotorTargetInConstraintSpace(const btQuaternion &q); + + btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const; + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + + virtual void setFrames(const btTransform& frameA, const btTransform& frameB); + + const btTransform& getFrameOffsetA() const + { + return m_rbAFrame; + } + + const btTransform& getFrameOffsetB() const + { + return m_rbBFrame; + } + + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + + + +struct btConeTwistConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + + //limits + double m_swingSpan1; + double m_swingSpan2; + double m_twistSpan; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + + double m_damping; + + + +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files +struct btConeTwistConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + + //limits + float m_swingSpan1; + float m_swingSpan2; + float m_twistSpan; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + + float m_damping; + + char m_pad[4]; + +}; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION +// + +SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btConeTwistConstraintData2); + +} + + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer; + btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer); + + m_rbAFrame.serialize(cone->m_rbAFrame); + m_rbBFrame.serialize(cone->m_rbBFrame); + + cone->m_swingSpan1 = m_swingSpan1; + cone->m_swingSpan2 = m_swingSpan2; + cone->m_twistSpan = m_twistSpan; + cone->m_limitSoftness = m_limitSoftness; + cone->m_biasFactor = m_biasFactor; + cone->m_relaxationFactor = m_relaxationFactor; + cone->m_damping = m_damping; + + return btConeTwistConstraintDataName; +} + + +#endif //BT_CONETWISTCONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h new file mode 100644 index 00000000..1ba1cd1e --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -0,0 +1,64 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONSTRAINT_SOLVER_H +#define BT_CONSTRAINT_SOLVER_H + +#include "LinearMath/btScalar.h" + +class btPersistentManifold; +class btRigidBody; +class btCollisionObject; +class btTypedConstraint; +struct btContactSolverInfo; +struct btBroadphaseProxy; +class btIDebugDraw; +class btStackAlloc; +class btDispatcher; +/// btConstraintSolver provides solver interface + + +enum btConstraintSolverType +{ + BT_SEQUENTIAL_IMPULSE_SOLVER=1, + BT_MLCP_SOLVER=2 +}; + +class btConstraintSolver +{ + +public: + + virtual ~btConstraintSolver() {} + + virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;} + + ///solve a group of constraints + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0; + + virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;} + + ///clear internal cached data and reset random seed + virtual void reset() = 0; + + virtual btConstraintSolverType getSolverType() const=0; + + +}; + + + + +#endif //BT_CONSTRAINT_SOLVER_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp new file mode 100644 index 00000000..9d60d995 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp @@ -0,0 +1,178 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btContactConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btContactSolverInfo.h" +#include "LinearMath/btMinMax.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" + + + +btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB) +:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB), + m_contactManifold(*contactManifold) +{ + +} + +btContactConstraint::~btContactConstraint() +{ + +} + +void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold) +{ + m_contactManifold = *contactManifold; +} + +void btContactConstraint::getInfo1 (btConstraintInfo1* info) +{ + +} + +void btContactConstraint::getInfo2 (btConstraintInfo2* info) +{ + +} + +void btContactConstraint::buildJacobian() +{ + +} + + + + + +#include "btContactConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btContactSolverInfo.h" +#include "LinearMath/btMinMax.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" + + + +//response between two dynamic objects without friction and no restitution, assuming 0 penetration depth +btScalar resolveSingleCollision( + btRigidBody* body1, + btCollisionObject* colObj2, + const btVector3& contactPositionWorld, + const btVector3& contactNormalOnB, + const btContactSolverInfo& solverInfo, + btScalar distance) +{ + btRigidBody* body2 = btRigidBody::upcast(colObj2); + + + const btVector3& normal = contactNormalOnB; + + btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); + btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin(); + + btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + btVector3 vel = vel1 - vel2; + btScalar rel_vel; + rel_vel = normal.dot(vel); + + btScalar combinedRestitution = 0.f; + btScalar restitution = combinedRestitution* -rel_vel; + + btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ; + btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping; + btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal); + btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f; + btScalar relaxation = 1.f; + btScalar jacDiagABInv = relaxation/(denom0+denom1); + + btScalar penetrationImpulse = positionalError * jacDiagABInv; + btScalar velocityImpulse = velocityError * jacDiagABInv; + + btScalar normalImpulse = penetrationImpulse+velocityImpulse; + normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse; + + body1->applyImpulse(normal*(normalImpulse), rel_pos1); + if (body2) + body2->applyImpulse(-normal*(normalImpulse), rel_pos2); + + return normalImpulse; +} + + +//bilateral constraint between two dynamic objects +void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, + btRigidBody& body2, const btVector3& pos2, + btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep) +{ + (void)timeStep; + (void)distance; + + + btScalar normalLenSqr = normal.length2(); + btAssert(btFabs(normalLenSqr) < btScalar(1.1)); + if (normalLenSqr > btScalar(1.1)) + { + impulse = btScalar(0.); + return; + } + btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition(); + btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition(); + //this jacobian entry could be re-used for all iterations + + btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; + + + btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(), + body2.getCenterOfMassTransform().getBasis().transpose(), + rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(), + body2.getInvInertiaDiagLocal(),body2.getInvMass()); + + btScalar jacDiagAB = jac.getDiagonal(); + btScalar jacDiagABInv = btScalar(1.) / jacDiagAB; + + btScalar rel_vel = jac.getRelativeVelocity( + body1.getLinearVelocity(), + body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(), + body2.getLinearVelocity(), + body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity()); + btScalar a; + a=jacDiagABInv; + + + rel_vel = normal.dot(vel); + + //todo: move this into proper structure + btScalar contactDamping = btScalar(0.2); + +#ifdef ONLY_USE_LINEAR_MASS + btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass()); + impulse = - contactDamping * rel_vel * massTerm; +#else + btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv; + impulse = velocityImpulse; +#endif +} + + + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.h new file mode 100644 index 00000000..477c79d1 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -0,0 +1,71 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONTACT_CONSTRAINT_H +#define BT_CONTACT_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface +ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint +{ +protected: + + btPersistentManifold m_contactManifold; + +public: + + + btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB); + + void setContactManifold(btPersistentManifold* contactManifold); + + btPersistentManifold* getContactManifold() + { + return &m_contactManifold; + } + + const btPersistentManifold* getContactManifold() const + { + return &m_contactManifold; + } + + virtual ~btContactConstraint(); + + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + ///obsolete methods + virtual void buildJacobian(); + + +}; + +///very basic collision resolution without friction +btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance); + + +///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects +void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, + btRigidBody& body2, const btVector3& pos2, + btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep); + + + +#endif //BT_CONTACT_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h new file mode 100644 index 00000000..c07e9bbd --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -0,0 +1,159 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_CONTACT_SOLVER_INFO +#define BT_CONTACT_SOLVER_INFO + +#include "LinearMath/btScalar.h" + +enum btSolverMode +{ + SOLVER_RANDMIZE_ORDER = 1, + SOLVER_FRICTION_SEPARATE = 2, + SOLVER_USE_WARMSTARTING = 4, + SOLVER_USE_2_FRICTION_DIRECTIONS = 16, + SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32, + SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64, + SOLVER_CACHE_FRIENDLY = 128, + SOLVER_SIMD = 256, + SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, + SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 +}; + +struct btContactSolverInfoData +{ + + + btScalar m_tau; + btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + btScalar m_friction; + btScalar m_timeStep; + btScalar m_restitution; + int m_numIterations; + btScalar m_maxErrorReduction; + btScalar m_sor; + btScalar m_erp;//used as Baumgarte factor + btScalar m_erp2;//used in Split Impulse + btScalar m_globalCfm;//constraint force mixing + int m_splitImpulse; + btScalar m_splitImpulsePenetrationThreshold; + btScalar m_splitImpulseTurnErp; + btScalar m_linearSlop; + btScalar m_warmstartingFactor; + + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + btScalar m_maxGyroscopicForce; + btScalar m_singleAxisRollingFrictionThreshold; + + +}; + +struct btContactSolverInfo : public btContactSolverInfoData +{ + + + + inline btContactSolverInfo() + { + m_tau = btScalar(0.6); + m_damping = btScalar(1.0); + m_friction = btScalar(0.3); + m_timeStep = btScalar(1.f/60.f); + m_restitution = btScalar(0.); + m_maxErrorReduction = btScalar(20.); + m_numIterations = 10; + m_erp = btScalar(0.2); + m_erp2 = btScalar(0.8); + m_globalCfm = btScalar(0.); + m_sor = btScalar(1.); + m_splitImpulse = true; + m_splitImpulsePenetrationThreshold = -.04f; + m_splitImpulseTurnErp = 0.1f; + m_linearSlop = btScalar(0.0); + m_warmstartingFactor=btScalar(0.85); + //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; + m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER; + m_restingContactRestitutionThreshold = 2;//unused as of 2.81 + m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag) + m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. + } +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btContactSolverInfoDoubleData +{ + double m_tau; + double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + double m_friction; + double m_timeStep; + double m_restitution; + double m_maxErrorReduction; + double m_sor; + double m_erp;//used as Baumgarte factor + double m_erp2;//used in Split Impulse + double m_globalCfm;//constraint force mixing + double m_splitImpulsePenetrationThreshold; + double m_splitImpulseTurnErp; + double m_linearSlop; + double m_warmstartingFactor; + double m_maxGyroscopicForce; + double m_singleAxisRollingFrictionThreshold; + + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + int m_splitImpulse; + char m_padding[4]; + +}; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btContactSolverInfoFloatData +{ + float m_tau; + float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + float m_friction; + float m_timeStep; + + float m_restitution; + float m_maxErrorReduction; + float m_sor; + float m_erp;//used as Baumgarte factor + + float m_erp2;//used in Split Impulse + float m_globalCfm;//constraint force mixing + float m_splitImpulsePenetrationThreshold; + float m_splitImpulseTurnErp; + + float m_linearSlop; + float m_warmstartingFactor; + float m_maxGyroscopicForce; + float m_singleAxisRollingFrictionThreshold; + + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + + int m_splitImpulse; + char m_padding[4]; +}; + + + +#endif //BT_CONTACT_SOLVER_INFO diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp new file mode 100644 index 00000000..f93a3280 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp @@ -0,0 +1,129 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + + +#include "btFixedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include + + +btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB) +:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB) +{ + m_pivotInA = frameInA.getOrigin(); + m_pivotInB = frameInB.getOrigin(); + m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse(); + +} + +btFixedConstraint::~btFixedConstraint () +{ +} + + +void btFixedConstraint::getInfo1 (btConstraintInfo1* info) +{ + info->m_numConstraintRows = 6; + info->nub = 6; +} + +void btFixedConstraint::getInfo2 (btConstraintInfo2* info) +{ + //fix the 3 linear degrees of freedom + + + const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin(); + const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis(); + const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin(); + const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis(); + + + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip+1] = 1; + info->m_J1linearAxis[2*info->rowskip+2] = 1; + + btVector3 a1 = worldOrnA*m_pivotInA; + { + btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip); + btVector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + if (info->m_J2linearAxis) + { + info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[info->rowskip+1] = -1; + info->m_J2linearAxis[2*info->rowskip+2] = -1; + } + + btVector3 a2 = worldOrnB*m_pivotInB; + + { + // btVector3 a2n = -a2; + btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + // set right hand side for the linear dofs + btScalar k = info->fps * info->erp; + + btVector3 linearError = k*(a2+worldPosB-a1-worldPosA); + int j; + for (j=0; j<3; j++) + { + + + + info->m_constraintError[j*info->rowskip] = linearError[j]; + //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); + } + + //fix the 3 angular degrees of freedom + + int start_row = 3; + int s = info->rowskip; + int start_index = start_row * s; + + // 3 rows to make body rotations equal + info->m_J1angularAxis[start_index] = 1; + info->m_J1angularAxis[start_index + s + 1] = 1; + info->m_J1angularAxis[start_index + s*2+2] = 1; + if ( info->m_J2angularAxis) + { + info->m_J2angularAxis[start_index] = -1; + info->m_J2angularAxis[start_index + s+1] = -1; + info->m_J2angularAxis[start_index + s*2+2] = -1; + } + + // set right hand side for the angular dofs + + btVector3 diff; + btScalar angle; + btMatrix3x3 mrelCur = worldOrnA *worldOrnB.inverse(); + btQuaternion qrelCur; + mrelCur.getRotation(qrelCur); + btTransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle); + diff*=-angle; + for (j=0; j<3; j++) + { + info->m_constraintError[(3+j)*info->rowskip] = k * diff[j]; + } + +} \ No newline at end of file diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h new file mode 100644 index 00000000..697e319e --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h @@ -0,0 +1,49 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_FIXED_CONSTRAINT_H +#define BT_FIXED_CONSTRAINT_H + +#include "btTypedConstraint.h" + +ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint +{ + btVector3 m_pivotInA; + btVector3 m_pivotInB; + btQuaternion m_relTargetAB; + +public: + btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB); + + virtual ~btFixedConstraint(); + + + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + virtual void setParam(int num, btScalar value, int axis = -1) + { + btAssert(0); + } + virtual btScalar getParam(int num, int axis = -1) const + { + btAssert(0); + return 0.f; + } + +}; + +#endif //BT_FIXED_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp new file mode 100644 index 00000000..bcd457b6 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp @@ -0,0 +1,54 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2012 Advanced Micro Devices, Inc. http://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. +*/ + +/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou. + +#include "btGearConstraint.h" + +btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio) +:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB), +m_axisInA(axisInA), +m_axisInB(axisInB), +m_ratio(ratio) +{ +} + +btGearConstraint::~btGearConstraint () +{ +} + +void btGearConstraint::getInfo1 (btConstraintInfo1* info) +{ + info->m_numConstraintRows = 1; + info->nub = 1; +} + +void btGearConstraint::getInfo2 (btConstraintInfo2* info) +{ + btVector3 globalAxisA, globalAxisB; + + globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA; + globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB; + + info->m_J1angularAxis[0] = globalAxisA[0]; + info->m_J1angularAxis[1] = globalAxisA[1]; + info->m_J1angularAxis[2] = globalAxisA[2]; + + info->m_J2angularAxis[0] = m_ratio*globalAxisB[0]; + info->m_J2angularAxis[1] = m_ratio*globalAxisB[1]; + info->m_J2angularAxis[2] = m_ratio*globalAxisB[2]; + +} + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.h new file mode 100644 index 00000000..f9afcb91 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGearConstraint.h @@ -0,0 +1,152 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2012 Advanced Micro Devices, Inc. http://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 BT_GEAR_CONSTRAINT_H +#define BT_GEAR_CONSTRAINT_H + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btGearConstraintData btGearConstraintDoubleData +#define btGearConstraintDataName "btGearConstraintDoubleData" +#else +#define btGearConstraintData btGearConstraintFloatData +#define btGearConstraintDataName "btGearConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + +///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio. +///See Bullet/Demos/ConstraintDemo for an example use. +class btGearConstraint : public btTypedConstraint +{ +protected: + btVector3 m_axisInA; + btVector3 m_axisInB; + bool m_useFrameA; + btScalar m_ratio; + +public: + btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f); + virtual ~btGearConstraint (); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo1 (btConstraintInfo1* info); + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo2 (btConstraintInfo2* info); + + void setAxisA(btVector3& axisA) + { + m_axisInA = axisA; + } + void setAxisB(btVector3& axisB) + { + m_axisInB = axisB; + } + void setRatio(btScalar ratio) + { + m_ratio = ratio; + } + const btVector3& getAxisA() const + { + return m_axisInA; + } + const btVector3& getAxisB() const + { + return m_axisInB; + } + btScalar getRatio() const + { + return m_ratio; + } + + + virtual void setParam(int num, btScalar value, int axis = -1) + { + (void) num; + (void) value; + (void) axis; + btAssert(0); + } + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const + { + (void) num; + (void) axis; + btAssert(0); + return 0.f; + } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; +}; + + + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGearConstraintFloatData +{ + btTypedConstraintFloatData m_typeConstraintData; + + btVector3FloatData m_axisInA; + btVector3FloatData m_axisInB; + + float m_ratio; + char m_padding[4]; +}; + +struct btGearConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + + btVector3DoubleData m_axisInA; + btVector3DoubleData m_axisInB; + + double m_ratio; +}; + +SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btGearConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btGearConstraintData* gear = (btGearConstraintData*)dataBuffer; + btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer); + + m_axisInA.serialize( gear->m_axisInA ); + m_axisInB.serialize( gear->m_axisInB ); + + gear->m_ratio = m_ratio; + + return btGearConstraintDataName; +} + + + + + + +#endif //BT_GEAR_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp new file mode 100644 index 00000000..bc2b5a85 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -0,0 +1,1063 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +/* +2007-09-09 +Refactored by Francisco Le?n +email: projectileman@yahoo.com +http://gimpact.sf.net +*/ + +#include "btGeneric6DofConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btTransformUtil.h" +#include + + + +#define D6_USE_OBSOLETE_METHOD false +#define D6_USE_FRAME_OFFSET true + + + + + + +btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) +: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB) +, m_frameInA(frameInA) +, m_frameInB(frameInB), +m_useLinearReferenceFrameA(useLinearReferenceFrameA), +m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), +m_flags(0), +m_useSolveConstraintObsolete(D6_USE_OBSOLETE_METHOD) +{ + calculateTransforms(); +} + + + +btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) + : btTypedConstraint(D6_CONSTRAINT_TYPE, getFixedBody(), rbB), + m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameB), + m_useOffsetForConstraintFrame(D6_USE_FRAME_OFFSET), + m_flags(0), + m_useSolveConstraintObsolete(false) +{ + ///not providing rigidbody A means implicitly using worldspace for body A + m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB; + calculateTransforms(); +} + + + + +#define GENERIC_D6_DISABLE_WARMSTARTING 1 + + + +btScalar btGetMatrixElem(const btMatrix3x3& mat, int index); +btScalar btGetMatrixElem(const btMatrix3x3& mat, int index) +{ + int i = index%3; + int j = index/3; + return mat[i][j]; +} + + + +///MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html +bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz); +bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz) +{ + // // rot = cy*cz -cy*sz sy + // // cz*sx*sy+cx*sz cx*cz-sx*sy*sz -cy*sx + // // -cx*cz*sy+sx*sz cz*sx+cx*sy*sz cx*cy + // + + btScalar fi = btGetMatrixElem(mat,2); + if (fi < btScalar(1.0f)) + { + if (fi > btScalar(-1.0f)) + { + xyz[0] = btAtan2(-btGetMatrixElem(mat,5),btGetMatrixElem(mat,8)); + xyz[1] = btAsin(btGetMatrixElem(mat,2)); + xyz[2] = btAtan2(-btGetMatrixElem(mat,1),btGetMatrixElem(mat,0)); + return true; + } + else + { + // WARNING. Not unique. XA - ZA = -atan2(r10,r11) + xyz[0] = -btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4)); + xyz[1] = -SIMD_HALF_PI; + xyz[2] = btScalar(0.0); + return false; + } + } + else + { + // WARNING. Not unique. XAngle + ZAngle = atan2(r10,r11) + xyz[0] = btAtan2(btGetMatrixElem(mat,3),btGetMatrixElem(mat,4)); + xyz[1] = SIMD_HALF_PI; + xyz[2] = 0.0; + } + return false; +} + +//////////////////////////// btRotationalLimitMotor //////////////////////////////////// + +int btRotationalLimitMotor::testLimitValue(btScalar test_value) +{ + if(m_loLimit>m_hiLimit) + { + m_currentLimit = 0;//Free from violation + return 0; + } + if (test_value < m_loLimit) + { + m_currentLimit = 1;//low limit violation + m_currentLimitError = test_value - m_loLimit; + if(m_currentLimitError>SIMD_PI) + m_currentLimitError-=SIMD_2_PI; + else if(m_currentLimitError<-SIMD_PI) + m_currentLimitError+=SIMD_2_PI; + return 1; + } + else if (test_value> m_hiLimit) + { + m_currentLimit = 2;//High limit violation + m_currentLimitError = test_value - m_hiLimit; + if(m_currentLimitError>SIMD_PI) + m_currentLimitError-=SIMD_2_PI; + else if(m_currentLimitError<-SIMD_PI) + m_currentLimitError+=SIMD_2_PI; + return 2; + }; + + m_currentLimit = 0;//Free from violation + return 0; + +} + + + +btScalar btRotationalLimitMotor::solveAngularLimits( + btScalar timeStep,btVector3& axis,btScalar jacDiagABInv, + btRigidBody * body0, btRigidBody * body1 ) +{ + if (needApplyTorques()==false) return 0.0f; + + btScalar target_velocity = m_targetVelocity; + btScalar maxMotorForce = m_maxMotorForce; + + //current error correction + if (m_currentLimit!=0) + { + target_velocity = -m_stopERP*m_currentLimitError/(timeStep); + maxMotorForce = m_maxLimitForce; + } + + maxMotorForce *= timeStep; + + // current velocity difference + + btVector3 angVelA = body0->getAngularVelocity(); + btVector3 angVelB = body1->getAngularVelocity(); + + btVector3 vel_diff; + vel_diff = angVelA-angVelB; + + + + btScalar rel_vel = axis.dot(vel_diff); + + // correction velocity + btScalar motor_relvel = m_limitSoftness*(target_velocity - m_damping*rel_vel); + + + if ( motor_relvel < SIMD_EPSILON && motor_relvel > -SIMD_EPSILON ) + { + return 0.0f;//no need for applying force + } + + + // correction impulse + btScalar unclippedMotorImpulse = (1+m_bounce)*motor_relvel*jacDiagABInv; + + // clip correction impulse + btScalar clippedMotorImpulse; + + ///@todo: should clip against accumulated impulse + if (unclippedMotorImpulse>0.0f) + { + clippedMotorImpulse = unclippedMotorImpulse > maxMotorForce? maxMotorForce: unclippedMotorImpulse; + } + else + { + clippedMotorImpulse = unclippedMotorImpulse < -maxMotorForce ? -maxMotorForce: unclippedMotorImpulse; + } + + + // sort with accumulated impulses + btScalar lo = btScalar(-BT_LARGE_FLOAT); + btScalar hi = btScalar(BT_LARGE_FLOAT); + + btScalar oldaccumImpulse = m_accumulatedImpulse; + btScalar sum = oldaccumImpulse + clippedMotorImpulse; + m_accumulatedImpulse = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; + + clippedMotorImpulse = m_accumulatedImpulse - oldaccumImpulse; + + btVector3 motorImp = clippedMotorImpulse * axis; + + body0->applyTorqueImpulse(motorImp); + body1->applyTorqueImpulse(-motorImp); + + return clippedMotorImpulse; + + +} + +//////////////////////////// End btRotationalLimitMotor //////////////////////////////////// + + + + +//////////////////////////// btTranslationalLimitMotor //////////////////////////////////// + + +int btTranslationalLimitMotor::testLimitValue(int limitIndex, btScalar test_value) +{ + btScalar loLimit = m_lowerLimit[limitIndex]; + btScalar hiLimit = m_upperLimit[limitIndex]; + if(loLimit > hiLimit) + { + m_currentLimit[limitIndex] = 0;//Free from violation + m_currentLimitError[limitIndex] = btScalar(0.f); + return 0; + } + + if (test_value < loLimit) + { + m_currentLimit[limitIndex] = 2;//low limit violation + m_currentLimitError[limitIndex] = test_value - loLimit; + return 2; + } + else if (test_value> hiLimit) + { + m_currentLimit[limitIndex] = 1;//High limit violation + m_currentLimitError[limitIndex] = test_value - hiLimit; + return 1; + }; + + m_currentLimit[limitIndex] = 0;//Free from violation + m_currentLimitError[limitIndex] = btScalar(0.f); + return 0; +} + + + +btScalar btTranslationalLimitMotor::solveLinearAxis( + btScalar timeStep, + btScalar jacDiagABInv, + btRigidBody& body1,const btVector3 &pointInA, + btRigidBody& body2,const btVector3 &pointInB, + int limit_index, + const btVector3 & axis_normal_on_a, + const btVector3 & anchorPos) +{ + + ///find relative velocity + // btVector3 rel_pos1 = pointInA - body1.getCenterOfMassPosition(); + // btVector3 rel_pos2 = pointInB - body2.getCenterOfMassPosition(); + btVector3 rel_pos1 = anchorPos - body1.getCenterOfMassPosition(); + btVector3 rel_pos2 = anchorPos - body2.getCenterOfMassPosition(); + + btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; + + btScalar rel_vel = axis_normal_on_a.dot(vel); + + + + /// apply displacement correction + + //positional error (zeroth order error) + btScalar depth = -(pointInA - pointInB).dot(axis_normal_on_a); + btScalar lo = btScalar(-BT_LARGE_FLOAT); + btScalar hi = btScalar(BT_LARGE_FLOAT); + + btScalar minLimit = m_lowerLimit[limit_index]; + btScalar maxLimit = m_upperLimit[limit_index]; + + //handle the limits + if (minLimit < maxLimit) + { + { + if (depth > maxLimit) + { + depth -= maxLimit; + lo = btScalar(0.); + + } + else + { + if (depth < minLimit) + { + depth -= minLimit; + hi = btScalar(0.); + } + else + { + return 0.0f; + } + } + } + } + + btScalar normalImpulse= m_limitSoftness*(m_restitution*depth/timeStep - m_damping*rel_vel) * jacDiagABInv; + + + + + btScalar oldNormalImpulse = m_accumulatedImpulse[limit_index]; + btScalar sum = oldNormalImpulse + normalImpulse; + m_accumulatedImpulse[limit_index] = sum > hi ? btScalar(0.) : sum < lo ? btScalar(0.) : sum; + normalImpulse = m_accumulatedImpulse[limit_index] - oldNormalImpulse; + + btVector3 impulse_vector = axis_normal_on_a * normalImpulse; + body1.applyImpulse( impulse_vector, rel_pos1); + body2.applyImpulse(-impulse_vector, rel_pos2); + + + + return normalImpulse; +} + +//////////////////////////// btTranslationalLimitMotor //////////////////////////////////// + +void btGeneric6DofConstraint::calculateAngleInfo() +{ + btMatrix3x3 relative_frame = m_calculatedTransformA.getBasis().inverse()*m_calculatedTransformB.getBasis(); + matrixToEulerXYZ(relative_frame,m_calculatedAxisAngleDiff); + // in euler angle mode we do not actually constrain the angular velocity + // along the axes axis[0] and axis[2] (although we do use axis[1]) : + // + // to get constrain w2-w1 along ...not + // ------ --------------------- ------ + // d(angle[0])/dt = 0 ax[1] x ax[2] ax[0] + // d(angle[1])/dt = 0 ax[1] + // d(angle[2])/dt = 0 ax[0] x ax[1] ax[2] + // + // constraining w2-w1 along an axis 'a' means that a'*(w2-w1)=0. + // to prove the result for angle[0], write the expression for angle[0] from + // GetInfo1 then take the derivative. to prove this for angle[2] it is + // easier to take the euler rate expression for d(angle[2])/dt with respect + // to the components of w and set that to 0. + btVector3 axis0 = m_calculatedTransformB.getBasis().getColumn(0); + btVector3 axis2 = m_calculatedTransformA.getBasis().getColumn(2); + + m_calculatedAxis[1] = axis2.cross(axis0); + m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2); + m_calculatedAxis[2] = axis0.cross(m_calculatedAxis[1]); + + m_calculatedAxis[0].normalize(); + m_calculatedAxis[1].normalize(); + m_calculatedAxis[2].normalize(); + +} + +void btGeneric6DofConstraint::calculateTransforms() +{ + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); +} + +void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB) +{ + m_calculatedTransformA = transA * m_frameInA; + m_calculatedTransformB = transB * m_frameInB; + calculateLinearInfo(); + calculateAngleInfo(); + if(m_useOffsetForConstraintFrame) + { // get weight factors depending on masses + btScalar miA = getRigidBodyA().getInvMass(); + btScalar miB = getRigidBodyB().getInvMass(); + m_hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON); + btScalar miS = miA + miB; + if(miS > btScalar(0.f)) + { + m_factA = miB / miS; + } + else + { + m_factA = btScalar(0.5f); + } + m_factB = btScalar(1.0f) - m_factA; + } +} + + + +void btGeneric6DofConstraint::buildLinearJacobian( + btJacobianEntry & jacLinear,const btVector3 & normalWorld, + const btVector3 & pivotAInW,const btVector3 & pivotBInW) +{ + new (&jacLinear) btJacobianEntry( + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + pivotAInW - m_rbA.getCenterOfMassPosition(), + pivotBInW - m_rbB.getCenterOfMassPosition(), + normalWorld, + m_rbA.getInvInertiaDiagLocal(), + m_rbA.getInvMass(), + m_rbB.getInvInertiaDiagLocal(), + m_rbB.getInvMass()); +} + + + +void btGeneric6DofConstraint::buildAngularJacobian( + btJacobianEntry & jacAngular,const btVector3 & jointAxisW) +{ + new (&jacAngular) btJacobianEntry(jointAxisW, + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getInvInertiaDiagLocal(), + m_rbB.getInvInertiaDiagLocal()); + +} + + + +bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index) +{ + btScalar angle = m_calculatedAxisAngleDiff[axis_index]; + angle = btAdjustAngleToLimits(angle, m_angularLimits[axis_index].m_loLimit, m_angularLimits[axis_index].m_hiLimit); + m_angularLimits[axis_index].m_currentPosition = angle; + //test limits + m_angularLimits[axis_index].testLimitValue(angle); + return m_angularLimits[axis_index].needApplyTorques(); +} + + + +void btGeneric6DofConstraint::buildJacobian() +{ +#ifndef __SPU__ + if (m_useSolveConstraintObsolete) + { + + // Clear accumulated impulses for the next simulation step + m_linearLimits.m_accumulatedImpulse.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); + int i; + for(i = 0; i < 3; i++) + { + m_angularLimits[i].m_accumulatedImpulse = btScalar(0.); + } + //calculates transform + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + + // const btVector3& pivotAInW = m_calculatedTransformA.getOrigin(); + // const btVector3& pivotBInW = m_calculatedTransformB.getOrigin(); + calcAnchorPos(); + btVector3 pivotAInW = m_AnchorPos; + btVector3 pivotBInW = m_AnchorPos; + + // not used here + // btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); + // btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition(); + + btVector3 normalWorld; + //linear part + for (i=0;i<3;i++) + { + if (m_linearLimits.isLimited(i)) + { + if (m_useLinearReferenceFrameA) + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + else + normalWorld = m_calculatedTransformB.getBasis().getColumn(i); + + buildLinearJacobian( + m_jacLinear[i],normalWorld , + pivotAInW,pivotBInW); + + } + } + + // angular part + for (i=0;i<3;i++) + { + //calculates error angle + if (testAngularLimitMotor(i)) + { + normalWorld = this->getAxis(i); + // Create angular atom + buildAngularJacobian(m_jacAng[i],normalWorld); + } + } + + } +#endif //__SPU__ + +} + + +void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } else + { + //prepare constraint + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + info->m_numConstraintRows = 0; + info->nub = 6; + int i; + //test linear limits + for(i = 0; i < 3; i++) + { + if(m_linearLimits.needApplyForce(i)) + { + info->m_numConstraintRows++; + info->nub--; + } + } + //test angular limits + for (i=0;i<3 ;i++ ) + { + if(testAngularLimitMotor(i)) + { + info->m_numConstraintRows++; + info->nub--; + } + } + } +} + +void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } else + { + //pre-allocate all 6 + info->m_numConstraintRows = 6; + info->nub = 0; + } +} + + +void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info) +{ + btAssert(!m_useSolveConstraintObsolete); + + const btTransform& transA = m_rbA.getCenterOfMassTransform(); + const btTransform& transB = m_rbB.getCenterOfMassTransform(); + const btVector3& linVelA = m_rbA.getLinearVelocity(); + const btVector3& linVelB = m_rbB.getLinearVelocity(); + const btVector3& angVelA = m_rbA.getAngularVelocity(); + const btVector3& angVelB = m_rbB.getAngularVelocity(); + + if(m_useOffsetForConstraintFrame) + { // for stability better to solve angular limits first + int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB); + setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB); + } + else + { // leave old version for compatibility + int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB); + setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB); + } + +} + + +void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB) +{ + + btAssert(!m_useSolveConstraintObsolete); + //prepare constraint + calculateTransforms(transA,transB); + + int i; + for (i=0;i<3 ;i++ ) + { + testAngularLimitMotor(i); + } + + if(m_useOffsetForConstraintFrame) + { // for stability better to solve angular limits first + int row = setAngularLimits(info, 0,transA,transB,linVelA,linVelB,angVelA,angVelB); + setLinearLimits(info, row, transA,transB,linVelA,linVelB,angVelA,angVelB); + } + else + { // leave old version for compatibility + int row = setLinearLimits(info, 0, transA,transB,linVelA,linVelB,angVelA,angVelB); + setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB); + } +} + + + +int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB) +{ +// int row = 0; + //solve linear limits + btRotationalLimitMotor limot; + for (int i=0;i<3 ;i++ ) + { + if(m_linearLimits.needApplyForce(i)) + { // re-use rotational motor code + limot.m_bounce = btScalar(0.f); + limot.m_currentLimit = m_linearLimits.m_currentLimit[i]; + limot.m_currentPosition = m_linearLimits.m_currentLinearDiff[i]; + limot.m_currentLimitError = m_linearLimits.m_currentLimitError[i]; + limot.m_damping = m_linearLimits.m_damping; + limot.m_enableMotor = m_linearLimits.m_enableMotor[i]; + limot.m_hiLimit = m_linearLimits.m_upperLimit[i]; + limot.m_limitSoftness = m_linearLimits.m_limitSoftness; + limot.m_loLimit = m_linearLimits.m_lowerLimit[i]; + limot.m_maxLimitForce = btScalar(0.f); + limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i]; + limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i]; + btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i); + int flags = m_flags >> (i * BT_6DOF_FLAGS_AXIS_SHIFT); + limot.m_normalCFM = (flags & BT_6DOF_FLAGS_CFM_NORM) ? m_linearLimits.m_normalCFM[i] : info->cfm[0]; + limot.m_stopCFM = (flags & BT_6DOF_FLAGS_CFM_STOP) ? m_linearLimits.m_stopCFM[i] : info->cfm[0]; + limot.m_stopERP = (flags & BT_6DOF_FLAGS_ERP_STOP) ? m_linearLimits.m_stopERP[i] : info->erp; + if(m_useOffsetForConstraintFrame) + { + int indx1 = (i + 1) % 3; + int indx2 = (i + 2) % 3; + int rotAllowed = 1; // rotations around orthos to current axis + if(m_angularLimits[indx1].m_currentLimit && m_angularLimits[indx2].m_currentLimit) + { + rotAllowed = 0; + } + row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0, rotAllowed); + } + else + { + row += get_limit_motor_info2(&limot, transA,transB,linVelA,linVelB,angVelA,angVelB, info, row, axis, 0); + } + } + } + return row; +} + + + +int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB) +{ + btGeneric6DofConstraint * d6constraint = this; + int row = row_offset; + //solve angular limits + for (int i=0;i<3 ;i++ ) + { + if(d6constraint->getRotationalLimitMotor(i)->needApplyTorques()) + { + btVector3 axis = d6constraint->getAxis(i); + int flags = m_flags >> ((i + 3) * BT_6DOF_FLAGS_AXIS_SHIFT); + if(!(flags & BT_6DOF_FLAGS_CFM_NORM)) + { + m_angularLimits[i].m_normalCFM = info->cfm[0]; + } + if(!(flags & BT_6DOF_FLAGS_CFM_STOP)) + { + m_angularLimits[i].m_stopCFM = info->cfm[0]; + } + if(!(flags & BT_6DOF_FLAGS_ERP_STOP)) + { + m_angularLimits[i].m_stopERP = info->erp; + } + row += get_limit_motor_info2(d6constraint->getRotationalLimitMotor(i), + transA,transB,linVelA,linVelB,angVelA,angVelB, info,row,axis,1); + } + } + + return row; +} + + + + +void btGeneric6DofConstraint::updateRHS(btScalar timeStep) +{ + (void)timeStep; + +} + + +void btGeneric6DofConstraint::setFrames(const btTransform& frameA, const btTransform& frameB) +{ + m_frameInA = frameA; + m_frameInB = frameB; + buildJacobian(); + calculateTransforms(); +} + + + +btVector3 btGeneric6DofConstraint::getAxis(int axis_index) const +{ + return m_calculatedAxis[axis_index]; +} + + +btScalar btGeneric6DofConstraint::getRelativePivotPosition(int axisIndex) const +{ + return m_calculatedLinearDiff[axisIndex]; +} + + +btScalar btGeneric6DofConstraint::getAngle(int axisIndex) const +{ + return m_calculatedAxisAngleDiff[axisIndex]; +} + + + +void btGeneric6DofConstraint::calcAnchorPos(void) +{ + btScalar imA = m_rbA.getInvMass(); + btScalar imB = m_rbB.getInvMass(); + btScalar weight; + if(imB == btScalar(0.0)) + { + weight = btScalar(1.0); + } + else + { + weight = imA / (imA + imB); + } + const btVector3& pA = m_calculatedTransformA.getOrigin(); + const btVector3& pB = m_calculatedTransformB.getOrigin(); + m_AnchorPos = pA * weight + pB * (btScalar(1.0) - weight); + return; +} + + + +void btGeneric6DofConstraint::calculateLinearInfo() +{ + m_calculatedLinearDiff = m_calculatedTransformB.getOrigin() - m_calculatedTransformA.getOrigin(); + m_calculatedLinearDiff = m_calculatedTransformA.getBasis().inverse() * m_calculatedLinearDiff; + for(int i = 0; i < 3; i++) + { + m_linearLimits.m_currentLinearDiff[i] = m_calculatedLinearDiff[i]; + m_linearLimits.testLimitValue(i, m_calculatedLinearDiff[i]); + } +} + + + +int btGeneric6DofConstraint::get_limit_motor_info2( + btRotationalLimitMotor * limot, + const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB, + btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed) +{ + int srow = row * info->rowskip; + int powered = limot->m_enableMotor; + int limit = limot->m_currentLimit; + if (powered || limit) + { // if the joint is powered, or has joint limits, add in the extra row + btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis; + btScalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis; + J1[srow+0] = ax1[0]; + J1[srow+1] = ax1[1]; + J1[srow+2] = ax1[2]; + + J2[srow+0] = -ax1[0]; + J2[srow+1] = -ax1[1]; + J2[srow+2] = -ax1[2]; + + if((!rotational)) + { + if (m_useOffsetForConstraintFrame) + { + btVector3 tmpA, tmpB, relA, relB; + // get vector from bodyB to frameB in WCS + relB = m_calculatedTransformB.getOrigin() - transB.getOrigin(); + // get its projection to constraint axis + btVector3 projB = ax1 * relB.dot(ax1); + // get vector directed from bodyB to constraint axis (and orthogonal to it) + btVector3 orthoB = relB - projB; + // same for bodyA + relA = m_calculatedTransformA.getOrigin() - transA.getOrigin(); + btVector3 projA = ax1 * relA.dot(ax1); + btVector3 orthoA = relA - projA; + // get desired offset between frames A and B along constraint axis + btScalar desiredOffs = limot->m_currentPosition - limot->m_currentLimitError; + // desired vector from projection of center of bodyA to projection of center of bodyB to constraint axis + btVector3 totalDist = projA + ax1 * desiredOffs - projB; + // get offset vectors relA and relB + relA = orthoA + totalDist * m_factA; + relB = orthoB - totalDist * m_factB; + tmpA = relA.cross(ax1); + tmpB = relB.cross(ax1); + if(m_hasStaticBody && (!rotAllowed)) + { + tmpA *= m_factA; + tmpB *= m_factB; + } + int i; + for (i=0; i<3; i++) info->m_J1angularAxis[srow+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[srow+i] = -tmpB[i]; + } else + { + btVector3 ltd; // Linear Torque Decoupling vector + btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin(); + ltd = c.cross(ax1); + info->m_J1angularAxis[srow+0] = ltd[0]; + info->m_J1angularAxis[srow+1] = ltd[1]; + info->m_J1angularAxis[srow+2] = ltd[2]; + + c = m_calculatedTransformB.getOrigin() - transB.getOrigin(); + ltd = -c.cross(ax1); + info->m_J2angularAxis[srow+0] = ltd[0]; + info->m_J2angularAxis[srow+1] = ltd[1]; + info->m_J2angularAxis[srow+2] = ltd[2]; + } + } + // if we're limited low and high simultaneously, the joint motor is + // ineffective + if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0; + info->m_constraintError[srow] = btScalar(0.f); + if (powered) + { + info->cfm[srow] = limot->m_normalCFM; + if(!limit) + { + btScalar tag_vel = rotational ? limot->m_targetVelocity : -limot->m_targetVelocity; + + btScalar mot_fact = getMotorFactor( limot->m_currentPosition, + limot->m_loLimit, + limot->m_hiLimit, + tag_vel, + info->fps * limot->m_stopERP); + info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce; + info->m_upperLimit[srow] = limot->m_maxMotorForce; + } + } + if(limit) + { + btScalar k = info->fps * limot->m_stopERP; + if(!rotational) + { + info->m_constraintError[srow] += k * limot->m_currentLimitError; + } + else + { + info->m_constraintError[srow] += -k * limot->m_currentLimitError; + } + info->cfm[srow] = limot->m_stopCFM; + if (limot->m_loLimit == limot->m_hiLimit) + { // limited low and high simultaneously + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { + if (limit == 1) + { + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + // deal with bounce + if (limot->m_bounce > 0) + { + // calculate joint velocity + btScalar vel; + if (rotational) + { + vel = angVelA.dot(ax1); +//make sure that if no body -> angVelB == zero vec +// if (body1) + vel -= angVelB.dot(ax1); + } + else + { + vel = linVelA.dot(ax1); +//make sure that if no body -> angVelB == zero vec +// if (body1) + vel -= linVelB.dot(ax1); + } + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if (limit == 1) + { + if (vel < 0) + { + btScalar newc = -limot->m_bounce* vel; + if (newc > info->m_constraintError[srow]) + info->m_constraintError[srow] = newc; + } + } + else + { + if (vel > 0) + { + btScalar newc = -limot->m_bounce * vel; + if (newc < info->m_constraintError[srow]) + info->m_constraintError[srow] = newc; + } + } + } + } + } + return 1; + } + else return 0; +} + + + + + + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. +void btGeneric6DofConstraint::setParam(int num, btScalar value, int axis) +{ + if((axis >= 0) && (axis < 3)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + m_linearLimits.m_stopERP[axis] = value; + m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + case BT_CONSTRAINT_STOP_CFM : + m_linearLimits.m_stopCFM[axis] = value; + m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + case BT_CONSTRAINT_CFM : + m_linearLimits.m_normalCFM[axis] = value; + m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + default : + btAssertConstrParams(0); + } + } + else if((axis >=3) && (axis < 6)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + m_angularLimits[axis - 3].m_stopERP = value; + m_flags |= BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + case BT_CONSTRAINT_STOP_CFM : + m_angularLimits[axis - 3].m_stopCFM = value; + m_flags |= BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + case BT_CONSTRAINT_CFM : + m_angularLimits[axis - 3].m_normalCFM = value; + m_flags |= BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT); + break; + default : + btAssertConstrParams(0); + } + } + else + { + btAssertConstrParams(0); + } +} + + ///return the local value of parameter +btScalar btGeneric6DofConstraint::getParam(int num, int axis) const +{ + btScalar retVal = 0; + if((axis >= 0) && (axis < 3)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_linearLimits.m_stopERP[axis]; + break; + case BT_CONSTRAINT_STOP_CFM : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_linearLimits.m_stopCFM[axis]; + break; + case BT_CONSTRAINT_CFM : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_linearLimits.m_normalCFM[axis]; + break; + default : + btAssertConstrParams(0); + } + } + else if((axis >=3) && (axis < 6)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_angularLimits[axis - 3].m_stopERP; + break; + case BT_CONSTRAINT_STOP_CFM : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_angularLimits[axis - 3].m_stopCFM; + break; + case BT_CONSTRAINT_CFM : + btAssertConstrParams(m_flags & (BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT))); + retVal = m_angularLimits[axis - 3].m_normalCFM; + break; + default : + btAssertConstrParams(0); + } + } + else + { + btAssertConstrParams(0); + } + return retVal; +} + + + +void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) +{ + btVector3 zAxis = axis1.normalized(); + btVector3 yAxis = axis2.normalized(); + btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system + + btTransform frameInW; + frameInW.setIdentity(); + frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], + xAxis[1], yAxis[1], zAxis[1], + xAxis[2], yAxis[2], zAxis[2]); + + // now get constraint frame in local coordinate systems + m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; + m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; + + calculateTransforms(); +} diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h new file mode 100644 index 00000000..431a5241 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -0,0 +1,640 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev +/// Added support for generic constraint solver through getInfo1/getInfo2 methods + +/* +2007-09-09 +btGeneric6DofConstraint Refactored by Francisco Le?n +email: projectileman@yahoo.com +http://gimpact.sf.net +*/ + + +#ifndef BT_GENERIC_6DOF_CONSTRAINT_H +#define BT_GENERIC_6DOF_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2 +#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2" +#else +#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData +#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData" +#endif //BT_USE_DOUBLE_PRECISION + + +//! Rotation Limit structure for generic joints +class btRotationalLimitMotor +{ +public: + //! limit_parameters + //!@{ + btScalar m_loLimit;//!< joint limit + btScalar m_hiLimit;//!< joint limit + btScalar m_targetVelocity;//!< target motor velocity + btScalar m_maxMotorForce;//!< max force on motor + btScalar m_maxLimitForce;//!< max force on limit + btScalar m_damping;//!< Damping. + btScalar m_limitSoftness;//! Relaxation factor + btScalar m_normalCFM;//!< Constraint force mixing factor + btScalar m_stopERP;//!< Error tolerance factor when joint is at limit + btScalar m_stopCFM;//!< Constraint force mixing factor when joint is at limit + btScalar m_bounce;//!< restitution factor + bool m_enableMotor; + + //!@} + + //! temp_variables + //!@{ + btScalar m_currentLimitError;//! How much is violated this limit + btScalar m_currentPosition; //! current value of angle + int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit + btScalar m_accumulatedImpulse; + //!@} + + btRotationalLimitMotor() + { + m_accumulatedImpulse = 0.f; + m_targetVelocity = 0; + m_maxMotorForce = 0.1f; + m_maxLimitForce = 300.0f; + m_loLimit = 1.0f; + m_hiLimit = -1.0f; + m_normalCFM = 0.f; + m_stopERP = 0.2f; + m_stopCFM = 0.f; + m_bounce = 0.0f; + m_damping = 1.0f; + m_limitSoftness = 0.5f; + m_currentLimit = 0; + m_currentLimitError = 0; + m_enableMotor = false; + } + + btRotationalLimitMotor(const btRotationalLimitMotor & limot) + { + m_targetVelocity = limot.m_targetVelocity; + m_maxMotorForce = limot.m_maxMotorForce; + m_limitSoftness = limot.m_limitSoftness; + m_loLimit = limot.m_loLimit; + m_hiLimit = limot.m_hiLimit; + m_normalCFM = limot.m_normalCFM; + m_stopERP = limot.m_stopERP; + m_stopCFM = limot.m_stopCFM; + m_bounce = limot.m_bounce; + m_currentLimit = limot.m_currentLimit; + m_currentLimitError = limot.m_currentLimitError; + m_enableMotor = limot.m_enableMotor; + } + + + + //! Is limited + bool isLimited() + { + if(m_loLimit > m_hiLimit) return false; + return true; + } + + //! Need apply correction + bool needApplyTorques() + { + if(m_currentLimit == 0 && m_enableMotor == false) return false; + return true; + } + + //! calculates error + /*! + calculates m_currentLimit and m_currentLimitError. + */ + int testLimitValue(btScalar test_value); + + //! apply the correction impulses for two bodies + btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1); + +}; + + + +class btTranslationalLimitMotor +{ +public: + btVector3 m_lowerLimit;//!< the constraint lower limits + btVector3 m_upperLimit;//!< the constraint upper limits + btVector3 m_accumulatedImpulse; + //! Linear_Limit_parameters + //!@{ + btScalar m_limitSoftness;//!< Softness for linear limit + btScalar m_damping;//!< Damping for linear limit + btScalar m_restitution;//! Bounce parameter for linear limit + btVector3 m_normalCFM;//!< Constraint force mixing factor + btVector3 m_stopERP;//!< Error tolerance factor when joint is at limit + btVector3 m_stopCFM;//!< Constraint force mixing factor when joint is at limit + //!@} + bool m_enableMotor[3]; + btVector3 m_targetVelocity;//!< target motor velocity + btVector3 m_maxMotorForce;//!< max force on motor + btVector3 m_currentLimitError;//! How much is violated this limit + btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames + int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit + + btTranslationalLimitMotor() + { + m_lowerLimit.setValue(0.f,0.f,0.f); + m_upperLimit.setValue(0.f,0.f,0.f); + m_accumulatedImpulse.setValue(0.f,0.f,0.f); + m_normalCFM.setValue(0.f, 0.f, 0.f); + m_stopERP.setValue(0.2f, 0.2f, 0.2f); + m_stopCFM.setValue(0.f, 0.f, 0.f); + + m_limitSoftness = 0.7f; + m_damping = btScalar(1.0f); + m_restitution = btScalar(0.5f); + for(int i=0; i < 3; i++) + { + m_enableMotor[i] = false; + m_targetVelocity[i] = btScalar(0.f); + m_maxMotorForce[i] = btScalar(0.f); + } + } + + btTranslationalLimitMotor(const btTranslationalLimitMotor & other ) + { + m_lowerLimit = other.m_lowerLimit; + m_upperLimit = other.m_upperLimit; + m_accumulatedImpulse = other.m_accumulatedImpulse; + + m_limitSoftness = other.m_limitSoftness ; + m_damping = other.m_damping; + m_restitution = other.m_restitution; + m_normalCFM = other.m_normalCFM; + m_stopERP = other.m_stopERP; + m_stopCFM = other.m_stopCFM; + + for(int i=0; i < 3; i++) + { + m_enableMotor[i] = other.m_enableMotor[i]; + m_targetVelocity[i] = other.m_targetVelocity[i]; + m_maxMotorForce[i] = other.m_maxMotorForce[i]; + } + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + inline bool isLimited(int limitIndex) + { + return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]); + } + inline bool needApplyForce(int limitIndex) + { + if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false; + return true; + } + int testLimitValue(int limitIndex, btScalar test_value); + + + btScalar solveLinearAxis( + btScalar timeStep, + btScalar jacDiagABInv, + btRigidBody& body1,const btVector3 &pointInA, + btRigidBody& body2,const btVector3 &pointInB, + int limit_index, + const btVector3 & axis_normal_on_a, + const btVector3 & anchorPos); + + +}; + +enum bt6DofFlags +{ + BT_6DOF_FLAGS_CFM_NORM = 1, + BT_6DOF_FLAGS_CFM_STOP = 2, + BT_6DOF_FLAGS_ERP_STOP = 4 +}; +#define BT_6DOF_FLAGS_AXIS_SHIFT 3 // bits per axis + + +/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space +/*! +btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. +currently this limit supports rotational motors
    +
      +
    • For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. +At this moment translational motors are not supported. May be in the future.
      • + +
    • For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. +This is accessible through btGeneric6DofConstraint.getLimitMotor method, +This brings support for limit parameters and motors.
      • + +
    • Angulars limits have these possible ranges: + + + + + + + + + + + + + + + + + + +
      AXISMIN ANGLEMAX ANGLE
      X-PIPI
      Y-PI/2PI/2
      Z-PIPI
      +
      • +
    + +*/ +ATTRIBUTE_ALIGNED16(class) btGeneric6DofConstraint : public btTypedConstraint +{ +protected: + + //! relative_frames + //!@{ + btTransform m_frameInA;//!< the constraint space w.r.t body A + btTransform m_frameInB;//!< the constraint space w.r.t body B + //!@} + + //! Jacobians + //!@{ + btJacobianEntry m_jacLinear[3];//!< 3 orthogonal linear constraints + btJacobianEntry m_jacAng[3];//!< 3 orthogonal angular constraints + //!@} + + //! Linear_Limit_parameters + //!@{ + btTranslationalLimitMotor m_linearLimits; + //!@} + + + //! hinge_parameters + //!@{ + btRotationalLimitMotor m_angularLimits[3]; + //!@} + + +protected: + //! temporal variables + //!@{ + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + btVector3 m_calculatedAxisAngleDiff; + btVector3 m_calculatedAxis[3]; + btVector3 m_calculatedLinearDiff; + btScalar m_factA; + btScalar m_factB; + bool m_hasStaticBody; + + btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes + + bool m_useLinearReferenceFrameA; + bool m_useOffsetForConstraintFrame; + + int m_flags; + + //!@} + + btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other) + { + btAssert(0); + (void) other; + return *this; + } + + + int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + void buildLinearJacobian( + btJacobianEntry & jacLinear,const btVector3 & normalWorld, + const btVector3 & pivotAInW,const btVector3 & pivotBInW); + + void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW); + + // tests linear limits + void calculateLinearInfo(); + + //! calcs the euler angles between the two bodies. + void calculateAngleInfo(); + + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + + btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); + + //! Calcs global transform of the offsets + /*! + Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies. + \sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo + */ + void calculateTransforms(const btTransform& transA,const btTransform& transB); + + void calculateTransforms(); + + //! Gets the global transform of the offset for body A + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformA() const + { + return m_calculatedTransformA; + } + + //! Gets the global transform of the offset for body B + /*! + \sa btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo. + */ + const btTransform & getCalculatedTransformB() const + { + return m_calculatedTransformB; + } + + const btTransform & getFrameOffsetA() const + { + return m_frameInA; + } + + const btTransform & getFrameOffsetB() const + { + return m_frameInB; + } + + + btTransform & getFrameOffsetA() + { + return m_frameInA; + } + + btTransform & getFrameOffsetB() + { + return m_frameInB; + } + + + //! performs Jacobian calculation, and also calculates angle differences and axis + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB); + + + void updateRHS(btScalar timeStep); + + //! Get the rotation axis in global coordinates + /*! + \pre btGeneric6DofConstraint.buildJacobian must be called previously. + */ + btVector3 getAxis(int axis_index) const; + + //! Get the relative Euler angle + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getAngle(int axis_index) const; + + //! Get the relative position of the constraint pivot + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getRelativePivotPosition(int axis_index) const; + + void setFrames(const btTransform & frameA, const btTransform & frameB); + + //! Test angular limit. + /*! + Calculates angular correction and returns true if limit needs to be corrected. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + bool testAngularLimitMotor(int axis_index); + + void setLinearLowerLimit(const btVector3& linearLower) + { + m_linearLimits.m_lowerLimit = linearLower; + } + + void getLinearLowerLimit(btVector3& linearLower) + { + linearLower = m_linearLimits.m_lowerLimit; + } + + void setLinearUpperLimit(const btVector3& linearUpper) + { + m_linearLimits.m_upperLimit = linearUpper; + } + + void getLinearUpperLimit(btVector3& linearUpper) + { + linearUpper = m_linearLimits.m_upperLimit; + } + + void setAngularLowerLimit(const btVector3& angularLower) + { + for(int i = 0; i < 3; i++) + m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]); + } + + void getAngularLowerLimit(btVector3& angularLower) + { + for(int i = 0; i < 3; i++) + angularLower[i] = m_angularLimits[i].m_loLimit; + } + + void setAngularUpperLimit(const btVector3& angularUpper) + { + for(int i = 0; i < 3; i++) + m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]); + } + + void getAngularUpperLimit(btVector3& angularUpper) + { + for(int i = 0; i < 3; i++) + angularUpper[i] = m_angularLimits[i].m_hiLimit; + } + + //! Retrieves the angular limit informacion + btRotationalLimitMotor * getRotationalLimitMotor(int index) + { + return &m_angularLimits[index]; + } + + //! Retrieves the limit informacion + btTranslationalLimitMotor * getTranslationalLimitMotor() + { + return &m_linearLimits; + } + + //first 3 are linear, next 3 are angular + void setLimit(int axis, btScalar lo, btScalar hi) + { + if(axis<3) + { + m_linearLimits.m_lowerLimit[axis] = lo; + m_linearLimits.m_upperLimit[axis] = hi; + } + else + { + lo = btNormalizeAngle(lo); + hi = btNormalizeAngle(hi); + m_angularLimits[axis-3].m_loLimit = lo; + m_angularLimits[axis-3].m_hiLimit = hi; + } + } + + //! Test limit + /*! + - free means upper < lower, + - locked means upper == lower + - limited means upper > lower + - limitIndex: first 3 are linear, next 3 are angular + */ + bool isLimited(int limitIndex) + { + if(limitIndex<3) + { + return m_linearLimits.isLimited(limitIndex); + + } + return m_angularLimits[limitIndex-3].isLimited(); + } + + virtual void calcAnchorPos(void); // overridable + + int get_limit_motor_info2( btRotationalLimitMotor * limot, + const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB, + btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false); + + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + void setAxis( const btVector3& axis1, const btVector3& axis2); + + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + + +struct btGeneric6DofConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + + btVector3FloatData m_linearUpperLimit; + btVector3FloatData m_linearLowerLimit; + + btVector3FloatData m_angularUpperLimit; + btVector3FloatData m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; +}; + +struct btGeneric6DofConstraintDoubleData2 +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + + btVector3DoubleData m_linearUpperLimit; + btVector3DoubleData m_linearLowerLimit; + + btVector3DoubleData m_angularUpperLimit; + btVector3DoubleData m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; +}; + +SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btGeneric6DofConstraintData2); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer; + btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer); + + m_frameInA.serialize(dof->m_rbAFrame); + m_frameInB.serialize(dof->m_rbBFrame); + + + int i; + for (i=0;i<3;i++) + { + dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit; + dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit; + dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i]; + dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i]; + } + + dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0; + dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0; + + return btGeneric6DofConstraintDataName; +} + + + + + +#endif //BT_GENERIC_6DOF_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp new file mode 100644 index 00000000..6f765884 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp @@ -0,0 +1,185 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + +#include "btGeneric6DofSpringConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" + + +btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA) + : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA) +{ + init(); +} + + +btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) + : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB) +{ + init(); +} + + +void btGeneric6DofSpringConstraint::init() +{ + m_objectType = D6_SPRING_CONSTRAINT_TYPE; + + for(int i = 0; i < 6; i++) + { + m_springEnabled[i] = false; + m_equilibriumPoint[i] = btScalar(0.f); + m_springStiffness[i] = btScalar(0.f); + m_springDamping[i] = btScalar(1.f); + } +} + + +void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff) +{ + btAssert((index >= 0) && (index < 6)); + m_springEnabled[index] = onOff; + if(index < 3) + { + m_linearLimits.m_enableMotor[index] = onOff; + } + else + { + m_angularLimits[index - 3].m_enableMotor = onOff; + } +} + + + +void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness) +{ + btAssert((index >= 0) && (index < 6)); + m_springStiffness[index] = stiffness; +} + + +void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping) +{ + btAssert((index >= 0) && (index < 6)); + m_springDamping[index] = damping; +} + + +void btGeneric6DofSpringConstraint::setEquilibriumPoint() +{ + calculateTransforms(); + int i; + + for( i = 0; i < 3; i++) + { + m_equilibriumPoint[i] = m_calculatedLinearDiff[i]; + } + for(i = 0; i < 3; i++) + { + m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i]; + } +} + + + +void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index) +{ + btAssert((index >= 0) && (index < 6)); + calculateTransforms(); + if(index < 3) + { + m_equilibriumPoint[index] = m_calculatedLinearDiff[index]; + } + else + { + m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3]; + } +} + +void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val) +{ + btAssert((index >= 0) && (index < 6)); + m_equilibriumPoint[index] = val; +} + + +void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info) +{ + // it is assumed that calculateTransforms() have been called before this call + int i; + //btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity(); + for(i = 0; i < 3; i++) + { + if(m_springEnabled[i]) + { + // get current position of constraint + btScalar currPos = m_calculatedLinearDiff[i]; + // calculate difference + btScalar delta = currPos - m_equilibriumPoint[i]; + // spring force is (delta * m_stiffness) according to Hooke's Law + btScalar force = delta * m_springStiffness[i]; + btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations); + m_linearLimits.m_targetVelocity[i] = velFactor * force; + m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps; + } + } + for(i = 0; i < 3; i++) + { + if(m_springEnabled[i + 3]) + { + // get current position of constraint + btScalar currPos = m_calculatedAxisAngleDiff[i]; + // calculate difference + btScalar delta = currPos - m_equilibriumPoint[i+3]; + // spring force is (-delta * m_stiffness) according to Hooke's Law + btScalar force = -delta * m_springStiffness[i+3]; + btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations); + m_angularLimits[i].m_targetVelocity = velFactor * force; + m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps; + } + } +} + + +void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info) +{ + // this will be called by constraint solver at the constraint setup stage + // set current motor parameters + internalUpdateSprings(info); + // do the rest of job for constraint setup + btGeneric6DofConstraint::getInfo2(info); +} + + +void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) +{ + btVector3 zAxis = axis1.normalized(); + btVector3 yAxis = axis2.normalized(); + btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system + + btTransform frameInW; + frameInW.setIdentity(); + frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], + xAxis[1], yAxis[1], zAxis[1], + xAxis[2], yAxis[2], zAxis[2]); + + // now get constraint frame in local coordinate systems + m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; + m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; + + calculateTransforms(); +} + + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h new file mode 100644 index 00000000..1b2e0f62 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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 BT_GENERIC_6DOF_SPRING_CONSTRAINT_H +#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofConstraint.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" +#else +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData" +#endif //BT_USE_DOUBLE_PRECISION + + + +/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF + +/// DOF index used in enableSpring() and setStiffness() means: +/// 0 : translation X +/// 1 : translation Y +/// 2 : translation Z +/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) +/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) +/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) + +ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint +{ +protected: + bool m_springEnabled[6]; + btScalar m_equilibriumPoint[6]; + btScalar m_springStiffness[6]; + btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) + void init(); + void internalUpdateSprings(btConstraintInfo2* info); +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); + void enableSpring(int index, bool onOff); + void setStiffness(int index, btScalar stiffness); + void setDamping(int index, btScalar damping); + void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF + void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF + void setEquilibriumPoint(int index, btScalar val); + + virtual void setAxis( const btVector3& axis1, const btVector3& axis2); + + virtual void getInfo2 (btConstraintInfo2* info); + + virtual int calculateSerializeBufferSize() const; + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + + +struct btGeneric6DofSpringConstraintData +{ + btGeneric6DofConstraintData m_6dofData; + + int m_springEnabled[6]; + float m_equilibriumPoint[6]; + float m_springStiffness[6]; + float m_springDamping[6]; +}; + +struct btGeneric6DofSpringConstraintDoubleData2 +{ + btGeneric6DofConstraintDoubleData2 m_6dofData; + + int m_springEnabled[6]; + double m_equilibriumPoint[6]; + double m_springStiffness[6]; + double m_springDamping[6]; +}; + + +SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btGeneric6DofSpringConstraintData2); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer; + btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer); + + int i; + for (i=0;i<6;i++) + { + dof->m_equilibriumPoint[i] = m_equilibriumPoint[i]; + dof->m_springDamping[i] = m_springDamping[i]; + dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0; + dof->m_springStiffness[i] = m_springStiffness[i]; + } + return btGeneric6DofSpringConstraintDataName; +} + +#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp new file mode 100644 index 00000000..29123d52 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + + + +#include "btHinge2Constraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" + + + +// constructor +// anchor, axis1 and axis2 are in world coordinate system +// axis1 must be orthogonal to axis2 +btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2) +: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), + m_anchor(anchor), + m_axis1(axis1), + m_axis2(axis2) +{ + // build frame basis + // 6DOF constraint uses Euler angles and to define limits + // it is assumed that rotational order is : + // Z - first, allowed limits are (-PI,PI); + // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number + // used to prevent constraint from instability on poles; + // new position of X, allowed limits are (-PI,PI); + // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs + // Build the frame in world coordinate system first + btVector3 zAxis = axis1.normalize(); + btVector3 xAxis = axis2.normalize(); + btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system + btTransform frameInW; + frameInW.setIdentity(); + frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], + xAxis[1], yAxis[1], zAxis[1], + xAxis[2], yAxis[2], zAxis[2]); + frameInW.setOrigin(anchor); + // now get constraint frame in local coordinate systems + m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW; + m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW; + // sei limits + setLinearLowerLimit(btVector3(0.f, 0.f, -1.f)); + setLinearUpperLimit(btVector3(0.f, 0.f, 1.f)); + // like front wheels of a car + setAngularLowerLimit(btVector3(1.f, 0.f, -SIMD_HALF_PI * 0.5f)); + setAngularUpperLimit(btVector3(-1.f, 0.f, SIMD_HALF_PI * 0.5f)); + // enable suspension + enableSpring(2, true); + setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-) + setDamping(2, 0.01f); + setEquilibriumPoint(); +} + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h new file mode 100644 index 00000000..9a004986 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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 BT_HINGE2_CONSTRAINT_H +#define BT_HINGE2_CONSTRAINT_H + + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofSpringConstraint.h" + + + +// Constraint similar to ODE Hinge2 Joint +// has 3 degrees of frredom: +// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2) +// 1 translational (along axis Z) with suspension spring + +ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint +{ +protected: + btVector3 m_anchor; + btVector3 m_axis1; + btVector3 m_axis2; +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // constructor + // anchor, axis1 and axis2 are in world coordinate system + // axis1 must be orthogonal to axis2 + btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); + // access + const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } + const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } + const btVector3& getAxis1() { return m_axis1; } + const btVector3& getAxis2() { return m_axis2; } + btScalar getAngle1() { return getAngle(2); } + btScalar getAngle2() { return getAngle(0); } + // limits + void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); } + void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); } +}; + + + +#endif // BT_HINGE2_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp new file mode 100644 index 00000000..c1897413 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -0,0 +1,1046 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btHingeConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btMinMax.h" +#include +#include "btSolverBody.h" + + + +//#define HINGE_USE_OBSOLETE_SOLVER false +#define HINGE_USE_OBSOLETE_SOLVER false + +#define HINGE_USE_FRAME_OFFSET true + +#ifndef __SPU__ + + + + + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, + const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA) + :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB), +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit(), +#endif + m_angularOnly(false), + m_enableAngularMotor(false), + m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), + m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), + m_useReferenceFrameA(useReferenceFrameA), + m_flags(0) +{ + m_rbAFrame.getOrigin() = pivotInA; + + // since no frame is given, assume this to be zero angle and just pick rb transform axis + btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0); + + btVector3 rbAxisA2; + btScalar projection = axisInA.dot(rbAxisA1); + if (projection >= 1.0f - SIMD_EPSILON) { + rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2); + rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); + } else if (projection <= -1.0f + SIMD_EPSILON) { + rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2); + rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1); + } else { + rbAxisA2 = axisInA.cross(rbAxisA1); + rbAxisA1 = rbAxisA2.cross(axisInA); + } + + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + m_rbBFrame.getOrigin() = pivotInB; + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + +#ifndef _BT_USE_CENTER_LIMIT_ + //start with free + m_lowerLimit = btScalar(1.0f); + m_upperLimit = btScalar(-1.0f); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +#endif + m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f); +} + + + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA) +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif +m_angularOnly(false), m_enableAngularMotor(false), +m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), +m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), +m_useReferenceFrameA(useReferenceFrameA), +m_flags(0) +{ + + // since no frame is given, assume this to be zero angle and just pick rb transform axis + // fixed axis in worldspace + btVector3 rbAxisA1, rbAxisA2; + btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); + + m_rbAFrame.getOrigin() = pivotInA; + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA; + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + + m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA); + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + +#ifndef _BT_USE_CENTER_LIMIT_ + //start with free + m_lowerLimit = btScalar(1.0f); + m_upperLimit = btScalar(-1.0f); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +#endif + m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f); +} + + + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, + const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA) +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif +m_angularOnly(false), +m_enableAngularMotor(false), +m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), +m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), +m_useReferenceFrameA(useReferenceFrameA), +m_flags(0) +{ +#ifndef _BT_USE_CENTER_LIMIT_ + //start with free + m_lowerLimit = btScalar(1.0f); + m_upperLimit = btScalar(-1.0f); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +#endif + m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f); +} + + + +btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA) +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif +m_angularOnly(false), +m_enableAngularMotor(false), +m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), +m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), +m_useReferenceFrameA(useReferenceFrameA), +m_flags(0) +{ + ///not providing rigidbody B means implicitly using worldspace for body B + + m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin()); +#ifndef _BT_USE_CENTER_LIMIT_ + //start with free + m_lowerLimit = btScalar(1.0f); + m_upperLimit = btScalar(-1.0f); + m_biasFactor = 0.3f; + m_relaxationFactor = 1.0f; + m_limitSoftness = 0.9f; + m_solveLimit = false; +#endif + m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f); +} + + + +void btHingeConstraint::buildJacobian() +{ + if (m_useSolveConstraintObsolete) + { + m_appliedImpulse = btScalar(0.); + m_accMotorImpulse = btScalar(0.); + + if (!m_angularOnly) + { + btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_rbAFrame.getOrigin(); + btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_rbBFrame.getOrigin(); + btVector3 relPos = pivotBInW - pivotAInW; + + btVector3 normal[3]; + if (relPos.length2() > SIMD_EPSILON) + { + normal[0] = relPos.normalized(); + } + else + { + normal[0].setValue(btScalar(1.0),0,0); + } + + btPlaneSpace1(normal[0], normal[1], normal[2]); + + for (int i=0;i<3;i++) + { + new (&m_jac[i]) btJacobianEntry( + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + pivotAInW - m_rbA.getCenterOfMassPosition(), + pivotBInW - m_rbB.getCenterOfMassPosition(), + normal[i], + m_rbA.getInvInertiaDiagLocal(), + m_rbA.getInvMass(), + m_rbB.getInvInertiaDiagLocal(), + m_rbB.getInvMass()); + } + } + + //calculate two perpendicular jointAxis, orthogonal to hingeAxis + //these two jointAxis require equal angular velocities for both bodies + + //this is unused for now, it's a todo + btVector3 jointAxis0local; + btVector3 jointAxis1local; + + btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2),jointAxis0local,jointAxis1local); + + btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local; + btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local; + btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + + new (&m_jacAng[0]) btJacobianEntry(jointAxis0, + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getInvInertiaDiagLocal(), + m_rbB.getInvInertiaDiagLocal()); + + new (&m_jacAng[1]) btJacobianEntry(jointAxis1, + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getInvInertiaDiagLocal(), + m_rbB.getInvInertiaDiagLocal()); + + new (&m_jacAng[2]) btJacobianEntry(hingeAxisWorld, + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getInvInertiaDiagLocal(), + m_rbB.getInvInertiaDiagLocal()); + + // clear accumulator + m_accLimitImpulse = btScalar(0.); + + // test angular limit + testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + + //Compute K = J*W*J' for hinge axis + btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2); + m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) + + getRigidBodyB().computeAngularImpulseDenominator(axisA)); + + } +} + + +#endif //__SPU__ + + +void btHingeConstraint::getInfo1(btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } + else + { + info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular + info->nub = 1; + //always add the row, to avoid computation (data is not available yet) + //prepare constraint + testLimit(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + if(getSolveLimit() || getEnableAngularMotor()) + { + info->m_numConstraintRows++; // limit 3rd anguar as well + info->nub--; + } + + } +} + +void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } + else + { + //always add the 'limit' row, to avoid computation (data is not available yet) + info->m_numConstraintRows = 6; // Fixed 3 linear + 2 angular + info->nub = 0; + } +} + +void btHingeConstraint::getInfo2 (btConstraintInfo2* info) +{ + if(m_useOffsetForConstraintFrame) + { + getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity()); + } + else + { + getInfo2Internal(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(),m_rbA.getAngularVelocity(),m_rbB.getAngularVelocity()); + } +} + + +void btHingeConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB) +{ + ///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now + testLimit(transA,transB); + + getInfo2Internal(info,transA,transB,angVelA,angVelB); +} + + +void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB) +{ + + btAssert(!m_useSolveConstraintObsolete); + int i, skip = info->rowskip; + // transforms in world space + btTransform trA = transA*m_rbAFrame; + btTransform trB = transB*m_rbBFrame; + // pivot point + btVector3 pivotAInW = trA.getOrigin(); + btVector3 pivotBInW = trB.getOrigin(); +#if 0 + if (0) + { + for (i=0;i<6;i++) + { + info->m_J1linearAxis[i*skip]=0; + info->m_J1linearAxis[i*skip+1]=0; + info->m_J1linearAxis[i*skip+2]=0; + + info->m_J1angularAxis[i*skip]=0; + info->m_J1angularAxis[i*skip+1]=0; + info->m_J1angularAxis[i*skip+2]=0; + + info->m_J2linearAxis[i*skip]=0; + info->m_J2linearAxis[i*skip+1]=0; + info->m_J2linearAxis[i*skip+2]=0; + + info->m_J2angularAxis[i*skip]=0; + info->m_J2angularAxis[i*skip+1]=0; + info->m_J2angularAxis[i*skip+2]=0; + + info->m_constraintError[i*skip]=0.f; + } + } +#endif //#if 0 + // linear (all fixed) + + if (!m_angularOnly) + { + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[skip + 1] = 1; + info->m_J1linearAxis[2 * skip + 2] = 1; + + info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[skip + 1] = -1; + info->m_J2linearAxis[2 * skip + 2] = -1; + } + + + + + btVector3 a1 = pivotAInW - transA.getOrigin(); + { + btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip); + btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip); + btVector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + btVector3 a2 = pivotBInW - transB.getOrigin(); + { + btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip); + btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + // linear RHS + btScalar k = info->fps * info->erp; + if (!m_angularOnly) + { + for(i = 0; i < 3; i++) + { + info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]); + } + } + // make rotations around X and Y equal + // the hinge axis should be the only unconstrained + // rotational axis, the angular velocity of the two bodies perpendicular to + // the hinge axis should be equal. thus the constraint equations are + // p*w1 - p*w2 = 0 + // q*w1 - q*w2 = 0 + // where p and q are unit vectors normal to the hinge axis, and w1 and w2 + // are the angular velocity vectors of the two bodies. + // get hinge axis (Z) + btVector3 ax1 = trA.getBasis().getColumn(2); + // get 2 orthos to hinge axis (X, Y) + btVector3 p = trA.getBasis().getColumn(0); + btVector3 q = trA.getBasis().getColumn(1); + // set the two hinge angular rows + int s3 = 3 * info->rowskip; + int s4 = 4 * info->rowskip; + + info->m_J1angularAxis[s3 + 0] = p[0]; + info->m_J1angularAxis[s3 + 1] = p[1]; + info->m_J1angularAxis[s3 + 2] = p[2]; + info->m_J1angularAxis[s4 + 0] = q[0]; + info->m_J1angularAxis[s4 + 1] = q[1]; + info->m_J1angularAxis[s4 + 2] = q[2]; + + info->m_J2angularAxis[s3 + 0] = -p[0]; + info->m_J2angularAxis[s3 + 1] = -p[1]; + info->m_J2angularAxis[s3 + 2] = -p[2]; + info->m_J2angularAxis[s4 + 0] = -q[0]; + info->m_J2angularAxis[s4 + 1] = -q[1]; + info->m_J2angularAxis[s4 + 2] = -q[2]; + // compute the right hand side of the constraint equation. set relative + // body velocities along p and q to bring the hinge back into alignment. + // if ax1,ax2 are the unit length hinge axes as computed from body1 and + // body2, we need to rotate both bodies along the axis u = (ax1 x ax2). + // if `theta' is the angle between ax1 and ax2, we need an angular velocity + // along u to cover angle erp*theta in one step : + // |angular_velocity| = angle/time = erp*theta / stepsize + // = (erp*fps) * theta + // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| + // = (erp*fps) * theta * (ax1 x ax2) / sin(theta) + // ...as ax1 and ax2 are unit length. if theta is smallish, + // theta ~= sin(theta), so + // angular_velocity = (erp*fps) * (ax1 x ax2) + // ax1 x ax2 is in the plane space of ax1, so we project the angular + // velocity to p and q to find the right hand side. + btVector3 ax2 = trB.getBasis().getColumn(2); + btVector3 u = ax1.cross(ax2); + info->m_constraintError[s3] = k * u.dot(p); + info->m_constraintError[s4] = k * u.dot(q); + // check angular limits + int nrow = 4; // last filled row + int srow; + btScalar limit_err = btScalar(0.0); + int limit = 0; + if(getSolveLimit()) + { +#ifdef _BT_USE_CENTER_LIMIT_ + limit_err = m_limit.getCorrection() * m_referenceSign; +#else + limit_err = m_correction * m_referenceSign; +#endif + limit = (limit_err > btScalar(0.0)) ? 1 : 2; + + } + // if the hinge has joint limits or motor, add in the extra row + int powered = 0; + if(getEnableAngularMotor()) + { + powered = 1; + } + if(limit || powered) + { + nrow++; + srow = nrow * info->rowskip; + info->m_J1angularAxis[srow+0] = ax1[0]; + info->m_J1angularAxis[srow+1] = ax1[1]; + info->m_J1angularAxis[srow+2] = ax1[2]; + + info->m_J2angularAxis[srow+0] = -ax1[0]; + info->m_J2angularAxis[srow+1] = -ax1[1]; + info->m_J2angularAxis[srow+2] = -ax1[2]; + + btScalar lostop = getLowerLimit(); + btScalar histop = getUpperLimit(); + if(limit && (lostop == histop)) + { // the joint motor is ineffective + powered = 0; + } + info->m_constraintError[srow] = btScalar(0.0f); + btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp; + if(powered) + { + if(m_flags & BT_HINGE_FLAGS_CFM_NORM) + { + info->cfm[srow] = m_normalCFM; + } + btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP); + info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign; + info->m_lowerLimit[srow] = - m_maxMotorImpulse; + info->m_upperLimit[srow] = m_maxMotorImpulse; + } + if(limit) + { + k = info->fps * currERP; + info->m_constraintError[srow] += k * limit_err; + if(m_flags & BT_HINGE_FLAGS_CFM_STOP) + { + info->cfm[srow] = m_stopCFM; + } + if(lostop == histop) + { + // limited low and high simultaneously + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else if(limit == 1) + { // low limit + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { // high limit + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + // bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that) +#ifdef _BT_USE_CENTER_LIMIT_ + btScalar bounce = m_limit.getRelaxationFactor(); +#else + btScalar bounce = m_relaxationFactor; +#endif + if(bounce > btScalar(0.0)) + { + btScalar vel = angVelA.dot(ax1); + vel -= angVelB.dot(ax1); + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if(limit == 1) + { // low limit + if(vel < 0) + { + btScalar newc = -bounce * vel; + if(newc > info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + else + { // high limit - all those computations are reversed + if(vel > 0) + { + btScalar newc = -bounce * vel; + if(newc < info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + } +#ifdef _BT_USE_CENTER_LIMIT_ + info->m_constraintError[srow] *= m_limit.getBiasFactor(); +#else + info->m_constraintError[srow] *= m_biasFactor; +#endif + } // if(limit) + } // if angular limit or powered +} + + +void btHingeConstraint::setFrames(const btTransform & frameA, const btTransform & frameB) +{ + m_rbAFrame = frameA; + m_rbBFrame = frameB; + buildJacobian(); +} + + +void btHingeConstraint::updateRHS(btScalar timeStep) +{ + (void)timeStep; + +} + + +btScalar btHingeConstraint::getHingeAngle() +{ + return getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); +} + +btScalar btHingeConstraint::getHingeAngle(const btTransform& transA,const btTransform& transB) +{ + const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0); + const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1); + const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1); +// btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); + btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); + return m_referenceSign * angle; +} + + + +void btHingeConstraint::testLimit(const btTransform& transA,const btTransform& transB) +{ + // Compute limit information + m_hingeAngle = getHingeAngle(transA,transB); +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit.test(m_hingeAngle); +#else + m_correction = btScalar(0.); + m_limitSign = btScalar(0.); + m_solveLimit = false; + if (m_lowerLimit <= m_upperLimit) + { + m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit); + if (m_hingeAngle <= m_lowerLimit) + { + m_correction = (m_lowerLimit - m_hingeAngle); + m_limitSign = 1.0f; + m_solveLimit = true; + } + else if (m_hingeAngle >= m_upperLimit) + { + m_correction = m_upperLimit - m_hingeAngle; + m_limitSign = -1.0f; + m_solveLimit = true; + } + } +#endif + return; +} + + +static btVector3 vHinge(0, 0, btScalar(1)); + +void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt) +{ + // convert target from body to constraint space + btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * qAinB * m_rbAFrame.getRotation(); + qConstraint.normalize(); + + // extract "pure" hinge component + btVector3 vNoHinge = quatRotate(qConstraint, vHinge); vNoHinge.normalize(); + btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge); + btQuaternion qHinge = qNoHinge.inverse() * qConstraint; + qHinge.normalize(); + + // compute angular target, clamped to limits + btScalar targetAngle = qHinge.getAngle(); + if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate. + { + qHinge = -(qHinge); + targetAngle = qHinge.getAngle(); + } + if (qHinge.getZ() < 0) + targetAngle = -targetAngle; + + setMotorTarget(targetAngle, dt); +} + +void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt) +{ +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit.fit(targetAngle); +#else + if (m_lowerLimit < m_upperLimit) + { + if (targetAngle < m_lowerLimit) + targetAngle = m_lowerLimit; + else if (targetAngle > m_upperLimit) + targetAngle = m_upperLimit; + } +#endif + // compute angular velocity + btScalar curAngle = getHingeAngle(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + btScalar dAngle = targetAngle - curAngle; + m_motorTargetVelocity = dAngle / dt; +} + + + +void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB) +{ + btAssert(!m_useSolveConstraintObsolete); + int i, s = info->rowskip; + // transforms in world space + btTransform trA = transA*m_rbAFrame; + btTransform trB = transB*m_rbBFrame; + // pivot point +// btVector3 pivotAInW = trA.getOrigin(); +// btVector3 pivotBInW = trB.getOrigin(); +#if 1 + // difference between frames in WCS + btVector3 ofs = trB.getOrigin() - trA.getOrigin(); + // now get weight factors depending on masses + btScalar miA = getRigidBodyA().getInvMass(); + btScalar miB = getRigidBodyB().getInvMass(); + bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON); + btScalar miS = miA + miB; + btScalar factA, factB; + if(miS > btScalar(0.f)) + { + factA = miB / miS; + } + else + { + factA = btScalar(0.5f); + } + factB = btScalar(1.0f) - factA; + // get the desired direction of hinge axis + // as weighted sum of Z-orthos of frameA and frameB in WCS + btVector3 ax1A = trA.getBasis().getColumn(2); + btVector3 ax1B = trB.getBasis().getColumn(2); + btVector3 ax1 = ax1A * factA + ax1B * factB; + ax1.normalize(); + // fill first 3 rows + // we want: velA + wA x relA == velB + wB x relB + btTransform bodyA_trans = transA; + btTransform bodyB_trans = transB; + int s0 = 0; + int s1 = s; + int s2 = s * 2; + int nrow = 2; // last filled row + btVector3 tmpA, tmpB, relA, relB, p, q; + // get vector from bodyB to frameB in WCS + relB = trB.getOrigin() - bodyB_trans.getOrigin(); + // get its projection to hinge axis + btVector3 projB = ax1 * relB.dot(ax1); + // get vector directed from bodyB to hinge axis (and orthogonal to it) + btVector3 orthoB = relB - projB; + // same for bodyA + relA = trA.getOrigin() - bodyA_trans.getOrigin(); + btVector3 projA = ax1 * relA.dot(ax1); + btVector3 orthoA = relA - projA; + btVector3 totalDist = projA - projB; + // get offset vectors relA and relB + relA = orthoA + totalDist * factA; + relB = orthoB - totalDist * factB; + // now choose average ortho to hinge axis + p = orthoB * factA + orthoA * factB; + btScalar len2 = p.length2(); + if(len2 > SIMD_EPSILON) + { + p /= btSqrt(len2); + } + else + { + p = trA.getBasis().getColumn(1); + } + // make one more ortho + q = ax1.cross(p); + // fill three rows + tmpA = relA.cross(p); + tmpB = relB.cross(p); + for (i=0; i<3; i++) info->m_J1angularAxis[s0+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s0+i] = -tmpB[i]; + tmpA = relA.cross(q); + tmpB = relB.cross(q); + if(hasStaticBody && getSolveLimit()) + { // to make constraint between static and dynamic objects more rigid + // remove wA (or wB) from equation if angular limit is hit + tmpB *= factB; + tmpA *= factA; + } + for (i=0; i<3; i++) info->m_J1angularAxis[s1+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s1+i] = -tmpB[i]; + tmpA = relA.cross(ax1); + tmpB = relB.cross(ax1); + if(hasStaticBody) + { // to make constraint between static and dynamic objects more rigid + // remove wA (or wB) from equation + tmpB *= factB; + tmpA *= factA; + } + for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i]; + + btScalar k = info->fps * info->erp; + + if (!m_angularOnly) + { + for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i]; + for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i]; + for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i]; + + for (i=0; i<3; i++) info->m_J2linearAxis[s0+i] = -p[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s1+i] = -q[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -ax1[i]; + + // compute three elements of right hand side + + btScalar rhs = k * p.dot(ofs); + info->m_constraintError[s0] = rhs; + rhs = k * q.dot(ofs); + info->m_constraintError[s1] = rhs; + rhs = k * ax1.dot(ofs); + info->m_constraintError[s2] = rhs; + } + // the hinge axis should be the only unconstrained + // rotational axis, the angular velocity of the two bodies perpendicular to + // the hinge axis should be equal. thus the constraint equations are + // p*w1 - p*w2 = 0 + // q*w1 - q*w2 = 0 + // where p and q are unit vectors normal to the hinge axis, and w1 and w2 + // are the angular velocity vectors of the two bodies. + int s3 = 3 * s; + int s4 = 4 * s; + info->m_J1angularAxis[s3 + 0] = p[0]; + info->m_J1angularAxis[s3 + 1] = p[1]; + info->m_J1angularAxis[s3 + 2] = p[2]; + info->m_J1angularAxis[s4 + 0] = q[0]; + info->m_J1angularAxis[s4 + 1] = q[1]; + info->m_J1angularAxis[s4 + 2] = q[2]; + + info->m_J2angularAxis[s3 + 0] = -p[0]; + info->m_J2angularAxis[s3 + 1] = -p[1]; + info->m_J2angularAxis[s3 + 2] = -p[2]; + info->m_J2angularAxis[s4 + 0] = -q[0]; + info->m_J2angularAxis[s4 + 1] = -q[1]; + info->m_J2angularAxis[s4 + 2] = -q[2]; + // compute the right hand side of the constraint equation. set relative + // body velocities along p and q to bring the hinge back into alignment. + // if ax1A,ax1B are the unit length hinge axes as computed from bodyA and + // bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2). + // if "theta" is the angle between ax1 and ax2, we need an angular velocity + // along u to cover angle erp*theta in one step : + // |angular_velocity| = angle/time = erp*theta / stepsize + // = (erp*fps) * theta + // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| + // = (erp*fps) * theta * (ax1 x ax2) / sin(theta) + // ...as ax1 and ax2 are unit length. if theta is smallish, + // theta ~= sin(theta), so + // angular_velocity = (erp*fps) * (ax1 x ax2) + // ax1 x ax2 is in the plane space of ax1, so we project the angular + // velocity to p and q to find the right hand side. + k = info->fps * info->erp; + btVector3 u = ax1A.cross(ax1B); + info->m_constraintError[s3] = k * u.dot(p); + info->m_constraintError[s4] = k * u.dot(q); +#endif + // check angular limits + nrow = 4; // last filled row + int srow; + btScalar limit_err = btScalar(0.0); + int limit = 0; + if(getSolveLimit()) + { +#ifdef _BT_USE_CENTER_LIMIT_ + limit_err = m_limit.getCorrection() * m_referenceSign; +#else + limit_err = m_correction * m_referenceSign; +#endif + limit = (limit_err > btScalar(0.0)) ? 1 : 2; + + } + // if the hinge has joint limits or motor, add in the extra row + int powered = 0; + if(getEnableAngularMotor()) + { + powered = 1; + } + if(limit || powered) + { + nrow++; + srow = nrow * info->rowskip; + info->m_J1angularAxis[srow+0] = ax1[0]; + info->m_J1angularAxis[srow+1] = ax1[1]; + info->m_J1angularAxis[srow+2] = ax1[2]; + + info->m_J2angularAxis[srow+0] = -ax1[0]; + info->m_J2angularAxis[srow+1] = -ax1[1]; + info->m_J2angularAxis[srow+2] = -ax1[2]; + + btScalar lostop = getLowerLimit(); + btScalar histop = getUpperLimit(); + if(limit && (lostop == histop)) + { // the joint motor is ineffective + powered = 0; + } + info->m_constraintError[srow] = btScalar(0.0f); + btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : info->erp; + if(powered) + { + if(m_flags & BT_HINGE_FLAGS_CFM_NORM) + { + info->cfm[srow] = m_normalCFM; + } + btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP); + info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign; + info->m_lowerLimit[srow] = - m_maxMotorImpulse; + info->m_upperLimit[srow] = m_maxMotorImpulse; + } + if(limit) + { + k = info->fps * currERP; + info->m_constraintError[srow] += k * limit_err; + if(m_flags & BT_HINGE_FLAGS_CFM_STOP) + { + info->cfm[srow] = m_stopCFM; + } + if(lostop == histop) + { + // limited low and high simultaneously + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else if(limit == 1) + { // low limit + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { // high limit + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + // bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that) +#ifdef _BT_USE_CENTER_LIMIT_ + btScalar bounce = m_limit.getRelaxationFactor(); +#else + btScalar bounce = m_relaxationFactor; +#endif + if(bounce > btScalar(0.0)) + { + btScalar vel = angVelA.dot(ax1); + vel -= angVelB.dot(ax1); + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if(limit == 1) + { // low limit + if(vel < 0) + { + btScalar newc = -bounce * vel; + if(newc > info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + else + { // high limit - all those computations are reversed + if(vel > 0) + { + btScalar newc = -bounce * vel; + if(newc < info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + } +#ifdef _BT_USE_CENTER_LIMIT_ + info->m_constraintError[srow] *= m_limit.getBiasFactor(); +#else + info->m_constraintError[srow] *= m_biasFactor; +#endif + } // if(limit) + } // if angular limit or powered +} + + +///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). +///If no axis is provided, it uses the default axis for this constraint. +void btHingeConstraint::setParam(int num, btScalar value, int axis) +{ + if((axis == -1) || (axis == 5)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + m_stopERP = value; + m_flags |= BT_HINGE_FLAGS_ERP_STOP; + break; + case BT_CONSTRAINT_STOP_CFM : + m_stopCFM = value; + m_flags |= BT_HINGE_FLAGS_CFM_STOP; + break; + case BT_CONSTRAINT_CFM : + m_normalCFM = value; + m_flags |= BT_HINGE_FLAGS_CFM_NORM; + break; + default : + btAssertConstrParams(0); + } + } + else + { + btAssertConstrParams(0); + } +} + +///return the local value of parameter +btScalar btHingeConstraint::getParam(int num, int axis) const +{ + btScalar retVal = 0; + if((axis == -1) || (axis == 5)) + { + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP); + retVal = m_stopERP; + break; + case BT_CONSTRAINT_STOP_CFM : + btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP); + retVal = m_stopCFM; + break; + case BT_CONSTRAINT_CFM : + btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM); + retVal = m_normalCFM; + break; + default : + btAssertConstrParams(0); + } + } + else + { + btAssertConstrParams(0); + } + return retVal; +} + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h new file mode 100644 index 00000000..7c33ac24 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -0,0 +1,412 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ + +#ifndef BT_HINGECONSTRAINT_H +#define BT_HINGECONSTRAINT_H + +#define _BT_USE_CENTER_LIMIT_ 1 + + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version +#define btHingeConstraintDataName "btHingeConstraintDoubleData2" +#else +#define btHingeConstraintData btHingeConstraintFloatData +#define btHingeConstraintDataName "btHingeConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + + +enum btHingeFlags +{ + BT_HINGE_FLAGS_CFM_STOP = 1, + BT_HINGE_FLAGS_ERP_STOP = 2, + BT_HINGE_FLAGS_CFM_NORM = 4 +}; + + +/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space +/// axis defines the orientation of the hinge axis +ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor + + btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransform m_rbBFrame; + + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; + + +#ifdef _BT_USE_CENTER_LIMIT_ + btAngularLimit m_limit; +#else + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_limitSign; + btScalar m_correction; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; + + bool m_solveLimit; +#endif + + btScalar m_kHinge; + + + btScalar m_accLimitImpulse; + btScalar m_hingeAngle; + btScalar m_referenceSign; + + bool m_angularOnly; + bool m_enableAngularMotor; + bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; + bool m_useReferenceFrameA; + + btScalar m_accMotorImpulse; + + int m_flags; + btScalar m_normalCFM; + btScalar m_stopCFM; + btScalar m_stopERP; + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false); + + btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false); + + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + + void getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + void getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB); + + + void updateRHS(btScalar timeStep); + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + btRigidBody& getRigidBodyA() + { + return m_rbA; + } + + btRigidBody& getRigidBodyB() + { + return m_rbB; + } + + btTransform& getFrameOffsetA() + { + return m_rbAFrame; + } + + btTransform& getFrameOffsetB() + { + return m_rbBFrame; + } + + void setFrames(const btTransform& frameA, const btTransform& frameB); + + void setAngularOnly(bool angularOnly) + { + m_angularOnly = angularOnly; + } + + void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse) + { + m_enableAngularMotor = enableMotor; + m_motorTargetVelocity = targetVelocity; + m_maxMotorImpulse = maxMotorImpulse; + } + + // extra motor API, including ability to set a target rotation (as opposed to angular velocity) + // note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to + // maintain a given angular target. + void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } + void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. + void setMotorTarget(btScalar targetAngle, btScalar dt); + + + void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor); +#else + m_lowerLimit = btNormalizeAngle(low); + m_upperLimit = btNormalizeAngle(high); + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; +#endif + } + + void setAxis(btVector3& axisInA) + { + btVector3 rbAxisA1, rbAxisA2; + btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2); + btVector3 pivotInA = m_rbAFrame.getOrigin(); +// m_rbAFrame.getOrigin() = pivotInA; + m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(), + rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(), + rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() ); + + btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA; + + btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB); + btVector3 rbAxisB1 = quatRotate(rotationArc,rbAxisA1); + btVector3 rbAxisB2 = axisInB.cross(rbAxisB1); + + m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA)); + + m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(), + rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(), + rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() ); + m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis(); + + } + + btScalar getLowerLimit() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getLow(); +#else + return m_lowerLimit; +#endif + } + + btScalar getUpperLimit() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getHigh(); +#else + return m_upperLimit; +#endif + } + + + btScalar getHingeAngle(); + + btScalar getHingeAngle(const btTransform& transA,const btTransform& transB); + + void testLimit(const btTransform& transA,const btTransform& transB); + + + const btTransform& getAFrame() const { return m_rbAFrame; }; + const btTransform& getBFrame() const { return m_rbBFrame; }; + + btTransform& getAFrame() { return m_rbAFrame; }; + btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveLimit() + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.isLimit(); +#else + return m_solveLimit; +#endif + } + + inline btScalar getLimitSign() + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getSign(); +#else + return m_limitSign; +#endif + } + + inline bool getAngularOnly() + { + return m_angularOnly; + } + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; + } + inline btScalar getMotorTargetVelosity() + { + return m_motorTargetVelocity; + } + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; + } + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + + +//only for backward compatibility +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files +struct btHingeConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION + + +struct btHingeConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; + + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintDoubleData2 +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + double m_motorTargetVelocity; + double m_maxMotorImpulse; + + double m_lowerLimit; + double m_upperLimit; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + char m_padding1[4]; + +}; + + + + +SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btHingeConstraintData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer; + btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer); + + m_rbAFrame.serialize(hingeData->m_rbAFrame); + m_rbBFrame.serialize(hingeData->m_rbBFrame); + + hingeData->m_angularOnly = m_angularOnly; + hingeData->m_enableAngularMotor = m_enableAngularMotor; + hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse); + hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity); + hingeData->m_useReferenceFrameA = m_useReferenceFrameA; +#ifdef _BT_USE_CENTER_LIMIT_ + hingeData->m_lowerLimit = float(m_limit.getLow()); + hingeData->m_upperLimit = float(m_limit.getHigh()); + hingeData->m_limitSoftness = float(m_limit.getSoftness()); + hingeData->m_biasFactor = float(m_limit.getBiasFactor()); + hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor()); +#else + hingeData->m_lowerLimit = float(m_lowerLimit); + hingeData->m_upperLimit = float(m_upperLimit); + hingeData->m_limitSoftness = float(m_limitSoftness); + hingeData->m_biasFactor = float(m_biasFactor); + hingeData->m_relaxationFactor = float(m_relaxationFactor); +#endif + + return btHingeConstraintDataName; +} + +#endif //BT_HINGECONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h new file mode 100644 index 00000000..125580d1 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h @@ -0,0 +1,155 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_JACOBIAN_ENTRY_H +#define BT_JACOBIAN_ENTRY_H + +#include "LinearMath/btMatrix3x3.h" + + +//notes: +// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components +// which makes the btJacobianEntry memory layout 16 bytes +// if you only are interested in angular part, just feed massInvA and massInvB zero + +/// Jacobian entry is an abstraction that allows to describe constraints +/// it can be used in combination with a constraint solver +/// Can be used to relate the effect of an impulse to the constraint error +ATTRIBUTE_ALIGNED16(class) btJacobianEntry +{ +public: + btJacobianEntry() {}; + //constraint between two different rigidbodies + btJacobianEntry( + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + const btVector3& rel_pos1,const btVector3& rel_pos2, + const btVector3& jointAxis, + const btVector3& inertiaInvA, + const btScalar massInvA, + const btVector3& inertiaInvB, + const btScalar massInvB) + :m_linearJointAxis(jointAxis) + { + m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis)); + m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis)); + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //angular constraint between two different rigidbodies + btJacobianEntry(const btVector3& jointAxis, + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + const btVector3& inertiaInvA, + const btVector3& inertiaInvB) + :m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) + { + m_aJ= world2A*jointAxis; + m_bJ = world2B*-jointAxis; + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //angular constraint between two different rigidbodies + btJacobianEntry(const btVector3& axisInA, + const btVector3& axisInB, + const btVector3& inertiaInvA, + const btVector3& inertiaInvB) + : m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.))) + , m_aJ(axisInA) + , m_bJ(-axisInB) + { + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = inertiaInvB * m_bJ; + m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + //constraint on one rigidbody + btJacobianEntry( + const btMatrix3x3& world2A, + const btVector3& rel_pos1,const btVector3& rel_pos2, + const btVector3& jointAxis, + const btVector3& inertiaInvA, + const btScalar massInvA) + :m_linearJointAxis(jointAxis) + { + m_aJ= world2A*(rel_pos1.cross(jointAxis)); + m_bJ = world2A*(rel_pos2.cross(-jointAxis)); + m_0MinvJt = inertiaInvA * m_aJ; + m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); + m_Adiag = massInvA + m_0MinvJt.dot(m_aJ); + + btAssert(m_Adiag > btScalar(0.0)); + } + + btScalar getDiagonal() const { return m_Adiag; } + + // for two constraints on the same rigidbody (for example vehicle friction) + btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const + { + const btJacobianEntry& jacA = *this; + btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis); + btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ); + return lin + ang; + } + + + + // for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies) + btScalar getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const + { + const btJacobianEntry& jacA = *this; + btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis; + btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ; + btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ; + btVector3 lin0 = massInvA * lin ; + btVector3 lin1 = massInvB * lin; + btVector3 sum = ang0+ang1+lin0+lin1; + return sum[0]+sum[1]+sum[2]; + } + + btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB) + { + btVector3 linrel = linvelA - linvelB; + btVector3 angvela = angvelA * m_aJ; + btVector3 angvelb = angvelB * m_bJ; + linrel *= m_linearJointAxis; + angvela += angvelb; + angvela += linrel; + btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2]; + return rel_vel2 + SIMD_EPSILON; + } +//private: + + btVector3 m_linearJointAxis; + btVector3 m_aJ; + btVector3 m_bJ; + btVector3 m_0MinvJt; + btVector3 m_1MinvJt; + //Optimization: can be stored in the w/last component of one of the vectors + btScalar m_Adiag; + +}; + +#endif //BT_JACOBIAN_ENTRY_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp new file mode 100644 index 00000000..3c0430b9 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp @@ -0,0 +1,229 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btPoint2PointConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include + + + + + +btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB), +m_flags(0), +m_useSolveConstraintObsolete(false) +{ + +} + + +btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA) +:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), +m_flags(0), +m_useSolveConstraintObsolete(false) +{ + +} + +void btPoint2PointConstraint::buildJacobian() +{ + + ///we need it for both methods + { + m_appliedImpulse = btScalar(0.); + + btVector3 normal(0,0,0); + + for (int i=0;i<3;i++) + { + normal[i] = 1; + new (&m_jac[i]) btJacobianEntry( + m_rbA.getCenterOfMassTransform().getBasis().transpose(), + m_rbB.getCenterOfMassTransform().getBasis().transpose(), + m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(), + m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(), + normal, + m_rbA.getInvInertiaDiagLocal(), + m_rbA.getInvMass(), + m_rbB.getInvInertiaDiagLocal(), + m_rbB.getInvMass()); + normal[i] = 0; + } + } + + +} + +void btPoint2PointConstraint::getInfo1 (btConstraintInfo1* info) +{ + getInfo1NonVirtual(info); +} + +void btPoint2PointConstraint::getInfo1NonVirtual (btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } else + { + info->m_numConstraintRows = 3; + info->nub = 3; + } +} + + + + +void btPoint2PointConstraint::getInfo2 (btConstraintInfo2* info) +{ + getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); +} + +void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans) +{ + btAssert(!m_useSolveConstraintObsolete); + + //retrieve matrices + + // anchor points in global coordinates with respect to body PORs. + + // set jacobian + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip+1] = 1; + info->m_J1linearAxis[2*info->rowskip+2] = 1; + + btVector3 a1 = body0_trans.getBasis()*getPivotInA(); + { + btVector3* angular0 = (btVector3*)(info->m_J1angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip); + btVector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[info->rowskip+1] = -1; + info->m_J2linearAxis[2*info->rowskip+2] = -1; + + btVector3 a2 = body1_trans.getBasis()*getPivotInB(); + + { + // btVector3 a2n = -a2; + btVector3* angular0 = (btVector3*)(info->m_J2angularAxis); + btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip); + btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + + + // set right hand side + btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp; + btScalar k = info->fps * currERP; + int j; + for (j=0; j<3; j++) + { + info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]); + //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); + } + if(m_flags & BT_P2P_FLAGS_CFM) + { + for (j=0; j<3; j++) + { + info->cfm[j*info->rowskip] = m_cfm; + } + } + + btScalar impulseClamp = m_setting.m_impulseClamp;// + for (j=0; j<3; j++) + { + if (m_setting.m_impulseClamp > 0) + { + info->m_lowerLimit[j*info->rowskip] = -impulseClamp; + info->m_upperLimit[j*info->rowskip] = impulseClamp; + } + } + info->m_damping = m_setting.m_damping; + +} + + + +void btPoint2PointConstraint::updateRHS(btScalar timeStep) +{ + (void)timeStep; + +} + +///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). +///If no axis is provided, it uses the default axis for this constraint. +void btPoint2PointConstraint::setParam(int num, btScalar value, int axis) +{ + if(axis != -1) + { + btAssertConstrParams(0); + } + else + { + switch(num) + { + case BT_CONSTRAINT_ERP : + case BT_CONSTRAINT_STOP_ERP : + m_erp = value; + m_flags |= BT_P2P_FLAGS_ERP; + break; + case BT_CONSTRAINT_CFM : + case BT_CONSTRAINT_STOP_CFM : + m_cfm = value; + m_flags |= BT_P2P_FLAGS_CFM; + break; + default: + btAssertConstrParams(0); + } + } +} + +///return the local value of parameter +btScalar btPoint2PointConstraint::getParam(int num, int axis) const +{ + btScalar retVal(SIMD_INFINITY); + if(axis != -1) + { + btAssertConstrParams(0); + } + else + { + switch(num) + { + case BT_CONSTRAINT_ERP : + case BT_CONSTRAINT_STOP_ERP : + btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP); + retVal = m_erp; + break; + case BT_CONSTRAINT_CFM : + case BT_CONSTRAINT_STOP_CFM : + btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM); + retVal = m_cfm; + break; + default: + btAssertConstrParams(0); + } + } + return retVal; +} + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h new file mode 100644 index 00000000..91218949 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -0,0 +1,175 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_POINT2POINTCONSTRAINT_H +#define BT_POINT2POINTCONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + +#ifdef BT_USE_DOUBLE_PRECISION +#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2 +#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2" +#else +#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData +#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + +struct btConstraintSetting +{ + btConstraintSetting() : + m_tau(btScalar(0.3)), + m_damping(btScalar(1.)), + m_impulseClamp(btScalar(0.)) + { + } + btScalar m_tau; + btScalar m_damping; + btScalar m_impulseClamp; +}; + +enum btPoint2PointFlags +{ + BT_P2P_FLAGS_ERP = 1, + BT_P2P_FLAGS_CFM = 2 +}; + +/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space +ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint +{ +#ifdef IN_PARALLELL_SOLVER +public: +#endif + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btVector3 m_pivotInA; + btVector3 m_pivotInB; + + int m_flags; + btScalar m_erp; + btScalar m_cfm; + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + + btConstraintSetting m_setting; + + btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB); + + btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA); + + + virtual void buildJacobian(); + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans); + + void updateRHS(btScalar timeStep); + + void setPivotA(const btVector3& pivotA) + { + m_pivotInA = pivotA; + } + + void setPivotB(const btVector3& pivotB) + { + m_pivotInB = pivotB; + } + + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintFloatData +{ + btTypedConstraintData m_typeConstraintData; + btVector3FloatData m_pivotInA; + btVector3FloatData m_pivotInB; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintDoubleData2 +{ + btTypedConstraintDoubleData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +///this structure is not used, except for loading pre-2.82 .bullet files +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; +}; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION + + +SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btPoint2PointConstraintData2); + +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer; + + btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer); + m_pivotInA.serialize(p2pData->m_pivotInA); + m_pivotInB.serialize(p2pData->m_pivotInB); + + return btPoint2PointConstraintDataName; +} + +#endif //BT_POINT2POINTCONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp new file mode 100644 index 00000000..be93e354 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -0,0 +1,1739 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +//#define COMPUTE_IMPULSE_DENOM 1 +//#define BT_ADDITIONAL_DEBUG + +//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms. + +#include "btSequentialImpulseConstraintSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +#include "LinearMath/btIDebugDraw.h" +//#include "btJacobianEntry.h" +#include "LinearMath/btMinMax.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include +#include "LinearMath/btStackAlloc.h" +#include "LinearMath/btQuickprof.h" +//#include "btSolverBody.h" +//#include "btSolverConstraint.h" +#include "LinearMath/btAlignedObjectArray.h" +#include //for memset + +int gNumSplitImpulseRecoveries = 0; + +#include "BulletDynamics/Dynamics/btRigidBody.h" + +btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() +:m_btSeed2(0) +{ + +} + +btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() +{ +} + +#ifdef USE_SIMD +#include +#define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) +static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) +{ + __m128 result = _mm_mul_ps( vec0, vec1); + return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) ); +} +#endif//USE_SIMD + +// Project Gauss Seidel or the equivalent Sequential Impulse +void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ +#ifdef USE_SIMD + __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); + __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); + __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); + __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); + btSimdScalar resultLowerLess,resultUpperLess; + resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); + resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); + __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); + deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); + c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); + __m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp); + deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) ); + c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) ); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128,body2.internalGetInvMass().mVec128); + __m128 impulseMagnitude = deltaImpulse; + body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); + body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); + body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); +#else + resolveSingleConstraintRowGeneric(body1,body2,c); +#endif +} + +// Project Gauss Seidel or the equivalent Sequential Impulse + void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ + btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + +// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; + deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; + deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; + + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else if (sum > c.m_upperLimit) + { + deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_upperLimit; + } + else + { + c.m_appliedImpulse = sum; + } + + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); +} + + void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ +#ifdef USE_SIMD + __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); + __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); + __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); + __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); + btSimdScalar resultLowerLess,resultUpperLess; + resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); + resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); + __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); + deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); + c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128); + __m128 impulseMagnitude = deltaImpulse; + body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); + body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); + body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); +#else + resolveSingleConstraintRowLowerLimit(body1,body2,c); +#endif +} + +// Projected Gauss Seidel or the equivalent Sequential Impulse + void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ + btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + + deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; + deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else + { + c.m_appliedImpulse = sum; + } + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); +} + + +void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly( + btSolverBody& body1, + btSolverBody& body2, + const btSolverConstraint& c) +{ + if (c.m_rhsPenetration) + { + gNumSplitImpulseRecoveries++; + btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); + + deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; + deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; + const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse; + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse; + c.m_appliedPushImpulse = c.m_lowerLimit; + } + else + { + c.m_appliedPushImpulse = sum; + } + body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + } +} + + void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ +#ifdef USE_SIMD + if (!c.m_rhsPenetration) + return; + + gNumSplitImpulseRecoveries++; + + __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse); + __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); + __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); + __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm))); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128)); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); + btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); + btSimdScalar resultLowerLess,resultUpperLess; + resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); + resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); + __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); + deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); + c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128); + __m128 impulseMagnitude = deltaImpulse; + body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); + body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); + body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); +#else + resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c); +#endif +} + + + +unsigned long btSequentialImpulseConstraintSolver::btRand2() +{ + m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff; + return m_btSeed2; +} + + + +//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) +int btSequentialImpulseConstraintSolver::btRandInt2 (int n) +{ + // seems good; xor-fold and modulus + const unsigned long un = static_cast(n); + unsigned long r = btRand2(); + + // note: probably more aggressive than it needs to be -- might be + // able to get away without one or two of the innermost branches. + if (un <= 0x00010000UL) { + r ^= (r >> 16); + if (un <= 0x00000100UL) { + r ^= (r >> 8); + if (un <= 0x00000010UL) { + r ^= (r >> 4); + if (un <= 0x00000004UL) { + r ^= (r >> 2); + if (un <= 0x00000002UL) { + r ^= (r >> 1); + } + } + } + } + } + + return (int) (r % un); +} + + + +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) +{ + + btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0; + + solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + solverBody->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + solverBody->internalGetPushVelocity().setValue(0.f,0.f,0.f); + solverBody->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + + if (rb) + { + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor()); + solverBody->m_originalBody = rb; + solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ; + + } else + { + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0,0,0)); + solverBody->m_originalBody = 0; + solverBody->m_angularFactor.setValue(1,1,1); + solverBody->m_linearFactor.setValue(1,1,1); + solverBody->m_linearVelocity.setValue(0,0,0); + solverBody->m_angularVelocity.setValue(0,0,0); + solverBody->m_externalForceImpulse.setValue(0,0,0); + solverBody->m_externalTorqueImpulse.setValue(0,0,0); + } + + +} + + + + + + +btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution) +{ + btScalar rest = restitution * -rel_vel; + return rest; +} + + + +void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode) +{ + + + if (colObj && colObj->hasAnisotropicFriction(frictionMode)) + { + // transform to local coordinates + btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis(); + const btVector3& friction_scaling = colObj->getAnisotropicFriction(); + //apply anisotropic friction + loc_lateral *= friction_scaling; + // ... and transform it back to global coordinates + frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral; + } + +} + + + + +void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) +{ + + + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + + solverConstraint.m_friction = cp.m_combinedFriction; + solverConstraint.m_originalContactPoint = 0; + + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + + if (body0) + { + solverConstraint.m_contactNormal1 = normalAxis; + btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1); + solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor(); + }else + { + solverConstraint.m_contactNormal1.setZero(); + solverConstraint.m_relpos1CrossNormal.setZero(); + solverConstraint.m_angularComponentA .setZero(); + } + + if (body1) + { + solverConstraint.m_contactNormal2 = -normalAxis; + btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2); + solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor(); + } else + { + solverConstraint.m_contactNormal2.setZero(); + solverConstraint.m_relpos2CrossNormal.setZero(); + solverConstraint.m_angularComponentB.setZero(); + } + + { + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + if (body0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = body0->getInvMass() + normalAxis.dot(vec); + } + if (body1) + { + vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = body1->getInvMass() + normalAxis.dot(vec); + } + btScalar denom = relaxation/(denom0+denom1); + solverConstraint.m_jacDiagABInv = denom; + } + + { + + + btScalar rel_vel; + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + + rel_vel = vel1Dotn+vel2Dotn; + +// btScalar positionalError = 0.f; + + btSimdScalar velocityError = desiredVelocity - rel_vel; + btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_cfm = cfmSlip; + solverConstraint.m_lowerLimit = -solverConstraint.m_friction; + solverConstraint.m_upperLimit = solverConstraint.m_friction; + + } +} + +btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); + return solverConstraint; +} + + +void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis1,int solverBodyIdA,int solverBodyIdB, + btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity, btScalar cfmSlip) + +{ + btVector3 normalAxis(0,0,0); + + + solverConstraint.m_contactNormal1 = normalAxis; + solverConstraint.m_contactNormal2 = -normalAxis; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + + solverConstraint.m_friction = cp.m_combinedRollingFriction; + solverConstraint.m_originalContactPoint = 0; + + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + + { + btVector3 ftorqueAxis1 = -normalAxis1; + solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0); + } + { + btVector3 ftorqueAxis1 = normalAxis1; + solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); + } + + + { + btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0); + btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); + btScalar sum = 0; + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; + } + + { + + + btScalar rel_vel; + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + + rel_vel = vel1Dotn+vel2Dotn; + +// btScalar positionalError = 0.f; + + btSimdScalar velocityError = desiredVelocity - rel_vel; + btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_cfm = cfmSlip; + solverConstraint.m_lowerLimit = -solverConstraint.m_friction; + solverConstraint.m_upperLimit = solverConstraint.m_friction; + + } +} + + + + + + + + +btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + setupRollingFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); + return solverConstraint; +} + + +int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep) +{ + + int solverBodyIdA = -1; + + if (body.getCompanionId() >= 0) + { + //body has already been converted + solverBodyIdA = body.getCompanionId(); + btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); + } else + { + btRigidBody* rb = btRigidBody::upcast(&body); + //convert both active and kinematic objects (for their velocity) + if (rb && (rb->getInvMass() || rb->isKinematicObject())) + { + solverBodyIdA = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&solverBody,&body,timeStep); + body.setCompanionId(solverBodyIdA); + } else + { + + if (m_fixedBodyId<0) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&fixedBody,0,timeStep); + } + return m_fixedBodyId; +// return 0;//assume first one is a fixed solver body + } + } + + return solverBodyIdA; + +} +#include + + +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + const btVector3& rel_pos1, const btVector3& rel_pos2) +{ + + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* rb0 = bodyA->m_originalBody; + btRigidBody* rb1 = bodyB->m_originalBody; + +// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); +// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); + //rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + //rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); + + relaxation = 1.f; + + btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); + solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); + btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); + solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); + + { +#ifdef COMPUTE_IMPULSE_DENOM + btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); + btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB); +#else + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + if (rb0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec); + } + if (rb1) + { + vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec); + } +#endif //COMPUTE_IMPULSE_DENOM + + btScalar denom = relaxation/(denom0+denom1); + solverConstraint.m_jacDiagABInv = denom; + } + + if (rb0) + { + solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB; + solverConstraint.m_relpos1CrossNormal = torqueAxis0; + } else + { + solverConstraint.m_contactNormal1.setZero(); + solverConstraint.m_relpos1CrossNormal.setZero(); + } + if (rb1) + { + solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB; + solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + }else + { + solverConstraint.m_contactNormal2.setZero(); + solverConstraint.m_relpos2CrossNormal.setZero(); + } + + btScalar restitution = 0.f; + btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop; + + { + btVector3 vel1,vel2; + + vel1 = rb0? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); + vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + + // btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); + + + + solverConstraint.m_friction = cp.m_combinedFriction; + + + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); + if (restitution <= btScalar(0.)) + { + restitution = 0.f; + }; + } + + + ///warm starting (or zero if disabled) + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); + } else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + solverConstraint.m_appliedPushImpulse = 0.f; + + { + + btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0); + btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0); + + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB); + btScalar rel_vel = vel1Dotn+vel2Dotn; + + btScalar positionalError = 0.f; + btScalar velocityError = restitution - rel_vel;// * damping; + + + btScalar erp = infoGlobal.m_erp2; + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + erp = infoGlobal.m_erp; + } + + if (penetration>0) + { + positionalError = 0; + + velocityError -= penetration / infoGlobal.m_timeStep; + } else + { + positionalError = -penetration * erp/infoGlobal.m_timeStep; + } + + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + //combine position and velocity into rhs + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv; + solverConstraint.m_rhsPenetration = 0.f; + + } else + { + //split position and velocity into rhs and m_rhsPenetration + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_rhsPenetration = penetrationImpulse; + } + solverConstraint.m_cfm = 0.f; + solverConstraint.m_lowerLimit = 0; + solverConstraint.m_upperLimit = 1e10f; + } + + + + +} + + + +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, + int solverBodyIdA, int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) +{ + + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* rb0 = bodyA->m_originalBody; + btRigidBody* rb1 = bodyB->m_originalBody; + + { + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; + if (rb0) + bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); + if (rb1) + bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse); + } else + { + frictionConstraint1.m_appliedImpulse = 0.f; + } + } + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; + if (rb0) + bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); + if (rb1) + bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse); + } else + { + frictionConstraint2.m_appliedImpulse = 0.f; + } + } +} + + + + +void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal) +{ + btCollisionObject* colObj0=0,*colObj1=0; + + colObj0 = (btCollisionObject*)manifold->getBody0(); + colObj1 = (btCollisionObject*)manifold->getBody1(); + + int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep); + +// btRigidBody* bodyA = btRigidBody::upcast(colObj0); +// btRigidBody* bodyB = btRigidBody::upcast(colObj1); + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + + + + ///avoid collision response between two static objects + if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero()))) + return; + + int rollingFriction=1; + for (int j=0;jgetNumContacts();j++) + { + + btManifoldPoint& cp = manifold->getContactPoint(j); + + if (cp.getDistance() <= manifold->getContactProcessingThreshold()) + { + btVector3 rel_pos1; + btVector3 rel_pos2; + btScalar relaxation; + + + int frictionIndex = m_tmpSolverContactConstraintPool.size(); + btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); + btRigidBody* rb0 = btRigidBody::upcast(colObj0); + btRigidBody* rb1 = btRigidBody::upcast(colObj1); + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + + solverConstraint.m_originalContactPoint = &cp; + + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); + + btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); + btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + + solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1); + solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 ); + + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); + + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + + + +// const btVector3& pos1 = cp.getPositionWorldOnA(); +// const btVector3& pos2 = cp.getPositionWorldOnB(); + + /////setup the friction constraints + + solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); + + btVector3 angVelA(0,0,0),angVelB(0,0,0); + if (rb0) + angVelA = rb0->getAngularVelocity(); + if (rb1) + angVelB = rb1->getAngularVelocity(); + btVector3 relAngVel = angVelB-angVelA; + + if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0)) + { + //only a single rollingFriction per manifold + rollingFriction--; + if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold) + { + relAngVel.normalize(); + applyAnisotropicFriction(colObj0,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (relAngVel.length()>0.001) + addRollingFrictionConstraint(relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } else + { + addRollingFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + btVector3 axis0,axis1; + btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1); + applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (axis0.length()>0.001) + addRollingFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + if (axis1.length()>0.001) + addRollingFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } + } + + ///Bullet has several options to set the friction directions + ///By default, each contact has only a single friction direction that is recomputed automatically very frame + ///based on the relative linear velocity. + ///If the relative velocity it zero, it will automatically compute a friction direction. + + ///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. + ///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction. + /// + ///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity. + /// + ///The user can manually override the friction directions for certain contacts using a contact callback, + ///and set the cp.m_lateralFrictionInitialized to true + ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) + ///this will give a conveyor belt effect + /// + if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized) + { + cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; + btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); + if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON) + { + cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); + cp.m_lateralFrictionDir2.normalize();//?? + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + } + + } else + { + btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + } + + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) + { + cp.m_lateralFrictionInitialized = true; + } + } + + } else + { + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1); + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2); + + } + setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); + + + + + } + } +} + +void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal) +{ + int i; + btPersistentManifold* manifold = 0; +// btCollisionObject* colObj0=0,*colObj1=0; + + + for (i=0;iisEnabled()) + { + if (!constraint->getRigidBodyA().isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;bgetRigidBodyA()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + if (!constraint->getRigidBodyB().isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;bgetRigidBodyB()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + } + } + //make sure that dynamic bodies exist for all contact manifolds + for (int i=0;igetBody0()->isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;bgetBody0()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;bgetBody1()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + } +#endif //BT_ADDITIONAL_DEBUG + + + for (int i = 0; i < numBodies; i++) + { + bodies[i]->setCompanionId(-1); + } + + + m_tmpSolverBodyPool.reserve(numBodies+1); + m_tmpSolverBodyPool.resize(0); + + //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + //initSolverBody(&fixedBody,0); + + //convert all bodies + + for (int i=0;igetInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE) + { + gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + } + } + } + + if (1) + { + int j; + for (j=0;jbuildJacobian(); + constraint->internalSetAppliedImpulse(0.0f); + } + } + + //btRigidBody* rb0=0,*rb1=0; + + //if (1) + { + { + + int totalNumRows = 0; + int i; + + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + //calculate the total number of contraint rows + for (i=0;igetJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + + if (constraints[i]->isEnabled()) + { + } + if (constraints[i]->isEnabled()) + { + constraints[i]->getInfo1(&info1); + } else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + + + ///setup the btSolverConstraints + int currentRow = 0; + + for (i=0;igetRigidBodyA(); + btRigidBody& rbB = constraint->getRigidBodyB(); + + int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); + + btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + + + + + int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; + if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; + + + int j; + for ( j=0;jinternalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + + + btTypedConstraint::btConstraintInfo2 info2; + info2.fps = 1.f/infoGlobal.m_timeStep; + info2.erp = infoGlobal.m_erp; + info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; + info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; + info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; + info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; + info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this + ///the size of btSolverConstraint needs be a multiple of btScalar + btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); + info2.m_constraintError = ¤tConstraintRow->m_rhs; + currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; + info2.m_damping = infoGlobal.m_damping; + info2.cfm = ¤tConstraintRow->m_cfm; + info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; + info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; + info2.m_numIterations = infoGlobal.m_numIterations; + constraints[i]->getInfo2(&info2); + + ///finalize the constraint setup + for ( j=0;j=constraints[i]->getBreakingImpulseThreshold()) + { + solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold(); + } + + if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold()) + { + solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold(); + } + + solverConstraint.m_originalContactPoint = constraint; + + { + const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; + solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); + } + { + const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; + solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); + } + + { + btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); + btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; + btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? + btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; + + btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJlB.dot(solverConstraint.m_contactNormal2); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + btScalar fsum = btFabs(sum); + btAssert(fsum > SIMD_EPSILON); + solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?btScalar(1.)/sum : 0.f; + } + + + + { + btScalar rel_vel; + btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); + + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); + + rel_vel = vel1Dotn+vel2Dotn; + btScalar restitution = 0.f; + btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 + btScalar velocityError = restitution - rel_vel * info2.m_damping; + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_appliedImpulse = 0.f; + + + } + } + } + currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows; + } + } + + convertContacts(manifoldPtr,numManifolds,infoGlobal); + + } + +// btContactSolverInfo info = infoGlobal; + + + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); + int numConstraintPool = m_tmpSolverContactConstraintPool.size(); + int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); + + ///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints + m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool*2); + else + m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool); + + m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool); + { + int i; + for (i=0;iisEnabled()) + { + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; + constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); + } + } + + ///solve all contact constraints using SIMD, if available + if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) + { + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1; + + for (int c=0;cbtScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + } + } + + if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) + { + + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; + + if (totalImpulse>btScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + } + } + } + } + + } + else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS + { + //solve the friction constraints after all contact constraints, don't interleave them + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; + + for (j=0;jbtScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + //resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + } + } + + + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + for (j=0;jbtScalar(0)) + { + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); + } + } + + + } + } + } else + { + //non-SIMD version + ///solve all joint constraints + for (int j=0;jisEnabled()) + { + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; + constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); + } + } + ///solve all contact constraints + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + for (int j=0;jbtScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + } + } + + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + for (int j=0;jbtScalar(0)) + { + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); + } + } + } + } + return 0.f; +} + + +void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + int iteration; + if (infoGlobal.m_splitImpulse) + { + if (infoGlobal.m_solverMode & SOLVER_SIMD) + { + for ( iteration = 0;iteration infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + + for ( int iteration = 0 ; iteration< maxIterations ; iteration++) + //for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--) + { + solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); + } + + } + return 0.f; +} + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +{ + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int i,j; + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + for (j=0;jm_appliedImpulse = solveManifold.m_appliedImpulse; + // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + // printf("pt->m_appliedImpulseLateral1 = %f\n", f); + pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; + } + //do a callback here? + } + } + + numPoolConstraints = m_tmpSolverNonContactConstraintPool.size(); + for (j=0;jgetJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep; + fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep; + fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; + fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */ + + } + + constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse); + if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold()) + { + constr->setEnabled(false); + } + } + + + + for ( i=0;isetLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity+ + m_tmpSolverBodyPool[i].m_externalForceImpulse); + + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity+ + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); + + if (infoGlobal.m_splitImpulse) + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); + + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); + } + } + + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + + m_tmpSolverBodyPool.resizeNoInitialize(0); + return 0.f; +} + + + +/// btSequentialImpulseConstraintSolver Sequentially applies impulses +btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/) +{ + + BT_PROFILE("solveGroup"); + //you need to provide at least some bodies + + solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); + + solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); + + solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); + + return 0.f; +} + +void btSequentialImpulseConstraintSolver::reset() +{ + m_btSeed2 = 0; +} + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h new file mode 100644 index 00000000..180d2a38 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -0,0 +1,148 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + +class btIDebugDraw; +class btPersistentManifold; +class btDispatcher; +class btCollisionObject; +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btSolverBody.h" +#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" +#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" + +///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. +ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver +{ +protected: + btAlignedObjectArray m_tmpSolverBodyPool; + btConstraintArray m_tmpSolverContactConstraintPool; + btConstraintArray m_tmpSolverNonContactConstraintPool; + btConstraintArray m_tmpSolverContactFrictionConstraintPool; + btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; + + btAlignedObjectArray m_orderTmpConstraintPool; + btAlignedObjectArray m_orderNonContactConstraintPool; + btAlignedObjectArray m_orderFrictionConstraintPool; + btAlignedObjectArray m_tmpConstraintSizesPool; + int m_maxOverrideNumSolverIterations; + int m_fixedBodyId; + void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, + btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, + btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); + btSolverConstraint& addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); + + + void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); + + static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); + + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); + + ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction + unsigned long m_btSeed2; + + + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); + + virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + + void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + + + void resolveSplitPenetrationSIMD( + btSolverBody& bodyA,btSolverBody& bodyB, + const btSolverConstraint& contactConstraint); + + void resolveSplitPenetrationImpulseCacheFriendly( + btSolverBody& bodyA,btSolverBody& bodyB, + const btSolverConstraint& contactConstraint); + + //internal method + int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); + void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep); + + void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + +protected: + + + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); + virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btSequentialImpulseConstraintSolver(); + virtual ~btSequentialImpulseConstraintSolver(); + + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); + + + + ///clear internal cached data and reset random seed + virtual void reset(); + + unsigned long btRand2(); + + int btRandInt2 (int n); + + void setRandSeed(unsigned long seed) + { + m_btSeed2 = seed; + } + unsigned long getRandSeed() const + { + return m_btSeed2; + } + + + virtual btConstraintSolverType getSolverType() const + { + return BT_SEQUENTIAL_IMPULSE_SOLVER; + } +}; + + + + +#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp new file mode 100644 index 00000000..aff9f27f --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -0,0 +1,864 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 +*/ + + + +#include "btSliderConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" +#include + +#define USE_OFFSET_FOR_CONSTANT_FRAME true + +void btSliderConstraint::initParams() +{ + m_lowerLinLimit = btScalar(1.0); + m_upperLinLimit = btScalar(-1.0); + m_lowerAngLimit = btScalar(0.); + m_upperAngLimit = btScalar(0.); + m_softnessDirLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionDirLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingDirLin = btScalar(0.); + m_cfmDirLin = SLIDER_CONSTRAINT_DEF_CFM; + m_softnessDirAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionDirAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingDirAng = btScalar(0.); + m_cfmDirAng = SLIDER_CONSTRAINT_DEF_CFM; + m_softnessOrthoLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionOrthoLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingOrthoLin = SLIDER_CONSTRAINT_DEF_DAMPING; + m_cfmOrthoLin = SLIDER_CONSTRAINT_DEF_CFM; + m_softnessOrthoAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionOrthoAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingOrthoAng = SLIDER_CONSTRAINT_DEF_DAMPING; + m_cfmOrthoAng = SLIDER_CONSTRAINT_DEF_CFM; + m_softnessLimLin = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionLimLin = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingLimLin = SLIDER_CONSTRAINT_DEF_DAMPING; + m_cfmLimLin = SLIDER_CONSTRAINT_DEF_CFM; + m_softnessLimAng = SLIDER_CONSTRAINT_DEF_SOFTNESS; + m_restitutionLimAng = SLIDER_CONSTRAINT_DEF_RESTITUTION; + m_dampingLimAng = SLIDER_CONSTRAINT_DEF_DAMPING; + m_cfmLimAng = SLIDER_CONSTRAINT_DEF_CFM; + + m_poweredLinMotor = false; + m_targetLinMotorVelocity = btScalar(0.); + m_maxLinMotorForce = btScalar(0.); + m_accumulatedLinMotorImpulse = btScalar(0.0); + + m_poweredAngMotor = false; + m_targetAngMotorVelocity = btScalar(0.); + m_maxAngMotorForce = btScalar(0.); + m_accumulatedAngMotorImpulse = btScalar(0.0); + + m_flags = 0; + m_flags = 0; + + m_useOffsetForConstraintFrame = USE_OFFSET_FOR_CONSTANT_FRAME; + + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); +} + + + + + +btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) + : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB), + m_useSolveConstraintObsolete(false), + m_frameInA(frameInA), + m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameA) +{ + initParams(); +} + + + +btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA) + : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, getFixedBody(), rbB), + m_useSolveConstraintObsolete(false), + m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameA) +{ + ///not providing rigidbody A means implicitly using worldspace for body A + m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB; +// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin()); + + initParams(); +} + + + + + + +void btSliderConstraint::getInfo1(btConstraintInfo1* info) +{ + if (m_useSolveConstraintObsolete) + { + info->m_numConstraintRows = 0; + info->nub = 0; + } + else + { + info->m_numConstraintRows = 4; // Fixed 2 linear + 2 angular + info->nub = 2; + //prepare constraint + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + testAngLimits(); + testLinLimits(); + if(getSolveLinLimit() || getPoweredLinMotor()) + { + info->m_numConstraintRows++; // limit 3rd linear as well + info->nub--; + } + if(getSolveAngLimit() || getPoweredAngMotor()) + { + info->m_numConstraintRows++; // limit 3rd angular as well + info->nub--; + } + } +} + +void btSliderConstraint::getInfo1NonVirtual(btConstraintInfo1* info) +{ + + info->m_numConstraintRows = 6; // Fixed 2 linear + 2 angular + 1 limit (even if not used) + info->nub = 0; +} + +void btSliderConstraint::getInfo2(btConstraintInfo2* info) +{ + getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(), m_rbA.getInvMass(),m_rbB.getInvMass()); +} + + + + + + + +void btSliderConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB) +{ + if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete)) + { + m_calculatedTransformA = transA * m_frameInA; + m_calculatedTransformB = transB * m_frameInB; + } + else + { + m_calculatedTransformA = transB * m_frameInB; + m_calculatedTransformB = transA * m_frameInA; + } + m_realPivotAInW = m_calculatedTransformA.getOrigin(); + m_realPivotBInW = m_calculatedTransformB.getOrigin(); + m_sliderAxis = m_calculatedTransformA.getBasis().getColumn(0); // along X + if(m_useLinearReferenceFrameA || m_useSolveConstraintObsolete) + { + m_delta = m_realPivotBInW - m_realPivotAInW; + } + else + { + m_delta = m_realPivotAInW - m_realPivotBInW; + } + m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis; + btVector3 normalWorld; + int i; + //linear part + for(i = 0; i < 3; i++) + { + normalWorld = m_calculatedTransformA.getBasis().getColumn(i); + m_depth[i] = m_delta.dot(normalWorld); + } +} + + + +void btSliderConstraint::testLinLimits(void) +{ + m_solveLinLim = false; + m_linPos = m_depth[0]; + if(m_lowerLinLimit <= m_upperLinLimit) + { + if(m_depth[0] > m_upperLinLimit) + { + m_depth[0] -= m_upperLinLimit; + m_solveLinLim = true; + } + else if(m_depth[0] < m_lowerLinLimit) + { + m_depth[0] -= m_lowerLinLimit; + m_solveLinLim = true; + } + else + { + m_depth[0] = btScalar(0.); + } + } + else + { + m_depth[0] = btScalar(0.); + } +} + + + +void btSliderConstraint::testAngLimits(void) +{ + m_angDepth = btScalar(0.); + m_solveAngLim = false; + if(m_lowerAngLimit <= m_upperAngLimit) + { + const btVector3 axisA0 = m_calculatedTransformA.getBasis().getColumn(1); + const btVector3 axisA1 = m_calculatedTransformA.getBasis().getColumn(2); + const btVector3 axisB0 = m_calculatedTransformB.getBasis().getColumn(1); +// btScalar rot = btAtan2Fast(axisB0.dot(axisA1), axisB0.dot(axisA0)); + btScalar rot = btAtan2(axisB0.dot(axisA1), axisB0.dot(axisA0)); + rot = btAdjustAngleToLimits(rot, m_lowerAngLimit, m_upperAngLimit); + m_angPos = rot; + if(rot < m_lowerAngLimit) + { + m_angDepth = rot - m_lowerAngLimit; + m_solveAngLim = true; + } + else if(rot > m_upperAngLimit) + { + m_angDepth = rot - m_upperAngLimit; + m_solveAngLim = true; + } + } +} + +btVector3 btSliderConstraint::getAncorInA(void) +{ + btVector3 ancorInA; + ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis; + ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA; + return ancorInA; +} + + + +btVector3 btSliderConstraint::getAncorInB(void) +{ + btVector3 ancorInB; + ancorInB = m_frameInB.getOrigin(); + return ancorInB; +} + + +void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA,const btTransform& transB, const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass ) +{ + const btTransform& trA = getCalculatedTransformA(); + const btTransform& trB = getCalculatedTransformB(); + + btAssert(!m_useSolveConstraintObsolete); + int i, s = info->rowskip; + + btScalar signFact = m_useLinearReferenceFrameA ? btScalar(1.0f) : btScalar(-1.0f); + + // difference between frames in WCS + btVector3 ofs = trB.getOrigin() - trA.getOrigin(); + // now get weight factors depending on masses + btScalar miA = rbAinvMass; + btScalar miB = rbBinvMass; + bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON); + btScalar miS = miA + miB; + btScalar factA, factB; + if(miS > btScalar(0.f)) + { + factA = miB / miS; + } + else + { + factA = btScalar(0.5f); + } + factB = btScalar(1.0f) - factA; + btVector3 ax1, p, q; + btVector3 ax1A = trA.getBasis().getColumn(0); + btVector3 ax1B = trB.getBasis().getColumn(0); + if(m_useOffsetForConstraintFrame) + { + // get the desired direction of slider axis + // as weighted sum of X-orthos of frameA and frameB in WCS + ax1 = ax1A * factA + ax1B * factB; + ax1.normalize(); + // construct two orthos to slider axis + btPlaneSpace1 (ax1, p, q); + } + else + { // old way - use frameA + ax1 = trA.getBasis().getColumn(0); + // get 2 orthos to slider axis (Y, Z) + p = trA.getBasis().getColumn(1); + q = trA.getBasis().getColumn(2); + } + // make rotations around these orthos equal + // the slider axis should be the only unconstrained + // rotational axis, the angular velocity of the two bodies perpendicular to + // the slider axis should be equal. thus the constraint equations are + // p*w1 - p*w2 = 0 + // q*w1 - q*w2 = 0 + // where p and q are unit vectors normal to the slider axis, and w1 and w2 + // are the angular velocity vectors of the two bodies. + info->m_J1angularAxis[0] = p[0]; + info->m_J1angularAxis[1] = p[1]; + info->m_J1angularAxis[2] = p[2]; + info->m_J1angularAxis[s+0] = q[0]; + info->m_J1angularAxis[s+1] = q[1]; + info->m_J1angularAxis[s+2] = q[2]; + + info->m_J2angularAxis[0] = -p[0]; + info->m_J2angularAxis[1] = -p[1]; + info->m_J2angularAxis[2] = -p[2]; + info->m_J2angularAxis[s+0] = -q[0]; + info->m_J2angularAxis[s+1] = -q[1]; + info->m_J2angularAxis[s+2] = -q[2]; + // compute the right hand side of the constraint equation. set relative + // body velocities along p and q to bring the slider back into alignment. + // if ax1A,ax1B are the unit length slider axes as computed from bodyA and + // bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2). + // if "theta" is the angle between ax1 and ax2, we need an angular velocity + // along u to cover angle erp*theta in one step : + // |angular_velocity| = angle/time = erp*theta / stepsize + // = (erp*fps) * theta + // angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2| + // = (erp*fps) * theta * (ax1 x ax2) / sin(theta) + // ...as ax1 and ax2 are unit length. if theta is smallish, + // theta ~= sin(theta), so + // angular_velocity = (erp*fps) * (ax1 x ax2) + // ax1 x ax2 is in the plane space of ax1, so we project the angular + // velocity to p and q to find the right hand side. +// btScalar k = info->fps * info->erp * getSoftnessOrthoAng(); + btScalar currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTANG) ? m_softnessOrthoAng : m_softnessOrthoAng * info->erp; + btScalar k = info->fps * currERP; + + btVector3 u = ax1A.cross(ax1B); + info->m_constraintError[0] = k * u.dot(p); + info->m_constraintError[s] = k * u.dot(q); + if(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG) + { + info->cfm[0] = m_cfmOrthoAng; + info->cfm[s] = m_cfmOrthoAng; + } + + int nrow = 1; // last filled row + int srow; + btScalar limit_err; + int limit; + int powered; + + // next two rows. + // we want: velA + wA x relA == velB + wB x relB ... but this would + // result in three equations, so we project along two orthos to the slider axis + + btTransform bodyA_trans = transA; + btTransform bodyB_trans = transB; + nrow++; + int s2 = nrow * s; + nrow++; + int s3 = nrow * s; + btVector3 tmpA(0,0,0), tmpB(0,0,0), relA(0,0,0), relB(0,0,0), c(0,0,0); + if(m_useOffsetForConstraintFrame) + { + // get vector from bodyB to frameB in WCS + relB = trB.getOrigin() - bodyB_trans.getOrigin(); + // get its projection to slider axis + btVector3 projB = ax1 * relB.dot(ax1); + // get vector directed from bodyB to slider axis (and orthogonal to it) + btVector3 orthoB = relB - projB; + // same for bodyA + relA = trA.getOrigin() - bodyA_trans.getOrigin(); + btVector3 projA = ax1 * relA.dot(ax1); + btVector3 orthoA = relA - projA; + // get desired offset between frames A and B along slider axis + btScalar sliderOffs = m_linPos - m_depth[0]; + // desired vector from projection of center of bodyA to projection of center of bodyB to slider axis + btVector3 totalDist = projA + ax1 * sliderOffs - projB; + // get offset vectors relA and relB + relA = orthoA + totalDist * factA; + relB = orthoB - totalDist * factB; + // now choose average ortho to slider axis + p = orthoB * factA + orthoA * factB; + btScalar len2 = p.length2(); + if(len2 > SIMD_EPSILON) + { + p /= btSqrt(len2); + } + else + { + p = trA.getBasis().getColumn(1); + } + // make one more ortho + q = ax1.cross(p); + // fill two rows + tmpA = relA.cross(p); + tmpB = relB.cross(p); + for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = -tmpB[i]; + tmpA = relA.cross(q); + tmpB = relB.cross(q); + if(hasStaticBody && getSolveAngLimit()) + { // to make constraint between static and dynamic objects more rigid + // remove wA (or wB) from equation if angular limit is hit + tmpB *= factB; + tmpA *= factA; + } + for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = tmpA[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i]; + for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i]; + for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i]; + } + else + { // old way - maybe incorrect if bodies are not on the slider axis + // see discussion "Bug in slider constraint" http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4024&start=0 + c = bodyB_trans.getOrigin() - bodyA_trans.getOrigin(); + btVector3 tmp = c.cross(p); + for (i=0; i<3; i++) info->m_J1angularAxis[s2+i] = factA*tmp[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s2+i] = factB*tmp[i]; + tmp = c.cross(q); + for (i=0; i<3; i++) info->m_J1angularAxis[s3+i] = factA*tmp[i]; + for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = factB*tmp[i]; + + for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i]; + for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i]; + for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i]; + } + // compute two elements of right hand side + + // k = info->fps * info->erp * getSoftnessOrthoLin(); + currERP = (m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN) ? m_softnessOrthoLin : m_softnessOrthoLin * info->erp; + k = info->fps * currERP; + + btScalar rhs = k * p.dot(ofs); + info->m_constraintError[s2] = rhs; + rhs = k * q.dot(ofs); + info->m_constraintError[s3] = rhs; + if(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN) + { + info->cfm[s2] = m_cfmOrthoLin; + info->cfm[s3] = m_cfmOrthoLin; + } + + + // check linear limits + limit_err = btScalar(0.0); + limit = 0; + if(getSolveLinLimit()) + { + limit_err = getLinDepth() * signFact; + limit = (limit_err > btScalar(0.0)) ? 2 : 1; + } + powered = 0; + if(getPoweredLinMotor()) + { + powered = 1; + } + // if the slider has joint limits or motor, add in the extra row + if (limit || powered) + { + nrow++; + srow = nrow * info->rowskip; + info->m_J1linearAxis[srow+0] = ax1[0]; + info->m_J1linearAxis[srow+1] = ax1[1]; + info->m_J1linearAxis[srow+2] = ax1[2]; + info->m_J2linearAxis[srow+0] = -ax1[0]; + info->m_J2linearAxis[srow+1] = -ax1[1]; + info->m_J2linearAxis[srow+2] = -ax1[2]; + // linear torque decoupling step: + // + // we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies + // do not create a torque couple. in other words, the points that the + // constraint force is applied at must lie along the same ax1 axis. + // a torque couple will result in limited slider-jointed free + // bodies from gaining angular momentum. + if(m_useOffsetForConstraintFrame) + { + // this is needed only when bodyA and bodyB are both dynamic. + if(!hasStaticBody) + { + tmpA = relA.cross(ax1); + tmpB = relB.cross(ax1); + info->m_J1angularAxis[srow+0] = tmpA[0]; + info->m_J1angularAxis[srow+1] = tmpA[1]; + info->m_J1angularAxis[srow+2] = tmpA[2]; + info->m_J2angularAxis[srow+0] = -tmpB[0]; + info->m_J2angularAxis[srow+1] = -tmpB[1]; + info->m_J2angularAxis[srow+2] = -tmpB[2]; + } + } + else + { // The old way. May be incorrect if bodies are not on the slider axis + btVector3 ltd; // Linear Torque Decoupling vector (a torque) + ltd = c.cross(ax1); + info->m_J1angularAxis[srow+0] = factA*ltd[0]; + info->m_J1angularAxis[srow+1] = factA*ltd[1]; + info->m_J1angularAxis[srow+2] = factA*ltd[2]; + info->m_J2angularAxis[srow+0] = factB*ltd[0]; + info->m_J2angularAxis[srow+1] = factB*ltd[1]; + info->m_J2angularAxis[srow+2] = factB*ltd[2]; + } + // right-hand part + btScalar lostop = getLowerLinLimit(); + btScalar histop = getUpperLinLimit(); + if(limit && (lostop == histop)) + { // the joint motor is ineffective + powered = 0; + } + info->m_constraintError[srow] = 0.; + info->m_lowerLimit[srow] = 0.; + info->m_upperLimit[srow] = 0.; + currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN) ? m_softnessLimLin : info->erp; + if(powered) + { + if(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN) + { + info->cfm[srow] = m_cfmDirLin; + } + btScalar tag_vel = getTargetLinMotorVelocity(); + btScalar mot_fact = getMotorFactor(m_linPos, m_lowerLinLimit, m_upperLinLimit, tag_vel, info->fps * currERP); + info->m_constraintError[srow] -= signFact * mot_fact * getTargetLinMotorVelocity(); + info->m_lowerLimit[srow] += -getMaxLinMotorForce() * info->fps; + info->m_upperLimit[srow] += getMaxLinMotorForce() * info->fps; + } + if(limit) + { + k = info->fps * currERP; + info->m_constraintError[srow] += k * limit_err; + if(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN) + { + info->cfm[srow] = m_cfmLimLin; + } + if(lostop == histop) + { // limited low and high simultaneously + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else if(limit == 1) + { // low limit + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + else + { // high limit + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + // bounce (we'll use slider parameter abs(1.0 - m_dampingLimLin) for that) + btScalar bounce = btFabs(btScalar(1.0) - getDampingLimLin()); + if(bounce > btScalar(0.0)) + { + btScalar vel = linVelA.dot(ax1); + vel -= linVelB.dot(ax1); + vel *= signFact; + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if(limit == 1) + { // low limit + if(vel < 0) + { + btScalar newc = -bounce * vel; + if (newc > info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + else + { // high limit - all those computations are reversed + if(vel > 0) + { + btScalar newc = -bounce * vel; + if(newc < info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + } + info->m_constraintError[srow] *= getSoftnessLimLin(); + } // if(limit) + } // if linear limit + // check angular limits + limit_err = btScalar(0.0); + limit = 0; + if(getSolveAngLimit()) + { + limit_err = getAngDepth(); + limit = (limit_err > btScalar(0.0)) ? 1 : 2; + } + // if the slider has joint limits, add in the extra row + powered = 0; + if(getPoweredAngMotor()) + { + powered = 1; + } + if(limit || powered) + { + nrow++; + srow = nrow * info->rowskip; + info->m_J1angularAxis[srow+0] = ax1[0]; + info->m_J1angularAxis[srow+1] = ax1[1]; + info->m_J1angularAxis[srow+2] = ax1[2]; + + info->m_J2angularAxis[srow+0] = -ax1[0]; + info->m_J2angularAxis[srow+1] = -ax1[1]; + info->m_J2angularAxis[srow+2] = -ax1[2]; + + btScalar lostop = getLowerAngLimit(); + btScalar histop = getUpperAngLimit(); + if(limit && (lostop == histop)) + { // the joint motor is ineffective + powered = 0; + } + currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp; + if(powered) + { + if(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG) + { + info->cfm[srow] = m_cfmDirAng; + } + btScalar mot_fact = getMotorFactor(m_angPos, m_lowerAngLimit, m_upperAngLimit, getTargetAngMotorVelocity(), info->fps * currERP); + info->m_constraintError[srow] = mot_fact * getTargetAngMotorVelocity(); + info->m_lowerLimit[srow] = -getMaxAngMotorForce() * info->fps; + info->m_upperLimit[srow] = getMaxAngMotorForce() * info->fps; + } + if(limit) + { + k = info->fps * currERP; + info->m_constraintError[srow] += k * limit_err; + if(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG) + { + info->cfm[srow] = m_cfmLimAng; + } + if(lostop == histop) + { + // limited low and high simultaneously + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else if(limit == 1) + { // low limit + info->m_lowerLimit[srow] = 0; + info->m_upperLimit[srow] = SIMD_INFINITY; + } + else + { // high limit + info->m_lowerLimit[srow] = -SIMD_INFINITY; + info->m_upperLimit[srow] = 0; + } + // bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that) + btScalar bounce = btFabs(btScalar(1.0) - getDampingLimAng()); + if(bounce > btScalar(0.0)) + { + btScalar vel = m_rbA.getAngularVelocity().dot(ax1); + vel -= m_rbB.getAngularVelocity().dot(ax1); + // only apply bounce if the velocity is incoming, and if the + // resulting c[] exceeds what we already have. + if(limit == 1) + { // low limit + if(vel < 0) + { + btScalar newc = -bounce * vel; + if(newc > info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + else + { // high limit - all those computations are reversed + if(vel > 0) + { + btScalar newc = -bounce * vel; + if(newc < info->m_constraintError[srow]) + { + info->m_constraintError[srow] = newc; + } + } + } + } + info->m_constraintError[srow] *= getSoftnessLimAng(); + } // if(limit) + } // if angular limit or powered +} + + +///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). +///If no axis is provided, it uses the default axis for this constraint. +void btSliderConstraint::setParam(int num, btScalar value, int axis) +{ + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + if(axis < 1) + { + m_softnessLimLin = value; + m_flags |= BT_SLIDER_FLAGS_ERP_LIMLIN; + } + else if(axis < 3) + { + m_softnessOrthoLin = value; + m_flags |= BT_SLIDER_FLAGS_ERP_ORTLIN; + } + else if(axis == 3) + { + m_softnessLimAng = value; + m_flags |= BT_SLIDER_FLAGS_ERP_LIMANG; + } + else if(axis < 6) + { + m_softnessOrthoAng = value; + m_flags |= BT_SLIDER_FLAGS_ERP_ORTANG; + } + else + { + btAssertConstrParams(0); + } + break; + case BT_CONSTRAINT_CFM : + if(axis < 1) + { + m_cfmDirLin = value; + m_flags |= BT_SLIDER_FLAGS_CFM_DIRLIN; + } + else if(axis == 3) + { + m_cfmDirAng = value; + m_flags |= BT_SLIDER_FLAGS_CFM_DIRANG; + } + else + { + btAssertConstrParams(0); + } + break; + case BT_CONSTRAINT_STOP_CFM : + if(axis < 1) + { + m_cfmLimLin = value; + m_flags |= BT_SLIDER_FLAGS_CFM_LIMLIN; + } + else if(axis < 3) + { + m_cfmOrthoLin = value; + m_flags |= BT_SLIDER_FLAGS_CFM_ORTLIN; + } + else if(axis == 3) + { + m_cfmLimAng = value; + m_flags |= BT_SLIDER_FLAGS_CFM_LIMANG; + } + else if(axis < 6) + { + m_cfmOrthoAng = value; + m_flags |= BT_SLIDER_FLAGS_CFM_ORTANG; + } + else + { + btAssertConstrParams(0); + } + break; + } +} + +///return the local value of parameter +btScalar btSliderConstraint::getParam(int num, int axis) const +{ + btScalar retVal(SIMD_INFINITY); + switch(num) + { + case BT_CONSTRAINT_STOP_ERP : + if(axis < 1) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMLIN); + retVal = m_softnessLimLin; + } + else if(axis < 3) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTLIN); + retVal = m_softnessOrthoLin; + } + else if(axis == 3) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_LIMANG); + retVal = m_softnessLimAng; + } + else if(axis < 6) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_ERP_ORTANG); + retVal = m_softnessOrthoAng; + } + else + { + btAssertConstrParams(0); + } + break; + case BT_CONSTRAINT_CFM : + if(axis < 1) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRLIN); + retVal = m_cfmDirLin; + } + else if(axis == 3) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_DIRANG); + retVal = m_cfmDirAng; + } + else + { + btAssertConstrParams(0); + } + break; + case BT_CONSTRAINT_STOP_CFM : + if(axis < 1) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMLIN); + retVal = m_cfmLimLin; + } + else if(axis < 3) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTLIN); + retVal = m_cfmOrthoLin; + } + else if(axis == 3) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_LIMANG); + retVal = m_cfmLimAng; + } + else if(axis < 6) + { + btAssertConstrParams(m_flags & BT_SLIDER_FLAGS_CFM_ORTANG); + retVal = m_cfmOrthoAng; + } + else + { + btAssertConstrParams(0); + } + break; + } + return retVal; +} + + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h new file mode 100644 index 00000000..57ebb47d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -0,0 +1,361 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 + +TODO: + - add clamping od accumulated impulse to improve stability + - add conversion for ODE constraint solver +*/ + +#ifndef BT_SLIDER_CONSTRAINT_H +#define BT_SLIDER_CONSTRAINT_H + +#ifdef BT_USE_DOUBLE_PRECISION +#define btSliderConstraintData2 btSliderConstraintDoubleData +#define btSliderConstraintDataName "btSliderConstraintDoubleData" +#else +#define btSliderConstraintData2 btSliderConstraintData +#define btSliderConstraintDataName "btSliderConstraintData" +#endif //BT_USE_DOUBLE_PRECISION + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + + + +class btRigidBody; + + + +#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) +#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f)) + + +enum btSliderFlags +{ + BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0), + BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1), + BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2), + BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3), + BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4), + BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5), + BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6), + BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7), + BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8), + BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9), + BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10), + BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11) +}; + + +ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint +{ +protected: + ///for backwards compatibility during the transition to 'getInfo/getInfo2' + bool m_useSolveConstraintObsolete; + bool m_useOffsetForConstraintFrame; + btTransform m_frameInA; + btTransform m_frameInB; + // use frameA fo define limits, if true + bool m_useLinearReferenceFrameA; + // linear limits + btScalar m_lowerLinLimit; + btScalar m_upperLinLimit; + // angular limits + btScalar m_lowerAngLimit; + btScalar m_upperAngLimit; + // softness, restitution and damping for different cases + // DirLin - moving inside linear limits + // LimLin - hitting linear limit + // DirAng - moving inside angular limits + // LimAng - hitting angular limit + // OrthoLin, OrthoAng - against constraint axis + btScalar m_softnessDirLin; + btScalar m_restitutionDirLin; + btScalar m_dampingDirLin; + btScalar m_cfmDirLin; + + btScalar m_softnessDirAng; + btScalar m_restitutionDirAng; + btScalar m_dampingDirAng; + btScalar m_cfmDirAng; + + btScalar m_softnessLimLin; + btScalar m_restitutionLimLin; + btScalar m_dampingLimLin; + btScalar m_cfmLimLin; + + btScalar m_softnessLimAng; + btScalar m_restitutionLimAng; + btScalar m_dampingLimAng; + btScalar m_cfmLimAng; + + btScalar m_softnessOrthoLin; + btScalar m_restitutionOrthoLin; + btScalar m_dampingOrthoLin; + btScalar m_cfmOrthoLin; + + btScalar m_softnessOrthoAng; + btScalar m_restitutionOrthoAng; + btScalar m_dampingOrthoAng; + btScalar m_cfmOrthoAng; + + // for interlal use + bool m_solveLinLim; + bool m_solveAngLim; + + int m_flags; + + btJacobianEntry m_jacLin[3]; + btScalar m_jacLinDiagABInv[3]; + + btJacobianEntry m_jacAng[3]; + + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + + btVector3 m_sliderAxis; + btVector3 m_realPivotAInW; + btVector3 m_realPivotBInW; + btVector3 m_projPivotInW; + btVector3 m_delta; + btVector3 m_depth; + btVector3 m_relPosA; + btVector3 m_relPosB; + + btScalar m_linPos; + btScalar m_angPos; + + btScalar m_angDepth; + btScalar m_kAngle; + + bool m_poweredLinMotor; + btScalar m_targetLinMotorVelocity; + btScalar m_maxLinMotorForce; + btScalar m_accumulatedLinMotorImpulse; + + bool m_poweredAngMotor; + btScalar m_targetAngMotorVelocity; + btScalar m_maxAngMotorForce; + btScalar m_accumulatedAngMotorImpulse; + + //------------------------ + void initParams(); +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // constructors + btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA); + + // overrides + + virtual void getInfo1 (btConstraintInfo1* info); + + void getInfo1NonVirtual(btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass); + + + // access + const btRigidBody& getRigidBodyA() const { return m_rbA; } + const btRigidBody& getRigidBodyB() const { return m_rbB; } + const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } + const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } + const btTransform & getFrameOffsetA() const { return m_frameInA; } + const btTransform & getFrameOffsetB() const { return m_frameInB; } + btTransform & getFrameOffsetA() { return m_frameInA; } + btTransform & getFrameOffsetB() { return m_frameInB; } + btScalar getLowerLinLimit() { return m_lowerLinLimit; } + void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } + btScalar getUpperLinLimit() { return m_upperLinLimit; } + void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } + btScalar getLowerAngLimit() { return m_lowerAngLimit; } + void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); } + btScalar getUpperAngLimit() { return m_upperAngLimit; } + void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); } + bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } + btScalar getSoftnessDirLin() { return m_softnessDirLin; } + btScalar getRestitutionDirLin() { return m_restitutionDirLin; } + btScalar getDampingDirLin() { return m_dampingDirLin ; } + btScalar getSoftnessDirAng() { return m_softnessDirAng; } + btScalar getRestitutionDirAng() { return m_restitutionDirAng; } + btScalar getDampingDirAng() { return m_dampingDirAng; } + btScalar getSoftnessLimLin() { return m_softnessLimLin; } + btScalar getRestitutionLimLin() { return m_restitutionLimLin; } + btScalar getDampingLimLin() { return m_dampingLimLin; } + btScalar getSoftnessLimAng() { return m_softnessLimAng; } + btScalar getRestitutionLimAng() { return m_restitutionLimAng; } + btScalar getDampingLimAng() { return m_dampingLimAng; } + btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } + btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } + btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } + btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } + btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } + btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } + void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } + void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } + void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } + void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } + void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } + void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } + void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } + void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } + void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } + void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } + void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } + void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } + void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } + void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } + void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } + void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } + void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } + void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } + void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } + bool getPoweredLinMotor() { return m_poweredLinMotor; } + void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } + btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } + void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } + btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } + void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } + bool getPoweredAngMotor() { return m_poweredAngMotor; } + void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } + btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } + void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } + btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } + + btScalar getLinearPos() const { return m_linPos; } + btScalar getAngularPos() const { return m_angPos; } + + + + // access for ODE solver + bool getSolveLinLimit() { return m_solveLinLim; } + btScalar getLinDepth() { return m_depth[0]; } + bool getSolveAngLimit() { return m_solveAngLim; } + btScalar getAngDepth() { return m_angDepth; } + // shared code used by ODE solver + void calculateTransforms(const btTransform& transA,const btTransform& transB); + void testLinLimits(); + void testAngLimits(); + // access for PE Solver + btVector3 getAncorInA(); + btVector3 getAncorInB(); + // access for UseFrameOffset + bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } + void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } + + void setFrames(const btTransform& frameA, const btTransform& frameB) + { + m_frameInA=frameA; + m_frameInB=frameB; + calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform()); + buildJacobian(); + } + + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1); + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + + +}; + + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 + + +struct btSliderConstraintData +{ + btTypedConstraintData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + + float m_linearUpperLimit; + float m_linearLowerLimit; + + float m_angularUpperLimit; + float m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + +}; + + +struct btSliderConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + + double m_linearUpperLimit; + double m_linearLowerLimit; + + double m_angularUpperLimit; + double m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + +}; + +SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btSliderConstraintData2); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + + btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer; + btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer); + + m_frameInA.serialize(sliderData->m_rbAFrame); + m_frameInB.serialize(sliderData->m_rbBFrame); + + sliderData->m_linearUpperLimit = m_upperLinLimit; + sliderData->m_linearLowerLimit = m_lowerLinLimit; + + sliderData->m_angularUpperLimit = m_upperAngLimit; + sliderData->m_angularLowerLimit = m_lowerAngLimit; + + sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA; + sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame; + + return btSliderConstraintDataName; +} + + + +#endif //BT_SLIDER_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp new file mode 100644 index 00000000..0c7dbd66 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp @@ -0,0 +1,255 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btSolve2LinearConstraint.h" + +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" + + +void btSolve2LinearConstraint::resolveUnilateralPairConstraint( + btRigidBody* body1, + btRigidBody* body2, + + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1) +{ + (void)linvelA; + (void)linvelB; + (void)angvelB; + (void)angvelA; + + + + imp0 = btScalar(0.); + imp1 = btScalar(0.); + + btScalar len = btFabs(normalA.length()) - btScalar(1.); + if (btFabs(len) >= SIMD_EPSILON) + return; + + btAssert(len < SIMD_EPSILON); + + + //this jacobian entry could be re-used for all iterations + btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA, + invInertiaBDiag,invMassB); + btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA, + invInertiaBDiag,invMassB); + + //const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB); + //const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB); + + const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1)); + const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1)); + +// btScalar penetrationImpulse = (depth*contactTau*timeCorrection) * massTerm;//jacDiagABInv + btScalar massTerm = btScalar(1.) / (invMassA + invMassB); + + + // calculate rhs (or error) terms + const btScalar dv0 = depthA * m_tau * massTerm - vel0 * m_damping; + const btScalar dv1 = depthB * m_tau * massTerm - vel1 * m_damping; + + + // dC/dv * dv = -C + + // jacobian * impulse = -error + // + + //impulse = jacobianInverse * -error + + // inverting 2x2 symmetric system (offdiagonal are equal!) + // + + + btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB); + btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); + + //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; + //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; + + imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; + imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; + + //[a b] [d -c] + //[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc) + + //[jA nD] * [imp0] = [dv0] + //[nD jB] [imp1] [dv1] + +} + + + +void btSolve2LinearConstraint::resolveBilateralPairConstraint( + btRigidBody* body1, + btRigidBody* body2, + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1) +{ + + (void)linvelA; + (void)linvelB; + (void)angvelA; + (void)angvelB; + + + + imp0 = btScalar(0.); + imp1 = btScalar(0.); + + btScalar len = btFabs(normalA.length()) - btScalar(1.); + if (btFabs(len) >= SIMD_EPSILON) + return; + + btAssert(len < SIMD_EPSILON); + + + //this jacobian entry could be re-used for all iterations + btJacobianEntry jacA(world2A,world2B,rel_posA1,rel_posA2,normalA,invInertiaADiag,invMassA, + invInertiaBDiag,invMassB); + btJacobianEntry jacB(world2A,world2B,rel_posB1,rel_posB2,normalB,invInertiaADiag,invMassA, + invInertiaBDiag,invMassB); + + //const btScalar vel0 = jacA.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB); + //const btScalar vel1 = jacB.getRelativeVelocity(linvelA,angvelA,linvelB,angvelB); + + const btScalar vel0 = normalA.dot(body1->getVelocityInLocalPoint(rel_posA1)-body2->getVelocityInLocalPoint(rel_posA1)); + const btScalar vel1 = normalB.dot(body1->getVelocityInLocalPoint(rel_posB1)-body2->getVelocityInLocalPoint(rel_posB1)); + + // calculate rhs (or error) terms + const btScalar dv0 = depthA * m_tau - vel0 * m_damping; + const btScalar dv1 = depthB * m_tau - vel1 * m_damping; + + // dC/dv * dv = -C + + // jacobian * impulse = -error + // + + //impulse = jacobianInverse * -error + + // inverting 2x2 symmetric system (offdiagonal are equal!) + // + + + btScalar nonDiag = jacA.getNonDiagonal(jacB,invMassA,invMassB); + btScalar invDet = btScalar(1.0) / (jacA.getDiagonal() * jacB.getDiagonal() - nonDiag * nonDiag ); + + //imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; + //imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; + + imp0 = dv0 * jacA.getDiagonal() * invDet + dv1 * -nonDiag * invDet; + imp1 = dv1 * jacB.getDiagonal() * invDet + dv0 * - nonDiag * invDet; + + //[a b] [d -c] + //[c d] inverse = (1 / determinant) * [-b a] where determinant is (ad - bc) + + //[jA nD] * [imp0] = [dv0] + //[nD jB] [imp1] [dv1] + + if ( imp0 > btScalar(0.0)) + { + if ( imp1 > btScalar(0.0) ) + { + //both positive + } + else + { + imp1 = btScalar(0.); + + // now imp0>0 imp1<0 + imp0 = dv0 / jacA.getDiagonal(); + if ( imp0 > btScalar(0.0) ) + { + } else + { + imp0 = btScalar(0.); + } + } + } + else + { + imp0 = btScalar(0.); + + imp1 = dv1 / jacB.getDiagonal(); + if ( imp1 <= btScalar(0.0) ) + { + imp1 = btScalar(0.); + // now imp0>0 imp1<0 + imp0 = dv0 / jacA.getDiagonal(); + if ( imp0 > btScalar(0.0) ) + { + } else + { + imp0 = btScalar(0.); + } + } else + { + } + } +} + + +/* +void btSolve2LinearConstraint::resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btMatrix3x3& invInertiaBWS, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1) +{ + +} +*/ + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h new file mode 100644 index 00000000..e8bfabf8 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOLVE_2LINEAR_CONSTRAINT_H +#define BT_SOLVE_2LINEAR_CONSTRAINT_H + +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btVector3.h" + + +class btRigidBody; + + + +/// constraint class used for lateral tyre friction. +class btSolve2LinearConstraint +{ + btScalar m_tau; + btScalar m_damping; + +public: + + btSolve2LinearConstraint(btScalar tau,btScalar damping) + { + m_tau = tau; + m_damping = damping; + } + // + // solve unilateral constraint (equality, direct method) + // + void resolveUnilateralPairConstraint( + btRigidBody* body0, + btRigidBody* body1, + + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + + + // + // solving 2x2 lcp problem (inequality, direct solution ) + // + void resolveBilateralPairConstraint( + btRigidBody* body0, + btRigidBody* body1, + const btMatrix3x3& world2A, + const btMatrix3x3& world2B, + + const btVector3& invInertiaADiag, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btVector3& invInertiaBDiag, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + +/* + void resolveAngularConstraint( const btMatrix3x3& invInertiaAWS, + const btScalar invMassA, + const btVector3& linvelA,const btVector3& angvelA, + const btVector3& rel_posA1, + const btMatrix3x3& invInertiaBWS, + const btScalar invMassB, + const btVector3& linvelB,const btVector3& angvelB, + const btVector3& rel_posA2, + + btScalar depthA, const btVector3& normalA, + const btVector3& rel_posB1,const btVector3& rel_posB2, + btScalar depthB, const btVector3& normalB, + btScalar& imp0,btScalar& imp1); + +*/ + +}; + +#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverBody.h new file mode 100644 index 00000000..27ccefe4 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -0,0 +1,306 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOLVER_BODY_H +#define BT_SOLVER_BODY_H + +class btRigidBody; +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" + +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btTransformUtil.h" + +///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision +#ifdef BT_USE_SSE +#define USE_SIMD 1 +#endif // + + +#ifdef USE_SIMD + +struct btSimdScalar +{ + SIMD_FORCE_INLINE btSimdScalar() + { + + } + + SIMD_FORCE_INLINE btSimdScalar(float fl) + :m_vec128 (_mm_set1_ps(fl)) + { + } + + SIMD_FORCE_INLINE btSimdScalar(__m128 v128) + :m_vec128(v128) + { + } + union + { + __m128 m_vec128; + float m_floats[4]; + int m_ints[4]; + btScalar m_unusedPadding; + }; + SIMD_FORCE_INLINE __m128 get128() + { + return m_vec128; + } + + SIMD_FORCE_INLINE const __m128 get128() const + { + return m_vec128; + } + + SIMD_FORCE_INLINE void set128(__m128 v128) + { + m_vec128 = v128; + } + + SIMD_FORCE_INLINE operator __m128() + { + return m_vec128; + } + SIMD_FORCE_INLINE operator const __m128() const + { + return m_vec128; + } + + SIMD_FORCE_INLINE operator float() const + { + return m_floats[0]; + } + +}; + +///@brief Return the elementwise product of two btSimdScalar +SIMD_FORCE_INLINE btSimdScalar +operator*(const btSimdScalar& v1, const btSimdScalar& v2) +{ + return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128())); +} + +///@brief Return the elementwise product of two btSimdScalar +SIMD_FORCE_INLINE btSimdScalar +operator+(const btSimdScalar& v1, const btSimdScalar& v2) +{ + return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128())); +} + + +#else +#define btSimdScalar btScalar +#endif + +///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. +ATTRIBUTE_ALIGNED16 (struct) btSolverBody +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + btTransform m_worldTransform; + btVector3 m_deltaLinearVelocity; + btVector3 m_deltaAngularVelocity; + btVector3 m_angularFactor; + btVector3 m_linearFactor; + btVector3 m_invMass; + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + btVector3 m_linearVelocity; + btVector3 m_angularVelocity; + btVector3 m_externalForceImpulse; + btVector3 m_externalTorqueImpulse; + + btRigidBody* m_originalBody; + void setWorldTransform(const btTransform& worldTransform) + { + m_worldTransform = worldTransform; + } + + const btTransform& getWorldTransform() const + { + return m_worldTransform; + } + + + + SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity ) const + { + if (m_originalBody) + velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity+m_externalTorqueImpulse).cross(rel_pos); + else + velocity.setValue(0,0,0); + } + + + SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const + { + if (m_originalBody) + velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos); + else + velocity.setValue(0,0,0); + } + + SIMD_FORCE_INLINE void getAngularVelocity(btVector3& 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 + SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) + { + if (m_originalBody) + { + m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor; + m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) + { + if (m_originalBody) + { + m_pushVelocity += linearComponent*impulseMagnitude*m_linearFactor; + m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + + + const btVector3& getDeltaLinearVelocity() const + { + return m_deltaLinearVelocity; + } + + const btVector3& getDeltaAngularVelocity() const + { + return m_deltaAngularVelocity; + } + + const btVector3& getPushVelocity() const + { + return m_pushVelocity; + } + + const btVector3& getTurnVelocity() const + { + return m_turnVelocity; + } + + + //////////////////////////////////////////////// + ///some internal methods, don't use them + + btVector3& internalGetDeltaLinearVelocity() + { + return m_deltaLinearVelocity; + } + + btVector3& internalGetDeltaAngularVelocity() + { + return m_deltaAngularVelocity; + } + + const btVector3& internalGetAngularFactor() const + { + return m_angularFactor; + } + + const btVector3& internalGetInvMass() const + { + return m_invMass; + } + + void internalSetInvMass(const btVector3& invMass) + { + m_invMass = invMass; + } + + btVector3& internalGetPushVelocity() + { + return m_pushVelocity; + } + + btVector3& internalGetTurnVelocity() + { + return m_turnVelocity; + } + + SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const + { + velocity = m_linearVelocity+m_deltaLinearVelocity + (m_angularVelocity+m_deltaAngularVelocity).cross(rel_pos); + } + + SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const + { + angVel = m_angularVelocity+m_deltaAngularVelocity; + } + + + //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position + SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude) + { + if (m_originalBody) + { + m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor; + m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor); + } + } + + + + + void writebackVelocity() + { + if (m_originalBody) + { + m_linearVelocity +=m_deltaLinearVelocity; + m_angularVelocity += m_deltaAngularVelocity; + + //m_originalBody->setCompanionId(-1); + } + } + + + void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp) + { + (void) timeStep; + if (m_originalBody) + { + m_linearVelocity += m_deltaLinearVelocity; + m_angularVelocity += m_deltaAngularVelocity; + + //correct the position/orientation based on push/turn recovery + btTransform 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) + { + // btQuaternion orn = m_worldTransform.getRotation(); + btTransformUtil::integrateTransform(m_worldTransform,m_pushVelocity,m_turnVelocity*splitImpulseTurnErp,timeStep,newTransform); + m_worldTransform = newTransform; + } + //m_worldTransform.setRotation(orn); + //m_originalBody->setCompanionId(-1); + } + } + + + +}; + +#endif //BT_SOLVER_BODY_H + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h new file mode 100644 index 00000000..5515e6b3 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -0,0 +1,80 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOLVER_CONSTRAINT_H +#define BT_SOLVER_CONSTRAINT_H + +class btRigidBody; +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" +#include "btJacobianEntry.h" +#include "LinearMath/btAlignedObjectArray.h" + +//#define NO_FRICTION_TANGENTIALS 1 +#include "btSolverBody.h" + + +///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. +ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal1; + + btVector3 m_relpos2CrossNormal; + btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always + + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + mutable btSimdScalar m_appliedPushImpulse; + mutable btSimdScalar m_appliedImpulse; + + btScalar m_friction; + btScalar m_jacDiagABInv; + btScalar m_rhs; + btScalar m_cfm; + + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_rhsPenetration; + union + { + void* m_originalContactPoint; + btScalar m_unusedPadding4; + int m_numRowsForNonContactConstraint; + }; + + int m_overrideNumSolverIterations; + int m_frictionIndex; + int m_solverBodyIdA; + int m_solverBodyIdB; + + + enum btSolverConstraintType + { + BT_SOLVER_CONTACT_1D = 0, + BT_SOLVER_FRICTION_1D + }; +}; + +typedef btAlignedObjectArray btConstraintArray; + + +#endif //BT_SOLVER_CONSTRAINT_H + + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp new file mode 100644 index 00000000..27fdd9d3 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -0,0 +1,222 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btTypedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btSerializer.h" + + +#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f) + +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) +:btTypedObject(type), +m_userConstraintType(-1), +m_userConstraintId(-1), +m_breakingImpulseThreshold(SIMD_INFINITY), +m_isEnabled(true), +m_needsFeedback(false), +m_overrideNumSolverIterations(-1), +m_rbA(rbA), +m_rbB(getFixedBody()), +m_appliedImpulse(btScalar(0.)), +m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE), +m_jointFeedback(0) +{ +} + + +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) +:btTypedObject(type), +m_userConstraintType(-1), +m_userConstraintId(-1), +m_breakingImpulseThreshold(SIMD_INFINITY), +m_isEnabled(true), +m_needsFeedback(false), +m_overrideNumSolverIterations(-1), +m_rbA(rbA), +m_rbB(rbB), +m_appliedImpulse(btScalar(0.)), +m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE), +m_jointFeedback(0) +{ +} + + + + +btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact) +{ + if(lowLim > uppLim) + { + return btScalar(1.0f); + } + else if(lowLim == uppLim) + { + return btScalar(0.0f); + } + btScalar lim_fact = btScalar(1.0f); + btScalar delta_max = vel / timeFact; + if(delta_max < btScalar(0.0f)) + { + if((pos >= lowLim) && (pos < (lowLim - delta_max))) + { + lim_fact = (lowLim - pos) / delta_max; + } + else if(pos < lowLim) + { + lim_fact = btScalar(0.0f); + } + else + { + lim_fact = btScalar(1.0f); + } + } + else if(delta_max > btScalar(0.0f)) + { + if((pos <= uppLim) && (pos > (uppLim - delta_max))) + { + lim_fact = (uppLim - pos) / delta_max; + } + else if(pos > uppLim) + { + lim_fact = btScalar(0.0f); + } + else + { + lim_fact = btScalar(1.0f); + } + } + else + { + lim_fact = btScalar(0.0f); + } + return lim_fact; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer; + + tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA); + tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB); + char* name = (char*) serializer->findNameForPointer(this); + tcd->m_name = (char*)serializer->getUniquePointer(name); + if (tcd->m_name) + { + serializer->serializeName(name); + } + + tcd->m_objectType = m_objectType; + tcd->m_needsFeedback = m_needsFeedback; + tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations; + tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold; + tcd->m_isEnabled = m_isEnabled? 1: 0; + + tcd->m_userConstraintId =m_userConstraintId; + tcd->m_userConstraintType =m_userConstraintType; + + tcd->m_appliedImpulse = m_appliedImpulse; + tcd->m_dbgDrawSize = m_dbgDrawSize; + + tcd->m_disableCollisionsBetweenLinkedBodies = false; + + int i; + for (i=0;im_disableCollisionsBetweenLinkedBodies = true; + for (i=0;im_disableCollisionsBetweenLinkedBodies = true; + + return btTypedConstraintDataName; +} + +btRigidBody& btTypedConstraint::getFixedBody() +{ + static btRigidBody s_fixed(0, 0,0); + s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); + return s_fixed; +} + + +void btAngularLimit::set(btScalar low, btScalar high, btScalar _softness, btScalar _biasFactor, btScalar _relaxationFactor) +{ + m_halfRange = (high - low) / 2.0f; + m_center = btNormalizeAngle(low + m_halfRange); + m_softness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; +} + +void btAngularLimit::test(const btScalar angle) +{ + m_correction = 0.0f; + m_sign = 0.0f; + m_solveLimit = false; + + if (m_halfRange >= 0.0f) + { + btScalar deviation = btNormalizeAngle(angle - m_center); + if (deviation < -m_halfRange) + { + m_solveLimit = true; + m_correction = - (deviation + m_halfRange); + m_sign = +1.0f; + } + else if (deviation > m_halfRange) + { + m_solveLimit = true; + m_correction = m_halfRange - deviation; + m_sign = -1.0f; + } + } +} + + +btScalar btAngularLimit::getError() const +{ + return m_correction * m_sign; +} + +void btAngularLimit::fit(btScalar& angle) const +{ + if (m_halfRange > 0.0f) + { + btScalar relativeAngle = btNormalizeAngle(angle - m_center); + if (!btEqual(relativeAngle, m_halfRange)) + { + if (relativeAngle > 0.0f) + { + angle = getHigh(); + } + else + { + angle = getLow(); + } + } + } +} + +btScalar btAngularLimit::getLow() const +{ + return btNormalizeAngle(m_center - m_halfRange); +} + +btScalar btAngularLimit::getHigh() const +{ + return btNormalizeAngle(m_center + m_halfRange); +} diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h new file mode 100644 index 00000000..b58f984d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -0,0 +1,544 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_TYPED_CONSTRAINT_H +#define BT_TYPED_CONSTRAINT_H + + +#include "LinearMath/btScalar.h" +#include "btSolverConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btTypedConstraintData2 btTypedConstraintDoubleData +#define btTypedConstraintDataName "btTypedConstraintDoubleData" +#else +#define btTypedConstraintData2 btTypedConstraintFloatData +#define btTypedConstraintDataName "btTypedConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + +class btSerializer; + +//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility +enum btTypedConstraintType +{ + POINT2POINT_CONSTRAINT_TYPE=3, + HINGE_CONSTRAINT_TYPE, + CONETWIST_CONSTRAINT_TYPE, + D6_CONSTRAINT_TYPE, + SLIDER_CONSTRAINT_TYPE, + CONTACT_CONSTRAINT_TYPE, + D6_SPRING_CONSTRAINT_TYPE, + GEAR_CONSTRAINT_TYPE, + FIXED_CONSTRAINT_TYPE, + MAX_CONSTRAINT_TYPE +}; + + +enum btConstraintParams +{ + BT_CONSTRAINT_ERP=1, + BT_CONSTRAINT_STOP_ERP, + BT_CONSTRAINT_CFM, + BT_CONSTRAINT_STOP_CFM +}; + +#if 1 + #define btAssertConstrParams(_par) btAssert(_par) +#else + #define btAssertConstrParams(_par) +#endif + + +ATTRIBUTE_ALIGNED16(struct) btJointFeedback +{ + btVector3 m_appliedForceBodyA; + btVector3 m_appliedTorqueBodyA; + btVector3 m_appliedForceBodyB; + btVector3 m_appliedTorqueBodyB; +}; + + +///TypedConstraint is the baseclass for Bullet constraints and vehicles +ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject +{ + int m_userConstraintType; + + union + { + int m_userConstraintId; + void* m_userConstraintPtr; + }; + + btScalar m_breakingImpulseThreshold; + bool m_isEnabled; + bool m_needsFeedback; + int m_overrideNumSolverIterations; + + + btTypedConstraint& operator=(btTypedConstraint& other) + { + btAssert(0); + (void) other; + return *this; + } + +protected: + btRigidBody& m_rbA; + btRigidBody& m_rbB; + btScalar m_appliedImpulse; + btScalar m_dbgDrawSize; + btJointFeedback* m_jointFeedback; + + ///internal method used by the constraint solver, don't use them directly + btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact); + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual ~btTypedConstraint() {}; + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA); + btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB); + + struct btConstraintInfo1 { + int m_numConstraintRows,nub; + }; + + static btRigidBody& getFixedBody(); + + struct btConstraintInfo2 { + // integrator parameters: frames per second (1/stepsize), default error + // reduction parameter (0..1). + btScalar fps,erp; + + // for the first and second body, pointers to two (linear and angular) + // n*3 jacobian sub matrices, stored by rows. these matrices will have + // been initialized to 0 on entry. if the second body is zero then the + // J2xx pointers may be 0. + btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis; + + // elements to jump from one row to the next in J's + int rowskip; + + // right hand sides of the equation J*v = c + cfm * lambda. cfm is the + // "constraint force mixing" vector. c is set to zero on entry, cfm is + // set to a constant value (typically very small or zero) value on entry. + btScalar *m_constraintError,*cfm; + + // lo and hi limits for variables (set to -/+ infinity on entry). + btScalar *m_lowerLimit,*m_upperLimit; + + // findex vector for variables. see the LCP solver interface for a + // description of what this does. this is set to -1 on entry. + // note that the returned indexes are relative to the first index of + // the constraint. + int *findex; + // number of solver iterations + int m_numIterations; + + //damping of the velocity + btScalar m_damping; + }; + + int getOverrideNumSolverIterations() const + { + return m_overrideNumSolverIterations; + } + + ///override the number of constraint solver iterations used to solve this constraint + ///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations + void setOverrideNumSolverIterations(int overideNumIterations) + { + m_overrideNumSolverIterations = overideNumIterations; + } + + ///internal method used by the constraint solver, don't use them directly + virtual void buildJacobian() {}; + + ///internal method used by the constraint solver, don't use them directly + virtual void setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep) + { + (void)ca; + (void)solverBodyA; + (void)solverBodyB; + (void)timeStep; + } + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo1 (btConstraintInfo1* info)=0; + + ///internal method used by the constraint solver, don't use them directly + virtual void getInfo2 (btConstraintInfo2* info)=0; + + ///internal method used by the constraint solver, don't use them directly + void internalSetAppliedImpulse(btScalar appliedImpulse) + { + m_appliedImpulse = appliedImpulse; + } + ///internal method used by the constraint solver, don't use them directly + btScalar internalGetAppliedImpulse() + { + return m_appliedImpulse; + } + + + btScalar getBreakingImpulseThreshold() const + { + return m_breakingImpulseThreshold; + } + + void setBreakingImpulseThreshold(btScalar threshold) + { + m_breakingImpulseThreshold = threshold; + } + + bool isEnabled() const + { + return m_isEnabled; + } + + void setEnabled(bool enabled) + { + m_isEnabled=enabled; + } + + + ///internal method used by the constraint solver, don't use them directly + virtual void solveConstraintObsolete(btSolverBody& /*bodyA*/,btSolverBody& /*bodyB*/,btScalar /*timeStep*/) {}; + + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + btRigidBody& getRigidBodyA() + { + return m_rbA; + } + btRigidBody& getRigidBodyB() + { + return m_rbB; + } + + int getUserConstraintType() const + { + return m_userConstraintType ; + } + + void setUserConstraintType(int userConstraintType) + { + m_userConstraintType = userConstraintType; + }; + + void setUserConstraintId(int uid) + { + m_userConstraintId = uid; + } + + int getUserConstraintId() const + { + return m_userConstraintId; + } + + void setUserConstraintPtr(void* ptr) + { + m_userConstraintPtr = ptr; + } + + void* getUserConstraintPtr() + { + return m_userConstraintPtr; + } + + void setJointFeedback(btJointFeedback* jointFeedback) + { + m_jointFeedback = jointFeedback; + } + + const btJointFeedback* getJointFeedback() const + { + return m_jointFeedback; + } + + btJointFeedback* getJointFeedback() + { + return m_jointFeedback; + } + + + int getUid() const + { + return m_userConstraintId; + } + + bool needsFeedback() const + { + return m_needsFeedback; + } + + ///enableFeedback will allow to read the applied linear and angular impulse + ///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information + void enableFeedback(bool needsFeedback) + { + m_needsFeedback = needsFeedback; + } + + ///getAppliedImpulse is an estimated total applied impulse. + ///This feedback could be used to determine breaking constraints or playing sounds. + btScalar getAppliedImpulse() const + { + btAssert(m_needsFeedback); + return m_appliedImpulse; + } + + btTypedConstraintType getConstraintType () const + { + return btTypedConstraintType(m_objectType); + } + + void setDbgDrawSize(btScalar dbgDrawSize) + { + m_dbgDrawSize = dbgDrawSize; + } + btScalar getDbgDrawSize() + { + return m_dbgDrawSize; + } + + ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). + ///If no axis is provided, it uses the default axis for this constraint. + virtual void setParam(int num, btScalar value, int axis = -1) = 0; + + ///return the local value of parameter + virtual btScalar getParam(int num, int axis = -1) const = 0; + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; + +}; + +// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits +// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI]) +SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians) +{ + if(angleLowerLimitInRadians >= angleUpperLimitInRadians) + { + return angleInRadians; + } + else if(angleInRadians < angleLowerLimitInRadians) + { + btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians)); + btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians)); + return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI); + } + else if(angleInRadians > angleUpperLimitInRadians) + { + btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians)); + btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians)); + return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians; + } + else + { + return angleInRadians; + } +} + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btTypedConstraintFloatData +{ + btRigidBodyFloatData *m_rbA; + btRigidBodyFloatData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + float m_appliedImpulse; + float m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + + float m_breakingImpulseThreshold; + int m_isEnabled; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 + +#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files +struct btTypedConstraintData +{ + btRigidBodyData *m_rbA; + btRigidBodyData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + float m_appliedImpulse; + float m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + + float m_breakingImpulseThreshold; + int m_isEnabled; + +}; +#endif //BACKWARDS_COMPATIBLE + +struct btTypedConstraintDoubleData +{ + btRigidBodyDoubleData *m_rbA; + btRigidBodyDoubleData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + double m_appliedImpulse; + double m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + + double m_breakingImpulseThreshold; + int m_isEnabled; + char padding[4]; + +}; + + +SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const +{ + return sizeof(btTypedConstraintData2); +} + + + +class btAngularLimit +{ +private: + btScalar + m_center, + m_halfRange, + m_softness, + m_biasFactor, + m_relaxationFactor, + m_correction, + m_sign; + + bool + m_solveLimit; + +public: + /// Default constructor initializes limit as inactive, allowing free constraint movement + btAngularLimit() + :m_center(0.0f), + m_halfRange(-1.0f), + m_softness(0.9f), + m_biasFactor(0.3f), + m_relaxationFactor(1.0f), + m_correction(0.0f), + m_sign(0.0f), + m_solveLimit(false) + {} + + /// Sets all limit's parameters. + /// When low > high limit becomes inactive. + /// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit + void set(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f); + + /// Checks conastaint angle against limit. If limit is active and the angle violates the limit + /// correction is calculated. + void test(const btScalar angle); + + /// Returns limit's softness + inline btScalar getSoftness() const + { + return m_softness; + } + + /// Returns limit's bias factor + inline btScalar getBiasFactor() const + { + return m_biasFactor; + } + + /// Returns limit's relaxation factor + inline btScalar getRelaxationFactor() const + { + return m_relaxationFactor; + } + + /// Returns correction value evaluated when test() was invoked + inline btScalar getCorrection() const + { + return m_correction; + } + + /// Returns sign value evaluated when test() was invoked + inline btScalar getSign() const + { + return m_sign; + } + + /// Gives half of the distance between min and max limit angle + inline btScalar getHalfRange() const + { + return m_halfRange; + } + + /// Returns true when the last test() invocation recognized limit violation + inline bool isLimit() const + { + return m_solveLimit; + } + + /// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle + /// returned is modified so it equals to the limit closest to given angle. + void fit(btScalar& angle) const; + + /// Returns correction value multiplied by sign value + btScalar getError() const; + + btScalar getLow() const; + + btScalar getHigh() const; + +}; + + + +#endif //BT_TYPED_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp new file mode 100644 index 00000000..b009f41a --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp @@ -0,0 +1,87 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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. +*/ + + + +#include "btUniversalConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btTransformUtil.h" + + + +#define UNIV_EPS btScalar(0.01f) + + +// constructor +// anchor, axis1 and axis2 are in world coordinate system +// axis1 must be orthogonal to axis2 +btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2) +: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), + m_anchor(anchor), + m_axis1(axis1), + m_axis2(axis2) +{ + // build frame basis + // 6DOF constraint uses Euler angles and to define limits + // it is assumed that rotational order is : + // Z - first, allowed limits are (-PI,PI); + // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number + // used to prevent constraint from instability on poles; + // new position of X, allowed limits are (-PI,PI); + // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs + // Build the frame in world coordinate system first + btVector3 zAxis = m_axis1.normalize(); + btVector3 yAxis = m_axis2.normalize(); + btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system + btTransform frameInW; + frameInW.setIdentity(); + frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], + xAxis[1], yAxis[1], zAxis[1], + xAxis[2], yAxis[2], zAxis[2]); + frameInW.setOrigin(anchor); + // now get constraint frame in local coordinate systems + m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW; + m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW; + // sei limits + setLinearLowerLimit(btVector3(0., 0., 0.)); + setLinearUpperLimit(btVector3(0., 0., 0.)); + setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS)); + setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS)); +} + +void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) +{ + m_axis1 = axis1; + m_axis2 = axis2; + + btVector3 zAxis = axis1.normalized(); + btVector3 yAxis = axis2.normalized(); + btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system + + btTransform frameInW; + frameInW.setIdentity(); + frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], + xAxis[1], yAxis[1], zAxis[1], + xAxis[2], yAxis[2], zAxis[2]); + frameInW.setOrigin(m_anchor); + + // now get constraint frame in local coordinate systems + m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; + m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; + + calculateTransforms(); +} + + diff --git a/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h new file mode 100644 index 00000000..9e708410 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h @@ -0,0 +1,65 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + +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 BT_UNIVERSAL_CONSTRAINT_H +#define BT_UNIVERSAL_CONSTRAINT_H + + + +#include "LinearMath/btVector3.h" +#include "btTypedConstraint.h" +#include "btGeneric6DofConstraint.h" + + + +/// Constraint similar to ODE Universal Joint +/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) +/// and Y (axis 2) +/// Description from ODE manual : +/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. +/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal." + +ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint +{ +protected: + btVector3 m_anchor; + btVector3 m_axis1; + btVector3 m_axis2; +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // constructor + // anchor, axis1 and axis2 are in world coordinate system + // axis1 must be orthogonal to axis2 + btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2); + // access + const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } + const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } + const btVector3& getAxis1() { return m_axis1; } + const btVector3& getAxis2() { return m_axis2; } + btScalar getAngle1() { return getAngle(2); } + btScalar getAngle2() { return getAngle(1); } + // limits + void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); } + void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); } + + void setAxis( const btVector3& axis1, const btVector3& axis2); +}; + + + +#endif // BT_UNIVERSAL_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/Code/Physics/src/BulletDynamics/Dynamics/Bullet-C-API.cpp new file mode 100644 index 00000000..bd8e2748 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/Bullet-C-API.cpp @@ -0,0 +1,405 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +/* + Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's. + Work in progress, functionality will be added on demand. + + If possible, use the richer Bullet C++ API, by including +*/ + +#include "Bullet-C-Api.h" +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btAlignedAllocator.h" + + + +#include "LinearMath/btVector3.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btTransform.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" + +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" +#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" + + +/* + Create and Delete a Physics SDK +*/ + +struct btPhysicsSdk +{ + +// btDispatcher* m_dispatcher; +// btOverlappingPairCache* m_pairCache; +// btConstraintSolver* m_constraintSolver + + btVector3 m_worldAabbMin; + btVector3 m_worldAabbMax; + + + //todo: version, hardware/optimization settings etc? + btPhysicsSdk() + :m_worldAabbMin(-1000,-1000,-1000), + m_worldAabbMax(1000,1000,1000) + { + + } + + +}; + +plPhysicsSdkHandle plNewBulletSdk() +{ + void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16); + return (plPhysicsSdkHandle)new (mem)btPhysicsSdk; +} + +void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk) +{ + btPhysicsSdk* phys = reinterpret_cast(physicsSdk); + btAlignedFree(phys); +} + + +/* Dynamics World */ +plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle) +{ + btPhysicsSdk* physicsSdk = reinterpret_cast(physicsSdkHandle); + void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16); + btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration(); + mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16); + btDispatcher* dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration); + mem = btAlignedAlloc(sizeof(btAxisSweep3),16); + btBroadphaseInterface* pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax); + mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16); + btConstraintSolver* constraintSolver = new(mem) btSequentialImpulseConstraintSolver(); + + mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16); + return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration); +} +void plDeleteDynamicsWorld(plDynamicsWorldHandle world) +{ + //todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + btAlignedFree(dynamicsWorld); +} + +void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + btAssert(dynamicsWorld); + dynamicsWorld->stepSimulation(timeStep); +} + +void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + btAssert(dynamicsWorld); + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + + dynamicsWorld->addRigidBody(body); +} + +void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object) +{ + btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world); + btAssert(dynamicsWorld); + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + + dynamicsWorld->removeRigidBody(body); +} + +/* Rigid Body */ + +plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape ) +{ + btTransform trans; + trans.setIdentity(); + btVector3 localInertia(0,0,0); + btCollisionShape* shape = reinterpret_cast( cshape); + btAssert(shape); + if (mass) + { + shape->calculateLocalInertia(mass,localInertia); + } + void* mem = btAlignedAlloc(sizeof(btRigidBody),16); + btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia); + btRigidBody* body = new (mem)btRigidBody(rbci); + body->setWorldTransform(trans); + body->setUserPointer(user_data); + return (plRigidBodyHandle) body; +} + +void plDeleteRigidBody(plRigidBodyHandle cbody) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody); + btAssert(body); + btAlignedFree( body); +} + + +/* Collision Shape definition */ + +plCollisionShapeHandle plNewSphereShape(plReal radius) +{ + void* mem = btAlignedAlloc(sizeof(btSphereShape),16); + return (plCollisionShapeHandle) new (mem)btSphereShape(radius); + +} + +plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z) +{ + void* mem = btAlignedAlloc(sizeof(btBoxShape),16); + return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z)); +} + +plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height) +{ + //capsule is convex hull of 2 spheres, so use btMultiSphereShape + + const int numSpheres = 2; + btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)}; + btScalar radi[numSpheres] = {radius,radius}; + void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16); + return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres); +} +plCollisionShapeHandle plNewConeShape(plReal radius, plReal height) +{ + void* mem = btAlignedAlloc(sizeof(btConeShape),16); + return (plCollisionShapeHandle) new (mem)btConeShape(radius,height); +} + +plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height) +{ + void* mem = btAlignedAlloc(sizeof(btCylinderShape),16); + return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius)); +} + +/* Convex Meshes */ +plCollisionShapeHandle plNewConvexHullShape() +{ + void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16); + return (plCollisionShapeHandle) new (mem)btConvexHullShape(); +} + + +/* Concave static triangle meshes */ +plMeshInterfaceHandle plNewMeshInterface() +{ + return 0; +} + +plCollisionShapeHandle plNewCompoundShape() +{ + void* mem = btAlignedAlloc(sizeof(btCompoundShape),16); + return (plCollisionShapeHandle) new (mem)btCompoundShape(); +} + +void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn) +{ + btCollisionShape* colShape = reinterpret_cast(compoundShapeHandle); + btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE); + btCompoundShape* compoundShape = reinterpret_cast(colShape); + btCollisionShape* childShape = reinterpret_cast(childShapeHandle); + btTransform localTrans; + localTrans.setIdentity(); + localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2])); + localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3])); + compoundShape->addChildShape(localTrans,childShape); +} + +void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient) +{ + btQuaternion orn; + orn.setEuler(yaw,pitch,roll); + orient[0] = orn.getX(); + orient[1] = orn.getY(); + orient[2] = orn.getZ(); + orient[3] = orn.getW(); + +} + + +// extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2); +// extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle); + + +void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z) +{ + btCollisionShape* colShape = reinterpret_cast( cshape); + (void)colShape; + btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE); + btConvexHullShape* convexHullShape = reinterpret_cast( cshape); + convexHullShape->addPoint(btVector3(x,y,z)); + +} + +void plDeleteShape(plCollisionShapeHandle cshape) +{ + btCollisionShape* shape = reinterpret_cast( cshape); + btAssert(shape); + btAlignedFree(shape); +} +void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling) +{ + btCollisionShape* shape = reinterpret_cast( cshape); + btAssert(shape); + btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]); + shape->setLocalScaling(scaling); +} + + + +void plSetPosition(plRigidBodyHandle object, const plVector3 position) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btVector3 pos(position[0],position[1],position[2]); + btTransform worldTrans = body->getWorldTransform(); + worldTrans.setOrigin(pos); + body->setWorldTransform(worldTrans); +} + +void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]); + btTransform worldTrans = body->getWorldTransform(); + worldTrans.setRotation(orn); + body->setWorldTransform(worldTrans); +} + +void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btTransform& worldTrans = body->getWorldTransform(); + worldTrans.setFromOpenGLMatrix(matrix); +} + +void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + body->getWorldTransform().getOpenGLMatrix(matrix); + +} + +void plGetPosition(plRigidBodyHandle object,plVector3 position) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + const btVector3& pos = body->getWorldTransform().getOrigin(); + position[0] = pos.getX(); + position[1] = pos.getY(); + position[2] = pos.getZ(); +} + +void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + const btQuaternion& orn = body->getWorldTransform().getRotation(); + orientation[0] = orn.getX(); + orientation[1] = orn.getY(); + orientation[2] = orn.getZ(); + orientation[3] = orn.getW(); +} + + + +//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); + +// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); + +double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]) +{ + btVector3 vp(p1[0], p1[1], p1[2]); + btTriangleShape trishapeA(vp, + btVector3(p2[0], p2[1], p2[2]), + btVector3(p3[0], p3[1], p3[2])); + trishapeA.setMargin(0.000001f); + btVector3 vq(q1[0], q1[1], q1[2]); + btTriangleShape trishapeB(vq, + btVector3(q2[0], q2[1], q2[2]), + btVector3(q3[0], q3[1], q3[2])); + trishapeB.setMargin(0.000001f); + + // btVoronoiSimplexSolver sGjkSimplexSolver; + // btGjkEpaPenetrationDepthSolver penSolverPtr; + + static btSimplexSolverInterface sGjkSimplexSolver; + sGjkSimplexSolver.reset(); + + static btGjkEpaPenetrationDepthSolver Solver0; + static btMinkowskiPenetrationDepthSolver Solver1; + + btConvexPenetrationDepthSolver* Solver = NULL; + + Solver = &Solver1; + + btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver); + + convexConvex.m_catchDegeneracies = 1; + + // btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0); + + btPointCollector gjkOutput; + btGjkPairDetector::ClosestPointInput input; + + + btTransform tr; + tr.setIdentity(); + + input.m_transformA = tr; + input.m_transformB = tr; + + convexConvex.getClosestPoints(input, gjkOutput, 0); + + + if (gjkOutput.m_hasResult) + { + + pb[0] = pa[0] = gjkOutput.m_pointInWorld[0]; + pb[1] = pa[1] = gjkOutput.m_pointInWorld[1]; + pb[2] = pa[2] = gjkOutput.m_pointInWorld[2]; + + pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance; + pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance; + pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance; + + normal[0] = gjkOutput.m_normalOnBInWorld[0]; + normal[1] = gjkOutput.m_normalOnBInWorld[1]; + normal[2] = gjkOutput.m_normalOnBInWorld[2]; + + return gjkOutput.m_distance; + } + return -1.0f; +} + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btActionInterface.h b/Code/Physics/src/BulletDynamics/Dynamics/btActionInterface.h new file mode 100644 index 00000000..e1fea3a4 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btActionInterface.h @@ -0,0 +1,46 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 _BT_ACTION_INTERFACE_H +#define _BT_ACTION_INTERFACE_H + +class btIDebugDraw; +class btCollisionWorld; + +#include "LinearMath/btScalar.h" +#include "btRigidBody.h" + +///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld +class btActionInterface +{ +protected: + + static btRigidBody& getFixedBody(); + + +public: + + virtual ~btActionInterface() + { + } + + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0; + + virtual void debugDraw(btIDebugDraw* debugDrawer) = 0; + +}; + +#endif //_BT_ACTION_INTERFACE_H + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp new file mode 100644 index 00000000..610db477 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -0,0 +1,1463 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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. +*/ + + +#include "btDiscreteDynamicsWorld.h" + +//collision detection +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btQuickprof.h" + +//rigidbody & constraints +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" + + +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + + +#include "BulletDynamics/Dynamics/btActionInterface.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btMotionState.h" + +#include "LinearMath/btSerializer.h" + +#if 0 +btAlignedObjectArray debugContacts; +btAlignedObjectArray debugNormals; +int startHit=2; +int firstHit=startHit; +#endif + +SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); + return islandId; + +} + + +class btSortConstraintOnIslandPredicate +{ + public: + + bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const + { + int rIslandId0,lIslandId0; + rIslandId0 = btGetConstraintIslandId(rhs); + lIslandId0 = btGetConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + btContactSolverInfo* m_solverInfo; + btConstraintSolver* m_solver; + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray m_bodies; + btAlignedObjectArray m_manifolds; + btAlignedObjectArray m_constraints; + + + InplaceSolverIslandCallback( + btConstraintSolver* solver, + btStackAlloc* stackAlloc, + btDispatcher* dispatcher) + :m_solverInfo(NULL), + m_solver(solver), + m_sortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + + } + + InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer) + { + btAssert(solverInfo); + m_solverInfo = solverInfo; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + m_debugDrawer = debugDrawer; + m_bodies.resize (0); + m_manifolds.resize (0); + m_constraints.resize (0); + } + + + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) + { + if (islandId<0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + } else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + int numCurConstraints = 0; + int i; + + //find the first constraint for this island + for (i=0;im_minimumSolverBatchSize<=1) + { + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + } else + { + + for (i=0;im_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(); + } else + { + //printf("deferred\n"); + } + } + } + } + void processConstraints() + { + + btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0; + btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; + btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; + + m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher); + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + + } + +}; + + + +btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) +:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), +m_sortedConstraints (), +m_solverIslandCallback ( NULL ), +m_constraintSolver(constraintSolver), +m_gravity(0,-10,0), +m_localTime(0), +m_synchronizeAllMotionStates(false), +m_applySpeculativeContactRestitution(false), +m_profileTimings(0), +m_fixedTimeStep(0), +m_latencyMotionStateInterpolation(true) + +{ + if (!m_constraintSolver) + { + void* mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16); + m_constraintSolver = new (mem) btSequentialImpulseConstraintSolver; + m_ownsConstraintSolver = true; + } else + { + m_ownsConstraintSolver = false; + } + + { + void* mem = btAlignedAlloc(sizeof(btSimulationIslandManager),16); + m_islandManager = new (mem) btSimulationIslandManager(); + } + + m_ownsIslandManager = true; + + { + void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16); + m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher); + } +} + + +btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld() +{ + //only delete it when we created it + if (m_ownsIslandManager) + { + m_islandManager->~btSimulationIslandManager(); + btAlignedFree( m_islandManager); + } + if (m_solverIslandCallback) + { + m_solverIslandCallback->~InplaceSolverIslandCallback(); + btAlignedFree(m_solverIslandCallback); + } + if (m_ownsConstraintSolver) + { + + m_constraintSolver->~btConstraintSolver(); + btAlignedFree(m_constraintSolver); + } +} + +void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep) +{ +///would like to iterate over m_nonStaticRigidBodies, but unfortunately old API allows +///to switch status _after_ adding kinematic objects to the world +///fix it for Bullet 3.x release + for (int i=0;igetActivationState() != ISLAND_SLEEPING) + { + if (body->isKinematicObject()) + { + //to calculate velocities next frame + body->saveKinematicState(timeStep); + } + } + } + +} + +void btDiscreteDynamicsWorld::debugDrawWorld() +{ + BT_PROFILE("debugDrawWorld"); + + btCollisionWorld::debugDrawWorld(); + + bool drawConstraints = false; + if (getDebugDrawer()) + { + int mode = getDebugDrawer()->getDebugMode(); + if(mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits)) + { + drawConstraints = true; + } + } + if(drawConstraints) + { + for(int i = getNumConstraints()-1; i>=0 ;i--) + { + btTypedConstraint* constraint = getConstraint(i); + debugDrawConstraint(constraint); + } + } + + + + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals))) + { + int i; + + if (getDebugDrawer() && getDebugDrawer()->getDebugMode()) + { + for (i=0;idebugDraw(m_debugDrawer); + } + } + } +} + +void btDiscreteDynamicsWorld::clearForces() +{ + ///@todo: iterate over awake simulation islands! + for ( int i=0;iclearForces(); + } +} + +///apply gravity, call this once per timestep +void btDiscreteDynamicsWorld::applyGravity() +{ + ///@todo: iterate over awake simulation islands! + for ( int i=0;iisActive()) + { + // MOD: Changing gravity for every body so they are pulled towards 0, 0, 0 + btTransform trans; + body->getMotionState()->getWorldTransform(trans); + body->setGravity(-trans.getOrigin().normalized()*10); + body->applyGravity(); + } + } +} + + +void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body) +{ + btAssert(body); + + if (body->getMotionState() && !body->isStaticOrKinematicObject()) + { + //we need to call the update at least once, even for sleeping objects + //otherwise the 'graphics' transform never updates properly + ///@todo: add 'dirty' flag + //if (body->getActivationState() != ISLAND_SLEEPING) + { + btTransform interpolatedTransform; + btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(), + body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(), + (m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(), + interpolatedTransform); + body->getMotionState()->setWorldTransform(interpolatedTransform); + } + } +} + + +void btDiscreteDynamicsWorld::synchronizeMotionStates() +{ + BT_PROFILE("synchronizeMotionStates"); + if (m_synchronizeAllMotionStates) + { + //iterate over all collision objects + for ( int i=0;iisActive()) + synchronizeSingleMotionState(body); + } + } +} + + +int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) +{ + startProfiling(timeStep); + + BT_PROFILE("stepSimulation"); + + int numSimulationSubSteps = 0; + + if (maxSubSteps) + { + //fixed timestep with interpolation + m_fixedTimeStep = fixedTimeStep; + m_localTime += timeStep; + if (m_localTime >= fixedTimeStep) + { + numSimulationSubSteps = int( m_localTime / fixedTimeStep); + m_localTime -= numSimulationSubSteps * fixedTimeStep; + } + } else + { + //variable timestep + fixedTimeStep = timeStep; + m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep; + m_fixedTimeStep = 0; + if (btFuzzyZero(timeStep)) + { + numSimulationSubSteps = 0; + maxSubSteps = 0; + } else + { + numSimulationSubSteps = 1; + maxSubSteps = 1; + } + } + + //process some debugging flags + if (getDebugDrawer()) + { + btIDebugDraw* debugDrawer = getDebugDrawer (); + gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0; + } + if (numSimulationSubSteps) + { + + //clamp the number of substeps, to prevent simulation grinding spiralling down to a halt + int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps; + + saveKinematicState(fixedTimeStep*clampedSimulationSteps); + + applyGravity(); + + + + for (int i=0;iisActive() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) + { + body->setGravity(gravity); + } + } +} + +btVector3 btDiscreteDynamicsWorld::getGravity () const +{ + return m_gravity; +} + +void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask) +{ + btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask); +} + +void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btRigidBody* body = btRigidBody::upcast(collisionObject); + if (body) + removeRigidBody(body); + else + btCollisionWorld::removeCollisionObject(collisionObject); +} + +void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body) +{ + m_nonStaticRigidBodies.remove(body); + btCollisionWorld::removeCollisionObject(body); +} + + +void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body) +{ + if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) + { + body->setGravity(m_gravity); + } + + if (body->getCollisionShape()) + { + if (!body->isStaticObject()) + { + m_nonStaticRigidBodies.push_back(body); + } else + { + body->setActivationState(ISLAND_SLEEPING); + } + + bool isDynamic = !(body->isStaticObject() || body->isKinematicObject()); + short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter); + short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + + addCollisionObject(body,collisionFilterGroup,collisionFilterMask); + } +} + +void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask) +{ + if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY)) + { + body->setGravity(m_gravity); + } + + if (body->getCollisionShape()) + { + if (!body->isStaticObject()) + { + m_nonStaticRigidBodies.push_back(body); + } + else + { + body->setActivationState(ISLAND_SLEEPING); + } + addCollisionObject(body,group,mask); + } +} + + +void btDiscreteDynamicsWorld::updateActions(btScalar timeStep) +{ + BT_PROFILE("updateActions"); + + for ( int i=0;iupdateAction( this, timeStep); + } +} + + +void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) +{ + BT_PROFILE("updateActivationState"); + + for ( int i=0;iupdateDeactivation(timeStep); + + if (body->wantsSleeping()) + { + if (body->isStaticOrKinematicObject()) + { + body->setActivationState(ISLAND_SLEEPING); + } else + { + if (body->getActivationState() == ACTIVE_TAG) + body->setActivationState( WANTS_DEACTIVATION ); + if (body->getActivationState() == ISLAND_SLEEPING) + { + body->setAngularVelocity(btVector3(0,0,0)); + body->setLinearVelocity(btVector3(0,0,0)); + } + + } + } else + { + if (body->getActivationState() != DISABLE_DEACTIVATION) + body->setActivationState( ACTIVE_TAG ); + } + } + } +} + +void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies) +{ + m_constraints.push_back(constraint); + if (disableCollisionsBetweenLinkedBodies) + { + constraint->getRigidBodyA().addConstraintRef(constraint); + constraint->getRigidBodyB().addConstraintRef(constraint); + } +} + +void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint) +{ + m_constraints.remove(constraint); + constraint->getRigidBodyA().removeConstraintRef(constraint); + constraint->getRigidBodyB().removeConstraintRef(constraint); +} + +void btDiscreteDynamicsWorld::addAction(btActionInterface* action) +{ + m_actions.push_back(action); +} + +void btDiscreteDynamicsWorld::removeAction(btActionInterface* action) +{ + m_actions.remove(action); +} + + +void btDiscreteDynamicsWorld::addVehicle(btActionInterface* vehicle) +{ + addAction(vehicle); +} + +void btDiscreteDynamicsWorld::removeVehicle(btActionInterface* vehicle) +{ + removeAction(vehicle); +} + +void btDiscreteDynamicsWorld::addCharacter(btActionInterface* character) +{ + addAction(character); +} + +void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character) +{ + removeAction(character); +} + + + + +void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) +{ + BT_PROFILE("solveConstraints"); + + m_sortedConstraints.resize( m_constraints.size()); + int i; + for (i=0;isetup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + + /// solve all the constraints for this island + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback); + + m_solverIslandCallback->processConstraints(); + + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); +} + + +void btDiscreteDynamicsWorld::calculateSimulationIslands() +{ + BT_PROFILE("calculateSimulationIslands"); + + getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher()); + + { + //merge islands based on speculative contact manifolds too + for (int i=0;im_predictiveManifolds.size();i++) + { + btPersistentManifold* manifold = m_predictiveManifolds[i]; + + const btCollisionObject* colObj0 = manifold->getBody0(); + const btCollisionObject* colObj1 = manifold->getBody1(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + { + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); + } + } + } + + { + int i; + int numConstraints = int(m_constraints.size()); + for (i=0;i< numConstraints ; i++ ) + { + btTypedConstraint* constraint = m_constraints[i]; + if (constraint->isEnabled()) + { + const btRigidBody* colObj0 = &constraint->getRigidBodyA(); + const btRigidBody* colObj1 = &constraint->getRigidBodyB(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + { + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); + } + } + } + } + + //Store the island id in each body + getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); + + +} + + + + +class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback +{ +public: + + btCollisionObject* m_me; + btScalar m_allowedPenetration; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + +public: + btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + btCollisionWorld::ClosestConvexResultCallback(fromA,toA), + m_me(me), + m_allowedPenetration(0.0f), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + + virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace) + { + if (convexResult.m_hitCollisionObject == m_me) + return 1.0f; + + //ignore result if there is no contact response + if(!convexResult.m_hitCollisionObject->hasContactResponse()) + return 1.0f; + + btVector3 linVelA,linVelB; + linVelA = m_convexToWorld-m_convexFromWorld; + linVelB = btVector3(0,0,0);//toB.getOrigin()-fromB.getOrigin(); + + btVector3 relativeVelocity = (linVelA-linVelB); + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if (convexResult.m_hitNormalLocal.dot(relativeVelocity)>=-m_allowedPenetration) + return 1.f; + + return ClosestConvexResultCallback::addSingleResult (convexResult, normalInWorldSpace); + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + //don't collide with itself + if (proxy0->m_clientObject == m_me) + return false; + + ///don't do CCD when the collision filters are not matching + if (!ClosestConvexResultCallback::needsCollision(proxy0)) + return false; + + btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + + //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 + if (m_dispatcher->needsResponse(m_me,otherObj)) + { +#if 0 + ///don't do CCD when there are already contact points (touching contact/penetration) + btAlignedObjectArray manifoldArray; + btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0); + if (collisionPair) + { + if (collisionPair->m_algorithm) + { + manifoldArray.resize(0); + collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); + for (int j=0;jgetNumContacts()>0) + return false; + } + } + } +#endif + return true; + } + + return false; + } + + +}; + +///internal debugging variable. this value shouldn't be too high +int gNumClampedCcdMotions=0; + + +void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) +{ + BT_PROFILE("createPredictiveContacts"); + + { + BT_PROFILE("release predictive contact manifolds"); + + for (int i=0;im_dispatcher1->releaseManifold(manifold); + } + m_predictiveManifolds.clear(); + } + + btTransform predictedTrans; + for ( int i=0;isetHitFraction(1.f); + + if (body->isActive() && (!body->isStaticOrKinematicObject())) + { + + body->predictIntegratedTransform(timeStep, predictedTrans); + + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); + + if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) + { + BT_PROFILE("predictive convexSweepTest"); + if (body->getCollisionShape()->isConvex()) + { + gNumClampedCcdMotions++; +#ifdef PREDICTIVE_CONTACT_USE_STATIC_ONLY + class StaticOnlyCallback : public btClosestNotMeConvexResultCallback + { + public: + + StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if (!otherObj->isStaticOrKinematicObject()) + return false; + return btClosestNotMeConvexResultCallback::needsCollision(proxy0); + } + }; + + StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#else + btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#endif + //btConvexShape* convexShape = static_cast(body->getCollisionShape()); + btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast(body->getCollisionShape()); + sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration; + + sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup; + sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask; + btTransform modifiedPredictedTrans = predictedTrans; + modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis()); + + convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults); + if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) + { + + btVector3 distVec = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin())*sweepResults.m_closestHitFraction; + btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld); + + + btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject); + m_predictiveManifolds.push_back(manifold); + + btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec; + btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB; + + btManifoldPoint newPoint(btVector3(0,0,0), localPointB,sweepResults.m_hitNormalWorld,distance); + + bool isPredictive = true; + int index = manifold->addManifoldPoint(newPoint, isPredictive); + btManifoldPoint& pt = manifold->getContactPoint(index); + pt.m_combinedRestitution = 0; + pt.m_combinedFriction = btManifoldResult::calculateCombinedFriction(body,sweepResults.m_hitCollisionObject); + pt.m_positionWorldOnA = body->getWorldTransform().getOrigin(); + pt.m_positionWorldOnB = worldPointB; + + } + } + } + } + } +} +void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + btTransform predictedTrans; + for ( int i=0;isetHitFraction(1.f); + + if (body->isActive() && (!body->isStaticOrKinematicObject())) + { + + body->predictIntegratedTransform(timeStep, predictedTrans); + + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); + + + + if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) + { + BT_PROFILE("CCD motion clamping"); + if (body->getCollisionShape()->isConvex()) + { + gNumClampedCcdMotions++; +#ifdef USE_STATIC_ONLY + class StaticOnlyCallback : public btClosestNotMeConvexResultCallback + { + public: + + StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if (!otherObj->isStaticOrKinematicObject()) + return false; + return btClosestNotMeConvexResultCallback::needsCollision(proxy0); + } + }; + + StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#else + btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#endif + //btConvexShape* convexShape = static_cast(body->getCollisionShape()); + btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast(body->getCollisionShape()); + sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration; + + sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup; + sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask; + btTransform modifiedPredictedTrans = predictedTrans; + modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis()); + + convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults); + if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) + { + + //printf("clamped integration to hit fraction = %f\n",fraction); + body->setHitFraction(sweepResults.m_closestHitFraction); + body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans); + body->setHitFraction(0.f); + body->proceedToTransform( predictedTrans); + +#if 0 + btVector3 linVel = body->getLinearVelocity(); + + btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep; + btScalar maxSpeedSqr = maxSpeed*maxSpeed; + if (linVel.length2()>maxSpeedSqr) + { + linVel.normalize(); + linVel*= maxSpeed; + body->setLinearVelocity(linVel); + btScalar ms2 = body->getLinearVelocity().length2(); + body->predictIntegratedTransform(timeStep, predictedTrans); + + btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); + btScalar smt = body->getCcdSquareMotionThreshold(); + printf("sm2=%f\n",sm2); + } +#else + + //don't apply the collision response right now, it will happen next frame + //if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution. + //btScalar appliedImpulse = 0.f; + //btScalar depth = 0.f; + //appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth); + + +#endif + + continue; + } + } + } + + + body->proceedToTransform( predictedTrans); + + } + + } + + ///this should probably be switched on by default, but it is not well tested yet + if (m_applySpeculativeContactRestitution) + { + BT_PROFILE("apply speculative contact restitution"); + for (int i=0;igetBody0()); + btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1()); + + for (int p=0;pgetNumContacts();p++) + { + const btManifoldPoint& pt = manifold->getContactPoint(p); + btScalar combinedRestitution = btManifoldResult::calculateCombinedRestitution(body0, body1); + + if (combinedRestitution>0 && pt.m_appliedImpulse != 0.f) + //if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f) + { + btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse* combinedRestitution; + + const btVector3& pos1 = pt.getPositionWorldOnA(); + const btVector3& pos2 = pt.getPositionWorldOnB(); + + btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin(); + btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin(); + + if (body0) + body0->applyImpulse(imp,rel_pos0); + if (body1) + body1->applyImpulse(-imp,rel_pos1); + } + } + } + } + +} + + + + + + +void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + BT_PROFILE("predictUnconstraintMotion"); + for ( int i=0;iisStaticOrKinematicObject()) + { + //don't integrate/update velocities here, it happens in the constraint solver + + body->applyDamping(timeStep); + + body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); + } + } +} + + +void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep) +{ + (void)timeStep; + +#ifndef BT_NO_PROFILE + CProfileManager::Reset(); +#endif //BT_NO_PROFILE + +} + + + + + + +void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) +{ + bool drawFrames = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraints) != 0; + bool drawLimits = (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawConstraintLimits) != 0; + btScalar dbgDrawSize = constraint->getDbgDrawSize(); + if(dbgDrawSize <= btScalar(0.f)) + { + return; + } + + switch(constraint->getConstraintType()) + { + case POINT2POINT_CONSTRAINT_TYPE: + { + btPoint2PointConstraint* p2pC = (btPoint2PointConstraint*)constraint; + btTransform tr; + tr.setIdentity(); + btVector3 pivot = p2pC->getPivotInA(); + pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; + tr.setOrigin(pivot); + getDebugDrawer()->drawTransform(tr, dbgDrawSize); + // that ideally should draw the same frame + pivot = p2pC->getPivotInB(); + pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; + tr.setOrigin(pivot); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + } + break; + case HINGE_CONSTRAINT_TYPE: + { + btHingeConstraint* pHinge = (btHingeConstraint*)constraint; + btTransform tr = pHinge->getRigidBodyA().getCenterOfMassTransform() * pHinge->getAFrame(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + tr = pHinge->getRigidBodyB().getCenterOfMassTransform() * pHinge->getBFrame(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + btScalar minAng = pHinge->getLowerLimit(); + btScalar maxAng = pHinge->getUpperLimit(); + if(minAng == maxAng) + { + break; + } + bool drawSect = true; + if(minAng > maxAng) + { + minAng = btScalar(0.f); + maxAng = SIMD_2_PI; + drawSect = false; + } + if(drawLimits) + { + btVector3& center = tr.getOrigin(); + btVector3 normal = tr.getBasis().getColumn(2); + btVector3 axis = tr.getBasis().getColumn(0); + getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, minAng, maxAng, btVector3(0,0,0), drawSect); + } + } + break; + case CONETWIST_CONSTRAINT_TYPE: + { + btConeTwistConstraint* pCT = (btConeTwistConstraint*)constraint; + btTransform tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + if(drawLimits) + { + //const btScalar length = btScalar(5); + const btScalar length = dbgDrawSize; + static int nSegments = 8*4; + btScalar fAngleInRadians = btScalar(2.*3.1415926) * (btScalar)(nSegments-1)/btScalar(nSegments); + btVector3 pPrev = pCT->GetPointForAngle(fAngleInRadians, length); + pPrev = tr * pPrev; + for (int i=0; iGetPointForAngle(fAngleInRadians, length); + pCur = tr * pCur; + getDebugDrawer()->drawLine(pPrev, pCur, btVector3(0,0,0)); + + if (i%(nSegments/8) == 0) + getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0)); + + pPrev = pCur; + } + btScalar tws = pCT->getTwistSpan(); + btScalar twa = pCT->getTwistAngle(); + bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f)); + if(useFrameB) + { + tr = pCT->getRigidBodyB().getCenterOfMassTransform() * pCT->getBFrame(); + } + else + { + tr = pCT->getRigidBodyA().getCenterOfMassTransform() * pCT->getAFrame(); + } + btVector3 pivot = tr.getOrigin(); + btVector3 normal = tr.getBasis().getColumn(0); + btVector3 axis1 = tr.getBasis().getColumn(1); + getDebugDrawer()->drawArc(pivot, normal, axis1, dbgDrawSize, dbgDrawSize, -twa-tws, -twa+tws, btVector3(0,0,0), true); + + } + } + break; + case D6_SPRING_CONSTRAINT_TYPE: + case D6_CONSTRAINT_TYPE: + { + btGeneric6DofConstraint* p6DOF = (btGeneric6DofConstraint*)constraint; + btTransform tr = p6DOF->getCalculatedTransformA(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + tr = p6DOF->getCalculatedTransformB(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + if(drawLimits) + { + tr = p6DOF->getCalculatedTransformA(); + const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin(); + btVector3 up = tr.getBasis().getColumn(2); + btVector3 axis = tr.getBasis().getColumn(0); + btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; + btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; + btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; + btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; + getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0,0,0)); + axis = tr.getBasis().getColumn(1); + btScalar ay = p6DOF->getAngle(1); + btScalar az = p6DOF->getAngle(2); + btScalar cy = btCos(ay); + btScalar sy = btSin(ay); + btScalar cz = btCos(az); + btScalar sz = btSin(az); + btVector3 ref; + ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2]; + ref[1] = -sz*axis[0] + cz*axis[1]; + ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2]; + tr = p6DOF->getCalculatedTransformB(); + btVector3 normal = -tr.getBasis().getColumn(0); + btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit; + btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit; + if(minFi > maxFi) + { + getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0,0,0), false); + } + else if(minFi < maxFi) + { + getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0,0,0), true); + } + tr = p6DOF->getCalculatedTransformA(); + btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit; + btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit; + getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0,0,0)); + } + } + break; + case SLIDER_CONSTRAINT_TYPE: + { + btSliderConstraint* pSlider = (btSliderConstraint*)constraint; + btTransform tr = pSlider->getCalculatedTransformA(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + tr = pSlider->getCalculatedTransformB(); + if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + if(drawLimits) + { + btTransform tr = pSlider->getUseLinearReferenceFrameA() ? pSlider->getCalculatedTransformA() : pSlider->getCalculatedTransformB(); + btVector3 li_min = tr * btVector3(pSlider->getLowerLinLimit(), 0.f, 0.f); + btVector3 li_max = tr * btVector3(pSlider->getUpperLinLimit(), 0.f, 0.f); + getDebugDrawer()->drawLine(li_min, li_max, btVector3(0, 0, 0)); + btVector3 normal = tr.getBasis().getColumn(0); + btVector3 axis = tr.getBasis().getColumn(1); + btScalar a_min = pSlider->getLowerAngLimit(); + btScalar a_max = pSlider->getUpperAngLimit(); + const btVector3& center = pSlider->getCalculatedTransformB().getOrigin(); + getDebugDrawer()->drawArc(center, normal, axis, dbgDrawSize, dbgDrawSize, a_min, a_max, btVector3(0,0,0), true); + } + } + break; + default : + break; + } + return; +} + + + + + +void btDiscreteDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) +{ + if (m_ownsConstraintSolver) + { + btAlignedFree( m_constraintSolver); + } + m_ownsConstraintSolver = false; + m_constraintSolver = solver; + m_solverIslandCallback->m_solver = solver; +} + +btConstraintSolver* btDiscreteDynamicsWorld::getConstraintSolver() +{ + return m_constraintSolver; +} + + +int btDiscreteDynamicsWorld::getNumConstraints() const +{ + return int(m_constraints.size()); +} +btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) +{ + return m_constraints[index]; +} +const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const +{ + return m_constraints[index]; +} + + + +void btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer) +{ + int i; + //serialize all collision objects + for (i=0;igetInternalType() & btCollisionObject::CO_RIGID_BODY) + { + int len = colObj->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj); + } + } + + for (i=0;icalculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(size,1); + const char* structType = constraint->serialize(chunk->m_oldPtr,serializer); + serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint); + } +} + + + + +void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer) +{ +#ifdef BT_USE_DOUBLE_PRECISION + int len = sizeof(btDynamicsWorldDoubleData); + btChunk* chunk = serializer->allocate(len,1); + btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr; +#else//BT_USE_DOUBLE_PRECISION + int len = sizeof(btDynamicsWorldFloatData); + btChunk* chunk = serializer->allocate(len,1); + btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr; +#endif//BT_USE_DOUBLE_PRECISION + + memset(worldInfo ,0x00,len); + + m_gravity.serialize(worldInfo->m_gravity); + worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau; + worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping; + worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction; + worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep; + + worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution; + worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction; + worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor; + worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp; + + worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2; + worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm; + worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold; + worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp; + + worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop; + worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor; + worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce; + worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold; + + worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations; + worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode; + worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold; + worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize; + + worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; + +#ifdef BT_USE_DOUBLE_PRECISION + const char* structType = "btDynamicsWorldDoubleData"; +#else//BT_USE_DOUBLE_PRECISION + const char* structType = "btDynamicsWorldFloatData"; +#endif//BT_USE_DOUBLE_PRECISION + serializer->finalizeChunk(chunk,structType,BT_DYNAMICSWORLD_CODE,worldInfo); +} + +void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) +{ + + serializer->startSerialization(); + + serializeDynamicsWorldInfo(serializer); + + serializeRigidBodies(serializer); + + serializeCollisionObjects(serializer); + + serializer->finishSerialization(); +} + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h new file mode 100644 index 00000000..d8a34b7d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -0,0 +1,234 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_DISCRETE_DYNAMICS_WORLD_H +#define BT_DISCRETE_DYNAMICS_WORLD_H + +#include "btDynamicsWorld.h" + +class btDispatcher; +class btOverlappingPairCache; +class btConstraintSolver; +class btSimulationIslandManager; +class btTypedConstraint; +class btActionInterface; +class btPersistentManifold; +class btIDebugDraw; +struct InplaceSolverIslandCallback; + +#include "LinearMath/btAlignedObjectArray.h" + + +///btDiscreteDynamicsWorld provides discrete rigid body simulation +///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController +ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld +{ +protected: + + btAlignedObjectArray m_sortedConstraints; + InplaceSolverIslandCallback* m_solverIslandCallback; + + btConstraintSolver* m_constraintSolver; + + btSimulationIslandManager* m_islandManager; + + btAlignedObjectArray m_constraints; + + btAlignedObjectArray m_nonStaticRigidBodies; + + btVector3 m_gravity; + + //for variable timesteps + btScalar m_localTime; + btScalar m_fixedTimeStep; + //for variable timesteps + + bool m_ownsIslandManager; + bool m_ownsConstraintSolver; + bool m_synchronizeAllMotionStates; + bool m_applySpeculativeContactRestitution; + + btAlignedObjectArray m_actions; + + int m_profileTimings; + + bool m_latencyMotionStateInterpolation; + + btAlignedObjectArray m_predictiveManifolds; + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void integrateTransforms(btScalar timeStep); + + virtual void calculateSimulationIslands(); + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + + virtual void updateActivationState(btScalar timeStep); + + void updateActions(btScalar timeStep); + + void startProfiling(btScalar timeStep); + + virtual void internalSingleStepSimulation( btScalar timeStep); + + void createPredictiveContacts(btScalar timeStep); + + virtual void saveKinematicState(btScalar timeStep); + + void serializeRigidBodies(btSerializer* serializer); + + void serializeDynamicsWorldInfo(btSerializer* serializer); + +public: + + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those + btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btDiscreteDynamicsWorld(); + + ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); + + + virtual void synchronizeMotionStates(); + + ///this can be useful to synchronize a single rigid body -> graphics object + void synchronizeSingleMotionState(btRigidBody* body); + + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false); + + virtual void removeConstraint(btTypedConstraint* constraint); + + virtual void addAction(btActionInterface*); + + virtual void removeAction(btActionInterface*); + + btSimulationIslandManager* getSimulationIslandManager() + { + return m_islandManager; + } + + const btSimulationIslandManager* getSimulationIslandManager() const + { + return m_islandManager; + } + + btCollisionWorld* getCollisionWorld() + { + return this; + } + + virtual void setGravity(const btVector3& gravity); + + virtual btVector3 getGravity () const; + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + + virtual void addRigidBody(btRigidBody* body); + + virtual void addRigidBody(btRigidBody* body, short group, short mask); + + virtual void removeRigidBody(btRigidBody* body); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + + void debugDrawConstraint(btTypedConstraint* constraint); + + virtual void debugDrawWorld(); + + virtual void setConstraintSolver(btConstraintSolver* solver); + + virtual btConstraintSolver* getConstraintSolver(); + + virtual int getNumConstraints() const; + + virtual btTypedConstraint* getConstraint(int index) ; + + virtual const btTypedConstraint* getConstraint(int index) const; + + + virtual btDynamicsWorldType getWorldType() const + { + return BT_DISCRETE_DYNAMICS_WORLD; + } + + ///the forces on each rigidbody is accumulating together with gravity. clear this after each timestep. + virtual void clearForces(); + + ///apply gravity, call this once per timestep + virtual void applyGravity(); + + virtual void setNumTasks(int numTasks) + { + (void) numTasks; + } + + ///obsolete, use updateActions instead + virtual void updateVehicles(btScalar timeStep) + { + updateActions(timeStep); + } + + ///obsolete, use addAction instead + virtual void addVehicle(btActionInterface* vehicle); + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle); + ///obsolete, use addAction instead + virtual void addCharacter(btActionInterface* character); + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character); + + void setSynchronizeAllMotionStates(bool synchronizeAll) + { + m_synchronizeAllMotionStates = synchronizeAll; + } + bool getSynchronizeAllMotionStates() const + { + return m_synchronizeAllMotionStates; + } + + void setApplySpeculativeContactRestitution(bool enable) + { + m_applySpeculativeContactRestitution = enable; + } + + bool getApplySpeculativeContactRestitution() const + { + return m_applySpeculativeContactRestitution; + } + + ///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo) + virtual void serialize(btSerializer* serializer); + + ///Interpolate motion state between previous and current transform, instead of current and next transform. + ///This can relieve discontinuities in the rendering, due to penetrations + void setLatencyMotionStateInterpolation(bool latencyInterpolation ) + { + m_latencyMotionStateInterpolation = latencyInterpolation; + } + bool getLatencyMotionStateInterpolation() const + { + return m_latencyMotionStateInterpolation; + } +}; + +#endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/Code/Physics/src/BulletDynamics/Dynamics/btDynamicsWorld.h new file mode 100644 index 00000000..35dd1400 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -0,0 +1,167 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_DYNAMICS_WORLD_H +#define BT_DYNAMICS_WORLD_H + +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + +class btTypedConstraint; +class btActionInterface; +class btConstraintSolver; +class btDynamicsWorld; + + +/// Type for the callback for each tick +typedef void (*btInternalTickCallback)(btDynamicsWorld *world, btScalar timeStep); + +enum btDynamicsWorldType +{ + BT_SIMPLE_DYNAMICS_WORLD=1, + BT_DISCRETE_DYNAMICS_WORLD=2, + BT_CONTINUOUS_DYNAMICS_WORLD=3, + BT_SOFT_RIGID_DYNAMICS_WORLD=4, + BT_GPU_DYNAMICS_WORLD=5 +}; + +///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. +class btDynamicsWorld : public btCollisionWorld +{ + +protected: + btInternalTickCallback m_internalTickCallback; + btInternalTickCallback m_internalPreTickCallback; + void* m_worldUserInfo; + + btContactSolverInfo m_solverInfo; + +public: + + + btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration) + :btCollisionWorld(dispatcher,broadphase,collisionConfiguration), m_internalTickCallback(0),m_internalPreTickCallback(0), m_worldUserInfo(0) + { + } + + virtual ~btDynamicsWorld() + { + } + + ///stepSimulation proceeds the simulation over 'timeStep', units in preferably in seconds. + ///By default, Bullet will subdivide the timestep in constant substeps of each 'fixedTimeStep'. + ///in order to keep the simulation real-time, the maximum number of substeps can be clamped to 'maxSubSteps'. + ///You can disable subdividing the timestep/substepping by passing maxSubSteps=0 as second argument to stepSimulation, but in that case you have to keep the timeStep constant. + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0; + + virtual void debugDrawWorld() = 0; + + virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) + { + (void)constraint; (void)disableCollisionsBetweenLinkedBodies; + } + + virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;} + + virtual void addAction(btActionInterface* action) = 0; + + virtual void removeAction(btActionInterface* action) = 0; + + //once a rigidbody is added to the dynamics world, it will get this gravity assigned + //existing rigidbodies in the world get gravity assigned too, during this method + virtual void setGravity(const btVector3& gravity) = 0; + virtual btVector3 getGravity () const = 0; + + virtual void synchronizeMotionStates() = 0; + + virtual void addRigidBody(btRigidBody* body) = 0; + + virtual void addRigidBody(btRigidBody* body, short group, short mask) = 0; + + virtual void removeRigidBody(btRigidBody* body) = 0; + + virtual void setConstraintSolver(btConstraintSolver* solver) = 0; + + virtual btConstraintSolver* getConstraintSolver() = 0; + + virtual int getNumConstraints() const { return 0; } + + virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; } + + virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; } + + virtual btDynamicsWorldType getWorldType() const=0; + + virtual void clearForces() = 0; + + /// Set the callback for when an internal tick (simulation substep) happens, optional user info + void setInternalTickCallback(btInternalTickCallback cb, void* worldUserInfo=0,bool isPreTick=false) + { + if (isPreTick) + { + m_internalPreTickCallback = cb; + } else + { + m_internalTickCallback = cb; + } + m_worldUserInfo = worldUserInfo; + } + + void setWorldUserInfo(void* worldUserInfo) + { + m_worldUserInfo = worldUserInfo; + } + + void* getWorldUserInfo() const + { + return m_worldUserInfo; + } + + btContactSolverInfo& getSolverInfo() + { + return m_solverInfo; + } + + + ///obsolete, use addAction instead. + virtual void addVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use removeAction instead + virtual void removeVehicle(btActionInterface* vehicle) {(void)vehicle;} + ///obsolete, use addAction instead. + virtual void addCharacter(btActionInterface* character) {(void)character;} + ///obsolete, use removeAction instead + virtual void removeCharacter(btActionInterface* character) {(void)character;} + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btDynamicsWorldDoubleData +{ + btContactSolverInfoDoubleData m_solverInfo; + btVector3DoubleData m_gravity; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btDynamicsWorldFloatData +{ + btContactSolverInfoFloatData m_solverInfo; + btVector3FloatData m_gravity; +}; + + +#endif //BT_DYNAMICS_WORLD_H + + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.cpp b/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.cpp new file mode 100644 index 00000000..222f9006 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -0,0 +1,400 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btRigidBody.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btMotionState.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "LinearMath/btSerializer.h" + +//'temporarily' global variables +btScalar gDeactivationTime = btScalar(2.); +bool gDisableDeactivation = false; +static int uniqueId = 0; + + +btRigidBody::btRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo) +{ + setupRigidBody(constructionInfo); +} + +btRigidBody::btRigidBody(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia) +{ + btRigidBodyConstructionInfo cinfo(mass,motionState,collisionShape,localInertia); + setupRigidBody(cinfo); +} + +void btRigidBody::setupRigidBody(const btRigidBody::btRigidBodyConstructionInfo& constructionInfo) +{ + + m_internalType=CO_RIGID_BODY; + + m_linearVelocity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + m_angularFactor.setValue(1,1,1); + m_linearFactor.setValue(1,1,1); + m_gravity.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_gravity_acceleration.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)), + setDamping(constructionInfo.m_linearDamping, constructionInfo.m_angularDamping); + + m_linearSleepingThreshold = constructionInfo.m_linearSleepingThreshold; + m_angularSleepingThreshold = constructionInfo.m_angularSleepingThreshold; + m_optionalMotionState = constructionInfo.m_motionState; + m_contactSolverType = 0; + m_frictionSolverType = 0; + m_additionalDamping = constructionInfo.m_additionalDamping; + m_additionalDampingFactor = constructionInfo.m_additionalDampingFactor; + m_additionalLinearDampingThresholdSqr = constructionInfo.m_additionalLinearDampingThresholdSqr; + m_additionalAngularDampingThresholdSqr = constructionInfo.m_additionalAngularDampingThresholdSqr; + m_additionalAngularDampingFactor = constructionInfo.m_additionalAngularDampingFactor; + + if (m_optionalMotionState) + { + m_optionalMotionState->getWorldTransform(m_worldTransform); + } else + { + m_worldTransform = constructionInfo.m_startWorldTransform; + } + + m_interpolationWorldTransform = m_worldTransform; + m_interpolationLinearVelocity.setValue(0,0,0); + m_interpolationAngularVelocity.setValue(0,0,0); + + //moved to btCollisionObject + m_friction = constructionInfo.m_friction; + m_rollingFriction = constructionInfo.m_rollingFriction; + m_restitution = constructionInfo.m_restitution; + + setCollisionShape( constructionInfo.m_collisionShape ); + m_debugBodyId = uniqueId++; + + setMassProps(constructionInfo.m_mass, constructionInfo.m_localInertia); + updateInertiaTensor(); + + m_rigidbodyFlags = 0; + + + m_deltaLinearVelocity.setZero(); + m_deltaAngularVelocity.setZero(); + m_invMass = m_inverseMass*m_linearFactor; + m_pushVelocity.setZero(); + m_turnVelocity.setZero(); + + + +} + + +void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform) +{ + btTransformUtil::integrateTransform(m_worldTransform,m_linearVelocity,m_angularVelocity,timeStep,predictedTransform); +} + +void btRigidBody::saveKinematicState(btScalar timeStep) +{ + //todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities + if (timeStep != btScalar(0.)) + { + //if we use motionstate to synchronize world transforms, get the new kinematic/animated world transform + if (getMotionState()) + getMotionState()->getWorldTransform(m_worldTransform); + btVector3 linVel,angVel; + + btTransformUtil::calculateVelocity(m_interpolationWorldTransform,m_worldTransform,timeStep,m_linearVelocity,m_angularVelocity); + m_interpolationLinearVelocity = m_linearVelocity; + m_interpolationAngularVelocity = m_angularVelocity; + m_interpolationWorldTransform = m_worldTransform; + //printf("angular = %f %f %f\n",m_angularVelocity.getX(),m_angularVelocity.getY(),m_angularVelocity.getZ()); + } +} + +void btRigidBody::getAabb(btVector3& aabbMin,btVector3& aabbMax) const +{ + getCollisionShape()->getAabb(m_worldTransform,aabbMin,aabbMax); +} + + + + +void btRigidBody::setGravity(const btVector3& acceleration) +{ + if (m_inverseMass != btScalar(0.0)) + { + m_gravity = acceleration * (btScalar(1.0) / m_inverseMass); + } + m_gravity_acceleration = acceleration; +} + + + + + + +void btRigidBody::setDamping(btScalar lin_damping, btScalar ang_damping) +{ + m_linearDamping = btClamped(lin_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_angularDamping = btClamped(ang_damping, (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); +} + + + + +///applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping +void btRigidBody::applyDamping(btScalar timeStep) +{ + //On new damping: see discussion/issue report here: http://code.google.com/p/bullet/issues/detail?id=74 + //todo: do some performance comparisons (but other parts of the engine are probably bottleneck anyway + +//#define USE_OLD_DAMPING_METHOD 1 +#ifdef USE_OLD_DAMPING_METHOD + m_linearVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_linearDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); + m_angularVelocity *= GEN_clamped((btScalar(1.) - timeStep * m_angularDamping), (btScalar)btScalar(0.0), (btScalar)btScalar(1.0)); +#else + m_linearVelocity *= btPow(btScalar(1)-m_linearDamping, timeStep); + m_angularVelocity *= btPow(btScalar(1)-m_angularDamping, timeStep); +#endif + + if (m_additionalDamping) + { + //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. + //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete + if ((m_angularVelocity.length2() < m_additionalAngularDampingThresholdSqr) && + (m_linearVelocity.length2() < m_additionalLinearDampingThresholdSqr)) + { + m_angularVelocity *= m_additionalDampingFactor; + m_linearVelocity *= m_additionalDampingFactor; + } + + + btScalar speed = m_linearVelocity.length(); + if (speed < m_linearDamping) + { + btScalar dampVel = btScalar(0.005); + if (speed > dampVel) + { + btVector3 dir = m_linearVelocity.normalized(); + m_linearVelocity -= dir * dampVel; + } else + { + m_linearVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + } + + btScalar angSpeed = m_angularVelocity.length(); + if (angSpeed < m_angularDamping) + { + btScalar angDampVel = btScalar(0.005); + if (angSpeed > angDampVel) + { + btVector3 dir = m_angularVelocity.normalized(); + m_angularVelocity -= dir * angDampVel; + } else + { + m_angularVelocity.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } + } + } +} + + +void btRigidBody::applyGravity() +{ + if (isStaticOrKinematicObject()) + return; + + applyCentralForce(m_gravity); + +} + +void btRigidBody::proceedToTransform(const btTransform& newTrans) +{ + setCenterOfMassTransform( newTrans ); +} + + +void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia) +{ + if (mass == btScalar(0.)) + { + m_collisionFlags |= btCollisionObject::CF_STATIC_OBJECT; + m_inverseMass = btScalar(0.); + } else + { + m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT); + m_inverseMass = btScalar(1.0) / mass; + } + + //Fg = m * a + m_gravity = mass * m_gravity_acceleration; + + m_invInertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x(): btScalar(0.0), + inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y(): btScalar(0.0), + inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z(): btScalar(0.0)); + + m_invMass = m_linearFactor*m_inverseMass; +} + + +void btRigidBody::updateInertiaTensor() +{ + m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose(); +} + + +btVector3 btRigidBody::computeGyroscopicForce(btScalar maxGyroscopicForce) const +{ + btVector3 inertiaLocal; + inertiaLocal[0] = 1.f/getInvInertiaDiagLocal()[0]; + inertiaLocal[1] = 1.f/getInvInertiaDiagLocal()[1]; + inertiaLocal[2] = 1.f/getInvInertiaDiagLocal()[2]; + btMatrix3x3 inertiaTensorWorld = getWorldTransform().getBasis().scaled(inertiaLocal) * getWorldTransform().getBasis().transpose(); + btVector3 tmp = inertiaTensorWorld*getAngularVelocity(); + btVector3 gf = getAngularVelocity().cross(tmp); + btScalar l2 = gf.length2(); + if (l2>maxGyroscopicForce*maxGyroscopicForce) + { + gf *= btScalar(1.)/btSqrt(l2)*maxGyroscopicForce; + } + return gf; +} + +void btRigidBody::integrateVelocities(btScalar step) +{ + if (isStaticOrKinematicObject()) + return; + + m_linearVelocity += m_totalForce * (m_inverseMass * step); + m_angularVelocity += m_invInertiaTensorWorld * m_totalTorque * step; + +#define MAX_ANGVEL SIMD_HALF_PI + /// clamp angular velocity. collision calculations will fail on higher angular velocities + btScalar angvel = m_angularVelocity.length(); + if (angvel*step > MAX_ANGVEL) + { + m_angularVelocity *= (MAX_ANGVEL/step) /angvel; + } + +} + +btQuaternion btRigidBody::getOrientation() const +{ + btQuaternion orn; + m_worldTransform.getBasis().getRotation(orn); + return orn; +} + + +void btRigidBody::setCenterOfMassTransform(const btTransform& xform) +{ + + if (isKinematicObject()) + { + m_interpolationWorldTransform = m_worldTransform; + } else + { + m_interpolationWorldTransform = xform; + } + m_interpolationLinearVelocity = getLinearVelocity(); + m_interpolationAngularVelocity = getAngularVelocity(); + m_worldTransform = xform; + updateInertiaTensor(); +} + + +bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const +{ + const btRigidBody* otherRb = btRigidBody::upcast(co); + if (!otherRb) + return true; + + for (int i = 0; i < m_constraintRefs.size(); ++i) + { + const btTypedConstraint* c = m_constraintRefs[i]; + if (c->isEnabled()) + if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb) + return false; + } + + return true; +} + + + +void btRigidBody::addConstraintRef(btTypedConstraint* c) +{ + int index = m_constraintRefs.findLinearSearch(c); + if (index == m_constraintRefs.size()) + m_constraintRefs.push_back(c); + + m_checkCollideWith = true; +} + +void btRigidBody::removeConstraintRef(btTypedConstraint* c) +{ + m_constraintRefs.remove(c); + m_checkCollideWith = m_constraintRefs.size() > 0; +} + +int btRigidBody::calculateSerializeBufferSize() const +{ + int sz = sizeof(btRigidBodyData); + return sz; +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btRigidBody::serialize(void* dataBuffer, class btSerializer* serializer) const +{ + btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer; + + btCollisionObject::serialize(&rbd->m_collisionObjectData, serializer); + + m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld); + m_linearVelocity.serialize(rbd->m_linearVelocity); + m_angularVelocity.serialize(rbd->m_angularVelocity); + rbd->m_inverseMass = m_inverseMass; + m_angularFactor.serialize(rbd->m_angularFactor); + m_linearFactor.serialize(rbd->m_linearFactor); + m_gravity.serialize(rbd->m_gravity); + m_gravity_acceleration.serialize(rbd->m_gravity_acceleration); + m_invInertiaLocal.serialize(rbd->m_invInertiaLocal); + m_totalForce.serialize(rbd->m_totalForce); + m_totalTorque.serialize(rbd->m_totalTorque); + rbd->m_linearDamping = m_linearDamping; + rbd->m_angularDamping = m_angularDamping; + rbd->m_additionalDamping = m_additionalDamping; + rbd->m_additionalDampingFactor = m_additionalDampingFactor; + rbd->m_additionalLinearDampingThresholdSqr = m_additionalLinearDampingThresholdSqr; + rbd->m_additionalAngularDampingThresholdSqr = m_additionalAngularDampingThresholdSqr; + rbd->m_additionalAngularDampingFactor = m_additionalAngularDampingFactor; + rbd->m_linearSleepingThreshold=m_linearSleepingThreshold; + rbd->m_angularSleepingThreshold = m_angularSleepingThreshold; + + return btRigidBodyDataName; +} + + + +void btRigidBody::serializeSingleObject(class btSerializer* serializer) const +{ + btChunk* chunk = serializer->allocate(calculateSerializeBufferSize(),1); + const char* structType = serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,(void*)this); +} + + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.h b/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.h new file mode 100644 index 00000000..ed90fb44 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btRigidBody.h @@ -0,0 +1,604 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_RIGIDBODY_H +#define BT_RIGIDBODY_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btTransform.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +class btCollisionShape; +class btMotionState; +class btTypedConstraint; + + +extern btScalar gDeactivationTime; +extern bool gDisableDeactivation; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btRigidBodyData btRigidBodyDoubleData +#define btRigidBodyDataName "btRigidBodyDoubleData" +#else +#define btRigidBodyData btRigidBodyFloatData +#define btRigidBodyDataName "btRigidBodyFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + +enum btRigidBodyFlags +{ + BT_DISABLE_WORLD_GRAVITY = 1, + ///The BT_ENABLE_GYROPSCOPIC_FORCE can easily introduce instability + ///So generally it is best to not enable it. + ///If really needed, run at a high frequency like 1000 Hertz: ///See Demos/GyroscopicDemo for an example use + BT_ENABLE_GYROPSCOPIC_FORCE = 2 +}; + + +///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. +///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. +///There are 3 types of rigid bodies: +///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. +///- B) Fixed objects with zero mass. They are not moving (basically collision objects) +///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. +///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. +///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects) +class btRigidBody : public btCollisionObject +{ + + btMatrix3x3 m_invInertiaTensorWorld; + btVector3 m_linearVelocity; + btVector3 m_angularVelocity; + btScalar m_inverseMass; + btVector3 m_linearFactor; + + btVector3 m_gravity; + btVector3 m_gravity_acceleration; + btVector3 m_invInertiaLocal; + btVector3 m_totalForce; + btVector3 m_totalTorque; + + btScalar m_linearDamping; + btScalar m_angularDamping; + + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; + + //m_optionalMotionState allows to automatic synchronize the world transform for active objects + btMotionState* m_optionalMotionState; + + //keep track of typed constraints referencing this rigid body + btAlignedObjectArray m_constraintRefs; + + int m_rigidbodyFlags; + + int m_debugBodyId; + + +protected: + + ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity); + btVector3 m_deltaAngularVelocity; + btVector3 m_angularFactor; + btVector3 m_invMass; + btVector3 m_pushVelocity; + btVector3 m_turnVelocity; + + +public: + + + ///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. + ///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) + ///You can use the motion state to synchronize the world transform between physics and graphics objects. + ///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, + ///m_startWorldTransform is only used when you don't provide a motion state. + struct btRigidBodyConstructionInfo + { + btScalar m_mass; + + ///When a motionState is provided, the rigid body will initialize its world transform from the motion state + ///In this case, m_startWorldTransform is ignored. + btMotionState* m_motionState; + btTransform m_startWorldTransform; + + btCollisionShape* m_collisionShape; + btVector3 m_localInertia; + btScalar m_linearDamping; + btScalar m_angularDamping; + + ///best simulation results when friction is non-zero + btScalar m_friction; + ///the m_rollingFriction prevents rounded shapes, such as spheres, cylinders and capsules from rolling forever. + ///See Bullet/Demos/RollingFrictionDemo for usage + btScalar m_rollingFriction; + ///best simulation results using zero restitution. + btScalar m_restitution; + + btScalar m_linearSleepingThreshold; + btScalar m_angularSleepingThreshold; + + //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc. + //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete + bool m_additionalDamping; + btScalar m_additionalDampingFactor; + btScalar m_additionalLinearDampingThresholdSqr; + btScalar m_additionalAngularDampingThresholdSqr; + btScalar m_additionalAngularDampingFactor; + + btRigidBodyConstructionInfo( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)): + m_mass(mass), + m_motionState(motionState), + m_collisionShape(collisionShape), + m_localInertia(localInertia), + m_linearDamping(btScalar(0.)), + m_angularDamping(btScalar(0.)), + m_friction(btScalar(0.5)), + m_rollingFriction(btScalar(0)), + m_restitution(btScalar(0.)), + m_linearSleepingThreshold(btScalar(0.8)), + m_angularSleepingThreshold(btScalar(1.f)), + m_additionalDamping(false), + m_additionalDampingFactor(btScalar(0.005)), + m_additionalLinearDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingThresholdSqr(btScalar(0.01)), + m_additionalAngularDampingFactor(btScalar(0.01)) + { + m_startWorldTransform.setIdentity(); + } + }; + + ///btRigidBody constructor using construction info + btRigidBody( const btRigidBodyConstructionInfo& constructionInfo); + + ///btRigidBody constructor for backwards compatibility. + ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo) + btRigidBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)); + + + virtual ~btRigidBody() + { + //No constraints should point to this rigidbody + //Remove constraints from the dynamics world before you delete the related rigidbodies. + btAssert(m_constraintRefs.size()==0); + } + +protected: + + ///setupRigidBody is only used internally by the constructor + void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo); + +public: + + void proceedToTransform(const btTransform& newTrans); + + ///to keep collision detection and dynamics separate we don't store a rigidbody pointer + ///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast + static const btRigidBody* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) + return (const btRigidBody*)colObj; + return 0; + } + static btRigidBody* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY) + return (btRigidBody*)colObj; + return 0; + } + + /// continuous collision detection needs prediction + void predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ; + + void saveKinematicState(btScalar step); + + void applyGravity(); + + void setGravity(const btVector3& acceleration); + + const btVector3& getGravity() const + { + return m_gravity_acceleration; + } + + void setDamping(btScalar lin_damping, btScalar ang_damping); + + btScalar getLinearDamping() const + { + return m_linearDamping; + } + + btScalar getAngularDamping() const + { + return m_angularDamping; + } + + btScalar getLinearSleepingThreshold() const + { + return m_linearSleepingThreshold; + } + + btScalar getAngularSleepingThreshold() const + { + return m_angularSleepingThreshold; + } + + void applyDamping(btScalar timeStep); + + SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { + return m_collisionShape; + } + + SIMD_FORCE_INLINE btCollisionShape* getCollisionShape() { + return m_collisionShape; + } + + void setMassProps(btScalar mass, const btVector3& inertia); + + const btVector3& getLinearFactor() const + { + return m_linearFactor; + } + void setLinearFactor(const btVector3& linearFactor) + { + m_linearFactor = linearFactor; + m_invMass = m_linearFactor*m_inverseMass; + } + btScalar getInvMass() const { return m_inverseMass; } + const btMatrix3x3& getInvInertiaTensorWorld() const { + return m_invInertiaTensorWorld; + } + + void integrateVelocities(btScalar step); + + void setCenterOfMassTransform(const btTransform& xform); + + void applyCentralForce(const btVector3& force) + { + m_totalForce += force*m_linearFactor; + } + + const btVector3& getTotalForce() const + { + return m_totalForce; + }; + + const btVector3& getTotalTorque() const + { + return m_totalTorque; + }; + + const btVector3& getInvInertiaDiagLocal() const + { + return m_invInertiaLocal; + }; + + void setInvInertiaDiagLocal(const btVector3& diagInvInertia) + { + m_invInertiaLocal = diagInvInertia; + } + + void setSleepingThresholds(btScalar linear,btScalar angular) + { + m_linearSleepingThreshold = linear; + m_angularSleepingThreshold = angular; + } + + void applyTorque(const btVector3& torque) + { + m_totalTorque += torque*m_angularFactor; + } + + void applyForce(const btVector3& force, const btVector3& rel_pos) + { + applyCentralForce(force); + applyTorque(rel_pos.cross(force*m_linearFactor)); + } + + void applyCentralImpulse(const btVector3& impulse) + { + m_linearVelocity += impulse *m_linearFactor * m_inverseMass; + } + + void applyTorqueImpulse(const btVector3& torque) + { + m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; + } + + void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) + { + if (m_inverseMass != btScalar(0.)) + { + applyCentralImpulse(impulse); + if (m_angularFactor) + { + applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); + } + } + } + + void clearForces() + { + m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + } + + void updateInertiaTensor(); + + const btVector3& getCenterOfMassPosition() const { + return m_worldTransform.getOrigin(); + } + btQuaternion getOrientation() const; + + const btTransform& getCenterOfMassTransform() const { + return m_worldTransform; + } + const btVector3& getLinearVelocity() const { + return m_linearVelocity; + } + const btVector3& getAngularVelocity() const { + return m_angularVelocity; + } + + + inline void setLinearVelocity(const btVector3& lin_vel) + { + m_updateRevision++; + m_linearVelocity = lin_vel; + } + + inline void setAngularVelocity(const btVector3& ang_vel) + { + m_updateRevision++; + m_angularVelocity = ang_vel; + } + + btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const + { + //we also calculate lin/ang velocity for kinematic objects + return m_linearVelocity + m_angularVelocity.cross(rel_pos); + + //for kinematic objects, we could also use use: + // return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep; + } + + void translate(const btVector3& v) + { + m_worldTransform.getOrigin() += v; + } + + + void getAabb(btVector3& aabbMin,btVector3& aabbMax) const; + + + + + + SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const + { + btVector3 r0 = pos - getCenterOfMassPosition(); + + btVector3 c0 = (r0).cross(normal); + + btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0); + + return m_inverseMass + normal.dot(vec); + + } + + SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const + { + btVector3 vec = axis * getInvInertiaTensorWorld(); + return axis.dot(vec); + } + + SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep) + { + if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION)) + return; + + if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) && + (getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold)) + { + m_deactivationTime += timeStep; + } else + { + m_deactivationTime=btScalar(0.); + setActivationState(0); + } + + } + + SIMD_FORCE_INLINE bool wantsSleeping() + { + + if (getActivationState() == DISABLE_DEACTIVATION) + return false; + + //disable deactivation + if (gDisableDeactivation || (gDeactivationTime == btScalar(0.))) + return false; + + if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION)) + return true; + + if (m_deactivationTime> gDeactivationTime) + { + return true; + } + return false; + } + + + + const btBroadphaseProxy* getBroadphaseProxy() const + { + return m_broadphaseHandle; + } + btBroadphaseProxy* getBroadphaseProxy() + { + return m_broadphaseHandle; + } + void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy) + { + m_broadphaseHandle = broadphaseProxy; + } + + //btMotionState allows to automatic synchronize the world transform for active objects + btMotionState* getMotionState() + { + return m_optionalMotionState; + } + const btMotionState* getMotionState() const + { + return m_optionalMotionState; + } + void setMotionState(btMotionState* motionState) + { + m_optionalMotionState = motionState; + if (m_optionalMotionState) + motionState->getWorldTransform(m_worldTransform); + } + + //for experimental overriding of friction/contact solver func + int m_contactSolverType; + int m_frictionSolverType; + + void setAngularFactor(const btVector3& angFac) + { + m_updateRevision++; + m_angularFactor = angFac; + } + + void setAngularFactor(btScalar angFac) + { + m_updateRevision++; + m_angularFactor.setValue(angFac,angFac,angFac); + } + const btVector3& getAngularFactor() const + { + return m_angularFactor; + } + + //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase? + bool isInWorld() const + { + return (getBroadphaseProxy() != 0); + } + + virtual bool checkCollideWithOverride(const btCollisionObject* co) const; + + void addConstraintRef(btTypedConstraint* c); + void removeConstraintRef(btTypedConstraint* c); + + btTypedConstraint* getConstraintRef(int index) + { + return m_constraintRefs[index]; + } + + int getNumConstraintRefs() const + { + return m_constraintRefs.size(); + } + + void setFlags(int flags) + { + m_rigidbodyFlags = flags; + } + + int getFlags() const + { + return m_rigidbodyFlags; + } + + btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const; + + /////////////////////////////////////////////// + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + virtual void serializeSingleObject(class btSerializer* serializer) const; + +}; + +//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyFloatData +{ + btCollisionObjectFloatData m_collisionObjectData; + btMatrix3x3FloatData m_invInertiaTensorWorld; + btVector3FloatData m_linearVelocity; + btVector3FloatData m_angularVelocity; + btVector3FloatData m_angularFactor; + btVector3FloatData m_linearFactor; + btVector3FloatData m_gravity; + btVector3FloatData m_gravity_acceleration; + btVector3FloatData m_invInertiaLocal; + btVector3FloatData m_totalForce; + btVector3FloatData m_totalTorque; + float m_inverseMass; + float m_linearDamping; + float m_angularDamping; + float m_additionalDampingFactor; + float m_additionalLinearDampingThresholdSqr; + float m_additionalAngularDampingThresholdSqr; + float m_additionalAngularDampingFactor; + float m_linearSleepingThreshold; + float m_angularSleepingThreshold; + int m_additionalDamping; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btRigidBodyDoubleData +{ + btCollisionObjectDoubleData m_collisionObjectData; + btMatrix3x3DoubleData m_invInertiaTensorWorld; + btVector3DoubleData m_linearVelocity; + btVector3DoubleData m_angularVelocity; + btVector3DoubleData m_angularFactor; + btVector3DoubleData m_linearFactor; + btVector3DoubleData m_gravity; + btVector3DoubleData m_gravity_acceleration; + btVector3DoubleData m_invInertiaLocal; + btVector3DoubleData m_totalForce; + btVector3DoubleData m_totalTorque; + double m_inverseMass; + double m_linearDamping; + double m_angularDamping; + double m_additionalDampingFactor; + double m_additionalLinearDampingThresholdSqr; + double m_additionalAngularDampingThresholdSqr; + double m_additionalAngularDampingFactor; + double m_linearSleepingThreshold; + double m_angularSleepingThreshold; + int m_additionalDamping; + char m_padding[4]; +}; + + + +#endif //BT_RIGIDBODY_H + diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp new file mode 100644 index 00000000..35dd3884 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -0,0 +1,280 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSimpleDynamicsWorld.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" +{ + void btBulletDynamicsProbe (); + void btBulletDynamicsProbe () {} +} + + + + +btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) +:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration), +m_constraintSolver(constraintSolver), +m_ownsConstraintSolver(false), +m_gravity(0,0,-10) +{ + +} + + +btSimpleDynamicsWorld::~btSimpleDynamicsWorld() +{ + if (m_ownsConstraintSolver) + btAlignedFree( m_constraintSolver); +} + +int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep) +{ + (void)fixedTimeStep; + (void)maxSubSteps; + + + ///apply gravity, predict motion + predictUnconstraintMotion(timeStep); + + btDispatcherInfo& dispatchInfo = getDispatchInfo(); + dispatchInfo.m_timeStep = timeStep; + dispatchInfo.m_stepCount = 0; + dispatchInfo.m_debugDraw = getDebugDrawer(); + + ///perform collision detection + performDiscreteCollisionDetection(); + + ///solve contact constraints + int numManifolds = m_dispatcher1->getNumManifolds(); + if (numManifolds) + { + btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer(); + + btContactSolverInfo infoGlobal; + infoGlobal.m_timeStep = timeStep; + m_constraintSolver->prepareSolve(0,numManifolds); + m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1); + m_constraintSolver->allSolved(infoGlobal,m_debugDrawer); + } + + ///integrate transforms + integrateTransforms(timeStep); + + updateAabbs(); + + synchronizeMotionStates(); + + clearForces(); + + return 1; + +} + +void btSimpleDynamicsWorld::clearForces() +{ + ///@todo: iterate over awake simulation islands! + for ( int i=0;iclearForces(); + } + } +} + + +void btSimpleDynamicsWorld::setGravity(const btVector3& gravity) +{ + m_gravity = gravity; + for ( int i=0;isetGravity(gravity); + } + } +} + +btVector3 btSimpleDynamicsWorld::getGravity () const +{ + return m_gravity; +} + +void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body) +{ + btCollisionWorld::removeCollisionObject(body); +} + +void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btRigidBody* body = btRigidBody::upcast(collisionObject); + if (body) + removeRigidBody(body); + else + btCollisionWorld::removeCollisionObject(collisionObject); +} + + +void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body) +{ + body->setGravity(m_gravity); + + if (body->getCollisionShape()) + { + addCollisionObject(body); + } +} + +void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask) +{ + body->setGravity(m_gravity); + + if (body->getCollisionShape()) + { + addCollisionObject(body,group,mask); + } +} + + +void btSimpleDynamicsWorld::debugDrawWorld() +{ + +} + +void btSimpleDynamicsWorld::addAction(btActionInterface* action) +{ + +} + +void btSimpleDynamicsWorld::removeAction(btActionInterface* action) +{ + +} + + +void btSimpleDynamicsWorld::updateAabbs() +{ + btTransform predictedTrans; + for ( int i=0;iisActive() && (!body->isStaticObject())) + { + btVector3 minAabb,maxAabb; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + btBroadphaseInterface* bp = getBroadphase(); + bp->setAabb(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); + } + } + } +} + +void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + btTransform predictedTrans; + for ( int i=0;iisActive() && (!body->isStaticObject())) + { + body->predictIntegratedTransform(timeStep, predictedTrans); + body->proceedToTransform( predictedTrans); + } + } + } +} + + + +void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + for ( int i=0;iisStaticObject()) + { + if (body->isActive()) + { + body->applyGravity(); + body->integrateVelocities( timeStep); + body->applyDamping(timeStep); + body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); + } + } + } + } +} + + +void btSimpleDynamicsWorld::synchronizeMotionStates() +{ + ///@todo: iterate over awake simulation islands! + for ( int i=0;igetMotionState()) + { + if (body->getActivationState() != ISLAND_SLEEPING) + { + body->getMotionState()->setWorldTransform(body->getWorldTransform()); + } + } + } + +} + + +void btSimpleDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) +{ + if (m_ownsConstraintSolver) + { + btAlignedFree(m_constraintSolver); + } + m_ownsConstraintSolver = false; + m_constraintSolver = solver; +} + +btConstraintSolver* btSimpleDynamicsWorld::getConstraintSolver() +{ + return m_constraintSolver; +} diff --git a/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h new file mode 100644 index 00000000..d48d2e39 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMPLE_DYNAMICS_WORLD_H +#define BT_SIMPLE_DYNAMICS_WORLD_H + +#include "btDynamicsWorld.h" + +class btDispatcher; +class btOverlappingPairCache; +class btConstraintSolver; + +///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. +///Please use btDiscreteDynamicsWorld instead +class btSimpleDynamicsWorld : public btDynamicsWorld +{ +protected: + + btConstraintSolver* m_constraintSolver; + + bool m_ownsConstraintSolver; + + void predictUnconstraintMotion(btScalar timeStep); + + void integrateTransforms(btScalar timeStep); + + btVector3 m_gravity; + +public: + + + + ///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver + btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btSimpleDynamicsWorld(); + + ///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead + virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.)); + + virtual void setGravity(const btVector3& gravity); + + virtual btVector3 getGravity () const; + + virtual void addRigidBody(btRigidBody* body); + + virtual void addRigidBody(btRigidBody* body, short group, short mask); + + virtual void removeRigidBody(btRigidBody* body); + + virtual void debugDrawWorld(); + + virtual void addAction(btActionInterface* action); + + virtual void removeAction(btActionInterface* action); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + virtual void updateAabbs(); + + virtual void synchronizeMotionStates(); + + virtual void setConstraintSolver(btConstraintSolver* solver); + + virtual btConstraintSolver* getConstraintSolver(); + + virtual btDynamicsWorldType getWorldType() const + { + return BT_SIMPLE_DYNAMICS_WORLD; + } + + virtual void clearForces(); + +}; + +#endif //BT_SIMPLE_DYNAMICS_WORLD_H diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.cpp new file mode 100644 index 00000000..56a1c55d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -0,0 +1,1009 @@ +/* + * PURPOSE: + * Class representing an articulated rigid body. Stores the body's + * current state, allows forces and torques to be set, handles + * timestepping and implements Featherstone's algorithm. + * + * COPYRIGHT: + * Copyright (C) Stephen Thompson, , 2011-2013 + * Portions written By Erwin Coumans: replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix) + + 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. + + */ + + +#include "btMultiBody.h" +#include "btMultiBodyLink.h" +#include "btMultiBodyLinkCollider.h" + +// #define INCLUDE_GYRO_TERM + +namespace { + const btScalar SLEEP_EPSILON = btScalar(0.05); // this is a squared velocity (m^2 s^-2) + const btScalar SLEEP_TIMEOUT = btScalar(2); // in seconds +} + + + + +// +// Various spatial helper functions +// + +namespace { + void SpatialTransform(const btMatrix3x3 &rotation_matrix, // rotates vectors in 'from' frame to vectors in 'to' frame + const btVector3 &displacement, // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates + const btVector3 &top_in, // top part of input vector + const btVector3 &bottom_in, // bottom part of input vector + btVector3 &top_out, // top part of output vector + btVector3 &bottom_out) // bottom part of output vector + { + top_out = rotation_matrix * top_in; + bottom_out = -displacement.cross(top_out) + rotation_matrix * bottom_in; + } + + void InverseSpatialTransform(const btMatrix3x3 &rotation_matrix, + const btVector3 &displacement, + const btVector3 &top_in, + const btVector3 &bottom_in, + btVector3 &top_out, + btVector3 &bottom_out) + { + top_out = rotation_matrix.transpose() * top_in; + bottom_out = rotation_matrix.transpose() * (bottom_in + displacement.cross(top_in)); + } + + btScalar SpatialDotProduct(const btVector3 &a_top, + const btVector3 &a_bottom, + const btVector3 &b_top, + const btVector3 &b_bottom) + { + return a_bottom.dot(b_top) + a_top.dot(b_bottom); + } +} + + +// +// Implementation of class btMultiBody +// + +btMultiBody::btMultiBody(int n_links, + btScalar mass, + const btVector3 &inertia, + bool fixed_base_, + bool can_sleep_) + : base_quat(0, 0, 0, 1), + base_mass(mass), + base_inertia(inertia), + + fixed_base(fixed_base_), + awake(true), + can_sleep(can_sleep_), + sleep_timer(0), + m_baseCollider(0), + m_linearDamping(0.04f), + m_angularDamping(0.04f), + m_useGyroTerm(true), + m_maxAppliedImpulse(1000.f), + m_hasSelfCollision(true) +{ + links.resize(n_links); + + vector_buf.resize(2*n_links); + matrix_buf.resize(n_links + 1); + m_real_buf.resize(6 + 2*n_links); + base_pos.setValue(0, 0, 0); + base_force.setValue(0, 0, 0); + base_torque.setValue(0, 0, 0); +} + +btMultiBody::~btMultiBody() +{ +} + +void btMultiBody::setupPrismatic(int i, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &rot_parent_to_this, + const btVector3 &joint_axis, + const btVector3 &r_vector_when_q_zero, + bool disableParentCollision) +{ + links[i].mass = mass; + links[i].inertia = inertia; + links[i].parent = parent; + links[i].zero_rot_parent_to_this = rot_parent_to_this; + links[i].axis_top.setValue(0,0,0); + links[i].axis_bottom = joint_axis; + links[i].e_vector = r_vector_when_q_zero; + links[i].is_revolute = false; + links[i].cached_rot_parent_to_this = rot_parent_to_this; + if (disableParentCollision) + links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + + links[i].updateCache(); +} + +void btMultiBody::setupRevolute(int i, + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &zero_rot_parent_to_this, + const btVector3 &joint_axis, + const btVector3 &parent_axis_position, + const btVector3 &my_axis_position, + bool disableParentCollision) +{ + links[i].mass = mass; + links[i].inertia = inertia; + links[i].parent = parent; + links[i].zero_rot_parent_to_this = zero_rot_parent_to_this; + links[i].axis_top = joint_axis; + links[i].axis_bottom = joint_axis.cross(my_axis_position); + links[i].d_vector = my_axis_position; + links[i].e_vector = parent_axis_position; + links[i].is_revolute = true; + if (disableParentCollision) + links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION; + links[i].updateCache(); +} + + + + + +int btMultiBody::getParent(int i) const +{ + return links[i].parent; +} + +btScalar btMultiBody::getLinkMass(int i) const +{ + return links[i].mass; +} + +const btVector3 & btMultiBody::getLinkInertia(int i) const +{ + return links[i].inertia; +} + +btScalar btMultiBody::getJointPos(int i) const +{ + return links[i].joint_pos; +} + +btScalar btMultiBody::getJointVel(int i) const +{ + return m_real_buf[6 + i]; +} + +void btMultiBody::setJointPos(int i, btScalar q) +{ + links[i].joint_pos = q; + links[i].updateCache(); +} + +void btMultiBody::setJointVel(int i, btScalar qdot) +{ + m_real_buf[6 + i] = qdot; +} + +const btVector3 & btMultiBody::getRVector(int i) const +{ + return links[i].cached_r_vector; +} + +const btQuaternion & btMultiBody::getParentToLocalRot(int i) const +{ + return links[i].cached_rot_parent_to_this; +} + +btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const +{ + btVector3 result = local_pos; + while (i != -1) { + // 'result' is in frame i. transform it to frame parent(i) + result += getRVector(i); + result = quatRotate(getParentToLocalRot(i).inverse(),result); + i = getParent(i); + } + + // 'result' is now in the base frame. transform it to world frame + result = quatRotate(getWorldToBaseRot().inverse() ,result); + result += getBasePos(); + + return result; +} + +btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const +{ + if (i == -1) { + // world to base + return quatRotate(getWorldToBaseRot(),(world_pos - getBasePos())); + } else { + // find position in parent frame, then transform to current frame + return quatRotate(getParentToLocalRot(i),worldPosToLocal(getParent(i), world_pos)) - getRVector(i); + } +} + +btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const +{ + btVector3 result = local_dir; + while (i != -1) { + result = quatRotate(getParentToLocalRot(i).inverse() , result); + i = getParent(i); + } + result = quatRotate(getWorldToBaseRot().inverse() , result); + return result; +} + +btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const +{ + if (i == -1) { + return quatRotate(getWorldToBaseRot(), world_dir); + } else { + return quatRotate(getParentToLocalRot(i) ,worldDirToLocal(getParent(i), world_dir)); + } +} + +void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const +{ + int num_links = getNumLinks(); + // Calculates the velocities of each link (and the base) in its local frame + omega[0] = quatRotate(base_quat ,getBaseOmega()); + vel[0] = quatRotate(base_quat ,getBaseVel()); + + for (int i = 0; i < num_links; ++i) { + const int parent = links[i].parent; + + // transform parent vel into this frame, store in omega[i+1], vel[i+1] + SpatialTransform(btMatrix3x3(links[i].cached_rot_parent_to_this), links[i].cached_r_vector, + omega[parent+1], vel[parent+1], + omega[i+1], vel[i+1]); + + // now add qidot * shat_i + omega[i+1] += getJointVel(i) * links[i].axis_top; + vel[i+1] += getJointVel(i) * links[i].axis_bottom; + } +} + +btScalar btMultiBody::getKineticEnergy() const +{ + int num_links = getNumLinks(); + // TODO: would be better not to allocate memory here + btAlignedObjectArray omega;omega.resize(num_links+1); + btAlignedObjectArray vel;vel.resize(num_links+1); + compTreeLinkVelocities(&omega[0], &vel[0]); + + // we will do the factor of 0.5 at the end + btScalar result = base_mass * vel[0].dot(vel[0]); + result += omega[0].dot(base_inertia * omega[0]); + + for (int i = 0; i < num_links; ++i) { + result += links[i].mass * vel[i+1].dot(vel[i+1]); + result += omega[i+1].dot(links[i].inertia * omega[i+1]); + } + + return 0.5f * result; +} + +btVector3 btMultiBody::getAngularMomentum() const +{ + int num_links = getNumLinks(); + // TODO: would be better not to allocate memory here + btAlignedObjectArray omega;omega.resize(num_links+1); + btAlignedObjectArray vel;vel.resize(num_links+1); + btAlignedObjectArray rot_from_world;rot_from_world.resize(num_links+1); + compTreeLinkVelocities(&omega[0], &vel[0]); + + rot_from_world[0] = base_quat; + btVector3 result = quatRotate(rot_from_world[0].inverse() , (base_inertia * omega[0])); + + for (int i = 0; i < num_links; ++i) { + rot_from_world[i+1] = links[i].cached_rot_parent_to_this * rot_from_world[links[i].parent+1]; + result += (quatRotate(rot_from_world[i+1].inverse() , (links[i].inertia * omega[i+1]))); + } + + return result; +} + + +void btMultiBody::clearForcesAndTorques() +{ + base_force.setValue(0, 0, 0); + base_torque.setValue(0, 0, 0); + + for (int i = 0; i < getNumLinks(); ++i) { + links[i].applied_force.setValue(0, 0, 0); + links[i].applied_torque.setValue(0, 0, 0); + links[i].joint_torque = 0; + } +} + +void btMultiBody::clearVelocities() +{ + for (int i = 0; i < 6 + getNumLinks(); ++i) + { + m_real_buf[i] = 0.f; + } +} +void btMultiBody::addLinkForce(int i, const btVector3 &f) +{ + links[i].applied_force += f; +} + +void btMultiBody::addLinkTorque(int i, const btVector3 &t) +{ + links[i].applied_torque += t; +} + +void btMultiBody::addJointTorque(int i, btScalar Q) +{ + links[i].joint_torque += Q; +} + +const btVector3 & btMultiBody::getLinkForce(int i) const +{ + return links[i].applied_force; +} + +const btVector3 & btMultiBody::getLinkTorque(int i) const +{ + return links[i].applied_torque; +} + +btScalar btMultiBody::getJointTorque(int i) const +{ + return links[i].joint_torque; +} + + +inline btMatrix3x3 vecMulVecTranspose(const btVector3& v0, const btVector3& v1Transposed) +{ + btVector3 row0 = btVector3( + v0.x() * v1Transposed.x(), + v0.x() * v1Transposed.y(), + v0.x() * v1Transposed.z()); + btVector3 row1 = btVector3( + v0.y() * v1Transposed.x(), + v0.y() * v1Transposed.y(), + v0.y() * v1Transposed.z()); + btVector3 row2 = btVector3( + v0.z() * v1Transposed.x(), + v0.z() * v1Transposed.y(), + v0.z() * v1Transposed.z()); + + btMatrix3x3 m(row0[0],row0[1],row0[2], + row1[0],row1[1],row1[2], + row2[0],row2[1],row2[2]); + return m; +} + + +void btMultiBody::stepVelocities(btScalar dt, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) +{ + // Implement Featherstone's algorithm to calculate joint accelerations (q_double_dot) + // and the base linear & angular accelerations. + + // We apply damping forces in this routine as well as any external forces specified by the + // caller (via addBaseForce etc). + + // output should point to an array of 6 + num_links reals. + // Format is: 3 angular accelerations (in world frame), 3 linear accelerations (in world frame), + // num_links joint acceleration values. + + int num_links = getNumLinks(); + + const btScalar DAMPING_K1_LINEAR = m_linearDamping; + const btScalar DAMPING_K2_LINEAR = m_linearDamping; + + const btScalar DAMPING_K1_ANGULAR = m_angularDamping; + const btScalar DAMPING_K2_ANGULAR= m_angularDamping; + + btVector3 base_vel = getBaseVel(); + btVector3 base_omega = getBaseOmega(); + + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + + scratch_r.resize(2*num_links + 6); + scratch_v.resize(8*num_links + 6); + scratch_m.resize(4*num_links + 4); + + btScalar * r_ptr = &scratch_r[0]; + btScalar * output = &scratch_r[num_links]; // "output" holds the q_double_dot results + btVector3 * v_ptr = &scratch_v[0]; + + // vhat_i (top = angular, bottom = linear part) + btVector3 * vel_top_angular = v_ptr; v_ptr += num_links + 1; + btVector3 * vel_bottom_linear = v_ptr; v_ptr += num_links + 1; + + // zhat_i^A + btVector3 * zero_acc_top_angular = v_ptr; v_ptr += num_links + 1; + btVector3 * zero_acc_bottom_linear = v_ptr; v_ptr += num_links + 1; + + // chat_i (note NOT defined for the base) + btVector3 * coriolis_top_angular = v_ptr; v_ptr += num_links; + btVector3 * coriolis_bottom_linear = v_ptr; v_ptr += num_links; + + // top left, top right and bottom left blocks of Ihat_i^A. + // bottom right block = transpose of top left block and is not stored. + // Note: the top right and bottom left blocks are always symmetric matrices, but we don't make use of this fact currently. + btMatrix3x3 * inertia_top_left = &scratch_m[num_links + 1]; + btMatrix3x3 * inertia_top_right = &scratch_m[2*num_links + 2]; + btMatrix3x3 * inertia_bottom_left = &scratch_m[3*num_links + 3]; + + // Cached 3x3 rotation matrices from parent frame to this frame. + btMatrix3x3 * rot_from_parent = &matrix_buf[0]; + btMatrix3x3 * rot_from_world = &scratch_m[0]; + + // hhat_i, ahat_i + // hhat is NOT stored for the base (but ahat is) + btVector3 * h_top = num_links > 0 ? &vector_buf[0] : 0; + btVector3 * h_bottom = num_links > 0 ? &vector_buf[num_links] : 0; + btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; + btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; + + // Y_i, D_i + btScalar * Y = r_ptr; r_ptr += num_links; + btScalar * D = num_links > 0 ? &m_real_buf[6 + num_links] : 0; + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + + // Start of the algorithm proper. + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + rot_from_parent[0] = btMatrix3x3(base_quat); + + vel_top_angular[0] = rot_from_parent[0] * base_omega; + vel_bottom_linear[0] = rot_from_parent[0] * base_vel; + + if (fixed_base) { + zero_acc_top_angular[0] = zero_acc_bottom_linear[0] = btVector3(0,0,0); + } else { + zero_acc_top_angular[0] = - (rot_from_parent[0] * (base_force + - base_mass*(DAMPING_K1_LINEAR+DAMPING_K2_LINEAR*base_vel.norm())*base_vel)); + + zero_acc_bottom_linear[0] = + - (rot_from_parent[0] * base_torque); + + if (m_useGyroTerm) + zero_acc_bottom_linear[0]+=vel_top_angular[0].cross( base_inertia * vel_top_angular[0] ); + + zero_acc_bottom_linear[0] += base_inertia * vel_top_angular[0] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[0].norm()); + + } + + + + inertia_top_left[0] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero(); + + + inertia_top_right[0].setValue(base_mass, 0, 0, + 0, base_mass, 0, + 0, 0, base_mass); + inertia_bottom_left[0].setValue(base_inertia[0], 0, 0, + 0, base_inertia[1], 0, + 0, 0, base_inertia[2]); + + rot_from_world[0] = rot_from_parent[0]; + + for (int i = 0; i < num_links; ++i) { + const int parent = links[i].parent; + rot_from_parent[i+1] = btMatrix3x3(links[i].cached_rot_parent_to_this); + + + rot_from_world[i+1] = rot_from_parent[i+1] * rot_from_world[parent+1]; + + // vhat_i = i_xhat_p(i) * vhat_p(i) + SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + vel_top_angular[parent+1], vel_bottom_linear[parent+1], + vel_top_angular[i+1], vel_bottom_linear[i+1]); + + // we can now calculate chat_i + // remember vhat_i is really vhat_p(i) (but in current frame) at this point + coriolis_bottom_linear[i] = vel_top_angular[i+1].cross(vel_top_angular[i+1].cross(links[i].cached_r_vector)) + + 2 * vel_top_angular[i+1].cross(links[i].axis_bottom) * getJointVel(i); + if (links[i].is_revolute) { + coriolis_top_angular[i] = vel_top_angular[i+1].cross(links[i].axis_top) * getJointVel(i); + coriolis_bottom_linear[i] += (getJointVel(i) * getJointVel(i)) * links[i].axis_top.cross(links[i].axis_bottom); + } else { + coriolis_top_angular[i] = btVector3(0,0,0); + } + + // now set vhat_i to its true value by doing + // vhat_i += qidot * shat_i + vel_top_angular[i+1] += getJointVel(i) * links[i].axis_top; + vel_bottom_linear[i+1] += getJointVel(i) * links[i].axis_bottom; + + // calculate zhat_i^A + zero_acc_top_angular[i+1] = - (rot_from_world[i+1] * (links[i].applied_force)); + zero_acc_top_angular[i+1] += links[i].mass * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR*vel_bottom_linear[i+1].norm()) * vel_bottom_linear[i+1]; + + zero_acc_bottom_linear[i+1] = + - (rot_from_world[i+1] * links[i].applied_torque); + if (m_useGyroTerm) + { + zero_acc_bottom_linear[i+1] += vel_top_angular[i+1].cross( links[i].inertia * vel_top_angular[i+1] ); + } + + zero_acc_bottom_linear[i+1] += links[i].inertia * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm()); + + // calculate Ihat_i^A + inertia_top_left[i+1] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero(); + inertia_top_right[i+1].setValue(links[i].mass, 0, 0, + 0, links[i].mass, 0, + 0, 0, links[i].mass); + inertia_bottom_left[i+1].setValue(links[i].inertia[0], 0, 0, + 0, links[i].inertia[1], 0, + 0, 0, links[i].inertia[2]); + } + + + // 'Downward' loop. + // (part of TreeForwardDynamics in Mirtich.) + for (int i = num_links - 1; i >= 0; --i) { + + h_top[i] = inertia_top_left[i+1] * links[i].axis_top + inertia_top_right[i+1] * links[i].axis_bottom; + h_bottom[i] = inertia_bottom_left[i+1] * links[i].axis_top + inertia_top_left[i+1].transpose() * links[i].axis_bottom; + btScalar val = SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, h_top[i], h_bottom[i]); + D[i] = val; + Y[i] = links[i].joint_torque + - SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]) + - SpatialDotProduct(h_top[i], h_bottom[i], coriolis_top_angular[i], coriolis_bottom_linear[i]); + + const int parent = links[i].parent; + + + // Ip += pXi * (Ii - hi hi' / Di) * iXp + const btScalar one_over_di = 1.0f / D[i]; + + + + + const btMatrix3x3 TL = inertia_top_left[i+1] - vecMulVecTranspose(one_over_di * h_top[i] , h_bottom[i]); + const btMatrix3x3 TR = inertia_top_right[i+1] - vecMulVecTranspose(one_over_di * h_top[i] , h_top[i]); + const btMatrix3x3 BL = inertia_bottom_left[i+1]- vecMulVecTranspose(one_over_di * h_bottom[i] , h_bottom[i]); + + + btMatrix3x3 r_cross; + r_cross.setValue( + 0, -links[i].cached_r_vector[2], links[i].cached_r_vector[1], + links[i].cached_r_vector[2], 0, -links[i].cached_r_vector[0], + -links[i].cached_r_vector[1], links[i].cached_r_vector[0], 0); + + inertia_top_left[parent+1] += rot_from_parent[i+1].transpose() * ( TL - TR * r_cross ) * rot_from_parent[i+1]; + inertia_top_right[parent+1] += rot_from_parent[i+1].transpose() * TR * rot_from_parent[i+1]; + inertia_bottom_left[parent+1] += rot_from_parent[i+1].transpose() * + (r_cross * (TL - TR * r_cross) + BL - TL.transpose() * r_cross) * rot_from_parent[i+1]; + + + // Zp += pXi * (Zi + Ii*ci + hi*Yi/Di) + btVector3 in_top, in_bottom, out_top, out_bottom; + const btScalar Y_over_D = Y[i] * one_over_di; + in_top = zero_acc_top_angular[i+1] + + inertia_top_left[i+1] * coriolis_top_angular[i] + + inertia_top_right[i+1] * coriolis_bottom_linear[i] + + Y_over_D * h_top[i]; + in_bottom = zero_acc_bottom_linear[i+1] + + inertia_bottom_left[i+1] * coriolis_top_angular[i] + + inertia_top_left[i+1].transpose() * coriolis_bottom_linear[i] + + Y_over_D * h_bottom[i]; + InverseSpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + in_top, in_bottom, out_top, out_bottom); + zero_acc_top_angular[parent+1] += out_top; + zero_acc_bottom_linear[parent+1] += out_bottom; + } + + + // Second 'upward' loop + // (part of TreeForwardDynamics in Mirtich) + + if (fixed_base) + { + accel_top[0] = accel_bottom[0] = btVector3(0,0,0); + } + else + { + if (num_links > 0) + { + //Matrix Imatrix; + //Imatrix.block<3,3>(0,0) = inertia_top_left[0]; + //Imatrix.block<3,3>(3,0) = inertia_bottom_left[0]; + //Imatrix.block<3,3>(0,3) = inertia_top_right[0]; + //Imatrix.block<3,3>(3,3) = inertia_top_left[0].transpose(); + //cached_imatrix_lu.reset(new Eigen::LU >(Imatrix)); // TODO: Avoid memory allocation here? + + cached_inertia_top_left = inertia_top_left[0]; + cached_inertia_top_right = inertia_top_right[0]; + cached_inertia_lower_left = inertia_bottom_left[0]; + cached_inertia_lower_right= inertia_top_left[0].transpose(); + + } + btVector3 rhs_top (zero_acc_top_angular[0][0], zero_acc_top_angular[0][1], zero_acc_top_angular[0][2]); + btVector3 rhs_bot (zero_acc_bottom_linear[0][0], zero_acc_bottom_linear[0][1], zero_acc_bottom_linear[0][2]); + float result[6]; + + solveImatrix(rhs_top, rhs_bot, result); +// printf("result=%f,%f,%f,%f,%f,%f\n",result[0],result[0],result[0],result[0],result[0],result[0]); + for (int i = 0; i < 3; ++i) { + accel_top[0][i] = -result[i]; + accel_bottom[0][i] = -result[i+3]; + } + + } + + // now do the loop over the links + for (int i = 0; i < num_links; ++i) { + const int parent = links[i].parent; + SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + accel_top[parent+1], accel_bottom[parent+1], + accel_top[i+1], accel_bottom[i+1]); + joint_accel[i] = (Y[i] - SpatialDotProduct(h_top[i], h_bottom[i], accel_top[i+1], accel_bottom[i+1])) / D[i]; + accel_top[i+1] += coriolis_top_angular[i] + joint_accel[i] * links[i].axis_top; + accel_bottom[i+1] += coriolis_bottom_linear[i] + joint_accel[i] * links[i].axis_bottom; + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out = rot_from_parent[0].transpose() * accel_top[0]; + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out = rot_from_parent[0].transpose() * accel_bottom[0]; + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; + // Final step: add the accelerations (times dt) to the velocities. + applyDeltaVee(output, dt); + + +} + + + +void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const +{ + int num_links = getNumLinks(); + ///solve I * x = rhs, so the result = invI * rhs + if (num_links == 0) + { + // in the case of 0 links (i.e. a plain rigid body, not a multibody) rhs * invI is easier + result[0] = rhs_bot[0] / base_inertia[0]; + result[1] = rhs_bot[1] / base_inertia[1]; + result[2] = rhs_bot[2] / base_inertia[2]; + result[3] = rhs_top[0] / base_mass; + result[4] = rhs_top[1] / base_mass; + result[5] = rhs_top[2] / base_mass; + } else + { + /// Special routine for calculating the inverse of a spatial inertia matrix + ///the 6x6 matrix is stored as 4 blocks of 3x3 matrices + btMatrix3x3 Binv = cached_inertia_top_right.inverse()*-1.f; + btMatrix3x3 tmp = cached_inertia_lower_right * Binv; + btMatrix3x3 invIupper_right = (tmp * cached_inertia_top_left + cached_inertia_lower_left).inverse(); + tmp = invIupper_right * cached_inertia_lower_right; + btMatrix3x3 invI_upper_left = (tmp * Binv); + btMatrix3x3 invI_lower_right = (invI_upper_left).transpose(); + tmp = cached_inertia_top_left * invI_upper_left; + tmp[0][0]-= 1.0; + tmp[1][1]-= 1.0; + tmp[2][2]-= 1.0; + btMatrix3x3 invI_lower_left = (Binv * tmp); + + //multiply result = invI * rhs + { + btVector3 vtop = invI_upper_left*rhs_top; + btVector3 tmp; + tmp = invIupper_right * rhs_bot; + vtop += tmp; + btVector3 vbot = invI_lower_left*rhs_top; + tmp = invI_lower_right * rhs_bot; + vbot += tmp; + result[0] = vtop[0]; + result[1] = vtop[1]; + result[2] = vtop[2]; + result[3] = vbot[0]; + result[4] = vbot[1]; + result[5] = vbot[2]; + } + + } +} + + +void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output, + btAlignedObjectArray &scratch_r, btAlignedObjectArray &scratch_v) const +{ + // Temporary matrices/vectors -- use scratch space from caller + // so that we don't have to keep reallocating every frame + int num_links = getNumLinks(); + scratch_r.resize(num_links); + scratch_v.resize(4*num_links + 4); + + btScalar * r_ptr = num_links == 0 ? 0 : &scratch_r[0]; + btVector3 * v_ptr = &scratch_v[0]; + + // zhat_i^A (scratch space) + btVector3 * zero_acc_top_angular = v_ptr; v_ptr += num_links + 1; + btVector3 * zero_acc_bottom_linear = v_ptr; v_ptr += num_links + 1; + + // rot_from_parent (cached from calcAccelerations) + const btMatrix3x3 * rot_from_parent = &matrix_buf[0]; + + // hhat (cached), accel (scratch) + const btVector3 * h_top = num_links > 0 ? &vector_buf[0] : 0; + const btVector3 * h_bottom = num_links > 0 ? &vector_buf[num_links] : 0; + btVector3 * accel_top = v_ptr; v_ptr += num_links + 1; + btVector3 * accel_bottom = v_ptr; v_ptr += num_links + 1; + + // Y_i (scratch), D_i (cached) + btScalar * Y = r_ptr; r_ptr += num_links; + const btScalar * D = num_links > 0 ? &m_real_buf[6 + num_links] : 0; + + btAssert(num_links == 0 || r_ptr - &scratch_r[0] == scratch_r.size()); + btAssert(v_ptr - &scratch_v[0] == scratch_v.size()); + + + + // First 'upward' loop. + // Combines CompTreeLinkVelocities and InitTreeLinks from Mirtich. + + btVector3 input_force(force[3],force[4],force[5]); + btVector3 input_torque(force[0],force[1],force[2]); + + // Fill in zero_acc + // -- set to force/torque on the base, zero otherwise + if (fixed_base) + { + zero_acc_top_angular[0] = zero_acc_bottom_linear[0] = btVector3(0,0,0); + } else + { + zero_acc_top_angular[0] = - (rot_from_parent[0] * input_force); + zero_acc_bottom_linear[0] = - (rot_from_parent[0] * input_torque); + } + for (int i = 0; i < num_links; ++i) + { + zero_acc_top_angular[i+1] = zero_acc_bottom_linear[i+1] = btVector3(0,0,0); + } + + // 'Downward' loop. + for (int i = num_links - 1; i >= 0; --i) + { + + Y[i] = - SpatialDotProduct(links[i].axis_top, links[i].axis_bottom, zero_acc_top_angular[i+1], zero_acc_bottom_linear[i+1]); + Y[i] += force[6 + i]; // add joint torque + + const int parent = links[i].parent; + + // Zp += pXi * (Zi + hi*Yi/Di) + btVector3 in_top, in_bottom, out_top, out_bottom; + const btScalar Y_over_D = Y[i] / D[i]; + in_top = zero_acc_top_angular[i+1] + Y_over_D * h_top[i]; + in_bottom = zero_acc_bottom_linear[i+1] + Y_over_D * h_bottom[i]; + InverseSpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + in_top, in_bottom, out_top, out_bottom); + zero_acc_top_angular[parent+1] += out_top; + zero_acc_bottom_linear[parent+1] += out_bottom; + } + + // ptr to the joint accel part of the output + btScalar * joint_accel = output + 6; + + // Second 'upward' loop + if (fixed_base) + { + accel_top[0] = accel_bottom[0] = btVector3(0,0,0); + } else + { + btVector3 rhs_top (zero_acc_top_angular[0][0], zero_acc_top_angular[0][1], zero_acc_top_angular[0][2]); + btVector3 rhs_bot (zero_acc_bottom_linear[0][0], zero_acc_bottom_linear[0][1], zero_acc_bottom_linear[0][2]); + + float result[6]; + solveImatrix(rhs_top,rhs_bot, result); + // printf("result=%f,%f,%f,%f,%f,%f\n",result[0],result[0],result[0],result[0],result[0],result[0]); + + for (int i = 0; i < 3; ++i) { + accel_top[0][i] = -result[i]; + accel_bottom[0][i] = -result[i+3]; + } + + } + + // now do the loop over the links + for (int i = 0; i < num_links; ++i) { + const int parent = links[i].parent; + SpatialTransform(rot_from_parent[i+1], links[i].cached_r_vector, + accel_top[parent+1], accel_bottom[parent+1], + accel_top[i+1], accel_bottom[i+1]); + joint_accel[i] = (Y[i] - SpatialDotProduct(h_top[i], h_bottom[i], accel_top[i+1], accel_bottom[i+1])) / D[i]; + accel_top[i+1] += joint_accel[i] * links[i].axis_top; + accel_bottom[i+1] += joint_accel[i] * links[i].axis_bottom; + } + + // transform base accelerations back to the world frame. + btVector3 omegadot_out; + omegadot_out = rot_from_parent[0].transpose() * accel_top[0]; + output[0] = omegadot_out[0]; + output[1] = omegadot_out[1]; + output[2] = omegadot_out[2]; + + btVector3 vdot_out; + vdot_out = rot_from_parent[0].transpose() * accel_bottom[0]; + + output[3] = vdot_out[0]; + output[4] = vdot_out[1]; + output[5] = vdot_out[2]; +} + +void btMultiBody::stepPositions(btScalar dt) +{ + int num_links = getNumLinks(); + // step position by adding dt * velocity + btVector3 v = getBaseVel(); + base_pos += dt * v; + + // "exponential map" method for the rotation + btVector3 base_omega = getBaseOmega(); + const btScalar omega_norm = base_omega.norm(); + const btScalar omega_times_dt = omega_norm * dt; + const btScalar SMALL_ROTATION_ANGLE = 0.02f; // Theoretically this should be ~ pow(FLT_EPSILON,0.25) which is ~ 0.0156 + if (fabs(omega_times_dt) < SMALL_ROTATION_ANGLE) + { + const btScalar xsq = omega_times_dt * omega_times_dt; // |omega|^2 * dt^2 + const btScalar sin_term = dt * (xsq / 48.0f - 0.5f); // -sin(0.5*dt*|omega|) / |omega| + const btScalar cos_term = 1.0f - xsq / 8.0f; // cos(0.5*dt*|omega|) + base_quat = base_quat * btQuaternion(sin_term * base_omega[0],sin_term * base_omega[1],sin_term * base_omega[2],cos_term); + } else + { + base_quat = base_quat * btQuaternion(base_omega / omega_norm,-omega_times_dt); + } + + // Make sure the quaternion represents a valid rotation. + // (Not strictly necessary, but helps prevent any round-off errors from building up.) + base_quat.normalize(); + + // Finally we can update joint_pos for each of the links + for (int i = 0; i < num_links; ++i) + { + float jointVel = getJointVel(i); + links[i].joint_pos += dt * jointVel; + links[i].updateCache(); + } +} + +void btMultiBody::fillContactJacobian(int link, + const btVector3 &contact_point, + const btVector3 &normal, + btScalar *jac, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) const +{ + // temporary space + int num_links = getNumLinks(); + scratch_v.resize(2*num_links + 2); + scratch_m.resize(num_links + 1); + + btVector3 * v_ptr = &scratch_v[0]; + btVector3 * p_minus_com = v_ptr; v_ptr += num_links + 1; + btVector3 * n_local = v_ptr; v_ptr += num_links + 1; + btAssert(v_ptr - &scratch_v[0] == scratch_v.size()); + + scratch_r.resize(num_links); + btScalar * results = num_links > 0 ? &scratch_r[0] : 0; + + btMatrix3x3 * rot_from_world = &scratch_m[0]; + + const btVector3 p_minus_com_world = contact_point - base_pos; + + rot_from_world[0] = btMatrix3x3(base_quat); + + p_minus_com[0] = rot_from_world[0] * p_minus_com_world; + n_local[0] = rot_from_world[0] * normal; + + // omega coeffients first. + btVector3 omega_coeffs; + omega_coeffs = p_minus_com_world.cross(normal); + jac[0] = omega_coeffs[0]; + jac[1] = omega_coeffs[1]; + jac[2] = omega_coeffs[2]; + // then v coefficients + jac[3] = normal[0]; + jac[4] = normal[1]; + jac[5] = normal[2]; + + // Set remaining jac values to zero for now. + for (int i = 6; i < 6 + num_links; ++i) { + jac[i] = 0; + } + + // Qdot coefficients, if necessary. + if (num_links > 0 && link > -1) { + + // TODO: speed this up -- don't calculate for links we don't need. + // (Also, we are making 3 separate calls to this function, for the normal & the 2 friction directions, + // which is resulting in repeated work being done...) + + // calculate required normals & positions in the local frames. + for (int i = 0; i < num_links; ++i) { + + // transform to local frame + const int parent = links[i].parent; + const btMatrix3x3 mtx(links[i].cached_rot_parent_to_this); + rot_from_world[i+1] = mtx * rot_from_world[parent+1]; + + n_local[i+1] = mtx * n_local[parent+1]; + p_minus_com[i+1] = mtx * p_minus_com[parent+1] - links[i].cached_r_vector; + + // calculate the jacobian entry + if (links[i].is_revolute) { + results[i] = n_local[i+1].dot( links[i].axis_top.cross(p_minus_com[i+1]) + links[i].axis_bottom ); + } else { + results[i] = n_local[i+1].dot( links[i].axis_bottom ); + } + } + + // Now copy through to output. + while (link != -1) { + jac[6 + link] = results[link]; + link = links[link].parent; + } + } +} + +void btMultiBody::wakeUp() +{ + awake = true; +} + +void btMultiBody::goToSleep() +{ + awake = false; +} + +void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) +{ + int num_links = getNumLinks(); + extern bool gDisableDeactivation; + if (!can_sleep || gDisableDeactivation) + { + awake = true; + sleep_timer = 0; + return; + } + + // motion is computed as omega^2 + v^2 + (sum of squares of joint velocities) + btScalar motion = 0; + for (int i = 0; i < 6 + num_links; ++i) { + motion += m_real_buf[i] * m_real_buf[i]; + } + + if (motion < SLEEP_EPSILON) { + sleep_timer += timestep; + if (sleep_timer > SLEEP_TIMEOUT) { + goToSleep(); + } + } else { + sleep_timer = 0; + if (!awake) + wakeUp(); + } +} diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.h new file mode 100644 index 00000000..7177bebb --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBody.h @@ -0,0 +1,466 @@ +/* + * PURPOSE: + * Class representing an articulated rigid body. Stores the body's + * current state, allows forces and torques to be set, handles + * timestepping and implements Featherstone's algorithm. + * + * COPYRIGHT: + * Copyright (C) Stephen Thompson, , 2011-2013 + * Portions written By Erwin Coumans: replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix) + + 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 BT_MULTIBODY_H +#define BT_MULTIBODY_H + +#include "LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btMatrix3x3.h" +#include "LinearMath/btAlignedObjectArray.h" + + +#include "btMultiBodyLink.h" +class btMultiBodyLinkCollider; + +class btMultiBody +{ +public: + + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + // + // initialization + // + + btMultiBody(int n_links, // NOT including the base + btScalar mass, // mass of base + const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal + bool fixed_base_, // whether the base is fixed (true) or can move (false) + bool can_sleep_); + + ~btMultiBody(); + + void setupPrismatic(int i, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, // in my frame; assumed diagonal + int parent, + const btQuaternion &rot_parent_to_this, // rotate points in parent frame to my frame. + const btVector3 &joint_axis, // in my frame + const btVector3 &r_vector_when_q_zero, // vector from parent COM to my COM, in my frame, when q = 0. + bool disableParentCollision=false + ); + + void setupRevolute(int i, // 0 to num_links-1 + btScalar mass, + const btVector3 &inertia, + int parent, + const btQuaternion &zero_rot_parent_to_this, // rotate points in parent frame to this frame, when q = 0 + const btVector3 &joint_axis, // in my frame + const btVector3 &parent_axis_position, // vector from parent COM to joint axis, in PARENT frame + const btVector3 &my_axis_position, // vector from joint axis to my COM, in MY frame + bool disableParentCollision=false); + + const btMultibodyLink& getLink(int index) const + { + return links[index]; + } + + btMultibodyLink& getLink(int index) + { + return links[index]; + } + + + void setBaseCollider(btMultiBodyLinkCollider* collider)//collider can be NULL to disable collision for the base + { + m_baseCollider = collider; + } + const btMultiBodyLinkCollider* getBaseCollider() const + { + return m_baseCollider; + } + btMultiBodyLinkCollider* getBaseCollider() + { + return m_baseCollider; + } + + // + // get parent + // input: link num from 0 to num_links-1 + // output: link num from 0 to num_links-1, OR -1 to mean the base. + // + int getParent(int link_num) const; + + + // + // get number of links, masses, moments of inertia + // + + int getNumLinks() const { return links.size(); } + btScalar getBaseMass() const { return base_mass; } + const btVector3 & getBaseInertia() const { return base_inertia; } + btScalar getLinkMass(int i) const; + const btVector3 & getLinkInertia(int i) const; + + + // + // change mass (incomplete: can only change base mass and inertia at present) + // + + void setBaseMass(btScalar mass) { base_mass = mass; } + void setBaseInertia(const btVector3 &inertia) { base_inertia = inertia; } + + + // + // get/set pos/vel/rot/omega for the base link + // + + const btVector3 & getBasePos() const { return base_pos; } // in world frame + const btVector3 getBaseVel() const + { + return btVector3(m_real_buf[3],m_real_buf[4],m_real_buf[5]); + } // in world frame + const btQuaternion & getWorldToBaseRot() const + { + return base_quat; + } // rotates world vectors into base frame + btVector3 getBaseOmega() const { return btVector3(m_real_buf[0],m_real_buf[1],m_real_buf[2]); } // in world frame + + void setBasePos(const btVector3 &pos) + { + base_pos = pos; + } + void setBaseVel(const btVector3 &vel) + { + + m_real_buf[3]=vel[0]; m_real_buf[4]=vel[1]; m_real_buf[5]=vel[2]; + } + void setWorldToBaseRot(const btQuaternion &rot) + { + base_quat = rot; + } + void setBaseOmega(const btVector3 &omega) + { + m_real_buf[0]=omega[0]; + m_real_buf[1]=omega[1]; + m_real_buf[2]=omega[2]; + } + + + // + // get/set pos/vel for child links (i = 0 to num_links-1) + // + + btScalar getJointPos(int i) const; + btScalar getJointVel(int i) const; + + void setJointPos(int i, btScalar q); + void setJointVel(int i, btScalar qdot); + + // + // direct access to velocities as a vector of 6 + num_links elements. + // (omega first, then v, then joint velocities.) + // + const btScalar * getVelocityVector() const + { + return &m_real_buf[0]; + } +/* btScalar * getVelocityVector() + { + return &real_buf[0]; + } + */ + + // + // get the frames of reference (positions and orientations) of the child links + // (i = 0 to num_links-1) + // + + const btVector3 & getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords + const btQuaternion & getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i. + + + // + // transform vectors in local frame of link i to world frame (or vice versa) + // + btVector3 localPosToWorld(int i, const btVector3 &vec) const; + btVector3 localDirToWorld(int i, const btVector3 &vec) const; + btVector3 worldPosToLocal(int i, const btVector3 &vec) const; + btVector3 worldDirToLocal(int i, const btVector3 &vec) const; + + + // + // calculate kinetic energy and angular momentum + // useful for debugging. + // + + btScalar getKineticEnergy() const; + btVector3 getAngularMomentum() const; + + + // + // set external forces and torques. Note all external forces/torques are given in the WORLD frame. + // + + void clearForcesAndTorques(); + void clearVelocities(); + + void addBaseForce(const btVector3 &f) + { + base_force += f; + } + void addBaseTorque(const btVector3 &t) { base_torque += t; } + void addLinkForce(int i, const btVector3 &f); + void addLinkTorque(int i, const btVector3 &t); + void addJointTorque(int i, btScalar Q); + + const btVector3 & getBaseForce() const { return base_force; } + const btVector3 & getBaseTorque() const { return base_torque; } + const btVector3 & getLinkForce(int i) const; + const btVector3 & getLinkTorque(int i) const; + btScalar getJointTorque(int i) const; + + + // + // dynamics routines. + // + + // timestep the velocities (given the external forces/torques set using addBaseForce etc). + // also sets up caches for calcAccelerationDeltas. + // + // Note: the caller must provide three vectors which are used as + // temporary scratch space. The idea here is to reduce dynamic + // memory allocation: the same scratch vectors can be re-used + // again and again for different Multibodies, instead of each + // btMultiBody allocating (and then deallocating) their own + // individual scratch buffers. This gives a considerable speed + // improvement, at least on Windows (where dynamic memory + // allocation appears to be fairly slow). + // + void stepVelocities(btScalar dt, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m); + + // calcAccelerationDeltas + // input: force vector (in same format as jacobian, i.e.: + // 3 torque values, 3 force values, num_links joint torque values) + // output: 3 omegadot values, 3 vdot values, num_links q_double_dot values + // (existing contents of output array are replaced) + // stepVelocities must have been called first. + void calcAccelerationDeltas(const btScalar *force, btScalar *output, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v) const; + + // apply a delta-vee directly. used in sequential impulses code. + void applyDeltaVee(const btScalar * delta_vee) + { + + for (int i = 0; i < 6 + getNumLinks(); ++i) + { + m_real_buf[i] += delta_vee[i]; + } + + } + void applyDeltaVee(const btScalar * delta_vee, btScalar multiplier) + { + btScalar sum = 0; + for (int i = 0; i < 6 + getNumLinks(); ++i) + { + sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier; + } + btScalar l = btSqrt(sum); + /* + static btScalar maxl = -1e30f; + if (l>maxl) + { + maxl=l; + // printf("maxl=%f\n",maxl); + } + */ + if (l>m_maxAppliedImpulse) + { +// printf("exceeds 100: l=%f\n",maxl); + multiplier *= m_maxAppliedImpulse/l; + } + + for (int i = 0; i < 6 + getNumLinks(); ++i) + { + sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier; + m_real_buf[i] += delta_vee[i] * multiplier; + } + } + + // timestep the positions (given current velocities). + void stepPositions(btScalar dt); + + + // + // contacts + // + + // This routine fills out a contact constraint jacobian for this body. + // the 'normal' supplied must be -n for body1 or +n for body2 of the contact. + // 'normal' & 'contact_point' are both given in world coordinates. + void fillContactJacobian(int link, + const btVector3 &contact_point, + const btVector3 &normal, + btScalar *jac, + btAlignedObjectArray &scratch_r, + btAlignedObjectArray &scratch_v, + btAlignedObjectArray &scratch_m) const; + + + // + // sleeping + // + void setCanSleep(bool canSleep) + { + can_sleep = canSleep; + } + + bool isAwake() const { return awake; } + void wakeUp(); + void goToSleep(); + void checkMotionAndSleepIfRequired(btScalar timestep); + + bool hasFixedBase() const + { + return fixed_base; + } + + int getCompanionId() const + { + return m_companionId; + } + void setCompanionId(int id) + { + //printf("for %p setCompanionId(%d)\n",this, id); + m_companionId = id; + } + + void setNumLinks(int numLinks)//careful: when changing the number of links, make sure to re-initialize or update existing links + { + links.resize(numLinks); + } + + btScalar getLinearDamping() const + { + return m_linearDamping; + } + void setLinearDamping( btScalar damp) + { + m_linearDamping = damp; + } + btScalar getAngularDamping() const + { + return m_angularDamping; + } + + bool getUseGyroTerm() const + { + return m_useGyroTerm; + } + void setUseGyroTerm(bool useGyro) + { + m_useGyroTerm = useGyro; + } + btScalar getMaxAppliedImpulse() const + { + return m_maxAppliedImpulse; + } + void setMaxAppliedImpulse(btScalar maxImp) + { + m_maxAppliedImpulse = maxImp; + } + + void setHasSelfCollision(bool hasSelfCollision) + { + m_hasSelfCollision = hasSelfCollision; + } + bool hasSelfCollision() const + { + return m_hasSelfCollision; + } + +private: + btMultiBody(const btMultiBody &); // not implemented + void operator=(const btMultiBody &); // not implemented + + void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const; + + void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const; + + +private: + + btMultiBodyLinkCollider* m_baseCollider;//can be NULL + + btVector3 base_pos; // position of COM of base (world frame) + btQuaternion base_quat; // rotates world points into base frame + + btScalar base_mass; // mass of the base + btVector3 base_inertia; // inertia of the base (in local frame; diagonal) + + btVector3 base_force; // external force applied to base. World frame. + btVector3 base_torque; // external torque applied to base. World frame. + + btAlignedObjectArray links; // array of links, excluding the base. index from 0 to num_links-1. + btAlignedObjectArray m_colliders; + + // + // real_buf: + // offset size array + // 0 6 + num_links v (base_omega; base_vel; joint_vels) + // 6+num_links num_links D + // + // vector_buf: + // offset size array + // 0 num_links h_top + // num_links num_links h_bottom + // + // matrix_buf: + // offset size array + // 0 num_links+1 rot_from_parent + // + + btAlignedObjectArray m_real_buf; + btAlignedObjectArray vector_buf; + btAlignedObjectArray matrix_buf; + + //std::auto_ptr > > cached_imatrix_lu; + + btMatrix3x3 cached_inertia_top_left; + btMatrix3x3 cached_inertia_top_right; + btMatrix3x3 cached_inertia_lower_left; + btMatrix3x3 cached_inertia_lower_right; + + bool fixed_base; + + // Sleep parameters. + bool awake; + bool can_sleep; + btScalar sleep_timer; + + int m_companionId; + btScalar m_linearDamping; + btScalar m_angularDamping; + bool m_useGyroTerm; + btScalar m_maxAppliedImpulse; + bool m_hasSelfCollision; +}; + +#endif diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp new file mode 100644 index 00000000..44e04c3a --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -0,0 +1,527 @@ +#include "btMultiBodyConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral) + :m_bodyA(bodyA), + m_bodyB(bodyB), + m_linkA(linkA), + m_linkB(linkB), + m_num_rows(numRows), + m_isUnilateral(isUnilateral), + m_maxAppliedImpulse(100) +{ + m_jac_size_A = (6 + bodyA->getNumLinks()); + m_jac_size_both = (m_jac_size_A + (bodyB ? 6 + bodyB->getNumLinks() : 0)); + m_pos_offset = ((1 + m_jac_size_both)*m_num_rows); + m_data.resize((2 + m_jac_size_both) * m_num_rows); +} + +btMultiBodyConstraint::~btMultiBodyConstraint() +{ +} + + + +btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow, + btMultiBodyJacobianData& data, + btScalar* jacOrgA,btScalar* jacOrgB, + const btContactSolverInfo& infoGlobal, + btScalar desiredVelocity, + btScalar lowerLimit, + btScalar upperLimit) +{ + + + + constraintRow.m_multiBodyA = m_bodyA; + constraintRow.m_multiBodyB = m_bodyB; + + btMultiBody* multiBodyA = constraintRow.m_multiBodyA; + btMultiBody* multiBodyB = constraintRow.m_multiBodyB; + + if (multiBodyA) + { + + const int ndofA = multiBodyA->getNumLinks() + 6; + + constraintRow.m_deltaVelAindex = multiBodyA->getCompanionId(); + + if (constraintRow.m_deltaVelAindex <0) + { + constraintRow.m_deltaVelAindex = data.m_deltaVelocities.size(); + multiBodyA->setCompanionId(constraintRow.m_deltaVelAindex); + data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA); + } else + { + btAssert(data.m_deltaVelocities.size() >= constraintRow.m_deltaVelAindex+ndofA); + } + + constraintRow.m_jacAindex = data.m_jacobians.size(); + data.m_jacobians.resize(data.m_jacobians.size()+ndofA); + data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA); + btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); + for (int i=0;icalcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v); + } + + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + + constraintRow.m_deltaVelBindex = multiBodyB->getCompanionId(); + if (constraintRow.m_deltaVelBindex <0) + { + constraintRow.m_deltaVelBindex = data.m_deltaVelocities.size(); + multiBodyB->setCompanionId(constraintRow.m_deltaVelBindex); + data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB); + } + + constraintRow.m_jacBindex = data.m_jacobians.size(); + data.m_jacobians.resize(data.m_jacobians.size()+ndofB); + + for (int i=0;icalcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex],data.scratch_r, data.scratch_v); + } + { + + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + btScalar* jacB = 0; + btScalar* jacA = 0; + btScalar* lambdaA =0; + btScalar* lambdaB =0; + int ndofA = 0; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + jacA = &data.m_jacobians[constraintRow.m_jacAindex]; + lambdaA = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex]; + for (int i = 0; i < ndofA; ++i) + { + btScalar j = jacA[i] ; + btScalar l =lambdaA[i]; + denom0 += j*l; + } + } + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + jacB = &data.m_jacobians[constraintRow.m_jacBindex]; + lambdaB = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex]; + for (int i = 0; i < ndofB; ++i) + { + btScalar j = jacB[i] ; + btScalar l =lambdaB[i]; + denom1 += j*l; + } + + } + + if (multiBodyA && (multiBodyA==multiBodyB)) + { + // ndof1 == ndof2 in this case + for (int i = 0; i < ndofA; ++i) + { + denom1 += jacB[i] * lambdaA[i]; + denom1 += jacA[i] * lambdaB[i]; + } + } + + btScalar d = denom0+denom1; + if (btFabs(d)>SIMD_EPSILON) + { + + constraintRow.m_jacDiagABInv = 1.f/(d); + } else + { + constraintRow.m_jacDiagABInv = 1.f; + } + + } + + + //compute rhs and remaining constraintRow fields + + + + + btScalar rel_vel = 0.f; + int ndofA = 0; + int ndofB = 0; + { + + btVector3 vel1,vel2; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + btScalar* jacA = &data.m_jacobians[constraintRow.m_jacAindex]; + for (int i = 0; i < ndofA ; ++i) + rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; + } + if (multiBodyB) + { + ndofB = multiBodyB->getNumLinks() + 6; + btScalar* jacB = &data.m_jacobians[constraintRow.m_jacBindex]; + for (int i = 0; i < ndofB ; ++i) + rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; + + } + + constraintRow.m_friction = 0.f; + + constraintRow.m_appliedImpulse = 0.f; + constraintRow.m_appliedPushImpulse = 0.f; + + btScalar velocityError = desiredVelocity - rel_vel;// * damping; + + btScalar erp = infoGlobal.m_erp2; + + btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv; + + if (!infoGlobal.m_splitImpulse) + { + //combine position and velocity into rhs + constraintRow.m_rhs = velocityImpulse; + constraintRow.m_rhsPenetration = 0.f; + + } else + { + //split position and velocity into rhs and m_rhsPenetration + constraintRow.m_rhs = velocityImpulse; + constraintRow.m_rhsPenetration = 0.f; + } + + + constraintRow.m_cfm = 0.f; + constraintRow.m_lowerLimit = lowerLimit; + constraintRow.m_upperLimit = upperLimit; + + } + return rel_vel; +} + + +void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof) +{ + for (int i = 0; i < ndof; ++i) + data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse; +} + + +void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint, + btMultiBodyJacobianData& data, + const btVector3& contactNormalOnB, + const btVector3& posAworld, const btVector3& posBworld, + btScalar position, + const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +{ + + + btVector3 rel_pos1 = posAworld; + btVector3 rel_pos2 = posBworld; + + solverConstraint.m_multiBodyA = m_bodyA; + solverConstraint.m_multiBodyB = m_bodyB; + solverConstraint.m_linkA = m_linkA; + solverConstraint.m_linkB = m_linkB; + + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + + const btVector3& pos1 = posAworld; + const btVector3& pos2 = posBworld; + + btSolverBody* bodyA = multiBodyA ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdA); + btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB); + + btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody; + btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody; + + if (bodyA) + rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + if (bodyB) + rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); + + relaxation = 1.f; + + if (multiBodyA) + { + const int ndofA = multiBodyA->getNumLinks() + 6; + + solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); + + if (solverConstraint.m_deltaVelAindex <0) + { + solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size(); + multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex); + data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA); + } else + { + btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA); + } + + solverConstraint.m_jacAindex = data.m_jacobians.size(); + data.m_jacobians.resize(data.m_jacobians.size()+ndofA); + data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA); + btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); + + btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex]; + multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m); + btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v); + } else + { + btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB); + solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_relpos1CrossNormal = torqueAxis0; + solverConstraint.m_contactNormal1 = contactNormalOnB; + } + + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + + solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); + if (solverConstraint.m_deltaVelBindex <0) + { + solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size(); + multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex); + data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB); + } + + solverConstraint.m_jacBindex = data.m_jacobians.size(); + + data.m_jacobians.resize(data.m_jacobians.size()+ndofB); + data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB); + btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size()); + + multiBodyB->fillContactJacobian(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m); + multiBodyB->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],data.scratch_r, data.scratch_v); + } else + { + btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB); + solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + solverConstraint.m_contactNormal2 = -contactNormalOnB; + } + + { + + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + btScalar* jacB = 0; + btScalar* jacA = 0; + btScalar* lambdaA =0; + btScalar* lambdaB =0; + int ndofA = 0; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + jacA = &data.m_jacobians[solverConstraint.m_jacAindex]; + lambdaA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + for (int i = 0; i < ndofA; ++i) + { + btScalar j = jacA[i] ; + btScalar l =lambdaA[i]; + denom0 += j*l; + } + } else + { + if (rb0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = rb0->getInvMass() + contactNormalOnB.dot(vec); + } + } + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + jacB = &data.m_jacobians[solverConstraint.m_jacBindex]; + lambdaB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + for (int i = 0; i < ndofB; ++i) + { + btScalar j = jacB[i] ; + btScalar l =lambdaB[i]; + denom1 += j*l; + } + + } else + { + if (rb1) + { + vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = rb1->getInvMass() + contactNormalOnB.dot(vec); + } + } + + if (multiBodyA && (multiBodyA==multiBodyB)) + { + // ndof1 == ndof2 in this case + for (int i = 0; i < ndofA; ++i) + { + denom1 += jacB[i] * lambdaA[i]; + denom1 += jacA[i] * lambdaB[i]; + } + } + + btScalar d = denom0+denom1; + if (btFabs(d)>SIMD_EPSILON) + { + + solverConstraint.m_jacDiagABInv = relaxation/(d); + } else + { + solverConstraint.m_jacDiagABInv = 1.f; + } + + } + + + //compute rhs and remaining solverConstraint fields + + + + btScalar restitution = 0.f; + btScalar penetration = isFriction? 0 : position+infoGlobal.m_linearSlop; + + btScalar rel_vel = 0.f; + int ndofA = 0; + int ndofB = 0; + { + + btVector3 vel1,vel2; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex]; + for (int i = 0; i < ndofA ; ++i) + rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; + } else + { + if (rb0) + { + rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); + } + } + if (multiBodyB) + { + ndofB = multiBodyB->getNumLinks() + 6; + btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex]; + for (int i = 0; i < ndofB ; ++i) + rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; + + } else + { + if (rb1) + { + rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); + } + } + + solverConstraint.m_friction = 0.f;//cp.m_combinedFriction; + + + restitution = restitution * -rel_vel;//restitutionCurve(rel_vel, cp.m_combinedRestitution); + if (restitution <= btScalar(0.)) + { + restitution = 0.f; + }; + } + + + ///warm starting (or zero if disabled) + /* + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVee(deltaV,impulse); + applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); + } else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVee(deltaV,impulse); + applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); + } else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); + } + } + } else + */ + { + solverConstraint.m_appliedImpulse = 0.f; + } + + solverConstraint.m_appliedPushImpulse = 0.f; + + { + + + btScalar positionalError = 0.f; + btScalar velocityError = restitution - rel_vel;// * damping; + + + btScalar erp = infoGlobal.m_erp2; + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + erp = infoGlobal.m_erp; + } + + if (penetration>0) + { + positionalError = 0; + velocityError = -penetration / infoGlobal.m_timeStep; + + } else + { + positionalError = -penetration * erp/infoGlobal.m_timeStep; + } + + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + //combine position and velocity into rhs + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_rhsPenetration = 0.f; + + } else + { + //split position and velocity into rhs and m_rhsPenetration + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_rhsPenetration = penetrationImpulse; + } + + solverConstraint.m_cfm = 0.f; + solverConstraint.m_lowerLimit = -m_maxAppliedImpulse; + solverConstraint.m_upperLimit = m_maxAppliedImpulse; + } + +} diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h new file mode 100644 index 00000000..9fa31733 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -0,0 +1,166 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_MULTIBODY_CONSTRAINT_H +#define BT_MULTIBODY_CONSTRAINT_H + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btMultiBody.h" + +class btMultiBody; +struct btSolverInfo; + +#include "btMultiBodySolverConstraint.h" + +struct btMultiBodyJacobianData +{ + btAlignedObjectArray m_jacobians; + btAlignedObjectArray m_deltaVelocitiesUnitImpulse; + btAlignedObjectArray m_deltaVelocities; + btAlignedObjectArray scratch_r; + btAlignedObjectArray scratch_v; + btAlignedObjectArray scratch_m; + btAlignedObjectArray* m_solverBodyPool; + int m_fixedBodyId; + +}; + + +class btMultiBodyConstraint +{ +protected: + + btMultiBody* m_bodyA; + btMultiBody* m_bodyB; + int m_linkA; + int m_linkB; + + int m_num_rows; + int m_jac_size_A; + int m_jac_size_both; + int m_pos_offset; + + bool m_isUnilateral; + + btScalar m_maxAppliedImpulse; + + + // data block laid out as follows: + // cached impulses. (one per row.) + // jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc) + // positions. (one per row.) + btAlignedObjectArray m_data; + + void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof); + + void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint, + btMultiBodyJacobianData& data, + const btVector3& contactNormalOnB, + const btVector3& posAworld, const btVector3& posBworld, + btScalar position, + const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0); + + btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow, + btMultiBodyJacobianData& data, + btScalar* jacOrgA,btScalar* jacOrgB, + const btContactSolverInfo& infoGlobal, + btScalar desiredVelocity, + btScalar lowerLimit, + btScalar upperLimit); + +public: + + btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral); + virtual ~btMultiBodyConstraint(); + + + + virtual int getIslandIdA() const =0; + virtual int getIslandIdB() const =0; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal)=0; + + int getNumRows() const + { + return m_num_rows; + } + + btMultiBody* getMultiBodyA() + { + return m_bodyA; + } + btMultiBody* getMultiBodyB() + { + return m_bodyB; + } + + // current constraint position + // constraint is pos >= 0 for unilateral, or pos = 0 for bilateral + // NOTE: ignored position for friction rows. + btScalar getPosition(int row) const + { + return m_data[m_pos_offset + row]; + } + + void setPosition(int row, btScalar pos) + { + m_data[m_pos_offset + row] = pos; + } + + + bool isUnilateral() const + { + return m_isUnilateral; + } + + // jacobian blocks. + // each of size 6 + num_links. (jacobian2 is null if no body2.) + // format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients. + btScalar* jacobianA(int row) + { + return &m_data[m_num_rows + row * m_jac_size_both]; + } + const btScalar* jacobianA(int row) const + { + return &m_data[m_num_rows + (row * m_jac_size_both)]; + } + btScalar* jacobianB(int row) + { + return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A]; + } + const btScalar* jacobianB(int row) const + { + return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A]; + } + + btScalar getMaxAppliedImpulse() const + { + return m_maxAppliedImpulse; + } + void setMaxAppliedImpulse(btScalar maxImp) + { + m_maxAppliedImpulse = maxImp; + } + + +}; + +#endif //BT_MULTIBODY_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp new file mode 100644 index 00000000..577f8462 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -0,0 +1,795 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +#include "btMultiBodyConstraintSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "btMultiBodyLinkCollider.h" + +#include "BulletDynamics/ConstraintSolver/btSolverBody.h" +#include "btMultiBodyConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + +#include "LinearMath/btQuickprof.h" + +btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + btScalar val = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); + + //solve featherstone non-contact constraints + + //printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size()); + for (int j=0;jm_multiBodyFrictionContactConstraints.size();j++) + { + if (iteration < infoGlobal.m_numIterations) + { + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse>btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + resolveSingleConstraintRowGeneric(frictionConstraint); + } + } + } + return val; +} + +btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + m_multiBodyNonContactConstraints.resize(0); + m_multiBodyNormalContactConstraints.resize(0); + m_multiBodyFrictionContactConstraints.resize(0); + m_data.m_jacobians.resize(0); + m_data.m_deltaVelocitiesUnitImpulse.resize(0); + m_data.m_deltaVelocities.resize(0); + + for (int i=0;im_multiBody->setCompanionId(-1); + } + } + + btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer); + + return val; +} + +void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof) +{ + for (int i = 0; i < ndof; ++i) + m_data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse; +} + +void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c) +{ + + btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + btSolverBody* bodyA = 0; + btSolverBody* bodyB = 0; + int ndofA=0; + int ndofB=0; + + if (c.m_multiBodyA) + { + ndofA = c.m_multiBodyA->getNumLinks() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; + } else + { + bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA]; + deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + } + + if (c.m_multiBodyB) + { + ndofB = c.m_multiBodyB->getNumLinks() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; + } else + { + bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB]; + deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + } + + + deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else if (sum > c.m_upperLimit) + { + deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_upperLimit; + } + else + { + c.m_appliedImpulse = sum; + } + + if (c.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); + c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + } else + { + bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + + } + if (c.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); + c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + } else + { + bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + } + +} + + +void btMultiBodyConstraintSolver::resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c) +{ + + btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + int ndofA=0; + int ndofB=0; + + if (c.m_multiBodyA) + { + ndofA = c.m_multiBodyA->getNumLinks() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; + } + + if (c.m_multiBodyB) + { + ndofB = c.m_multiBodyB->getNumLinks() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; + } + + + deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else if (sum > c.m_upperLimit) + { + deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_upperLimit; + } + else + { + c.m_appliedImpulse = sum; + } + + if (c.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); + c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + } + if (c.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); + c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + } +} + + +void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, + const btVector3& contactNormal, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + bool isFriction, btScalar desiredVelocity, btScalar cfmSlip) +{ + + BT_PROFILE("setupMultiBodyContactConstraint"); + btVector3 rel_pos1; + btVector3 rel_pos2; + + btMultiBody* multiBodyA = solverConstraint.m_multiBodyA; + btMultiBody* multiBodyB = solverConstraint.m_multiBodyB; + + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA]; + btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB]; + + btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody; + btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody; + + if (bodyA) + rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + if (bodyB) + rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); + + relaxation = 1.f; + + if (multiBodyA) + { + const int ndofA = multiBodyA->getNumLinks() + 6; + + solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId(); + + if (solverConstraint.m_deltaVelAindex <0) + { + solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size(); + multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex); + m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA); + } else + { + btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA); + } + + solverConstraint.m_jacAindex = m_data.m_jacobians.size(); + m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA); + m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA); + btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); + + btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex]; + multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v); + } else + { + btVector3 torqueAxis0 = rel_pos1.cross(contactNormal); + solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_relpos1CrossNormal = torqueAxis0; + solverConstraint.m_contactNormal1 = contactNormal; + } + + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + + solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId(); + if (solverConstraint.m_deltaVelBindex <0) + { + solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size(); + multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex); + m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB); + } + + solverConstraint.m_jacBindex = m_data.m_jacobians.size(); + + m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB); + m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB); + btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size()); + + multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m); + multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v); + } else + { + btVector3 torqueAxis1 = rel_pos2.cross(contactNormal); + solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + solverConstraint.m_contactNormal2 = -contactNormal; + } + + { + + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + btScalar* jacB = 0; + btScalar* jacA = 0; + btScalar* lambdaA =0; + btScalar* lambdaB =0; + int ndofA = 0; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; + lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + for (int i = 0; i < ndofA; ++i) + { + btScalar j = jacA[i] ; + btScalar l =lambdaA[i]; + denom0 += j*l; + } + } else + { + if (rb0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = rb0->getInvMass() + contactNormal.dot(vec); + } + } + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumLinks() + 6; + jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; + lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + for (int i = 0; i < ndofB; ++i) + { + btScalar j = jacB[i] ; + btScalar l =lambdaB[i]; + denom1 += j*l; + } + + } else + { + if (rb1) + { + vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = rb1->getInvMass() + contactNormal.dot(vec); + } + } + + if (multiBodyA && (multiBodyA==multiBodyB)) + { + // ndof1 == ndof2 in this case + for (int i = 0; i < ndofA; ++i) + { + denom1 += jacB[i] * lambdaA[i]; + denom1 += jacA[i] * lambdaB[i]; + } + } + + btScalar d = denom0+denom1; + if (btFabs(d)>SIMD_EPSILON) + { + + solverConstraint.m_jacDiagABInv = relaxation/(d); + } else + { + solverConstraint.m_jacDiagABInv = 1.f; + } + + } + + + //compute rhs and remaining solverConstraint fields + + + + btScalar restitution = 0.f; + btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop; + + btScalar rel_vel = 0.f; + int ndofA = 0; + int ndofB = 0; + { + + btVector3 vel1,vel2; + if (multiBodyA) + { + ndofA = multiBodyA->getNumLinks() + 6; + btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex]; + for (int i = 0; i < ndofA ; ++i) + rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i]; + } else + { + if (rb0) + { + rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); + } + } + if (multiBodyB) + { + ndofB = multiBodyB->getNumLinks() + 6; + btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex]; + for (int i = 0; i < ndofB ; ++i) + rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i]; + + } else + { + if (rb1) + { + rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); + } + } + + solverConstraint.m_friction = cp.m_combinedFriction; + + + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); + if (restitution <= btScalar(0.)) + { + restitution = 0.f; + }; + } + + + ///warm starting (or zero if disabled) + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; + + if (solverConstraint.m_appliedImpulse) + { + if (multiBodyA) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex]; + multiBodyA->applyDeltaVee(deltaV,impulse); + applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA); + } else + { + if (rb0) + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + } + if (multiBodyB) + { + btScalar impulse = solverConstraint.m_appliedImpulse; + btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex]; + multiBodyB->applyDeltaVee(deltaV,impulse); + applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB); + } else + { + if (rb1) + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); + } + } + } else + { + solverConstraint.m_appliedImpulse = 0.f; + } + + solverConstraint.m_appliedPushImpulse = 0.f; + + { + + + btScalar positionalError = 0.f; + btScalar velocityError = restitution - rel_vel;// * damping; + + + btScalar erp = infoGlobal.m_erp2; + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + erp = infoGlobal.m_erp; + } + + if (penetration>0) + { + positionalError = 0; + velocityError = -penetration / infoGlobal.m_timeStep; + + } else + { + positionalError = -penetration * erp/infoGlobal.m_timeStep; + } + + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + //combine position and velocity into rhs + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_rhsPenetration = 0.f; + + } else + { + //split position and velocity into rhs and m_rhsPenetration + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_rhsPenetration = penetrationImpulse; + } + + solverConstraint.m_cfm = 0.f; + solverConstraint.m_lowerLimit = 0; + solverConstraint.m_upperLimit = 1e10f; + } + +} + + + + +btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) +{ + BT_PROFILE("addMultiBodyFrictionConstraint"); + btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + bool isFriction = true; + + const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); + const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); + + btMultiBody* mbA = fcA? fcA->m_multiBody : 0; + btMultiBody* mbB = fcB? fcB->m_multiBody : 0; + + int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep); + int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep); + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + solverConstraint.m_multiBodyA = mbA; + if (mbA) + solverConstraint.m_linkA = fcA->m_link; + + solverConstraint.m_multiBodyB = mbB; + if (mbB) + solverConstraint.m_linkB = fcB->m_link; + + solverConstraint.m_originalContactPoint = &cp; + + setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip); + return solverConstraint; +} + +void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal) +{ + const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); + const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); + + btMultiBody* mbA = fcA? fcA->m_multiBody : 0; + btMultiBody* mbB = fcB? fcB->m_multiBody : 0; + + btCollisionObject* colObj0=0,*colObj1=0; + + colObj0 = (btCollisionObject*)manifold->getBody0(); + colObj1 = (btCollisionObject*)manifold->getBody1(); + + int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep); + int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep); + + btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB]; + + + ///avoid collision response between two static objects +// if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero()))) + // return; + + int rollingFriction=1; + + for (int j=0;jgetNumContacts();j++) + { + + btManifoldPoint& cp = manifold->getContactPoint(j); + + if (cp.getDistance() <= manifold->getContactProcessingThreshold()) + { + + btScalar relaxation; + + int frictionIndex = m_multiBodyNormalContactConstraints.size(); + + btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing(); + + btRigidBody* rb0 = btRigidBody::upcast(colObj0); + btRigidBody* rb1 = btRigidBody::upcast(colObj1); + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + solverConstraint.m_multiBodyA = mbA; + if (mbA) + solverConstraint.m_linkA = fcA->m_link; + + solverConstraint.m_multiBodyB = mbB; + if (mbB) + solverConstraint.m_linkB = fcB->m_link; + + solverConstraint.m_originalContactPoint = &cp; + + bool isFriction = false; + setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB,cp, infoGlobal, relaxation, isFriction); + +// const btVector3& pos1 = cp.getPositionWorldOnA(); +// const btVector3& pos2 = cp.getPositionWorldOnB(); + + /////setup the friction constraints +#define ENABLE_FRICTION +#ifdef ENABLE_FRICTION + solverConstraint.m_frictionIndex = frictionIndex; +#if ROLLING_FRICTION + btVector3 angVelA(0,0,0),angVelB(0,0,0); + if (rb0) + angVelA = rb0->getAngularVelocity(); + if (rb1) + angVelB = rb1->getAngularVelocity(); + btVector3 relAngVel = angVelB-angVelA; + + if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0)) + { + //only a single rollingFriction per manifold + rollingFriction--; + if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold) + { + relAngVel.normalize(); + applyAnisotropicFriction(colObj0,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (relAngVel.length()>0.001) + addRollingFrictionConstraint(relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } else + { + addRollingFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + btVector3 axis0,axis1; + btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1); + applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (axis0.length()>0.001) + addRollingFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + if (axis1.length()>0.001) + addRollingFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } + } +#endif //ROLLING_FRICTION + + ///Bullet has several options to set the friction directions + ///By default, each contact has only a single friction direction that is recomputed automatically very frame + ///based on the relative linear velocity. + ///If the relative velocity it zero, it will automatically compute a friction direction. + + ///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. + ///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction. + /// + ///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity. + /// + ///The user can manually override the friction directions for certain contacts using a contact callback, + ///and set the cp.m_lateralFrictionInitialized to true + ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) + ///this will give a conveyor belt effect + /// + if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized) + {/* + cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; + btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); + if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON) + { + cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel); + if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); + cp.m_lateralFrictionDir2.normalize();//?? + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } + + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } else + */ + { + btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal); + } + + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal); + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) + { + cp.m_lateralFrictionInitialized = true; + } + } + + } else + { + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal,cp.m_contactMotion1, cp.m_contactCFM1); + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation, infoGlobal,cp.m_contactMotion2, cp.m_contactCFM2); + + //setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); + //todo: + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + } + + +#endif //ENABLE_FRICTION + + } + } +} + +void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal) +{ + btPersistentManifold* manifold = 0; + + for (int i=0;igetBody0()); + const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); + if (!fcA && !fcB) + { + //the contact doesn't involve any Featherstone btMultiBody, so deal with the regular btRigidBody/btCollisionObject case + convertContact(manifold,infoGlobal); + } else + { + convertMultiBodyContact(manifold,infoGlobal); + } + } + + //also convert the multibody constraints, if any + + + for (int i=0;icreateConstraintRows(m_multiBodyNonContactConstraints,m_data, infoGlobal); + } + +} + + + +btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) +{ + return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); +} + + +void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) +{ + //printf("solveMultiBodyGroup start\n"); + m_tmpMultiBodyConstraints = multiBodyConstraints; + m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; + + btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); + + m_tmpMultiBodyConstraints = 0; + m_tmpNumMultiBodyConstraints = 0; + + +} diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h new file mode 100644 index 00000000..0f4cd69c --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -0,0 +1,85 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_MULTIBODY_CONSTRAINT_SOLVER_H +#define BT_MULTIBODY_CONSTRAINT_SOLVER_H + +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "btMultiBodySolverConstraint.h" + + +class btMultiBody; + +#include "btMultiBodyConstraint.h" + + + +ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver +{ + +protected: + + btMultiBodyConstraintArray m_multiBodyNonContactConstraints; + + btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; + btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; + + btMultiBodyJacobianData m_data; + + //temp storage for multi body constraints for a specific island/group called by 'solveGroup' + btMultiBodyConstraint** m_tmpMultiBodyConstraints; + int m_tmpNumMultiBodyConstraints; + + void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c); + void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c); + + void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal); + btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0); + + + void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow, + btScalar* jacA,btScalar* jacB, + btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, + const btContactSolverInfo& infoGlobal); + + void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, + const btVector3& contactNormal, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, + btScalar& relaxation, + bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0); + + void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); +// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + + virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + ///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints) + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); + + virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); +}; + + + + + +#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H + diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp new file mode 100644 index 00000000..0910f8f6 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -0,0 +1,578 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +#include "btMultiBodyDynamicsWorld.h" +#include "btMultiBodyConstraintSolver.h" +#include "btMultiBody.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" +#include "LinearMath/btQuickprof.h" +#include "btMultiBodyConstraint.h" + + + + +void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, short group, short mask) +{ + m_multiBodies.push_back(body); + +} + +void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body) +{ + m_multiBodies.remove(body); +} + +void btMultiBodyDynamicsWorld::calculateSimulationIslands() +{ + BT_PROFILE("calculateSimulationIslands"); + + getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher()); + + { + //merge islands based on speculative contact manifolds too + for (int i=0;im_predictiveManifolds.size();i++) + { + btPersistentManifold* manifold = m_predictiveManifolds[i]; + + const btCollisionObject* colObj0 = manifold->getBody0(); + const btCollisionObject* colObj1 = manifold->getBody1(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + { + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); + } + } + } + + { + int i; + int numConstraints = int(m_constraints.size()); + for (i=0;i< numConstraints ; i++ ) + { + btTypedConstraint* constraint = m_constraints[i]; + if (constraint->isEnabled()) + { + const btRigidBody* colObj0 = &constraint->getRigidBodyA(); + const btRigidBody* colObj1 = &constraint->getRigidBodyB(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + { + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag()); + } + } + } + } + + //merge islands linked by Featherstone link colliders + for (int i=0;igetBaseCollider(); + + for (int b=0;bgetNumLinks();b++) + { + btMultiBodyLinkCollider* cur = body->getLink(b).m_collider; + + if (((cur) && (!(cur)->isStaticOrKinematicObject())) && + ((prev) && (!(prev)->isStaticOrKinematicObject()))) + { + int tagPrev = prev->getIslandTag(); + int tagCur = cur->getIslandTag(); + getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur); + } + if (cur && !cur->isStaticOrKinematicObject()) + prev = cur; + + } + } + } + + //merge islands linked by multibody constraints + { + for (int i=0;im_multiBodyConstraints.size();i++) + { + btMultiBodyConstraint* c = m_multiBodyConstraints[i]; + int tagA = c->getIslandIdA(); + int tagB = c->getIslandIdB(); + if (tagA>=0 && tagB>=0) + getSimulationIslandManager()->getUnionFind().unite(tagA, tagB); + } + } + + //Store the island id in each body + getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); + +} + + +void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep) +{ + BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState"); + + + + for ( int i=0;icheckMotionAndSleepIfRequired(timeStep); + if (!body->isAwake()) + { + btMultiBodyLinkCollider* col = body->getBaseCollider(); + if (col && col->getActivationState() == ACTIVE_TAG) + { + col->setActivationState( WANTS_DEACTIVATION); + col->setDeactivationTime(0.f); + } + for (int b=0;bgetNumLinks();b++) + { + btMultiBodyLinkCollider* col = body->getLink(b).m_collider; + if (col && col->getActivationState() == ACTIVE_TAG) + { + col->setActivationState( WANTS_DEACTIVATION); + col->setDeactivationTime(0.f); + } + } + } else + { + btMultiBodyLinkCollider* col = body->getBaseCollider(); + if (col && col->getActivationState() != DISABLE_DEACTIVATION) + col->setActivationState( ACTIVE_TAG ); + + for (int b=0;bgetNumLinks();b++) + { + btMultiBodyLinkCollider* col = body->getLink(b).m_collider; + if (col && col->getActivationState() != DISABLE_DEACTIVATION) + col->setActivationState( ACTIVE_TAG ); + } + } + + } + } + + btDiscreteDynamicsWorld::updateActivationState(timeStep); +} + + +SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); + return islandId; + +} + + +class btSortConstraintOnIslandPredicate2 +{ + public: + + bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const + { + int rIslandId0,lIslandId0; + rIslandId0 = btGetConstraintIslandId2(rhs); + lIslandId0 = btGetConstraintIslandId2(lhs); + return lIslandId0 < rIslandId0; + } +}; + + + +SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs) +{ + int islandId; + + int islandTagA = lhs->getIslandIdA(); + int islandTagB = lhs->getIslandIdB(); + islandId= islandTagA>=0?islandTagA:islandTagB; + return islandId; + +} + + +class btSortMultiBodyConstraintOnIslandPredicate +{ + public: + + bool operator() ( const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs ) const + { + int rIslandId0,lIslandId0; + rIslandId0 = btGetMultiBodyConstraintIslandId(rhs); + lIslandId0 = btGetMultiBodyConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + btContactSolverInfo* m_solverInfo; + btMultiBodyConstraintSolver* m_solver; + btMultiBodyConstraint** m_multiBodySortedConstraints; + int m_numMultiBodyConstraints; + + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + btAlignedObjectArray m_bodies; + btAlignedObjectArray m_manifolds; + btAlignedObjectArray m_constraints; + btAlignedObjectArray m_multiBodyConstraints; + + + MultiBodyInplaceSolverIslandCallback( btMultiBodyConstraintSolver* solver, + btDispatcher* dispatcher) + :m_solverInfo(NULL), + m_solver(solver), + m_multiBodySortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + + } + + MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer) + { + btAssert(solverInfo); + m_solverInfo = solverInfo; + + m_multiBodySortedConstraints = sortedMultiBodyConstraints; + m_numMultiBodyConstraints = numMultiBodyConstraints; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + + m_debugDrawer = debugDrawer; + m_bodies.resize (0); + m_manifolds.resize (0); + m_constraints.resize (0); + m_multiBodyConstraints.resize(0); + } + + + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) + { + if (islandId<0) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + } else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + btMultiBodyConstraint** startMultiBodyConstraint = 0; + + int numCurConstraints = 0; + int numCurMultiBodyConstraints = 0; + + int i; + + //find the first constraint for this island + + for (i=0;im_minimumSolverBatchSize<=1) + { + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); + } else + { + + for (i=0;im_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(); + } else + { + //printf("deferred\n"); + } + } + } + } + void processConstraints() + { + + btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0; + btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; + btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; + btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0; + + m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher); + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + m_multiBodyConstraints.resize(0); + } + +}; + + + +btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) + :btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration), + m_multiBodyConstraintSolver(constraintSolver) +{ + //split impulse is not yet supported for Featherstone hierarchies + getSolverInfo().m_splitImpulse = false; + getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS; + m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher); +} + +btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld () +{ + delete m_solverMultiBodyIslandCallback; +} + + + + +void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) +{ + + btAlignedObjectArray scratch_r; + btAlignedObjectArray scratch_v; + btAlignedObjectArray scratch_m; + + + BT_PROFILE("solveConstraints"); + + m_sortedConstraints.resize( m_constraints.size()); + int i; + for (i=0;isetup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + + /// solve all the constraints for this island + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback); + + + { + BT_PROFILE("btMultiBody addForce and stepVelocities"); + for (int i=0;im_multiBodies.size();i++) + { + btMultiBody* bod = m_multiBodies[i]; + + bool isSleeping = false; + + if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b=0;bgetNumLinks();b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) + isSleeping = true; + } + + if (!isSleeping) + { + scratch_r.resize(bod->getNumLinks()+1); + scratch_v.resize(bod->getNumLinks()+1); + scratch_m.resize(bod->getNumLinks()+1); + + bod->clearForcesAndTorques(); + bod->addBaseForce(m_gravity * bod->getBaseMass()); + + for (int j = 0; j < bod->getNumLinks(); ++j) + { + bod->addLinkForce(j, m_gravity * bod->getLinkMass(j)); + } + + bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m); + } + } + } + + m_solverMultiBodyIslandCallback->processConstraints(); + + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); + +} + +void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + btDiscreteDynamicsWorld::integrateTransforms(timeStep); + + { + BT_PROFILE("btMultiBody stepPositions"); + //integrate and update the Featherstone hierarchies + btAlignedObjectArray world_to_local; + btAlignedObjectArray local_origin; + + for (int b=0;bgetBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING) + { + isSleeping = true; + } + for (int b=0;bgetNumLinks();b++) + { + if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING) + isSleeping = true; + } + + + if (!isSleeping) + { + int nLinks = bod->getNumLinks(); + + ///base + num links + world_to_local.resize(nLinks+1); + local_origin.resize(nLinks+1); + + bod->stepPositions(timeStep); + + + + world_to_local[0] = bod->getWorldToBaseRot(); + local_origin[0] = bod->getBasePos(); + + if (bod->getBaseCollider()) + { + btVector3 posr = local_origin[0]; + float pos[4]={posr.x(),posr.y(),posr.z(),1}; + float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3])); + + bod->getBaseCollider()->setWorldTransform(tr); + + } + + for (int k=0;kgetNumLinks();k++) + { + const int parent = bod->getParent(k); + world_to_local[k+1] = bod->getParentToLocalRot(k) * world_to_local[parent+1]; + local_origin[k+1] = local_origin[parent+1] + (quatRotate(world_to_local[k+1].inverse() , bod->getRVector(k))); + } + + + for (int m=0;mgetNumLinks();m++) + { + btMultiBodyLinkCollider* col = bod->getLink(m).m_collider; + if (col) + { + int link = col->m_link; + btAssert(link == m); + + int index = link+1; + + btVector3 posr = local_origin[index]; + float pos[4]={posr.x(),posr.y(),posr.z(),1}; + float quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()}; + btTransform tr; + tr.setIdentity(); + tr.setOrigin(posr); + tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3])); + + col->setWorldTransform(tr); + } + } + } else + { + bod->clearVelocities(); + } + } + } +} + + + +void btMultiBodyDynamicsWorld::addMultiBodyConstraint( btMultiBodyConstraint* constraint) +{ + m_multiBodyConstraints.push_back(constraint); +} + +void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint* constraint) +{ + m_multiBodyConstraints.remove(constraint); +} diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h new file mode 100644 index 00000000..ad57a346 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -0,0 +1,56 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_MULTIBODY_DYNAMICS_WORLD_H +#define BT_MULTIBODY_DYNAMICS_WORLD_H + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" + + +class btMultiBody; +class btMultiBodyConstraint; +class btMultiBodyConstraintSolver; +struct MultiBodyInplaceSolverIslandCallback; + +///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet +///This implementation is still preliminary/experimental. +class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld +{ +protected: + btAlignedObjectArray m_multiBodies; + btAlignedObjectArray m_multiBodyConstraints; + btAlignedObjectArray m_sortedMultiBodyConstraints; + btMultiBodyConstraintSolver* m_multiBodyConstraintSolver; + MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback; + + virtual void calculateSimulationIslands(); + virtual void updateActivationState(btScalar timeStep); + virtual void solveConstraints(btContactSolverInfo& solverInfo); + virtual void integrateTransforms(btScalar timeStep); +public: + + btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + + virtual ~btMultiBodyDynamicsWorld (); + + virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter); + + virtual void removeMultiBody(btMultiBody* body); + + virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint); + + virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint); +}; +#endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp new file mode 100644 index 00000000..ea309e88 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp @@ -0,0 +1,133 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyJointLimitConstraint.h" +#include "btMultiBody.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + + +btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper) + :btMultiBodyConstraint(body,body,link,link,2,true), + m_lowerBound(lower), + m_upperBound(upper) +{ + // the data.m_jacobians never change, so may as well + // initialize them here + + // note: we rely on the fact that data.m_jacobians are + // always initialized to zero by the Constraint ctor + + // row 0: the lower bound + jacobianA(0)[6 + link] = 1; + + // row 1: the upper bound + jacobianB(1)[6 + link] = -1; +} +btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint() +{ +} + +int btMultiBodyJointLimitConstraint::getIslandIdA() const +{ + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;igetNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } + return -1; +} + +int btMultiBodyJointLimitConstraint::getIslandIdB() const +{ + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + + for (int i=0;igetNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } + return -1; +} + + +void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) +{ + // only positions need to be updated -- data.m_jacobians and force + // directions were set in the ctor and never change. + + // row 0: the lower bound + setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound); + + // row 1: the upper bound + setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA)); + + for (int row=0;row infoGlobal.m_splitImpulsePenetrationThreshold)) + { + erp = infoGlobal.m_erp; + } + if (penetration>0) + { + positionalError = 0; + velocityError = -penetration / infoGlobal.m_timeStep; + } else + { + positionalError = -penetration * erp/infoGlobal.m_timeStep; + } + + btScalar penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv; + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + { + //combine position and velocity into rhs + constraintRow.m_rhs = penetrationImpulse+velocityImpulse; + constraintRow.m_rhsPenetration = 0.f; + + } else + { + //split position and velocity into rhs and m_rhsPenetration + constraintRow.m_rhs = velocityImpulse; + constraintRow.m_rhsPenetration = penetrationImpulse; + } + } + } + +} + + + + diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h new file mode 100644 index 00000000..0c7fc170 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h @@ -0,0 +1,44 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H +#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H + +#include "btMultiBodyConstraint.h" +struct btSolverInfo; + +class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint +{ +protected: + + btScalar m_lowerBound; + btScalar m_upperBound; +public: + + btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper); + virtual ~btMultiBodyJointLimitConstraint(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + +}; + +#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H + diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp new file mode 100644 index 00000000..ab5a4302 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyJointMotor.h" +#include "btMultiBody.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + + +btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) + :btMultiBodyConstraint(body,body,link,link,1,true), + m_desiredVelocity(desiredVelocity) +{ + m_maxAppliedImpulse = maxMotorImpulse; + // the data.m_jacobians never change, so may as well + // initialize them here + + // note: we rely on the fact that data.m_jacobians are + // always initialized to zero by the Constraint ctor + + // row 0: the lower bound + jacobianA(0)[6 + link] = 1; +} +btMultiBodyJointMotor::~btMultiBodyJointMotor() +{ +} + +int btMultiBodyJointMotor::getIslandIdA() const +{ + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;igetNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } + return -1; +} + +int btMultiBodyJointMotor::getIslandIdB() const +{ + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + + for (int i=0;igetNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } + return -1; +} + + +void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) +{ + // only positions need to be updated -- data.m_jacobians and force + // directions were set in the ctor and never change. + + + + for (int row=0;row=0 || (multiBody && !multiBody->hasFixedBase())) + { + m_collisionFlags &= (~btCollisionObject::CF_STATIC_OBJECT); + } + // else + //{ + // m_collisionFlags |= (btCollisionObject::CF_STATIC_OBJECT); + //} + + m_internalType = CO_FEATHERSTONE_LINK; + } + static btMultiBodyLinkCollider* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK) + return (btMultiBodyLinkCollider*)colObj; + return 0; + } + static const btMultiBodyLinkCollider* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK) + return (btMultiBodyLinkCollider*)colObj; + return 0; + } + + virtual bool checkCollideWithOverride(const btCollisionObject* co) const + { + const btMultiBodyLinkCollider* other = btMultiBodyLinkCollider::upcast(co); + if (!other) + return true; + if (other->m_multiBody != this->m_multiBody) + return true; + if (!m_multiBody->hasSelfCollision()) + return false; + + //check if 'link' has collision disabled + if (m_link>=0) + { + const btMultibodyLink& link = m_multiBody->getLink(this->m_link); + if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.parent == other->m_link) + return false; + } + + if (other->m_link>=0) + { + const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link); + if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.parent == this->m_link) + return false; + } + return true; + } +}; + +#endif //BT_FEATHERSTONE_LINK_COLLIDER_H + diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp new file mode 100644 index 00000000..f6690049 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp @@ -0,0 +1,143 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +///This file was written by Erwin Coumans + +#include "btMultiBodyPoint2Point.h" +#include "btMultiBodyLinkCollider.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB) + :btMultiBodyConstraint(body,0,link,-1,3,false), + m_rigidBodyA(0), + m_rigidBodyB(bodyB), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB) +{ +} + +btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB) + :btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,3,false), + m_rigidBodyA(0), + m_rigidBodyB(0), + m_pivotInA(pivotInA), + m_pivotInB(pivotInB) +{ +} + + +btMultiBodyPoint2Point::~btMultiBodyPoint2Point() +{ +} + + +int btMultiBodyPoint2Point::getIslandIdA() const +{ + if (m_rigidBodyA) + return m_rigidBodyA->getIslandTag(); + + if (m_bodyA) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + for (int i=0;igetNumLinks();i++) + { + if (m_bodyA->getLink(i).m_collider) + return m_bodyA->getLink(i).m_collider->getIslandTag(); + } + } + return -1; +} + +int btMultiBodyPoint2Point::getIslandIdB() const +{ + if (m_rigidBodyB) + return m_rigidBodyB->getIslandTag(); + if (m_bodyB) + { + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); + if (col) + return col->getIslandTag(); + + for (int i=0;igetNumLinks();i++) + { + col = m_bodyB->getLink(i).m_collider; + if (col) + return col->getIslandTag(); + } + } + return -1; +} + + + +void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal) +{ + +// int i=1; + for (int i=0;i<3;i++) + { + + btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing(); + + constraintRow.m_solverBodyIdA = data.m_fixedBodyId; + constraintRow.m_solverBodyIdB = data.m_fixedBodyId; + + + btVector3 contactNormalOnB(0,0,0); + contactNormalOnB[i] = -1; + + btScalar penetration = 0; + + // Convert local points back to world + btVector3 pivotAworld = m_pivotInA; + if (m_rigidBodyA) + { + + constraintRow.m_solverBodyIdA = m_rigidBodyA->getCompanionId(); + pivotAworld = m_rigidBodyA->getCenterOfMassTransform()*m_pivotInA; + } else + { + if (m_bodyA) + pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA); + } + btVector3 pivotBworld = m_pivotInB; + if (m_rigidBodyB) + { + constraintRow.m_solverBodyIdB = m_rigidBodyB->getCompanionId(); + pivotBworld = m_rigidBodyB->getCenterOfMassTransform()*m_pivotInB; + } else + { + if (m_bodyB) + pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB); + + } + btScalar position = (pivotAworld-pivotBworld).dot(contactNormalOnB); + btScalar relaxation = 1.f; + fillMultiBodyConstraintMixed(constraintRow, data, + contactNormalOnB, + pivotAworld, pivotBworld, + position, + infoGlobal, + relaxation, + false); + constraintRow.m_lowerLimit = -m_maxAppliedImpulse; + constraintRow.m_upperLimit = m_maxAppliedImpulse; + + } +} diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h new file mode 100644 index 00000000..26ca12b4 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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. +*/ + +///This file was written by Erwin Coumans + +#ifndef BT_MULTIBODY_POINT2POINT_H +#define BT_MULTIBODY_POINT2POINT_H + +#include "btMultiBodyConstraint.h" + +class btMultiBodyPoint2Point : public btMultiBodyConstraint +{ +protected: + + btRigidBody* m_rigidBodyA; + btRigidBody* m_rigidBodyB; + btVector3 m_pivotInA; + btVector3 m_pivotInB; + + +public: + + btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB); + btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB); + + virtual ~btMultiBodyPoint2Point(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + const btVector3& getPivotInB() const + { + return m_pivotInB; + } + + void setPivotInB(const btVector3& pivotInB) + { + m_pivotInB = pivotInB; + } + + +}; + +#endif //BT_MULTIBODY_POINT2POINT_H diff --git a/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h new file mode 100644 index 00000000..cf06dfb9 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h @@ -0,0 +1,82 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://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 BT_MULTIBODY_SOLVER_CONSTRAINT_H +#define BT_MULTIBODY_SOLVER_CONSTRAINT_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedObjectArray.h" + +class btMultiBody; +#include "BulletDynamics/ConstraintSolver/btSolverBody.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" + +///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. +ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + + int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1 + btVector3 m_relpos1CrossNormal; + btVector3 m_contactNormal1; + int m_jacAindex; + + int m_deltaVelBindex; + btVector3 m_relpos2CrossNormal; + btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always + int m_jacBindex; + + btVector3 m_angularComponentA; + btVector3 m_angularComponentB; + + mutable btSimdScalar m_appliedPushImpulse; + mutable btSimdScalar m_appliedImpulse; + + btScalar m_friction; + btScalar m_jacDiagABInv; + btScalar m_rhs; + btScalar m_cfm; + + btScalar m_lowerLimit; + btScalar m_upperLimit; + btScalar m_rhsPenetration; + union + { + void* m_originalContactPoint; + btScalar m_unusedPadding4; + }; + + int m_overrideNumSolverIterations; + int m_frictionIndex; + + int m_solverBodyIdA; + btMultiBody* m_multiBodyA; + int m_linkA; + + int m_solverBodyIdB; + btMultiBody* m_multiBodyB; + int m_linkB; + + enum btSolverConstraintType + { + BT_SOLVER_CONTACT_1D = 0, + BT_SOLVER_FRICTION_1D + }; +}; + +typedef btAlignedObjectArray btMultiBodyConstraintArray; + +#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H diff --git a/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp b/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp new file mode 100644 index 00000000..3bf7b5c1 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp @@ -0,0 +1,2079 @@ +/************************************************************************* +* * +* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * +* All rights reserved. Email: russ@q12.org Web: www.q12.org * +* * +* This library is free software; you can redistribute it and/or * +* modify it under the terms of EITHER: * +* (1) The GNU Lesser General Public License as published by the Free * +* Software Foundation; either version 2.1 of the License, or (at * +* your option) any later version. The text of the GNU Lesser * +* General Public License is included with this library in the * +* file LICENSE.TXT. * +* (2) The BSD-style license that is included with this library in * +* the file LICENSE-BSD.TXT. * +* * +* This library is distributed in the hope that it will be useful, * +* but WITHOUT ANY WARRANTY; without even the implied warranty of * +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * +* LICENSE.TXT and LICENSE-BSD.TXT for more details. * +* * +*************************************************************************/ + +/* + + +THE ALGORITHM +------------- + +solve A*x = b+w, with x and w subject to certain LCP conditions. +each x(i),w(i) must lie on one of the three line segments in the following +diagram. each line segment corresponds to one index set : + + w(i) + /|\ | : + | | : + | |i in N : + w>0 | |state[i]=0 : + | | : + | | : i in C + w=0 + +-----------------------+ + | : | + | : | + w<0 | : |i in N + | : |state[i]=1 + | : | + | : | + +-------|-----------|-----------|----------> x(i) + lo 0 hi + +the Dantzig algorithm proceeds as follows: + for i=1:n + * if (x(i),w(i)) is not on the line, push x(i) and w(i) positive or + negative towards the line. as this is done, the other (x(j),w(j)) + for j= 0. this makes the algorithm a bit +simpler, because the starting point for x(i),w(i) is always on the dotted +line x=0 and x will only ever increase in one direction, so it can only hit +two out of the three line segments. + + +NOTES +----- + +this is an implementation of "lcp_dantzig2_ldlt.m" and "lcp_dantzig_lohi.m". +the implementation is split into an LCP problem object (btLCP) and an LCP +driver function. most optimization occurs in the btLCP object. + +a naive implementation of the algorithm requires either a lot of data motion +or a lot of permutation-array lookup, because we are constantly re-ordering +rows and columns. to avoid this and make a more optimized algorithm, a +non-trivial data structure is used to represent the matrix A (this is +implemented in the fast version of the btLCP object). + +during execution of this algorithm, some indexes in A are clamped (set C), +some are non-clamped (set N), and some are "don't care" (where x=0). +A,x,b,w (and other problem vectors) are permuted such that the clamped +indexes are first, the unclamped indexes are next, and the don't-care +indexes are last. this permutation is recorded in the array `p'. +initially p = 0..n-1, and as the rows and columns of A,x,b,w are swapped, +the corresponding elements of p are swapped. + +because the C and N elements are grouped together in the rows of A, we can do +lots of work with a fast dot product function. if A,x,etc were not permuted +and we only had a permutation array, then those dot products would be much +slower as we would have a permutation array lookup in some inner loops. + +A is accessed through an array of row pointers, so that element (i,j) of the +permuted matrix is A[i][j]. this makes row swapping fast. for column swapping +we still have to actually move the data. + +during execution of this algorithm we maintain an L*D*L' factorization of +the clamped submatrix of A (call it `AC') which is the top left nC*nC +submatrix of A. there are two ways we could arrange the rows/columns in AC. + +(1) AC is always permuted such that L*D*L' = AC. this causes a problem +when a row/column is removed from C, because then all the rows/columns of A +between the deleted index and the end of C need to be rotated downward. +this results in a lot of data motion and slows things down. +(2) L*D*L' is actually a factorization of a *permutation* of AC (which is +itself a permutation of the underlying A). this is what we do - the +permutation is recorded in the vector C. call this permutation A[C,C]. +when a row/column is removed from C, all we have to do is swap two +rows/columns and manipulate C. + +*/ + + +#include "btDantzigLCP.h" + +#include //memcpy + +bool s_error = false; + +//*************************************************************************** +// code generation parameters + + +#define btLCP_FAST // use fast btLCP object + +// option 1 : matrix row pointers (less data copying) +#define BTROWPTRS +#define BTATYPE btScalar ** +#define BTAROW(i) (m_A[i]) + +// option 2 : no matrix row pointers (slightly faster inner loops) +//#define NOROWPTRS +//#define BTATYPE btScalar * +//#define BTAROW(i) (m_A+(i)*m_nskip) + +#define BTNUB_OPTIMIZATIONS + + + +/* solve L*X=B, with B containing 1 right hand sides. + * L is an n*n lower triangular matrix with ones on the diagonal. + * L is stored by rows and its leading dimension is lskip. + * B is an n*1 matrix that contains the right hand sides. + * B is stored by columns and its leading dimension is also lskip. + * B is overwritten with X. + * this processes blocks of 2*2. + * if this is in the factorizer source file, n must be a multiple of 2. + */ + +static void btSolveL1_1 (const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11,m11,Z21,m21,p1,q1,p2,*ex; + const btScalar *ell; + int i,j; + /* compute all 2 x 1 blocks of X */ + for (i=0; i < n; i+=2) { + /* compute all 2 x 1 block of X, from rows i..i+2-1 */ + /* set the Z matrix to 0 */ + Z11=0; + Z21=0; + ell = L + i*lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-2; j >= 0; j -= 2) { + /* compute outer product and add it to the Z matrix */ + p1=ell[0]; + q1=ex[0]; + m11 = p1 * q1; + p2=ell[lskip1]; + m21 = p2 * q1; + Z11 += m11; + Z21 += m21; + /* compute outer product and add it to the Z matrix */ + p1=ell[1]; + q1=ex[1]; + m11 = p1 * q1; + p2=ell[1+lskip1]; + m21 = p2 * q1; + /* advance pointers */ + ell += 2; + ex += 2; + Z11 += m11; + Z21 += m21; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 2; + for (; j > 0; j--) { + /* compute outer product and add it to the Z matrix */ + p1=ell[0]; + q1=ex[0]; + m11 = p1 * q1; + p2=ell[lskip1]; + m21 = p2 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + Z11 += m11; + Z21 += m21; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1*Z11; + ex[1] = Z21; + /* end of outer loop */ + } +} + +/* solve L*X=B, with B containing 2 right hand sides. + * L is an n*n lower triangular matrix with ones on the diagonal. + * L is stored by rows and its leading dimension is lskip. + * B is an n*2 matrix that contains the right hand sides. + * B is stored by columns and its leading dimension is also lskip. + * B is overwritten with X. + * this processes blocks of 2*2. + * if this is in the factorizer source file, n must be a multiple of 2. + */ + +static void btSolveL1_2 (const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11,m11,Z12,m12,Z21,m21,Z22,m22,p1,q1,p2,q2,*ex; + const btScalar *ell; + int i,j; + /* compute all 2 x 2 blocks of X */ + for (i=0; i < n; i+=2) { + /* compute all 2 x 2 block of X, from rows i..i+2-1 */ + /* set the Z matrix to 0 */ + Z11=0; + Z12=0; + Z21=0; + Z22=0; + ell = L + i*lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-2; j >= 0; j -= 2) { + /* compute outer product and add it to the Z matrix */ + p1=ell[0]; + q1=ex[0]; + m11 = p1 * q1; + q2=ex[lskip1]; + m12 = p1 * q2; + p2=ell[lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + /* compute outer product and add it to the Z matrix */ + p1=ell[1]; + q1=ex[1]; + m11 = p1 * q1; + q2=ex[1+lskip1]; + m12 = p1 * q2; + p2=ell[1+lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + /* advance pointers */ + ell += 2; + ex += 2; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 2; + for (; j > 0; j--) { + /* compute outer product and add it to the Z matrix */ + p1=ell[0]; + q1=ex[0]; + m11 = p1 * q1; + q2=ex[lskip1]; + m12 = p1 * q2; + p2=ell[lskip1]; + m21 = p2 * q1; + m22 = p2 * q2; + /* advance pointers */ + ell += 1; + ex += 1; + Z11 += m11; + Z12 += m12; + Z21 += m21; + Z22 += m22; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + Z12 = ex[lskip1] - Z12; + ex[lskip1] = Z12; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1*Z11; + ex[1] = Z21; + Z22 = ex[1+lskip1] - Z22 - p1*Z12; + ex[1+lskip1] = Z22; + /* end of outer loop */ + } +} + + +void btFactorLDLT (btScalar *A, btScalar *d, int n, int nskip1) +{ + int i,j; + btScalar sum,*ell,*dee,dd,p1,p2,q1,q2,Z11,m11,Z21,m21,Z22,m22; + if (n < 1) return; + + for (i=0; i<=n-2; i += 2) { + /* solve L*(D*l)=a, l is scaled elements in 2 x i block at A(i,0) */ + btSolveL1_2 (A,A+i*nskip1,i,nskip1); + /* scale the elements in a 2 x i block at A(i,0), and also */ + /* compute Z = the outer product matrix that we'll need. */ + Z11 = 0; + Z21 = 0; + Z22 = 0; + ell = A+i*nskip1; + dee = d; + for (j=i-6; j >= 0; j -= 6) { + p1 = ell[0]; + p2 = ell[nskip1]; + dd = dee[0]; + q1 = p1*dd; + q2 = p2*dd; + ell[0] = q1; + ell[nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[1]; + p2 = ell[1+nskip1]; + dd = dee[1]; + q1 = p1*dd; + q2 = p2*dd; + ell[1] = q1; + ell[1+nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[2]; + p2 = ell[2+nskip1]; + dd = dee[2]; + q1 = p1*dd; + q2 = p2*dd; + ell[2] = q1; + ell[2+nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[3]; + p2 = ell[3+nskip1]; + dd = dee[3]; + q1 = p1*dd; + q2 = p2*dd; + ell[3] = q1; + ell[3+nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[4]; + p2 = ell[4+nskip1]; + dd = dee[4]; + q1 = p1*dd; + q2 = p2*dd; + ell[4] = q1; + ell[4+nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + p1 = ell[5]; + p2 = ell[5+nskip1]; + dd = dee[5]; + q1 = p1*dd; + q2 = p2*dd; + ell[5] = q1; + ell[5+nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + ell += 6; + dee += 6; + } + /* compute left-over iterations */ + j += 6; + for (; j > 0; j--) { + p1 = ell[0]; + p2 = ell[nskip1]; + dd = dee[0]; + q1 = p1*dd; + q2 = p2*dd; + ell[0] = q1; + ell[nskip1] = q2; + m11 = p1*q1; + m21 = p2*q1; + m22 = p2*q2; + Z11 += m11; + Z21 += m21; + Z22 += m22; + ell++; + dee++; + } + /* solve for diagonal 2 x 2 block at A(i,i) */ + Z11 = ell[0] - Z11; + Z21 = ell[nskip1] - Z21; + Z22 = ell[1+nskip1] - Z22; + dee = d + i; + /* factorize 2 x 2 block Z,dee */ + /* factorize row 1 */ + dee[0] = btRecip(Z11); + /* factorize row 2 */ + sum = 0; + q1 = Z21; + q2 = q1 * dee[0]; + Z21 = q2; + sum += q1*q2; + dee[1] = btRecip(Z22 - sum); + /* done factorizing 2 x 2 block */ + ell[nskip1] = Z21; + } + /* compute the (less than 2) rows at the bottom */ + switch (n-i) { + case 0: + break; + + case 1: + btSolveL1_1 (A,A+i*nskip1,i,nskip1); + /* scale the elements in a 1 x i block at A(i,0), and also */ + /* compute Z = the outer product matrix that we'll need. */ + Z11 = 0; + ell = A+i*nskip1; + dee = d; + for (j=i-6; j >= 0; j -= 6) { + p1 = ell[0]; + dd = dee[0]; + q1 = p1*dd; + ell[0] = q1; + m11 = p1*q1; + Z11 += m11; + p1 = ell[1]; + dd = dee[1]; + q1 = p1*dd; + ell[1] = q1; + m11 = p1*q1; + Z11 += m11; + p1 = ell[2]; + dd = dee[2]; + q1 = p1*dd; + ell[2] = q1; + m11 = p1*q1; + Z11 += m11; + p1 = ell[3]; + dd = dee[3]; + q1 = p1*dd; + ell[3] = q1; + m11 = p1*q1; + Z11 += m11; + p1 = ell[4]; + dd = dee[4]; + q1 = p1*dd; + ell[4] = q1; + m11 = p1*q1; + Z11 += m11; + p1 = ell[5]; + dd = dee[5]; + q1 = p1*dd; + ell[5] = q1; + m11 = p1*q1; + Z11 += m11; + ell += 6; + dee += 6; + } + /* compute left-over iterations */ + j += 6; + for (; j > 0; j--) { + p1 = ell[0]; + dd = dee[0]; + q1 = p1*dd; + ell[0] = q1; + m11 = p1*q1; + Z11 += m11; + ell++; + dee++; + } + /* solve for diagonal 1 x 1 block at A(i,i) */ + Z11 = ell[0] - Z11; + dee = d + i; + /* factorize 1 x 1 block Z,dee */ + /* factorize row 1 */ + dee[0] = btRecip(Z11); + /* done factorizing 1 x 1 block */ + break; + + //default: *((char*)0)=0; /* this should never happen! */ + } +} + +/* solve L*X=B, with B containing 1 right hand sides. + * L is an n*n lower triangular matrix with ones on the diagonal. + * L is stored by rows and its leading dimension is lskip. + * B is an n*1 matrix that contains the right hand sides. + * B is stored by columns and its leading dimension is also lskip. + * B is overwritten with X. + * this processes blocks of 4*4. + * if this is in the factorizer source file, n must be a multiple of 4. + */ + +void btSolveL1 (const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11,Z21,Z31,Z41,p1,q1,p2,p3,p4,*ex; + const btScalar *ell; + int lskip2,lskip3,i,j; + /* compute lskip values */ + lskip2 = 2*lskip1; + lskip3 = 3*lskip1; + /* compute all 4 x 1 blocks of X */ + for (i=0; i <= n-4; i+=4) { + /* compute all 4 x 1 block of X, from rows i..i+4-1 */ + /* set the Z matrix to 0 */ + Z11=0; + Z21=0; + Z31=0; + Z41=0; + ell = L + i*lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-12; j >= 0; j -= 12) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + p2=ell[lskip1]; + p3=ell[lskip2]; + p4=ell[lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[1]; + q1=ex[1]; + p2=ell[1+lskip1]; + p3=ell[1+lskip2]; + p4=ell[1+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[2]; + q1=ex[2]; + p2=ell[2+lskip1]; + p3=ell[2+lskip2]; + p4=ell[2+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[3]; + q1=ex[3]; + p2=ell[3+lskip1]; + p3=ell[3+lskip2]; + p4=ell[3+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[4]; + q1=ex[4]; + p2=ell[4+lskip1]; + p3=ell[4+lskip2]; + p4=ell[4+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[5]; + q1=ex[5]; + p2=ell[5+lskip1]; + p3=ell[5+lskip2]; + p4=ell[5+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[6]; + q1=ex[6]; + p2=ell[6+lskip1]; + p3=ell[6+lskip2]; + p4=ell[6+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[7]; + q1=ex[7]; + p2=ell[7+lskip1]; + p3=ell[7+lskip2]; + p4=ell[7+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[8]; + q1=ex[8]; + p2=ell[8+lskip1]; + p3=ell[8+lskip2]; + p4=ell[8+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[9]; + q1=ex[9]; + p2=ell[9+lskip1]; + p3=ell[9+lskip2]; + p4=ell[9+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[10]; + q1=ex[10]; + p2=ell[10+lskip1]; + p3=ell[10+lskip2]; + p4=ell[10+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* load p and q values */ + p1=ell[11]; + q1=ex[11]; + p2=ell[11+lskip1]; + p3=ell[11+lskip2]; + p4=ell[11+lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* advance pointers */ + ell += 12; + ex += 12; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 12; + for (; j > 0; j--) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + p2=ell[lskip1]; + p3=ell[lskip2]; + p4=ell[lskip3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + Z21 += p2 * q1; + Z31 += p3 * q1; + Z41 += p4 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[lskip1]; + Z21 = ex[1] - Z21 - p1*Z11; + ex[1] = Z21; + p1 = ell[lskip2]; + p2 = ell[1+lskip2]; + Z31 = ex[2] - Z31 - p1*Z11 - p2*Z21; + ex[2] = Z31; + p1 = ell[lskip3]; + p2 = ell[1+lskip3]; + p3 = ell[2+lskip3]; + Z41 = ex[3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31; + ex[3] = Z41; + /* end of outer loop */ + } + /* compute rows at end that are not a multiple of block size */ + for (; i < n; i++) { + /* compute all 1 x 1 block of X, from rows i..i+1-1 */ + /* set the Z matrix to 0 */ + Z11=0; + ell = L + i*lskip1; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-12; j >= 0; j -= 12) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[1]; + q1=ex[1]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[2]; + q1=ex[2]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[3]; + q1=ex[3]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[4]; + q1=ex[4]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[5]; + q1=ex[5]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[6]; + q1=ex[6]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[7]; + q1=ex[7]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[8]; + q1=ex[8]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[9]; + q1=ex[9]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[10]; + q1=ex[10]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* load p and q values */ + p1=ell[11]; + q1=ex[11]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* advance pointers */ + ell += 12; + ex += 12; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 12; + for (; j > 0; j--) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + /* compute outer product and add it to the Z matrix */ + Z11 += p1 * q1; + /* advance pointers */ + ell += 1; + ex += 1; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + } +} + +/* solve L^T * x=b, with b containing 1 right hand side. + * L is an n*n lower triangular matrix with ones on the diagonal. + * L is stored by rows and its leading dimension is lskip. + * b is an n*1 matrix that contains the right hand side. + * b is overwritten with x. + * this processes blocks of 4. + */ + +void btSolveL1T (const btScalar *L, btScalar *B, int n, int lskip1) +{ + /* declare variables - Z matrix, p and q vectors, etc */ + btScalar Z11,m11,Z21,m21,Z31,m31,Z41,m41,p1,q1,p2,p3,p4,*ex; + const btScalar *ell; + int lskip2,lskip3,i,j; + /* special handling for L and B because we're solving L1 *transpose* */ + L = L + (n-1)*(lskip1+1); + B = B + n-1; + lskip1 = -lskip1; + /* compute lskip values */ + lskip2 = 2*lskip1; + lskip3 = 3*lskip1; + /* compute all 4 x 1 blocks of X */ + for (i=0; i <= n-4; i+=4) { + /* compute all 4 x 1 block of X, from rows i..i+4-1 */ + /* set the Z matrix to 0 */ + Z11=0; + Z21=0; + Z31=0; + Z41=0; + ell = L - i; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-4; j >= 0; j -= 4) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + p2=ell[-1]; + p3=ell[-2]; + p4=ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1=ell[0]; + q1=ex[-1]; + p2=ell[-1]; + p3=ell[-2]; + p4=ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1=ell[0]; + q1=ex[-2]; + p2=ell[-1]; + p3=ell[-2]; + p4=ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* load p and q values */ + p1=ell[0]; + q1=ex[-3]; + p2=ell[-1]; + p3=ell[-2]; + p4=ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + ex -= 4; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 4; + for (; j > 0; j--) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + p2=ell[-1]; + p3=ell[-2]; + p4=ell[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + m21 = p2 * q1; + m31 = p3 * q1; + m41 = p4 * q1; + ell += lskip1; + ex -= 1; + Z11 += m11; + Z21 += m21; + Z31 += m31; + Z41 += m41; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + p1 = ell[-1]; + Z21 = ex[-1] - Z21 - p1*Z11; + ex[-1] = Z21; + p1 = ell[-2]; + p2 = ell[-2+lskip1]; + Z31 = ex[-2] - Z31 - p1*Z11 - p2*Z21; + ex[-2] = Z31; + p1 = ell[-3]; + p2 = ell[-3+lskip1]; + p3 = ell[-3+lskip2]; + Z41 = ex[-3] - Z41 - p1*Z11 - p2*Z21 - p3*Z31; + ex[-3] = Z41; + /* end of outer loop */ + } + /* compute rows at end that are not a multiple of block size */ + for (; i < n; i++) { + /* compute all 1 x 1 block of X, from rows i..i+1-1 */ + /* set the Z matrix to 0 */ + Z11=0; + ell = L - i; + ex = B; + /* the inner loop that computes outer products and adds them to Z */ + for (j=i-4; j >= 0; j -= 4) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1=ell[0]; + q1=ex[-1]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1=ell[0]; + q1=ex[-2]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + Z11 += m11; + /* load p and q values */ + p1=ell[0]; + q1=ex[-3]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + ex -= 4; + Z11 += m11; + /* end of inner loop */ + } + /* compute left-over iterations */ + j += 4; + for (; j > 0; j--) { + /* load p and q values */ + p1=ell[0]; + q1=ex[0]; + /* compute outer product and add it to the Z matrix */ + m11 = p1 * q1; + ell += lskip1; + ex -= 1; + Z11 += m11; + } + /* finish computing the X(i) block */ + Z11 = ex[0] - Z11; + ex[0] = Z11; + } +} + + + +void btVectorScale (btScalar *a, const btScalar *d, int n) +{ + btAssert (a && d && n >= 0); + for (int i=0; i 0 && nskip >= n); + btSolveL1 (L,b,n,nskip); + btVectorScale (b,d,n); + btSolveL1T (L,b,n,nskip); +} + + + +//*************************************************************************** + +// swap row/column i1 with i2 in the n*n matrix A. the leading dimension of +// A is nskip. this only references and swaps the lower triangle. +// if `do_fast_row_swaps' is nonzero and row pointers are being used, then +// rows will be swapped by exchanging row pointers. otherwise the data will +// be copied. + +static void btSwapRowsAndCols (BTATYPE A, int n, int i1, int i2, int nskip, + int do_fast_row_swaps) +{ + btAssert (A && n > 0 && i1 >= 0 && i2 >= 0 && i1 < n && i2 < n && + nskip >= n && i1 < i2); + +# ifdef BTROWPTRS + btScalar *A_i1 = A[i1]; + btScalar *A_i2 = A[i2]; + for (int i=i1+1; i0 && i1 >=0 && i2 >= 0 && i1 < n && i2 < n && nskip >= n && i1 <= i2); + if (i1==i2) return; + + btSwapRowsAndCols (A,n,i1,i2,nskip,do_fast_row_swaps); + + tmpr = x[i1]; + x[i1] = x[i2]; + x[i2] = tmpr; + + tmpr = b[i1]; + b[i1] = b[i2]; + b[i2] = tmpr; + + tmpr = w[i1]; + w[i1] = w[i2]; + w[i2] = tmpr; + + tmpr = lo[i1]; + lo[i1] = lo[i2]; + lo[i2] = tmpr; + + tmpr = hi[i1]; + hi[i1] = hi[i2]; + hi[i2] = tmpr; + + tmpi = p[i1]; + p[i1] = p[i2]; + p[i2] = tmpi; + + tmpb = state[i1]; + state[i1] = state[i2]; + state[i2] = tmpb; + + if (findex) { + tmpi = findex[i1]; + findex[i1] = findex[i2]; + findex[i2] = tmpi; + } +} + + + + +//*************************************************************************** +// btLCP manipulator object. this represents an n*n LCP problem. +// +// two index sets C and N are kept. each set holds a subset of +// the variable indexes 0..n-1. an index can only be in one set. +// initially both sets are empty. +// +// the index set C is special: solutions to A(C,C)\A(C,i) can be generated. + +//*************************************************************************** +// fast implementation of btLCP. see the above definition of btLCP for +// interface comments. +// +// `p' records the permutation of A,x,b,w,etc. p is initially 1:n and is +// permuted as the other vectors/matrices are permuted. +// +// A,x,b,w,lo,hi,state,findex,p,c are permuted such that sets C,N have +// contiguous indexes. the don't-care indexes follow N. +// +// an L*D*L' factorization is maintained of A(C,C), and whenever indexes are +// added or removed from the set C the factorization is updated. +// thus L*D*L'=A[C,C], i.e. a permuted top left nC*nC submatrix of A. +// the leading dimension of the matrix L is always `nskip'. +// +// at the start there may be other indexes that are unbounded but are not +// included in `nub'. btLCP will permute the matrix so that absolutely all +// unbounded vectors are at the start. thus there may be some initial +// permutation. +// +// the algorithms here assume certain patterns, particularly with respect to +// index transfer. + +#ifdef btLCP_FAST + +struct btLCP +{ + const int m_n; + const int m_nskip; + int m_nub; + int m_nC, m_nN; // size of each index set + BTATYPE const m_A; // A rows + btScalar *const m_x, * const m_b, *const m_w, *const m_lo,* const m_hi; // permuted LCP problem data + btScalar *const m_L, *const m_d; // L*D*L' factorization of set C + btScalar *const m_Dell, *const m_ell, *const m_tmp; + bool *const m_state; + int *const m_findex, *const m_p, *const m_C; + + btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, + btScalar *_lo, btScalar *_hi, btScalar *_L, btScalar *_d, + btScalar *_Dell, btScalar *_ell, btScalar *_tmp, + bool *_state, int *_findex, int *_p, int *_C, btScalar **Arows); + int getNub() const { return m_nub; } + void transfer_i_to_C (int i); + void transfer_i_to_N (int i) { m_nN++; } // because we can assume C and N span 1:i-1 + void transfer_i_from_N_to_C (int i); + void transfer_i_from_C_to_N (int i, btAlignedObjectArray& scratch); + int numC() const { return m_nC; } + int numN() const { return m_nN; } + int indexC (int i) const { return i; } + int indexN (int i) const { return i+m_nC; } + btScalar Aii (int i) const { return BTAROW(i)[i]; } + btScalar AiC_times_qC (int i, btScalar *q) const { return btLargeDot (BTAROW(i), q, m_nC); } + btScalar AiN_times_qN (int i, btScalar *q) const { return btLargeDot (BTAROW(i)+m_nC, q+m_nC, m_nN); } + void pN_equals_ANC_times_qC (btScalar *p, btScalar *q); + void pN_plusequals_ANi (btScalar *p, int i, int sign=1); + void pC_plusequals_s_times_qC (btScalar *p, btScalar s, btScalar *q); + void pN_plusequals_s_times_qN (btScalar *p, btScalar s, btScalar *q); + void solve1 (btScalar *a, int i, int dir=1, int only_transfer=0); + void unpermute(); +}; + + +btLCP::btLCP (int _n, int _nskip, int _nub, btScalar *_Adata, btScalar *_x, btScalar *_b, btScalar *_w, + btScalar *_lo, btScalar *_hi, btScalar *_L, btScalar *_d, + btScalar *_Dell, btScalar *_ell, btScalar *_tmp, + bool *_state, int *_findex, int *_p, int *_C, btScalar **Arows): + m_n(_n), m_nskip(_nskip), m_nub(_nub), m_nC(0), m_nN(0), +# ifdef BTROWPTRS + m_A(Arows), +#else + m_A(_Adata), +#endif + m_x(_x), m_b(_b), m_w(_w), m_lo(_lo), m_hi(_hi), + m_L(_L), m_d(_d), m_Dell(_Dell), m_ell(_ell), m_tmp(_tmp), + m_state(_state), m_findex(_findex), m_p(_p), m_C(_C) +{ + { + btSetZero (m_x,m_n); + } + + { +# ifdef BTROWPTRS + // make matrix row pointers + btScalar *aptr = _Adata; + BTATYPE A = m_A; + const int n = m_n, nskip = m_nskip; + for (int k=0; k nub + { + const int n = m_n; + const int nub = m_nub; + if (nub < n) { + for (int k=0; k<100; k++) { + int i1,i2; + do { + i1 = dRandInt(n-nub)+nub; + i2 = dRandInt(n-nub)+nub; + } + while (i1 > i2); + //printf ("--> %d %d\n",i1,i2); + btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,m_findex,n,i1,i2,m_nskip,0); + } + } + */ + + // permute the problem so that *all* the unbounded variables are at the + // start, i.e. look for unbounded variables not included in `nub'. we can + // potentially push up `nub' this way and get a bigger initial factorization. + // note that when we swap rows/cols here we must not just swap row pointers, + // as the initial factorization relies on the data being all in one chunk. + // variables that have findex >= 0 are *not* considered to be unbounded even + // if lo=-inf and hi=inf - this is because these limits may change during the + // solution process. + + { + int *findex = m_findex; + btScalar *lo = m_lo, *hi = m_hi; + const int n = m_n; + for (int k = m_nub; k= 0) continue; + if (lo[k]==-BT_INFINITY && hi[k]==BT_INFINITY) { + btSwapProblem (m_A,m_x,m_b,m_w,lo,hi,m_p,m_state,findex,n,m_nub,k,m_nskip,0); + m_nub++; + } + } + } + + // if there are unbounded variables at the start, factorize A up to that + // point and solve for x. this puts all indexes 0..nub-1 into C. + if (m_nub > 0) { + const int nub = m_nub; + { + btScalar *Lrow = m_L; + const int nskip = m_nskip; + for (int j=0; j nub such that all findex variables are at the end + if (m_findex) { + const int nub = m_nub; + int *findex = m_findex; + int num_at_end = 0; + for (int k=m_n-1; k >= nub; k--) { + if (findex[k] >= 0) { + btSwapProblem (m_A,m_x,m_b,m_w,m_lo,m_hi,m_p,m_state,findex,m_n,k,m_n-1-num_at_end,m_nskip,1); + num_at_end++; + } + } + } + + // print info about indexes + /* + { + const int n = m_n; + const int nub = m_nub; + for (int k=0; k 0) { + // ell,Dell were computed by solve1(). note, ell = D \ L1solve (L,A(i,C)) + { + const int nC = m_nC; + btScalar *const Ltgt = m_L + nC*m_nskip, *ell = m_ell; + for (int j=0; j 0) { + { + btScalar *const aptr = BTAROW(i); + btScalar *Dell = m_Dell; + const int *C = m_C; +# ifdef BTNUB_OPTIMIZATIONS + // if nub>0, initial part of aptr unpermuted + const int nub = m_nub; + int j=0; + for ( ; j 0 && nskip >= n && r >= 0 && r < n); + if (r >= n-1) return; + if (r > 0) { + { + const size_t move_size = (n-r-1)*sizeof(btScalar); + btScalar *Adst = A + r; + for (int i=0; i& scratch) +{ + btAssert (L && d && a && n > 0 && nskip >= n); + + if (n < 2) return; + scratch.resize(2*nskip); + btScalar *W1 = &scratch[0]; + + btScalar *W2 = W1 + nskip; + + W1[0] = btScalar(0.0); + W2[0] = btScalar(0.0); + for (int j=1; j j) ? _BTGETA(i,j) : _BTGETA(j,i)) + +inline size_t btEstimateLDLTAddTLTmpbufSize(int nskip) +{ + return nskip * 2 * sizeof(btScalar); +} + + +void btLDLTRemove (btScalar **A, const int *p, btScalar *L, btScalar *d, + int n1, int n2, int r, int nskip, btAlignedObjectArray& scratch) +{ + btAssert(A && p && L && d && n1 > 0 && n2 > 0 && r >= 0 && r < n2 && + n1 >= n2 && nskip >= n1); + #ifdef BT_DEBUG + for (int i=0; i= 0 && p[i] < n1); + #endif + + if (r==n2-1) { + return; // deleting last row/col is easy + } + else { + size_t LDLTAddTL_size = btEstimateLDLTAddTLTmpbufSize(nskip); + btAssert(LDLTAddTL_size % sizeof(btScalar) == 0); + scratch.resize(nskip * 2+n2); + btScalar *tmp = &scratch[0]; + if (r==0) { + btScalar *a = (btScalar *)((char *)tmp + LDLTAddTL_size); + const int p_0 = p[0]; + for (int i=0; i& scratch) +{ + { + int *C = m_C; + // remove a row/column from the factorization, and adjust the + // indexes (black magic!) + int last_idx = -1; + const int nC = m_nC; + int j = 0; + for ( ; j 0) { + const int nN = m_nN; + for (int j=0; j 0) { + { + btScalar *Dell = m_Dell; + int *C = m_C; + btScalar *aptr = BTAROW(i); +# ifdef BTNUB_OPTIMIZATIONS + // if nub>0, initial part of aptr[] is guaranteed unpermuted + const int nub = m_nub; + int j=0; + for ( ; j 0) { + int *C = m_C; + btScalar *tmp = m_tmp; + const int nC = m_nC; + for (int j=0; j0 && A && x && b && lo && hi && nub >= 0 && nub <= n); + btAssert(outer_w); + +#ifdef BT_DEBUG + { + // check restrictions on lo and hi + for (int k=0; k= 0); + } +# endif + + + // if all the variables are unbounded then we can just factor, solve, + // and return + if (nub >= n) + { + + + int nskip = (n); + btFactorLDLT (A, outer_w, n, nskip); + btSolveLDLT (A, outer_w, b, n, nskip); + memcpy (x, b, n*sizeof(btScalar)); + + return !s_error; + } + + const int nskip = (n); + scratchMem.L.resize(n*nskip); + + scratchMem.d.resize(n); + + btScalar *w = outer_w; + scratchMem.delta_w.resize(n); + scratchMem.delta_x.resize(n); + scratchMem.Dell.resize(n); + scratchMem.ell.resize(n); + scratchMem.Arows.resize(n); + scratchMem.p.resize(n); + scratchMem.C.resize(n); + + // for i in N, state[i] is 0 if x(i)==lo(i) or 1 if x(i)==hi(i) + scratchMem.state.resize(n); + + + // create LCP object. note that tmp is set to delta_w to save space, this + // optimization relies on knowledge of how tmp is used, so be careful! + btLCP lcp(n,nskip,nub,A,x,b,w,lo,hi,&scratchMem.L[0],&scratchMem.d[0],&scratchMem.Dell[0],&scratchMem.ell[0],&scratchMem.delta_w[0],&scratchMem.state[0],findex,&scratchMem.p[0],&scratchMem.C[0],&scratchMem.Arows[0]); + int adj_nub = lcp.getNub(); + + // loop over all indexes adj_nub..n-1. for index i, if x(i),w(i) satisfy the + // LCP conditions then i is added to the appropriate index set. otherwise + // x(i),w(i) is driven either +ve or -ve to force it to the valid region. + // as we drive x(i), x(C) is also adjusted to keep w(C) at zero. + // while driving x(i) we maintain the LCP conditions on the other variables + // 0..i-1. we do this by watching out for other x(i),w(i) values going + // outside the valid region, and then switching them between index sets + // when that happens. + + bool hit_first_friction_index = false; + for (int i=adj_nub; i= 0) { + // un-permute x into delta_w, which is not being used at the moment + for (int j=0; j= 0) { + lcp.transfer_i_to_N (i); + scratchMem.state[i] = false; + } + else if (hi[i]==0 && w[i] <= 0) { + lcp.transfer_i_to_N (i); + scratchMem.state[i] = true; + } + else if (w[i]==0) { + // this is a degenerate case. by the time we get to this test we know + // that lo != 0, which means that lo < 0 as lo is not allowed to be +ve, + // and similarly that hi > 0. this means that the line segment + // corresponding to set C is at least finite in extent, and we are on it. + // NOTE: we must call lcp.solve1() before lcp.transfer_i_to_C() + lcp.solve1 (&scratchMem.delta_x[0],i,0,1); + + lcp.transfer_i_to_C (i); + } + else { + // we must push x(i) and w(i) + for (;;) { + int dir; + btScalar dirf; + // find direction to push on x(i) + if (w[i] <= 0) { + dir = 1; + dirf = btScalar(1.0); + } + else { + dir = -1; + dirf = btScalar(-1.0); + } + + // compute: delta_x(C) = -dir*A(C,C)\A(C,i) + lcp.solve1 (&scratchMem.delta_x[0],i,dir); + + // note that delta_x[i] = dirf, but we wont bother to set it + + // compute: delta_w = A*delta_x ... note we only care about + // delta_w(N) and delta_w(i), the rest is ignored + lcp.pN_equals_ANC_times_qC (&scratchMem.delta_w[0],&scratchMem.delta_x[0]); + lcp.pN_plusequals_ANi (&scratchMem.delta_w[0],i,dir); + scratchMem.delta_w[i] = lcp.AiC_times_qC (i,&scratchMem.delta_x[0]) + lcp.Aii(i)*dirf; + + // find largest step we can take (size=s), either to drive x(i),w(i) + // to the valid LCP region or to drive an already-valid variable + // outside the valid region. + + int cmd = 1; // index switching command + int si = 0; // si = index to switch if cmd>3 + btScalar s = -w[i]/scratchMem.delta_w[i]; + if (dir > 0) { + if (hi[i] < BT_INFINITY) { + btScalar s2 = (hi[i]-x[i])*dirf; // was (hi[i]-x[i])/dirf // step to x(i)=hi(i) + if (s2 < s) { + s = s2; + cmd = 3; + } + } + } + else { + if (lo[i] > -BT_INFINITY) { + btScalar s2 = (lo[i]-x[i])*dirf; // was (lo[i]-x[i])/dirf // step to x(i)=lo(i) + if (s2 < s) { + s = s2; + cmd = 2; + } + } + } + + { + const int numN = lcp.numN(); + for (int k=0; k < numN; ++k) { + const int indexN_k = lcp.indexN(k); + if (!scratchMem.state[indexN_k] ? scratchMem.delta_w[indexN_k] < 0 : scratchMem.delta_w[indexN_k] > 0) { + // don't bother checking if lo=hi=0 + if (lo[indexN_k] == 0 && hi[indexN_k] == 0) continue; + btScalar s2 = -w[indexN_k] / scratchMem.delta_w[indexN_k]; + if (s2 < s) { + s = s2; + cmd = 4; + si = indexN_k; + } + } + } + } + + { + const int numC = lcp.numC(); + for (int k=adj_nub; k < numC; ++k) { + const int indexC_k = lcp.indexC(k); + if (scratchMem.delta_x[indexC_k] < 0 && lo[indexC_k] > -BT_INFINITY) { + btScalar s2 = (lo[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k]; + if (s2 < s) { + s = s2; + cmd = 5; + si = indexC_k; + } + } + if (scratchMem.delta_x[indexC_k] > 0 && hi[indexC_k] < BT_INFINITY) { + btScalar s2 = (hi[indexC_k]-x[indexC_k]) / scratchMem.delta_x[indexC_k]; + if (s2 < s) { + s = s2; + cmd = 6; + si = indexC_k; + } + } + } + } + + //static char* cmdstring[8] = {0,"->C","->NL","->NH","N->C", + // "C->NL","C->NH"}; + //printf ("cmd=%d (%s), si=%d\n",cmd,cmdstring[cmd],(cmd>3) ? si : i); + + // if s <= 0 then we've got a problem. if we just keep going then + // we're going to get stuck in an infinite loop. instead, just cross + // our fingers and exit with the current solution. + if (s <= btScalar(0.0)) + { +// printf("LCP internal error, s <= 0 (s=%.4e)",(double)s); + if (i < n) { + btSetZero (x+i,n-i); + btSetZero (w+i,n-i); + } + s_error = true; + break; + } + + // apply x = x + s * delta_x + lcp.pC_plusequals_s_times_qC (x, s, &scratchMem.delta_x[0]); + x[i] += s * dirf; + + // apply w = w + s * delta_w + lcp.pN_plusequals_s_times_qN (w, s, &scratchMem.delta_w[0]); + w[i] += s * scratchMem.delta_w[i]; + +// void *tmpbuf; + // switch indexes between sets if necessary + switch (cmd) { + case 1: // done + w[i] = 0; + lcp.transfer_i_to_C (i); + break; + case 2: // done + x[i] = lo[i]; + scratchMem.state[i] = false; + lcp.transfer_i_to_N (i); + break; + case 3: // done + x[i] = hi[i]; + scratchMem.state[i] = true; + lcp.transfer_i_to_N (i); + break; + case 4: // keep going + w[si] = 0; + lcp.transfer_i_from_N_to_C (si); + break; + case 5: // keep going + x[si] = lo[si]; + scratchMem.state[si] = false; + lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch); + break; + case 6: // keep going + x[si] = hi[si]; + scratchMem.state[si] = true; + lcp.transfer_i_from_C_to_N (si, scratchMem.m_scratch); + break; + } + + if (cmd <= 3) break; + } // for (;;) + } // else + + if (s_error) + { + break; + } + } // for (int i=adj_nub; i= 0 + (2) x = hi, w <= 0 + (3) lo < x < hi, w = 0 +A is a matrix of dimension n*n, everything else is a vector of size n*1. +lo and hi can be +/- dInfinity as needed. the first `nub' variables are +unbounded, i.e. hi and lo are assumed to be +/- dInfinity. + +we restrict lo(i) <= 0 and hi(i) >= 0. + +the original data (A,b) may be modified by this function. + +if the `findex' (friction index) parameter is nonzero, it points to an array +of index values. in this case constraints that have findex[i] >= 0 are +special. all non-special constraints are solved for, then the lo and hi values +for the special constraints are set: + hi[i] = abs( hi[i] * x[findex[i]] ) + lo[i] = -hi[i] +and the solution continues. this mechanism allows a friction approximation +to be implemented. the first `nub' variables are assumed to have findex < 0. + +*/ + + +#ifndef _BT_LCP_H_ +#define _BT_LCP_H_ + +#include +#include +#include + + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" + +struct btDantzigScratchMemory +{ + btAlignedObjectArray m_scratch; + btAlignedObjectArray L; + btAlignedObjectArray d; + btAlignedObjectArray delta_w; + btAlignedObjectArray delta_x; + btAlignedObjectArray Dell; + btAlignedObjectArray ell; + btAlignedObjectArray Arows; + btAlignedObjectArray p; + btAlignedObjectArray C; + btAlignedObjectArray state; +}; + +//return false if solving failed +bool btSolveDantzigLCP (int n, btScalar *A, btScalar *x, btScalar *b, btScalar *w, + int nub, btScalar *lo, btScalar *hi, int *findex,btDantzigScratchMemory& scratch); + + + +#endif //_BT_LCP_H_ diff --git a/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigSolver.h b/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigSolver.h new file mode 100644 index 00000000..2a2f2d3d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/MLCPSolvers/btDantzigSolver.h @@ -0,0 +1,112 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_DANTZIG_SOLVER_H +#define BT_DANTZIG_SOLVER_H + +#include "btMLCPSolverInterface.h" +#include "btDantzigLCP.h" + + +class btDantzigSolver : public btMLCPSolverInterface +{ +protected: + + btScalar m_acceptableUpperLimitSolution; + + btAlignedObjectArray m_tempBuffer; + + btAlignedObjectArray m_A; + btAlignedObjectArray m_b; + btAlignedObjectArray m_x; + btAlignedObjectArray m_lo; + btAlignedObjectArray m_hi; + btAlignedObjectArray m_dependencies; + btDantzigScratchMemory m_scratchMemory; +public: + + btDantzigSolver() + :m_acceptableUpperLimitSolution(btScalar(1000)) + { + } + + virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray& limitDependency, int numIterations, bool useSparsity = true) + { + bool result = true; + int n = b.rows(); + if (n) + { + int nub = 0; + btAlignedObjectArray ww; + ww.resize(n); + + + const btScalar* Aptr = A.getBufferPointer(); + m_A.resize(n*n); + for (int i=0;i= m_acceptableUpperLimitSolution) + { + return false; + } + + if (x[i] <= -m_acceptableUpperLimitSolution) + { + return false; + } + } + + for (int i=0;i limitDependenciesCopy = m_limitDependencies; +// printf("solve first LCP\n"); + result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations ); + if (result) + result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo,m_hi, limitDependenciesCopy,infoGlobal.m_numIterations ); + + } else + { + result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo,m_hi, m_limitDependencies,infoGlobal.m_numIterations ); + } + return result; +} + +struct btJointNode +{ + int jointIndex; // pointer to enclosing dxJoint object + int otherBodyIndex; // *other* body this joint is connected to + int nextJointNodeIndex;//-1 for null + int constraintRowIndex; +}; + + + +void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) +{ + int numContactRows = interleaveContactAndFriction ? 3 : 1; + + int numConstraintRows = m_allConstraintArray.size(); + int n = numConstraintRows; + { + BT_PROFILE("init b (rhs)"); + m_b.resize(numConstraintRows); + m_bSplit.resize(numConstraintRows); + //m_b.setZero(); + for (int i=0;i=0) + { + m_lo[i] = -BT_INFINITY; + m_hi[i] = BT_INFINITY; + } else + { + m_lo[i] = m_allConstraintArray[i].m_lowerLimit; + m_hi[i] = m_allConstraintArray[i].m_upperLimit; + } + } + } + + // + int m=m_allConstraintArray.size(); + + int numBodies = m_tmpSolverBodyPool.size(); + btAlignedObjectArray bodyJointNodeArray; + { + BT_PROFILE("bodyJointNodeArray.resize"); + bodyJointNodeArray.resize(numBodies,-1); + } + btAlignedObjectArray jointNodeArray; + { + BT_PROFILE("jointNodeArray.reserve"); + jointNodeArray.reserve(2*m_allConstraintArray.size()); + } + + static btMatrixXu J3; + { + BT_PROFILE("J3.resize"); + J3.resize(2*m,8); + } + static btMatrixXu JinvM3; + { + BT_PROFILE("JinvM3.resize/setZero"); + + JinvM3.resize(2*m,8); + JinvM3.setZero(); + J3.setZero(); + } + int cur=0; + int rowOffset = 0; + static btAlignedObjectArray ofs; + { + BT_PROFILE("ofs resize"); + ofs.resize(0); + ofs.resizeNoInitialize(m_allConstraintArray.size()); + } + { + BT_PROFILE("Compute J and JinvM"); + int c=0; + + int numRows = 0; + + for (int i=0;igetInvMass(); + btVector3 relPosCrossNormalInvInertia = m_allConstraintArray[i+row].m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld(); + + for (int r=0;r<3;r++) + { + J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal1[r]); + J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos1CrossNormal[r]); + JinvM3.setElem(cur,r,normalInvMass[r]); + JinvM3.setElem(cur,r+4,relPosCrossNormalInvInertia[r]); + } + J3.setElem(cur,3,0); + JinvM3.setElem(cur,3,0); + J3.setElem(cur,7,0); + JinvM3.setElem(cur,7,0); + } + } else + { + cur += numRows; + } + if (orgBodyB) + { + + { + int slotB=-1; + //find free jointNode slot for sbA + slotB =jointNodeArray.size(); + jointNodeArray.expand();//NonInitializing(); + int prevSlot = bodyJointNodeArray[sbB]; + bodyJointNodeArray[sbB] = slotB; + jointNodeArray[slotB].nextJointNodeIndex = prevSlot; + jointNodeArray[slotB].jointIndex = c; + jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1; + jointNodeArray[slotB].constraintRowIndex = i; + } + + for (int row=0;rowgetInvMass(); + btVector3 relPosInvInertiaB = m_allConstraintArray[i+row].m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld(); + + for (int r=0;r<3;r++) + { + J3.setElem(cur,r,m_allConstraintArray[i+row].m_contactNormal2[r]); + J3.setElem(cur,r+4,m_allConstraintArray[i+row].m_relpos2CrossNormal[r]); + JinvM3.setElem(cur,r,normalInvMassB[r]); + JinvM3.setElem(cur,r+4,relPosInvInertiaB[r]); + } + J3.setElem(cur,3,0); + JinvM3.setElem(cur,3,0); + J3.setElem(cur,7,0); + JinvM3.setElem(cur,7,0); + } + } + else + { + cur += numRows; + } + rowOffset+=numRows; + + } + + } + + + //compute JinvM = J*invM. + const btScalar* JinvM = JinvM3.getBufferPointer(); + + const btScalar* Jptr = J3.getBufferPointer(); + { + BT_PROFILE("m_A.resize"); + m_A.resize(n,n); + } + + { + BT_PROFILE("m_A.setZero"); + m_A.setZero(); + } + int c=0; + { + int numRows = 0; + BT_PROFILE("Compute A"); + for (int i=0;i=0) + { + int j0 = jointNodeArray[startJointNodeA].jointIndex; + int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex; + if (j0=0) + { + int j1 = jointNodeArray[startJointNodeB].jointIndex; + int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex; + + if (j1m_tmpSolverBodyPool.size(); + int numConstraintRows = m_allConstraintArray.size(); + + m_b.resize(numConstraintRows); + if (infoGlobal.m_splitImpulse) + m_bSplit.resize(numConstraintRows); + + for (int i=0;igetInvInertiaTensorWorld()[r][c] : 0); + } + + static btMatrixXu J; + J.resize(numConstraintRows,6*numBodies); + J.setZero(); + + m_lo.resize(numConstraintRows); + m_hi.resize(numConstraintRows); + + for (int i=0;i m_limitDependencies; + btConstraintArray m_allConstraintArray; + btMLCPSolverInterface* m_solver; + int m_fallback; + + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); + virtual void createMLCP(const btContactSolverInfo& infoGlobal); + virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); + + //return true is it solves the problem successfully + virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); + +public: + + btMLCPSolver( btMLCPSolverInterface* solver); + virtual ~btMLCPSolver(); + + void setMLCPSolver(btMLCPSolverInterface* solver) + { + m_solver = solver; + } + + int getNumFallbacks() const + { + return m_fallback; + } + void setNumFallbacks(int num) + { + m_fallback = num; + } + + virtual btConstraintSolverType getSolverType() const + { + return BT_MLCP_SOLVER; + } + +}; + + +#endif //BT_MLCP_SOLVER_H diff --git a/Code/Physics/src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h b/Code/Physics/src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h new file mode 100644 index 00000000..25bb3f6d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h @@ -0,0 +1,33 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_MLCP_SOLVER_INTERFACE_H +#define BT_MLCP_SOLVER_INTERFACE_H + +#include "LinearMath/btMatrixX.h" + +class btMLCPSolverInterface +{ +public: + virtual ~btMLCPSolverInterface() + { + } + + //return true is it solves the problem successfully + virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray& limitDependency, int numIterations, bool useSparsity = true)=0; +}; + +#endif //BT_MLCP_SOLVER_INTERFACE_H diff --git a/Code/Physics/src/BulletDynamics/MLCPSolvers/btPATHSolver.h b/Code/Physics/src/BulletDynamics/MLCPSolvers/btPATHSolver.h new file mode 100644 index 00000000..9ec31a6d --- /dev/null +++ b/Code/Physics/src/BulletDynamics/MLCPSolvers/btPATHSolver.h @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. +*/ +///original version written by Erwin Coumans, October 2013 + + +#ifndef BT_PATH_SOLVER_H +#define BT_PATH_SOLVER_H + +//#define BT_USE_PATH +#ifdef BT_USE_PATH + +extern "C" { +#include "PATH/SimpleLCP.h" +#include "PATH/License.h" +#include "PATH/Error_Interface.h" +}; + void __stdcall MyError(Void *data, Char *msg) +{ + printf("Path Error: %s\n",msg); +} + void __stdcall MyWarning(Void *data, Char *msg) +{ + printf("Path Warning: %s\n",msg); +} + +Error_Interface e; + + + +#include "btMLCPSolverInterface.h" +#include "Dantzig/lcp.h" + +class btPathSolver : public btMLCPSolverInterface +{ +public: + + btPathSolver() + { + License_SetString("2069810742&Courtesy_License&&&USR&2013&14_12_2011&1000&PATH&GEN&31_12_2013&0_0_0&0&0_0"); + e.error_data = 0; + e.warning = MyWarning; + e.error = MyError; + Error_SetInterface(&e); + } + + + virtual bool solveMLCP(const btMatrixXu & A, const btVectorXu & b, btVectorXu& x, const btVectorXu & lo,const btVectorXu & hi,const btAlignedObjectArray& limitDependency, int numIterations, bool useSparsity = true) + { + MCP_Termination status; + + + int numVariables = b.rows(); + if (0==numVariables) + return true; + + /* - variables - the number of variables in the problem + - m_nnz - the number of nonzeros in the M matrix + - m_i - a vector of size m_nnz containing the row indices for M + - m_j - a vector of size m_nnz containing the column indices for M + - m_ij - a vector of size m_nnz containing the data for M + - q - a vector of size variables + - lb - a vector of size variables containing the lower bounds on x + - ub - a vector of size variables containing the upper bounds on x + */ + btAlignedObjectArray values; + btAlignedObjectArray rowIndices; + btAlignedObjectArray colIndices; + + for (int i=0;i zResult; + zResult.resize(numVariables); + btAlignedObjectArray rhs; + btAlignedObjectArray upperBounds; + btAlignedObjectArray lowerBounds; + for (int i=0;i& limitDependency, int numIterations, bool useSparsity = true) + { + //A is a m-n matrix, m rows, n columns + btAssert(A.rows() == b.rows()); + + int i, j, numRows = A.rows(); + + float delta; + + for (int k = 0; k =0) + { + s = x[limitDependency[i]]; + if (s<0) + s=1; + } + + if (x[i]hi[i]*s) + x[i]=hi[i]*s; + } + } + return true; + } + +}; + +#endif //BT_SOLVE_PROJECTED_GAUSS_SEIDEL_H diff --git a/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp new file mode 100644 index 00000000..77b475b9 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -0,0 +1,771 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ + +#include "LinearMath/btVector3.h" +#include "btRaycastVehicle.h" + +#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h" +#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h" +#include "LinearMath/btQuaternion.h" +#include "BulletDynamics/Dynamics/btDynamicsWorld.h" +#include "btVehicleRaycaster.h" +#include "btWheelInfo.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" + +#define ROLLING_INFLUENCE_FIX + + +btRigidBody& btActionInterface::getFixedBody() +{ + static btRigidBody s_fixed(0, 0,0); + s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); + return s_fixed; +} + +btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) +:m_vehicleRaycaster(raycaster), +m_pitchControl(btScalar(0.)) +{ + m_chassisBody = chassis; + m_indexRightAxis = 0; + m_indexUpAxis = 2; + m_indexForwardAxis = 1; + defaultInit(tuning); +} + + +void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning) +{ + (void)tuning; + m_currentVehicleSpeedKmHour = btScalar(0.); + m_steeringValue = btScalar(0.); + +} + + + +btRaycastVehicle::~btRaycastVehicle() +{ +} + + +// +// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed +// +btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel) +{ + + btWheelInfoConstructionInfo ci; + + ci.m_chassisConnectionCS = connectionPointCS; + ci.m_wheelDirectionCS = wheelDirectionCS0; + ci.m_wheelAxleCS = wheelAxleCS; + ci.m_suspensionRestLength = suspensionRestLength; + ci.m_wheelRadius = wheelRadius; + ci.m_suspensionStiffness = tuning.m_suspensionStiffness; + ci.m_wheelsDampingCompression = tuning.m_suspensionCompression; + ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping; + ci.m_frictionSlip = tuning.m_frictionSlip; + ci.m_bIsFrontWheel = isFrontWheel; + ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm; + ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce; + + m_wheelInfo.push_back( btWheelInfo(ci)); + + btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1]; + + updateWheelTransformsWS( wheel , false ); + updateWheelTransform(getNumWheels()-1,false); + return wheel; +} + + + + +const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const +{ + btAssert(wheelIndex < getNumWheels()); + const btWheelInfo& wheel = m_wheelInfo[wheelIndex]; + return wheel.m_worldTransform; + +} + +void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform) +{ + + btWheelInfo& wheel = m_wheelInfo[ wheelIndex ]; + updateWheelTransformsWS(wheel,interpolatedTransform); + btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS; + const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS; + btVector3 fwd = up.cross(right); + fwd = fwd.normalize(); +// up = right.cross(fwd); +// up.normalize(); + + //rotate around steering over de wheelAxleWS + btScalar steering = wheel.m_steering; + + btQuaternion steeringOrn(up,steering);//wheel.m_steering); + btMatrix3x3 steeringMat(steeringOrn); + + btQuaternion rotatingOrn(right,-wheel.m_rotation); + btMatrix3x3 rotatingMat(rotatingOrn); + + btMatrix3x3 basis2( + right[0],fwd[0],up[0], + right[1],fwd[1],up[1], + right[2],fwd[2],up[2] + ); + + wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2); + wheel.m_worldTransform.setOrigin( + wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength + ); +} + +void btRaycastVehicle::resetSuspension() +{ + + int i; + for (i=0;igetMotionState())) + { + getRigidBody()->getMotionState()->getWorldTransform(chassisTrans); + } + + wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS ); + wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ; + wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS; +} + +btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel) +{ + updateWheelTransformsWS( wheel,false); + + + btScalar depth = -1; + + btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius; + + btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen); + const btVector3& source = wheel.m_raycastInfo.m_hardPointWS; + wheel.m_raycastInfo.m_contactPointWS = source + rayvector; + const btVector3& target = wheel.m_raycastInfo.m_contactPointWS; + + btScalar param = btScalar(0.); + + btVehicleRaycaster::btVehicleRaycasterResult rayResults; + + btAssert(m_vehicleRaycaster); + + void* object = m_vehicleRaycaster->castRay(source,target,rayResults); + + wheel.m_raycastInfo.m_groundObject = 0; + + if (object) + { + param = rayResults.m_distFraction; + depth = raylen * rayResults.m_distFraction; + wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld; + wheel.m_raycastInfo.m_isInContact = true; + + wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!; + //wheel.m_raycastInfo.m_groundObject = object; + + + btScalar hitDistance = param*raylen; + wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius; + //clamp on max suspension travel + + btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01); + btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01); + if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength) + { + wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength; + } + if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength) + { + wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength; + } + + wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld; + + btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS ); + + btVector3 chassis_velocity_at_contactPoint; + btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition(); + + chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos); + + btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint ); + + if ( denominator >= btScalar(-0.1)) + { + wheel.m_suspensionRelativeVelocity = btScalar(0.0); + wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1); + } + else + { + btScalar inv = btScalar(-1.) / denominator; + wheel.m_suspensionRelativeVelocity = projVel * inv; + wheel.m_clippedInvContactDotSuspension = inv; + } + + } else + { + //put wheel info as in rest position + wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength(); + wheel.m_suspensionRelativeVelocity = btScalar(0.0); + wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS; + wheel.m_clippedInvContactDotSuspension = btScalar(1.0); + } + + return depth; +} + + +const btTransform& btRaycastVehicle::getChassisWorldTransform() const +{ + /*if (getRigidBody()->getMotionState()) + { + btTransform chassisWorldTrans; + getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans); + return chassisWorldTrans; + } + */ + + + return getRigidBody()->getCenterOfMassTransform(); +} + + +void btRaycastVehicle::updateVehicle( btScalar step ) +{ + { + for (int i=0;igetLinearVelocity().length(); + + const btTransform& chassisTrans = getChassisWorldTransform(); + + btVector3 forwardW ( + chassisTrans.getBasis()[0][m_indexForwardAxis], + chassisTrans.getBasis()[1][m_indexForwardAxis], + chassisTrans.getBasis()[2][m_indexForwardAxis]); + + if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.)) + { + m_currentVehicleSpeedKmHour *= btScalar(-1.); + } + + // + // simulate suspension + // + + int i=0; + for (i=0;i wheel.m_maxSuspensionForce) + { + suspensionForce = wheel.m_maxSuspensionForce; + } + btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step; + btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition(); + + getRigidBody()->applyImpulse(impulse, relpos); + + } + + + + updateFriction( step); + + + for (i=0;igetCenterOfMassPosition(); + btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos ); + + if (wheel.m_raycastInfo.m_isInContact) + { + const btTransform& chassisWorldTransform = getChassisWorldTransform(); + + btVector3 fwd ( + chassisWorldTransform.getBasis()[0][m_indexForwardAxis], + chassisWorldTransform.getBasis()[1][m_indexForwardAxis], + chassisWorldTransform.getBasis()[2][m_indexForwardAxis]); + + btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS); + fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj; + + btScalar proj2 = fwd.dot(vel); + + wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius); + wheel.m_rotation += wheel.m_deltaRotation; + + } else + { + wheel.m_rotation += wheel.m_deltaRotation; + } + + wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact + + } + + + +} + + +void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel) +{ + btAssert(wheel>=0 && wheel < getNumWheels()); + + btWheelInfo& wheelInfo = getWheelInfo(wheel); + wheelInfo.m_steering = steering; +} + + + +btScalar btRaycastVehicle::getSteeringValue(int wheel) const +{ + return getWheelInfo(wheel).m_steering; +} + + +void btRaycastVehicle::applyEngineForce(btScalar force, int wheel) +{ + btAssert(wheel>=0 && wheel < getNumWheels()); + btWheelInfo& wheelInfo = getWheelInfo(wheel); + wheelInfo.m_engineForce = force; +} + + +const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const +{ + btAssert((index >= 0) && (index < getNumWheels())); + + return m_wheelInfo[index]; +} + +btWheelInfo& btRaycastVehicle::getWheelInfo(int index) +{ + btAssert((index >= 0) && (index < getNumWheels())); + + return m_wheelInfo[index]; +} + +void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex) +{ + btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels())); + getWheelInfo(wheelIndex).m_brake = brake; +} + + +void btRaycastVehicle::updateSuspension(btScalar deltaTime) +{ + (void)deltaTime; + + btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass(); + + for (int w_it=0; w_itcomputeImpulseDenominator(frictionPosWorld,frictionDirectionWorld); + btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld); + btScalar relaxation = 1.f; + m_jacDiagABInv = relaxation/(denom0+denom1); + } + + + +}; + +btScalar calcRollingFriction(btWheelContactPoint& contactPoint); +btScalar calcRollingFriction(btWheelContactPoint& contactPoint) +{ + + btScalar j1=0.f; + + const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld; + + btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition(); + btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition(); + + btScalar maxImpulse = contactPoint.m_maxImpulse; + + btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2); + btVector3 vel = vel1 - vel2; + + btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel); + + // calculate j that moves us to zero relative velocity + j1 = -vrel * contactPoint.m_jacDiagABInv; + btSetMin(j1, maxImpulse); + btSetMax(j1, -maxImpulse); + + return j1; +} + + + + +btScalar sideFrictionStiffness2 = btScalar(1.0); +void btRaycastVehicle::updateFriction(btScalar timeStep) +{ + + //calculate the impulse, so that the wheels don't move sidewards + int numWheel = getNumWheels(); + if (!numWheel) + return; + + m_forwardWS.resize(numWheel); + m_axle.resize(numWheel); + m_forwardImpulse.resize(numWheel); + m_sideImpulse.resize(numWheel); + + int numWheelsOnGround = 0; + + + //collapse all those loops into one! + for (int i=0;i maximpSquared) + { + sliding = true; + + btScalar factor = maximp / btSqrt(impulseSquared); + + m_wheelInfo[wheel].m_skidInfo *= factor; + } + } + + } + } + + + + + if (sliding) + { + for (int wheel = 0;wheel < getNumWheels(); wheel++) + { + if (m_sideImpulse[wheel] != btScalar(0.)) + { + if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.)) + { + m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + } + } + } + } + + // apply the impulses + { + for (int wheel = 0;wheelgetCenterOfMassPosition(); + + if (m_forwardImpulse[wheel] != btScalar(0.)) + { + m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos); + } + if (m_sideImpulse[wheel] != btScalar(0.)) + { + class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject; + + btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS - + groundObject->getCenterOfMassPosition(); + + + btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; + +#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT. + btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis); + rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence)); +#else + rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence; +#endif + m_chassisBody->applyImpulse(sideImp,rel_pos); + + //apply friction impulse on the ground + groundObject->applyImpulse(-sideImp,rel_pos2); + } + } + } + + +} + + + +void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer) +{ + + for (int v=0;vgetNumWheels();v++) + { + btVector3 wheelColor(0,1,1); + if (getWheelInfo(v).m_raycastInfo.m_isInContact) + { + wheelColor.setValue(0,0,1); + } else + { + wheelColor.setValue(1,0,1); + } + + btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin(); + + btVector3 axle = btVector3( + getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()], + getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()], + getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]); + + //debug wheels (cylinders) + debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor); + debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor); + + } +} + + +void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) +{ +// RayResultCallback& resultCallback; + + btCollisionWorld::ClosestRayResultCallback rayCallback(from,to); + + m_dynamicsWorld->rayTest(from, to, rayCallback); + + if (rayCallback.hasHit()) + { + + const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); + if (body && body->hasContactResponse()) + { + result.m_hitPointInWorld = rayCallback.m_hitPointWorld; + result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld; + result.m_hitNormalInWorld.normalize(); + result.m_distFraction = rayCallback.m_closestHitFraction; + return (void*)body; + } + } + return 0; +} + diff --git a/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.h new file mode 100644 index 00000000..f59555f9 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -0,0 +1,236 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef BT_RAYCASTVEHICLE_H +#define BT_RAYCASTVEHICLE_H + +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "btVehicleRaycaster.h" +class btDynamicsWorld; +#include "LinearMath/btAlignedObjectArray.h" +#include "btWheelInfo.h" +#include "BulletDynamics/Dynamics/btActionInterface.h" + +class btVehicleTuning; + +///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. +class btRaycastVehicle : public btActionInterface +{ + + btAlignedObjectArray m_forwardWS; + btAlignedObjectArray m_axle; + btAlignedObjectArray m_forwardImpulse; + btAlignedObjectArray m_sideImpulse; + + ///backwards compatibility + int m_userConstraintType; + int m_userConstraintId; + +public: + class btVehicleTuning + { + public: + + btVehicleTuning() + :m_suspensionStiffness(btScalar(5.88)), + m_suspensionCompression(btScalar(0.83)), + m_suspensionDamping(btScalar(0.88)), + m_maxSuspensionTravelCm(btScalar(500.)), + m_frictionSlip(btScalar(10.5)), + m_maxSuspensionForce(btScalar(6000.)) + { + } + btScalar m_suspensionStiffness; + btScalar m_suspensionCompression; + btScalar m_suspensionDamping; + btScalar m_maxSuspensionTravelCm; + btScalar m_frictionSlip; + btScalar m_maxSuspensionForce; + + }; +private: + + btScalar m_tau; + btScalar m_damping; + btVehicleRaycaster* m_vehicleRaycaster; + btScalar m_pitchControl; + btScalar m_steeringValue; + btScalar m_currentVehicleSpeedKmHour; + + btRigidBody* m_chassisBody; + + int m_indexRightAxis; + int m_indexUpAxis; + int m_indexForwardAxis; + + void defaultInit(const btVehicleTuning& tuning); + +public: + + //constructor to create a car from an existing rigidbody + btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ); + + virtual ~btRaycastVehicle() ; + + + ///btActionInterface interface + virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step) + { + (void) collisionWorld; + updateVehicle(step); + } + + + ///btActionInterface interface + void debugDraw(btIDebugDraw* debugDrawer); + + const btTransform& getChassisWorldTransform() const; + + btScalar rayCast(btWheelInfo& wheel); + + virtual void updateVehicle(btScalar step); + + + void resetSuspension(); + + btScalar getSteeringValue(int wheel) const; + + void setSteeringValue(btScalar steering,int wheel); + + + void applyEngineForce(btScalar force, int wheel); + + const btTransform& getWheelTransformWS( int wheelIndex ) const; + + void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true ); + +// void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth); + + btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel); + + inline int getNumWheels() const { + return int (m_wheelInfo.size()); + } + + btAlignedObjectArray m_wheelInfo; + + + const btWheelInfo& getWheelInfo(int index) const; + + btWheelInfo& getWheelInfo(int index); + + void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true); + + + void setBrake(btScalar brake,int wheelIndex); + + void setPitchControl(btScalar pitch) + { + m_pitchControl = pitch; + } + + void updateSuspension(btScalar deltaTime); + + virtual void updateFriction(btScalar timeStep); + + + + inline btRigidBody* getRigidBody() + { + return m_chassisBody; + } + + const btRigidBody* getRigidBody() const + { + return m_chassisBody; + } + + inline int getRightAxis() const + { + return m_indexRightAxis; + } + inline int getUpAxis() const + { + return m_indexUpAxis; + } + + inline int getForwardAxis() const + { + return m_indexForwardAxis; + } + + + ///Worldspace forward vector + btVector3 getForwardVector() const + { + const btTransform& chassisTrans = getChassisWorldTransform(); + + btVector3 forwardW ( + chassisTrans.getBasis()[0][m_indexForwardAxis], + chassisTrans.getBasis()[1][m_indexForwardAxis], + chassisTrans.getBasis()[2][m_indexForwardAxis]); + + return forwardW; + } + + ///Velocity of vehicle (positive if velocity vector has same direction as foward vector) + btScalar getCurrentSpeedKmHour() const + { + return m_currentVehicleSpeedKmHour; + } + + virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) + { + m_indexRightAxis = rightIndex; + m_indexUpAxis = upIndex; + m_indexForwardAxis = forwardIndex; + } + + + ///backwards compatibility + int getUserConstraintType() const + { + return m_userConstraintType ; + } + + void setUserConstraintType(int userConstraintType) + { + m_userConstraintType = userConstraintType; + }; + + void setUserConstraintId(int uid) + { + m_userConstraintId = uid; + } + + int getUserConstraintId() const + { + return m_userConstraintId; + } + +}; + +class btDefaultVehicleRaycaster : public btVehicleRaycaster +{ + btDynamicsWorld* m_dynamicsWorld; +public: + btDefaultVehicleRaycaster(btDynamicsWorld* world) + :m_dynamicsWorld(world) + { + } + + virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result); + +}; + + +#endif //BT_RAYCASTVEHICLE_H + diff --git a/Code/Physics/src/BulletDynamics/Vehicle/btVehicleRaycaster.h b/Code/Physics/src/BulletDynamics/Vehicle/btVehicleRaycaster.h new file mode 100644 index 00000000..3cc909c6 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Vehicle/btVehicleRaycaster.h @@ -0,0 +1,35 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef BT_VEHICLE_RAYCASTER_H +#define BT_VEHICLE_RAYCASTER_H + +#include "LinearMath/btVector3.h" + +/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting +struct btVehicleRaycaster +{ +virtual ~btVehicleRaycaster() +{ +} + struct btVehicleRaycasterResult + { + btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){}; + btVector3 m_hitPointInWorld; + btVector3 m_hitNormalInWorld; + btScalar m_distFraction; + }; + + virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0; + +}; + +#endif //BT_VEHICLE_RAYCASTER_H + diff --git a/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.cpp b/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.cpp new file mode 100644 index 00000000..ef93c16f --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.cpp @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#include "btWheelInfo.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity + + +btScalar btWheelInfo::getSuspensionRestLength() const +{ + + return m_suspensionRestLength1; + +} + +void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo) +{ + (void)raycastInfo; + + + if (m_raycastInfo.m_isInContact) + + { + btScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS ); + btVector3 chassis_velocity_at_contactPoint; + btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition(); + chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos ); + btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint ); + if ( project >= btScalar(-0.1)) + { + m_suspensionRelativeVelocity = btScalar(0.0); + m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1); + } + else + { + btScalar inv = btScalar(-1.) / project; + m_suspensionRelativeVelocity = projVel * inv; + m_clippedInvContactDotSuspension = inv; + } + + } + + else // Not in contact : position wheel in a nice (rest length) position + { + m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength(); + m_suspensionRelativeVelocity = btScalar(0.0); + m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS; + m_clippedInvContactDotSuspension = btScalar(1.0); + } +} diff --git a/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.h b/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.h new file mode 100644 index 00000000..f916053e --- /dev/null +++ b/Code/Physics/src/BulletDynamics/Vehicle/btWheelInfo.h @@ -0,0 +1,119 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#ifndef BT_WHEEL_INFO_H +#define BT_WHEEL_INFO_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btTransform.h" + +class btRigidBody; + +struct btWheelInfoConstructionInfo +{ + btVector3 m_chassisConnectionCS; + btVector3 m_wheelDirectionCS; + btVector3 m_wheelAxleCS; + btScalar m_suspensionRestLength; + btScalar m_maxSuspensionTravelCm; + btScalar m_wheelRadius; + + btScalar m_suspensionStiffness; + btScalar m_wheelsDampingCompression; + btScalar m_wheelsDampingRelaxation; + btScalar m_frictionSlip; + btScalar m_maxSuspensionForce; + bool m_bIsFrontWheel; + +}; + +/// btWheelInfo contains information per wheel about friction and suspension. +struct btWheelInfo +{ + struct RaycastInfo + { + //set by raycaster + btVector3 m_contactNormalWS;//contactnormal + btVector3 m_contactPointWS;//raycast hitpoint + btScalar m_suspensionLength; + btVector3 m_hardPointWS;//raycast starting point + btVector3 m_wheelDirectionWS; //direction in worldspace + btVector3 m_wheelAxleWS; // axle in worldspace + bool m_isInContact; + void* m_groundObject; //could be general void* ptr + }; + + RaycastInfo m_raycastInfo; + + btTransform m_worldTransform; + + btVector3 m_chassisConnectionPointCS; //const + btVector3 m_wheelDirectionCS;//const + btVector3 m_wheelAxleCS; // const or modified by steering + btScalar m_suspensionRestLength1;//const + btScalar m_maxSuspensionTravelCm; + btScalar getSuspensionRestLength() const; + btScalar m_wheelsRadius;//const + btScalar m_suspensionStiffness;//const + btScalar m_wheelsDampingCompression;//const + btScalar m_wheelsDampingRelaxation;//const + btScalar m_frictionSlip; + btScalar m_steering; + btScalar m_rotation; + btScalar m_deltaRotation; + btScalar m_rollInfluence; + btScalar m_maxSuspensionForce; + + btScalar m_engineForce; + + btScalar m_brake; + + bool m_bIsFrontWheel; + + void* m_clientInfo;//can be used to store pointer to sync transforms... + + btWheelInfo(btWheelInfoConstructionInfo& ci) + + { + + m_suspensionRestLength1 = ci.m_suspensionRestLength; + m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm; + + m_wheelsRadius = ci.m_wheelRadius; + m_suspensionStiffness = ci.m_suspensionStiffness; + m_wheelsDampingCompression = ci.m_wheelsDampingCompression; + m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation; + m_chassisConnectionPointCS = ci.m_chassisConnectionCS; + m_wheelDirectionCS = ci.m_wheelDirectionCS; + m_wheelAxleCS = ci.m_wheelAxleCS; + m_frictionSlip = ci.m_frictionSlip; + m_steering = btScalar(0.); + m_engineForce = btScalar(0.); + m_rotation = btScalar(0.); + m_deltaRotation = btScalar(0.); + m_brake = btScalar(0.); + m_rollInfluence = btScalar(0.1); + m_bIsFrontWheel = ci.m_bIsFrontWheel; + m_maxSuspensionForce = ci.m_maxSuspensionForce; + + } + + void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo); + + btScalar m_clippedInvContactDotSuspension; + btScalar m_suspensionRelativeVelocity; + //calculated by suspension + btScalar m_wheelsSuspensionForce; + btScalar m_skidInfo; + +}; + +#endif //BT_WHEEL_INFO_H + diff --git a/Code/Physics/src/BulletDynamics/premake4.lua b/Code/Physics/src/BulletDynamics/premake4.lua new file mode 100644 index 00000000..919edaa7 --- /dev/null +++ b/Code/Physics/src/BulletDynamics/premake4.lua @@ -0,0 +1,11 @@ + project "BulletDynamics" + + kind "StaticLib" + targetdir "../../lib" + includedirs { + "..", + } + files { + "**.cpp", + "**.h" + } \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/CMakeLists.txt new file mode 100644 index 00000000..dcc54277 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/CMakeLists.txt @@ -0,0 +1,126 @@ +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src + ${VECTOR_MATH_INCLUDE} +) + +SET(BulletMultiThreaded_SRCS + SpuFakeDma.cpp + SpuLibspe2Support.cpp + btThreadSupportInterface.cpp + Win32ThreadSupport.cpp + PosixThreadSupport.cpp + SequentialThreadSupport.cpp + SpuSampleTaskProcess.cpp + SpuCollisionObjectWrapper.cpp + SpuCollisionTaskProcess.cpp + SpuGatheringCollisionDispatcher.cpp + SpuContactManifoldCollisionAlgorithm.cpp + btParallelConstraintSolver.cpp + + #SPURS_PEGatherScatterTask/SpuPEGatherScatterTask.cpp + #SpuPEGatherScatterTaskProcess.cpp + + SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp + SpuNarrowPhaseCollisionTask/SpuContactResult.cpp + SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp + SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp + SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp + + #Some GPU related stuff, mainly CUDA and perhaps OpenCL + btGpu3DGridBroadphase.cpp +) + +SET(Root_HDRS + PlatformDefinitions.h + PpuAddressSpace.h + SpuFakeDma.h + SpuDoubleBuffer.h + SpuLibspe2Support.h + btThreadSupportInterface.h + Win32ThreadSupport.h + PosixThreadSupport.h + SequentialThreadSupport.h + SpuSampleTaskProcess.h + SpuCollisionObjectWrapper.cpp + SpuCollisionObjectWrapper.h + SpuCollisionTaskProcess.h + SpuGatheringCollisionDispatcher.h + SpuContactManifoldCollisionAlgorithm.h + btParallelConstraintSolver.h + + #SPURS_PEGatherScatterTask/SpuPEGatherScatterTask.h + #SpuPEGatherScatterTaskProcess.h + + #Some GPU related stuff, mainly CUDA and perhaps OpenCL + btGpu3DGridBroadphase.h + btGpu3DGridBroadphaseSharedCode.h + btGpu3DGridBroadphaseSharedDefs.h + btGpu3DGridBroadphaseSharedTypes.h + btGpuDefines.h + btGpuUtilsSharedCode.h + btGpuUtilsSharedDefs.h +) + +SET(SpuNarrowPhaseCollisionTask_HDRS + SpuNarrowPhaseCollisionTask/Box.h + SpuNarrowPhaseCollisionTask/boxBoxDistance.h + SpuNarrowPhaseCollisionTask/SpuContactResult.h + SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h + SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h + SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h + SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h + SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h +) + +SET(BulletMultiThreaded_HDRS + ${Root_HDRS} + ${SpuNarrowPhaseCollisionTask_HDRS} +) + +ADD_LIBRARY(BulletMultiThreaded ${BulletMultiThreaded_SRCS} ${BulletMultiThreaded_HDRS}) +SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES SOVERSION ${BULLET_VERSION}) + + +SUBDIRS(GpuSoftBodySolvers) + + +IF (BUILD_SHARED_LIBS) + IF (UNIX) + TARGET_LINK_LIBRARIES(BulletMultiThreaded BulletDynamics BulletCollision pthread) + ELSE() + TARGET_LINK_LIBRARIES(BulletMultiThreaded BulletDynamics BulletCollision) + ENDIF() +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #INSTALL of other files requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) +# IF(INSTALL_EXTRA_LIBS) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletMultiThreaded DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletMultiThreaded + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY +${CMAKE_CURRENT_SOURCE_DIR} DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING +PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) +# ENDIF (INSTALL_EXTRA_LIBS) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES FRAMEWORK true) + + SET_TARGET_PROPERTIES(BulletMultiThreaded PROPERTIES PUBLIC_HEADER "${Root_HDRS}") + # Have to list out sub-directories manually: + SET_PROPERTY(SOURCE ${SpuNarrowPhaseCollisionTask_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/SpuNarrowPhaseCollisionTask) + + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt new file mode 100644 index 00000000..224a3e0a --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/CMakeLists.txt @@ -0,0 +1,13 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src +) + + +SUBDIRS ( + OpenCL +) + +IF( USE_DX11 ) + SUBDIRS( DX11 ) +ENDIF( USE_DX11 ) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt new file mode 100644 index 00000000..52f335d2 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt @@ -0,0 +1,86 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src +) + +SET(DXSDK_DIR $ENV{DXSDK_DIR}) +SET(DX11_INCLUDE_PATH "${DIRECTX_SDK_BASE_DIR}/Include" CACHE DOCSTRING "Microsoft directX SDK include path") + + +INCLUDE_DIRECTORIES( +${DX11_INCLUDE_PATH} "../Shared/" +${VECTOR_MATH_INCLUDE} +) + +SET(BulletSoftBodyDX11Solvers_SRCS + btSoftBodySolver_DX11.cpp + btSoftBodySolver_DX11SIMDAware.cpp +) + +SET(BulletSoftBodyDX11Solvers_HDRS + btSoftBodySolver_DX11.h + btSoftBodySolver_DX11SIMDAware.h + ../Shared/btSoftBodySolverData.h + btSoftBodySolverVertexData_DX11.h + btSoftBodySolverTriangleData_DX11.h + btSoftBodySolverLinkData_DX11.h + btSoftBodySolverLinkData_DX11SIMDAware.h + btSoftBodySolverBuffer_DX11.h + btSoftBodySolverVertexBuffer_DX11.h + +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyDX11Solvers_Shaders + OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + ComputeBounds + SolvePositions + SolvePositionsSIMDBatched + SolveCollisionsAndUpdateVelocities + SolveCollisionsAndUpdateVelocitiesSIMDBatched + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyDX11Solvers_Shaders}) + LIST(APPEND BulletSoftBodyDX11Solvers_HLSL "HLSL/${f}.hlsl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_DX11 ${BulletSoftBodyDX11Solvers_SRCS} ${BulletSoftBodyDX11Solvers_HDRS} ${BulletSoftBodyDX11Solvers_HLSL}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_DX11 BulletSoftBody BulletDynamics) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_DX11 + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_DX11 PROPERTIES PUBLIC_HEADER "${BulletSoftBodyDX11Solvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl new file mode 100644 index 00000000..37e22695 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ApplyForces.hlsl @@ -0,0 +1,95 @@ +MSTRINGIFY( + +cbuffer ApplyForcesCB : register( b0 ) +{ + unsigned int numNodes; + float solverdt; + float epsilon; + int padding3; +}; + + +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexNormal : register( t1 ); +StructuredBuffer g_vertexArea : register( t2 ); +StructuredBuffer g_vertexInverseMass : register( t3 ); +// TODO: These could be combined into a lift/drag factor array along with medium density +StructuredBuffer g_clothLiftFactor : register( t4 ); +StructuredBuffer g_clothDragFactor : register( t5 ); +StructuredBuffer g_clothWindVelocity : register( t6 ); +StructuredBuffer g_clothAcceleration : register( t7 ); +StructuredBuffer g_clothMediumDensity : register( t8 ); + +RWStructuredBuffer g_vertexForceAccumulator : register( u0 ); +RWStructuredBuffer g_vertexVelocity : register( u1 ); + +float3 projectOnAxis( float3 v, float3 a ) +{ + return (a*dot(v, a)); +} + +[numthreads(128, 1, 1)] +void +ApplyForcesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + unsigned int nodeID = DTid.x; + if( nodeID < numNodes ) + { + int clothId = g_vertexClothIdentifier[nodeID]; + float nodeIM = g_vertexInverseMass[nodeID]; + + if( nodeIM > 0.0f ) + { + float3 nodeV = g_vertexVelocity[nodeID].xyz; + float3 normal = g_vertexNormal[nodeID].xyz; + float area = g_vertexArea[nodeID]; + float3 nodeF = g_vertexForceAccumulator[nodeID].xyz; + + // Read per-cloth values + float3 clothAcceleration = g_clothAcceleration[clothId].xyz; + float3 clothWindVelocity = g_clothWindVelocity[clothId].xyz; + float liftFactor = g_clothLiftFactor[clothId]; + float dragFactor = g_clothDragFactor[clothId]; + float mediumDensity = g_clothMediumDensity[clothId]; + + // Apply the acceleration to the cloth rather than do this via a force + nodeV += (clothAcceleration*solverdt); + + g_vertexVelocity[nodeID] = float4(nodeV, 0.f); + + float3 relativeWindVelocity = nodeV - clothWindVelocity; + float relativeSpeedSquared = dot(relativeWindVelocity, relativeWindVelocity); + + if( relativeSpeedSquared > epsilon ) + { + // Correct direction of normal relative to wind direction and get dot product + normal = normal * (dot(normal, relativeWindVelocity) < 0 ? -1.f : 1.f); + float dvNormal = dot(normal, relativeWindVelocity); + if( dvNormal > 0 ) + { + float3 force = float3(0.f, 0.f, 0.f); + float c0 = area * dvNormal * relativeSpeedSquared / 2.f; + float c1 = c0 * mediumDensity; + force += normal * (-c1 * liftFactor); + force += normalize(relativeWindVelocity)*(-c1 * dragFactor); + + float dtim = solverdt * nodeIM; + float3 forceDTIM = force * dtim; + + float3 nodeFPlusForce = nodeF + force; + + // m_nodesf[i] -= ProjectOnAxis(m_nodesv[i], force.normalized())/dtim; + float3 nodeFMinus = nodeF - (projectOnAxis(nodeV, normalize(force))/dtim); + + nodeF = nodeFPlusForce; + if( dot(forceDTIM, forceDTIM) > dot(nodeV, nodeV) ) + nodeF = nodeFMinus; + + g_vertexForceAccumulator[nodeID] = float4(nodeF, 0.0f); + } + } + } + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl new file mode 100644 index 00000000..65ae515c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/ComputeBounds.hlsl @@ -0,0 +1,83 @@ +MSTRINGIFY( + +cbuffer ComputeBoundsCB : register( b0 ) +{ + int numNodes; + int numSoftBodies; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); + +RWStructuredBuffer g_clothMinBounds : register( u0 ); +RWStructuredBuffer g_clothMaxBounds : register( u1 ); + +groupshared uint4 clothMinBounds[256]; +groupshared uint4 clothMaxBounds[256]; + +[numthreads(128, 1, 1)] +void +ComputeBoundsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + const unsigned int UINT_MAX = 0xffffffff; + + // Init min and max bounds arrays + if( GTid.x < numSoftBodies ) + { + clothMinBounds[GTid.x] = uint4(UINT_MAX, UINT_MAX, UINT_MAX, UINT_MAX); + clothMaxBounds[GTid.x] = uint4(0,0,0,0); + } + + AllMemoryBarrierWithGroupSync(); + + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + if( clothIdentifier >= 0 ) + { + float3 position = g_vertexPositions[nodeID].xyz; + + // Reinterpret position as uint + uint3 positionUInt = uint3(asuint(position.x), asuint(position.y), asuint(position.z)); + + // Invert sign bit of positives and whole of negatives to allow comparison as unsigned ints + //positionUInt.x ^= uint((-int(positionUInt.x >> 31) | 0x80000000)); + //positionUInt.y ^= uint((-int(positionUInt.y >> 31) | 0x80000000)); + //positionUInt.z ^= uint((-int(positionUInt.z >> 31) | 0x80000000)); + positionUInt.x ^= (1+~(positionUInt.x >> 31) | 0x80000000); + positionUInt.y ^= (1+~(positionUInt.y >> 31) | 0x80000000); + positionUInt.z ^= (1+~(positionUInt.z >> 31) | 0x80000000); + + // Min/max with the LDS values + InterlockedMin(clothMinBounds[clothIdentifier].x, positionUInt.x); + InterlockedMin(clothMinBounds[clothIdentifier].y, positionUInt.y); + InterlockedMin(clothMinBounds[clothIdentifier].z, positionUInt.z); + + InterlockedMax(clothMaxBounds[clothIdentifier].x, positionUInt.x); + InterlockedMax(clothMaxBounds[clothIdentifier].y, positionUInt.y); + InterlockedMax(clothMaxBounds[clothIdentifier].z, positionUInt.z); + } + } + + AllMemoryBarrierWithGroupSync(); + + + // Use global atomics to update the global versions of the data + if( GTid.x < numSoftBodies ) + { + InterlockedMin(g_clothMinBounds[GTid.x].x, clothMinBounds[GTid.x].x); + InterlockedMin(g_clothMinBounds[GTid.x].y, clothMinBounds[GTid.x].y); + InterlockedMin(g_clothMinBounds[GTid.x].z, clothMinBounds[GTid.x].z); + + InterlockedMax(g_clothMaxBounds[GTid.x].x, clothMaxBounds[GTid.x].x); + InterlockedMax(g_clothMaxBounds[GTid.x].y, clothMaxBounds[GTid.x].y); + InterlockedMax(g_clothMaxBounds[GTid.x].z, clothMaxBounds[GTid.x].z); + } +} + + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl new file mode 100644 index 00000000..f85fd115 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/Integrate.hlsl @@ -0,0 +1,41 @@ +MSTRINGIFY( + +cbuffer IntegrateCB : register( b0 ) +{ + int numNodes; + float solverdt; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_vertexInverseMasses : register( t0 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); +RWStructuredBuffer g_vertexVelocity : register( u1 ); +RWStructuredBuffer g_vertexPreviousPositions : register( u2 ); +RWStructuredBuffer g_vertexForceAccumulator : register( u3 ); + +[numthreads(128, 1, 1)] +void +IntegrateKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 velocity = g_vertexVelocity[nodeID].xyz; + float3 force = g_vertexForceAccumulator[nodeID].xyz; + float inverseMass = g_vertexInverseMasses[nodeID]; + + g_vertexPreviousPositions[nodeID] = float4(position, 0.f); + velocity += force * inverseMass * solverdt; + position += velocity * solverdt; + + g_vertexForceAccumulator[nodeID] = float4(0.f, 0.f, 0.f, 0.0f); + g_vertexPositions[nodeID] = float4(position, 0.f); + g_vertexVelocity[nodeID] = float4(velocity, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl new file mode 100644 index 00000000..a6fa7b95 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/OutputToVertexArray.hlsl @@ -0,0 +1,63 @@ +MSTRINGIFY( + +cbuffer OutputToVertexArrayCB : register( b0 ) +{ + int startNode; + int numNodes; + int positionOffset; + int positionStride; + + int normalOffset; + int normalStride; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexNormals : register( t1 ); + +RWBuffer g_vertexBuffer : register( u0 ); + + +[numthreads(128, 1, 1)] +void +OutputToVertexArrayWithNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + float4 normal = g_vertexNormals[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + + int normalDestination = nodeID * normalStride + normalOffset; + g_vertexBuffer[normalDestination] = normal.x; + g_vertexBuffer[normalDestination+1] = normal.y; + g_vertexBuffer[normalDestination+2] = normal.z; + } +} + +[numthreads(128, 1, 1)] +void +OutputToVertexArrayWithoutNormalsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + float4 normal = g_vertexNormals[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + } +} +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl new file mode 100644 index 00000000..75db8d14 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/PrepareLinks.hlsl @@ -0,0 +1,44 @@ +MSTRINGIFY( + +cbuffer PrepareLinksCB : register( b0 ) +{ + int numLinks; + int padding0; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); +StructuredBuffer g_linksMassLSC : register( t1 ); +StructuredBuffer g_nodesPreviousPosition : register( t2 ); + +RWStructuredBuffer g_linksLengthRatio : register( u0 ); +RWStructuredBuffer g_linksCurrentLength : register( u1 ); + +[numthreads(128, 1, 1)] +void +PrepareLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x; + if( linkID < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float4 nodePreviousPosition0 = g_nodesPreviousPosition[node0]; + float4 nodePreviousPosition1 = g_nodesPreviousPosition[node1]; + + float massLSC = g_linksMassLSC[linkID]; + + float4 linkCurrentLength = nodePreviousPosition1 - nodePreviousPosition0; + + float linkLengthRatio = dot(linkCurrentLength, linkCurrentLength)*massLSC; + linkLengthRatio = 1./linkLengthRatio; + + g_linksCurrentLength[linkID] = linkCurrentLength; + g_linksLengthRatio[linkID] = linkLengthRatio; + } +} +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl new file mode 100644 index 00000000..de979d7f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositions.hlsl @@ -0,0 +1,55 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + int startLink; + int numLinks; + float kst; + float ti; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); + +StructuredBuffer g_linksMassLSC : register( t1 ); +StructuredBuffer g_linksRestLengthSquared : register( t2 ); +StructuredBuffer g_verticesInverseMass : register( t3 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); + +[numthreads(128, 1, 1)] +void +SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x + startLink; + if( DTid.x < numLinks ) + { + float massLSC = g_linksMassLSC[linkID]; + float restLengthSquared = g_linksRestLengthSquared[linkID]; + + if( massLSC > 0.0f ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float3 position0 = g_vertexPositions[node0].xyz; + float3 position1 = g_vertexPositions[node1].xyz; + + float inverseMass0 = g_verticesInverseMass[node0]; + float inverseMass1 = g_verticesInverseMass[node1]; + + float3 del = position1 - position0; + float len = dot(del, del); + float k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + g_vertexPositions[node0] = float4(position0, 0.f); + g_vertexPositions[node1] = float4(position1, 0.f); + + } + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl new file mode 100644 index 00000000..3cbb352e --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/SolvePositionsSIMDBatched.hlsl @@ -0,0 +1,147 @@ +MSTRINGIFY( + + + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + int startWaveInBatch; + int numWaves; + float kst; + float ti; +}; + + +// Number of batches per wavefront stored one element per logical wavefront +StructuredBuffer g_wavefrontBatchCountsVertexCounts : register( t0 ); +// Set of up to maxNumVertices vertex addresses per wavefront +StructuredBuffer g_vertexAddressesPerWavefront : register( t1 ); + +StructuredBuffer g_verticesInverseMass : register( t2 ); + +// Per-link data layed out structured in terms of sub batches within wavefronts +StructuredBuffer g_linksVertexIndices : register( t3 ); +StructuredBuffer g_linksMassLSC : register( t4 ); +StructuredBuffer g_linksRestLengthSquared : register( t5 ); + +RWStructuredBuffer g_vertexPositions : register( u0 ); + +// Data loaded on a per-wave basis +groupshared int2 wavefrontBatchCountsVertexCounts[WAVEFRONT_BLOCK_MULTIPLIER]; +groupshared float4 vertexPositionSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; +groupshared float vertexInverseMassSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; + +// Storing the vertex addresses actually slowed things down a little +//groupshared int vertexAddressSharedData[MAX_NUM_VERTICES_PER_WAVE*WAVEFRONT_BLOCK_MULTIPLIER]; + + +[numthreads(BLOCK_SIZE, 1, 1)] +void +SolvePositionsFromLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + const int laneInWavefront = (DTid.x & (WAVEFRONT_SIZE-1)); + const int wavefront = startWaveInBatch + (DTid.x / WAVEFRONT_SIZE); + const int firstWavefrontInBlock = startWaveInBatch + Gid.x * WAVEFRONT_BLOCK_MULTIPLIER; + const int localWavefront = wavefront - firstWavefrontInBlock; + + int batchesWithinWavefront = 0; + int verticesUsedByWave = 0; + int cond = wavefront < (startWaveInBatch + numWaves); + + // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier + if( cond) + { + + // Load the batch counts for the wavefronts + + int2 batchesAndVerticesWithinWavefront = g_wavefrontBatchCountsVertexCounts[wavefront]; + + batchesWithinWavefront = batchesAndVerticesWithinWavefront.x; + verticesUsedByWave = batchesAndVerticesWithinWavefront.y; + + // Load the vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + //vertexAddressSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = vertexAddress; + vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress]; + vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress]; + } + + } + // Ensure compiler does not re-order memory operations + //AllMemoryBarrier(); + AllMemoryBarrierWithGroupSync (); + + if( cond) + { + // Loop through the batches performing the solve on each in LDS + int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE; + + //for( int batch = 0; batch < batchesWithinWavefront; ++batch ) + + int batch = 0; + do + { + int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch; + int locationOfValue = baseDataLocation + laneInWavefront; + + + // These loads should all be perfectly linear across the WF + int2 localVertexIndices = g_linksVertexIndices[locationOfValue]; + float massLSC = g_linksMassLSC[locationOfValue]; + float restLengthSquared = g_linksRestLengthSquared[locationOfValue]; + + + // LDS vertex addresses based on logical wavefront number in block and loaded index + int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x; + int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y; + + float3 position0 = vertexPositionSharedData[vertexAddress0].xyz; + float3 position1 = vertexPositionSharedData[vertexAddress1].xyz; + + float inverseMass0 = vertexInverseMassSharedData[vertexAddress0]; + float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; + + float3 del = position1 - position0; + float len = dot(del, del); + + float k = 0; + if( massLSC > 0.0f ) + { + k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + } + + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + // Ensure compiler does not re-order memory operations + AllMemoryBarrier(); + + vertexPositionSharedData[vertexAddress0] = float4(position0, 0.f); + vertexPositionSharedData[vertexAddress1] = float4(position1, 0.f); + + // Ensure compiler does not re-order memory operations + AllMemoryBarrier(); + + + ++batch; + } while( batch < batchesWithinWavefront ); + + // Update the global memory vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + g_vertexPositions[vertexAddress] = vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + } + } + + +} + + + + +); + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl new file mode 100644 index 00000000..fafd236f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateConstants.hlsl @@ -0,0 +1,48 @@ +MSTRINGIFY( + +cbuffer UpdateConstantsCB : register( b0 ) +{ + int numLinks; + int padding0; + int padding1; + int padding2; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); +StructuredBuffer g_vertexInverseMasses : register( t2 ); +StructuredBuffer g_linksMaterialLSC : register( t3 ); + +RWStructuredBuffer g_linksMassLSC : register( u0 ); +RWStructuredBuffer g_linksRestLengthSquared : register( u1 ); +RWStructuredBuffer g_linksRestLengths : register( u2 ); + +[numthreads(128, 1, 1)] +void +UpdateConstantsKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x; + if( linkID < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ]; + + float3 position0 = g_vertexPositions[node0].xyz; + float3 position1 = g_vertexPositions[node1].xyz; + float inverseMass0 = g_vertexInverseMasses[node0]; + float inverseMass1 = g_vertexInverseMasses[node1]; + + float3 difference = position0 - position1; + float length2 = dot(difference, difference); + float length = sqrt(length2); + + g_linksRestLengths[linkID] = length; + g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient; + g_linksRestLengthSquared[linkID] = length*length; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl new file mode 100644 index 00000000..a16d8943 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNodes.hlsl @@ -0,0 +1,49 @@ +MSTRINGIFY( + +cbuffer UpdateVelocitiesFromPositionsWithVelocitiesCB : register( b0 ) +{ + int numNodes; + float isolverdt; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_vertexClothIndices : register( t2 ); +StructuredBuffer g_clothVelocityCorrectionCoefficients : register( t3 ); +StructuredBuffer g_clothDampingFactor : register( t4 ); + +RWStructuredBuffer g_vertexVelocities : register( u0 ); +RWStructuredBuffer g_vertexForces : register( u1 ); + + +[numthreads(128, 1, 1)] +void +updateVelocitiesFromPositionsWithVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz; + float3 velocity = g_vertexVelocities[nodeID].xyz; + int clothIndex = g_vertexClothIndices[nodeID]; + float velocityCorrectionCoefficient = g_clothVelocityCorrectionCoefficients[clothIndex]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float3 difference = position - previousPosition; + + velocity += difference*velocityCorrectionCoefficient*isolverdt; + + // Damp the velocity + velocity *= velocityCoefficient; + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl new file mode 100644 index 00000000..54ab3ed2 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdateNormals.hlsl @@ -0,0 +1,98 @@ +MSTRINGIFY( + +cbuffer UpdateSoftBodiesCB : register( b0 ) +{ + unsigned int numNodes; + unsigned int startFace; + unsigned int numFaces; + float epsilon; +}; + + +// Node indices for each link +StructuredBuffer g_triangleVertexIndexSet : register( t0 ); +StructuredBuffer g_vertexPositions : register( t1 ); +StructuredBuffer g_vertexTriangleCount : register( t2 ); + +RWStructuredBuffer g_vertexNormals : register( u0 ); +RWStructuredBuffer g_vertexArea : register( u1 ); +RWStructuredBuffer g_triangleNormals : register( u2 ); +RWStructuredBuffer g_triangleArea : register( u3 ); + + +[numthreads(128, 1, 1)] +void +ResetNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + if( DTid.x < numNodes ) + { + g_vertexNormals[DTid.x] = float4(0.0f, 0.0f, 0.0f, 0.0f); + g_vertexArea[DTid.x] = 0.0f; + } +} + + +[numthreads(128, 1, 1)] +void +UpdateSoftBodiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int faceID = DTid.x + startFace; + if( DTid.x < numFaces ) + { + int4 triangleIndexSet = g_triangleVertexIndexSet[ faceID ]; + int nodeIndex0 = triangleIndexSet.x; + int nodeIndex1 = triangleIndexSet.y; + int nodeIndex2 = triangleIndexSet.z; + + float3 node0 = g_vertexPositions[nodeIndex0].xyz; + float3 node1 = g_vertexPositions[nodeIndex1].xyz; + float3 node2 = g_vertexPositions[nodeIndex2].xyz; + float3 nodeNormal0 = g_vertexNormals[nodeIndex0].xyz; + float3 nodeNormal1 = g_vertexNormals[nodeIndex1].xyz; + float3 nodeNormal2 = g_vertexNormals[nodeIndex2].xyz; + float vertexArea0 = g_vertexArea[nodeIndex0]; + float vertexArea1 = g_vertexArea[nodeIndex1]; + float vertexArea2 = g_vertexArea[nodeIndex2]; + + float3 vector0 = node1 - node0; + float3 vector1 = node2 - node0; + + float3 faceNormal = cross(vector0.xyz, vector1.xyz); + float triangleArea = length(faceNormal); + + nodeNormal0 = nodeNormal0 + faceNormal; + nodeNormal1 = nodeNormal1 + faceNormal; + nodeNormal2 = nodeNormal2 + faceNormal; + vertexArea0 = vertexArea0 + triangleArea; + vertexArea1 = vertexArea1 + triangleArea; + vertexArea2 = vertexArea2 + triangleArea; + + g_triangleNormals[faceID] = float4(normalize(faceNormal), 0.f); + g_vertexNormals[nodeIndex0] = float4(nodeNormal0, 0.f); + g_vertexNormals[nodeIndex1] = float4(nodeNormal1, 0.f); + g_vertexNormals[nodeIndex2] = float4(nodeNormal2, 0.f); + g_triangleArea[faceID] = triangleArea; + g_vertexArea[nodeIndex0] = vertexArea0; + g_vertexArea[nodeIndex1] = vertexArea1; + g_vertexArea[nodeIndex2] = vertexArea2; + } +} + +[numthreads(128, 1, 1)] +void +NormalizeNormalsAndAreasKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + if( DTid.x < numNodes ) + { + float4 normal = g_vertexNormals[DTid.x]; + float area = g_vertexArea[DTid.x]; + int numTriangles = g_vertexTriangleCount[DTid.x]; + + float vectorLength = length(normal); + + g_vertexNormals[DTid.x] = normalize(normal); + g_vertexArea[DTid.x] = area/float(numTriangles); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl new file mode 100644 index 00000000..9685fa8f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositions.hlsl @@ -0,0 +1,44 @@ +MSTRINGIFY( + +cbuffer UpdateVelocitiesFromPositionsWithoutVelocitiesCB : register( b0 ) +{ + int numNodes; + float isolverdt; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexPositions : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_vertexClothIndices : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); + +RWStructuredBuffer g_vertexVelocities : register( u0 ); +RWStructuredBuffer g_vertexForces : register( u1 ); + + +[numthreads(128, 1, 1)] +void +updateVelocitiesFromPositionsWithoutVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + if( nodeID < numNodes ) + { + float3 position = g_vertexPositions[nodeID].xyz; + float3 previousPosition = g_vertexPreviousPositions[nodeID].xyz; + float3 velocity = g_vertexVelocities[nodeID].xyz; + int clothIndex = g_vertexClothIndices[nodeID]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float3 difference = position - previousPosition; + + velocity = difference*velocityCoefficient*isolverdt; + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + g_vertexForces[nodeID] = float4(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl new file mode 100644 index 00000000..e816b1e1 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/UpdatePositionsFromVelocities.hlsl @@ -0,0 +1,35 @@ +MSTRINGIFY( + +cbuffer UpdatePositionsFromVelocitiesCB : register( b0 ) +{ + int numNodes; + float solverSDT; + int padding1; + int padding2; +}; + + +StructuredBuffer g_vertexVelocities : register( t0 ); + +RWStructuredBuffer g_vertexPreviousPositions : register( u0 ); +RWStructuredBuffer g_vertexCurrentPosition : register( u1 ); + + +[numthreads(128, 1, 1)] +void +UpdatePositionsFromVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int vertexID = DTid.x; + if( vertexID < numNodes ) + { + float3 previousPosition = g_vertexPreviousPositions[vertexID].xyz; + float3 velocity = g_vertexVelocities[vertexID].xyz; + + float3 newPosition = previousPosition + velocity*solverSDT; + + g_vertexCurrentPosition[vertexID] = float4(newPosition, 0.f); + g_vertexPreviousPositions[vertexID] = float4(newPosition, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl new file mode 100644 index 00000000..14afca67 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/VSolveLinks.hlsl @@ -0,0 +1,55 @@ +MSTRINGIFY( + +cbuffer VSolveLinksCB : register( b0 ) +{ + int startLink; + int numLinks; + float kst; + int padding; +}; + +// Node indices for each link +StructuredBuffer g_linksVertexIndices : register( t0 ); + +StructuredBuffer g_linksLengthRatio : register( t1 ); +StructuredBuffer g_linksCurrentLength : register( t2 ); +StructuredBuffer g_vertexInverseMass : register( t3 ); + +RWStructuredBuffer g_vertexVelocity : register( u0 ); + +[numthreads(128, 1, 1)] +void +VSolveLinksKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int linkID = DTid.x + startLink; + if( DTid.x < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float linkLengthRatio = g_linksLengthRatio[linkID]; + float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz; + + float3 vertexVelocity0 = g_vertexVelocity[node0].xyz; + float3 vertexVelocity1 = g_vertexVelocity[node1].xyz; + + float vertexInverseMass0 = g_vertexInverseMass[node0]; + float vertexInverseMass1 = g_vertexInverseMass[node1]; + + float3 nodeDifference = vertexVelocity0 - vertexVelocity1; + float dotResult = dot(linkCurrentLength, nodeDifference); + float j = -dotResult*linkLengthRatio*kst; + + float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0); + float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1); + + vertexVelocity0 += velocityChange0; + vertexVelocity1 -= velocityChange1; + + g_vertexVelocity[node0] = float4(vertexVelocity0, 0.f); + g_vertexVelocity[node1] = float4(vertexVelocity1, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl new file mode 100644 index 00000000..9d46a596 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocities.hlsl @@ -0,0 +1,170 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + unsigned int numNodes; + float isolverdt; + int padding0; + int padding1; +}; + +struct CollisionObjectIndices +{ + int firstObject; + int endObject; +}; + +struct CollisionShapeDescription +{ + float4x4 shapeTransform; + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + + float margin; + float friction; + + int padding0; + int padding1; + +}; + +// From btBroadphaseProxy.h +static const int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_perClothFriction : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); +StructuredBuffer g_perClothCollisionObjectIndices : register( t4 ); +StructuredBuffer g_collisionObjectDetails : register( t5 ); + +RWStructuredBuffer g_vertexForces : register( u0 ); +RWStructuredBuffer g_vertexVelocities : register( u1 ); +RWStructuredBuffer g_vertexPositions : register( u2 ); + +[numthreads(128, 1, 1)] +void +SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + float3 forceOnVertex = float3(0.f, 0.f, 0.f); + if( DTid.x < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f); + float3 velocity; + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + if( collisionObjectIndices.firstObject != collisionObjectIndices.endObject ) + { + velocity = float3(15, 0, 0); + + // We have some possible collisions to deal with + for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision ) + { + CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = shapeDescription.halfHeight; + float capsuleRadius = shapeDescription.radius; + float capsuleMargin = shapeDescription.margin; + float4x4 worldTransform = shapeDescription.shapeTransform; + + float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); + float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f); + float4 worldC1 = mul(worldTransform, c1); + float4 worldC2 = mul(worldTransform, c2); + float3 segment = (worldC2 - worldC1).xyz; + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) ); + + float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float3 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = normalize(position - worldC1).xyz; + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = normalize(position - worldC2).xyz; + } else { + dist = distanceFromLine; + normalVector = normalize(position - closestPoint).xyz; + } + + float3 colliderLinearVelocity = shapeDescription.linearVelocity.xyz; + float3 colliderAngularVelocity = shapeDescription.angularVelocity.xyz; + float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + float4((minDistance - dist)*normalVector*0.9, 0.f); + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + float3 relativeVelocity = velocity - velocityOfSurfacePoint; + + float3 p1 = normalize(cross(normalVector, segment)); + float3 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0 ) + forceOnVertex -= frictionVector; + } + + } + } + } else { + // Update velocity + float3 difference = position.xyz - previousPosition.xyz; + velocity = difference*velocityCoefficient*isolverdt; + } + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + + // Update external force + g_vertexForces[nodeID] = float4(forceOnVertex, 0.f); + + g_vertexPositions[nodeID] = float4(position.xyz, 0.f); + } +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl new file mode 100644 index 00000000..0b2a0271 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl @@ -0,0 +1,191 @@ +MSTRINGIFY( + +cbuffer SolvePositionsFromLinksKernelCB : register( b0 ) +{ + unsigned int numNodes; + float isolverdt; + int padding0; + int padding1; +}; + +struct CollisionObjectIndices +{ + int firstObject; + int endObject; +}; + +struct CollisionShapeDescription +{ + float4x4 shapeTransform; + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + + float margin; + float friction; + + int padding0; + int padding1; + +}; + +// From btBroadphaseProxy.h +static const int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Node indices for each link +StructuredBuffer g_vertexClothIdentifier : register( t0 ); +StructuredBuffer g_vertexPreviousPositions : register( t1 ); +StructuredBuffer g_perClothFriction : register( t2 ); +StructuredBuffer g_clothDampingFactor : register( t3 ); +StructuredBuffer g_perClothCollisionObjectIndices : register( t4 ); +StructuredBuffer g_collisionObjectDetails : register( t5 ); + +RWStructuredBuffer g_vertexForces : register( u0 ); +RWStructuredBuffer g_vertexVelocities : register( u1 ); +RWStructuredBuffer g_vertexPositions : register( u2 ); + +// A buffer of local collision shapes +// TODO: Iterate to support more than 16 +groupshared CollisionShapeDescription localCollisionShapes[16]; + +[numthreads(128, 1, 1)] +void +SolveCollisionsAndUpdateVelocitiesKernel( uint3 Gid : SV_GroupID, uint3 DTid : SV_DispatchThreadID, uint3 GTid : SV_GroupThreadID, uint GI : SV_GroupIndex ) +{ + int nodeID = DTid.x; + float3 forceOnVertex = float3(0.f, 0.f, 0.f); + + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + float4 position = float4(g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition = float4(g_vertexPreviousPositions[nodeID].xyz, 1.f); + float3 velocity; + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + if( numObjects > 0 ) + { + // We have some possible collisions to deal with + + // First load all of the collision objects into LDS + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + if( GTid.x < numObjects ) + { + localCollisionShapes[GTid.x] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + GTid.x ]; + } + } + + // Safe as the vertices are padded so that not more than one soft body is in a group + AllMemoryBarrierWithGroupSync(); + + // Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this + if( numObjects > 0 ) + { + velocity = float3(0, 0, 0); + + + // We have some possible collisions to deal with + for( int collision = 0; collision < numObjects; ++collision ) + { + CollisionShapeDescription shapeDescription = localCollisionShapes[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = localCollisionShapes[collision].halfHeight; + float capsuleRadius = localCollisionShapes[collision].radius; + float capsuleMargin = localCollisionShapes[collision].margin; + + float4x4 worldTransform = localCollisionShapes[collision].shapeTransform; + + float4 c1 = float4(0.f, -capsuleHalfHeight, 0.f, 1.f); + float4 c2 = float4(0.f, +capsuleHalfHeight, 0.f, 1.f); + float4 worldC1 = mul(worldTransform, c1); + float4 worldC2 = mul(worldTransform, c2); + float3 segment = (worldC2 - worldC1).xyz; + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( dot( (worldC1 - position).xyz, segment ) / dot(segment, segment) ); + + float4 closestPoint = (worldC1 + float4(segment * distanceAlongSegment, 0.f)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float3 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = normalize(position - worldC1).xyz; + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = normalize(position - worldC2).xyz; + } else { + dist = distanceFromLine; + normalVector = normalize(position - closestPoint).xyz; + } + + float3 colliderLinearVelocity = localCollisionShapes[collision].linearVelocity.xyz; + float3 colliderAngularVelocity = localCollisionShapes[collision].angularVelocity.xyz; + float3 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position.xyz - worldTransform._m03_m13_m23); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + float4((minDistance - dist)*normalVector*0.9, 0.f); + velocity = (position - previousPosition).xyz * velocityCoefficient * isolverdt; + float3 relativeVelocity = velocity - velocityOfSurfacePoint; + + float3 p1 = normalize(cross(normalVector, segment)); + float3 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float3 frictionVector = p1*dot(relativeVelocity, p1) + p2*dot(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0 ) + forceOnVertex -= frictionVector; + } + + } + } + } else { + // Update velocity + float3 difference = position.xyz - previousPosition.xyz; + velocity = difference*velocityCoefficient*isolverdt; + } + + g_vertexVelocities[nodeID] = float4(velocity, 0.f); + + // Update external force + g_vertexForces[nodeID] = float4(forceOnVertex, 0.f); + + g_vertexPositions[nodeID] = float4(position.xyz, 0.f); +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h new file mode 100644 index 00000000..b6a99cc1 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h @@ -0,0 +1,323 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_BUFFER_DX11_H +#define BT_SOFT_BODY_SOLVER_BUFFER_DX11_H + +// DX11 support +#include +#include +#include +#include +#include + +#ifndef SAFE_RELEASE +#define SAFE_RELEASE(p) { if(p) { (p)->Release(); (p)=NULL; } } +#endif + +/** + * DX11 Buffer that tracks a host buffer on use to ensure size-correctness. + */ +template class btDX11Buffer +{ +protected: + ID3D11Device* m_d3dDevice; + ID3D11DeviceContext* m_d3dDeviceContext; + + ID3D11Buffer* m_Buffer; + ID3D11ShaderResourceView* m_SRV; + ID3D11UnorderedAccessView* m_UAV; + btAlignedObjectArray< ElementType >* m_CPUBuffer; + + // TODO: Separate this from the main class + // as read back buffers can be shared between buffers + ID3D11Buffer* m_readBackBuffer; + + int m_gpuSize; + bool m_onGPU; + + bool m_readOnlyOnGPU; + + bool createBuffer( ID3D11Buffer *preexistingBuffer = 0) + { + HRESULT hr = S_OK; + + // Create all CS buffers + if( preexistingBuffer ) + { + m_Buffer = preexistingBuffer; + } else { + D3D11_BUFFER_DESC buffer_desc; + ZeroMemory(&buffer_desc, sizeof(buffer_desc)); + buffer_desc.Usage = D3D11_USAGE_DEFAULT; + if( m_readOnlyOnGPU ) + buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE; + else + buffer_desc.BindFlags = D3D11_BIND_SHADER_RESOURCE | D3D11_BIND_UNORDERED_ACCESS; + buffer_desc.MiscFlags = D3D11_RESOURCE_MISC_BUFFER_STRUCTURED; + + buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType); + // At a minimum the buffer must exist + if( buffer_desc.ByteWidth == 0 ) + buffer_desc.ByteWidth = sizeof(ElementType); + buffer_desc.StructureByteStride = sizeof(ElementType); + hr = m_d3dDevice->CreateBuffer(&buffer_desc, NULL, &m_Buffer); + if( FAILED( hr ) ) + return (hr==S_OK); + } + + if( m_readOnlyOnGPU ) + { + D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc; + ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc)); + srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER; + + srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size(); + if( srvbuffer_desc.Buffer.ElementWidth == 0 ) + srvbuffer_desc.Buffer.ElementWidth = 1; + hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV); + if( FAILED( hr ) ) + return (hr==S_OK); + } else { + // Create SRV + D3D11_SHADER_RESOURCE_VIEW_DESC srvbuffer_desc; + ZeroMemory(&srvbuffer_desc, sizeof(srvbuffer_desc)); + srvbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + srvbuffer_desc.ViewDimension = D3D11_SRV_DIMENSION_BUFFER; + + srvbuffer_desc.Buffer.ElementWidth = m_CPUBuffer->size(); + if( srvbuffer_desc.Buffer.ElementWidth == 0 ) + srvbuffer_desc.Buffer.ElementWidth = 1; + hr = m_d3dDevice->CreateShaderResourceView(m_Buffer, &srvbuffer_desc, &m_SRV); + if( FAILED( hr ) ) + return (hr==S_OK); + + // Create UAV + D3D11_UNORDERED_ACCESS_VIEW_DESC uavbuffer_desc; + ZeroMemory(&uavbuffer_desc, sizeof(uavbuffer_desc)); + uavbuffer_desc.Format = DXGI_FORMAT_UNKNOWN; + uavbuffer_desc.ViewDimension = D3D11_UAV_DIMENSION_BUFFER; + + uavbuffer_desc.Buffer.NumElements = m_CPUBuffer->size(); + if( uavbuffer_desc.Buffer.NumElements == 0 ) + uavbuffer_desc.Buffer.NumElements = 1; + hr = m_d3dDevice->CreateUnorderedAccessView(m_Buffer, &uavbuffer_desc, &m_UAV); + if( FAILED( hr ) ) + return (hr==S_OK); + + // Create read back buffer + D3D11_BUFFER_DESC readback_buffer_desc; + ZeroMemory(&readback_buffer_desc, sizeof(readback_buffer_desc)); + + readback_buffer_desc.ByteWidth = m_CPUBuffer->size() * sizeof(ElementType); + readback_buffer_desc.Usage = D3D11_USAGE_STAGING; + readback_buffer_desc.CPUAccessFlags = D3D11_CPU_ACCESS_READ; + readback_buffer_desc.StructureByteStride = sizeof(ElementType); + hr = m_d3dDevice->CreateBuffer(&readback_buffer_desc, NULL, &m_readBackBuffer); + if( FAILED( hr ) ) + return (hr==S_OK); + } + + m_gpuSize = m_CPUBuffer->size(); + return true; + } + + + +public: + btDX11Buffer( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext, btAlignedObjectArray< ElementType > *CPUBuffer, bool readOnly ) + { + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; + m_Buffer = 0; + m_SRV = 0; + m_UAV = 0; + m_readBackBuffer = 0; + + m_CPUBuffer = CPUBuffer; + + m_gpuSize = 0; + m_onGPU = false; + + m_readOnlyOnGPU = readOnly; + } + + virtual ~btDX11Buffer() + { + SAFE_RELEASE(m_Buffer); + SAFE_RELEASE(m_SRV); + SAFE_RELEASE(m_UAV); + SAFE_RELEASE(m_readBackBuffer); + } + + ID3D11ShaderResourceView* &getSRV() + { + return m_SRV; + } + + ID3D11UnorderedAccessView* &getUAV() + { + return m_UAV; + } + + ID3D11Buffer* &getBuffer() + { + return m_Buffer; + } + + /** + * Move the data to the GPU if it is not there already. + */ + bool moveToGPU() + { + // Reallocate if GPU size is too small + if( (m_CPUBuffer->size() > m_gpuSize ) ) + m_onGPU = false; + if( !m_onGPU && m_CPUBuffer->size() > 0 ) + { + // If the buffer doesn't exist or the CPU-side buffer has changed size, create + // We should really delete the old one, too, but let's leave that for later + if( !m_Buffer || (m_CPUBuffer->size() != m_gpuSize) ) + { + SAFE_RELEASE(m_Buffer); + SAFE_RELEASE(m_SRV); + SAFE_RELEASE(m_UAV); + SAFE_RELEASE(m_readBackBuffer); + if( !createBuffer() ) + { + btAssert("Buffer creation failed."); + return false; + } + } + + if( m_gpuSize > 0 ) + { + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->UpdateSubresource(m_Buffer, 0, &destRegion, &((*m_CPUBuffer)[0]), 0, 0); + + m_onGPU = true; + } + + } + + return true; + } + + /** + * Move the data back from the GPU if it is on there and isn't read only. + */ + bool moveFromGPU() + { + if( m_CPUBuffer->size() > 0 ) + { + if( m_onGPU && !m_readOnlyOnGPU ) + { + // Copy back + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + //m_pd3dImmediateContext->CopyResource(m_phAngVelReadBackBuffer, m_phAngVel); + + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->CopySubresourceRegion( + m_readBackBuffer, + 0, + 0, + 0, + 0 , + m_Buffer, + 0, + &destRegion + ); + + m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource); + //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) )); + memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) )); + m_d3dDeviceContext->Unmap(m_readBackBuffer, 0); + + m_onGPU = false; + } + } + + return true; + } + + + /** + * Copy the data back from the GPU without changing its state to be CPU-side. + * Useful if we just want to view it on the host for visualization. + */ + bool copyFromGPU() + { + if( m_CPUBuffer->size() > 0 ) + { + if( m_onGPU && !m_readOnlyOnGPU ) + { + // Copy back + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + + D3D11_BOX destRegion; + destRegion.left = 0; + destRegion.front = 0; + destRegion.top = 0; + destRegion.bottom = 1; + destRegion.back = 1; + + destRegion.right = (m_CPUBuffer->size())*sizeof(ElementType); + m_d3dDeviceContext->CopySubresourceRegion( + m_readBackBuffer, + 0, + 0, + 0, + 0 , + m_Buffer, + 0, + &destRegion + ); + + m_d3dDeviceContext->Map(m_readBackBuffer, 0, D3D11_MAP_READ, 0, &MappedResource); + //memcpy(m_hAngVel, MappedResource.pData, (m_maxObjs * sizeof(float) )); + memcpy(&((*m_CPUBuffer)[0]), MappedResource.pData, ((m_CPUBuffer->size()) * sizeof(ElementType) )); + m_d3dDeviceContext->Unmap(m_readBackBuffer, 0); + } + } + + return true; + } + + /** + * Call if data has changed on the CPU. + * Can then trigger a move to the GPU as necessary. + */ + virtual void changedOnCPU() + { + m_onGPU = false; + } +}; // class btDX11Buffer + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_DX11_H \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h new file mode 100644 index 00000000..454c3c8c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h @@ -0,0 +1,103 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + + +class btSoftBodyLinkDataDX11 : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + + btDX11Buffer m_dx11Links; + btDX11Buffer m_dx11LinkStrength; + btDX11Buffer m_dx11LinksMassLSC; + btDX11Buffer m_dx11LinksRestLengthSquared; + btDX11Buffer m_dx11LinksCLength; + btDX11Buffer m_dx11LinksLengthRatio; + btDX11Buffer m_dx11LinksRestLength; + btDX11Buffer m_dx11LinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + + //ID3D11Buffer* readBackBuffer; + + btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyLinkDataDX11(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_DX11_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h new file mode 100644 index 00000000..6eb26c68 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h @@ -0,0 +1,173 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + +#ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H +#define BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + + +class btSoftBodyLinkDataDX11SIMDAware : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + const int m_wavefrontSize; + const int m_linksPerWorkItem; + const int m_maxLinksPerWavefront; + int m_maxBatchesWithinWave; + int m_maxVerticesWithinWave; + int m_numWavefronts; + + int m_maxVertex; + + struct NumBatchesVerticesPair + { + int numBatches; + int numVertices; + }; + + // Array storing number of links in each wavefront + btAlignedObjectArray m_linksPerWavefront; + btAlignedObjectArray m_numBatchesAndVerticesWithinWaves; + btDX11Buffer< NumBatchesVerticesPair > m_dx11NumBatchesAndVerticesWithinWaves; + + // All arrays here will contain batches of m_maxLinksPerWavefront links + // ordered by wavefront. + // with either global vertex pairs or local vertex pairs + btAlignedObjectArray< int > m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront + btDX11Buffer m_dx11WavefrontVerticesGlobalAddresses; + btAlignedObjectArray< LinkNodePair > m_linkVerticesLocalAddresses; // Vertex pair for the link + btDX11Buffer m_dx11LinkVerticesLocalAddresses; + btDX11Buffer m_dx11LinkStrength; + btDX11Buffer m_dx11LinksMassLSC; + btDX11Buffer m_dx11LinksRestLengthSquared; + btDX11Buffer m_dx11LinksRestLength; + btDX11Buffer m_dx11LinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_wavefrontBatchStartLengths; + + + //ID3D11Buffer* readBackBuffer; + + btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyLinkDataDX11SIMDAware(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); + + int getMaxVerticesPerWavefront() + { + return m_maxVerticesWithinWave; + } + + int getWavefrontSize() + { + return m_wavefrontSize; + } + + int getLinksPerWorkItem() + { + return m_linksPerWorkItem; + } + + int getMaxLinksPerWavefront() + { + return m_maxLinksPerWavefront; + } + + int getMaxBatchesPerWavefront() + { + return m_maxBatchesWithinWave; + } + + int getNumWavefronts() + { + return m_numWavefronts; + } + + NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront ) + { + return m_numBatchesAndVerticesWithinWaves[wavefront]; + } + + int getVertexGlobalAddresses( int vertexIndex ) + { + return m_wavefrontVerticesGlobalAddresses[vertexIndex]; + } + + /** + * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally. + */ + LinkNodePair getVertexPairLocalAddresses( int linkIndex ) + { + return m_linkVerticesLocalAddresses[linkIndex]; + } + +}; + + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_LINK_DATA_DX11_SIMDAWARE_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h new file mode 100644 index 00000000..7012fabd --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h @@ -0,0 +1,96 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H +#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H + +struct ID3D11Device; +struct ID3D11DeviceContext; + +class btSoftBodyTriangleDataDX11 : public btSoftBodyTriangleData +{ +public: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + + btDX11Buffer m_dx11VertexIndices; + btDX11Buffer m_dx11Area; + btDX11Buffer m_dx11Normal; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_triangleAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + //ID3D11Buffer* readBackBuffer; + +public: + btSoftBodyTriangleDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + + virtual ~btSoftBodyTriangleDataDX11(); + + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createTriangles( int numTriangles ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ); + + virtual bool onAccelerator(); + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + /** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_DX11_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h new file mode 100644 index 00000000..66bd90fa --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H + + +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" + +#include +#include +#include +#include +#include + +class btDX11VertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + /** Context of the DX11 device on which the vertex buffer is stored. */ + ID3D11DeviceContext* m_context; + /** DX11 vertex buffer */ + ID3D11Buffer* m_vertexBuffer; + /** UAV for DX11 buffer */ + ID3D11UnorderedAccessView* m_vertexBufferUAV; + + +public: + /** + * buffer is a pointer to the DX11 buffer to place the vertex data in. + * UAV is a pointer to the UAV representation of the buffer laid out in floats. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride ) + { + m_context = context; + m_vertexBuffer = buffer; + m_vertexBufferUAV = UAV; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + } + + /** + * buffer is a pointer to the DX11 buffer to place the vertex data in. + * UAV is a pointer to the UAV representation of the buffer laid out in floats. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + * normalOffset is the offset in floats to the first normal. + * normalStride is the stride in floats between normals. + */ + btDX11VertexBufferDescriptor( ID3D11DeviceContext* context, ID3D11Buffer* buffer, ID3D11UnorderedAccessView *UAV, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { + m_context = context; + m_vertexBuffer = buffer; + m_vertexBufferUAV = UAV; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; + } + + virtual ~btDX11VertexBufferDescriptor() + { + + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return DX11_BUFFER; + } + + virtual ID3D11DeviceContext* getContext() const + { + return m_context; + } + + virtual ID3D11Buffer* getbtDX11Buffer() const + { + return m_vertexBuffer; + } + + virtual ID3D11UnorderedAccessView* getDX11UAV() const + { + return m_vertexBufferUAV; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_DX11_H \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h new file mode 100644 index 00000000..dd7cc84c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h @@ -0,0 +1,63 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_DX11.h" + + +#ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H +#define BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H + +class btSoftBodyLinkData; +class btSoftBodyLinkData::LinkDescription; + +struct ID3D11Device; +struct ID3D11DeviceContext; + +class btSoftBodyVertexDataDX11 : public btSoftBodyVertexData +{ +protected: + bool m_onGPU; + ID3D11Device *m_d3dDevice; + ID3D11DeviceContext *m_d3dDeviceContext; + +public: + btDX11Buffer m_dx11ClothIdentifier; + btDX11Buffer m_dx11VertexPosition; + btDX11Buffer m_dx11VertexPreviousPosition; + btDX11Buffer m_dx11VertexVelocity; + btDX11Buffer m_dx11VertexForceAccumulator; + btDX11Buffer m_dx11VertexNormal; + btDX11Buffer m_dx11VertexInverseMass; + btDX11Buffer m_dx11VertexArea; + btDX11Buffer m_dx11VertexTriangleCount; + + + //ID3D11Buffer* readBackBuffer; + +public: + btSoftBodyVertexDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ); + virtual ~btSoftBodyVertexDataDX11(); + + virtual bool onAccelerator(); + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true); +}; + + +#endif // #ifndef BT_SOFT_BHODY_SOLVER_VERTEX_DATA_DX11_H + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp new file mode 100644 index 00000000..357c4089 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp @@ -0,0 +1,2236 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" + +#include "btSoftBodySolver_DX11.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include //printf +#define MSTRINGIFY(A) #A +static char* PrepareLinksHLSLString = +#include "HLSL/PrepareLinks.hlsl" +static char* UpdatePositionsFromVelocitiesHLSLString = +#include "HLSL/UpdatePositionsFromVelocities.hlsl" +static char* SolvePositionsHLSLString = +#include "HLSL/SolvePositions.hlsl" +static char* UpdateNodesHLSLString = +#include "HLSL/UpdateNodes.hlsl" +static char* UpdatePositionsHLSLString = +#include "HLSL/UpdatePositions.hlsl" +static char* UpdateConstantsHLSLString = +#include "HLSL/UpdateConstants.hlsl" +static char* IntegrateHLSLString = +#include "HLSL/Integrate.hlsl" +static char* ApplyForcesHLSLString = +#include "HLSL/ApplyForces.hlsl" +static char* UpdateNormalsHLSLString = +#include "HLSL/UpdateNormals.hlsl" +static char* OutputToVertexArrayHLSLString = +#include "HLSL/OutputToVertexArray.hlsl" +static char* VSolveLinksHLSLString = +#include "HLSL/VSolveLinks.hlsl" +static char* ComputeBoundsHLSLString = +#include "HLSL/ComputeBounds.hlsl" +static char* SolveCollisionsAndUpdateVelocitiesHLSLString = +#include "HLSL/SolveCollisionsAndUpdateVelocities.hlsl" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btSoftBodyLinkDataDX11::btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : + m_dx11Links( d3dDevice, d3dDeviceContext, &m_links, false ), + m_dx11LinkStrength( d3dDevice, d3dDeviceContext, &m_linkStrength, false ), + m_dx11LinksMassLSC( d3dDevice, d3dDeviceContext, &m_linksMassLSC, false ), + m_dx11LinksRestLengthSquared( d3dDevice, d3dDeviceContext, &m_linksRestLengthSquared, false ), + m_dx11LinksCLength( d3dDevice, d3dDeviceContext, &m_linksCLength, false ), + m_dx11LinksLengthRatio( d3dDevice, d3dDeviceContext, &m_linksLengthRatio, false ), + m_dx11LinksRestLength( d3dDevice, d3dDeviceContext, &m_linksRestLength, false ), + m_dx11LinksMaterialLinearStiffnessCoefficient( d3dDevice, d3dDeviceContext, &m_linksMaterialLinearStiffnessCoefficient, false ) +{ + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; +} + +btSoftBodyLinkDataDX11::~btSoftBodyLinkDataDX11() +{ +} + +static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec ) +{ + Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() ); + return outVec; +} + +void btSoftBodyLinkDataDX11::createLinks( int numLinks ) +{ + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + btSoftBodyLinkData::createLinks( numLinks ); + + // Resize the link addresses array as well + m_linkAddresses.resize( newSize ); +} + +void btSoftBodyLinkDataDX11::setLinkAt( const btSoftBodyLinkData::LinkDescription &link, int linkIndex ) +{ + btSoftBodyLinkData::setLinkAt( link, linkIndex ); + + // Set the link index correctly for initialisation + m_linkAddresses[linkIndex] = linkIndex; +} + +bool btSoftBodyLinkDataDX11::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyLinkDataDX11::moveToAccelerator() +{ + bool success = true; + success = success && m_dx11Links.moveToGPU(); + success = success && m_dx11LinkStrength.moveToGPU(); + success = success && m_dx11LinksMassLSC.moveToGPU(); + success = success && m_dx11LinksRestLengthSquared.moveToGPU(); + success = success && m_dx11LinksCLength.moveToGPU(); + success = success && m_dx11LinksLengthRatio.moveToGPU(); + success = success && m_dx11LinksRestLength.moveToGPU(); + success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyLinkDataDX11::moveFromAccelerator() +{ + bool success = true; + success = success && m_dx11Links.moveFromGPU(); + success = success && m_dx11LinkStrength.moveFromGPU(); + success = success && m_dx11LinksMassLSC.moveFromGPU(); + success = success && m_dx11LinksRestLengthSquared.moveFromGPU(); + success = success && m_dx11LinksCLength.moveFromGPU(); + success = success && m_dx11LinksLengthRatio.moveFromGPU(); + success = success && m_dx11LinksRestLength.moveFromGPU(); + success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveFromGPU(); + + if( success ) + m_onGPU = false; + + return success; +} + +void btSoftBodyLinkDataDX11::generateBatches() +{ + int numLinks = getNumLinks(); + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numLinks, 0 ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int vertex0 = getVertexPair(linkIndex).vertex0; + int vertex1 = getVertexPair(linkIndex).vertex1; + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + + + // Simple algorithm that chooses the lowest batch number + // that none of the links attached to either of the connected + // nodes is in + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int linkLocation = m_linkAddresses[linkIndex]; + + int vertex0 = getVertexPair(linkLocation).vertex0; + int vertex1 = getVertexPair(linkLocation).vertex1; + + // Get the two node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + + // Choose the minimum colour that is in neither list + int colour = 0; + while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ) + ++colour; + // i should now be the minimum colour in neither list + // Add to the two lists so that future edges don't share + // And store the colour against this edge + + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + batchValues[linkIndex] = colour; + } + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numLinks; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + m_batchStartLengths.resize(batchCounts.size()); + if( m_batchStartLengths.size() > 0 ) + { + m_batchStartLengths[0] = BatchPair( 0, 0 ); + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].start = sum; + m_batchStartLengths[batchIndex].length = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_links_Backup(m_links); + btAlignedObjectArray m_linkStrength_Backup(m_linkStrength); + btAlignedObjectArray m_linksMassLSC_Backup(m_linksMassLSC); + btAlignedObjectArray m_linksRestLengthSquared_Backup(m_linksRestLengthSquared); + btAlignedObjectArray m_linksCLength_Backup(m_linksCLength); + btAlignedObjectArray m_linksLengthRatio_Backup(m_linksLengthRatio); + btAlignedObjectArray m_linksRestLength_Backup(m_linksRestLength); + btAlignedObjectArray m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int linkLocation = m_linkAddresses[linkIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[linkIndex]; + int newLocation = m_batchStartLengths[batch].start + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_links[newLocation] = m_links_Backup[linkLocation]; +#if 1 + m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation]; + m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation]; + m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation]; + m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation]; + m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation]; + m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation]; +#endif + // Update the locations array to account for the moved entry + m_linkAddresses[linkIndex] = newLocation; + } +} // void btSoftBodyLinkDataDX11::generateBatches() + + + +btSoftBodyVertexDataDX11::btSoftBodyVertexDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : + m_dx11ClothIdentifier( d3dDevice, d3dDeviceContext, &m_clothIdentifier, false ), + m_dx11VertexPosition( d3dDevice, d3dDeviceContext, &m_vertexPosition, false ), + m_dx11VertexPreviousPosition( d3dDevice, d3dDeviceContext, &m_vertexPreviousPosition, false ), + m_dx11VertexVelocity( d3dDevice, d3dDeviceContext, &m_vertexVelocity, false ), + m_dx11VertexForceAccumulator( d3dDevice, d3dDeviceContext, &m_vertexForceAccumulator, false ), + m_dx11VertexNormal( d3dDevice, d3dDeviceContext, &m_vertexNormal, false ), + m_dx11VertexInverseMass( d3dDevice, d3dDeviceContext, &m_vertexInverseMass, false ), + m_dx11VertexArea( d3dDevice, d3dDeviceContext, &m_vertexArea, false ), + m_dx11VertexTriangleCount( d3dDevice, d3dDeviceContext, &m_vertexTriangleCount, false ) +{ + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; +} + +btSoftBodyVertexDataDX11::~btSoftBodyVertexDataDX11() +{ + +} + +bool btSoftBodyVertexDataDX11::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyVertexDataDX11::moveToAccelerator() +{ + bool success = true; + success = success && m_dx11ClothIdentifier.moveToGPU(); + success = success && m_dx11VertexPosition.moveToGPU(); + success = success && m_dx11VertexPreviousPosition.moveToGPU(); + success = success && m_dx11VertexVelocity.moveToGPU(); + success = success && m_dx11VertexForceAccumulator.moveToGPU(); + success = success && m_dx11VertexNormal.moveToGPU(); + success = success && m_dx11VertexInverseMass.moveToGPU(); + success = success && m_dx11VertexArea.moveToGPU(); + success = success && m_dx11VertexTriangleCount.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyVertexDataDX11::moveFromAccelerator(bool bCopy, bool bCopyMinimum) +{ + bool success = true; + + if (!bCopy) + { + success = success && m_dx11ClothIdentifier.moveFromGPU(); + success = success && m_dx11VertexPosition.moveFromGPU(); + success = success && m_dx11VertexPreviousPosition.moveFromGPU(); + success = success && m_dx11VertexVelocity.moveFromGPU(); + success = success && m_dx11VertexForceAccumulator.moveFromGPU(); + success = success && m_dx11VertexNormal.moveFromGPU(); + success = success && m_dx11VertexInverseMass.moveFromGPU(); + success = success && m_dx11VertexArea.moveFromGPU(); + success = success && m_dx11VertexTriangleCount.moveFromGPU(); + } + else + { + if (bCopyMinimum) + { + success = success && m_dx11VertexPosition.copyFromGPU(); + success = success && m_dx11VertexNormal.copyFromGPU(); + } + else + { + success = success && m_dx11ClothIdentifier.copyFromGPU(); + success = success && m_dx11VertexPosition.copyFromGPU(); + success = success && m_dx11VertexPreviousPosition.copyFromGPU(); + success = success && m_dx11VertexVelocity.copyFromGPU(); + success = success && m_dx11VertexForceAccumulator.copyFromGPU(); + success = success && m_dx11VertexNormal.copyFromGPU(); + success = success && m_dx11VertexInverseMass.copyFromGPU(); + success = success && m_dx11VertexArea.copyFromGPU(); + success = success && m_dx11VertexTriangleCount.copyFromGPU(); + } + } + + if( success ) + m_onGPU = true; + + return success; +} + + +btSoftBodyTriangleDataDX11::btSoftBodyTriangleDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : + m_dx11VertexIndices( d3dDevice, d3dDeviceContext, &m_vertexIndices, false ), + m_dx11Area( d3dDevice, d3dDeviceContext, &m_area, false ), + m_dx11Normal( d3dDevice, d3dDeviceContext, &m_normal, false ) +{ + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; +} + +btSoftBodyTriangleDataDX11::~btSoftBodyTriangleDataDX11() +{ + +} + + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyTriangleDataDX11::createTriangles( int numTriangles ) +{ + int previousSize = getNumTriangles(); + int newSize = previousSize + numTriangles; + + btSoftBodyTriangleData::createTriangles( numTriangles ); + + // Resize the link addresses array as well + m_triangleAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyTriangleDataDX11::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ) +{ + btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex ); + + m_triangleAddresses[triangleIndex] = triangleIndex; +} + +bool btSoftBodyTriangleDataDX11::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyTriangleDataDX11::moveToAccelerator() +{ + bool success = true; + success = success && m_dx11VertexIndices.moveToGPU(); + success = success && m_dx11Area.moveToGPU(); + success = success && m_dx11Normal.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyTriangleDataDX11::moveFromAccelerator() +{ + bool success = true; + success = success && m_dx11VertexIndices.moveFromGPU(); + success = success && m_dx11Area.moveFromGPU(); + success = success && m_dx11Normal.moveFromGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +/** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ +void btSoftBodyTriangleDataDX11::generateBatches() +{ + int numTriangles = getNumTriangles(); + if( numTriangles == 0 ) + return; + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numTriangles ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + int vertex0 = getVertexSet(triangleIndex).vertex0; + int vertex1 = getVertexSet(triangleIndex).vertex1; + int vertex2 = getVertexSet(triangleIndex).vertex2; + + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + if( vertex2 > maxVertex ) + maxVertex = vertex2; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + + //std::cout << "\n"; + // Simple algorithm that chooses the lowest batch number + // that none of the faces attached to either of the connected + // nodes is in + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + int vertex0 = getVertexSet(triangleLocation).vertex0; + int vertex1 = getVertexSet(triangleLocation).vertex1; + int vertex2 = getVertexSet(triangleLocation).vertex2; + + // Get the three node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] ); + + // Choose the minimum colour that is in none of the lists + int colour = 0; + while( + colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || + colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() || + colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() ) + { + ++colour; + } + // i should now be the minimum colour in neither list + // Add to the three lists so that future edges don't share + // And store the colour against this face + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + colourListVertex2.push_back(colour); + + batchValues[triangleIndex] = colour; + } + + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numTriangles; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + + m_batchStartLengths.resize(batchCounts.size()); + m_batchStartLengths[0] = BatchPair( 0, 0 ); + + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].start = sum; + m_batchStartLengths[batchIndex].length = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_vertexIndices_Backup(m_vertexIndices); + btAlignedObjectArray m_area_Backup(m_area); + btAlignedObjectArray m_normal_Backup(m_normal); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[triangleIndex]; + int newLocation = m_batchStartLengths[batch].start + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation]; + m_area[newLocation] = m_area_Backup[triangleLocation]; + m_normal[newLocation] = m_normal_Backup[triangleLocation]; + + // Update the locations array to account for the moved entry + m_triangleAddresses[triangleIndex] = newLocation; + } +} // btSoftBodyTriangleDataDX11::generateBatches + + + + + + + + + + + + +btDX11SoftBodySolver::btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory) : + m_dx11Device( dx11Device ), + m_dx11Context( dx11Context ), + dxFunctions( m_dx11Device, m_dx11Context, dx11CompileFromMemory ), + m_linkData(m_dx11Device, m_dx11Context), + m_vertexData(m_dx11Device, m_dx11Context), + m_triangleData(m_dx11Device, m_dx11Context), + m_dx11PerClothAcceleration( m_dx11Device, m_dx11Context, &m_perClothAcceleration, true ), + m_dx11PerClothWindVelocity( m_dx11Device, m_dx11Context, &m_perClothWindVelocity, true ), + m_dx11PerClothDampingFactor( m_dx11Device, m_dx11Context, &m_perClothDampingFactor, true ), + m_dx11PerClothVelocityCorrectionCoefficient( m_dx11Device, m_dx11Context, &m_perClothVelocityCorrectionCoefficient, true ), + m_dx11PerClothLiftFactor( m_dx11Device, m_dx11Context, &m_perClothLiftFactor, true ), + m_dx11PerClothDragFactor( m_dx11Device, m_dx11Context, &m_perClothDragFactor, true ), + m_dx11PerClothMediumDensity( m_dx11Device, m_dx11Context, &m_perClothMediumDensity, true ), + m_dx11PerClothCollisionObjects( m_dx11Device, m_dx11Context, &m_perClothCollisionObjects, true ), + m_dx11CollisionObjectDetails( m_dx11Device, m_dx11Context, &m_collisionObjectDetails, true ), + m_dx11PerClothMinBounds( m_dx11Device, m_dx11Context, &m_perClothMinBounds, false ), + m_dx11PerClothMaxBounds( m_dx11Device, m_dx11Context, &m_perClothMaxBounds, false ), + m_dx11PerClothFriction( m_dx11Device, m_dx11Context, &m_perClothFriction, false ), + m_enableUpdateBounds(false) +{ + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; + + m_shadersInitialized = false; +} + +btDX11SoftBodySolver::~btDX11SoftBodySolver() +{ + releaseKernels(); +} + +void btDX11SoftBodySolver::releaseKernels() +{ + + SAFE_RELEASE( prepareLinksKernel.kernel ); + SAFE_RELEASE( prepareLinksKernel.constBuffer ); + SAFE_RELEASE( integrateKernel.kernel ); + SAFE_RELEASE( integrateKernel.constBuffer ); + SAFE_RELEASE( integrateKernel.kernel ); + SAFE_RELEASE( solvePositionsFromLinksKernel.constBuffer ); + SAFE_RELEASE( solvePositionsFromLinksKernel.kernel ); + SAFE_RELEASE( updatePositionsFromVelocitiesKernel.constBuffer ); + SAFE_RELEASE( updatePositionsFromVelocitiesKernel.kernel ); + SAFE_RELEASE( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer ); + SAFE_RELEASE( updateVelocitiesFromPositionsWithoutVelocitiesKernel.kernel ); + SAFE_RELEASE( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer ); + SAFE_RELEASE( updateVelocitiesFromPositionsWithVelocitiesKernel.kernel ); + SAFE_RELEASE( resetNormalsAndAreasKernel.constBuffer ); + SAFE_RELEASE( resetNormalsAndAreasKernel.kernel ); + SAFE_RELEASE( normalizeNormalsAndAreasKernel.constBuffer ); + SAFE_RELEASE( normalizeNormalsAndAreasKernel.kernel ); + SAFE_RELEASE( updateSoftBodiesKernel.constBuffer ); + SAFE_RELEASE( updateSoftBodiesKernel.kernel ); + SAFE_RELEASE( solveCollisionsAndUpdateVelocitiesKernel.kernel ); + SAFE_RELEASE( solveCollisionsAndUpdateVelocitiesKernel.constBuffer ); + SAFE_RELEASE( computeBoundsKernel.kernel ); + SAFE_RELEASE( computeBoundsKernel.constBuffer ); + SAFE_RELEASE( vSolveLinksKernel.kernel ); + SAFE_RELEASE( vSolveLinksKernel.constBuffer ); + + SAFE_RELEASE( addVelocityKernel.constBuffer ); + SAFE_RELEASE( addVelocityKernel.kernel ); + SAFE_RELEASE( applyForcesKernel.constBuffer ); + SAFE_RELEASE( applyForcesKernel.kernel ); + + m_shadersInitialized = false; +} + + +void btDX11SoftBodySolver::copyBackToSoftBodies(bool bMove) +{ + // Move the vertex data back to the host first + m_vertexData.moveFromAccelerator(!bMove); + + // Loop over soft bodies, copying all the vertex positions back for each body in turn + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[ softBodyIndex ]; + btSoftBody *softBody = softBodyInterface->getSoftBody(); + + int firstVertex = softBodyInterface->getFirstVertex(); + int numVertices = softBodyInterface->getNumVertices(); + + // Copy vertices from solver back into the softbody + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + using Vectormath::Aos::Point3; + Point3 vertexPosition( getVertexData().getVertexPositions()[firstVertex + vertex] ); + + softBody->m_nodes[vertex].m_x.setX( vertexPosition.getX() ); + softBody->m_nodes[vertex].m_x.setY( vertexPosition.getY() ); + softBody->m_nodes[vertex].m_x.setZ( vertexPosition.getZ() ); + + softBody->m_nodes[vertex].m_n.setX( vertexPosition.getX() ); + softBody->m_nodes[vertex].m_n.setY( vertexPosition.getY() ); + softBody->m_nodes[vertex].m_n.setZ( vertexPosition.getZ() ); + } + } +} // btDX11SoftBodySolver::copyBackToSoftBodies + + +void btDX11SoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate ) +{ + if( forceUpdate || m_softBodySet.size() != softBodies.size() ) + { + // Have a change in the soft body set so update, reloading all the data + getVertexData().clear(); + getTriangleData().clear(); + getLinkData().clear(); + m_softBodySet.resize(0); + + + for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex ) + { + btSoftBody *softBody = softBodies[ softBodyIndex ]; + using Vectormath::Aos::Matrix3; + using Vectormath::Aos::Point3; + + // Create SoftBody that will store the information within the solver + btAcceleratedSoftBodyInterface *newSoftBody = new btAcceleratedSoftBodyInterface( softBody ); + m_softBodySet.push_back( newSoftBody ); + + m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) ); + m_perClothDampingFactor.push_back(softBody->m_cfg.kDP); + m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF ); + m_perClothLiftFactor.push_back( softBody->m_cfg.kLF ); + m_perClothDragFactor.push_back( softBody->m_cfg.kDG ); + m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density); + // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time + m_perClothMinBounds.push_back( UIntVector3( 0, 0, 0 ) ); + m_perClothMaxBounds.push_back( UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ) ); + m_perClothFriction.push_back( softBody->getFriction() ); + m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) ); + + // Add space for new vertices and triangles in the default solver for now + // TODO: Include space here for tearing too later + int firstVertex = getVertexData().getNumVertices(); + int numVertices = softBody->m_nodes.size(); + int maxVertices = numVertices; + // Allocate space for new vertices in all the vertex arrays + getVertexData().createVertices( maxVertices, softBodyIndex ); + + int firstTriangle = getTriangleData().getNumTriangles(); + int numTriangles = softBody->m_faces.size(); + int maxTriangles = numTriangles; + getTriangleData().createTriangles( maxTriangles ); + + // Copy vertices from softbody into the solver + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ()); + btSoftBodyVertexData::VertexDescription desc; + + // TODO: Position in the softbody might be pre-transformed + // or we may need to adapt for the pose. + //desc.setPosition( cloth.getMeshTransform()*multPoint ); + desc.setPosition( multPoint ); + + float vertexInverseMass = softBody->m_nodes[vertex].m_im; + desc.setInverseMass(vertexInverseMass); + getVertexData().setVertexAt( desc, firstVertex + vertex ); + } + + // Copy triangles similarly + // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene + for( int triangle = 0; triangle < numTriangles; ++triangle ) + { + // Note that large array storage is relative to the array not to the cloth + // So we need to add firstVertex to each value + int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0])); + int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0])); + int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0])); + btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex); + getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle ); + + // Increase vertex triangle counts for this triangle + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++; + } + + int firstLink = getLinkData().getNumLinks(); + int numLinks = softBody->m_links.size(); + int maxLinks = numLinks; + + // Allocate space for the links + getLinkData().createLinks( numLinks ); + + // Add the links + for( int link = 0; link < numLinks; ++link ) + { + int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]); + int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]); + + btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST); + newLink.setLinkStrength(1.f); + getLinkData().setLinkAt(newLink, firstLink + link); + } + + newSoftBody->setFirstVertex( firstVertex ); + newSoftBody->setFirstTriangle( firstTriangle ); + newSoftBody->setNumVertices( numVertices ); + newSoftBody->setMaxVertices( maxVertices ); + newSoftBody->setNumTriangles( numTriangles ); + newSoftBody->setMaxTriangles( maxTriangles ); + newSoftBody->setFirstLink( firstLink ); + newSoftBody->setNumLinks( numLinks ); + } + + + + updateConstants(0.f); + + + m_linkData.generateBatches(); + m_triangleData.generateBatches(); + } +} + + +btSoftBodyLinkData &btDX11SoftBodySolver::getLinkData() +{ + // TODO: Consider setting link data to "changed" here + return m_linkData; +} + +btSoftBodyVertexData &btDX11SoftBodySolver::getVertexData() +{ + // TODO: Consider setting vertex data to "changed" here + return m_vertexData; +} + +btSoftBodyTriangleData &btDX11SoftBodySolver::getTriangleData() +{ + // TODO: Consider setting triangle data to "changed" here + return m_triangleData; +} + +bool btDX11SoftBodySolver::checkInitialized() +{ + if( !m_shadersInitialized ) + if( buildShaders() ) + m_shadersInitialized = true; + + return m_shadersInitialized; +} + +void btDX11SoftBodySolver::resetNormalsAndAreas( int numVertices ) +{ + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + UpdateSoftBodiesCB constBuffer; + + constBuffer.numNodes = numVertices; + constBuffer.epsilon = FLT_EPSILON; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) ); + m_dx11Context->Unmap( integrateKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( resetNormalsAndAreasKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::resetNormalsAndAreas + +void btDX11SoftBodySolver::normalizeNormalsAndAreas( int numVertices ) +{ + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + UpdateSoftBodiesCB constBuffer; + + constBuffer.numNodes = numVertices; + constBuffer.epsilon = FLT_EPSILON; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) ); + m_dx11Context->Unmap( integrateKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexTriangleCount.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( normalizeNormalsAndAreasKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::normalizeNormalsAndAreas + +void btDX11SoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles ) +{ + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + UpdateSoftBodiesCB constBuffer; + + constBuffer.startFace = firstTriangle; + constBuffer.numFaces = numTriangles; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( updateSoftBodiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateSoftBodiesCB) ); + m_dx11Context->Unmap( updateSoftBodiesKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &updateSoftBodiesKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_triangleData.m_dx11VertexIndices.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexNormal.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexArea.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_triangleData.m_dx11Normal.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &(m_triangleData.m_dx11Area.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( updateSoftBodiesKernel.kernel, NULL, 0 ); + + int numBlocks = (numTriangles + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::executeUpdateSoftBodies + +void btDX11SoftBodySolver::updateSoftBodies() +{ + using namespace Vectormath::Aos; + + + int numVertices = m_vertexData.getNumVertices(); + int numTriangles = m_triangleData.getNumTriangles(); + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_triangleData.moveToAccelerator(); + + resetNormalsAndAreas( numVertices ); + + + // Go through triangle batches so updates occur correctly + for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex ) + { + + int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].start; + int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].length; + + executeUpdateSoftBodies( startTriangle, numTriangles ); + } + + + normalizeNormalsAndAreas( numVertices ); + + +} // btDX11SoftBodySolver::updateSoftBodies + + +Vectormath::Aos::Vector3 btDX11SoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ) +{ + return a*Vectormath::Aos::dot(v, a); +} + +void btDX11SoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ) +{ + float dtInverseMass = solverdt*inverseMass; + if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) ) + { + vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass; + } else { + vertexForce += force; + } +} + +void btDX11SoftBodySolver::applyForces( float solverdt ) +{ + using namespace Vectormath::Aos; + + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_dx11PerClothAcceleration.moveToGPU(); + m_dx11PerClothLiftFactor.moveToGPU(); + m_dx11PerClothDragFactor.moveToGPU(); + m_dx11PerClothMediumDensity.moveToGPU(); + m_dx11PerClothWindVelocity.moveToGPU(); + + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + ApplyForcesCB constBuffer; + + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.solverdt = solverdt; + constBuffer.epsilon = FLT_EPSILON; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(ApplyForcesCB) ); + m_dx11Context->Unmap( integrateKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexNormal.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexArea.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) ); + m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothLiftFactor.getSRV()) ); + m_dx11Context->CSSetShaderResources( 5, 1, &(m_dx11PerClothDragFactor.getSRV()) ); + m_dx11Context->CSSetShaderResources( 6, 1, &(m_dx11PerClothWindVelocity.getSRV()) ); + m_dx11Context->CSSetShaderResources( 7, 1, &(m_dx11PerClothAcceleration.getSRV()) ); + m_dx11Context->CSSetShaderResources( 8, 1, &(m_dx11PerClothMediumDensity.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( applyForcesKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 6, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 7, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 8, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::applyForces + +/** + * Integrate motion on the solver. + */ +void btDX11SoftBodySolver::integrate( float solverdt ) +{ + // TEMPORARY COPIES + m_vertexData.moveToAccelerator(); + + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + IntegrateCB constBuffer; + + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.solverdt = solverdt; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( integrateKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(IntegrateCB) ); + m_dx11Context->Unmap( integrateKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &integrateKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( integrateKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 3, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::integrate + +float btDX11SoftBodySolver::computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ) +{ + Vectormath::Aos::Vector3 a = vertex1 - vertex0; + Vectormath::Aos::Vector3 b = vertex2 - vertex0; + Vectormath::Aos::Vector3 crossProduct = cross(a, b); + float area = length( crossProduct ); + return area; +} // btDX11SoftBodySolver::computeTriangleArea + + +void btDX11SoftBodySolver::updateBounds() +{ + using Vectormath::Aos::Point3; + // Interpretation structure for float and int + + struct FPRep { + unsigned int mantissa : 23; + unsigned int exponent : 8; + unsigned int sign : 1; + }; + union FloatAsInt + { + float floatValue; + int intValue; + unsigned int uintValue; + FPRep fpRep; + }; + + + // Update bounds array to min and max int values to allow easy atomics + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + m_perClothMinBounds[softBodyIndex] = UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ); + m_perClothMaxBounds[softBodyIndex] = UIntVector3( 0, 0, 0 ); + } + + m_dx11PerClothMinBounds.moveToGPU(); + m_dx11PerClothMaxBounds.moveToGPU(); + + + computeBounds( ); + + + m_dx11PerClothMinBounds.moveFromGPU(); + m_dx11PerClothMaxBounds.moveFromGPU(); + + + + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + UIntVector3 minBoundUInt = m_perClothMinBounds[softBodyIndex]; + UIntVector3 maxBoundUInt = m_perClothMaxBounds[softBodyIndex]; + + // Convert back to float + FloatAsInt fai; + + btVector3 minBound; + fai.uintValue = minBoundUInt.x; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + minBound.setX( fai.floatValue ); + fai.uintValue = minBoundUInt.y; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + minBound.setY( fai.floatValue ); + fai.uintValue = minBoundUInt.z; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + minBound.setZ( fai.floatValue ); + + btVector3 maxBound; + fai.uintValue = maxBoundUInt.x; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + maxBound.setX( fai.floatValue ); + fai.uintValue = maxBoundUInt.y; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + maxBound.setY( fai.floatValue ); + fai.uintValue = maxBoundUInt.z; + fai.uintValue ^= (((fai.uintValue >> 31) - 1) | 0x80000000); + maxBound.setZ( fai.floatValue ); + + // And finally assign to the soft body + m_softBodySet[softBodyIndex]->updateBounds( minBound, maxBound ); + } +} + +void btDX11SoftBodySolver::updateConstants( float timeStep ) +{ + using namespace Vectormath::Aos; + + if( m_updateSolverConstants ) + { + m_updateSolverConstants = false; + + // Will have to redo this if we change the structure (tear, maybe) or various other possible changes + + // Initialise link constants + const int numLinks = m_linkData.getNumLinks(); + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) ); + m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 ))); + float invMass0 = m_vertexData.getInverseMass(vertices.vertex0); + float invMass1 = m_vertexData.getInverseMass(vertices.vertex1); + float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex); + float massLSC = (invMass0 + invMass1)/linearStiffness; + m_linkData.getMassLSC(linkIndex) = massLSC; + float restLength = m_linkData.getRestLength(linkIndex); + float restLengthSquared = restLength*restLength; + m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared; + } + } +} // btDX11SoftBodySolver::updateConstants + +/** + * Sort the collision object details array and generate indexing into it for the per-cloth collision object array. + */ +void btDX11SoftBodySolver::prepareCollisionConstraints() +{ + // First do a simple sort on the collision objects + btAlignedObjectArray numObjectsPerClothPrefixSum; + btAlignedObjectArray numObjectsPerCloth; + numObjectsPerCloth.resize( m_softBodySet.size(), 0 ); + numObjectsPerClothPrefixSum.resize( m_softBodySet.size(), 0 ); + + + class QuickSortCompare + { + public: + + bool operator() ( const CollisionShapeDescription& a, const CollisionShapeDescription& b ) const + { + return ( a.softBodyIdentifier < b.softBodyIdentifier ); + } + }; + + QuickSortCompare comparator; + m_collisionObjectDetails.quickSort( comparator ); + + // Generating indexing for perClothCollisionObjects + // First clear the previous values with the "no collision object for cloth" constant + for( int clothIndex = 0; clothIndex < m_perClothCollisionObjects.size(); ++clothIndex ) + { + m_perClothCollisionObjects[clothIndex].firstObject = -1; + m_perClothCollisionObjects[clothIndex].endObject = -1; + } + int currentCloth = 0; + int startIndex = 0; + for( int collisionObject = 0; collisionObject < m_collisionObjectDetails.size(); ++collisionObject ) + { + int nextCloth = m_collisionObjectDetails[collisionObject].softBodyIdentifier; + if( nextCloth != currentCloth ) + { + // Changed cloth in the array + // Set the end index and the range is what we need for currentCloth + m_perClothCollisionObjects[currentCloth].firstObject = startIndex; + m_perClothCollisionObjects[currentCloth].endObject = collisionObject; + currentCloth = nextCloth; + startIndex = collisionObject; + } + } + + // And update last cloth + m_perClothCollisionObjects[currentCloth].firstObject = startIndex; + m_perClothCollisionObjects[currentCloth].endObject = m_collisionObjectDetails.size(); + +} // btDX11SoftBodySolver::prepareCollisionConstraints + + +void btDX11SoftBodySolver::solveConstraints( float solverdt ) +{ + + //std::cerr << "'GPU' solve constraints\n"; + using Vectormath::Aos::Vector3; + using Vectormath::Aos::Point3; + using Vectormath::Aos::lengthSqr; + using Vectormath::Aos::dot; + + // Prepare links + int numLinks = m_linkData.getNumLinks(); + int numVertices = m_vertexData.getNumVertices(); + + float kst = 1.f; + float ti = 0.f; + + + m_dx11PerClothDampingFactor.moveToGPU(); + m_dx11PerClothVelocityCorrectionCoefficient.moveToGPU(); + + + // Ensure data is on accelerator + m_linkData.moveToAccelerator(); + m_vertexData.moveToAccelerator(); + + + prepareLinks(); + + for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForVelocity( startLink, numLinks, kst ); + } + } + + + prepareCollisionConstraints(); + + // Compute new positions from velocity + // Also update the previous position so that our position computation is now based on the new position from the velocity solution + // rather than based directly on the original positions + if( m_numberOfVelocityIterations > 0 ) + { + updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt ); + } else { + updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt ); + } + + + // Solve drift + for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForPosition( startLink, numLinks, kst, ti ); + } + + } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + + // At this point assume that the force array is blank - we will overwrite it + solveCollisionsAndUpdateVelocities( 1.f/solverdt ); +} // btDX11SoftBodySolver::solveConstraints + + + + +////////////////////////////////////// +// Kernel dispatches +void btDX11SoftBodySolver::prepareLinks() +{ + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + PrepareLinksCB constBuffer; + + constBuffer.numLinks = m_linkData.getNumLinks(); + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( prepareLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(PrepareLinksCB) ); + m_dx11Context->Unmap( prepareLinksKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &prepareLinksKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_linkData.m_dx11LinksLengthRatio.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_linkData.m_dx11LinksCLength.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( prepareLinksKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numLinks + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::prepareLinks + + +void btDX11SoftBodySolver::updatePositionsFromVelocities( float solverdt ) +{ + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + UpdatePositionsFromVelocitiesCB constBuffer; + + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.solverSDT = solverdt; + + // Todo: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( updatePositionsFromVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdatePositionsFromVelocitiesCB) ); + m_dx11Context->Unmap( updatePositionsFromVelocitiesKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &updatePositionsFromVelocitiesKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( updatePositionsFromVelocitiesKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::updatePositionsFromVelocities + +void btDX11SoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti ) +{ + // Copy kernel parameters to GPU + SolvePositionsFromLinksKernelCB constBuffer; + + // Set the first link of the batch + // and the batch size + constBuffer.startLink = startLink; + constBuffer.numLinks = numLinks; + + constBuffer.kst = kst; + constBuffer.ti = ti; + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( solvePositionsFromLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(SolvePositionsFromLinksKernelCB) ); + m_dx11Context->Unmap( solvePositionsFromLinksKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &solvePositionsFromLinksKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_linkData.m_dx11LinksRestLengthSquared.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( solvePositionsFromLinksKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numLinks + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } + +} // btDX11SoftBodySolver::solveLinksForPosition + +void btDX11SoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst ) +{ + // Copy kernel parameters to GPU + VSolveLinksCB constBuffer; + + // Set the first link of the batch + // and the batch size + + constBuffer.startLink = startLink; + constBuffer.numLinks = numLinks; + constBuffer.kst = kst; + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( vSolveLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(VSolveLinksCB) ); + m_dx11Context->Unmap( vSolveLinksKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &vSolveLinksKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11Links.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11LinksLengthRatio.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_linkData.m_dx11LinksCLength.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( vSolveLinksKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numLinks + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SoftBodySolver::solveLinksForVelocity + + +void btDX11SoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt ) +{ + // Copy kernel parameters to GPU + UpdateVelocitiesFromPositionsWithVelocitiesCB constBuffer; + + // Set the first link of the batch + // and the batch size + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.isolverdt = isolverdt; + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) ); + m_dx11Context->Unmap( updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothVelocityCorrectionCoefficient.getSRV()) ); + m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothDampingFactor.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL ); + + + // Execute the kernel + m_dx11Context->CSSetShader( updateVelocitiesFromPositionsWithVelocitiesKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } + +} // btDX11SoftBodySolver::updateVelocitiesFromPositionsWithVelocities + +void btDX11SoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ) +{ + // Copy kernel parameters to GPU + UpdateVelocitiesFromPositionsWithoutVelocitiesCB constBuffer; + + // Set the first link of the batch + // and the batch size + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.isolverdt = isolverdt; + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB) ); + m_dx11Context->Unmap( updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothDampingFactor.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL ); + + + // Execute the kernel + m_dx11Context->CSSetShader( updateVelocitiesFromPositionsWithoutVelocitiesKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } + +} // btDX11SoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities + + +void btDX11SoftBodySolver::computeBounds( ) +{ + ComputeBoundsCB constBuffer; + m_vertexData.moveToAccelerator(); + + // Set the first link of the batch + // and the batch size + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.numSoftBodies = m_softBodySet.size(); + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( computeBoundsKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(ComputeBoundsCB) ); + m_dx11Context->Unmap( computeBoundsKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &computeBoundsKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPosition.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_dx11PerClothMinBounds.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_dx11PerClothMaxBounds.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( computeBoundsKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} + +void btDX11SoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt ) +{ + + // Copy kernel parameters to GPU + m_vertexData.moveToAccelerator(); + m_dx11PerClothFriction.moveToGPU(); + m_dx11PerClothDampingFactor.moveToGPU(); + m_dx11PerClothCollisionObjects.moveToGPU(); + m_dx11CollisionObjectDetails.moveToGPU(); + + SolveCollisionsAndUpdateVelocitiesCB constBuffer; + + // Set the first link of the batch + // and the batch size + constBuffer.numNodes = m_vertexData.getNumVertices(); + constBuffer.isolverdt = isolverdt; + + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( solveCollisionsAndUpdateVelocitiesKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(SolveCollisionsAndUpdateVelocitiesCB) ); + m_dx11Context->Unmap( solveCollisionsAndUpdateVelocitiesKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &solveCollisionsAndUpdateVelocitiesKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_vertexData.m_dx11ClothIdentifier.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_vertexData.m_dx11VertexPreviousPosition.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_dx11PerClothFriction.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_dx11PerClothDampingFactor.getSRV()) ); + m_dx11Context->CSSetShaderResources( 4, 1, &(m_dx11PerClothCollisionObjects.getSRV()) ); + m_dx11Context->CSSetShaderResources( 5, 1, &(m_dx11CollisionObjectDetails.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexForceAccumulator.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &(m_vertexData.m_dx11VertexVelocity.getUAV()), NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( solveCollisionsAndUpdateVelocitiesKernel.kernel, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 1, 1, &pUAViewNULL, NULL ); + m_dx11Context->CSSetUnorderedAccessViews( 2, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } + +} // btDX11SoftBodySolver::solveCollisionsAndUpdateVelocities + +// End kernel dispatches +///////////////////////////////////// + + + + + + + + + + + + + + +btDX11SoftBodySolver::btAcceleratedSoftBodyInterface *btDX11SoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody ) +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyInterface; + } + return 0; +} + +const btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * const btDX11SoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody ) const +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyInterface; + } + return 0; +} + +int btDX11SoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody ) +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyIndex; + } + return 1; +} + + +void btSoftBodySolverOutputDXtoCPU::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + + + btSoftBodySolver *solver = softBody->getSoftBodySolver(); + btAssert( solver->getSolverType() == btSoftBodySolver::DX_SOLVER || solver->getSolverType() == btSoftBodySolver::DX_SIMD_SOLVER ); + btDX11SoftBodySolver *dxSolver = static_cast< btDX11SoftBodySolver * >( solver ); + + btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * currentCloth = dxSolver->findSoftBodyInterface( softBody ); + btSoftBodyVertexDataDX11 &vertexData( dxSolver->m_vertexData ); + + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + { + // If we're doing a CPU-buffer copy must copy the data back to the host first + vertexData.m_dx11VertexPosition.copyFromGPU(); + vertexData.m_dx11VertexNormal.copyFromGPU(); + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); + float *basePointer = cpuVertexBuffer->getBasePointer(); + + if( vertexBuffer->hasVertexPositions() ) + { + const int vertexOffset = cpuVertexBuffer->getVertexOffset(); + const int vertexStride = cpuVertexBuffer->getVertexStride(); + float *vertexPointer = basePointer + vertexOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Point3 position = vertexData.getPosition(vertexIndex); + *(vertexPointer + 0) = position.getX(); + *(vertexPointer + 1) = position.getY(); + *(vertexPointer + 2) = position.getZ(); + vertexPointer += vertexStride; + } + } + if( vertexBuffer->hasNormals() ) + { + const int normalOffset = cpuVertexBuffer->getNormalOffset(); + const int normalStride = cpuVertexBuffer->getNormalStride(); + float *normalPointer = basePointer + normalOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Vector3 normal = vertexData.getNormal(vertexIndex); + *(normalPointer + 0) = normal.getX(); + *(normalPointer + 1) = normal.getY(); + *(normalPointer + 2) = normal.getZ(); + normalPointer += normalStride; + } + } + } +} // btDX11SoftBodySolver::outputToVertexBuffers + + + +bool btSoftBodySolverOutputDXtoDX::checkInitialized() +{ + if( !m_shadersInitialized ) + if( buildShaders() ) + m_shadersInitialized = true; + + return m_shadersInitialized; +} + +void btSoftBodySolverOutputDXtoDX::releaseKernels() +{ + SAFE_RELEASE( outputToVertexArrayWithNormalsKernel.constBuffer ); + SAFE_RELEASE( outputToVertexArrayWithNormalsKernel.kernel ); + SAFE_RELEASE( outputToVertexArrayWithoutNormalsKernel.constBuffer ); + SAFE_RELEASE( outputToVertexArrayWithoutNormalsKernel.kernel ); + + m_shadersInitialized = false; +} + + +bool btSoftBodySolverOutputDXtoDX::buildShaders() +{ + // Ensure current kernels are released first + releaseKernels(); + + bool returnVal = true; + + if( m_shadersInitialized ) + return true; + + + outputToVertexArrayWithNormalsKernel = dxFunctions.compileComputeShaderFromString( OutputToVertexArrayHLSLString, "OutputToVertexArrayWithNormalsKernel", sizeof(OutputToVertexArrayCB) ); + if( !outputToVertexArrayWithNormalsKernel.constBuffer) + returnVal = false; + outputToVertexArrayWithoutNormalsKernel = dxFunctions.compileComputeShaderFromString( OutputToVertexArrayHLSLString, "OutputToVertexArrayWithoutNormalsKernel", sizeof(OutputToVertexArrayCB) ); + if( !outputToVertexArrayWithoutNormalsKernel.constBuffer ) + returnVal = false; + + + if( returnVal ) + m_shadersInitialized = true; + + return returnVal; +} + + +void btSoftBodySolverOutputDXtoDX::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + + + btSoftBodySolver *solver = softBody->getSoftBodySolver(); + btAssert( solver->getSolverType() == btSoftBodySolver::DX_SOLVER || solver->getSolverType() == btSoftBodySolver::DX_SIMD_SOLVER ); + btDX11SoftBodySolver *dxSolver = static_cast< btDX11SoftBodySolver * >( solver ); + checkInitialized(); + btDX11SoftBodySolver::btAcceleratedSoftBodyInterface * currentCloth = dxSolver->findSoftBodyInterface( softBody ); + btSoftBodyVertexDataDX11 &vertexData( dxSolver->m_vertexData ); + + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + { + btSoftBodySolverOutputDXtoDX::copySoftBodyToVertexBuffer( softBody, vertexBuffer ); + } else if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::DX11_BUFFER ) + { + // Do a DX11 copy shader DX to DX copy + + const btDX11VertexBufferDescriptor *dx11VertexBuffer = static_cast< btDX11VertexBufferDescriptor* >(vertexBuffer); + + // No need to batch link solver, it is entirely parallel + // Copy kernel parameters to GPU + OutputToVertexArrayCB constBuffer; + ID3D11ComputeShader* outputToVertexArrayShader = outputToVertexArrayWithoutNormalsKernel.kernel; + ID3D11Buffer* outputToVertexArrayConstBuffer = outputToVertexArrayWithoutNormalsKernel.constBuffer; + + constBuffer.startNode = firstVertex; + constBuffer.numNodes = currentCloth->getNumVertices(); + constBuffer.positionOffset = vertexBuffer->getVertexOffset(); + constBuffer.positionStride = vertexBuffer->getVertexStride(); + if( vertexBuffer->hasNormals() ) + { + constBuffer.normalOffset = vertexBuffer->getNormalOffset(); + constBuffer.normalStride = vertexBuffer->getNormalStride(); + outputToVertexArrayShader = outputToVertexArrayWithNormalsKernel.kernel; + outputToVertexArrayConstBuffer = outputToVertexArrayWithNormalsKernel.constBuffer; + } + + // TODO: factor this out. Number of nodes is static and sdt might be, too, we can update this just once on setup + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + dxFunctions.m_dx11Context->Map( outputToVertexArrayConstBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(OutputToVertexArrayCB) ); + dxFunctions.m_dx11Context->Unmap( outputToVertexArrayConstBuffer, 0 ); + dxFunctions.m_dx11Context->CSSetConstantBuffers( 0, 1, &outputToVertexArrayConstBuffer ); + + // Set resources and dispatch + dxFunctions.m_dx11Context->CSSetShaderResources( 0, 1, &(vertexData.m_dx11VertexPosition.getSRV()) ); + dxFunctions.m_dx11Context->CSSetShaderResources( 1, 1, &(vertexData.m_dx11VertexNormal.getSRV()) ); + + ID3D11UnorderedAccessView* dx11UAV = dx11VertexBuffer->getDX11UAV(); + dxFunctions.m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(dx11UAV), NULL ); + + // Execute the kernel + dxFunctions.m_dx11Context->CSSetShader( outputToVertexArrayShader, NULL, 0 ); + + int numBlocks = (constBuffer.numNodes + (128-1)) / 128; + dxFunctions.m_dx11Context->Dispatch(numBlocks, 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + dxFunctions.m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + dxFunctions.m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + dxFunctions.m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + dxFunctions.m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } + } +} // btDX11SoftBodySolver::outputToVertexBuffers + + + + +DXFunctions::KernelDesc DXFunctions::compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros ) +{ + const char *cs5String = "cs_5_0"; + + HRESULT hr = S_OK; + ID3DBlob* pErrorBlob = NULL; + ID3DBlob* pBlob = NULL; + ID3D11ComputeShader* kernelPointer = 0; + + hr = m_dx11CompileFromMemory( + shaderString, + strlen(shaderString), + shaderName, + compileMacros, + NULL, + shaderName, + cs5String, + D3D10_SHADER_ENABLE_STRICTNESS, + NULL, + NULL, + &pBlob, + &pErrorBlob, + NULL + ); + + if( FAILED(hr) ) + { + if( pErrorBlob ) { + btAssert( "Compilation of compute shader failed\n" ); + char *debugString = (char*)pErrorBlob->GetBufferPointer(); + OutputDebugStringA( debugString ); + } + + SAFE_RELEASE( pErrorBlob ); + SAFE_RELEASE( pBlob ); + + DXFunctions::KernelDesc descriptor; + descriptor.kernel = 0; + descriptor.constBuffer = 0; + return descriptor; + } + + // Create the Compute Shader + hr = m_dx11Device->CreateComputeShader( pBlob->GetBufferPointer(), pBlob->GetBufferSize(), NULL, &kernelPointer ); + if( FAILED( hr ) ) + { + DXFunctions::KernelDesc descriptor; + descriptor.kernel = 0; + descriptor.constBuffer = 0; + return descriptor; + } + + ID3D11Buffer* constBuffer = 0; + if( constBufferSize > 0 ) + { + // Create the constant buffer + D3D11_BUFFER_DESC constant_buffer_desc; + ZeroMemory(&constant_buffer_desc, sizeof(constant_buffer_desc)); + constant_buffer_desc.ByteWidth = constBufferSize; + constant_buffer_desc.Usage = D3D11_USAGE_DYNAMIC; + constant_buffer_desc.BindFlags = D3D11_BIND_CONSTANT_BUFFER; + constant_buffer_desc.CPUAccessFlags = D3D11_CPU_ACCESS_WRITE; + m_dx11Device->CreateBuffer(&constant_buffer_desc, NULL, &constBuffer); + if( FAILED( hr ) ) + { + KernelDesc descriptor; + descriptor.kernel = 0; + descriptor.constBuffer = 0; + return descriptor; + } + } + + SAFE_RELEASE( pErrorBlob ); + SAFE_RELEASE( pBlob ); + + DXFunctions::KernelDesc descriptor; + descriptor.kernel = kernelPointer; + descriptor.constBuffer = constBuffer; + return descriptor; +} // compileComputeShader + + + +bool btDX11SoftBodySolver::buildShaders() +{ + // Ensure current kernels are released first + releaseKernels(); + + bool returnVal = true; + + if( m_shadersInitialized ) + return true; + + prepareLinksKernel = dxFunctions.compileComputeShaderFromString( PrepareLinksHLSLString, "PrepareLinksKernel", sizeof(PrepareLinksCB) ); + if( !prepareLinksKernel.constBuffer ) + returnVal = false; + updatePositionsFromVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsFromVelocitiesHLSLString, "UpdatePositionsFromVelocitiesKernel", sizeof(UpdatePositionsFromVelocitiesCB) ); + if( !updatePositionsFromVelocitiesKernel.constBuffer ) + returnVal = false; + solvePositionsFromLinksKernel = dxFunctions.compileComputeShaderFromString( SolvePositionsHLSLString, "SolvePositionsFromLinksKernel", sizeof(SolvePositionsFromLinksKernelCB) ); + if( !updatePositionsFromVelocitiesKernel.constBuffer ) + returnVal = false; + vSolveLinksKernel = dxFunctions.compileComputeShaderFromString( VSolveLinksHLSLString, "VSolveLinksKernel", sizeof(VSolveLinksCB) ); + if( !vSolveLinksKernel.constBuffer ) + returnVal = false; + updateVelocitiesFromPositionsWithVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNodesHLSLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) ); + if( !updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer ) + returnVal = false; + updateVelocitiesFromPositionsWithoutVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsHLSLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB) ); + if( !updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer ) + returnVal = false; + integrateKernel = dxFunctions.compileComputeShaderFromString( IntegrateHLSLString, "IntegrateKernel", sizeof(IntegrateCB) ); + if( !integrateKernel.constBuffer ) + returnVal = false; + applyForcesKernel = dxFunctions.compileComputeShaderFromString( ApplyForcesHLSLString, "ApplyForcesKernel", sizeof(ApplyForcesCB) ); + if( !applyForcesKernel.constBuffer ) + returnVal = false; + solveCollisionsAndUpdateVelocitiesKernel = dxFunctions.compileComputeShaderFromString( SolveCollisionsAndUpdateVelocitiesHLSLString, "SolveCollisionsAndUpdateVelocitiesKernel", sizeof(SolveCollisionsAndUpdateVelocitiesCB) ); + if( !solveCollisionsAndUpdateVelocitiesKernel.constBuffer ) + returnVal = false; + + // TODO: Rename to UpdateSoftBodies + resetNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "ResetNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) ); + if( !resetNormalsAndAreasKernel.constBuffer ) + returnVal = false; + normalizeNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "NormalizeNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) ); + if( !normalizeNormalsAndAreasKernel.constBuffer ) + returnVal = false; + updateSoftBodiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "UpdateSoftBodiesKernel", sizeof(UpdateSoftBodiesCB) ); + if( !updateSoftBodiesKernel.constBuffer ) + returnVal = false; + + computeBoundsKernel = dxFunctions.compileComputeShaderFromString( ComputeBoundsHLSLString, "ComputeBoundsKernel", sizeof(ComputeBoundsCB) ); + if( !computeBoundsKernel.constBuffer ) + returnVal = false; + + + + if( returnVal ) + m_shadersInitialized = true; + + return returnVal; +} + + +static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform ) +{ + Vectormath::Aos::Transform3 outTransform; + outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0))); + outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1))); + outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2))); + outTransform.setCol(3, toVector3(transform.getOrigin())); + return outTransform; +} + + +void btDX11SoftBodySolver::btAcceleratedSoftBodyInterface::updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound ) +{ + float scalarMargin = this->getSoftBody()->getCollisionShape()->getMargin(); + btVector3 vectorMargin( scalarMargin, scalarMargin, scalarMargin ); + m_softBody->m_bounds[0] = lowerBound - vectorMargin; + m_softBody->m_bounds[1] = upperBound + vectorMargin; +} + +void btDX11SoftBodySolver::processCollision( btSoftBody*, btSoftBody* ) +{ + +} + +// Add the collision object to the set to deal with for a particular soft body +void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject ) +{ + int softBodyIndex = findSoftBodyIndex( softBody ); + + if( softBodyIndex >= 0 ) + { + const btCollisionShape *collisionShape = collisionObject->getCollisionShape(); + float friction = collisionObject->getCollisionObject()->getFriction(); + int shapeType = collisionShape->getShapeType(); + if( shapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Add to the list of expected collision objects + CollisionShapeDescription newCollisionShapeDescription; + newCollisionShapeDescription.softBodyIdentifier = softBodyIndex; + newCollisionShapeDescription.collisionShapeType = shapeType; + // TODO: May need to transpose this matrix either here or in HLSL + newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform()); + const btCapsuleShape *capsule = static_cast( collisionShape ); + newCollisionShapeDescription.radius = capsule->getRadius(); + newCollisionShapeDescription.halfHeight = capsule->getHalfHeight(); + newCollisionShapeDescription.margin = capsule->getMargin(); + newCollisionShapeDescription.friction = friction; + const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() ); + newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity()); + newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity()); + m_collisionObjectDetails.push_back( newCollisionShapeDescription ); + + } else { +#ifdef _DEBUG + printf("Unsupported collision shape type\n"); +#endif + } + } else { + btAssert("Unknown soft body"); + } +} // btDX11SoftBodySolver::processCollision + + + +void btDX11SoftBodySolver::predictMotion( float timeStep ) +{ + // Clear the collision shape array for the next frame + // Ensure that the DX11 ones are moved off the device so they will be updated correctly + m_dx11CollisionObjectDetails.changedOnCPU(); + m_dx11PerClothCollisionObjects.changedOnCPU(); + m_collisionObjectDetails.clear(); + + // Fill the force arrays with current acceleration data etc + m_perClothWindVelocity.resize( m_softBodySet.size() ); + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody(); + + m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity()); + } + m_dx11PerClothWindVelocity.changedOnCPU(); + + // Apply forces that we know about to the cloths + applyForces( timeStep * getTimeScale() ); + + // Itegrate motion for all soft bodies dealt with by the solver + integrate( timeStep * getTimeScale() ); + + // Update bounds + // Will update the bounds for all softBodies being dealt with by the solver and + // set the values in the btSoftBody object + if (m_enableUpdateBounds) + updateBounds(); + + // End prediction work for solvers +} + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h new file mode 100644 index 00000000..0f50ecf7 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h @@ -0,0 +1,691 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H +#define BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H + + +#include "vectormath/vmInclude.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "btSoftBodySolverLinkData_DX11.h" +#include "btSoftBodySolverVertexData_DX11.h" +#include "btSoftBodySolverTriangleData_DX11.h" + + + +class DXFunctions +{ +public: + + typedef HRESULT (WINAPI * CompileFromMemoryFunc)(LPCSTR,SIZE_T,LPCSTR,const D3D10_SHADER_MACRO*,LPD3D10INCLUDE,LPCSTR,LPCSTR,UINT,UINT,ID3DX11ThreadPump*,ID3D10Blob**,ID3D10Blob**,HRESULT*); + + ID3D11Device * m_dx11Device; + ID3D11DeviceContext* m_dx11Context; + CompileFromMemoryFunc m_dx11CompileFromMemory; + + DXFunctions(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, CompileFromMemoryFunc dx11CompileFromMemory) : + m_dx11Device( dx11Device ), + m_dx11Context( dx11Context ), + m_dx11CompileFromMemory( dx11CompileFromMemory ) + { + + } + + class KernelDesc + { + protected: + + + public: + ID3D11ComputeShader* kernel; + ID3D11Buffer* constBuffer; + + KernelDesc() + { + kernel = 0; + constBuffer = 0; + } + + virtual ~KernelDesc() + { + // TODO: this should probably destroy its kernel but we need to be careful + // in case KernelDescs are copied + } + }; + + /** + * Compile a compute shader kernel from a string and return the appropriate KernelDesc object. + */ + KernelDesc compileComputeShaderFromString( const char* shaderString, const char* shaderName, int constBufferSize, D3D10_SHADER_MACRO *compileMacros = 0 ); + +}; + +class btDX11SoftBodySolver : public btSoftBodySolver +{ +protected: + /** + * Entry in the collision shape array. + * Specifies the shape type, the transform matrix and the necessary details of the collisionShape. + */ + struct CollisionShapeDescription + { + Vectormath::Aos::Transform3 shapeTransform; + Vectormath::Aos::Vector3 linearVelocity; + Vectormath::Aos::Vector3 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + // Both needed for capsule + float radius; + float halfHeight; + + float margin; + float friction; + + CollisionShapeDescription() + { + collisionShapeType = 0; + margin = 0; + friction = 0; + } + }; + + struct UIntVector3 + { + UIntVector3() + { + x = 0; + y = 0; + z = 0; + _padding = 0; + } + + UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ ) + { + x = x_; + y = y_; + z = z_; + _padding = 0; + } + + unsigned int x; + unsigned int y; + unsigned int z; + unsigned int _padding; + }; + + + +public: + /** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ + class btAcceleratedSoftBodyInterface + { + protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + + public: + btAcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() const + { + return m_numVertices; + } + + int getNumTriangles() const + { + return m_numTriangles; + } + + int getMaxVertices() const + { + return m_maxVertices; + } + + int getMaxTriangles() const + { + return m_maxTriangles; + } + + int getFirstVertex() const + { + return m_firstVertex; + } + + int getFirstTriangle() const + { + return m_firstTriangle; + } + + + /** + * Update the bounds in the btSoftBody object + */ + void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound ); + + + // TODO: All of these set functions will have to do checks and + // update the world because restructuring of the arrays will be necessary + // Reasonable use of "friend"? + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + + }; + + + struct CollisionObjectIndices + { + CollisionObjectIndices( int f, int e ) + { + firstObject = f; + endObject = e; + } + + int firstObject; + int endObject; + }; + + + + + + struct PrepareLinksCB + { + int numLinks; + int padding0; + int padding1; + int padding2; + }; + + struct SolvePositionsFromLinksKernelCB + { + int startLink; + int numLinks; + float kst; + float ti; + }; + + struct IntegrateCB + { + int numNodes; + float solverdt; + int padding1; + int padding2; + }; + + struct UpdatePositionsFromVelocitiesCB + { + int numNodes; + float solverSDT; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithoutVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateVelocitiesFromPositionsWithVelocitiesCB + { + int numNodes; + float isolverdt; + int padding1; + int padding2; + }; + + struct UpdateSoftBodiesCB + { + int numNodes; + int startFace; + int numFaces; + float epsilon; + }; + + + struct ApplyForcesCB + { + unsigned int numNodes; + float solverdt; + float epsilon; + int padding3; + }; + + struct AddVelocityCB + { + int startNode; + int lastNode; + float velocityX; + float velocityY; + float velocityZ; + int padding1; + int padding2; + int padding3; + }; + + struct VSolveLinksCB + { + int startLink; + int numLinks; + float kst; + int padding; + }; + + struct ComputeBoundsCB + { + int numNodes; + int numSoftBodies; + int padding1; + int padding2; + }; + + struct SolveCollisionsAndUpdateVelocitiesCB + { + unsigned int numNodes; + float isolverdt; + int padding0; + int padding1; + }; + + + + +protected: + ID3D11Device * m_dx11Device; + ID3D11DeviceContext* m_dx11Context; + + DXFunctions dxFunctions; +public: + /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */ + btSoftBodyLinkDataDX11 m_linkData; + btSoftBodyVertexDataDX11 m_vertexData; + btSoftBodyTriangleDataDX11 m_triangleData; + +protected: + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + bool m_shadersInitialized; + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btAcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + btDX11Buffer m_dx11PerClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + btDX11Buffer m_dx11PerClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + btDX11Buffer m_dx11PerClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + btDX11Buffer m_dx11PerClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + btDX11Buffer m_dx11PerClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + btDX11Buffer m_dx11PerClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + btDX11Buffer m_dx11PerClothMediumDensity; + + + /** + * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects. + */ + btAlignedObjectArray< CollisionObjectIndices > m_perClothCollisionObjects; + btDX11Buffer m_dx11PerClothCollisionObjects; + + /** + * Collision shapes being passed across to the cloths in this solver. + */ + btAlignedObjectArray< CollisionShapeDescription > m_collisionObjectDetails; + btDX11Buffer< CollisionShapeDescription > m_dx11CollisionObjectDetails; + + /** + * Minimum bounds for each cloth. + * Updated by GPU and returned for use by broad phase. + * These are int vectors as a reminder that they store the int representation of a float, not a float. + * Bit 31 is inverted - is floats are stored with int-sortable values. + */ + btAlignedObjectArray< UIntVector3 > m_perClothMinBounds; + btDX11Buffer< UIntVector3 > m_dx11PerClothMinBounds; + + /** + * Maximum bounds for each cloth. + * Updated by GPU and returned for use by broad phase. + * These are int vectors as a reminder that they store the int representation of a float, not a float. + * Bit 31 is inverted - is floats are stored with int-sortable values. + */ + btAlignedObjectArray< UIntVector3 > m_perClothMaxBounds; + btDX11Buffer< UIntVector3 > m_dx11PerClothMaxBounds; + + + /** + * Friction coefficient for each cloth + */ + btAlignedObjectArray< float > m_perClothFriction; + btDX11Buffer< float > m_dx11PerClothFriction; + + DXFunctions::KernelDesc prepareLinksKernel; + DXFunctions::KernelDesc solvePositionsFromLinksKernel; + DXFunctions::KernelDesc vSolveLinksKernel; + DXFunctions::KernelDesc integrateKernel; + DXFunctions::KernelDesc addVelocityKernel; + DXFunctions::KernelDesc updatePositionsFromVelocitiesKernel; + DXFunctions::KernelDesc updateVelocitiesFromPositionsWithoutVelocitiesKernel; + DXFunctions::KernelDesc updateVelocitiesFromPositionsWithVelocitiesKernel; + DXFunctions::KernelDesc solveCollisionsAndUpdateVelocitiesKernel; + DXFunctions::KernelDesc resetNormalsAndAreasKernel; + DXFunctions::KernelDesc normalizeNormalsAndAreasKernel; + DXFunctions::KernelDesc computeBoundsKernel; + DXFunctions::KernelDesc updateSoftBodiesKernel; + + DXFunctions::KernelDesc applyForcesKernel; + + bool m_enableUpdateBounds; + + /** + * Integrate motion on the solver. + */ + virtual void integrate( float solverdt ); + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + virtual bool buildShaders(); + + void resetNormalsAndAreas( int numVertices ); + + void normalizeNormalsAndAreas( int numVertices ); + + void executeUpdateSoftBodies( int firstTriangle, int numTriangles ); + + void prepareCollisionConstraints(); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + virtual void applyForces( float solverdt ); + + virtual void updateConstants( float timeStep ); + int findSoftBodyIndex( const btSoftBody* const softBody ); + + ////////////////////////////////////// + // Kernel dispatches + virtual void prepareLinks(); + + void updatePositionsFromVelocities( float solverdt ); + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + void solveLinksForVelocity( int startLink, int numLinks, float kst ); + + void updateVelocitiesFromPositionsWithVelocities( float isolverdt ); + void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ); + void computeBounds( ); + void solveCollisionsAndUpdateVelocities( float isolverdt ); + + // End kernel dispatches + ///////////////////////////////////// + + void updateBounds(); + + + void releaseKernels(); + +public: + btDX11SoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory); + + virtual ~btDX11SoftBodySolver(); + + + virtual SolverTypes getSolverType() const + { + return DX_SOLVER; + } + + void setEnableUpdateBounds(bool enableBounds) + { + m_enableUpdateBounds = enableBounds; + } + bool getEnableUpdateBounds() const + { + return m_enableUpdateBounds; + } + + + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + + + + + btAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + const btAcceleratedSoftBodyInterface * const findSoftBodyInterface( const btSoftBody* const softBody ) const; + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); + + virtual void copyBackToSoftBodies(bool bMove = true); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + + virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* ); + + virtual void processCollision( btSoftBody*, btSoftBody* ); + +}; + + + +/** + * Class to manage movement of data from a solver to a given target. + * This version is the DX to CPU version. + */ +class btSoftBodySolverOutputDXtoCPU : public btSoftBodySolverOutput +{ +protected: + +public: + btSoftBodySolverOutputDXtoCPU() + { + } + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + +/** + * Class to manage movement of data from a solver to a given target. + * This version is the DX to DX version and subclasses DX to CPU so that it works for that too. + */ +class btSoftBodySolverOutputDXtoDX : public btSoftBodySolverOutputDXtoCPU +{ +protected: + struct OutputToVertexArrayCB + { + int startNode; + int numNodes; + int positionOffset; + int positionStride; + + int normalOffset; + int normalStride; + int padding1; + int padding2; + }; + + DXFunctions dxFunctions; + DXFunctions::KernelDesc outputToVertexArrayWithNormalsKernel; + DXFunctions::KernelDesc outputToVertexArrayWithoutNormalsKernel; + + + bool m_shadersInitialized; + + bool checkInitialized(); + bool buildShaders(); + void releaseKernels(); + +public: + btSoftBodySolverOutputDXtoDX(ID3D11Device *dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory) : + dxFunctions( dx11Device, dx11Context, dx11CompileFromMemory ) + { + m_shadersInitialized = false; + } + + ~btSoftBodySolverOutputDXtoDX() + { + releaseKernels(); + } + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_DX11_SOLVER_H + + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp new file mode 100644 index 00000000..5c73ee5d --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.cpp @@ -0,0 +1,1051 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include + + +#define WAVEFRONT_SIZE 32 +#define WAVEFRONT_BLOCK_MULTIPLIER 2 +#define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER) +#define LINKS_PER_SIMD_LANE 16 + +#define STRINGIFY( S ) STRINGIFY2( S ) +#define STRINGIFY2( S ) #S + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" + +#include "btSoftBodySolverLinkData_DX11SIMDAware.h" +#include "btSoftBodySolver_DX11SIMDAware.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" + +#define MSTRINGIFY(A) #A +static char* UpdatePositionsFromVelocitiesHLSLString = +#include "HLSL/UpdatePositionsFromVelocities.hlsl" +static char* SolvePositionsSIMDBatchedHLSLString = +#include "HLSL/SolvePositionsSIMDBatched.hlsl" +static char* UpdateNodesHLSLString = +#include "HLSL/UpdateNodes.hlsl" +static char* UpdatePositionsHLSLString = +#include "HLSL/UpdatePositions.hlsl" +static char* UpdateConstantsHLSLString = +#include "HLSL/UpdateConstants.hlsl" +static char* IntegrateHLSLString = +#include "HLSL/Integrate.hlsl" +static char* ApplyForcesHLSLString = +#include "HLSL/ApplyForces.hlsl" +static char* UpdateNormalsHLSLString = +#include "HLSL/UpdateNormals.hlsl" +static char* OutputToVertexArrayHLSLString = +#include "HLSL/OutputToVertexArray.hlsl" +static char* VSolveLinksHLSLString = +#include "HLSL/VSolveLinks.hlsl" +static char* ComputeBoundsHLSLString = +#include "HLSL/ComputeBounds.hlsl" +static char* SolveCollisionsAndUpdateVelocitiesHLSLString = +#include "HLSL/solveCollisionsAndUpdateVelocitiesSIMDBatched.hlsl" + + + +btSoftBodyLinkDataDX11SIMDAware::btSoftBodyLinkDataDX11SIMDAware( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) : + m_d3dDevice( d3dDevice ), + m_d3dDeviceContext( d3dDeviceContext ), + m_wavefrontSize( WAVEFRONT_SIZE ), + m_linksPerWorkItem( LINKS_PER_SIMD_LANE ), + m_maxBatchesWithinWave( 0 ), + m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ), + m_numWavefronts( 0 ), + m_maxVertex( 0 ), + m_dx11NumBatchesAndVerticesWithinWaves( d3dDevice, d3dDeviceContext, &m_numBatchesAndVerticesWithinWaves, true ), + m_dx11WavefrontVerticesGlobalAddresses( d3dDevice, d3dDeviceContext, &m_wavefrontVerticesGlobalAddresses, true ), + m_dx11LinkVerticesLocalAddresses( d3dDevice, d3dDeviceContext, &m_linkVerticesLocalAddresses, true ), + m_dx11LinkStrength( d3dDevice, d3dDeviceContext, &m_linkStrength, true ), + m_dx11LinksMassLSC( d3dDevice, d3dDeviceContext, &m_linksMassLSC, true ), + m_dx11LinksRestLengthSquared( d3dDevice, d3dDeviceContext, &m_linksRestLengthSquared, true ), + m_dx11LinksRestLength( d3dDevice, d3dDeviceContext, &m_linksRestLength, true ), + m_dx11LinksMaterialLinearStiffnessCoefficient( d3dDevice, d3dDeviceContext, &m_linksMaterialLinearStiffnessCoefficient, true ) +{ + m_d3dDevice = d3dDevice; + m_d3dDeviceContext = d3dDeviceContext; +} + +btSoftBodyLinkDataDX11SIMDAware::~btSoftBodyLinkDataDX11SIMDAware() +{ +} + +static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec ) +{ + Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() ); + return outVec; +} + +void btSoftBodyLinkDataDX11SIMDAware::createLinks( int numLinks ) +{ + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + btSoftBodyLinkData::createLinks( numLinks ); + + // Resize the link addresses array as well + m_linkAddresses.resize( newSize ); +} + +void btSoftBodyLinkDataDX11SIMDAware::setLinkAt( const btSoftBodyLinkData::LinkDescription &link, int linkIndex ) +{ + btSoftBodyLinkData::setLinkAt( link, linkIndex ); + + if( link.getVertex0() > m_maxVertex ) + m_maxVertex = link.getVertex0(); + if( link.getVertex1() > m_maxVertex ) + m_maxVertex = link.getVertex1(); + + // Set the link index correctly for initialisation + m_linkAddresses[linkIndex] = linkIndex; +} + +bool btSoftBodyLinkDataDX11SIMDAware::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyLinkDataDX11SIMDAware::moveToAccelerator() +{ + bool success = true; + + success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveToGPU(); + success = success && m_dx11WavefrontVerticesGlobalAddresses.moveToGPU(); + success = success && m_dx11LinkVerticesLocalAddresses.moveToGPU(); + success = success && m_dx11LinkStrength.moveToGPU(); + success = success && m_dx11LinksMassLSC.moveToGPU(); + success = success && m_dx11LinksRestLengthSquared.moveToGPU(); + success = success && m_dx11LinksRestLength.moveToGPU(); + success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyLinkDataDX11SIMDAware::moveFromAccelerator() +{ + bool success = true; + success = success && m_dx11NumBatchesAndVerticesWithinWaves.moveFromGPU(); + success = success && m_dx11WavefrontVerticesGlobalAddresses.moveFromGPU(); + success = success && m_dx11LinkVerticesLocalAddresses.moveFromGPU(); + success = success && m_dx11LinkStrength.moveFromGPU(); + success = success && m_dx11LinksMassLSC.moveFromGPU(); + success = success && m_dx11LinksRestLengthSquared.moveFromGPU(); + success = success && m_dx11LinksRestLength.moveFromGPU(); + success = success && m_dx11LinksMaterialLinearStiffnessCoefficient.moveFromGPU(); + + if( success ) + m_onGPU = false; + + return success; +} + + + + + + + + + + + + + + + +btDX11SIMDAwareSoftBodySolver::btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory) : + btDX11SoftBodySolver( dx11Device, dx11Context, dx11CompileFromMemory ), + m_linkData(m_dx11Device, m_dx11Context) +{ + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; + + m_shadersInitialized = false; +} + +btDX11SIMDAwareSoftBodySolver::~btDX11SIMDAwareSoftBodySolver() +{ + releaseKernels(); +} + + +btSoftBodyLinkData &btDX11SIMDAwareSoftBodySolver::getLinkData() +{ + // TODO: Consider setting link data to "changed" here + return m_linkData; +} + + + +void btDX11SIMDAwareSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate) +{ + if(forceUpdate || m_softBodySet.size() != softBodies.size() ) + { + // Have a change in the soft body set so update, reloading all the data + getVertexData().clear(); + getTriangleData().clear(); + getLinkData().clear(); + m_softBodySet.resize(0); + + + for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex ) + { + btSoftBody *softBody = softBodies[ softBodyIndex ]; + using Vectormath::Aos::Matrix3; + using Vectormath::Aos::Point3; + + // Create SoftBody that will store the information within the solver + btAcceleratedSoftBodyInterface *newSoftBody = new btAcceleratedSoftBodyInterface( softBody ); + m_softBodySet.push_back( newSoftBody ); + + m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) ); + m_perClothDampingFactor.push_back(softBody->m_cfg.kDP); + m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF ); + m_perClothLiftFactor.push_back( softBody->m_cfg.kLF ); + m_perClothDragFactor.push_back( softBody->m_cfg.kDG ); + m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density); + // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time + m_perClothMinBounds.push_back( UIntVector3( 0, 0, 0 ) ); + m_perClothMaxBounds.push_back( UIntVector3( UINT_MAX, UINT_MAX, UINT_MAX ) ); + m_perClothFriction.push_back( softBody->getFriction() ); + m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) ); + + // Add space for new vertices and triangles in the default solver for now + // TODO: Include space here for tearing too later + int firstVertex = getVertexData().getNumVertices(); + int numVertices = softBody->m_nodes.size(); + // Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group + // maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed + int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE); + // Allocate space for new vertices in all the vertex arrays + getVertexData().createVertices( numVertices, softBodyIndex, maxVertices ); + + int firstTriangle = getTriangleData().getNumTriangles(); + int numTriangles = softBody->m_faces.size(); + int maxTriangles = numTriangles; + getTriangleData().createTriangles( maxTriangles ); + + // Copy vertices from softbody into the solver + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ()); + btSoftBodyVertexData::VertexDescription desc; + + // TODO: Position in the softbody might be pre-transformed + // or we may need to adapt for the pose. + //desc.setPosition( cloth.getMeshTransform()*multPoint ); + desc.setPosition( multPoint ); + + float vertexInverseMass = softBody->m_nodes[vertex].m_im; + desc.setInverseMass(vertexInverseMass); + getVertexData().setVertexAt( desc, firstVertex + vertex ); + } + + // Copy triangles similarly + // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene + for( int triangle = 0; triangle < numTriangles; ++triangle ) + { + // Note that large array storage is relative to the array not to the cloth + // So we need to add firstVertex to each value + int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0])); + int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0])); + int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0])); + btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex); + getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle ); + + // Increase vertex triangle counts for this triangle + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++; + } + + int firstLink = getLinkData().getNumLinks(); + int numLinks = softBody->m_links.size(); + int maxLinks = numLinks; + + // Allocate space for the links + getLinkData().createLinks( numLinks ); + + // Add the links + for( int link = 0; link < numLinks; ++link ) + { + int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]); + int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]); + + btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST); + newLink.setLinkStrength(1.f); + getLinkData().setLinkAt(newLink, firstLink + link); + } + + newSoftBody->setFirstVertex( firstVertex ); + newSoftBody->setFirstTriangle( firstTriangle ); + newSoftBody->setNumVertices( numVertices ); + newSoftBody->setMaxVertices( maxVertices ); + newSoftBody->setNumTriangles( numTriangles ); + newSoftBody->setMaxTriangles( maxTriangles ); + newSoftBody->setFirstLink( firstLink ); + newSoftBody->setNumLinks( numLinks ); + } + + + + updateConstants(0.f); + + + m_linkData.generateBatches(); + m_triangleData.generateBatches(); + + + // Build the shaders to match the batching parameters + buildShaders(); + } + +} + + + +void btDX11SIMDAwareSoftBodySolver::solveConstraints( float solverdt ) +{ + + //std::cerr << "'GPU' solve constraints\n"; + using Vectormath::Aos::Vector3; + using Vectormath::Aos::Point3; + using Vectormath::Aos::lengthSqr; + using Vectormath::Aos::dot; + + // Prepare links + int numLinks = m_linkData.getNumLinks(); + int numVertices = m_vertexData.getNumVertices(); + + float kst = 1.f; + float ti = 0.f; + + + m_dx11PerClothDampingFactor.moveToGPU(); + m_dx11PerClothVelocityCorrectionCoefficient.moveToGPU(); + + + + // Ensure data is on accelerator + m_linkData.moveToAccelerator(); + m_vertexData.moveToAccelerator(); + + + + prepareCollisionConstraints(); + + + // Solve drift + for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + { + + for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i ) + { + int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start; + int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length; + + solveLinksForPosition( startWave, numWaves, kst, ti ); + } + + } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + + + + + // At this point assume that the force array is blank - we will overwrite it + solveCollisionsAndUpdateVelocities( 1.f/solverdt ); + +} // btDX11SIMDAwareSoftBodySolver::solveConstraints + + +void btDX11SIMDAwareSoftBodySolver::updateConstants( float timeStep ) +{ + using namespace Vectormath::Aos; + + if( m_updateSolverConstants ) + { + m_updateSolverConstants = false; + + // Will have to redo this if we change the structure (tear, maybe) or various other possible changes + + // Initialise link constants + const int numLinks = m_linkData.getNumLinks(); + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) ); + m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 ))); + float invMass0 = m_vertexData.getInverseMass(vertices.vertex0); + float invMass1 = m_vertexData.getInverseMass(vertices.vertex1); + float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex); + float massLSC = (invMass0 + invMass1)/linearStiffness; + m_linkData.getMassLSC(linkIndex) = massLSC; + float restLength = m_linkData.getRestLength(linkIndex); + float restLengthSquared = restLength*restLength; + m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared; + } + } +} // btDX11SIMDAwareSoftBodySolver::updateConstants + +////////////////////////////////////// +// Kernel dispatches + + +void btDX11SIMDAwareSoftBodySolver::solveLinksForPosition( int startWave, int numWaves, float kst, float ti ) +{ + + + m_vertexData.moveToAccelerator(); + m_linkData.moveToAccelerator(); + + // Copy kernel parameters to GPU + SolvePositionsFromLinksKernelCB constBuffer; + + // Set the first wave of the batch and the number of waves + constBuffer.startWave = startWave; + constBuffer.numWaves = numWaves; + + constBuffer.kst = kst; + constBuffer.ti = ti; + + D3D11_MAPPED_SUBRESOURCE MappedResource = {0}; + m_dx11Context->Map( solvePositionsFromLinksKernel.constBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &MappedResource ); + memcpy( MappedResource.pData, &constBuffer, sizeof(SolvePositionsFromLinksKernelCB) ); + m_dx11Context->Unmap( solvePositionsFromLinksKernel.constBuffer, 0 ); + m_dx11Context->CSSetConstantBuffers( 0, 1, &solvePositionsFromLinksKernel.constBuffer ); + + // Set resources and dispatch + m_dx11Context->CSSetShaderResources( 0, 1, &(m_linkData.m_dx11NumBatchesAndVerticesWithinWaves.getSRV()) ); + m_dx11Context->CSSetShaderResources( 1, 1, &(m_linkData.m_dx11WavefrontVerticesGlobalAddresses.getSRV()) ); + m_dx11Context->CSSetShaderResources( 2, 1, &(m_vertexData.m_dx11VertexInverseMass.getSRV()) ); + m_dx11Context->CSSetShaderResources( 3, 1, &(m_linkData.m_dx11LinkVerticesLocalAddresses.getSRV()) ); + m_dx11Context->CSSetShaderResources( 4, 1, &(m_linkData.m_dx11LinksMassLSC.getSRV()) ); + m_dx11Context->CSSetShaderResources( 5, 1, &(m_linkData.m_dx11LinksRestLengthSquared.getSRV()) ); + + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &(m_vertexData.m_dx11VertexPosition.getUAV()), NULL ); + + // Execute the kernel + m_dx11Context->CSSetShader( solvePositionsFromLinksKernel.kernel, NULL, 0 ); + + int numBlocks = ((constBuffer.numWaves + WAVEFRONT_BLOCK_MULTIPLIER - 1) / WAVEFRONT_BLOCK_MULTIPLIER ); + m_dx11Context->Dispatch(numBlocks , 1, 1 ); + + { + // Tidy up + ID3D11ShaderResourceView* pViewNULL = NULL; + m_dx11Context->CSSetShaderResources( 0, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 1, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 2, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 3, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 4, 1, &pViewNULL ); + m_dx11Context->CSSetShaderResources( 5, 1, &pViewNULL ); + + ID3D11UnorderedAccessView* pUAViewNULL = NULL; + m_dx11Context->CSSetUnorderedAccessViews( 0, 1, &pUAViewNULL, NULL ); + + ID3D11Buffer *pBufferNull = NULL; + m_dx11Context->CSSetConstantBuffers( 0, 1, &pBufferNull ); + } +} // btDX11SIMDAwareSoftBodySolver::solveLinksForPosition + + + +// End kernel dispatches +///////////////////////////////////// + + + + + + + + + +bool btDX11SIMDAwareSoftBodySolver::buildShaders() +{ + // Ensure current kernels are released first + releaseKernels(); + + bool returnVal = true; + + + if( m_shadersInitialized ) + return true; + + + updatePositionsFromVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsFromVelocitiesHLSLString, "UpdatePositionsFromVelocitiesKernel", sizeof(UpdatePositionsFromVelocitiesCB) ); + if( !updatePositionsFromVelocitiesKernel.constBuffer ) + returnVal = false; + + char maxVerticesPerWavefront[20]; + char maxBatchesPerWavefront[20]; + char waveFrontSize[20]; + char waveFrontBlockMultiplier[20]; + char blockSize[20]; + + sprintf(maxVerticesPerWavefront, "%d", m_linkData.getMaxVerticesPerWavefront()); + sprintf(maxBatchesPerWavefront, "%d", m_linkData.getMaxBatchesPerWavefront()); + sprintf(waveFrontSize, "%d", m_linkData.getWavefrontSize()); + sprintf(waveFrontBlockMultiplier, "%d", WAVEFRONT_BLOCK_MULTIPLIER); + sprintf(blockSize, "%d", WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize()); + + D3D10_SHADER_MACRO solvePositionsMacros[6] = { "MAX_NUM_VERTICES_PER_WAVE", maxVerticesPerWavefront, "MAX_BATCHES_PER_WAVE", maxBatchesPerWavefront, "WAVEFRONT_SIZE", waveFrontSize, "WAVEFRONT_BLOCK_MULTIPLIER", waveFrontBlockMultiplier, "BLOCK_SIZE", blockSize, 0, 0 }; + + solvePositionsFromLinksKernel = dxFunctions.compileComputeShaderFromString( SolvePositionsSIMDBatchedHLSLString, "SolvePositionsFromLinksKernel", sizeof(SolvePositionsFromLinksKernelCB), solvePositionsMacros ); + if( !solvePositionsFromLinksKernel.constBuffer ) + returnVal = false; + + updateVelocitiesFromPositionsWithVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNodesHLSLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithVelocitiesCB) ); + if( !updateVelocitiesFromPositionsWithVelocitiesKernel.constBuffer ) + returnVal = false; + updateVelocitiesFromPositionsWithoutVelocitiesKernel = dxFunctions.compileComputeShaderFromString( UpdatePositionsHLSLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", sizeof(UpdateVelocitiesFromPositionsWithoutVelocitiesCB)); + if( !updateVelocitiesFromPositionsWithoutVelocitiesKernel.constBuffer ) + returnVal = false; + integrateKernel = dxFunctions.compileComputeShaderFromString( IntegrateHLSLString, "IntegrateKernel", sizeof(IntegrateCB) ); + if( !integrateKernel.constBuffer ) + returnVal = false; + applyForcesKernel = dxFunctions.compileComputeShaderFromString( ApplyForcesHLSLString, "ApplyForcesKernel", sizeof(ApplyForcesCB) ); + if( !applyForcesKernel.constBuffer ) + returnVal = false; + solveCollisionsAndUpdateVelocitiesKernel = dxFunctions.compileComputeShaderFromString( SolveCollisionsAndUpdateVelocitiesHLSLString, "SolveCollisionsAndUpdateVelocitiesKernel", sizeof(SolveCollisionsAndUpdateVelocitiesCB) ); + if( !solveCollisionsAndUpdateVelocitiesKernel.constBuffer ) + returnVal = false; + resetNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "ResetNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) ); + if( !resetNormalsAndAreasKernel.constBuffer ) + returnVal = false; + normalizeNormalsAndAreasKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "NormalizeNormalsAndAreasKernel", sizeof(UpdateSoftBodiesCB) ); + if( !normalizeNormalsAndAreasKernel.constBuffer ) + returnVal = false; + updateSoftBodiesKernel = dxFunctions.compileComputeShaderFromString( UpdateNormalsHLSLString, "UpdateSoftBodiesKernel", sizeof(UpdateSoftBodiesCB) ); + if( !updateSoftBodiesKernel.constBuffer ) + returnVal = false; + + computeBoundsKernel = dxFunctions.compileComputeShaderFromString( ComputeBoundsHLSLString, "ComputeBoundsKernel", sizeof(ComputeBoundsCB) ); + if( !computeBoundsKernel.constBuffer ) + returnVal = false; + + if( returnVal ) + m_shadersInitialized = true; + + return returnVal; +} // btDX11SIMDAwareSoftBodySolver::buildShaders + +static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform ) +{ + Vectormath::Aos::Transform3 outTransform; + outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0))); + outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1))); + outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2))); + outTransform.setCol(3, toVector3(transform.getOrigin())); + return outTransform; +} + + + + + + + + + + + + +static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray > &wavefrontBatches ) +{ + // A per-batch map of truth values stating whether a given vertex is in that batch + // This allows us to significantly optimize the batching + btAlignedObjectArray > mapOfVerticesInBatches; + + for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex ) + { + btAlignedObjectArray &wavefront( linksForWavefronts[waveIndex] ); + + int batch = 0; + bool placed = false; + while( batch < wavefrontBatches.size() && !placed ) + { + // Test the current batch, see if this wave shares any vertex with the waves in the batch + bool foundSharedVertex = false; + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] ) + { + foundSharedVertex = true; + } + } + + if( !foundSharedVertex ) + { + wavefrontBatches[batch].push_back( waveIndex ); + // Insert vertices into this batch too + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + (mapOfVerticesInBatches[batch])[vertices.vertex0] = true; + (mapOfVerticesInBatches[batch])[vertices.vertex1] = true; + } + placed = true; + } + batch++; + } + if( batch == wavefrontBatches.size() && !placed ) + { + wavefrontBatches.resize( batch + 1 ); + wavefrontBatches[batch].push_back( waveIndex ); + + // And resize map as well + mapOfVerticesInBatches.resize( batch + 1 ); + + // Resize maps with total number of vertices + mapOfVerticesInBatches[batch].resize( numVertices+1, false ); + + // Insert vertices into this batch too + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + (mapOfVerticesInBatches[batch])[vertices.vertex0] = true; + (mapOfVerticesInBatches[batch])[vertices.vertex1] = true; + } + } + } + mapOfVerticesInBatches.clear(); +} + +// Function to remove an object from a vector maintaining correct ordering of the vector +template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove ) +{ + int currentSize = vectorToUpdate.size(); + for( int i = indexToRemove; i < (currentSize-1); ++i ) + { + vectorToUpdate[i] = vectorToUpdate[i+1]; + } + if( currentSize > 0 ) + vectorToUpdate.resize( currentSize - 1 ); +} + +/** + * Insert element into vectorToUpdate at index index. + */ +template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element ) +{ + vectorToUpdate.resize( vectorToUpdate.size() + 1 ); + for( int i = (vectorToUpdate.size() - 1); i > index; --i ) + { + vectorToUpdate[i] = vectorToUpdate[i-1]; + } + vectorToUpdate[index] = element; +} + +/** + * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness. + * ie it treats vectorToUpdate as an ordered set. + */ +template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray &vectorToUpdate, T element ) +{ + int index = 0; + while( index < vectorToUpdate.size() && vectorToUpdate[index] < element ) + { + index++; + } + if( index == vectorToUpdate.size() || vectorToUpdate[index] != element ) + insertAtIndex( vectorToUpdate, index, element ); +} + +static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray &numLinksPerVertex, int &maxLinks ) +{ + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + numLinksPerVertex[nodes.vertex0]++; + numLinksPerVertex[nodes.vertex1]++; + } + int maxLinksPerVertex = 0; + for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + { + maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex); + } + maxLinks = maxLinksPerVertex; + + btAlignedObjectArray< int > linksFoundPerVertex; + linksFoundPerVertex.resize( numVertices, 0 ); + + listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices ); + + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + { + // Do vertex 0 + int vertexIndex = nodes.vertex0; + int linkForVertex = linksFoundPerVertex[nodes.vertex0]; + int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex; + + listOfLinksPerVertex[linkAddress] = linkIndex; + + linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1; + } + { + // Do vertex 1 + int vertexIndex = nodes.vertex1; + int linkForVertex = linksFoundPerVertex[nodes.vertex1]; + int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex; + + listOfLinksPerVertex[linkAddress] = linkIndex; + + linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1; + } + } +} + +static void computeBatchingIntoWavefronts( + btSoftBodyLinkData &linkData, + int wavefrontSize, + int linksPerWorkItem, + int maxLinksPerWavefront, + btAlignedObjectArray < btAlignedObjectArray > &linksForWavefronts, + btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray > > &batchesWithinWaves, /* wave, batch, links in batch */ + btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */ + ) +{ + + + // Attempt generation of larger batches of links. + btAlignedObjectArray< bool > processedLink; + processedLink.resize( linkData.getNumLinks() ); + btAlignedObjectArray< int > listOfLinksPerVertex; + int maxLinksPerVertex = 0; + + // Count num vertices + int numVertices = 0; + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + numVertices = btMax( numVertices, nodes.vertex0 + 1 ); + numVertices = btMax( numVertices, nodes.vertex1 + 1 ); + } + + // Need list of links per vertex + // Compute valence of each vertex + btAlignedObjectArray numLinksPerVertex; + numLinksPerVertex.resize(0); + numLinksPerVertex.resize( numVertices, 0 ); + + generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex ); + + + // At this point we know what links we have for each vertex so we can start batching + + // We want a vertex to start with, let's go with 0 + int currentVertex = 0; + int linksProcessed = 0; + + btAlignedObjectArray verticesToProcess; + + while( linksProcessed < linkData.getNumLinks() ) + { + // Next wavefront + int nextWavefront = linksForWavefronts.size(); + linksForWavefronts.resize( nextWavefront + 1 ); + btAlignedObjectArray &linksForWavefront(linksForWavefronts[nextWavefront]); + verticesForWavefronts.resize( nextWavefront + 1 ); + btAlignedObjectArray &vertexSet( verticesForWavefronts[nextWavefront] ); + + linksForWavefront.resize(0); + + // Loop to find enough links to fill the wavefront + // Stopping if we either run out of links, or fill it + while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront ) + { + // Go through the links for the current vertex + for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link ) + { + int linkAddress = currentVertex * maxLinksPerVertex + link; + int linkIndex = listOfLinksPerVertex[linkAddress]; + + // If we have not already processed this link, add it to the wavefront + // Claim it as another processed link + // Add the vertex at the far end to the list of vertices to process. + if( !processedLink[linkIndex] ) + { + linksForWavefront.push_back( linkIndex ); + linksProcessed++; + processedLink[linkIndex] = true; + int v0 = linkData.getVertexPair(linkIndex).vertex0; + int v1 = linkData.getVertexPair(linkIndex).vertex1; + if( v0 == currentVertex ) + verticesToProcess.push_back( v1 ); + else + verticesToProcess.push_back( v0 ); + } + } + if( verticesToProcess.size() > 0 ) + { + // Get the element on the front of the queue and remove it + currentVertex = verticesToProcess[0]; + removeFromVector( verticesToProcess, 0 ); + } else { + // If we've not yet processed all the links, find the first unprocessed one + // and select one of its vertices as the current vertex + if( linksProcessed < linkData.getNumLinks() ) + { + int searchLink = 0; + while( processedLink[searchLink] ) + searchLink++; + currentVertex = linkData.getVertexPair(searchLink).vertex0; + } + } + } + + // We have either finished or filled a wavefront + for( int link = 0; link < linksForWavefront.size(); ++link ) + { + int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0; + int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1; + insertUniqueAndOrderedIntoVector( vertexSet, v0 ); + insertUniqueAndOrderedIntoVector( vertexSet, v1 ); + } + // Iterate over links mapped to the wave and batch those + // We can run a batch on each cycle trivially + + batchesWithinWaves.resize( batchesWithinWaves.size() + 1 ); + btAlignedObjectArray < btAlignedObjectArray > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] ); + + + for( int link = 0; link < linksForWavefront.size(); ++link ) + { + int linkIndex = linksForWavefront[link]; + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex ); + + int batch = 0; + bool placed = false; + while( batch < batchesWithinWave.size() && !placed ) + { + bool foundSharedVertex = false; + if( batchesWithinWave[batch].size() >= wavefrontSize ) + { + // If we have already filled this batch, move on to another + foundSharedVertex = true; + } else { + for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 ) + { + btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] ); + + if( vertices.vertex0 == vertices2.vertex0 || + vertices.vertex1 == vertices2.vertex0 || + vertices.vertex0 == vertices2.vertex1 || + vertices.vertex1 == vertices2.vertex1 ) + { + foundSharedVertex = true; + break; + } + } + } + if( !foundSharedVertex ) + { + batchesWithinWave[batch].push_back( linkIndex ); + placed = true; + } else { + ++batch; + } + } + if( batch == batchesWithinWave.size() && !placed ) + { + batchesWithinWave.resize( batch + 1 ); + batchesWithinWave[batch].push_back( linkIndex ); + } + } + + } + +} + +void btSoftBodyLinkDataDX11SIMDAware::generateBatches() +{ + btAlignedObjectArray < btAlignedObjectArray > linksForWavefronts; + btAlignedObjectArray < btAlignedObjectArray > wavefrontBatches; + btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray > > batchesWithinWaves; + btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set + + // Group the links into wavefronts + computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts ); + + + // Batch the wavefronts + generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches ); + + m_numWavefronts = linksForWavefronts.size(); + + // At this point we have a description of which links we need to process in each wavefront + + // First correctly fill the batch ranges vector + int numBatches = wavefrontBatches.size(); + m_wavefrontBatchStartLengths.resize(0); + int prefixSum = 0; + for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex ) + { + int wavesInBatch = wavefrontBatches[batchIndex].size(); + int nextPrefixSum = prefixSum + wavesInBatch; + m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) ); + + prefixSum += wavesInBatch; + } + + // Also find max number of batches within a wave + m_maxBatchesWithinWave = 0; + m_maxVerticesWithinWave = 0; + m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts ); + for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex ) + { + // See if the number of batches in this wave is greater than the current maxium + int batchesInCurrentWave = batchesWithinWaves[waveIndex].size(); + int verticesInCurrentWave = verticesForWavefronts[waveIndex].size(); + m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave ); + m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave ); + } + + // Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around + m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2); + + // Now we know the maximum number of vertices per-wave we can resize the global vertices array + m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts ); + + // Grab backup copies of all the link data arrays for the sorting process + btAlignedObjectArray m_links_Backup(m_links); + btAlignedObjectArray m_linkStrength_Backup(m_linkStrength); + btAlignedObjectArray m_linksMassLSC_Backup(m_linksMassLSC); + btAlignedObjectArray m_linksRestLengthSquared_Backup(m_linksRestLengthSquared); + //btAlignedObjectArray m_linksCLength_Backup(m_linksCLength); + //btAlignedObjectArray m_linksLengthRatio_Backup(m_linksLengthRatio); + btAlignedObjectArray m_linksRestLength_Backup(m_linksRestLength); + btAlignedObjectArray m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient); + + // Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses. + m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + + // Then re-order links into wavefront blocks + + // Total number of wavefronts moved. This will decide the ordering of sorted wavefronts. + int wavefrontCount = 0; + + // Iterate over batches of wavefronts, then wavefronts in the batch + for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex ) + { + btAlignedObjectArray &batch( wavefrontBatches[batchIndex] ); + int wavefrontsInBatch = batch.size(); + + + for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex ) + { + + int originalWavefrontIndex = batch[wavefrontIndex]; + btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] ); + int verticesUsedByWavefront = wavefrontVertices.size(); + + // Copy the set of vertices into the correctly structured array for use on the device + // Fill the non-vertices with -1s + // so we can mask out those reads + for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex ) + { + m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex]; + } + for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex ) + { + m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1; + } + + // Obtain the set of batches within the current wavefront + btAlignedObjectArray < btAlignedObjectArray > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] ); + // Set the size of the batches for use in the solver, correctly ordered + NumBatchesVerticesPair batchesAndVertices; + batchesAndVertices.numBatches = batchesWithinWavefront.size(); + batchesAndVertices.numVertices = verticesUsedByWavefront; + m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices; + + + // Now iterate over batches within the wavefront to structure the links correctly + for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch ) + { + btAlignedObjectArray &linksInBatch( batchesWithinWavefront[wavefrontBatch] ); + int wavefrontBatchSize = linksInBatch.size(); + + int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch; + + for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex ) + { + int originalLinkAddress = linksInBatch[linkIndex]; + // Reorder simple arrays trivially + m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress]; + m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress]; + m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress]; + m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress]; + m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress]; + m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress]; + + // The local address is more complicated. We need to work out where a given vertex will end up + // by searching the set of vertices for this link and using the index as the local address + btSoftBodyLinkData::LinkNodePair localPair; + btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex]; + localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 ); + localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 ); + m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair; + } + for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex ) + { + // Put 0s into these arrays for padding for cleanliness + m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0); + m_linkStrength[batchAddressInTarget + linkIndex] = 0.f; + m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f; + m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f; + m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f; + m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f; + + + // For local addresses of junk data choose a set of addresses just above the range of valid ones + // and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses + // The valid addresses will do scatter and gather in the valid range, the junk ones should happily work + // off the end of that range so we need no control + btSoftBodyLinkData::LinkNodePair localPair; + localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16); + localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16); + m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair; + } + + } + + + wavefrontCount++; + } + + + } + +} // void btSoftBodyLinkDataDX11SIMDAware::generateBatches() diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h new file mode 100644 index 00000000..34881973 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "vectormath/vmInclude.h" +#include "btSoftBodySolver_DX11.h" +#include "btSoftBodySolverVertexBuffer_DX11.h" +#include "btSoftBodySolverLinkData_DX11SIMDAware.h" +#include "btSoftBodySolverVertexData_DX11.h" +#include "btSoftBodySolverTriangleData_DX11.h" + + +#ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H +#define BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H + +class btDX11SIMDAwareSoftBodySolver : public btDX11SoftBodySolver +{ +protected: + struct SolvePositionsFromLinksKernelCB + { + int startWave; + int numWaves; + float kst; + float ti; + }; + + + /** Link data for all cloths. Note that this will be sorted batch-wise for efficient computation and m_linkAddresses will maintain the addressing. */ + btSoftBodyLinkDataDX11SIMDAware m_linkData; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + + virtual bool buildShaders(); + + void updateConstants( float timeStep ); + + + ////////////////////////////////////// + // Kernel dispatches + + + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + + // End kernel dispatches + ///////////////////////////////////// + + + +public: + btDX11SIMDAwareSoftBodySolver(ID3D11Device * dx11Device, ID3D11DeviceContext* dx11Context, DXFunctions::CompileFromMemoryFunc dx11CompileFromMemory = &D3DX11CompileFromMemory); + + virtual ~btDX11SIMDAwareSoftBodySolver(); + + virtual btSoftBodyLinkData &getLinkData(); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); + + virtual void solveConstraints( float solverdt ); + + virtual SolverTypes getSolverType() const + { + return DX_SIMD_SOLVER; + } + +}; + +#endif // #ifndef BT_SOFT_BODY_DX11_SOLVER_SIMDAWARE_H + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua new file mode 100644 index 00000000..4625306d --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/premake4.lua @@ -0,0 +1,23 @@ + +hasDX11 = findDirectX11() + +if (hasDX11) then + + project "BulletSoftBodyDX11Solvers" + + initDirectX11() + + kind "StaticLib" + + targetdir "../../../../lib" + + includedirs { + ".", + "../../.." + } + files { + "**.cpp", + "**.h" + } + +end diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt new file mode 100644 index 00000000..1fc07328 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt @@ -0,0 +1,65 @@ + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src + ${AMD_OPENCL_INCLUDES} +) + +ADD_DEFINITIONS(-DUSE_AMD_OPENCL) +ADD_DEFINITIONS(-DCL_PLATFORM_AMD) + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp + ../btSoftBodySolver_OpenCLSIMDAware.cpp + ../btSoftBodySolverOutputCLtoGL.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../btSoftBodySolver_OpenCLSIMDAware.h + ../../Shared/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCLSIMDAware.h + ../btSoftBodySolverBuffer_OpenCL.h + ../btSoftBodySolverVertexBuffer_OpenGL.h + ../btSoftBodySolverOutputCLtoGL.h +) + + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_AMD + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_AMD BulletSoftBody) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_AMD PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua new file mode 100644 index 00000000..8c663a8c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/premake4.lua @@ -0,0 +1,27 @@ + +hasCL = findOpenCL_AMD() + +if (hasCL) then + + project "BulletSoftBodySolvers_OpenCL_AMD" + + defines { "USE_AMD_OPENCL","CL_PLATFORM_AMD"} + + initOpenCL_AMD() + + kind "StaticLib" + + targetdir "../../../../../lib" + + includedirs { + ".", + "../../../..", + "../../../../../Glut" + } + files { + "../btSoftBodySolver_OpenCL.cpp", + "../btSoftBodySolver_OpenCLSIMDAware.cpp", + "../btSoftBodySolverOutputCLtoGL.cpp" + } + +end diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt new file mode 100644 index 00000000..6e593a99 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt @@ -0,0 +1,80 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src +) + + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp + ../btSoftBodySolver_OpenCLSIMDAware.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../../Shared/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverBuffer_OpenCL.h +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyOpenCLSolvers_Shaders +# OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + SolvePositions + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders}) + LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Apple + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} + ${BulletSoftBodyOpenCLSolvers_OpenCLC} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + IF (APPLE AND (BUILD_SHARED_LIBS OR FRAMEWORK) ) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES LINK_FLAGS "-framework OpenCL") + ENDIF (APPLE AND (BUILD_SHARED_LIBS OR FRAMEWORK) ) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Apple BulletSoftBody) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Apple PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt new file mode 100644 index 00000000..cf9a0be2 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/CMakeLists.txt @@ -0,0 +1,17 @@ + SUBDIRS( MiniCL ) + +IF(BUILD_INTEL_OPENCL_DEMOS) + SUBDIRS(Intel) +ENDIF() + +IF(BUILD_AMD_OPENCL_DEMOS) + SUBDIRS(AMD) +ENDIF() + +IF(BUILD_NVIDIA_OPENCL_DEMOS) + SUBDIRS(NVidia) +ENDIF() + +IF(APPLE AND OPENCL_LIBRARY) + SUBDIRS(Apple) +ENDIF() diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt new file mode 100644 index 00000000..ecca1813 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt @@ -0,0 +1,85 @@ + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src + ${INTEL_OPENCL_INCLUDES} +) + +ADD_DEFINITIONS(-DUSE_INTEL_OPENCL) +ADD_DEFINITIONS(-DCL_PLATFORM_INTEL) + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp + ../btSoftBodySolver_OpenCLSIMDAware.cpp + ../btSoftBodySolverOutputCLtoGL.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../btSoftBodySolver_OpenCLSIMDAware.h + ../../Shared/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCLSIMDAware.h + ../btSoftBodySolverBuffer_OpenCL.h + ../btSoftBodySolverVertexBuffer_OpenGL.h + ../btSoftBodySolverOutputCLtoGL.h +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyOpenCLSolvers_Shaders +# OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + SolvePositions + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders}) + LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Intel + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} + ${BulletSoftBodyOpenCLSolvers_OpenCLC} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Intel BulletSoftBody) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Intel PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua new file mode 100644 index 00000000..668886d1 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/premake4.lua @@ -0,0 +1,27 @@ + +hasCL = findOpenCL_Intel() + +if (hasCL) then + + project "BulletSoftBodySolvers_OpenCL_Intel" + + defines { "USE_INTEL_OPENCL","CL_PLATFORM_INTEL"} + + initOpenCL_Intel() + + kind "StaticLib" + + targetdir "../../../../../lib" + + includedirs { + ".", + "../../../..", + "../../../../../Glut" + } + files { + "../btSoftBodySolver_OpenCL.cpp", + "../btSoftBodySolver_OpenCLSIMDAware.cpp", + "../btSoftBodySolverOutputCLtoGL.cpp" + } + +end diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt new file mode 100644 index 00000000..97deb7e4 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt @@ -0,0 +1,78 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src +) + +ADD_DEFINITIONS(-DUSE_MINICL) + + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../../Shared/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverBuffer_OpenCL.h +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyOpenCLSolvers_Shaders +# OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + SolvePositions + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders}) + LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_Mini + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} + ${BulletSoftBodyOpenCLSolvers_OpenCLC} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_Mini MiniCL BulletMultiThreaded BulletSoftBody) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_Mini PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp new file mode 100644 index 00000000..dfa60e66 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/MiniCLTaskWrap.cpp @@ -0,0 +1,249 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include + +#define MSTRINGIFY(A) A +#include "../OpenCLC10/ApplyForces.cl" +#include "../OpenCLC10/Integrate.cl" +#include "../OpenCLC10/PrepareLinks.cl" +#include "../OpenCLC10/SolvePositions.cl" +#include "../OpenCLC10/UpdateNodes.cl" +#include "../OpenCLC10/UpdateNormals.cl" +#include "../OpenCLC10/UpdatePositions.cl" +#include "../OpenCLC10/UpdatePositionsFromVelocities.cl" +#include "../OpenCLC10/VSolveLinks.cl" +#include "../OpenCLC10/UpdateFixedVertexPositions.cl" +//#include "../OpenCLC10/SolveCollisionsAndUpdateVelocities.cl" + + +MINICL_REGISTER(PrepareLinksKernel) +MINICL_REGISTER(VSolveLinksKernel) +MINICL_REGISTER(UpdatePositionsFromVelocitiesKernel) +MINICL_REGISTER(SolvePositionsFromLinksKernel) +MINICL_REGISTER(updateVelocitiesFromPositionsWithVelocitiesKernel) +MINICL_REGISTER(updateVelocitiesFromPositionsWithoutVelocitiesKernel) +MINICL_REGISTER(IntegrateKernel) +MINICL_REGISTER(ApplyForcesKernel) +MINICL_REGISTER(ResetNormalsAndAreasKernel) +MINICL_REGISTER(NormalizeNormalsAndAreasKernel) +MINICL_REGISTER(UpdateSoftBodiesKernel) +MINICL_REGISTER(UpdateFixedVertexPositions) + +float mydot3a(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + + +typedef struct +{ + int firstObject; + int endObject; +} CollisionObjectIndices; + +typedef struct +{ + float4 shapeTransform[4]; // column major 4x4 matrix + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + int upAxis; + + float margin; + float friction; + + int padding0; + +} CollisionShapeDescription; + +// From btBroadphaseProxy.h +__constant int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Multiply column-major matrix against vector +float4 matrixVectorMul( float4 matrix[4], float4 vector ) +{ + float4 returnVector; + float4 row0 = float4(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x); + float4 row1 = float4(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y); + float4 row2 = float4(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z); + float4 row3 = float4(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w); + returnVector.x = dot(row0, vector); + returnVector.y = dot(row1, vector); + returnVector.z = dot(row2, vector); + returnVector.w = dot(row3, vector); + return returnVector; +} + +__kernel void +SolveCollisionsAndUpdateVelocitiesKernel( + const int numNodes, + const float isolverdt, + __global int *g_vertexClothIdentifier, + __global float4 *g_vertexPreviousPositions, + __global float * g_perClothFriction, + __global float * g_clothDampingFactor, + __global CollisionObjectIndices * g_perClothCollisionObjectIndices, + __global CollisionShapeDescription * g_collisionObjectDetails, + __global float4 * g_vertexForces, + __global float4 *g_vertexVelocities, + __global float4 *g_vertexPositions GUID_ARG) +{ + int nodeID = get_global_id(0); + float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f); + + if( get_global_id(0) < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + + // Abort if this is not a valid cloth + if( clothIdentifier < 0 ) + return; + + + float4 position (g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition (g_vertexPreviousPositions[nodeID].xyz, 1.f); + + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + float4 difference = position - previousPosition; + float4 velocity = difference*velocityCoefficient*isolverdt; + + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + + if( numObjects > 0 ) + { + // We have some possible collisions to deal with + for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision ) + { + CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = shapeDescription.halfHeight; + float capsuleRadius = shapeDescription.radius; + float capsuleMargin = shapeDescription.margin; + int capsuleupAxis = shapeDescription.upAxis; + + // Four columns of worldTransform matrix + float4 worldTransform[4]; + worldTransform[0] = shapeDescription.shapeTransform[0]; + worldTransform[1] = shapeDescription.shapeTransform[1]; + worldTransform[2] = shapeDescription.shapeTransform[2]; + worldTransform[3] = shapeDescription.shapeTransform[3]; + + // Correctly define capsule centerline vector + float4 c1 (0.f, 0.f, 0.f, 1.f); + float4 c2 (0.f, 0.f, 0.f, 1.f); + c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 ); + c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 ); + c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 ); + c2.x = -c1.x; + c2.y = -c1.y; + c2.z = -c1.z; + + + float4 worldC1 = matrixVectorMul(worldTransform, c1); + float4 worldC2 = matrixVectorMul(worldTransform, c2); + float4 segment = (worldC2 - worldC1); + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) ); + + float4 closestPoint = (worldC1 + (segment * distanceAlongSegment)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float4 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = float4(normalize(position - worldC1).xyz, 0.f); + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = float4(normalize(position - worldC2).xyz, 0.f); + } else { + dist = distanceFromLine; + normalVector = float4(normalize(position - closestPoint).xyz, 0.f); + } + + float4 colliderLinearVelocity = shapeDescription.linearVelocity; + float4 colliderAngularVelocity = shapeDescription.angularVelocity; + float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - float4(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f)); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + float4(normalVector*(minDistance - dist)*0.9f); + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + float4 relativeVelocity = velocity - velocityOfSurfacePoint; + + float4 p1 = normalize(cross(normalVector, segment)); + float4 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0f ) + forceOnVertex -= frictionVector; + } + } + } + } + + g_vertexVelocities[nodeID] = float4(velocity.xyz, 0.f); + + // Update external force + g_vertexForces[nodeID] = float4(forceOnVertex.xyz, 0.f); + + g_vertexPositions[nodeID] = float4(position.xyz, 0.f); + } +} + + +MINICL_REGISTER(SolveCollisionsAndUpdateVelocitiesKernel); + + + + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt new file mode 100644 index 00000000..884a0ffe --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt @@ -0,0 +1,84 @@ + +ADD_DEFINITIONS(-DUSE_NVIDIA_OPENCL) +ADD_DEFINITIONS(-DCL_PLATFORM_NVIDIA) + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src + ${NVIDIA_OPENCL_INCLUDES} +) + + + +SET(BulletSoftBodyOpenCLSolvers_SRCS + ../btSoftBodySolver_OpenCL.cpp + ../btSoftBodySolver_OpenCLSIMDAware.cpp + ../btSoftBodySolverOutputCLtoGL.cpp +) + +SET(BulletSoftBodyOpenCLSolvers_HDRS + ../btSoftBodySolver_OpenCL.h + ../../Shared/btSoftBodySolverData.h + ../btSoftBodySolverVertexData_OpenCL.h + ../btSoftBodySolverTriangleData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCL.h + ../btSoftBodySolverLinkData_OpenCLSIMDAware.h + ../btSoftBodySolverBuffer_OpenCL.h + ../btSoftBodySolverVertexBuffer_OpenGL.h + ../btSoftBodySolverOutputCLtoGL.h +) + +# OpenCL and HLSL Shaders. +# Build rules generated to stringify these into headers +# which are needed by some of the sources +SET(BulletSoftBodyOpenCLSolvers_Shaders +# OutputToVertexArray + UpdateNormals + Integrate + UpdatePositions + UpdateNodes + SolvePositions + UpdatePositionsFromVelocities + ApplyForces + PrepareLinks + VSolveLinks +) + +foreach(f ${BulletSoftBodyOpenCLSolvers_Shaders}) + LIST(APPEND BulletSoftBodyOpenCLSolvers_OpenCLC "../OpenCLC10/${f}.cl") +endforeach(f) + + + +ADD_LIBRARY(BulletSoftBodySolvers_OpenCL_NVidia + ${BulletSoftBodyOpenCLSolvers_SRCS} + ${BulletSoftBodyOpenCLSolvers_HDRS} + ${BulletSoftBodyOpenCLSolvers_OpenCLC} +) + +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBodySolvers_OpenCL_NVidia BulletSoftBody BulletDynamics) +ENDIF (BUILD_SHARED_LIBS) + + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) +#headers are already installed by BulletMultiThreaded library + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBodySolvers_OpenCL_NVidia PROPERTIES PUBLIC_HEADER "${BulletSoftBodyOpenCLSolvers_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua new file mode 100644 index 00000000..0bab1e30 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/premake4.lua @@ -0,0 +1,27 @@ + +hasCL = findOpenCL_NVIDIA() + +if (hasCL) then + + project "BulletSoftBodySolvers_OpenCL_NVIDIA" + + defines { "USE_NVIDIA_OPENCL","CL_PLATFORM_NVIDIA"} + + initOpenCL_NVIDIA() + + kind "StaticLib" + + targetdir "../../../../../lib" + + includedirs { + ".", + "../../../..", + "../../../../../Glut" + } + files { + "../btSoftBodySolver_OpenCL.cpp", + "../btSoftBodySolver_OpenCLSIMDAware.cpp", + "../btSoftBodySolverOutputCLtoGL.cpp" + } + +end diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl new file mode 100644 index 00000000..f9bcb88e --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ApplyForces.cl @@ -0,0 +1,102 @@ +MSTRINGIFY( + + +float adot3(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + +float alength3(float4 a) +{ + a.w = 0; + return length(a); +} + +float4 anormalize3(float4 a) +{ + a.w = 0; + return normalize(a); +} + +float4 projectOnAxis( float4 v, float4 a ) +{ + return (a*adot3(v, a)); +} + +__kernel void +ApplyForcesKernel( + const uint numNodes, + const float solverdt, + const float epsilon, + __global int * g_vertexClothIdentifier, + __global float4 * g_vertexNormal, + __global float * g_vertexArea, + __global float * g_vertexInverseMass, + __global float * g_clothLiftFactor, + __global float * g_clothDragFactor, + __global float4 * g_clothWindVelocity, + __global float4 * g_clothAcceleration, + __global float * g_clothMediumDensity, + __global float4 * g_vertexForceAccumulator, + __global float4 * g_vertexVelocity GUID_ARG) +{ + unsigned int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + int clothId = g_vertexClothIdentifier[nodeID]; + float nodeIM = g_vertexInverseMass[nodeID]; + + if( nodeIM > 0.0f ) + { + float4 nodeV = g_vertexVelocity[nodeID]; + float4 normal = g_vertexNormal[nodeID]; + float area = g_vertexArea[nodeID]; + float4 nodeF = g_vertexForceAccumulator[nodeID]; + + // Read per-cloth values + float4 clothAcceleration = g_clothAcceleration[clothId]; + float4 clothWindVelocity = g_clothWindVelocity[clothId]; + float liftFactor = g_clothLiftFactor[clothId]; + float dragFactor = g_clothDragFactor[clothId]; + float mediumDensity = g_clothMediumDensity[clothId]; + + // Apply the acceleration to the cloth rather than do this via a force + nodeV += (clothAcceleration*solverdt); + + g_vertexVelocity[nodeID] = nodeV; + + // Aerodynamics + float4 rel_v = nodeV - clothWindVelocity; + float rel_v_len = alength3(rel_v); + float rel_v2 = dot(rel_v, rel_v); + + if( rel_v2 > epsilon ) + { + float4 rel_v_nrm = anormalize3(rel_v); + float4 nrm = normal; + + nrm = nrm * (dot(nrm, rel_v) < 0 ? -1.f : 1.f); + + float4 fDrag = (float4)(0.f, 0.f, 0.f, 0.f); + float4 fLift = (float4)(0.f, 0.f, 0.f, 0.f); + + float n_dot_v = dot(nrm, rel_v_nrm); + + // drag force + if ( dragFactor > 0.f ) + fDrag = 0.5f * dragFactor * mediumDensity * rel_v2 * area * n_dot_v * (-1.0f) * rel_v_nrm; + + // lift force + // Check angle of attack + // cos(10º) = 0.98480 + if ( 0 < n_dot_v && n_dot_v < 0.98480f) + fLift = 0.5f * liftFactor * mediumDensity * rel_v_len * area * sqrt(1.0f-n_dot_v*n_dot_v) * (cross(cross(nrm, rel_v_nrm), rel_v_nrm)); + + nodeF += fDrag + fLift; + g_vertexForceAccumulator[nodeID] = nodeF; + } + } + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl new file mode 100644 index 00000000..2ae7148a --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/ComputeBounds.cl @@ -0,0 +1,82 @@ +MSTRINGIFY( +#pragma OPENCL EXTENSION cl_khr_global_int32_extended_atomics : enable\n +#pragma OPENCL EXTENSION cl_khr_local_int32_extended_atomics : enable\n + +__kernel void +ComputeBoundsKernel( + const int numNodes, + const int numSoftBodies, + __global int * g_vertexClothIdentifier, + __global float4 * g_vertexPositions, + /* Unfortunately, to get the atomics below to work these arrays cannot be */ + /* uint4, though that is the layout of the data */ + /* Therefore this is little-endian-only code */ + volatile __global uint * g_clothMinBounds, + volatile __global uint * g_clothMaxBounds, + volatile __local uint * clothMinBounds, + volatile __local uint * clothMaxBounds) +{ + // Init min and max bounds arrays + if( get_local_id(0) < numSoftBodies ) + { + + clothMinBounds[get_local_id(0)*4] = UINT_MAX; + clothMinBounds[get_local_id(0)*4+1] = UINT_MAX; + clothMinBounds[get_local_id(0)*4+2] = UINT_MAX; + clothMinBounds[get_local_id(0)*4+3] = UINT_MAX; + clothMaxBounds[get_local_id(0)*4] = 0; + clothMaxBounds[get_local_id(0)*4+1] = 0; + clothMaxBounds[get_local_id(0)*4+2] = 0; + clothMaxBounds[get_local_id(0)*4+3] = 0; + + } + + barrier(CLK_LOCAL_MEM_FENCE); + + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + if( clothIdentifier >= 0 ) + { + + float4 position = (float4)(g_vertexPositions[nodeID].xyz, 0.f); + + /* Reinterpret position as uint */ + uint4 positionUInt = (uint4)(as_uint(position.x), as_uint(position.y), as_uint(position.z), 0); + + /* Invert sign bit of positives and whole of negatives to allow comparison as unsigned ints */ + positionUInt.x ^= (1+~(positionUInt.x >> 31) | 0x80000000); + positionUInt.y ^= (1+~(positionUInt.y >> 31) | 0x80000000); + positionUInt.z ^= (1+~(positionUInt.z >> 31) | 0x80000000); + + // Min/max with the LDS values + atom_min(&(clothMinBounds[clothIdentifier*4]), positionUInt.x); + atom_min(&(clothMinBounds[clothIdentifier*4+1]), positionUInt.y); + atom_min(&(clothMinBounds[clothIdentifier*4+2]), positionUInt.z); + + atom_max(&(clothMaxBounds[clothIdentifier*4]), positionUInt.x); + atom_max(&(clothMaxBounds[clothIdentifier*4+1]), positionUInt.y); + atom_max(&(clothMaxBounds[clothIdentifier*4+2]), positionUInt.z); + } + } + + barrier(CLK_LOCAL_MEM_FENCE); + + + /* Use global atomics to update the global versions of the data */ + if( get_local_id(0) < numSoftBodies ) + { + /*atom_min(&(g_clothMinBounds[get_local_id(0)].x), clothMinBounds[get_local_id(0)].x);*/ + atom_min(&(g_clothMinBounds[get_local_id(0)*4]), clothMinBounds[get_local_id(0)*4]); + atom_min(&(g_clothMinBounds[get_local_id(0)*4+1]), clothMinBounds[get_local_id(0)*4+1]); + atom_min(&(g_clothMinBounds[get_local_id(0)*4+2]), clothMinBounds[get_local_id(0)*4+2]); + + atom_max(&(g_clothMaxBounds[get_local_id(0)*4]), clothMaxBounds[get_local_id(0)*4]); + atom_max(&(g_clothMaxBounds[get_local_id(0)*4+1]), clothMaxBounds[get_local_id(0)*4+1]); + atom_max(&(g_clothMaxBounds[get_local_id(0)*4+2]), clothMaxBounds[get_local_id(0)*4+2]); + } +} + + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl new file mode 100644 index 00000000..bb2d98a5 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/Integrate.cl @@ -0,0 +1,35 @@ +MSTRINGIFY( + +// Node indices for each link + + + +__kernel void +IntegrateKernel( + const int numNodes, + const float solverdt, + __global float * g_vertexInverseMasses, + __global float4 * g_vertexPositions, + __global float4 * g_vertexVelocity, + __global float4 * g_vertexPreviousPositions, + __global float4 * g_vertexForceAccumulator GUID_ARG) +{ + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID]; + float4 velocity = g_vertexVelocity[nodeID]; + float4 force = g_vertexForceAccumulator[nodeID]; + float inverseMass = g_vertexInverseMasses[nodeID]; + + g_vertexPreviousPositions[nodeID] = position; + velocity += force * inverseMass * solverdt; + position += velocity * solverdt; + + g_vertexForceAccumulator[nodeID] = (float4)(0.f, 0.f, 0.f, 0.0f); + g_vertexPositions[nodeID] = position; + g_vertexVelocity[nodeID] = velocity; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl new file mode 100644 index 00000000..98913777 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/OutputToVertexArray.cl @@ -0,0 +1,46 @@ +MSTRINGIFY( + +__kernel void +OutputToVertexArrayWithNormalsKernel( + const int startNode, const int numNodes, __global float *g_vertexBuffer, + const int positionOffset, const int positionStride, const __global float4* g_vertexPositions, + const int normalOffset, const int normalStride, const __global float4* g_vertexNormals ) +{ + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + float4 normal = g_vertexNormals[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + + int normalDestination = nodeID * normalStride + normalOffset; + g_vertexBuffer[normalDestination] = normal.x; + g_vertexBuffer[normalDestination+1] = normal.y; + g_vertexBuffer[normalDestination+2] = normal.z; + } +} + +__kernel void +OutputToVertexArrayWithoutNormalsKernel( + const int startNode, const int numNodes, __global float *g_vertexBuffer, + const int positionOffset, const int positionStride, const __global float4* g_vertexPositions ) +{ + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID + startNode]; + + // Stride should account for the float->float4 conversion + int positionDestination = nodeID * positionStride + positionOffset; + g_vertexBuffer[positionDestination] = position.x; + g_vertexBuffer[positionDestination+1] = position.y; + g_vertexBuffer[positionDestination+2] = position.z; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl new file mode 100644 index 00000000..542a11ec --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/PrepareLinks.cl @@ -0,0 +1,38 @@ +MSTRINGIFY( + + + +__kernel void +PrepareLinksKernel( + const int numLinks, + __global int2 * g_linksVertexIndices, + __global float * g_linksMassLSC, + __global float4 * g_nodesPreviousPosition, + __global float * g_linksLengthRatio, + __global float4 * g_linksCurrentLength GUID_ARG) +{ + int linkID = get_global_id(0); + if( linkID < numLinks ) + { + + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float4 nodePreviousPosition0 = g_nodesPreviousPosition[node0]; + float4 nodePreviousPosition1 = g_nodesPreviousPosition[node1]; + + float massLSC = g_linksMassLSC[linkID]; + + float4 linkCurrentLength = nodePreviousPosition1 - nodePreviousPosition0; + linkCurrentLength.w = 0.f; + + float linkLengthRatio = dot(linkCurrentLength, linkCurrentLength)*massLSC; + linkLengthRatio = 1.0f/linkLengthRatio; + + g_linksCurrentLength[linkID] = linkCurrentLength; + g_linksLengthRatio[linkID] = linkLengthRatio; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl new file mode 100644 index 00000000..92fb939d --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocities.cl @@ -0,0 +1,204 @@ +MSTRINGIFY( + + + +float mydot3a(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + + +typedef struct +{ + int firstObject; + int endObject; +} CollisionObjectIndices; + +typedef struct +{ + float4 shapeTransform[4]; // column major 4x4 matrix + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + int upAxis; + + float margin; + float friction; + + int padding0; + +} CollisionShapeDescription; + +// From btBroadphaseProxy.h +__constant int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Multiply column-major matrix against vector +float4 matrixVectorMul( float4 matrix[4], float4 vector ) +{ + float4 returnVector; + float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x); + float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y); + float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z); + float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w); + returnVector.x = dot(row0, vector); + returnVector.y = dot(row1, vector); + returnVector.z = dot(row2, vector); + returnVector.w = dot(row3, vector); + return returnVector; +} + +__kernel void +SolveCollisionsAndUpdateVelocitiesKernel( + const int numNodes, + const float isolverdt, + __global int *g_vertexClothIdentifier, + __global float4 *g_vertexPreviousPositions, + __global float * g_perClothFriction, + __global float * g_clothDampingFactor, + __global CollisionObjectIndices * g_perClothCollisionObjectIndices, + __global CollisionShapeDescription * g_collisionObjectDetails, + __global float4 * g_vertexForces, + __global float4 *g_vertexVelocities, + __global float4 *g_vertexPositions GUID_ARG) +{ + int nodeID = get_global_id(0); + float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f); + + if( get_global_id(0) < numNodes ) + { + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + + // Abort if this is not a valid cloth + if( clothIdentifier < 0 ) + return; + + + float4 position = (float4)(g_vertexPositions[nodeID].xyz, 1.f); + float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 1.f); + + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + float4 difference = position - previousPosition; + float4 velocity = difference*velocityCoefficient*isolverdt; + + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + + if( numObjects > 0 ) + { + // We have some possible collisions to deal with + for( int collision = collisionObjectIndices.firstObject; collision < collisionObjectIndices.endObject; ++collision ) + { + CollisionShapeDescription shapeDescription = g_collisionObjectDetails[collision]; + float colliderFriction = shapeDescription.friction; + + if( shapeDescription.collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = shapeDescription.halfHeight; + float capsuleRadius = shapeDescription.radius; + float capsuleMargin = shapeDescription.margin; + int capsuleupAxis = shapeDescription.upAxis; + + // Four columns of worldTransform matrix + float4 worldTransform[4]; + worldTransform[0] = shapeDescription.shapeTransform[0]; + worldTransform[1] = shapeDescription.shapeTransform[1]; + worldTransform[2] = shapeDescription.shapeTransform[2]; + worldTransform[3] = shapeDescription.shapeTransform[3]; + + // Correctly define capsule centerline vector + float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); + float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f); + c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 ); + c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 ); + c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 ); + c2.x = -c1.x; + c2.y = -c1.y; + c2.z = -c1.z; + + + float4 worldC1 = matrixVectorMul(worldTransform, c1); + float4 worldC2 = matrixVectorMul(worldTransform, c2); + float4 segment = (worldC2 - worldC1); + + // compute distance of tangent to vertex along line segment in capsule + float distanceAlongSegment = -( mydot3a( (worldC1 - position), segment ) / mydot3a(segment, segment) ); + + float4 closestPoint = (worldC1 + (float4)(segment * distanceAlongSegment)); + float distanceFromLine = length(position - closestPoint); + float distanceFromC1 = length(worldC1 - position); + float distanceFromC2 = length(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float4 normalVector; + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = (float4)(normalize(position - worldC1).xyz, 0.f); + } else if( distanceAlongSegment > 1.f ) { + dist = distanceFromC2; + normalVector = (float4)(normalize(position - worldC2).xyz, 0.f); + } else { + dist = distanceFromLine; + normalVector = (float4)(normalize(position - closestPoint).xyz, 0.f); + } + + float4 colliderLinearVelocity = shapeDescription.linearVelocity; + float4 colliderAngularVelocity = shapeDescription.angularVelocity; + float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, position - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f)); + + float minDistance = capsuleRadius + capsuleMargin; + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = position + (float4)((minDistance - dist)*normalVector*0.9f); + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + float4 relativeVelocity = velocity - velocityOfSurfacePoint; + + float4 p1 = normalize(cross(normalVector, segment)); + float4 p2 = normalize(cross(p1, normalVector)); + // Full friction is sum of velocities in each direction of plane + float4 frictionVector = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2); + + // Real friction is peak friction corrected by friction coefficients + frictionVector = frictionVector * (colliderFriction*clothFriction); + + float approachSpeed = dot(relativeVelocity, normalVector); + + if( approachSpeed <= 0.0f ) + forceOnVertex -= frictionVector; + } + } + } + } + + g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f); + + // Update external force + g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f); + + g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f); + } +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl new file mode 100644 index 00000000..8720b72e --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl @@ -0,0 +1,242 @@ +MSTRINGIFY( + +//#pragma OPENCL EXTENSION cl_amd_printf:enable\n + +float mydot3a(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + +float mylength3(float4 a) +{ + a.w = 0; + return length(a); +} + +float4 mynormalize3(float4 a) +{ + a.w = 0; + return normalize(a); +} + +typedef struct +{ + int firstObject; + int endObject; +} CollisionObjectIndices; + +typedef struct +{ + float4 shapeTransform[4]; // column major 4x4 matrix + float4 linearVelocity; + float4 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + + // Shape information + // Compressed from the union + float radius; + float halfHeight; + int upAxis; + + float margin; + float friction; + + int padding0; + +} CollisionShapeDescription; + +// From btBroadphaseProxy.h +__constant int CAPSULE_SHAPE_PROXYTYPE = 10; + +// Multiply column-major matrix against vector +float4 matrixVectorMul( float4 matrix[4], float4 vector ) +{ + float4 returnVector; + float4 row0 = (float4)(matrix[0].x, matrix[1].x, matrix[2].x, matrix[3].x); + float4 row1 = (float4)(matrix[0].y, matrix[1].y, matrix[2].y, matrix[3].y); + float4 row2 = (float4)(matrix[0].z, matrix[1].z, matrix[2].z, matrix[3].z); + float4 row3 = (float4)(matrix[0].w, matrix[1].w, matrix[2].w, matrix[3].w); + returnVector.x = dot(row0, vector); + returnVector.y = dot(row1, vector); + returnVector.z = dot(row2, vector); + returnVector.w = dot(row3, vector); + return returnVector; +} + +__kernel void +SolveCollisionsAndUpdateVelocitiesKernel( + const int numNodes, + const float isolverdt, + __global int *g_vertexClothIdentifier, + __global float4 *g_vertexPreviousPositions, + __global float * g_perClothFriction, + __global float * g_clothDampingFactor, + __global CollisionObjectIndices * g_perClothCollisionObjectIndices, + __global CollisionShapeDescription * g_collisionObjectDetails, + __global float4 * g_vertexForces, + __global float4 *g_vertexVelocities, + __global float4 *g_vertexPositions, + __local CollisionShapeDescription *localCollisionShapes, + __global float * g_vertexInverseMasses) +{ + int nodeID = get_global_id(0); + float4 forceOnVertex = (float4)(0.f, 0.f, 0.f, 0.f); + + int clothIdentifier = g_vertexClothIdentifier[nodeID]; + + // Abort if this is not a valid cloth + if( clothIdentifier < 0 ) + return; + + + float4 position = (float4)(g_vertexPositions[nodeID].xyz, 0.f); + float4 previousPosition = (float4)(g_vertexPreviousPositions[nodeID].xyz, 0.f); + + float clothFriction = g_perClothFriction[clothIdentifier]; + float dampingFactor = g_clothDampingFactor[clothIdentifier]; + float velocityCoefficient = (1.f - dampingFactor); + float4 difference = position - previousPosition; + float4 velocity = difference*velocityCoefficient*isolverdt; + float inverseMass = g_vertexInverseMasses[nodeID]; + + CollisionObjectIndices collisionObjectIndices = g_perClothCollisionObjectIndices[clothIdentifier]; + + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + + if( numObjects > 0 ) + { + // We have some possible collisions to deal with + + // First load all of the collision objects into LDS + int numObjects = collisionObjectIndices.endObject - collisionObjectIndices.firstObject; + if( get_local_id(0) < numObjects ) + { + localCollisionShapes[get_local_id(0)] = g_collisionObjectDetails[ collisionObjectIndices.firstObject + get_local_id(0) ]; + } + } + + // Safe as the vertices are padded so that not more than one soft body is in a group + barrier(CLK_LOCAL_MEM_FENCE); + + // Annoyingly, even though I know the flow control is not varying, the compiler will not let me skip this + if( numObjects > 0 ) + { + + + // We have some possible collisions to deal with + for( int collision = 0; collision < numObjects; ++collision ) + { + CollisionShapeDescription shapeDescription = localCollisionShapes[collision]; + float colliderFriction = localCollisionShapes[collision].friction; + + if( localCollisionShapes[collision].collisionShapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Colliding with a capsule + + float capsuleHalfHeight = localCollisionShapes[collision].halfHeight; + float capsuleRadius = localCollisionShapes[collision].radius; + float capsuleMargin = localCollisionShapes[collision].margin; + int capsuleupAxis = localCollisionShapes[collision].upAxis; + + if ( capsuleHalfHeight <= 0 ) + capsuleHalfHeight = 0.0001f; + float4 worldTransform[4]; + worldTransform[0] = localCollisionShapes[collision].shapeTransform[0]; + worldTransform[1] = localCollisionShapes[collision].shapeTransform[1]; + worldTransform[2] = localCollisionShapes[collision].shapeTransform[2]; + worldTransform[3] = localCollisionShapes[collision].shapeTransform[3]; + + // Correctly define capsule centerline vector + float4 c1 = (float4)(0.f, 0.f, 0.f, 1.f); + float4 c2 = (float4)(0.f, 0.f, 0.f, 1.f); + c1.x = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 0 ); + c1.y = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 1 ); + c1.z = select( 0.f, -capsuleHalfHeight, capsuleupAxis == 2 ); + c2.x = -c1.x; + c2.y = -c1.y; + c2.z = -c1.z; + + float4 worldC1 = matrixVectorMul(worldTransform, c1); + float4 worldC2 = matrixVectorMul(worldTransform, c2); + float4 segment = (float4)((worldC2 - worldC1).xyz, 0.f); + + float4 segmentNormalized = mynormalize3(segment); + float distanceAlongSegment =mydot3a( (position - worldC1), segmentNormalized ); + + float4 closestPointOnSegment = (worldC1 + (float4)(segmentNormalized * distanceAlongSegment)); + float distanceFromLine = mylength3(position - closestPointOnSegment); + float distanceFromC1 = mylength3(worldC1 - position); + float distanceFromC2 = mylength3(worldC2 - position); + + // Final distance from collision, point to push from, direction to push in + // for impulse force + float dist; + float4 normalVector; + + if( distanceAlongSegment < 0 ) + { + dist = distanceFromC1; + normalVector = (float4)(normalize(position - worldC1).xyz, 0.f); + } else if( distanceAlongSegment > length(segment) ) { + dist = distanceFromC2; + normalVector = (float4)(normalize(position - worldC2).xyz, 0.f); + } else { + dist = distanceFromLine; + normalVector = (float4)(normalize(position - closestPointOnSegment).xyz, 0.f); + } + + float minDistance = capsuleRadius + capsuleMargin; + float4 closestPointOnSurface = (float4)((position + (minDistance - dist) * normalVector).xyz, 0.f); + + float4 colliderLinearVelocity = shapeDescription.linearVelocity; + float4 colliderAngularVelocity = shapeDescription.angularVelocity; + float4 velocityOfSurfacePoint = colliderLinearVelocity + cross(colliderAngularVelocity, closestPointOnSurface - (float4)(worldTransform[0].w, worldTransform[1].w, worldTransform[2].w, 0.f)); + + + // Check for a collision + if( dist < minDistance ) + { + // Project back to surface along normal + position = closestPointOnSurface; + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + float4 relativeVelocity = velocity - velocityOfSurfacePoint; + + float4 p1 = mynormalize3(cross(normalVector, segment)); + float4 p2 = mynormalize3(cross(p1, normalVector)); + + float4 tangentialVel = p1*mydot3a(relativeVelocity, p1) + p2*mydot3a(relativeVelocity, p2); + float frictionCoef = (colliderFriction * clothFriction); + if (frictionCoef>1.f) + frictionCoef = 1.f; + + //only apply friction if objects are not moving apart + float projVel = mydot3a(relativeVelocity,normalVector); + if ( projVel >= -0.001f) + { + if ( inverseMass > 0 ) + { + //float4 myforceOnVertex = -tangentialVel * frictionCoef * isolverdt * (1.0f / inverseMass); + position += (-tangentialVel * frictionCoef) / (isolverdt); + } + } + + // In case of no collision, this is the value of velocity + velocity = (position - previousPosition) * velocityCoefficient * isolverdt; + + } + } + } + } + + g_vertexVelocities[nodeID] = (float4)(velocity.xyz, 0.f); + + // Update external force + g_vertexForces[nodeID] = (float4)(forceOnVertex.xyz, 0.f); + + g_vertexPositions[nodeID] = (float4)(position.xyz, 0.f); +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl new file mode 100644 index 00000000..e4a5341c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositions.cl @@ -0,0 +1,57 @@ + + + +MSTRINGIFY( + + +float mydot3(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + + +__kernel void +SolvePositionsFromLinksKernel( + const int startLink, + const int numLinks, + const float kst, + const float ti, + __global int2 * g_linksVertexIndices, + __global float * g_linksMassLSC, + __global float * g_linksRestLengthSquared, + __global float * g_verticesInverseMass, + __global float4 * g_vertexPositions GUID_ARG) + +{ + int linkID = get_global_id(0) + startLink; + if( get_global_id(0) < numLinks ) + { + float massLSC = g_linksMassLSC[linkID]; + float restLengthSquared = g_linksRestLengthSquared[linkID]; + + if( massLSC > 0.0f ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float4 position0 = g_vertexPositions[node0]; + float4 position1 = g_vertexPositions[node1]; + + float inverseMass0 = g_verticesInverseMass[node0]; + float inverseMass1 = g_verticesInverseMass[node1]; + + float4 del = position1 - position0; + float len = mydot3(del, del); + float k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + g_vertexPositions[node0] = position0; + g_vertexPositions[node1] = position1; + + } + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl new file mode 100644 index 00000000..e99bbf23 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/SolvePositionsSIMDBatched.cl @@ -0,0 +1,130 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +MSTRINGIFY( + +float mydot3(float4 a, float4 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +} + +__kernel __attribute__((reqd_work_group_size(WAVEFRONT_BLOCK_MULTIPLIER*WAVEFRONT_SIZE, 1, 1))) +void +SolvePositionsFromLinksKernel( + const int startWaveInBatch, + const int numWaves, + const float kst, + const float ti, + __global int2 *g_wavefrontBatchCountsVertexCounts, + __global int *g_vertexAddressesPerWavefront, + __global int2 * g_linksVertexIndices, + __global float * g_linksMassLSC, + __global float * g_linksRestLengthSquared, + __global float * g_verticesInverseMass, + __global float4 * g_vertexPositions, + __local int2 *wavefrontBatchCountsVertexCounts, + __local float4 *vertexPositionSharedData, + __local float *vertexInverseMassSharedData) +{ + const int laneInWavefront = (get_global_id(0) & (WAVEFRONT_SIZE-1)); + const int wavefront = startWaveInBatch + (get_global_id(0) / WAVEFRONT_SIZE); + const int firstWavefrontInBlock = startWaveInBatch + get_group_id(0) * WAVEFRONT_BLOCK_MULTIPLIER; + const int localWavefront = wavefront - firstWavefrontInBlock; + + // Mask out in case there's a stray "wavefront" at the end that's been forced in through the multiplier + if( wavefront < (startWaveInBatch + numWaves) ) + { + // Load the batch counts for the wavefronts + + int2 batchesAndVerticesWithinWavefront = g_wavefrontBatchCountsVertexCounts[wavefront]; + int batchesWithinWavefront = batchesAndVerticesWithinWavefront.x; + int verticesUsedByWave = batchesAndVerticesWithinWavefront.y; + + // Load the vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_vertexPositions[vertexAddress]; + vertexInverseMassSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex] = g_verticesInverseMass[vertexAddress]; + } + + barrier(CLK_LOCAL_MEM_FENCE); + + // Loop through the batches performing the solve on each in LDS + int baseDataLocationForWave = WAVEFRONT_SIZE * wavefront * MAX_BATCHES_PER_WAVE; + + //for( int batch = 0; batch < batchesWithinWavefront; ++batch ) + + int batch = 0; + do + { + int baseDataLocation = baseDataLocationForWave + WAVEFRONT_SIZE * batch; + int locationOfValue = baseDataLocation + laneInWavefront; + + + // These loads should all be perfectly linear across the WF + int2 localVertexIndices = g_linksVertexIndices[locationOfValue]; + float massLSC = g_linksMassLSC[locationOfValue]; + float restLengthSquared = g_linksRestLengthSquared[locationOfValue]; + + // LDS vertex addresses based on logical wavefront number in block and loaded index + int vertexAddress0 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.x; + int vertexAddress1 = MAX_NUM_VERTICES_PER_WAVE * localWavefront + localVertexIndices.y; + + float4 position0 = vertexPositionSharedData[vertexAddress0]; + float4 position1 = vertexPositionSharedData[vertexAddress1]; + + float inverseMass0 = vertexInverseMassSharedData[vertexAddress0]; + float inverseMass1 = vertexInverseMassSharedData[vertexAddress1]; + + float4 del = position1 - position0; + float len = mydot3(del, del); + + float k = 0; + if( massLSC > 0.0f ) + { + k = ((restLengthSquared - len)/(massLSC*(restLengthSquared+len)))*kst; + } + + position0 = position0 - del*(k*inverseMass0); + position1 = position1 + del*(k*inverseMass1); + + // Ensure compiler does not re-order memory operations + barrier(CLK_LOCAL_MEM_FENCE); + + vertexPositionSharedData[vertexAddress0] = position0; + vertexPositionSharedData[vertexAddress1] = position1; + + // Ensure compiler does not re-order memory operations + barrier(CLK_LOCAL_MEM_FENCE); + + + ++batch; + } while( batch < batchesWithinWavefront ); + + // Update the global memory vertices for the wavefronts + for( int vertex = laneInWavefront; vertex < verticesUsedByWave; vertex+=WAVEFRONT_SIZE ) + { + int vertexAddress = g_vertexAddressesPerWavefront[wavefront*MAX_NUM_VERTICES_PER_WAVE + vertex]; + + g_vertexPositions[vertexAddress] = (float4)(vertexPositionSharedData[localWavefront*MAX_NUM_VERTICES_PER_WAVE + vertex].xyz, 0.f); + } + + } + +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl new file mode 100644 index 00000000..1d925a31 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateConstants.cl @@ -0,0 +1,44 @@ +MSTRINGIFY( + +/*#define float3 float4 + +float dot3(float3 a, float3 b) +{ + return a.x*b.x + a.y*b.y + a.z*b.z; +}*/ + +__kernel void +UpdateConstantsKernel( + const int numLinks, + __global int2 * g_linksVertexIndices, + __global float4 * g_vertexPositions, + __global float * g_vertexInverseMasses, + __global float * g_linksMaterialLSC, + __global float * g_linksMassLSC, + __global float * g_linksRestLengthSquared, + __global float * g_linksRestLengths) +{ + int linkID = get_global_id(0); + if( linkID < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + float linearStiffnessCoefficient = g_linksMaterialLSC[ linkID ]; + + float3 position0 = g_vertexPositions[node0].xyz; + float3 position1 = g_vertexPositions[node1].xyz; + float inverseMass0 = g_vertexInverseMasses[node0]; + float inverseMass1 = g_vertexInverseMasses[node1]; + + float3 difference = position0 - position1; + float length2 = dot(difference, difference); + float length = sqrt(length2); + + g_linksRestLengths[linkID] = length; + g_linksMassLSC[linkID] = (inverseMass0 + inverseMass1)/linearStiffnessCoefficient; + g_linksRestLengthSquared[linkID] = length*length; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl new file mode 100644 index 00000000..3b2516e7 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateFixedVertexPositions.cl @@ -0,0 +1,25 @@ +MSTRINGIFY( + +__kernel void +UpdateFixedVertexPositions( + const uint numNodes, + __global int * g_anchorIndex, + __global float4 * g_vertexPositions, + __global float4 * g_anchorPositions GUID_ARG) +{ + unsigned int nodeID = get_global_id(0); + + if( nodeID < numNodes ) + { + int anchorIndex = g_anchorIndex[nodeID]; + float4 position = g_vertexPositions[nodeID]; + + if ( anchorIndex >= 0 ) + { + float4 anchorPosition = g_anchorPositions[anchorIndex]; + g_vertexPositions[nodeID] = anchorPosition; + } + } +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl new file mode 100644 index 00000000..aa7c778a --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNodes.cl @@ -0,0 +1,39 @@ +MSTRINGIFY( + + +__kernel void +updateVelocitiesFromPositionsWithVelocitiesKernel( + int numNodes, + float isolverdt, + __global float4 * g_vertexPositions, + __global float4 * g_vertexPreviousPositions, + __global int * g_vertexClothIndices, + __global float *g_clothVelocityCorrectionCoefficients, + __global float * g_clothDampingFactor, + __global float4 * g_vertexVelocities, + __global float4 * g_vertexForces GUID_ARG) +{ + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID]; + float4 previousPosition = g_vertexPreviousPositions[nodeID]; + float4 velocity = g_vertexVelocities[nodeID]; + int clothIndex = g_vertexClothIndices[nodeID]; + float velocityCorrectionCoefficient = g_clothVelocityCorrectionCoefficients[clothIndex]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float4 difference = position - previousPosition; + + velocity += difference*velocityCorrectionCoefficient*isolverdt; + + // Damp the velocity + velocity *= velocityCoefficient; + + g_vertexVelocities[nodeID] = velocity; + g_vertexForces[nodeID] = (float4)(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl new file mode 100644 index 00000000..d277b683 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdateNormals.cl @@ -0,0 +1,102 @@ +MSTRINGIFY( + +float length3(float4 a) +{ + a.w = 0; + return length(a); +} + +float4 normalize3(float4 a) +{ + a.w = 0; + return normalize(a); +} + +__kernel void +ResetNormalsAndAreasKernel( + const unsigned int numNodes, + __global float4 * g_vertexNormals, + __global float * g_vertexArea GUID_ARG) +{ + if( get_global_id(0) < numNodes ) + { + g_vertexNormals[get_global_id(0)] = (float4)(0.0f, 0.0f, 0.0f, 0.0f); + g_vertexArea[get_global_id(0)] = 0.0f; + } +} + + +__kernel void +UpdateSoftBodiesKernel( + const unsigned int startFace, + const unsigned int numFaces, + __global int4 * g_triangleVertexIndexSet, + __global float4 * g_vertexPositions, + __global float4 * g_vertexNormals, + __global float * g_vertexArea, + __global float4 * g_triangleNormals, + __global float * g_triangleArea GUID_ARG) +{ + int faceID = get_global_id(0) + startFace; + if( get_global_id(0) < numFaces ) + { + int4 triangleIndexSet = g_triangleVertexIndexSet[ faceID ]; + int nodeIndex0 = triangleIndexSet.x; + int nodeIndex1 = triangleIndexSet.y; + int nodeIndex2 = triangleIndexSet.z; + + float4 node0 = g_vertexPositions[nodeIndex0]; + float4 node1 = g_vertexPositions[nodeIndex1]; + float4 node2 = g_vertexPositions[nodeIndex2]; + float4 nodeNormal0 = g_vertexNormals[nodeIndex0]; + float4 nodeNormal1 = g_vertexNormals[nodeIndex1]; + float4 nodeNormal2 = g_vertexNormals[nodeIndex2]; + float vertexArea0 = g_vertexArea[nodeIndex0]; + float vertexArea1 = g_vertexArea[nodeIndex1]; + float vertexArea2 = g_vertexArea[nodeIndex2]; + + float4 vector0 = node1 - node0; + float4 vector1 = node2 - node0; + + float4 faceNormal = cross(vector0, vector1); + float triangleArea = length(faceNormal); + + nodeNormal0 = nodeNormal0 + faceNormal; + nodeNormal1 = nodeNormal1 + faceNormal; + nodeNormal2 = nodeNormal2 + faceNormal; + vertexArea0 = vertexArea0 + triangleArea; + vertexArea1 = vertexArea1 + triangleArea; + vertexArea2 = vertexArea2 + triangleArea; + + g_triangleNormals[faceID] = normalize3(faceNormal); + g_vertexNormals[nodeIndex0] = nodeNormal0; + g_vertexNormals[nodeIndex1] = nodeNormal1; + g_vertexNormals[nodeIndex2] = nodeNormal2; + g_triangleArea[faceID] = triangleArea; + g_vertexArea[nodeIndex0] = vertexArea0; + g_vertexArea[nodeIndex1] = vertexArea1; + g_vertexArea[nodeIndex2] = vertexArea2; + } +} + +__kernel void +NormalizeNormalsAndAreasKernel( + const unsigned int numNodes, + __global int * g_vertexTriangleCount, + __global float4 * g_vertexNormals, + __global float * g_vertexArea GUID_ARG) +{ + if( get_global_id(0) < numNodes ) + { + float4 normal = g_vertexNormals[get_global_id(0)]; + float area = g_vertexArea[get_global_id(0)]; + int numTriangles = g_vertexTriangleCount[get_global_id(0)]; + + float vectorLength = length3(normal); + + g_vertexNormals[get_global_id(0)] = normalize3(normal); + g_vertexArea[get_global_id(0)] = area/(float)(numTriangles); + } +} + +); diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl new file mode 100644 index 00000000..a2610314 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositions.cl @@ -0,0 +1,34 @@ +MSTRINGIFY( + +__kernel void +updateVelocitiesFromPositionsWithoutVelocitiesKernel( + const int numNodes, + const float isolverdt, + __global float4 * g_vertexPositions, + __global float4 * g_vertexPreviousPositions, + __global int * g_vertexClothIndices, + __global float * g_clothDampingFactor, + __global float4 * g_vertexVelocities, + __global float4 * g_vertexForces GUID_ARG) + +{ + int nodeID = get_global_id(0); + if( nodeID < numNodes ) + { + float4 position = g_vertexPositions[nodeID]; + float4 previousPosition = g_vertexPreviousPositions[nodeID]; + float4 velocity = g_vertexVelocities[nodeID]; + int clothIndex = g_vertexClothIndices[nodeID]; + float dampingFactor = g_clothDampingFactor[clothIndex]; + float velocityCoefficient = (1.f - dampingFactor); + + float4 difference = position - previousPosition; + + velocity = difference*velocityCoefficient*isolverdt; + + g_vertexVelocities[nodeID] = velocity; + g_vertexForces[nodeID] = (float4)(0.f, 0.f, 0.f, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl new file mode 100644 index 00000000..ec1f4878 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/UpdatePositionsFromVelocities.cl @@ -0,0 +1,28 @@ + +MSTRINGIFY( + + + + +__kernel void +UpdatePositionsFromVelocitiesKernel( + const int numNodes, + const float solverSDT, + __global float4 * g_vertexVelocities, + __global float4 * g_vertexPreviousPositions, + __global float4 * g_vertexCurrentPosition GUID_ARG) +{ + int vertexID = get_global_id(0); + if( vertexID < numNodes ) + { + float4 previousPosition = g_vertexPreviousPositions[vertexID]; + float4 velocity = g_vertexVelocities[vertexID]; + + float4 newPosition = previousPosition + velocity*solverSDT; + + g_vertexCurrentPosition[vertexID] = newPosition; + g_vertexPreviousPositions[vertexID] = newPosition; + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl new file mode 100644 index 00000000..19224bda --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/OpenCLC10/VSolveLinks.cl @@ -0,0 +1,45 @@ +MSTRINGIFY( + +__kernel void +VSolveLinksKernel( + int startLink, + int numLinks, + float kst, + __global int2 * g_linksVertexIndices, + __global float * g_linksLengthRatio, + __global float4 * g_linksCurrentLength, + __global float * g_vertexInverseMass, + __global float4 * g_vertexVelocity GUID_ARG) +{ + int linkID = get_global_id(0) + startLink; + if( get_global_id(0) < numLinks ) + { + int2 nodeIndices = g_linksVertexIndices[linkID]; + int node0 = nodeIndices.x; + int node1 = nodeIndices.y; + + float linkLengthRatio = g_linksLengthRatio[linkID]; + float3 linkCurrentLength = g_linksCurrentLength[linkID].xyz; + + float3 vertexVelocity0 = g_vertexVelocity[node0].xyz; + float3 vertexVelocity1 = g_vertexVelocity[node1].xyz; + + float vertexInverseMass0 = g_vertexInverseMass[node0]; + float vertexInverseMass1 = g_vertexInverseMass[node1]; + + float3 nodeDifference = vertexVelocity0 - vertexVelocity1; + float dotResult = dot(linkCurrentLength, nodeDifference); + float j = -dotResult*linkLengthRatio*kst; + + float3 velocityChange0 = linkCurrentLength*(j*vertexInverseMass0); + float3 velocityChange1 = linkCurrentLength*(j*vertexInverseMass1); + + vertexVelocity0 += velocityChange0; + vertexVelocity1 -= velocityChange1; + + g_vertexVelocity[node0] = (float4)(vertexVelocity0, 0.f); + g_vertexVelocity[node1] = (float4)(vertexVelocity1, 0.f); + } +} + +); \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h new file mode 100644 index 00000000..f824f281 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h @@ -0,0 +1,209 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H +#define BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H + +// OpenCL support + +#ifdef USE_MINICL + #include "MiniCL/cl.h" +#else //USE_MINICL + #ifdef __APPLE__ + #include + #else + #include + #endif //__APPLE__ +#endif//USE_MINICL + +#ifndef SAFE_RELEASE +#define SAFE_RELEASE(p) { if(p) { (p)->Release(); (p)=NULL; } } +#endif + +template class btOpenCLBuffer +{ +public: + + cl_command_queue m_cqCommandQue; + cl_context m_clContext; + cl_mem m_buffer; + + + + btAlignedObjectArray< ElementType > * m_CPUBuffer; + + int m_gpuSize; + bool m_onGPU; + bool m_readOnlyOnGPU; + bool m_allocated; + + + bool createBuffer( cl_mem* preexistingBuffer = 0) + { + + cl_int err; + + + if( preexistingBuffer ) + { + m_buffer = *preexistingBuffer; + } + else { + + cl_mem_flags flags= m_readOnlyOnGPU ? CL_MEM_READ_ONLY : CL_MEM_READ_WRITE; + + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + // At a minimum the buffer must exist + if( size == 0 ) + size = sizeof(ElementType); + m_buffer = clCreateBuffer(m_clContext, flags, size, 0, &err); + if( err != CL_SUCCESS ) + { + btAssert( "Buffer::Buffer(m_buffer)"); + } + } + + m_gpuSize = m_CPUBuffer->size(); + + return true; + } + +public: + btOpenCLBuffer( cl_command_queue commandQue,cl_context ctx, btAlignedObjectArray< ElementType >* CPUBuffer, bool readOnly) + :m_cqCommandQue(commandQue), + m_clContext(ctx), + m_buffer(0), + m_CPUBuffer(CPUBuffer), + m_gpuSize(0), + m_onGPU(false), + m_readOnlyOnGPU(readOnly), + m_allocated(false) + { + } + + ~btOpenCLBuffer() + { + clReleaseMemObject(m_buffer); + } + + + bool moveToGPU() + { + + + cl_int err; + + if( (m_CPUBuffer->size() != m_gpuSize) ) + { + m_onGPU = false; + } + + if( !m_allocated && m_CPUBuffer->size() == 0 ) + { + // If it isn't on the GPU and yet there is no data on the CPU side this may cause a problem with some kernels. + // We should create *something* on the device side + if (!createBuffer()) { + return false; + } + m_allocated = true; + } + + if( !m_onGPU && m_CPUBuffer->size() > 0 ) + { + if (!m_allocated || (m_CPUBuffer->size() != m_gpuSize)) { + if (!createBuffer()) { + return false; + } + m_allocated = true; + } + + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + err = clEnqueueWriteBuffer(m_cqCommandQue,m_buffer, + CL_FALSE, + 0, + size, + &((*m_CPUBuffer)[0]),0,0,0); + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueWriteBuffer(m_buffer)" ); + } + + m_onGPU = true; + } + + return true; + + } + + bool moveFromGPU() + { + + cl_int err; + + if (m_CPUBuffer->size() > 0) { + if (m_onGPU && !m_readOnlyOnGPU) { + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + err = clEnqueueReadBuffer(m_cqCommandQue, + m_buffer, + CL_TRUE, + 0, + size, + &((*m_CPUBuffer)[0]),0,0,0); + + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)" ); + } + + m_onGPU = false; + } + } + + return true; + } + + bool copyFromGPU() + { + + cl_int err; + size_t size = m_CPUBuffer->size() * sizeof(ElementType); + + if (m_CPUBuffer->size() > 0) { + if (m_onGPU && !m_readOnlyOnGPU) { + err = clEnqueueReadBuffer(m_cqCommandQue, + m_buffer, + CL_TRUE, + 0,size, + &((*m_CPUBuffer)[0]),0,0,0); + + if( err != CL_SUCCESS ) + { + btAssert( "CommandQueue::enqueueReadBuffer(m_buffer)"); + } + + } + } + + return true; + } + + virtual void changedOnCPU() + { + m_onGPU = false; + } +}; // class btOpenCLBuffer + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_BUFFER_OPENCL_H \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h new file mode 100644 index 00000000..6921f7da --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h @@ -0,0 +1,99 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H + + +class btSoftBodyLinkDataOpenCL : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + + cl_command_queue m_cqCommandQue; + + + btOpenCLBuffer m_clLinks; + btOpenCLBuffer m_clLinkStrength; + btOpenCLBuffer m_clLinksMassLSC; + btOpenCLBuffer m_clLinksRestLengthSquared; + btOpenCLBuffer m_clLinksCLength; + btOpenCLBuffer m_clLinksLengthRatio; + btOpenCLBuffer m_clLinksRestLength; + btOpenCLBuffer m_clLinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_batchStartLengths; + + btSoftBodyLinkDataOpenCL(cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyLinkDataOpenCL(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( + const LinkDescription &link, + int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h new file mode 100644 index 00000000..b20e8055 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h @@ -0,0 +1,169 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H +#define BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H + + +class btSoftBodyLinkDataOpenCLSIMDAware : public btSoftBodyLinkData +{ +public: + bool m_onGPU; + + cl_command_queue m_cqCommandQue; + + const int m_wavefrontSize; + const int m_linksPerWorkItem; + const int m_maxLinksPerWavefront; + int m_maxBatchesWithinWave; + int m_maxVerticesWithinWave; + int m_numWavefronts; + + int m_maxVertex; + + struct NumBatchesVerticesPair + { + int numBatches; + int numVertices; + }; + + btAlignedObjectArray m_linksPerWavefront; + btAlignedObjectArray m_numBatchesAndVerticesWithinWaves; + btOpenCLBuffer< NumBatchesVerticesPair > m_clNumBatchesAndVerticesWithinWaves; + + // All arrays here will contain batches of m_maxLinksPerWavefront links + // ordered by wavefront. + // with either global vertex pairs or local vertex pairs + btAlignedObjectArray< int > m_wavefrontVerticesGlobalAddresses; // List of global vertices per wavefront + btOpenCLBuffer m_clWavefrontVerticesGlobalAddresses; + btAlignedObjectArray< LinkNodePair > m_linkVerticesLocalAddresses; // Vertex pair for the link + btOpenCLBuffer m_clLinkVerticesLocalAddresses; + btOpenCLBuffer m_clLinkStrength; + btOpenCLBuffer m_clLinksMassLSC; + btOpenCLBuffer m_clLinksRestLengthSquared; + btOpenCLBuffer m_clLinksRestLength; + btOpenCLBuffer m_clLinksMaterialLinearStiffnessCoefficient; + + struct BatchPair + { + int start; + int length; + + BatchPair() : + start(0), + length(0) + { + } + + BatchPair( int s, int l ) : + start( s ), + length( l ) + { + } + }; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_linkAddresses; + + /** + * Start and length values for computation batches over link data. + */ + btAlignedObjectArray< BatchPair > m_wavefrontBatchStartLengths; + + btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyLinkDataOpenCLSIMDAware(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( + const LinkDescription &link, + int linkIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); + + int getMaxVerticesPerWavefront() + { + return m_maxVerticesWithinWave; + } + + int getWavefrontSize() + { + return m_wavefrontSize; + } + + int getLinksPerWorkItem() + { + return m_linksPerWorkItem; + } + + int getMaxLinksPerWavefront() + { + return m_maxLinksPerWavefront; + } + + int getMaxBatchesPerWavefront() + { + return m_maxBatchesWithinWave; + } + + int getNumWavefronts() + { + return m_numWavefronts; + } + + NumBatchesVerticesPair getNumBatchesAndVerticesWithinWavefront( int wavefront ) + { + return m_numBatchesAndVerticesWithinWaves[wavefront]; + } + + int getVertexGlobalAddresses( int vertexIndex ) + { + return m_wavefrontVerticesGlobalAddresses[vertexIndex]; + } + + /** + * Get post-batching local addresses of the vertex pair for a link assuming all vertices used by a wavefront are loaded locally. + */ + LinkNodePair getVertexPairLocalAddresses( int linkIndex ) + { + return m_linkVerticesLocalAddresses[linkIndex]; + } +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_LINK_DATA_OPENCL_SIMDAWARE_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp new file mode 100644 index 00000000..1000440b --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.cpp @@ -0,0 +1,126 @@ +#include "btSoftBodySolverOutputCLtoGL.h" +#include //@todo: remove the debugging printf at some stage +#include "btSoftBodySolver_OpenCL.h" +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#include "btSoftBodySolverVertexBuffer_OpenGL.h" +#include "BulletSoftBody/btSoftBody.h" + +////OpenCL 1.0 kernels don't use float3 +#define MSTRINGIFY(A) #A +static char* OutputToVertexArrayCLString = +#include "OpenCLC10/OutputToVertexArray.cl" + + +#define RELEASE_CL_KERNEL(kernelName) {if( kernelName ){ clReleaseKernel( kernelName ); kernelName = 0; }} + +static const size_t workGroupSize = 128; + +void btSoftBodySolverOutputCLtoGL::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + + btSoftBodySolver *solver = softBody->getSoftBodySolver(); + btAssert( solver->getSolverType() == btSoftBodySolver::CL_SOLVER || solver->getSolverType() == btSoftBodySolver::CL_SIMD_SOLVER ); + btOpenCLSoftBodySolver *dxSolver = static_cast< btOpenCLSoftBodySolver * >( solver ); + checkInitialized(); + btOpenCLAcceleratedSoftBodyInterface* currentCloth = dxSolver->findSoftBodyInterface( softBody ); + btSoftBodyVertexDataOpenCL &vertexData( dxSolver->m_vertexData ); + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::OPENGL_BUFFER ) { + + const btOpenGLInteropVertexBufferDescriptor *openGLVertexBuffer = static_cast< btOpenGLInteropVertexBufferDescriptor* >(vertexBuffer); + cl_int ciErrNum = CL_SUCCESS; + + cl_mem clBuffer = openGLVertexBuffer->getBuffer(); + cl_kernel outputKernel = outputToVertexArrayWithNormalsKernel; + if( !vertexBuffer->hasNormals() ) + outputKernel = outputToVertexArrayWithoutNormalsKernel; + + ciErrNum = clEnqueueAcquireGLObjects(m_cqCommandQue, 1, &clBuffer, 0, 0, NULL); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)"); + } + + int numVertices = currentCloth->getNumVertices(); + + ciErrNum = clSetKernelArg(outputKernel, 0, sizeof(int), &firstVertex ); + ciErrNum = clSetKernelArg(outputKernel, 1, sizeof(int), &numVertices ); + ciErrNum = clSetKernelArg(outputKernel, 2, sizeof(cl_mem), (void*)&clBuffer ); + if( vertexBuffer->hasVertexPositions() ) + { + int vertexOffset = vertexBuffer->getVertexOffset(); + int vertexStride = vertexBuffer->getVertexStride(); + ciErrNum = clSetKernelArg(outputKernel, 3, sizeof(int), &vertexOffset ); + ciErrNum = clSetKernelArg(outputKernel, 4, sizeof(int), &vertexStride ); + ciErrNum = clSetKernelArg(outputKernel, 5, sizeof(cl_mem), (void*)&vertexData.m_clVertexPosition.m_buffer ); + + } + if( vertexBuffer->hasNormals() ) + { + int normalOffset = vertexBuffer->getNormalOffset(); + int normalStride = vertexBuffer->getNormalStride(); + ciErrNum = clSetKernelArg(outputKernel, 6, sizeof(int), &normalOffset ); + ciErrNum = clSetKernelArg(outputKernel, 7, sizeof(int), &normalStride ); + ciErrNum = clSetKernelArg(outputKernel, 8, sizeof(cl_mem), (void*)&vertexData.m_clVertexNormal.m_buffer ); + + } + size_t numWorkItems = workGroupSize*((vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, outputKernel, 1, NULL, &numWorkItems, &workGroupSize,0 ,0 ,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(copySoftBodyToVertexBuffer)"); + } + + ciErrNum = clEnqueueReleaseGLObjects(m_cqCommandQue, 1, &clBuffer, 0, 0, 0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueReleaseGLObjects(copySoftBodyToVertexBuffer)"); + } + } else { + btAssert( "Undefined output for this solver output" == false ); + } + + // clFinish in here may not be the best thing. It's possible that we should have a waitForFrameComplete function. + clFinish(m_cqCommandQue); + +} // btSoftBodySolverOutputCLtoGL::outputToVertexBuffers + +bool btSoftBodySolverOutputCLtoGL::buildShaders() +{ + // Ensure current kernels are released first + releaseKernels(); + + bool returnVal = true; + + if( m_shadersInitialized ) + return true; + + outputToVertexArrayWithNormalsKernel = clFunctions.compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithNormalsKernel" ,"","OpenCLC10/OutputToVertexArray.cl"); + outputToVertexArrayWithoutNormalsKernel = clFunctions.compileCLKernelFromString( OutputToVertexArrayCLString, "OutputToVertexArrayWithoutNormalsKernel" ,"","OpenCLC10/OutputToVertexArray.cl"); + + + if( returnVal ) + m_shadersInitialized = true; + + return returnVal; +} // btSoftBodySolverOutputCLtoGL::buildShaders + +void btSoftBodySolverOutputCLtoGL::releaseKernels() +{ + RELEASE_CL_KERNEL( outputToVertexArrayWithNormalsKernel ); + RELEASE_CL_KERNEL( outputToVertexArrayWithoutNormalsKernel ); + + m_shadersInitialized = false; +} // btSoftBodySolverOutputCLtoGL::releaseKernels + +bool btSoftBodySolverOutputCLtoGL::checkInitialized() +{ + if( !m_shadersInitialized ) + if( buildShaders() ) + m_shadersInitialized = true; + + return m_shadersInitialized; +} \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h new file mode 100644 index 00000000..ab3ea264 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H +#define BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H + +#include "btSoftBodySolver_OpenCL.h" + +/** + * Class to manage movement of data from a solver to a given target. + * This version is the CL to GL interop version. + */ +class btSoftBodySolverOutputCLtoGL : public btSoftBodySolverOutput +{ +protected: + cl_command_queue m_cqCommandQue; + cl_context m_cxMainContext; + CLFunctions clFunctions; + + cl_kernel outputToVertexArrayWithNormalsKernel; + cl_kernel outputToVertexArrayWithoutNormalsKernel; + + bool m_shadersInitialized; + + virtual bool checkInitialized(); + virtual bool buildShaders(); + void releaseKernels(); +public: + btSoftBodySolverOutputCLtoGL(cl_command_queue cqCommandQue, cl_context cxMainContext) : + m_cqCommandQue( cqCommandQue ), + m_cxMainContext( cxMainContext ), + clFunctions(cqCommandQue, cxMainContext), + outputToVertexArrayWithNormalsKernel( 0 ), + outputToVertexArrayWithoutNormalsKernel( 0 ), + m_shadersInitialized( false ) + { + } + + virtual ~btSoftBodySolverOutputCLtoGL() + { + releaseKernels(); + } + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OUTPUT_CL_TO_GL_H \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h new file mode 100644 index 00000000..7e376785 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h @@ -0,0 +1,84 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + + +#ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H + + +class btSoftBodyTriangleDataOpenCL : public btSoftBodyTriangleData +{ +public: + bool m_onGPU; + cl_command_queue m_queue; + + btOpenCLBuffer m_clVertexIndices; + btOpenCLBuffer m_clArea; + btOpenCLBuffer m_clNormal; + + /** + * Link addressing information for each cloth. + * Allows link locations to be computed independently of data batching. + */ + btAlignedObjectArray< int > m_triangleAddresses; + + /** + * Start and length values for computation batches over link data. + */ + struct btSomePair + { + btSomePair() {} + btSomePair(int f,int s) + :first(f),second(s) + { + } + int first; + int second; + }; + btAlignedObjectArray< btSomePair > m_batchStartLengths; + +public: + btSoftBodyTriangleDataOpenCL( cl_command_queue queue, cl_context ctx ); + + virtual ~btSoftBodyTriangleDataOpenCL(); + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createTriangles( int numTriangles ); + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(); + + /** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ + void generateBatches(); +}; // class btSoftBodyTriangleDataOpenCL + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_TRIANGLE_DATA_OPENCL_H + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h new file mode 100644 index 00000000..7c223ecc --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h @@ -0,0 +1,166 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H + + +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#ifdef USE_MINICL + #include "MiniCL/cl.h" +#else //USE_MINICL + #ifdef __APPLE__ + #include + #else + #include + #include + #endif //__APPLE__ +#endif//USE_MINICL + + +#ifdef _WIN32//for glut.h +#include +#endif + +//think different +#if defined(__APPLE__) && !defined (VMDMESA) +#include +#include +#include +#include +#else + + +#ifdef _WINDOWS +#include +#include +#include +#else +#include +#endif //_WINDOWS +#endif //APPLE + + + +class btOpenGLInteropVertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + /** OpenCL context */ + cl_context m_context; + + /** OpenCL command queue */ + cl_command_queue m_commandQueue; + + /** OpenCL interop buffer */ + cl_mem m_buffer; + + /** VBO in GL that is the basis of the interop buffer */ + GLuint m_openGLVBO; + + +public: + /** + * context is the OpenCL context this interop buffer will work in. + * queue is the command queue that kernels and data movement will be enqueued into. + * openGLVBO is the OpenGL vertex buffer data will be copied into. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride ) + { +#ifndef USE_MINICL + cl_int ciErrNum = CL_SUCCESS; + m_context = context; + m_commandQueue = cqCommandQue; + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + + m_openGLVBO = openGLVBO; + + m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)"); + } + + m_hasVertexPositions = true; +#else + btAssert(0);//MiniCL shouldn't get here +#endif + } + + /** + * context is the OpenCL context this interop buffer will work in. + * queue is the command queue that kernels and data movement will be enqueued into. + * openGLVBO is the OpenGL vertex buffer data will be copied into. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + * normalOffset is the offset in floats to the first normal. + * normalStride is the stride in floats between normals. + */ + btOpenGLInteropVertexBufferDescriptor( cl_command_queue cqCommandQue, cl_context context, GLuint openGLVBO, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { +#ifndef USE_MINICL + cl_int ciErrNum = CL_SUCCESS; + m_context = context; + m_commandQueue = cqCommandQue; + + m_openGLVBO = openGLVBO; + + m_buffer = clCreateFromGLBuffer(m_context, CL_MEM_WRITE_ONLY, openGLVBO, &ciErrNum); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "clEnqueueAcquireGLObjects(copySoftBodyToVertexBuffer)"); + } + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; +#else + btAssert(0); +#endif //USE_MINICL + + } + + virtual ~btOpenGLInteropVertexBufferDescriptor() + { + clReleaseMemObject( m_buffer ); + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return OPENGL_BUFFER; + } + + virtual cl_context getContext() const + { + return m_context; + } + + virtual cl_mem getBuffer() const + { + return m_buffer; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_OPENGL_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h new file mode 100644 index 00000000..531c3427 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h @@ -0,0 +1,52 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h" +#include "btSoftBodySolverBuffer_OpenCL.h" + +#ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H +#define BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H + + +class btSoftBodyVertexDataOpenCL : public btSoftBodyVertexData +{ +protected: + bool m_onGPU; + cl_command_queue m_queue; + +public: + btOpenCLBuffer m_clClothIdentifier; + btOpenCLBuffer m_clVertexPosition; + btOpenCLBuffer m_clVertexPreviousPosition; + btOpenCLBuffer m_clVertexVelocity; + btOpenCLBuffer m_clVertexForceAccumulator; + btOpenCLBuffer m_clVertexNormal; + btOpenCLBuffer m_clVertexInverseMass; + btOpenCLBuffer m_clVertexArea; + btOpenCLBuffer m_clVertexTriangleCount; +public: + btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx); + + virtual ~btSoftBodyVertexDataOpenCL(); + + virtual bool onAccelerator(); + + virtual bool moveToAccelerator(); + + virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true); +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_DATA_OPENCL_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp new file mode 100644 index 00000000..e5f4ebb2 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp @@ -0,0 +1,1820 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" +#include //@todo: remove the debugging printf at some stage +#include "btSoftBodySolver_OpenCL.h" +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody/btSoftBodyInternals.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "LinearMath/btQuickprof.h" +#include +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +#define BT_SUPPRESS_OPENCL_ASSERTS + +#ifdef USE_MINICL + #include "MiniCL/cl.h" +#else //USE_MINICL + #ifdef __APPLE__ + #include + #else + #include + #endif //__APPLE__ +#endif//USE_MINICL + +#define BT_DEFAULT_WORKGROUPSIZE 64 + + +#define RELEASE_CL_KERNEL(kernelName) {if( kernelName ){ clReleaseKernel( kernelName ); kernelName = 0; }} + + +//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it + +////OpenCL 1.0 kernels don't use float3 +#define MSTRINGIFY(A) #A +static const char* PrepareLinksCLString = +#include "OpenCLC10/PrepareLinks.cl" +static const char* UpdatePositionsFromVelocitiesCLString = +#include "OpenCLC10/UpdatePositionsFromVelocities.cl" +static const char* SolvePositionsCLString = +#include "OpenCLC10/SolvePositions.cl" +static const char* UpdateNodesCLString = +#include "OpenCLC10/UpdateNodes.cl" +static const char* UpdatePositionsCLString = +#include "OpenCLC10/UpdatePositions.cl" +static const char* UpdateConstantsCLString = +#include "OpenCLC10/UpdateConstants.cl" +static const char* IntegrateCLString = +#include "OpenCLC10/Integrate.cl" +static const char* ApplyForcesCLString = +#include "OpenCLC10/ApplyForces.cl" +static const char* UpdateFixedVertexPositionsCLString = +#include "OpenCLC10/UpdateFixedVertexPositions.cl" +static const char* UpdateNormalsCLString = +#include "OpenCLC10/UpdateNormals.cl" +static const char* VSolveLinksCLString = +#include "OpenCLC10/VSolveLinks.cl" +static const char* SolveCollisionsAndUpdateVelocitiesCLString = +#include "OpenCLC10/SolveCollisionsAndUpdateVelocities.cl" + + +btSoftBodyVertexDataOpenCL::btSoftBodyVertexDataOpenCL( cl_command_queue queue, cl_context ctx) : + m_queue(queue), + m_clClothIdentifier( queue, ctx, &m_clothIdentifier, false ), + m_clVertexPosition( queue, ctx, &m_vertexPosition, false ), + m_clVertexPreviousPosition( queue, ctx, &m_vertexPreviousPosition, false ), + m_clVertexVelocity( queue, ctx, &m_vertexVelocity, false ), + m_clVertexForceAccumulator( queue, ctx, &m_vertexForceAccumulator, false ), + m_clVertexNormal( queue, ctx, &m_vertexNormal, false ), + m_clVertexInverseMass( queue, ctx, &m_vertexInverseMass, false ), + m_clVertexArea( queue, ctx, &m_vertexArea, false ), + m_clVertexTriangleCount( queue, ctx, &m_vertexTriangleCount, false ) +{ +} + +btSoftBodyVertexDataOpenCL::~btSoftBodyVertexDataOpenCL() +{ + +} + +bool btSoftBodyVertexDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyVertexDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clClothIdentifier.moveToGPU(); + success = success && m_clVertexPosition.moveToGPU(); + success = success && m_clVertexPreviousPosition.moveToGPU(); + success = success && m_clVertexVelocity.moveToGPU(); + success = success && m_clVertexForceAccumulator.moveToGPU(); + success = success && m_clVertexNormal.moveToGPU(); + success = success && m_clVertexInverseMass.moveToGPU(); + success = success && m_clVertexArea.moveToGPU(); + success = success && m_clVertexTriangleCount.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyVertexDataOpenCL::moveFromAccelerator(bool bCopy, bool bCopyMinimum) +{ + bool success = true; + + if (!bCopy) + { + success = success && m_clClothIdentifier.moveFromGPU(); + success = success && m_clVertexPosition.moveFromGPU(); + success = success && m_clVertexPreviousPosition.moveFromGPU(); + success = success && m_clVertexVelocity.moveFromGPU(); + success = success && m_clVertexForceAccumulator.moveFromGPU(); + success = success && m_clVertexNormal.moveFromGPU(); + success = success && m_clVertexInverseMass.moveFromGPU(); + success = success && m_clVertexArea.moveFromGPU(); + success = success && m_clVertexTriangleCount.moveFromGPU(); + } + else + { + if (bCopyMinimum) + { + success = success && m_clVertexPosition.copyFromGPU(); + success = success && m_clVertexNormal.copyFromGPU(); + } + else + { + success = success && m_clClothIdentifier.copyFromGPU(); + success = success && m_clVertexPosition.copyFromGPU(); + success = success && m_clVertexPreviousPosition.copyFromGPU(); + success = success && m_clVertexVelocity.copyFromGPU(); + success = success && m_clVertexForceAccumulator.copyFromGPU(); + success = success && m_clVertexNormal.copyFromGPU(); + success = success && m_clVertexInverseMass.copyFromGPU(); + success = success && m_clVertexArea.copyFromGPU(); + success = success && m_clVertexTriangleCount.copyFromGPU(); + } + } + + if( success ) + m_onGPU = true; + + return success; +} + +btSoftBodyLinkDataOpenCL::btSoftBodyLinkDataOpenCL(cl_command_queue queue, cl_context ctx) +:m_cqCommandQue(queue), + m_clLinks( queue, ctx, &m_links, false ), + m_clLinkStrength( queue, ctx, &m_linkStrength, false ), + m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ), + m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ), + m_clLinksCLength( queue, ctx, &m_linksCLength, false ), + m_clLinksLengthRatio( queue, ctx, &m_linksLengthRatio, false ), + m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ), + m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false ) +{ +} + +btSoftBodyLinkDataOpenCL::~btSoftBodyLinkDataOpenCL() +{ +} + +static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec ) +{ + Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() ); + return outVec; +} + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyLinkDataOpenCL::createLinks( int numLinks ) +{ + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + btSoftBodyLinkData::createLinks( numLinks ); + + // Resize the link addresses array as well + m_linkAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyLinkDataOpenCL::setLinkAt( + const LinkDescription &link, + int linkIndex ) +{ + btSoftBodyLinkData::setLinkAt( link, linkIndex ); + + // Set the link index correctly for initialisation + m_linkAddresses[linkIndex] = linkIndex; +} + +bool btSoftBodyLinkDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyLinkDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clLinks.moveToGPU(); + success = success && m_clLinkStrength.moveToGPU(); + success = success && m_clLinksMassLSC.moveToGPU(); + success = success && m_clLinksRestLengthSquared.moveToGPU(); + success = success && m_clLinksCLength.moveToGPU(); + success = success && m_clLinksLengthRatio.moveToGPU(); + success = success && m_clLinksRestLength.moveToGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU(); + + if( success ) { + m_onGPU = true; + } + + return success; +} + +bool btSoftBodyLinkDataOpenCL::moveFromAccelerator() +{ + bool success = true; + success = success && m_clLinks.moveFromGPU(); + success = success && m_clLinkStrength.moveFromGPU(); + success = success && m_clLinksMassLSC.moveFromGPU(); + success = success && m_clLinksRestLengthSquared.moveFromGPU(); + success = success && m_clLinksCLength.moveFromGPU(); + success = success && m_clLinksLengthRatio.moveFromGPU(); + success = success && m_clLinksRestLength.moveFromGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU(); + + if( success ) { + m_onGPU = false; + } + + return success; +} + +/** + * Generate (and later update) the batching for the entire link set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ +void btSoftBodyLinkDataOpenCL::generateBatches() +{ + int numLinks = getNumLinks(); + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numLinks, 0 ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int vertex0 = getVertexPair(linkIndex).vertex0; + int vertex1 = getVertexPair(linkIndex).vertex1; + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + // Simple algorithm that chooses the lowest batch number + // that none of the links attached to either of the connected + // nodes is in + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + int linkLocation = m_linkAddresses[linkIndex]; + + int vertex0 = getVertexPair(linkLocation).vertex0; + int vertex1 = getVertexPair(linkLocation).vertex1; + + // Get the two node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + + // Choose the minimum colour that is in neither list + int colour = 0; + while( colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() ) + ++colour; + // i should now be the minimum colour in neither list + // Add to the two lists so that future edges don't share + // And store the colour against this edge + + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + batchValues[linkIndex] = colour; + } + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numLinks; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + m_batchStartLengths.resize(batchCounts.size()); + if( m_batchStartLengths.size() > 0 ) + { + m_batchStartLengths.resize(batchCounts.size()); + m_batchStartLengths[0] = BatchPair(0, 0); + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].start = sum; + m_batchStartLengths[batchIndex].length = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_links_Backup(m_links); + btAlignedObjectArray m_linkStrength_Backup(m_linkStrength); + btAlignedObjectArray m_linksMassLSC_Backup(m_linksMassLSC); + btAlignedObjectArray m_linksRestLengthSquared_Backup(m_linksRestLengthSquared); + btAlignedObjectArray m_linksCLength_Backup(m_linksCLength); + btAlignedObjectArray m_linksLengthRatio_Backup(m_linksLengthRatio); + btAlignedObjectArray m_linksRestLength_Backup(m_linksRestLength); + btAlignedObjectArray m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int linkLocation = m_linkAddresses[linkIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[linkIndex]; + int newLocation = m_batchStartLengths[batch].start + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_links[newLocation] = m_links_Backup[linkLocation]; +#if 1 + m_linkStrength[newLocation] = m_linkStrength_Backup[linkLocation]; + m_linksMassLSC[newLocation] = m_linksMassLSC_Backup[linkLocation]; + m_linksRestLengthSquared[newLocation] = m_linksRestLengthSquared_Backup[linkLocation]; + m_linksLengthRatio[newLocation] = m_linksLengthRatio_Backup[linkLocation]; + m_linksRestLength[newLocation] = m_linksRestLength_Backup[linkLocation]; + m_linksMaterialLinearStiffnessCoefficient[newLocation] = m_linksMaterialLinearStiffnessCoefficient_Backup[linkLocation]; +#endif + // Update the locations array to account for the moved entry + m_linkAddresses[linkIndex] = newLocation; + } + + +} // void generateBatches() + + + + + +btSoftBodyTriangleDataOpenCL::btSoftBodyTriangleDataOpenCL( cl_command_queue queue , cl_context ctx) : + m_queue( queue ), + m_clVertexIndices( queue, ctx, &m_vertexIndices, false ), + m_clArea( queue, ctx, &m_area, false ), + m_clNormal( queue, ctx, &m_normal, false ) +{ +} + +btSoftBodyTriangleDataOpenCL::~btSoftBodyTriangleDataOpenCL() +{ +} + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyTriangleDataOpenCL::createTriangles( int numTriangles ) +{ + int previousSize = getNumTriangles(); + int newSize = previousSize + numTriangles; + + btSoftBodyTriangleData::createTriangles( numTriangles ); + + // Resize the link addresses array as well + m_triangleAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyTriangleDataOpenCL::setTriangleAt( const btSoftBodyTriangleData::TriangleDescription &triangle, int triangleIndex ) +{ + btSoftBodyTriangleData::setTriangleAt( triangle, triangleIndex ); + + m_triangleAddresses[triangleIndex] = triangleIndex; +} + +bool btSoftBodyTriangleDataOpenCL::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyTriangleDataOpenCL::moveToAccelerator() +{ + bool success = true; + success = success && m_clVertexIndices.moveToGPU(); + success = success && m_clArea.moveToGPU(); + success = success && m_clNormal.moveToGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +bool btSoftBodyTriangleDataOpenCL::moveFromAccelerator() +{ + bool success = true; + success = success && m_clVertexIndices.moveFromGPU(); + success = success && m_clArea.moveFromGPU(); + success = success && m_clNormal.moveFromGPU(); + + if( success ) + m_onGPU = true; + + return success; +} + +/** + * Generate (and later update) the batching for the entire triangle set. + * This redoes a lot of work because it batches the entire set when each cloth is inserted. + * In theory we could delay it until just before we need the cloth. + * It's a one-off overhead, though, so that is a later optimisation. + */ +void btSoftBodyTriangleDataOpenCL::generateBatches() +{ + int numTriangles = getNumTriangles(); + if( numTriangles == 0 ) + return; + + // Do the graph colouring here temporarily + btAlignedObjectArray< int > batchValues; + batchValues.resize( numTriangles ); + + // Find the maximum vertex value internally for now + int maxVertex = 0; + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + int vertex0 = getVertexSet(triangleIndex).vertex0; + int vertex1 = getVertexSet(triangleIndex).vertex1; + int vertex2 = getVertexSet(triangleIndex).vertex2; + + if( vertex0 > maxVertex ) + maxVertex = vertex0; + if( vertex1 > maxVertex ) + maxVertex = vertex1; + if( vertex2 > maxVertex ) + maxVertex = vertex2; + } + int numVertices = maxVertex + 1; + + // Set of lists, one for each node, specifying which colours are connected + // to that node. + // No two edges into a node can share a colour. + btAlignedObjectArray< btAlignedObjectArray< int > > vertexConnectedColourLists; + vertexConnectedColourLists.resize(numVertices); + + + //std::cout << "\n"; + // Simple algorithm that chooses the lowest batch number + // that none of the faces attached to either of the connected + // nodes is in + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + int vertex0 = getVertexSet(triangleLocation).vertex0; + int vertex1 = getVertexSet(triangleLocation).vertex1; + int vertex2 = getVertexSet(triangleLocation).vertex2; + + // Get the three node colour lists + btAlignedObjectArray< int > &colourListVertex0( vertexConnectedColourLists[vertex0] ); + btAlignedObjectArray< int > &colourListVertex1( vertexConnectedColourLists[vertex1] ); + btAlignedObjectArray< int > &colourListVertex2( vertexConnectedColourLists[vertex2] ); + + // Choose the minimum colour that is in none of the lists + int colour = 0; + while( + colourListVertex0.findLinearSearch(colour) != colourListVertex0.size() || + colourListVertex1.findLinearSearch(colour) != colourListVertex1.size() || + colourListVertex2.findLinearSearch(colour) != colourListVertex2.size() ) + { + ++colour; + } + // i should now be the minimum colour in neither list + // Add to the three lists so that future edges don't share + // And store the colour against this face + colourListVertex0.push_back(colour); + colourListVertex1.push_back(colour); + colourListVertex2.push_back(colour); + + batchValues[triangleIndex] = colour; + } + + + // Check the colour counts + btAlignedObjectArray< int > batchCounts; + for( int i = 0; i < numTriangles; ++i ) + { + int batch = batchValues[i]; + if( batch >= batchCounts.size() ) + batchCounts.push_back(1); + else + ++(batchCounts[batch]); + } + + + m_batchStartLengths.resize(batchCounts.size()); + m_batchStartLengths[0] = btSomePair(0,0); + + + int sum = 0; + for( int batchIndex = 0; batchIndex < batchCounts.size(); ++batchIndex ) + { + m_batchStartLengths[batchIndex].first = sum; + m_batchStartLengths[batchIndex].second = batchCounts[batchIndex]; + sum += batchCounts[batchIndex]; + } + + ///////////////////////////// + // Sort data based on batches + + // Create source arrays by copying originals + btAlignedObjectArray m_vertexIndices_Backup(m_vertexIndices); + btAlignedObjectArray m_area_Backup(m_area); + btAlignedObjectArray m_normal_Backup(m_normal); + + + for( int batch = 0; batch < batchCounts.size(); ++batch ) + batchCounts[batch] = 0; + + // Do sort as single pass into destination arrays + for( int triangleIndex = 0; triangleIndex < numTriangles; ++triangleIndex ) + { + // To maintain locations run off the original link locations rather than the current position. + // It's not cache efficient, but as we run this rarely that should not matter. + // It's faster than searching the link location array for the current location and then updating it. + // The other alternative would be to unsort before resorting, but this is equivalent to doing that. + int triangleLocation = m_triangleAddresses[triangleIndex]; + + // Obtain batch and calculate target location for the + // next element in that batch, incrementing the batch counter + // afterwards + int batch = batchValues[triangleIndex]; + int newLocation = m_batchStartLengths[batch].first + batchCounts[batch]; + + batchCounts[batch] = batchCounts[batch] + 1; + m_vertexIndices[newLocation] = m_vertexIndices_Backup[triangleLocation]; + m_area[newLocation] = m_area_Backup[triangleLocation]; + m_normal[newLocation] = m_normal_Backup[triangleLocation]; + + // Update the locations array to account for the moved entry + m_triangleAddresses[triangleIndex] = newLocation; + } +} // btSoftBodyTriangleDataOpenCL::generateBatches + + + + + + + +btOpenCLSoftBodySolver::btOpenCLSoftBodySolver(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) : + m_linkData(queue, ctx), + m_vertexData(queue, ctx), + m_triangleData(queue, ctx), + m_defaultCLFunctions(queue, ctx), + m_currentCLFunctions(&m_defaultCLFunctions), + m_clPerClothAcceleration(queue, ctx, &m_perClothAcceleration, true ), + m_clPerClothWindVelocity(queue, ctx, &m_perClothWindVelocity, true ), + m_clPerClothDampingFactor(queue,ctx, &m_perClothDampingFactor, true ), + m_clPerClothVelocityCorrectionCoefficient(queue, ctx,&m_perClothVelocityCorrectionCoefficient, true ), + m_clPerClothLiftFactor(queue, ctx,&m_perClothLiftFactor, true ), + m_clPerClothDragFactor(queue, ctx,&m_perClothDragFactor, true ), + m_clPerClothMediumDensity(queue, ctx,&m_perClothMediumDensity, true ), + m_clPerClothCollisionObjects( queue, ctx, &m_perClothCollisionObjects, true ), + m_clCollisionObjectDetails( queue, ctx, &m_collisionObjectDetails, true ), + m_clPerClothFriction( queue, ctx, &m_perClothFriction, false ), + m_clAnchorPosition( queue, ctx, &m_anchorPosition, true ), + m_clAnchorIndex( queue, ctx, &m_anchorIndex, true), + m_cqCommandQue( queue ), + m_cxMainContext(ctx), + m_defaultWorkGroupSize(BT_DEFAULT_WORKGROUPSIZE), + m_bUpdateAnchoredNodePos(bUpdateAchchoredNodePos) +{ + + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; + + m_shadersInitialized = false; + + m_prepareLinksKernel = 0; + m_solvePositionsFromLinksKernel = 0; + m_updateConstantsKernel = 0; + m_integrateKernel = 0; + m_addVelocityKernel = 0; + m_updatePositionsFromVelocitiesKernel = 0; + m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = 0; + m_updateVelocitiesFromPositionsWithVelocitiesKernel = 0; + m_vSolveLinksKernel = 0; + m_solveCollisionsAndUpdateVelocitiesKernel = 0; + m_resetNormalsAndAreasKernel = 0; + m_updateSoftBodiesKernel = 0; + m_normalizeNormalsAndAreasKernel = 0; + m_outputToVertexArrayKernel = 0; + m_applyForcesKernel = 0; + m_updateFixedVertexPositionsKernel = 0; +} + +btOpenCLSoftBodySolver::~btOpenCLSoftBodySolver() +{ + releaseKernels(); +} + +void btOpenCLSoftBodySolver::releaseKernels() +{ + RELEASE_CL_KERNEL( m_prepareLinksKernel ); + RELEASE_CL_KERNEL( m_solvePositionsFromLinksKernel ); + RELEASE_CL_KERNEL( m_updateConstantsKernel ); + RELEASE_CL_KERNEL( m_integrateKernel ); + RELEASE_CL_KERNEL( m_addVelocityKernel ); + RELEASE_CL_KERNEL( m_updatePositionsFromVelocitiesKernel ); + RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithoutVelocitiesKernel ); + RELEASE_CL_KERNEL( m_updateVelocitiesFromPositionsWithVelocitiesKernel ); + RELEASE_CL_KERNEL( m_vSolveLinksKernel ); + RELEASE_CL_KERNEL( m_solveCollisionsAndUpdateVelocitiesKernel ); + RELEASE_CL_KERNEL( m_resetNormalsAndAreasKernel ); + RELEASE_CL_KERNEL( m_normalizeNormalsAndAreasKernel ); + RELEASE_CL_KERNEL( m_outputToVertexArrayKernel ); + RELEASE_CL_KERNEL( m_applyForcesKernel ); + RELEASE_CL_KERNEL( m_updateFixedVertexPositionsKernel ); + + m_shadersInitialized = false; +} + +void btOpenCLSoftBodySolver::copyBackToSoftBodies(bool bMove) +{ + + // Move the vertex data back to the host first + m_vertexData.moveFromAccelerator(!bMove); + + // Loop over soft bodies, copying all the vertex positions back for each body in turn + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btOpenCLAcceleratedSoftBodyInterface *softBodyInterface = m_softBodySet[ softBodyIndex ]; + btSoftBody *softBody = softBodyInterface->getSoftBody(); + + int firstVertex = softBodyInterface->getFirstVertex(); + int numVertices = softBodyInterface->getNumVertices(); + + // Copy vertices from solver back into the softbody + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + using Vectormath::Aos::Point3; + Point3 vertexPosition( m_vertexData.getVertexPositions()[firstVertex + vertex] ); + Point3 normal(m_vertexData.getNormal(firstVertex + vertex)); + + softBody->m_nodes[vertex].m_x.setX( vertexPosition.getX() ); + softBody->m_nodes[vertex].m_x.setY( vertexPosition.getY() ); + softBody->m_nodes[vertex].m_x.setZ( vertexPosition.getZ() ); + + softBody->m_nodes[vertex].m_n.setX( normal.getX() ); + softBody->m_nodes[vertex].m_n.setY( normal.getY() ); + softBody->m_nodes[vertex].m_n.setZ( normal.getZ() ); + } + } +} // btOpenCLSoftBodySolver::copyBackToSoftBodies + +void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies, bool forceUpdate ) +{ + if( forceUpdate || m_softBodySet.size() != softBodies.size() ) + { + // Have a change in the soft body set so update, reloading all the data + getVertexData().clear(); + getTriangleData().clear(); + getLinkData().clear(); + m_softBodySet.resize(0); + m_anchorIndex.clear(); + + int maxPiterations = 0; + int maxViterations = 0; + + for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex ) + { + btSoftBody *softBody = softBodies[ softBodyIndex ]; + using Vectormath::Aos::Matrix3; + using Vectormath::Aos::Point3; + + // Create SoftBody that will store the information within the solver + btOpenCLAcceleratedSoftBodyInterface *newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody ); + m_softBodySet.push_back( newSoftBody ); + + m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) ); + m_perClothDampingFactor.push_back(softBody->m_cfg.kDP); + m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF ); + m_perClothLiftFactor.push_back( softBody->m_cfg.kLF ); + m_perClothDragFactor.push_back( softBody->m_cfg.kDG ); + m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density); + // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time + m_perClothFriction.push_back(softBody->m_cfg.kDF); + m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) ); + + // Add space for new vertices and triangles in the default solver for now + // TODO: Include space here for tearing too later + int firstVertex = getVertexData().getNumVertices(); + int numVertices = softBody->m_nodes.size(); + int maxVertices = numVertices; + // Allocate space for new vertices in all the vertex arrays + getVertexData().createVertices( maxVertices, softBodyIndex ); + + int firstTriangle = getTriangleData().getNumTriangles(); + int numTriangles = softBody->m_faces.size(); + int maxTriangles = numTriangles; + getTriangleData().createTriangles( maxTriangles ); + + // Copy vertices from softbody into the solver + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ()); + btSoftBodyVertexData::VertexDescription desc; + + // TODO: Position in the softbody might be pre-transformed + // or we may need to adapt for the pose. + //desc.setPosition( cloth.getMeshTransform()*multPoint ); + desc.setPosition( multPoint ); + + float vertexInverseMass = softBody->m_nodes[vertex].m_im; + desc.setInverseMass(vertexInverseMass); + getVertexData().setVertexAt( desc, firstVertex + vertex ); + + m_anchorIndex.push_back(-1); + } + + // Copy triangles similarly + // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene + for( int triangle = 0; triangle < numTriangles; ++triangle ) + { + // Note that large array storage is relative to the array not to the cloth + // So we need to add firstVertex to each value + int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0])); + int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0])); + int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0])); + btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex); + getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle ); + + // Increase vertex triangle counts for this triangle + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++; + } + + int firstLink = getLinkData().getNumLinks(); + int numLinks = softBody->m_links.size(); +// int maxLinks = numLinks; + + // Allocate space for the links + getLinkData().createLinks( numLinks ); + + // Add the links + for( int link = 0; link < numLinks; ++link ) + { + int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]); + int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]); + + btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST); + newLink.setLinkStrength(1.f); + getLinkData().setLinkAt(newLink, firstLink + link); + } + + newSoftBody->setFirstVertex( firstVertex ); + newSoftBody->setFirstTriangle( firstTriangle ); + newSoftBody->setNumVertices( numVertices ); + newSoftBody->setMaxVertices( maxVertices ); + newSoftBody->setNumTriangles( numTriangles ); + newSoftBody->setMaxTriangles( maxTriangles ); + newSoftBody->setFirstLink( firstLink ); + newSoftBody->setNumLinks( numLinks ); + + // Find maximum piterations and viterations + int piterations = softBody->m_cfg.piterations; + + if ( piterations > maxPiterations ) + maxPiterations = piterations; + + int viterations = softBody->m_cfg.viterations; + + if ( viterations > maxViterations ) + maxViterations = viterations; + + // zero mass + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + if ( softBody->m_nodes[vertex].m_im == 0 ) + { + AnchorNodeInfoCL nodeInfo; + nodeInfo.clVertexIndex = firstVertex + vertex; + nodeInfo.pNode = &softBody->m_nodes[vertex]; + + m_anchorNodeInfoArray.push_back(nodeInfo); + } + } + + // anchor position + if ( numVertices > 0 ) + { + for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ ) + { + btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node; + btSoftBody::Node* firstNode = &softBody->m_nodes[0]; + + AnchorNodeInfoCL nodeInfo; + nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode); + nodeInfo.pNode = anchorNode; + + m_anchorNodeInfoArray.push_back(nodeInfo); + } + } + } + + + m_anchorPosition.clear(); + m_anchorPosition.resize(m_anchorNodeInfoArray.size()); + + for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ ) + { + const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode]; + m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode; + getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f; + } + + updateConstants(0.f); + + // set position and velocity iterations + setNumberOfPositionIterations(maxPiterations); + setNumberOfVelocityIterations(maxViterations); + + // set wind velocity + m_perClothWindVelocity.resize( m_softBodySet.size() ); + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody(); + m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity()); + } + + m_clPerClothWindVelocity.changedOnCPU(); + + // generate batches + m_linkData.generateBatches(); + m_triangleData.generateBatches(); + + // Build the shaders to match the batching parameters + buildShaders(); + } +} + + +btSoftBodyLinkData &btOpenCLSoftBodySolver::getLinkData() +{ + // TODO: Consider setting link data to "changed" here + return m_linkData; +} + +btSoftBodyVertexData &btOpenCLSoftBodySolver::getVertexData() +{ + // TODO: Consider setting vertex data to "changed" here + return m_vertexData; +} + +btSoftBodyTriangleData &btOpenCLSoftBodySolver::getTriangleData() +{ + // TODO: Consider setting triangle data to "changed" here + return m_triangleData; +} + +void btOpenCLSoftBodySolver::resetNormalsAndAreas( int numVertices ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 0, sizeof(numVertices), (void*)&numVertices); //oclCHECKERROR(ciErrNum, CL_SUCCESS); + ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 1, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexNormal.m_buffer);//oclCHECKERROR(ciErrNum, CL_SUCCESS); + ciErrNum = clSetKernelArg(m_resetNormalsAndAreasKernel, 2, sizeof(cl_mem), (void*)&m_vertexData.m_clVertexArea.m_buffer); //oclCHECKERROR(ciErrNum, CL_SUCCESS); + size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_resetNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0 ); + + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_resetNormalsAndAreasKernel)" ); + } + } + +} + +void btOpenCLSoftBodySolver::normalizeNormalsAndAreas( int numVertices ) +{ + cl_int ciErrNum; + + ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 0, sizeof(int),(void*) &numVertices); + ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 1, sizeof(cl_mem), &m_vertexData.m_clVertexTriangleCount.m_buffer); + ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(m_normalizeNormalsAndAreasKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + size_t numWorkItems = m_defaultWorkGroupSize*((numVertices + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_normalizeNormalsAndAreasKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)"); + } + } + +} + +void btOpenCLSoftBodySolver::executeUpdateSoftBodies( int firstTriangle, int numTriangles ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 0, sizeof(int), (void*) &firstTriangle); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 1, sizeof(int), &numTriangles); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 2, sizeof(cl_mem), &m_triangleData.m_clVertexIndices.m_buffer); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 6, sizeof(cl_mem), &m_triangleData.m_clNormal.m_buffer); + ciErrNum = clSetKernelArg(m_updateSoftBodiesKernel, 7, sizeof(cl_mem), &m_triangleData.m_clArea.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numTriangles + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue, m_updateSoftBodiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_normalizeNormalsAndAreasKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updateSoftBodies() +{ + using namespace Vectormath::Aos; + + + int numVertices = m_vertexData.getNumVertices(); +// int numTriangles = m_triangleData.getNumTriangles(); + + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_triangleData.moveToAccelerator(); + + resetNormalsAndAreas( numVertices ); + + + // Go through triangle batches so updates occur correctly + for( int batchIndex = 0; batchIndex < m_triangleData.m_batchStartLengths.size(); ++batchIndex ) + { + + int startTriangle = m_triangleData.m_batchStartLengths[batchIndex].first; + int numTriangles = m_triangleData.m_batchStartLengths[batchIndex].second; + + executeUpdateSoftBodies( startTriangle, numTriangles ); + } + + + normalizeNormalsAndAreas( numVertices ); +} // updateSoftBodies + + +Vectormath::Aos::Vector3 btOpenCLSoftBodySolver::ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ) +{ + return a*Vectormath::Aos::dot(v, a); +} + +void btOpenCLSoftBodySolver::ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ) +{ + float dtInverseMass = solverdt*inverseMass; + if( Vectormath::Aos::lengthSqr(force * dtInverseMass) > Vectormath::Aos::lengthSqr(vertexVelocity) ) + { + vertexForce -= ProjectOnAxis( vertexVelocity, normalize( force ) )/dtInverseMass; + } else { + vertexForce += force; + } +} + +void btOpenCLSoftBodySolver::updateFixedVertexPositions() +{ + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_clAnchorPosition.moveToGPU(); + m_clAnchorIndex.moveToGPU(); + + cl_int ciErrNum ; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,1, sizeof(cl_mem), &m_clAnchorIndex.m_buffer); + ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateFixedVertexPositionsKernel,3, sizeof(cl_mem), &m_clAnchorPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateFixedVertexPositionsKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_updateFixedVertexPositionsKernel)"); + } + } + +} + +void btOpenCLSoftBodySolver::applyForces( float solverdt ) +{ + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + m_clPerClothAcceleration.moveToGPU(); + m_clPerClothLiftFactor.moveToGPU(); + m_clPerClothDragFactor.moveToGPU(); + m_clPerClothMediumDensity.moveToGPU(); + m_clPerClothWindVelocity.moveToGPU(); + + cl_int ciErrNum ; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 1, sizeof(float), &solverdt); + float fl = FLT_EPSILON; + ciErrNum = clSetKernelArg(m_applyForcesKernel, 2, sizeof(float), &fl); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexNormal.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexArea.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 7, sizeof(cl_mem), &m_clPerClothLiftFactor.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 8 ,sizeof(cl_mem), &m_clPerClothDragFactor.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel, 9, sizeof(cl_mem), &m_clPerClothWindVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel,10, sizeof(cl_mem), &m_clPerClothAcceleration.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel,11, sizeof(cl_mem), &m_clPerClothMediumDensity.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel,12, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + ciErrNum = clSetKernelArg(m_applyForcesKernel,13, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_applyForcesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize, 0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_applyForcesKernel)"); + } + } + +} + +/** + * Integrate motion on the solver. + */ +void btOpenCLSoftBodySolver::integrate( float solverdt ) +{ + // Ensure data is on accelerator + m_vertexData.moveToAccelerator(); + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_integrateKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_integrateKernel, 1, sizeof(float), &solverdt); + ciErrNum = clSetKernelArg(m_integrateKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(m_integrateKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_integrateKernel, 4, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_integrateKernel, 5, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_integrateKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_integrateKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_integrateKernel)"); + } + } + +} + +float btOpenCLSoftBodySolver::computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ) +{ + Vectormath::Aos::Vector3 a = vertex1 - vertex0; + Vectormath::Aos::Vector3 b = vertex2 - vertex0; + Vectormath::Aos::Vector3 crossProduct = cross(a, b); + float area = length( crossProduct ); + return area; +} + + +void btOpenCLSoftBodySolver::updateBounds() +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btVector3 minBound(-1e30,-1e30,-1e30), maxBound(1e30,1e30,1e30); + m_softBodySet[softBodyIndex]->updateBounds( minBound, maxBound ); + } + +} // btOpenCLSoftBodySolver::updateBounds + + +void btOpenCLSoftBodySolver::updateConstants( float timeStep ) +{ + + using namespace Vectormath::Aos; + + if( m_updateSolverConstants ) + { + m_updateSolverConstants = false; + + // Will have to redo this if we change the structure (tear, maybe) or various other possible changes + + // Initialise link constants + const int numLinks = m_linkData.getNumLinks(); + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) ); + m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 ))); + float invMass0 = m_vertexData.getInverseMass(vertices.vertex0); + float invMass1 = m_vertexData.getInverseMass(vertices.vertex1); + float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex); + float massLSC = (invMass0 + invMass1)/linearStiffness; + m_linkData.getMassLSC(linkIndex) = massLSC; + float restLength = m_linkData.getRestLength(linkIndex); + float restLengthSquared = restLength*restLength; + m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared; + } + } + +} + +class QuickSortCompare +{ + public: + + bool operator() ( const CollisionShapeDescription& a, const CollisionShapeDescription& b ) const + { + return ( a.softBodyIdentifier < b.softBodyIdentifier ); + } +}; + + +/** + * Sort the collision object details array and generate indexing into it for the per-cloth collision object array. + */ +void btOpenCLSoftBodySolver::prepareCollisionConstraints() +{ + // First do a simple sort on the collision objects + btAlignedObjectArray numObjectsPerClothPrefixSum; + btAlignedObjectArray numObjectsPerCloth; + numObjectsPerCloth.resize( m_softBodySet.size(), 0 ); + numObjectsPerClothPrefixSum.resize( m_softBodySet.size(), 0 ); + + + + m_collisionObjectDetails.quickSort( QuickSortCompare() ); + + if (!m_perClothCollisionObjects.size()) + return; + + // Generating indexing for perClothCollisionObjects + // First clear the previous values with the "no collision object for cloth" constant + for( int clothIndex = 0; clothIndex < m_perClothCollisionObjects.size(); ++clothIndex ) + { + m_perClothCollisionObjects[clothIndex].firstObject = -1; + m_perClothCollisionObjects[clothIndex].endObject = -1; + } + int currentCloth = 0; + int startIndex = 0; + for( int collisionObject = 0; collisionObject < m_collisionObjectDetails.size(); ++collisionObject ) + { + int nextCloth = m_collisionObjectDetails[collisionObject].softBodyIdentifier; + if( nextCloth != currentCloth ) + { + // Changed cloth in the array + // Set the end index and the range is what we need for currentCloth + m_perClothCollisionObjects[currentCloth].firstObject = startIndex; + m_perClothCollisionObjects[currentCloth].endObject = collisionObject; + currentCloth = nextCloth; + startIndex = collisionObject; + } + } + + // And update last cloth + m_perClothCollisionObjects[currentCloth].firstObject = startIndex; + m_perClothCollisionObjects[currentCloth].endObject = m_collisionObjectDetails.size(); + +} // btOpenCLSoftBodySolver::prepareCollisionConstraints + + + +void btOpenCLSoftBodySolver::solveConstraints( float solverdt ) +{ + + using Vectormath::Aos::Vector3; + using Vectormath::Aos::Point3; + using Vectormath::Aos::lengthSqr; + using Vectormath::Aos::dot; + + // Prepare links +// int numLinks = m_linkData.getNumLinks(); +// int numVertices = m_vertexData.getNumVertices(); + + float kst = 1.f; + float ti = 0.f; + + + m_clPerClothDampingFactor.moveToGPU(); + m_clPerClothVelocityCorrectionCoefficient.moveToGPU(); + + + // Ensure data is on accelerator + m_linkData.moveToAccelerator(); + m_vertexData.moveToAccelerator(); + + prepareLinks(); + + + + for( int iteration = 0; iteration < m_numberOfVelocityIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForVelocity( startLink, numLinks, kst ); + } + } + + + prepareCollisionConstraints(); + + // Compute new positions from velocity + // Also update the previous position so that our position computation is now based on the new position from the velocity solution + // rather than based directly on the original positions + if( m_numberOfVelocityIterations > 0 ) + { + updateVelocitiesFromPositionsWithVelocities( 1.f/solverdt ); + } else { + updateVelocitiesFromPositionsWithoutVelocities( 1.f/solverdt ); + } + + // Solve position + for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + { + for( int i = 0; i < m_linkData.m_batchStartLengths.size(); ++i ) + { + int startLink = m_linkData.m_batchStartLengths[i].start; + int numLinks = m_linkData.m_batchStartLengths[i].length; + + solveLinksForPosition( startLink, numLinks, kst, ti ); + } + + } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + + + // At this point assume that the force array is blank - we will overwrite it + solveCollisionsAndUpdateVelocities( 1.f/solverdt ); + +} + + +////////////////////////////////////// +// Kernel dispatches +void btOpenCLSoftBodySolver::prepareLinks() +{ + cl_int ciErrNum; + int numLinks = m_linkData.getNumLinks(); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,0, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,1, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,2, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer); + ciErrNum = clSetKernelArg(m_prepareLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_linkData.getNumLinks() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_prepareLinksKernel, 1 , NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_prepareLinksKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updatePositionsFromVelocities( float solverdt ) +{ + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,1, sizeof(float), &solverdt); + ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,2, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updatePositionsFromVelocitiesKernel,4, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updatePositionsFromVelocitiesKernel, 1, NULL, &numWorkItems,&m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_updatePositionsFromVelocitiesKernel)"); + } + +} + +void btOpenCLSoftBodySolver::solveLinksForPosition( int startLink, int numLinks, float kst, float ti ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startLink); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&m_defaultWorkGroupSize,0,0,0); + if( ciErrNum!= CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)"); + } + +} // solveLinksForPosition + + +void btOpenCLSoftBodySolver::solveLinksForVelocity( int startLink, int numLinks, float kst ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 0, sizeof(int), &startLink); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 1, sizeof(int), &numLinks); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 2, sizeof(float), &kst); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 3, sizeof(cl_mem), &m_linkData.m_clLinks.m_buffer); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 4, sizeof(cl_mem), &m_linkData.m_clLinksLengthRatio.m_buffer); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 5, sizeof(cl_mem), &m_linkData.m_clLinksCLength.m_buffer); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 6, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(m_vSolveLinksKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((numLinks + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_vSolveLinksKernel,1,NULL,&numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_vSolveLinksKernel)"); + } + +} + +void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithVelocities( float isolverdt ) +{ + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel,0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, sizeof(float), &isolverdt); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 2, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 3, sizeof(cl_mem), &m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 4, sizeof(cl_mem), &m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 5, sizeof(cl_mem), &m_clPerClothVelocityCorrectionCoefficient.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 6, sizeof(cl_mem), &m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 7, sizeof(cl_mem), &m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithVelocitiesKernel, 8, sizeof(cl_mem), &m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithVelocitiesKernel)"); + } + + +} // updateVelocitiesFromPositionsWithVelocities + +void btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ) +{ + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, sizeof(float), &isolverdt); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 4, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 6, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 7, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_updateVelocitiesFromPositionsWithoutVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)"); + } + +} // updateVelocitiesFromPositionsWithoutVelocities + + + +void btOpenCLSoftBodySolver::solveCollisionsAndUpdateVelocities( float isolverdt ) +{ + // Copy kernel parameters to GPU + m_vertexData.moveToAccelerator(); + m_clPerClothFriction.moveToGPU(); + m_clPerClothDampingFactor.moveToGPU(); + m_clPerClothCollisionObjects.moveToGPU(); + m_clCollisionObjectDetails.moveToGPU(); + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer); + + size_t numWorkItems = m_defaultWorkGroupSize*((m_vertexData.getNumVertices() + (m_defaultWorkGroupSize-1)) / m_defaultWorkGroupSize); + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &m_defaultWorkGroupSize,0,0,0); + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_updateVelocitiesFromPositionsWithoutVelocitiesKernel)"); + } + } + +} // btOpenCLSoftBodySolver::updateVelocitiesFromPositionsWithoutVelocities + + + +// End kernel dispatches +///////////////////////////////////// + + +void btSoftBodySolverOutputCLtoCPU::copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + + btSoftBodySolver *solver = softBody->getSoftBodySolver(); + btAssert( solver->getSolverType() == btSoftBodySolver::CL_SOLVER || solver->getSolverType() == btSoftBodySolver::CL_SIMD_SOLVER ); + btOpenCLSoftBodySolver *dxSolver = static_cast< btOpenCLSoftBodySolver * >( solver ); + + btOpenCLAcceleratedSoftBodyInterface* currentCloth = dxSolver->findSoftBodyInterface( softBody ); + btSoftBodyVertexDataOpenCL &vertexData( dxSolver->m_vertexData ); + + + const int firstVertex = currentCloth->getFirstVertex(); + const int lastVertex = firstVertex + currentCloth->getNumVertices(); + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + { + const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); + float *basePointer = cpuVertexBuffer->getBasePointer(); + + vertexData.m_clVertexPosition.copyFromGPU(); + vertexData.m_clVertexNormal.copyFromGPU(); + + if( vertexBuffer->hasVertexPositions() ) + { + const int vertexOffset = cpuVertexBuffer->getVertexOffset(); + const int vertexStride = cpuVertexBuffer->getVertexStride(); + float *vertexPointer = basePointer + vertexOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Point3 position = vertexData.getPosition(vertexIndex); + *(vertexPointer + 0) = position.getX(); + *(vertexPointer + 1) = position.getY(); + *(vertexPointer + 2) = position.getZ(); + vertexPointer += vertexStride; + } + } + if( vertexBuffer->hasNormals() ) + { + const int normalOffset = cpuVertexBuffer->getNormalOffset(); + const int normalStride = cpuVertexBuffer->getNormalStride(); + float *normalPointer = basePointer + normalOffset; + + for( int vertexIndex = firstVertex; vertexIndex < lastVertex; ++vertexIndex ) + { + Vectormath::Aos::Vector3 normal = vertexData.getNormal(vertexIndex); + *(normalPointer + 0) = normal.getX(); + *(normalPointer + 1) = normal.getY(); + *(normalPointer + 2) = normal.getZ(); + normalPointer += normalStride; + } + } + } + +} // btSoftBodySolverOutputCLtoCPU::outputToVertexBuffers + + + +cl_kernel CLFunctions::compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros ,const char* orgSrcFileNameForCaching) +{ + printf("compiling kernelName: %s ",kernelName); + cl_kernel kernel=0; + cl_int ciErrNum; + size_t program_length = strlen(kernelSource); + + cl_program m_cpProgram = clCreateProgramWithSource(m_cxMainContext, 1, (const char**)&kernelSource, &program_length, &ciErrNum); +// oclCHECKERROR(ciErrNum, CL_SUCCESS); + + // Build the program with 'mad' Optimization option + + +#ifdef MAC + char* flags = "-cl-mad-enable -DMAC -DGUID_ARG"; +#else + //const char* flags = "-DGUID_ARG= -fno-alias"; + const char* flags = "-DGUID_ARG= "; +#endif + + char* compileFlags = new char[strlen(additionalMacros) + strlen(flags) + 5]; + sprintf(compileFlags, "%s %s", flags, additionalMacros); + ciErrNum = clBuildProgram(m_cpProgram, 0, NULL, compileFlags, NULL, NULL); + if (ciErrNum != CL_SUCCESS) + { + size_t numDevices; + clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, 0, 0, &numDevices ); + cl_device_id *devices = new cl_device_id[numDevices]; + clGetProgramInfo( m_cpProgram, CL_PROGRAM_DEVICES, numDevices, devices, &numDevices ); + for( int i = 0; i < 2; ++i ) + { + char *build_log; + size_t ret_val_size; + clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, 0, NULL, &ret_val_size); + build_log = new char[ret_val_size+1]; + clGetProgramBuildInfo(m_cpProgram, devices[i], CL_PROGRAM_BUILD_LOG, ret_val_size, build_log, NULL); + + // to be carefully, terminate with \0 + // there's no information in the reference whether the string is 0 terminated or not + build_log[ret_val_size] = '\0'; + + + printf("Error in clBuildProgram, Line %u in file %s, Log: \n%s\n !!!\n\n", __LINE__, __FILE__, build_log); + delete[] build_log; + } +#ifndef BT_SUPPRESS_OPENCL_ASSERTS + btAssert(0); +#endif //BT_SUPPRESS_OPENCL_ASSERTS + m_kernelCompilationFailures++; + return 0; + } + + + // Create the kernel + kernel = clCreateKernel(m_cpProgram, kernelName, &ciErrNum); + if (ciErrNum != CL_SUCCESS) + { + const char* msg = ""; + switch(ciErrNum) + { + case CL_INVALID_PROGRAM: + msg = "Program is not a valid program object."; + break; + case CL_INVALID_PROGRAM_EXECUTABLE: + msg = "There is no successfully built executable for program."; + break; + case CL_INVALID_KERNEL_NAME: + msg = "kernel_name is not found in program."; + break; + case CL_INVALID_KERNEL_DEFINITION: + msg = "the function definition for __kernel function given by kernel_name such as the number of arguments, the argument types are not the same for all devices for which the program executable has been built."; + break; + case CL_INVALID_VALUE: + msg = "kernel_name is NULL."; + break; + case CL_OUT_OF_HOST_MEMORY: + msg = "Failure to allocate resources required by the OpenCL implementation on the host."; + break; + default: + { + } + } + + printf("Error in clCreateKernel for kernel '%s', error is \"%s\", Line %u in file %s !!!\n\n", kernelName, msg, __LINE__, __FILE__); + +#ifndef BT_SUPPRESS_OPENCL_ASSERTS + btAssert(0); +#endif //BT_SUPPRESS_OPENCL_ASSERTS + m_kernelCompilationFailures++; + return 0; + } + + printf("ready. \n"); + delete [] compileFlags; + if (!kernel) + m_kernelCompilationFailures++; + return kernel; + +} + +void btOpenCLSoftBodySolver::predictMotion( float timeStep ) +{ + // Clear the collision shape array for the next frame + // Ensure that the DX11 ones are moved off the device so they will be updated correctly + m_clCollisionObjectDetails.changedOnCPU(); + m_clPerClothCollisionObjects.changedOnCPU(); + m_collisionObjectDetails.clear(); + + if ( m_bUpdateAnchoredNodePos ) + { + // In OpenCL cloth solver, if softbody node has zero inverse mass(infinite mass) or anchor attached, + // we need to update the node position in case the node or anchor is animated externally. + // If there is no such node, we can eliminate the unnecessary CPU-to-GPU data trasferring. + for ( int i = 0; i < m_anchorNodeInfoArray.size(); i++ ) + { + const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[i]; + btSoftBody::Node* node = anchorNodeInfo.pNode; + + using Vectormath::Aos::Point3; + Point3 pos((float)node->m_x.getX(), (float)node->m_x.getY(), (float)node->m_x.getZ()); + m_anchorPosition[i] = pos; + } + + if ( m_anchorNodeInfoArray.size() > 0 ) + m_clAnchorPosition.changedOnCPU(); + + updateFixedVertexPositions(); + } + + { + BT_PROFILE("applyForces"); + // Apply forces that we know about to the cloths + applyForces( timeStep * getTimeScale() ); + } + + { + BT_PROFILE("integrate"); + // Itegrate motion for all soft bodies dealt with by the solver + integrate( timeStep * getTimeScale() ); + } + + { + BT_PROFILE("updateBounds"); + updateBounds(); + } + // End prediction work for solvers +} + +static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform ) +{ + Vectormath::Aos::Transform3 outTransform; + outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0))); + outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1))); + outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2))); + outTransform.setCol(3, toVector3(transform.getOrigin())); + return outTransform; +} + +void btOpenCLAcceleratedSoftBodyInterface::updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound ) +{ + float scalarMargin = (float)getSoftBody()->getCollisionShape()->getMargin(); + btVector3 vectorMargin( scalarMargin, scalarMargin, scalarMargin ); + m_softBody->m_bounds[0] = lowerBound - vectorMargin; + m_softBody->m_bounds[1] = upperBound + vectorMargin; +} // btOpenCLSoftBodySolver::btDX11AcceleratedSoftBodyInterface::updateBounds + +void btOpenCLSoftBodySolver::processCollision( btSoftBody*, btSoftBody* ) +{ + +} + +// Add the collision object to the set to deal with for a particular soft body +void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject ) +{ + int softBodyIndex = findSoftBodyIndex( softBody ); + + if( softBodyIndex >= 0 ) + { + const btCollisionShape *collisionShape = collisionObject->getCollisionShape(); + float friction = collisionObject->getCollisionObject()->getFriction(); + int shapeType = collisionShape->getShapeType(); + if( shapeType == CAPSULE_SHAPE_PROXYTYPE ) + { + // Add to the list of expected collision objects + CollisionShapeDescription newCollisionShapeDescription; + newCollisionShapeDescription.softBodyIdentifier = softBodyIndex; + newCollisionShapeDescription.collisionShapeType = shapeType; + // TODO: May need to transpose this matrix either here or in HLSL + newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform()); + const btCapsuleShape *capsule = static_cast( collisionShape ); + newCollisionShapeDescription.radius = capsule->getRadius(); + newCollisionShapeDescription.halfHeight = capsule->getHalfHeight(); + newCollisionShapeDescription.margin = capsule->getMargin(); + newCollisionShapeDescription.upAxis = capsule->getUpAxis(); + newCollisionShapeDescription.friction = friction; + const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() ); + newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity()); + newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity()); + m_collisionObjectDetails.push_back( newCollisionShapeDescription ); + + } + else { +#ifdef _DEBUG + printf("Unsupported collision shape type\n"); +#endif + //btAssert(0 && "Unsupported collision shape type\n"); + } + } else { + btAssert(0 && "Unknown soft body"); + } +} // btOpenCLSoftBodySolver::processCollision + + + + + +btOpenCLAcceleratedSoftBodyInterface* btOpenCLSoftBodySolver::findSoftBodyInterface( const btSoftBody* const softBody ) +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyInterface; + } + return 0; +} + + +int btOpenCLSoftBodySolver::findSoftBodyIndex( const btSoftBody* const softBody ) +{ + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btOpenCLAcceleratedSoftBodyInterface* softBodyInterface = m_softBodySet[softBodyIndex]; + if( softBodyInterface->getSoftBody() == softBody ) + return softBodyIndex; + } + return 1; +} + +bool btOpenCLSoftBodySolver::checkInitialized() +{ + if( !m_shadersInitialized ) + if( buildShaders() ) + m_shadersInitialized = true; + + return m_shadersInitialized; +} + +bool btOpenCLSoftBodySolver::buildShaders() +{ + if( m_shadersInitialized ) + return true; + + const char* additionalMacros=""; + + // Ensure current kernels are released first + releaseKernels(); + + m_currentCLFunctions->clearKernelCompilationFailures(); + + m_prepareLinksKernel = m_currentCLFunctions->compileCLKernelFromString( PrepareLinksCLString, "PrepareLinksKernel",additionalMacros,"OpenCLC10/PrepareLinks.cl" ); + m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl"); + m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel",additionalMacros,"OpenCLC10/SolvePositions.cl" ); + m_vSolveLinksKernel = m_currentCLFunctions->compileCLKernelFromString( VSolveLinksCLString, "VSolveLinksKernel" ,additionalMacros,"OpenCLC10/VSolveLinks.cl"); + m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdateNodes.cl"); + m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel" ,additionalMacros,"OpenCLC10/UpdatePositions.cl"); + m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel" ,additionalMacros,"OpenCLC10/SolveCollisionsAndUpdateVelocities.cl"); + m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel" ,additionalMacros,"OpenCLC10/Integrate.cl"); + m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel" ,additionalMacros,"OpenCLC10/ApplyForces.cl"); + m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" , additionalMacros, "OpenCLC10/UpdateFixedVertexPositions.cl"); + + // TODO: Rename to UpdateSoftBodies + m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl"); + m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl"); + m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel" ,additionalMacros,"OpenCLC10/UpdateNormals.cl"); + + + if( m_currentCLFunctions->getKernelCompilationFailures()==0 ) + m_shadersInitialized = true; + + return m_shadersInitialized; +} + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h new file mode 100644 index 00000000..6de58c4f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h @@ -0,0 +1,527 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_OPENCL_H +#define BT_SOFT_BODY_SOLVER_OPENCL_H + +#include "stddef.h" //for size_t +#include "vectormath/vmInclude.h" + +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "BulletSoftBody/btSoftBody.h" +#include "btSoftBodySolverBuffer_OpenCL.h" +#include "btSoftBodySolverLinkData_OpenCL.h" +#include "btSoftBodySolverVertexData_OpenCL.h" +#include "btSoftBodySolverTriangleData_OpenCL.h" + +class CLFunctions +{ +protected: + cl_command_queue m_cqCommandQue; + cl_context m_cxMainContext; + + int m_kernelCompilationFailures; + + +public: + CLFunctions(cl_command_queue cqCommandQue, cl_context cxMainContext) : + m_cqCommandQue( cqCommandQue ), + m_cxMainContext( cxMainContext ), + m_kernelCompilationFailures(0) + { + } + + int getKernelCompilationFailures() const + { + return m_kernelCompilationFailures; + } + + /** + * Compile a compute shader kernel from a string and return the appropriate cl_kernel object. + */ + virtual cl_kernel compileCLKernelFromString( const char* kernelSource, const char* kernelName, const char* additionalMacros, const char* srcFileNameForCaching); + + void clearKernelCompilationFailures() + { + m_kernelCompilationFailures=0; + } +}; + +/** + * Entry in the collision shape array. + * Specifies the shape type, the transform matrix and the necessary details of the collisionShape. + */ +struct CollisionShapeDescription +{ + Vectormath::Aos::Transform3 shapeTransform; + Vectormath::Aos::Vector3 linearVelocity; + Vectormath::Aos::Vector3 angularVelocity; + + int softBodyIdentifier; + int collisionShapeType; + + // Both needed for capsule + float radius; + float halfHeight; + int upAxis; + + float margin; + float friction; + + CollisionShapeDescription() + { + collisionShapeType = 0; + margin = 0; + friction = 0; + } +}; + +/** + * SoftBody class to maintain information about a soft body instance + * within a solver. + * This data addresses the main solver arrays. + */ +class btOpenCLAcceleratedSoftBodyInterface +{ +protected: + /** Current number of vertices that are part of this cloth */ + int m_numVertices; + /** Maximum number of vertices allocated to be part of this cloth */ + int m_maxVertices; + /** Current number of triangles that are part of this cloth */ + int m_numTriangles; + /** Maximum number of triangles allocated to be part of this cloth */ + int m_maxTriangles; + /** Index of first vertex in the world allocated to this cloth */ + int m_firstVertex; + /** Index of first triangle in the world allocated to this cloth */ + int m_firstTriangle; + /** Index of first link in the world allocated to this cloth */ + int m_firstLink; + /** Maximum number of links allocated to this cloth */ + int m_maxLinks; + /** Current number of links allocated to this cloth */ + int m_numLinks; + + /** The actual soft body this data represents */ + btSoftBody *m_softBody; + + +public: + btOpenCLAcceleratedSoftBodyInterface( btSoftBody *softBody ) : + m_softBody( softBody ) + { + m_numVertices = 0; + m_maxVertices = 0; + m_numTriangles = 0; + m_maxTriangles = 0; + m_firstVertex = 0; + m_firstTriangle = 0; + m_firstLink = 0; + m_maxLinks = 0; + m_numLinks = 0; + } + int getNumVertices() + { + return m_numVertices; + } + + int getNumTriangles() + { + return m_numTriangles; + } + + int getMaxVertices() + { + return m_maxVertices; + } + + int getMaxTriangles() + { + return m_maxTriangles; + } + + int getFirstVertex() + { + return m_firstVertex; + } + + int getFirstTriangle() + { + return m_firstTriangle; + } + + /** + * Update the bounds in the btSoftBody object + */ + void updateBounds( const btVector3 &lowerBound, const btVector3 &upperBound ); + + // TODO: All of these set functions will have to do checks and + // update the world because restructuring of the arrays will be necessary + // Reasonable use of "friend"? + void setNumVertices( int numVertices ) + { + m_numVertices = numVertices; + } + + void setNumTriangles( int numTriangles ) + { + m_numTriangles = numTriangles; + } + + void setMaxVertices( int maxVertices ) + { + m_maxVertices = maxVertices; + } + + void setMaxTriangles( int maxTriangles ) + { + m_maxTriangles = maxTriangles; + } + + void setFirstVertex( int firstVertex ) + { + m_firstVertex = firstVertex; + } + + void setFirstTriangle( int firstTriangle ) + { + m_firstTriangle = firstTriangle; + } + + void setMaxLinks( int maxLinks ) + { + m_maxLinks = maxLinks; + } + + void setNumLinks( int numLinks ) + { + m_numLinks = numLinks; + } + + void setFirstLink( int firstLink ) + { + m_firstLink = firstLink; + } + + int getMaxLinks() + { + return m_maxLinks; + } + + int getNumLinks() + { + return m_numLinks; + } + + int getFirstLink() + { + return m_firstLink; + } + + btSoftBody* getSoftBody() + { + return m_softBody; + } + +}; + + + +class btOpenCLSoftBodySolver : public btSoftBodySolver +{ +public: + + + struct UIntVector3 + { + UIntVector3() + { + x = 0; + y = 0; + z = 0; + _padding = 0; + } + + UIntVector3( unsigned int x_, unsigned int y_, unsigned int z_ ) + { + x = x_; + y = y_; + z = z_; + _padding = 0; + } + + unsigned int x; + unsigned int y; + unsigned int z; + unsigned int _padding; + }; + + struct CollisionObjectIndices + { + CollisionObjectIndices( int f, int e ) + { + firstObject = f; + endObject = e; + } + + int firstObject; + int endObject; + }; + + btSoftBodyLinkDataOpenCL m_linkData; + btSoftBodyVertexDataOpenCL m_vertexData; + btSoftBodyTriangleDataOpenCL m_triangleData; + +protected: + + CLFunctions m_defaultCLFunctions; + CLFunctions* m_currentCLFunctions; + + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + bool m_shadersInitialized; + + /** + * Cloths owned by this solver. + * Only our cloths are in this array. + */ + btAlignedObjectArray< btOpenCLAcceleratedSoftBodyInterface * > m_softBodySet; + + /** Acceleration value to be applied to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothAcceleration; + btOpenCLBuffer m_clPerClothAcceleration; + + /** Wind velocity to be applied normal to all non-static vertices in the solver. + * Index n is cloth n, array sized by number of cloths in the world not the solver. + */ + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_perClothWindVelocity; + btOpenCLBuffer m_clPerClothWindVelocity; + + /** Velocity damping factor */ + btAlignedObjectArray< float > m_perClothDampingFactor; + btOpenCLBuffer m_clPerClothDampingFactor; + + /** Velocity correction coefficient */ + btAlignedObjectArray< float > m_perClothVelocityCorrectionCoefficient; + btOpenCLBuffer m_clPerClothVelocityCorrectionCoefficient; + + /** Lift parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothLiftFactor; + btOpenCLBuffer m_clPerClothLiftFactor; + + /** Drag parameter for wind effect on cloth. */ + btAlignedObjectArray< float > m_perClothDragFactor; + btOpenCLBuffer m_clPerClothDragFactor; + + /** Density of the medium in which each cloth sits */ + btAlignedObjectArray< float > m_perClothMediumDensity; + btOpenCLBuffer m_clPerClothMediumDensity; + + /** + * Collision shape details: pair of index of first collision shape for the cloth and number of collision objects. + */ + btAlignedObjectArray< CollisionObjectIndices > m_perClothCollisionObjects; + btOpenCLBuffer m_clPerClothCollisionObjects; + + /** + * Collision shapes being passed across to the cloths in this solver. + */ + btAlignedObjectArray< CollisionShapeDescription > m_collisionObjectDetails; + btOpenCLBuffer< CollisionShapeDescription > m_clCollisionObjectDetails; + + + + /** + * Friction coefficient for each cloth + */ + btAlignedObjectArray< float > m_perClothFriction; + btOpenCLBuffer< float > m_clPerClothFriction; + + // anchor node info + struct AnchorNodeInfoCL + { + int clVertexIndex; + btSoftBody::Node* pNode; + }; + + btAlignedObjectArray m_anchorNodeInfoArray; + btAlignedObjectArray m_anchorPosition; + btOpenCLBuffer m_clAnchorPosition; + btAlignedObjectArray m_anchorIndex; + btOpenCLBuffer m_clAnchorIndex; + + bool m_bUpdateAnchoredNodePos; + + cl_kernel m_prepareLinksKernel; + cl_kernel m_solvePositionsFromLinksKernel; + cl_kernel m_updateConstantsKernel; + cl_kernel m_integrateKernel; + cl_kernel m_addVelocityKernel; + cl_kernel m_updatePositionsFromVelocitiesKernel; + cl_kernel m_updateVelocitiesFromPositionsWithoutVelocitiesKernel; + cl_kernel m_updateVelocitiesFromPositionsWithVelocitiesKernel; + cl_kernel m_vSolveLinksKernel; + cl_kernel m_solveCollisionsAndUpdateVelocitiesKernel; + cl_kernel m_resetNormalsAndAreasKernel; + cl_kernel m_normalizeNormalsAndAreasKernel; + cl_kernel m_updateSoftBodiesKernel; + + cl_kernel m_outputToVertexArrayKernel; + cl_kernel m_applyForcesKernel; + cl_kernel m_updateFixedVertexPositionsKernel; + + cl_command_queue m_cqCommandQue; + cl_context m_cxMainContext; + + size_t m_defaultWorkGroupSize; + + + virtual bool buildShaders(); + + void resetNormalsAndAreas( int numVertices ); + + void normalizeNormalsAndAreas( int numVertices ); + + void executeUpdateSoftBodies( int firstTriangle, int numTriangles ); + + void prepareCollisionConstraints(); + + Vectormath::Aos::Vector3 ProjectOnAxis( const Vectormath::Aos::Vector3 &v, const Vectormath::Aos::Vector3 &a ); + + void ApplyClampedForce( float solverdt, const Vectormath::Aos::Vector3 &force, const Vectormath::Aos::Vector3 &vertexVelocity, float inverseMass, Vectormath::Aos::Vector3 &vertexForce ); + + + int findSoftBodyIndex( const btSoftBody* const softBody ); + + virtual void applyForces( float solverdt ); + + void updateFixedVertexPositions(); + + /** + * Integrate motion on the solver. + */ + virtual void integrate( float solverdt ); + + virtual void updateConstants( float timeStep ); + + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + ////////////////////////////////////// + // Kernel dispatches + void prepareLinks(); + + void solveLinksForVelocity( int startLink, int numLinks, float kst ); + + void updatePositionsFromVelocities( float solverdt ); + + virtual void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + + void updateVelocitiesFromPositionsWithVelocities( float isolverdt ); + + void updateVelocitiesFromPositionsWithoutVelocities( float isolverdt ); + virtual void solveCollisionsAndUpdateVelocities( float isolverdt ); + + // End kernel dispatches + ///////////////////////////////////// + + void updateBounds(); + + void releaseKernels(); + +public: + btOpenCLSoftBodySolver(cl_command_queue queue,cl_context ctx, bool bUpdateAchchoredNodePos = false); + + virtual ~btOpenCLSoftBodySolver(); + + + + btOpenCLAcceleratedSoftBodyInterface *findSoftBodyInterface( const btSoftBody* const softBody ); + + virtual btSoftBodyLinkData &getLinkData(); + + virtual btSoftBodyVertexData &getVertexData(); + + virtual btSoftBodyTriangleData &getTriangleData(); + + virtual SolverTypes getSolverType() const + { + return CL_SOLVER; + } + + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); + + virtual void copyBackToSoftBodies(bool bMove = true); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* ); + + virtual void processCollision( btSoftBody*, btSoftBody* ); + + virtual void setDefaultWorkgroupSize(size_t workGroupSize) + { + m_defaultWorkGroupSize = workGroupSize; + } + virtual size_t getDefaultWorkGroupSize() const + { + return m_defaultWorkGroupSize; + } + + void setCLFunctions(CLFunctions* funcs) + { + if (funcs) + m_currentCLFunctions = funcs; + else + m_currentCLFunctions = &m_defaultCLFunctions; + } + +}; // btOpenCLSoftBodySolver + + +/** + * Class to manage movement of data from a solver to a given target. + * This version is the CL to CPU version. + */ +class btSoftBodySolverOutputCLtoCPU : public btSoftBodySolverOutput +{ +protected: + +public: + btSoftBodySolverOutputCLtoCPU() + { + } + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ); +}; + + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp new file mode 100644 index 00000000..0380a6dd --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp @@ -0,0 +1,1101 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" +#include //@todo: remove the debugging printf at some stage +#include "btSoftBodySolver_OpenCLSIMDAware.h" +#include "BulletSoftBody/btSoftBodySolverVertexBuffer.h" +#include "BulletSoftBody/btSoftBody.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include + +#define WAVEFRONT_SIZE 32 +#define WAVEFRONT_BLOCK_MULTIPLIER 2 +#define GROUP_SIZE (WAVEFRONT_SIZE*WAVEFRONT_BLOCK_MULTIPLIER) +#define LINKS_PER_SIMD_LANE 16 + +static const size_t workGroupSize = GROUP_SIZE; + + +//CL_VERSION_1_1 seems broken on NVidia SDK so just disable it + +////OpenCL 1.0 kernels don't use float3 +#define MSTRINGIFY(A) #A +static const char* UpdatePositionsFromVelocitiesCLString = +#include "OpenCLC10/UpdatePositionsFromVelocities.cl" +static const char* SolvePositionsCLString = +#include "OpenCLC10/SolvePositionsSIMDBatched.cl" +static const char* UpdateNodesCLString = +#include "OpenCLC10/UpdateNodes.cl" +static const char* UpdatePositionsCLString = +#include "OpenCLC10/UpdatePositions.cl" +static const char* UpdateConstantsCLString = +#include "OpenCLC10/UpdateConstants.cl" +static const char* IntegrateCLString = +#include "OpenCLC10/Integrate.cl" +static const char* ApplyForcesCLString = +#include "OpenCLC10/ApplyForces.cl" +static const char* UpdateFixedVertexPositionsCLString = +#include "OpenCLC10/UpdateFixedVertexPositions.cl" +static const char* UpdateNormalsCLString = +#include "OpenCLC10/UpdateNormals.cl" +static const char* VSolveLinksCLString = +#include "OpenCLC10/VSolveLinks.cl" +static const char* SolveCollisionsAndUpdateVelocitiesCLString = +#include "OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl" +static const char* OutputToVertexArrayCLString = +#include "OpenCLC10/OutputToVertexArray.cl" + + + +btSoftBodyLinkDataOpenCLSIMDAware::btSoftBodyLinkDataOpenCLSIMDAware(cl_command_queue queue, cl_context ctx) : + m_cqCommandQue(queue), + m_wavefrontSize( WAVEFRONT_SIZE ), + m_linksPerWorkItem( LINKS_PER_SIMD_LANE ), + m_maxBatchesWithinWave( 0 ), + m_maxLinksPerWavefront( m_wavefrontSize * m_linksPerWorkItem ), + m_numWavefronts( 0 ), + m_maxVertex( 0 ), + m_clNumBatchesAndVerticesWithinWaves( queue, ctx, &m_numBatchesAndVerticesWithinWaves, true ), + m_clWavefrontVerticesGlobalAddresses( queue, ctx, &m_wavefrontVerticesGlobalAddresses, true ), + m_clLinkVerticesLocalAddresses( queue, ctx, &m_linkVerticesLocalAddresses, true ), + m_clLinkStrength( queue, ctx, &m_linkStrength, false ), + m_clLinksMassLSC( queue, ctx, &m_linksMassLSC, false ), + m_clLinksRestLengthSquared( queue, ctx, &m_linksRestLengthSquared, false ), + m_clLinksRestLength( queue, ctx, &m_linksRestLength, false ), + m_clLinksMaterialLinearStiffnessCoefficient( queue, ctx, &m_linksMaterialLinearStiffnessCoefficient, false ) +{ +} + +btSoftBodyLinkDataOpenCLSIMDAware::~btSoftBodyLinkDataOpenCLSIMDAware() +{ +} + +static Vectormath::Aos::Vector3 toVector3( const btVector3 &vec ) +{ + Vectormath::Aos::Vector3 outVec( vec.getX(), vec.getY(), vec.getZ() ); + return outVec; +} + +/** Allocate enough space in all link-related arrays to fit numLinks links */ +void btSoftBodyLinkDataOpenCLSIMDAware::createLinks( int numLinks ) +{ + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + btSoftBodyLinkData::createLinks( numLinks ); + + // Resize the link addresses array as well + m_linkAddresses.resize( newSize ); +} + +/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ +void btSoftBodyLinkDataOpenCLSIMDAware::setLinkAt( + const LinkDescription &link, + int linkIndex ) +{ + btSoftBodyLinkData::setLinkAt( link, linkIndex ); + + if( link.getVertex0() > m_maxVertex ) + m_maxVertex = link.getVertex0(); + if( link.getVertex1() > m_maxVertex ) + m_maxVertex = link.getVertex1(); + + // Set the link index correctly for initialisation + m_linkAddresses[linkIndex] = linkIndex; +} + +bool btSoftBodyLinkDataOpenCLSIMDAware::onAccelerator() +{ + return m_onGPU; +} + +bool btSoftBodyLinkDataOpenCLSIMDAware::moveToAccelerator() +{ + bool success = true; + success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU(); + success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU(); + success = success && m_clLinkVerticesLocalAddresses.moveToGPU(); + success = success && m_clLinkStrength.moveToGPU(); + success = success && m_clLinksMassLSC.moveToGPU(); + success = success && m_clLinksRestLengthSquared.moveToGPU(); + success = success && m_clLinksRestLength.moveToGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveToGPU(); + + if( success ) { + m_onGPU = true; + } + + return success; +} + +bool btSoftBodyLinkDataOpenCLSIMDAware::moveFromAccelerator() +{ + bool success = true; + success = success && m_clNumBatchesAndVerticesWithinWaves.moveToGPU(); + success = success && m_clWavefrontVerticesGlobalAddresses.moveToGPU(); + success = success && m_clLinkVerticesLocalAddresses.moveToGPU(); + success = success && m_clLinkStrength.moveFromGPU(); + success = success && m_clLinksMassLSC.moveFromGPU(); + success = success && m_clLinksRestLengthSquared.moveFromGPU(); + success = success && m_clLinksRestLength.moveFromGPU(); + success = success && m_clLinksMaterialLinearStiffnessCoefficient.moveFromGPU(); + + if( success ) { + m_onGPU = false; + } + + return success; +} + + + + + + + + +btOpenCLSoftBodySolverSIMDAware::btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue, cl_context ctx, bool bUpdateAchchoredNodePos) : + btOpenCLSoftBodySolver( queue, ctx, bUpdateAchchoredNodePos ), + m_linkData(queue, ctx) +{ + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; + + m_shadersInitialized = false; +} + +btOpenCLSoftBodySolverSIMDAware::~btOpenCLSoftBodySolverSIMDAware() +{ + releaseKernels(); +} + +void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody * > &softBodies ,bool forceUpdate) +{ + if( forceUpdate || m_softBodySet.size() != softBodies.size() ) + { + // Have a change in the soft body set so update, reloading all the data + getVertexData().clear(); + getTriangleData().clear(); + getLinkData().clear(); + m_softBodySet.resize(0); + m_anchorIndex.clear(); + + int maxPiterations = 0; + int maxViterations = 0; + + for( int softBodyIndex = 0; softBodyIndex < softBodies.size(); ++softBodyIndex ) + { + btSoftBody *softBody = softBodies[ softBodyIndex ]; + using Vectormath::Aos::Matrix3; + using Vectormath::Aos::Point3; + + // Create SoftBody that will store the information within the solver + btOpenCLAcceleratedSoftBodyInterface* newSoftBody = new btOpenCLAcceleratedSoftBodyInterface( softBody ); + m_softBodySet.push_back( newSoftBody ); + + m_perClothAcceleration.push_back( toVector3(softBody->getWorldInfo()->m_gravity) ); + m_perClothDampingFactor.push_back(softBody->m_cfg.kDP); + m_perClothVelocityCorrectionCoefficient.push_back( softBody->m_cfg.kVCF ); + m_perClothLiftFactor.push_back( softBody->m_cfg.kLF ); + m_perClothDragFactor.push_back( softBody->m_cfg.kDG ); + m_perClothMediumDensity.push_back(softBody->getWorldInfo()->air_density); + // Simple init values. Actually we'll put 0 and -1 into them at the appropriate time + m_perClothFriction.push_back(softBody->m_cfg.kDF); + m_perClothCollisionObjects.push_back( CollisionObjectIndices(-1, -1) ); + + // Add space for new vertices and triangles in the default solver for now + // TODO: Include space here for tearing too later + int firstVertex = getVertexData().getNumVertices(); + int numVertices = softBody->m_nodes.size(); + // Round maxVertices to a multiple of the workgroup size so we know we're safe to run over in a given group + // maxVertices can be increased to allow tearing, but should be used sparingly because these extra verts will always be processed + int maxVertices = GROUP_SIZE*((numVertices+GROUP_SIZE)/GROUP_SIZE); + // Allocate space for new vertices in all the vertex arrays + getVertexData().createVertices( numVertices, softBodyIndex, maxVertices ); + + + int firstTriangle = getTriangleData().getNumTriangles(); + int numTriangles = softBody->m_faces.size(); + int maxTriangles = numTriangles; + getTriangleData().createTriangles( maxTriangles ); + + // Copy vertices from softbody into the solver + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + Point3 multPoint(softBody->m_nodes[vertex].m_x.getX(), softBody->m_nodes[vertex].m_x.getY(), softBody->m_nodes[vertex].m_x.getZ()); + btSoftBodyVertexData::VertexDescription desc; + + // TODO: Position in the softbody might be pre-transformed + // or we may need to adapt for the pose. + //desc.setPosition( cloth.getMeshTransform()*multPoint ); + desc.setPosition( multPoint ); + + float vertexInverseMass = softBody->m_nodes[vertex].m_im; + desc.setInverseMass(vertexInverseMass); + getVertexData().setVertexAt( desc, firstVertex + vertex ); + + m_anchorIndex.push_back(-1); + } + for( int vertex = numVertices; vertex < maxVertices; ++vertex ) + { + m_anchorIndex.push_back(-1.0); + } + + // Copy triangles similarly + // We're assuming here that vertex indices are based on the firstVertex rather than the entire scene + for( int triangle = 0; triangle < numTriangles; ++triangle ) + { + // Note that large array storage is relative to the array not to the cloth + // So we need to add firstVertex to each value + int vertexIndex0 = (softBody->m_faces[triangle].m_n[0] - &(softBody->m_nodes[0])); + int vertexIndex1 = (softBody->m_faces[triangle].m_n[1] - &(softBody->m_nodes[0])); + int vertexIndex2 = (softBody->m_faces[triangle].m_n[2] - &(softBody->m_nodes[0])); + btSoftBodyTriangleData::TriangleDescription newTriangle(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, vertexIndex2 + firstVertex); + getTriangleData().setTriangleAt( newTriangle, firstTriangle + triangle ); + + // Increase vertex triangle counts for this triangle + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex0)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex1)++; + getVertexData().getTriangleCount(newTriangle.getVertexSet().vertex2)++; + } + + int firstLink = getLinkData().getNumLinks(); + int numLinks = softBody->m_links.size(); + int maxLinks = numLinks; + + // Allocate space for the links + getLinkData().createLinks( numLinks ); + + // Add the links + for( int link = 0; link < numLinks; ++link ) + { + int vertexIndex0 = softBody->m_links[link].m_n[0] - &(softBody->m_nodes[0]); + int vertexIndex1 = softBody->m_links[link].m_n[1] - &(softBody->m_nodes[0]); + + btSoftBodyLinkData::LinkDescription newLink(vertexIndex0 + firstVertex, vertexIndex1 + firstVertex, softBody->m_links[link].m_material->m_kLST); + newLink.setLinkStrength(1.f); + getLinkData().setLinkAt(newLink, firstLink + link); + } + + newSoftBody->setFirstVertex( firstVertex ); + newSoftBody->setFirstTriangle( firstTriangle ); + newSoftBody->setNumVertices( numVertices ); + newSoftBody->setMaxVertices( maxVertices ); + newSoftBody->setNumTriangles( numTriangles ); + newSoftBody->setMaxTriangles( maxTriangles ); + newSoftBody->setFirstLink( firstLink ); + newSoftBody->setNumLinks( numLinks ); + + // Find maximum piterations and viterations + int piterations = softBody->m_cfg.piterations; + + if ( piterations > maxPiterations ) + maxPiterations = piterations; + + int viterations = softBody->m_cfg.viterations; + + if ( viterations > maxViterations ) + maxViterations = viterations; + + // zero mass + for( int vertex = 0; vertex < numVertices; ++vertex ) + { + if ( softBody->m_nodes[vertex].m_im == 0 ) + { + AnchorNodeInfoCL nodeInfo; + nodeInfo.clVertexIndex = firstVertex + vertex; + nodeInfo.pNode = &softBody->m_nodes[vertex]; + + m_anchorNodeInfoArray.push_back(nodeInfo); + } + } + + // anchor position + if ( numVertices > 0 ) + { + for ( int anchorIndex = 0; anchorIndex < softBody->m_anchors.size(); anchorIndex++ ) + { + btSoftBody::Node* anchorNode = softBody->m_anchors[anchorIndex].m_node; + btSoftBody::Node* firstNode = &softBody->m_nodes[0]; + + AnchorNodeInfoCL nodeInfo; + nodeInfo.clVertexIndex = firstVertex + (int)(anchorNode - firstNode); + nodeInfo.pNode = anchorNode; + + m_anchorNodeInfoArray.push_back(nodeInfo); + } + } + } + + m_anchorPosition.clear(); + m_anchorPosition.resize(m_anchorNodeInfoArray.size()); + + for ( int anchorNode = 0; anchorNode < m_anchorNodeInfoArray.size(); anchorNode++ ) + { + const AnchorNodeInfoCL& anchorNodeInfo = m_anchorNodeInfoArray[anchorNode]; + m_anchorIndex[anchorNodeInfo.clVertexIndex] = anchorNode; + getVertexData().getInverseMass(anchorNodeInfo.clVertexIndex) = 0.0f; + } + + updateConstants(0.f); + + // set position and velocity iterations + setNumberOfPositionIterations(maxPiterations); + setNumberOfVelocityIterations(maxViterations); + + // set wind velocity + m_perClothWindVelocity.resize( m_softBodySet.size() ); + for( int softBodyIndex = 0; softBodyIndex < m_softBodySet.size(); ++softBodyIndex ) + { + btSoftBody *softBody = m_softBodySet[softBodyIndex]->getSoftBody(); + m_perClothWindVelocity[softBodyIndex] = toVector3(softBody->getWindVelocity()); + } + + m_clPerClothWindVelocity.changedOnCPU(); + + // generate batches + m_linkData.generateBatches(); + m_triangleData.generateBatches(); + + // Build the shaders to match the batching parameters + buildShaders(); + } +} + + +btSoftBodyLinkData &btOpenCLSoftBodySolverSIMDAware::getLinkData() +{ + // TODO: Consider setting link data to "changed" here + return m_linkData; +} + + + + +void btOpenCLSoftBodySolverSIMDAware::updateConstants( float timeStep ) +{ + + using namespace Vectormath::Aos; + + if( m_updateSolverConstants ) + { + m_updateSolverConstants = false; + + // Will have to redo this if we change the structure (tear, maybe) or various other possible changes + + // Initialise link constants + const int numLinks = m_linkData.getNumLinks(); + for( int linkIndex = 0; linkIndex < numLinks; ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair &vertices( m_linkData.getVertexPair(linkIndex) ); + m_linkData.getRestLength(linkIndex) = length((m_vertexData.getPosition( vertices.vertex0 ) - m_vertexData.getPosition( vertices.vertex1 ))); + float invMass0 = m_vertexData.getInverseMass(vertices.vertex0); + float invMass1 = m_vertexData.getInverseMass(vertices.vertex1); + float linearStiffness = m_linkData.getLinearStiffnessCoefficient(linkIndex); + float massLSC = (invMass0 + invMass1)/linearStiffness; + m_linkData.getMassLSC(linkIndex) = massLSC; + float restLength = m_linkData.getRestLength(linkIndex); + float restLengthSquared = restLength*restLength; + m_linkData.getRestLengthSquared(linkIndex) = restLengthSquared; + } + } + +} + + + +void btOpenCLSoftBodySolverSIMDAware::solveConstraints( float solverdt ) +{ + + using Vectormath::Aos::Vector3; + using Vectormath::Aos::Point3; + using Vectormath::Aos::lengthSqr; + using Vectormath::Aos::dot; + + // Prepare links + int numLinks = m_linkData.getNumLinks(); + int numVertices = m_vertexData.getNumVertices(); + + float kst = 1.f; + float ti = 0.f; + + + m_clPerClothDampingFactor.moveToGPU(); + m_clPerClothVelocityCorrectionCoefficient.moveToGPU(); + + + // Ensure data is on accelerator + m_linkData.moveToAccelerator(); + m_vertexData.moveToAccelerator(); + + + //prepareLinks(); + + prepareCollisionConstraints(); + + // Solve drift + for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + { + + for( int i = 0; i < m_linkData.m_wavefrontBatchStartLengths.size(); ++i ) + { + int startWave = m_linkData.m_wavefrontBatchStartLengths[i].start; + int numWaves = m_linkData.m_wavefrontBatchStartLengths[i].length; + solveLinksForPosition( startWave, numWaves, kst, ti ); + } + } // for( int iteration = 0; iteration < m_numberOfPositionIterations ; ++iteration ) + + + // At this point assume that the force array is blank - we will overwrite it + solveCollisionsAndUpdateVelocities( 1.f/solverdt ); +} + + +////////////////////////////////////// +// Kernel dispatches + + +void btOpenCLSoftBodySolverSIMDAware::solveLinksForPosition( int startWave, int numWaves, float kst, float ti ) +{ + cl_int ciErrNum; + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,0, sizeof(int), &startWave); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,1, sizeof(int), &numWaves); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,2, sizeof(float), &kst); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,3, sizeof(float), &ti); + + + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,4, sizeof(cl_mem), &m_linkData.m_clNumBatchesAndVerticesWithinWaves.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,5, sizeof(cl_mem), &m_linkData.m_clWavefrontVerticesGlobalAddresses.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,6, sizeof(cl_mem), &m_linkData.m_clLinkVerticesLocalAddresses.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,7, sizeof(cl_mem), &m_linkData.m_clLinksMassLSC.m_buffer); + + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,8, sizeof(cl_mem), &m_linkData.m_clLinksRestLengthSquared.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,9, sizeof(cl_mem), &m_vertexData.m_clVertexInverseMass.m_buffer); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,10, sizeof(cl_mem), &m_vertexData.m_clVertexPosition.m_buffer); + + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,11, WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_int2), 0); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,12, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float4), 0); + ciErrNum = clSetKernelArg(m_solvePositionsFromLinksKernel,13, m_linkData.getMaxVerticesPerWavefront()*WAVEFRONT_BLOCK_MULTIPLIER*sizeof(cl_float), 0); + + size_t numWorkItems = workGroupSize*((numWaves*WAVEFRONT_SIZE + (workGroupSize-1)) / workGroupSize); + + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solvePositionsFromLinksKernel,1,NULL,&numWorkItems,&workGroupSize,0,0,0); + + if( ciErrNum!= CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_solvePositionsFromLinksKernel)"); + } + +} // solveLinksForPosition + +void btOpenCLSoftBodySolverSIMDAware::solveCollisionsAndUpdateVelocities( float isolverdt ) +{ + // Copy kernel parameters to GPU + m_vertexData.moveToAccelerator(); + m_clPerClothFriction.moveToGPU(); + m_clPerClothDampingFactor.moveToGPU(); + m_clPerClothCollisionObjects.moveToGPU(); + m_clCollisionObjectDetails.moveToGPU(); + + cl_int ciErrNum; + int numVerts = m_vertexData.getNumVertices(); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 0, sizeof(int), &numVerts); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 1, sizeof(int), &isolverdt); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 2, sizeof(cl_mem),&m_vertexData.m_clClothIdentifier.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 3, sizeof(cl_mem),&m_vertexData.m_clVertexPreviousPosition.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 4, sizeof(cl_mem),&m_clPerClothFriction.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 5, sizeof(cl_mem),&m_clPerClothDampingFactor.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 6, sizeof(cl_mem),&m_clPerClothCollisionObjects.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 7, sizeof(cl_mem),&m_clCollisionObjectDetails.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 8, sizeof(cl_mem),&m_vertexData.m_clVertexForceAccumulator.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 9, sizeof(cl_mem),&m_vertexData.m_clVertexVelocity.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 10, sizeof(cl_mem),&m_vertexData.m_clVertexPosition.m_buffer); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 11, sizeof(CollisionShapeDescription)*16,0); + ciErrNum = clSetKernelArg(m_solveCollisionsAndUpdateVelocitiesKernel, 12, sizeof(cl_mem),&m_vertexData.m_clVertexInverseMass.m_buffer); + size_t numWorkItems = workGroupSize*((m_vertexData.getNumVertices() + (workGroupSize-1)) / workGroupSize); + + if (numWorkItems) + { + ciErrNum = clEnqueueNDRangeKernel(m_cqCommandQue,m_solveCollisionsAndUpdateVelocitiesKernel, 1, NULL, &numWorkItems, &workGroupSize,0,0,0); + + if( ciErrNum != CL_SUCCESS ) + { + btAssert( 0 && "enqueueNDRangeKernel(m_solveCollisionsAndUpdateVelocitiesKernel)"); + } + } + +} // btOpenCLSoftBodySolverSIMDAware::updateVelocitiesFromPositionsWithoutVelocities + +// End kernel dispatches +///////////////////////////////////// + + + +bool btOpenCLSoftBodySolverSIMDAware::buildShaders() +{ + releaseKernels(); + + if( m_shadersInitialized ) + return true; + + const char* additionalMacros=""; + + m_currentCLFunctions->clearKernelCompilationFailures(); + + char *wavefrontMacros = new char[256]; + + sprintf( + wavefrontMacros, + "-DMAX_NUM_VERTICES_PER_WAVE=%d -DMAX_BATCHES_PER_WAVE=%d -DWAVEFRONT_SIZE=%d -DWAVEFRONT_BLOCK_MULTIPLIER=%d -DBLOCK_SIZE=%d", + m_linkData.getMaxVerticesPerWavefront(), + m_linkData.getMaxBatchesPerWavefront(), + m_linkData.getWavefrontSize(), + WAVEFRONT_BLOCK_MULTIPLIER, + WAVEFRONT_BLOCK_MULTIPLIER*m_linkData.getWavefrontSize()); + + m_updatePositionsFromVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsFromVelocitiesCLString, "UpdatePositionsFromVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositionsFromVelocities.cl"); + m_solvePositionsFromLinksKernel = m_currentCLFunctions->compileCLKernelFromString( SolvePositionsCLString, "SolvePositionsFromLinksKernel", wavefrontMacros ,"OpenCLC10/SolvePositionsSIMDBatched.cl"); + m_updateVelocitiesFromPositionsWithVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNodesCLString, "updateVelocitiesFromPositionsWithVelocitiesKernel", additionalMacros ,"OpenCLC10/UpdateNodes.cl"); + m_updateVelocitiesFromPositionsWithoutVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdatePositionsCLString, "updateVelocitiesFromPositionsWithoutVelocitiesKernel", additionalMacros,"OpenCLC10/UpdatePositions.cl"); + m_integrateKernel = m_currentCLFunctions->compileCLKernelFromString( IntegrateCLString, "IntegrateKernel", additionalMacros ,"OpenCLC10/Integrate.cl"); + m_applyForcesKernel = m_currentCLFunctions->compileCLKernelFromString( ApplyForcesCLString, "ApplyForcesKernel", additionalMacros,"OpenCLC10/ApplyForces.cl" ); + m_updateFixedVertexPositionsKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateFixedVertexPositionsCLString, "UpdateFixedVertexPositions" ,additionalMacros,"OpenCLC10/UpdateFixedVertexPositions.cl"); + m_solveCollisionsAndUpdateVelocitiesKernel = m_currentCLFunctions->compileCLKernelFromString( SolveCollisionsAndUpdateVelocitiesCLString, "SolveCollisionsAndUpdateVelocitiesKernel", additionalMacros ,"OpenCLC10/SolveCollisionsAndUpdateVelocitiesSIMDBatched.cl"); + + // TODO: Rename to UpdateSoftBodies + m_resetNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "ResetNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl"); + m_normalizeNormalsAndAreasKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "NormalizeNormalsAndAreasKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl"); + m_updateSoftBodiesKernel = m_currentCLFunctions->compileCLKernelFromString( UpdateNormalsCLString, "UpdateSoftBodiesKernel", additionalMacros ,"OpenCLC10/UpdateNormals.cl"); + + delete [] wavefrontMacros; + + if( m_currentCLFunctions->getKernelCompilationFailures()==0) + { + m_shadersInitialized = true; + } + + return m_shadersInitialized; +} + + + + +static Vectormath::Aos::Transform3 toTransform3( const btTransform &transform ) +{ + Vectormath::Aos::Transform3 outTransform; + outTransform.setCol(0, toVector3(transform.getBasis().getColumn(0))); + outTransform.setCol(1, toVector3(transform.getBasis().getColumn(1))); + outTransform.setCol(2, toVector3(transform.getBasis().getColumn(2))); + outTransform.setCol(3, toVector3(transform.getOrigin())); + return outTransform; +} + + +static void generateBatchesOfWavefronts( btAlignedObjectArray < btAlignedObjectArray > &linksForWavefronts, btSoftBodyLinkData &linkData, int numVertices, btAlignedObjectArray < btAlignedObjectArray > &wavefrontBatches ) +{ + // A per-batch map of truth values stating whether a given vertex is in that batch + // This allows us to significantly optimize the batching + btAlignedObjectArray > mapOfVerticesInBatches; + + for( int waveIndex = 0; waveIndex < linksForWavefronts.size(); ++waveIndex ) + { + btAlignedObjectArray &wavefront( linksForWavefronts[waveIndex] ); + + int batch = 0; + bool placed = false; + while( batch < wavefrontBatches.size() && !placed ) + { + // Test the current batch, see if this wave shares any vertex with the waves in the batch + bool foundSharedVertex = false; + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + if( (mapOfVerticesInBatches[batch])[vertices.vertex0] || (mapOfVerticesInBatches[batch])[vertices.vertex1] ) + { + foundSharedVertex = true; + } + } + + if( !foundSharedVertex ) + { + wavefrontBatches[batch].push_back( waveIndex ); + // Insert vertices into this batch too + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + (mapOfVerticesInBatches[batch])[vertices.vertex0] = true; + (mapOfVerticesInBatches[batch])[vertices.vertex1] = true; + } + placed = true; + } + batch++; + } + if( batch == wavefrontBatches.size() && !placed ) + { + wavefrontBatches.resize( batch + 1 ); + wavefrontBatches[batch].push_back( waveIndex ); + + // And resize map as well + mapOfVerticesInBatches.resize( batch + 1 ); + + // Resize maps with total number of vertices + mapOfVerticesInBatches[batch].resize( numVertices+1, false ); + + // Insert vertices into this batch too + for( int link = 0; link < wavefront.size(); ++link ) + { + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( wavefront[link] ); + (mapOfVerticesInBatches[batch])[vertices.vertex0] = true; + (mapOfVerticesInBatches[batch])[vertices.vertex1] = true; + } + } + } + mapOfVerticesInBatches.clear(); +} + +// Function to remove an object from a vector maintaining correct ordering of the vector +template< typename T > static void removeFromVector( btAlignedObjectArray< T > &vectorToUpdate, int indexToRemove ) +{ + int currentSize = vectorToUpdate.size(); + for( int i = indexToRemove; i < (currentSize-1); ++i ) + { + vectorToUpdate[i] = vectorToUpdate[i+1]; + } + if( currentSize > 0 ) + vectorToUpdate.resize( currentSize - 1 ); +} + +/** + * Insert element into vectorToUpdate at index index. + */ +template< typename T > static void insertAtIndex( btAlignedObjectArray< T > &vectorToUpdate, int index, T element ) +{ + vectorToUpdate.resize( vectorToUpdate.size() + 1 ); + for( int i = (vectorToUpdate.size() - 1); i > index; --i ) + { + vectorToUpdate[i] = vectorToUpdate[i-1]; + } + vectorToUpdate[index] = element; +} + +/** + * Insert into btAlignedObjectArray assuming the array is ordered and maintaining both ordering and uniqueness. + * ie it treats vectorToUpdate as an ordered set. + */ +template< typename T > static void insertUniqueAndOrderedIntoVector( btAlignedObjectArray &vectorToUpdate, T element ) +{ + int index = 0; + while( index < vectorToUpdate.size() && vectorToUpdate[index] < element ) + { + index++; + } + if( index == vectorToUpdate.size() || vectorToUpdate[index] != element ) + insertAtIndex( vectorToUpdate, index, element ); +} + +static void generateLinksPerVertex( int numVertices, btSoftBodyLinkData &linkData, btAlignedObjectArray< int > &listOfLinksPerVertex, btAlignedObjectArray &numLinksPerVertex, int &maxLinks ) +{ + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + numLinksPerVertex[nodes.vertex0]++; + numLinksPerVertex[nodes.vertex1]++; + } + int maxLinksPerVertex = 0; + for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + { + maxLinksPerVertex = btMax(numLinksPerVertex[vertexIndex], maxLinksPerVertex); + } + maxLinks = maxLinksPerVertex; + + btAlignedObjectArray< int > linksFoundPerVertex; + linksFoundPerVertex.resize( numVertices, 0 ); + + listOfLinksPerVertex.resize( maxLinksPerVertex * numVertices ); + + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + { + // Do vertex 0 + int vertexIndex = nodes.vertex0; + int linkForVertex = linksFoundPerVertex[nodes.vertex0]; + int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex; + + listOfLinksPerVertex[linkAddress] = linkIndex; + + linksFoundPerVertex[nodes.vertex0] = linkForVertex + 1; + } + { + // Do vertex 1 + int vertexIndex = nodes.vertex1; + int linkForVertex = linksFoundPerVertex[nodes.vertex1]; + int linkAddress = vertexIndex * maxLinksPerVertex + linkForVertex; + + listOfLinksPerVertex[linkAddress] = linkIndex; + + linksFoundPerVertex[nodes.vertex1] = linkForVertex + 1; + } + } +} + +static void computeBatchingIntoWavefronts( + btSoftBodyLinkData &linkData, + int wavefrontSize, + int linksPerWorkItem, + int maxLinksPerWavefront, + btAlignedObjectArray < btAlignedObjectArray > &linksForWavefronts, + btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray > > &batchesWithinWaves, /* wave, batch, links in batch */ + btAlignedObjectArray< btAlignedObjectArray< int > > &verticesForWavefronts /* wavefront, vertex */ + ) +{ + + + // Attempt generation of larger batches of links. + btAlignedObjectArray< bool > processedLink; + processedLink.resize( linkData.getNumLinks() ); + btAlignedObjectArray< int > listOfLinksPerVertex; + int maxLinksPerVertex = 0; + + // Count num vertices + int numVertices = 0; + for( int linkIndex = 0; linkIndex < linkData.getNumLinks(); ++linkIndex ) + { + btSoftBodyLinkData::LinkNodePair nodes( linkData.getVertexPair(linkIndex) ); + numVertices = btMax( numVertices, nodes.vertex0 + 1 ); + numVertices = btMax( numVertices, nodes.vertex1 + 1 ); + } + + // Need list of links per vertex + // Compute valence of each vertex + btAlignedObjectArray numLinksPerVertex; + numLinksPerVertex.resize(0); + numLinksPerVertex.resize( numVertices, 0 ); + + generateLinksPerVertex( numVertices, linkData, listOfLinksPerVertex, numLinksPerVertex, maxLinksPerVertex ); + + if (!numVertices) + return; + + for( int vertex = 0; vertex < 10; ++vertex ) + { + for( int link = 0; link < numLinksPerVertex[vertex]; ++link ) + { + int linkAddress = vertex * maxLinksPerVertex + link; + } + } + + + // At this point we know what links we have for each vertex so we can start batching + + // We want a vertex to start with, let's go with 0 + int currentVertex = 0; + int linksProcessed = 0; + + btAlignedObjectArray verticesToProcess; + + while( linksProcessed < linkData.getNumLinks() ) + { + // Next wavefront + int nextWavefront = linksForWavefronts.size(); + linksForWavefronts.resize( nextWavefront + 1 ); + btAlignedObjectArray &linksForWavefront(linksForWavefronts[nextWavefront]); + verticesForWavefronts.resize( nextWavefront + 1 ); + btAlignedObjectArray &vertexSet( verticesForWavefronts[nextWavefront] ); + + linksForWavefront.resize(0); + + // Loop to find enough links to fill the wavefront + // Stopping if we either run out of links, or fill it + while( linksProcessed < linkData.getNumLinks() && linksForWavefront.size() < maxLinksPerWavefront ) + { + // Go through the links for the current vertex + for( int link = 0; link < numLinksPerVertex[currentVertex] && linksForWavefront.size() < maxLinksPerWavefront; ++link ) + { + int linkAddress = currentVertex * maxLinksPerVertex + link; + int linkIndex = listOfLinksPerVertex[linkAddress]; + + // If we have not already processed this link, add it to the wavefront + // Claim it as another processed link + // Add the vertex at the far end to the list of vertices to process. + if( !processedLink[linkIndex] ) + { + linksForWavefront.push_back( linkIndex ); + linksProcessed++; + processedLink[linkIndex] = true; + int v0 = linkData.getVertexPair(linkIndex).vertex0; + int v1 = linkData.getVertexPair(linkIndex).vertex1; + if( v0 == currentVertex ) + verticesToProcess.push_back( v1 ); + else + verticesToProcess.push_back( v0 ); + } + } + if( verticesToProcess.size() > 0 ) + { + // Get the element on the front of the queue and remove it + currentVertex = verticesToProcess[0]; + removeFromVector( verticesToProcess, 0 ); + } else { + // If we've not yet processed all the links, find the first unprocessed one + // and select one of its vertices as the current vertex + if( linksProcessed < linkData.getNumLinks() ) + { + int searchLink = 0; + while( processedLink[searchLink] ) + searchLink++; + currentVertex = linkData.getVertexPair(searchLink).vertex0; + } + } + } + + // We have either finished or filled a wavefront + for( int link = 0; link < linksForWavefront.size(); ++link ) + { + int v0 = linkData.getVertexPair( linksForWavefront[link] ).vertex0; + int v1 = linkData.getVertexPair( linksForWavefront[link] ).vertex1; + insertUniqueAndOrderedIntoVector( vertexSet, v0 ); + insertUniqueAndOrderedIntoVector( vertexSet, v1 ); + } + // Iterate over links mapped to the wave and batch those + // We can run a batch on each cycle trivially + + batchesWithinWaves.resize( batchesWithinWaves.size() + 1 ); + btAlignedObjectArray < btAlignedObjectArray > &batchesWithinWave( batchesWithinWaves[batchesWithinWaves.size()-1] ); + + + for( int link = 0; link < linksForWavefront.size(); ++link ) + { + int linkIndex = linksForWavefront[link]; + btSoftBodyLinkData::LinkNodePair vertices = linkData.getVertexPair( linkIndex ); + + int batch = 0; + bool placed = false; + while( batch < batchesWithinWave.size() && !placed ) + { + bool foundSharedVertex = false; + if( batchesWithinWave[batch].size() >= wavefrontSize ) + { + // If we have already filled this batch, move on to another + foundSharedVertex = true; + } else { + for( int link2 = 0; link2 < batchesWithinWave[batch].size(); ++link2 ) + { + btSoftBodyLinkData::LinkNodePair vertices2 = linkData.getVertexPair( (batchesWithinWave[batch])[link2] ); + + if( vertices.vertex0 == vertices2.vertex0 || + vertices.vertex1 == vertices2.vertex0 || + vertices.vertex0 == vertices2.vertex1 || + vertices.vertex1 == vertices2.vertex1 ) + { + foundSharedVertex = true; + break; + } + } + } + if( !foundSharedVertex ) + { + batchesWithinWave[batch].push_back( linkIndex ); + placed = true; + } else { + ++batch; + } + } + if( batch == batchesWithinWave.size() && !placed ) + { + batchesWithinWave.resize( batch + 1 ); + batchesWithinWave[batch].push_back( linkIndex ); + } + } + + } + +} + +void btSoftBodyLinkDataOpenCLSIMDAware::generateBatches() +{ + btAlignedObjectArray < btAlignedObjectArray > linksForWavefronts; + btAlignedObjectArray < btAlignedObjectArray > wavefrontBatches; + btAlignedObjectArray< btAlignedObjectArray < btAlignedObjectArray > > batchesWithinWaves; + btAlignedObjectArray< btAlignedObjectArray< int > > verticesForWavefronts; // wavefronts, vertices in wavefront as an ordered set + + // Group the links into wavefronts + computeBatchingIntoWavefronts( *this, m_wavefrontSize, m_linksPerWorkItem, m_maxLinksPerWavefront, linksForWavefronts, batchesWithinWaves, verticesForWavefronts ); + + + // Batch the wavefronts + generateBatchesOfWavefronts( linksForWavefronts, *this, m_maxVertex, wavefrontBatches ); + + m_numWavefronts = linksForWavefronts.size(); + + // At this point we have a description of which links we need to process in each wavefront + + // First correctly fill the batch ranges vector + int numBatches = wavefrontBatches.size(); + m_wavefrontBatchStartLengths.resize(0); + int prefixSum = 0; + for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex ) + { + int wavesInBatch = wavefrontBatches[batchIndex].size(); + int nextPrefixSum = prefixSum + wavesInBatch; + m_wavefrontBatchStartLengths.push_back( BatchPair( prefixSum, nextPrefixSum - prefixSum ) ); + + prefixSum += wavesInBatch; + } + + // Also find max number of batches within a wave + m_maxBatchesWithinWave = 0; + m_maxVerticesWithinWave = 0; + m_numBatchesAndVerticesWithinWaves.resize( m_numWavefronts ); + for( int waveIndex = 0; waveIndex < m_numWavefronts; ++waveIndex ) + { + // See if the number of batches in this wave is greater than the current maxium + int batchesInCurrentWave = batchesWithinWaves[waveIndex].size(); + int verticesInCurrentWave = verticesForWavefronts[waveIndex].size(); + m_maxBatchesWithinWave = btMax( batchesInCurrentWave, m_maxBatchesWithinWave ); + m_maxVerticesWithinWave = btMax( verticesInCurrentWave, m_maxVerticesWithinWave ); + } + + // Add padding values both for alignment and as dudd addresses within LDS to compute junk rather than branch around + m_maxVerticesWithinWave = 16*((m_maxVerticesWithinWave/16)+2); + + // Now we know the maximum number of vertices per-wave we can resize the global vertices array + m_wavefrontVerticesGlobalAddresses.resize( m_maxVerticesWithinWave * m_numWavefronts ); + + // Grab backup copies of all the link data arrays for the sorting process + btAlignedObjectArray m_links_Backup(m_links); + btAlignedObjectArray m_linkStrength_Backup(m_linkStrength); + btAlignedObjectArray m_linksMassLSC_Backup(m_linksMassLSC); + btAlignedObjectArray m_linksRestLengthSquared_Backup(m_linksRestLengthSquared); + //btAlignedObjectArray m_linksCLength_Backup(m_linksCLength); + //btAlignedObjectArray m_linksLengthRatio_Backup(m_linksLengthRatio); + btAlignedObjectArray m_linksRestLength_Backup(m_linksRestLength); + btAlignedObjectArray m_linksMaterialLinearStiffnessCoefficient_Backup(m_linksMaterialLinearStiffnessCoefficient); + + // Resize to a wavefront sized batch per batch per wave so we get perfectly coherent memory accesses. + m_links.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linkVerticesLocalAddresses.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linkStrength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksMassLSC.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksRestLengthSquared.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksRestLength.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + m_linksMaterialLinearStiffnessCoefficient.resize( m_maxBatchesWithinWave * m_wavefrontSize * m_numWavefronts ); + + // Then re-order links into wavefront blocks + + // Total number of wavefronts moved. This will decide the ordering of sorted wavefronts. + int wavefrontCount = 0; + + // Iterate over batches of wavefronts, then wavefronts in the batch + for( int batchIndex = 0; batchIndex < numBatches; ++batchIndex ) + { + btAlignedObjectArray &batch( wavefrontBatches[batchIndex] ); + int wavefrontsInBatch = batch.size(); + + + for( int wavefrontIndex = 0; wavefrontIndex < wavefrontsInBatch; ++wavefrontIndex ) + { + + int originalWavefrontIndex = batch[wavefrontIndex]; + btAlignedObjectArray< int > &wavefrontVertices( verticesForWavefronts[originalWavefrontIndex] ); + int verticesUsedByWavefront = wavefrontVertices.size(); + + // Copy the set of vertices into the correctly structured array for use on the device + // Fill the non-vertices with -1s + // so we can mask out those reads + for( int vertex = 0; vertex < verticesUsedByWavefront; ++vertex ) + { + m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = wavefrontVertices[vertex]; + } + for( int vertex = verticesUsedByWavefront; vertex < m_maxVerticesWithinWave; ++vertex ) + { + m_wavefrontVerticesGlobalAddresses[m_maxVerticesWithinWave * wavefrontCount + vertex] = -1; + } + + // Obtain the set of batches within the current wavefront + btAlignedObjectArray < btAlignedObjectArray > &batchesWithinWavefront( batchesWithinWaves[originalWavefrontIndex] ); + // Set the size of the batches for use in the solver, correctly ordered + NumBatchesVerticesPair batchesAndVertices; + batchesAndVertices.numBatches = batchesWithinWavefront.size(); + batchesAndVertices.numVertices = verticesUsedByWavefront; + m_numBatchesAndVerticesWithinWaves[wavefrontCount] = batchesAndVertices; + + + // Now iterate over batches within the wavefront to structure the links correctly + for( int wavefrontBatch = 0; wavefrontBatch < batchesWithinWavefront.size(); ++wavefrontBatch ) + { + btAlignedObjectArray &linksInBatch( batchesWithinWavefront[wavefrontBatch] ); + int wavefrontBatchSize = linksInBatch.size(); + + int batchAddressInTarget = m_maxBatchesWithinWave * m_wavefrontSize * wavefrontCount + m_wavefrontSize * wavefrontBatch; + + for( int linkIndex = 0; linkIndex < wavefrontBatchSize; ++linkIndex ) + { + int originalLinkAddress = linksInBatch[linkIndex]; + // Reorder simple arrays trivially + m_links[batchAddressInTarget + linkIndex] = m_links_Backup[originalLinkAddress]; + m_linkStrength[batchAddressInTarget + linkIndex] = m_linkStrength_Backup[originalLinkAddress]; + m_linksMassLSC[batchAddressInTarget + linkIndex] = m_linksMassLSC_Backup[originalLinkAddress]; + m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = m_linksRestLengthSquared_Backup[originalLinkAddress]; + m_linksRestLength[batchAddressInTarget + linkIndex] = m_linksRestLength_Backup[originalLinkAddress]; + m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = m_linksMaterialLinearStiffnessCoefficient_Backup[originalLinkAddress]; + + // The local address is more complicated. We need to work out where a given vertex will end up + // by searching the set of vertices for this link and using the index as the local address + btSoftBodyLinkData::LinkNodePair localPair; + btSoftBodyLinkData::LinkNodePair globalPair = m_links[batchAddressInTarget + linkIndex]; + localPair.vertex0 = wavefrontVertices.findLinearSearch( globalPair.vertex0 ); + localPair.vertex1 = wavefrontVertices.findLinearSearch( globalPair.vertex1 ); + m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair; + } + for( int linkIndex = wavefrontBatchSize; linkIndex < m_wavefrontSize; ++linkIndex ) + { + // Put 0s into these arrays for padding for cleanliness + m_links[batchAddressInTarget + linkIndex] = btSoftBodyLinkData::LinkNodePair(0, 0); + m_linkStrength[batchAddressInTarget + linkIndex] = 0.f; + m_linksMassLSC[batchAddressInTarget + linkIndex] = 0.f; + m_linksRestLengthSquared[batchAddressInTarget + linkIndex] = 0.f; + m_linksRestLength[batchAddressInTarget + linkIndex] = 0.f; + m_linksMaterialLinearStiffnessCoefficient[batchAddressInTarget + linkIndex] = 0.f; + + + // For local addresses of junk data choose a set of addresses just above the range of valid ones + // and cycling tyhrough % 16 so that we don't have bank conficts between all dud addresses + // The valid addresses will do scatter and gather in the valid range, the junk ones should happily work + // off the end of that range so we need no control + btSoftBodyLinkData::LinkNodePair localPair; + localPair.vertex0 = verticesUsedByWavefront + (linkIndex % 16); + localPair.vertex1 = verticesUsedByWavefront + (linkIndex % 16); + m_linkVerticesLocalAddresses[batchAddressInTarget + linkIndex] = localPair; + } + + } + + + wavefrontCount++; + } + + + } + +} // void btSoftBodyLinkDataDX11SIMDAware::generateBatches() + + + diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h new file mode 100644 index 00000000..8cd838ad --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h @@ -0,0 +1,81 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H +#define BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H + +#include "stddef.h" //for size_t +#include "vectormath/vmInclude.h" + +#include "btSoftBodySolver_OpenCL.h" +#include "btSoftBodySolverBuffer_OpenCL.h" +#include "btSoftBodySolverLinkData_OpenCLSIMDAware.h" +#include "btSoftBodySolverVertexData_OpenCL.h" +#include "btSoftBodySolverTriangleData_OpenCL.h" + + + + + +class btOpenCLSoftBodySolverSIMDAware : public btOpenCLSoftBodySolver +{ +protected: + + + btSoftBodyLinkDataOpenCLSIMDAware m_linkData; + + + + + virtual bool buildShaders(); + + + void updateConstants( float timeStep ); + + float computeTriangleArea( + const Vectormath::Aos::Point3 &vertex0, + const Vectormath::Aos::Point3 &vertex1, + const Vectormath::Aos::Point3 &vertex2 ); + + + ////////////////////////////////////// + // Kernel dispatches + void solveLinksForPosition( int startLink, int numLinks, float kst, float ti ); + + void solveCollisionsAndUpdateVelocities( float isolverdt ); + // End kernel dispatches + ///////////////////////////////////// + +public: + btOpenCLSoftBodySolverSIMDAware(cl_command_queue queue,cl_context ctx, bool bUpdateAchchoredNodePos = false); + + virtual ~btOpenCLSoftBodySolverSIMDAware(); + + virtual SolverTypes getSolverType() const + { + return CL_SIMD_SOLVER; + } + + + virtual btSoftBodyLinkData &getLinkData(); + + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false); + + virtual void solveConstraints( float solverdt ); + +}; // btOpenCLSoftBodySolverSIMDAware + +#endif // #ifndef BT_SOFT_BODY_SOLVER_OPENCL_SIMDAWARE_H diff --git a/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h new file mode 100644 index 00000000..ab6721fb --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h @@ -0,0 +1,748 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_DATA_H +#define BT_SOFT_BODY_SOLVER_DATA_H + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "vectormath/vmInclude.h" + + +class btSoftBodyLinkData +{ +public: + /** + * Class representing a link as a set of three indices into the vertex array. + */ + class LinkNodePair + { + public: + int vertex0; + int vertex1; + + LinkNodePair() + { + vertex0 = 0; + vertex1 = 0; + } + + LinkNodePair( int v0, int v1 ) + { + vertex0 = v0; + vertex1 = v1; + } + }; + + /** + * Class describing a link for input into the system. + */ + class LinkDescription + { + protected: + int m_vertex0; + int m_vertex1; + float m_linkLinearStiffness; + float m_linkStrength; + + public: + + LinkDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_linkLinearStiffness = 1.0; + m_linkStrength = 1.0; + } + + LinkDescription( int newVertex0, int newVertex1, float linkLinearStiffness ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_linkLinearStiffness = linkLinearStiffness; + m_linkStrength = 1.0; + } + + LinkNodePair getVertexPair() const + { + LinkNodePair nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + return nodes; + } + + void setVertex0( int vertex ) + { + m_vertex0 = vertex; + } + + void setVertex1( int vertex ) + { + m_vertex1 = vertex; + } + + void setLinkLinearStiffness( float linearStiffness ) + { + m_linkLinearStiffness = linearStiffness; + } + + void setLinkStrength( float strength ) + { + m_linkStrength = strength; + } + + int getVertex0() const + { + return m_vertex0; + } + + int getVertex1() const + { + return m_vertex1; + } + + float getLinkStrength() const + { + return m_linkStrength; + } + + float getLinkLinearStiffness() const + { + return m_linkLinearStiffness; + } + }; + + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + + btAlignedObjectArray< LinkNodePair > m_links; // Vertex pair for the link + btAlignedObjectArray< float > m_linkStrength; // Strength of each link + // (inverseMassA + inverseMassB)/ linear stiffness coefficient + btAlignedObjectArray< float > m_linksMassLSC; + btAlignedObjectArray< float > m_linksRestLengthSquared; + // Current vector length of link + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_linksCLength; + // 1/(current length * current length * massLSC) + btAlignedObjectArray< float > m_linksLengthRatio; + btAlignedObjectArray< float > m_linksRestLength; + btAlignedObjectArray< float > m_linksMaterialLinearStiffnessCoefficient; + +public: + btSoftBodyLinkData() + { + } + + virtual ~btSoftBodyLinkData() + { + } + + virtual void clear() + { + m_links.resize(0); + m_linkStrength.resize(0); + m_linksMassLSC.resize(0); + m_linksRestLengthSquared.resize(0); + m_linksLengthRatio.resize(0); + m_linksRestLength.resize(0); + m_linksMaterialLinearStiffnessCoefficient.resize(0); + } + + int getNumLinks() + { + return m_links.size(); + } + + /** Allocate enough space in all link-related arrays to fit numLinks links */ + virtual void createLinks( int numLinks ) + { + int previousSize = m_links.size(); + int newSize = previousSize + numLinks; + + // Resize all the arrays that store link data + m_links.resize( newSize ); + m_linkStrength.resize( newSize ); + m_linksMassLSC.resize( newSize ); + m_linksRestLengthSquared.resize( newSize ); + m_linksCLength.resize( newSize ); + m_linksLengthRatio.resize( newSize ); + m_linksRestLength.resize( newSize ); + m_linksMaterialLinearStiffnessCoefficient.resize( newSize ); + } + + /** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */ + virtual void setLinkAt( const LinkDescription &link, int linkIndex ) + { + m_links[linkIndex] = link.getVertexPair(); + m_linkStrength[linkIndex] = link.getLinkStrength(); + m_linksMassLSC[linkIndex] = 0.f; + m_linksRestLengthSquared[linkIndex] = 0.f; + m_linksCLength[linkIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_linksLengthRatio[linkIndex] = 0.f; + m_linksRestLength[linkIndex] = 0.f; + m_linksMaterialLinearStiffnessCoefficient[linkIndex] = link.getLinkLinearStiffness(); + } + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } + + + + /** + * Return reference to the vertex index pair for link linkIndex as stored on the host. + */ + LinkNodePair &getVertexPair( int linkIndex ) + { + return m_links[linkIndex]; + } + + /** + * Return reference to strength of link linkIndex as stored on the host. + */ + float &getStrength( int linkIndex ) + { + return m_linkStrength[linkIndex]; + } + + /** + * Return a reference to the strength of the link corrected for link sorting. + * This is important if we are using data on an accelerator which has the data sorted in some fashion. + */ + virtual float &getStrengthCorrected( int linkIndex ) + { + return getStrength( linkIndex ); + } + + /** + * Return reference to the rest length of link linkIndex as stored on the host. + */ + float &getRestLength( int linkIndex ) + { + return m_linksRestLength[linkIndex]; + } + + /** + * Return reference to linear stiffness coefficient for link linkIndex as stored on the host. + */ + float &getLinearStiffnessCoefficient( int linkIndex ) + { + return m_linksMaterialLinearStiffnessCoefficient[linkIndex]; + } + + /** + * Return reference to the MassLSC value for link linkIndex as stored on the host. + */ + float &getMassLSC( int linkIndex ) + { + return m_linksMassLSC[linkIndex]; + } + + /** + * Return reference to rest length squared for link linkIndex as stored on the host. + */ + float &getRestLengthSquared( int linkIndex ) + { + return m_linksRestLengthSquared[linkIndex]; + } + + /** + * Return reference to current length of link linkIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getCurrentLength( int linkIndex ) + { + return m_linksCLength[linkIndex]; + } + + /** + * Return the link length ratio from for link linkIndex as stored on the host. + */ + float &getLinkLengthRatio( int linkIndex ) + { + return m_linksLengthRatio[linkIndex]; + } +}; + + + +/** + * Wrapper for vertex data information. + * By wrapping it like this we stand a good chance of being able to optimise for storage format easily. + * It should also help us make sure all the data structures remain consistent. + */ +class btSoftBodyVertexData +{ +public: + /** + * Class describing a vertex for input into the system. + */ + class VertexDescription + { + private: + Vectormath::Aos::Point3 m_position; + /** Inverse mass. If this is 0f then the mass was 0 because that simplifies calculations. */ + float m_inverseMass; + + public: + VertexDescription() + { + m_position = Vectormath::Aos::Point3( 0.f, 0.f, 0.f ); + m_inverseMass = 0.f; + } + + VertexDescription( const Vectormath::Aos::Point3 &position, float mass ) + { + m_position = position; + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + void setPosition( const Vectormath::Aos::Point3 &position ) + { + m_position = position; + } + + void setInverseMass( float inverseMass ) + { + m_inverseMass = inverseMass; + } + + void setMass( float mass ) + { + if( mass > 0.f ) + m_inverseMass = 1.0f/mass; + else + m_inverseMass = 0.f; + } + + Vectormath::Aos::Point3 getPosition() const + { + return m_position; + } + + float getInverseMass() const + { + return m_inverseMass; + } + + float getMass() const + { + if( m_inverseMass == 0.f ) + return 0.f; + else + return 1.0f/m_inverseMass; + } + }; +protected: + + // identifier for the individual cloth + // For the CPU we don't really need this as we can grab the cloths and iterate over only their vertices + // For a parallel accelerator knowing on a per-vertex basis which cloth we're part of will help for obtaining + // per-cloth data + // For sorting etc it might also be helpful to be able to use in-array data such as this. + btAlignedObjectArray< int > m_clothIdentifier; + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Point3 > m_vertexPreviousPosition; // vertex positions + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexVelocity; // Velocity + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexForceAccumulator; // Force accumulator + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_vertexNormal; // Normals + btAlignedObjectArray< float > m_vertexInverseMass; // Inverse mass + btAlignedObjectArray< float > m_vertexArea; // Area controlled by the vertex + btAlignedObjectArray< int > m_vertexTriangleCount; // Number of triangles touching this vertex + +public: + btSoftBodyVertexData() + { + } + + virtual ~btSoftBodyVertexData() + { + } + + virtual void clear() + { + m_clothIdentifier.resize(0); + m_vertexPosition.resize(0); + m_vertexPreviousPosition.resize(0); + m_vertexVelocity.resize(0); + m_vertexForceAccumulator.resize(0); + m_vertexNormal.resize(0); + m_vertexInverseMass.resize(0); + m_vertexArea.resize(0); + m_vertexTriangleCount.resize(0); + } + + int getNumVertices() + { + return m_vertexPosition.size(); + } + + int getClothIdentifier( int vertexIndex ) + { + return m_clothIdentifier[vertexIndex]; + } + + void setVertexAt( const VertexDescription &vertex, int vertexIndex ) + { + m_vertexPosition[vertexIndex] = vertex.getPosition(); + m_vertexPreviousPosition[vertexIndex] = vertex.getPosition(); + m_vertexVelocity[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexForceAccumulator[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexNormal[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f); + m_vertexInverseMass[vertexIndex] = vertex.getInverseMass(); + m_vertexArea[vertexIndex] = 0.f; + m_vertexTriangleCount[vertexIndex] = 0; + } + + /** + * Create numVertices new vertices for cloth clothIdentifier + * maxVertices allows a buffer zone of extra vertices for alignment or tearing reasons. + */ + void createVertices( int numVertices, int clothIdentifier, int maxVertices = 0 ) + { + int previousSize = m_vertexPosition.size(); + if( maxVertices == 0 ) + maxVertices = numVertices; + int newSize = previousSize + maxVertices; + + // Resize all the arrays that store vertex data + m_clothIdentifier.resize( newSize ); + m_vertexPosition.resize( newSize ); + m_vertexPreviousPosition.resize( newSize ); + m_vertexVelocity.resize( newSize ); + m_vertexForceAccumulator.resize( newSize ); + m_vertexNormal.resize( newSize ); + m_vertexInverseMass.resize( newSize ); + m_vertexArea.resize( newSize ); + m_vertexTriangleCount.resize( newSize ); + + for( int vertexIndex = previousSize; vertexIndex < newSize; ++vertexIndex ) + m_clothIdentifier[vertexIndex] = clothIdentifier; + for( int vertexIndex = (previousSize + numVertices); vertexIndex < newSize; ++vertexIndex ) + m_clothIdentifier[vertexIndex] = -1; + } + + // Get and set methods in header so they can be inlined + + /** + * Return a reference to the position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPosition( int vertexIndex ) + { + return m_vertexPosition[vertexIndex]; + } + + Vectormath::Aos::Point3 getPosition( int vertexIndex ) const + { + return m_vertexPosition[vertexIndex]; + } + + /** + * Return a reference to the previous position of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Point3 &getPreviousPosition( int vertexIndex ) + { + return m_vertexPreviousPosition[vertexIndex]; + } + + /** + * Return a reference to the velocity of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getVelocity( int vertexIndex ) + { + return m_vertexVelocity[vertexIndex]; + } + + /** + * Return a reference to the force accumulator of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getForceAccumulator( int vertexIndex ) + { + return m_vertexForceAccumulator[vertexIndex]; + } + + /** + * Return a reference to the normal of vertex vertexIndex as stored on the host. + */ + Vectormath::Aos::Vector3 &getNormal( int vertexIndex ) + { + return m_vertexNormal[vertexIndex]; + } + + Vectormath::Aos::Vector3 getNormal( int vertexIndex ) const + { + return m_vertexNormal[vertexIndex]; + } + + /** + * Return a reference to the inverse mass of vertex vertexIndex as stored on the host. + */ + float &getInverseMass( int vertexIndex ) + { + return m_vertexInverseMass[vertexIndex]; + } + + /** + * Get access to the area controlled by this vertex. + */ + float &getArea( int vertexIndex ) + { + return m_vertexArea[vertexIndex]; + } + + /** + * Get access to the array of how many triangles touch each vertex. + */ + int &getTriangleCount( int vertexIndex ) + { + return m_vertexTriangleCount[vertexIndex]; + } + + + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data to host memory from the accelerator if bCopy is false. + * If bCopy is true, copy data to host memory from the accelerator so that data + * won't be moved to accelerator when moveToAccelerator() is called next time. + * If bCopyMinimum is true, only vertex position and normal are copied. + * bCopyMinimum will be meaningful only if bCopy is true. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true) + { + return true; + } + + btAlignedObjectArray< Vectormath::Aos::Point3 > &getVertexPositions() + { + return m_vertexPosition; + } +}; + + +class btSoftBodyTriangleData +{ +public: + /** + * Class representing a triangle as a set of three indices into the + * vertex array. + */ + class TriangleNodeSet + { + public: + int vertex0; + int vertex1; + int vertex2; + int _padding; + + TriangleNodeSet( ) + { + vertex0 = 0; + vertex1 = 0; + vertex2 = 0; + _padding = -1; + } + + TriangleNodeSet( int newVertex0, int newVertex1, int newVertex2 ) + { + vertex0 = newVertex0; + vertex1 = newVertex1; + vertex2 = newVertex2; + } + }; + + class TriangleDescription + { + protected: + int m_vertex0; + int m_vertex1; + int m_vertex2; + + public: + TriangleDescription() + { + m_vertex0 = 0; + m_vertex1 = 0; + m_vertex2 = 0; + } + + TriangleDescription( int newVertex0, int newVertex1, int newVertex2 ) + { + m_vertex0 = newVertex0; + m_vertex1 = newVertex1; + m_vertex2 = newVertex2; + } + + TriangleNodeSet getVertexSet() const + { + btSoftBodyTriangleData::TriangleNodeSet nodes; + nodes.vertex0 = m_vertex0; + nodes.vertex1 = m_vertex1; + nodes.vertex2 = m_vertex2; + return nodes; + } + }; + +protected: + // NOTE: + // Vertex reference data is stored relative to global array, not relative to individual cloth. + // Values must be correct if being passed into single-cloth VBOs or when migrating from one solver + // to another. + btAlignedObjectArray< TriangleNodeSet > m_vertexIndices; + btAlignedObjectArray< float > m_area; + btAlignedObjectArray< Vectormath::Aos::Vector3 > m_normal; + +public: + btSoftBodyTriangleData() + { + } + + virtual ~btSoftBodyTriangleData() + { + + } + + virtual void clear() + { + m_vertexIndices.resize(0); + m_area.resize(0); + m_normal.resize(0); + } + + int getNumTriangles() + { + return m_vertexIndices.size(); + } + + virtual void setTriangleAt( const TriangleDescription &triangle, int triangleIndex ) + { + m_vertexIndices[triangleIndex] = triangle.getVertexSet(); + } + + virtual void createTriangles( int numTriangles ) + { + int previousSize = m_vertexIndices.size(); + int newSize = previousSize + numTriangles; + + // Resize all the arrays that store triangle data + m_vertexIndices.resize( newSize ); + m_area.resize( newSize ); + m_normal.resize( newSize ); + } + + /** + * Return the vertex index set for triangle triangleIndex as stored on the host. + */ + const TriangleNodeSet &getVertexSet( int triangleIndex ) + { + return m_vertexIndices[triangleIndex]; + } + + /** + * Get access to the triangle area. + */ + float &getTriangleArea( int triangleIndex ) + { + return m_area[triangleIndex]; + } + + /** + * Get access to the normal vector for this triangle. + */ + Vectormath::Aos::Vector3 &getNormal( int triangleIndex ) + { + return m_normal[triangleIndex]; + } + + /** + * Return true if data is on the accelerator. + * The CPU version of this class will return true here because + * the CPU is the same as the accelerator. + */ + virtual bool onAccelerator() + { + return true; + } + + /** + * Move data from host memory to the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveToAccelerator() + { + return true; + } + + /** + * Move data from host memory from the accelerator. + * The CPU version will always return that it has moved it. + */ + virtual bool moveFromAccelerator() + { + return true; + } +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVER_DATA_H + diff --git a/Code/Physics/src/BulletMultiThreaded/HeapManager.h b/Code/Physics/src/BulletMultiThreaded/HeapManager.h new file mode 100644 index 00000000..b2da4ef5 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/HeapManager.h @@ -0,0 +1,117 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 BT_HEAP_MANAGER_H__ +#define BT_HEAP_MANAGER_H__ + +#ifdef __SPU__ + #define HEAP_STACK_SIZE 32 +#else + #define HEAP_STACK_SIZE 64 +#endif + +#define MIN_ALLOC_SIZE 16 + + +class HeapManager +{ +private: + ATTRIBUTE_ALIGNED16(unsigned char *mHeap); + ATTRIBUTE_ALIGNED16(unsigned int mHeapBytes); + ATTRIBUTE_ALIGNED16(unsigned char *mPoolStack[HEAP_STACK_SIZE]); + ATTRIBUTE_ALIGNED16(unsigned int mCurStack); + +public: + enum {ALIGN16,ALIGN128}; + + HeapManager(unsigned char *buf,int bytes) + { + mHeap = buf; + mHeapBytes = bytes; + clear(); + } + + ~HeapManager() + { + } + + int getAllocated() + { + return (int)(mPoolStack[mCurStack]-mHeap); + } + + int getRest() + { + return mHeapBytes-getAllocated(); + } + + void *allocate(size_t bytes,int alignment = ALIGN16) + { + if(bytes <= 0) bytes = MIN_ALLOC_SIZE; + btAssert(mCurStack < (HEAP_STACK_SIZE-1)); + + +#if defined(_WIN64) || defined(__LP64__) || defined(__x86_64__) + unsigned long long p = (unsigned long long )mPoolStack[mCurStack]; + if(alignment == ALIGN128) { + p = ((p+127) & 0xffffffffffffff80); + bytes = (bytes+127) & 0xffffffffffffff80; + } + else { + bytes = (bytes+15) & 0xfffffffffffffff0; + } + + btAssert(bytes <=(mHeapBytes-(p-(unsigned long long )mHeap)) ); + +#else + unsigned long p = (unsigned long )mPoolStack[mCurStack]; + if(alignment == ALIGN128) { + p = ((p+127) & 0xffffff80); + bytes = (bytes+127) & 0xffffff80; + } + else { + bytes = (bytes+15) & 0xfffffff0; + } + btAssert(bytes <=(mHeapBytes-(p-(unsigned long)mHeap)) ); +#endif + unsigned char * bla = (unsigned char *)(p + bytes); + mPoolStack[++mCurStack] = bla; + return (void*)p; + } + + void deallocate(void *p) + { + (void) p; + mCurStack--; + } + + void clear() + { + mPoolStack[0] = mHeap; + mCurStack = 0; + } + +// void printStack() +// { +// for(unsigned int i=0;i<=mCurStack;i++) { +// PRINTF("memStack %2d 0x%x\n",i,(uint32_t)mPoolStack[i]); +// } +// } + +}; + +#endif //BT_HEAP_MANAGER_H__ + diff --git a/Code/Physics/src/BulletMultiThreaded/PlatformDefinitions.h b/Code/Physics/src/BulletMultiThreaded/PlatformDefinitions.h new file mode 100644 index 00000000..9bf8c96f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/PlatformDefinitions.h @@ -0,0 +1,103 @@ +#ifndef BT_TYPE_DEFINITIONS_H +#define BT_TYPE_DEFINITIONS_H + +///This file provides some platform/compiler checks for common definitions +#include "LinearMath/btScalar.h" +#include "LinearMath/btMinMax.h" + +#ifdef PFX_USE_FREE_VECTORMATH +#include "physics_effects/base_level/base/pfx_vectormath_include.win32.h" +typedef Vectormath::Aos::Vector3 vmVector3; +typedef Vectormath::Aos::Quat vmQuat; +typedef Vectormath::Aos::Matrix3 vmMatrix3; +typedef Vectormath::Aos::Transform3 vmTransform3; +typedef Vectormath::Aos::Point3 vmPoint3; +#else +#include "vectormath/vmInclude.h" +#endif//PFX_USE_FREE_VECTORMATH + + + + + +#ifdef _WIN32 + +typedef union +{ + unsigned int u; + void *p; +} addr64; + +#define USE_WIN32_THREADING 1 + + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + #else + #endif //__MINGW32__ + + typedef unsigned char uint8_t; +#ifndef __PHYSICS_COMMON_H__ +#ifndef PFX_USE_FREE_VECTORMATH +#ifndef __BT_SKIP_UINT64_H +#if defined(_WIN64) && defined(_MSC_VER) + typedef unsigned __int64 uint64_t; +#else + typedef unsigned long int uint64_t; +#endif +#endif //__BT_SKIP_UINT64_H +#endif //PFX_USE_FREE_VECTORMATH + typedef unsigned int uint32_t; +#endif //__PHYSICS_COMMON_H__ + typedef unsigned short uint16_t; + + #include + #define memalign(alignment, size) malloc(size); + +#include //memcpy + + + + #include + #define spu_printf printf + +#else + #include + #include + #include //for memcpy + +#if defined (__CELLOS_LV2__) + // Playstation 3 Cell SDK +#include + +#else + // posix system + +#define USE_PTHREADS (1) + +#ifdef USE_LIBSPE2 +#include +#define spu_printf printf +#define DWORD unsigned int + typedef union + { + unsigned long long ull; + unsigned int ui[2]; + void *p; + } addr64; +#endif // USE_LIBSPE2 + +#endif //__CELLOS_LV2__ + +#endif + +#ifdef __SPU__ +#include +#define printf spu_printf +#endif + +/* Included here because we need uint*_t typedefs */ +#include "PpuAddressSpace.h" + +#endif //BT_TYPE_DEFINITIONS_H + + + diff --git a/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.cpp b/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.cpp new file mode 100644 index 00000000..81c0cf86 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.cpp @@ -0,0 +1,409 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include +#include "PosixThreadSupport.h" +#ifdef USE_PTHREADS +#include +#include + +#include "SpuCollisionTaskProcess.h" +#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" + +#define checkPThreadFunction(returnValue) \ + if(0 != returnValue) { \ + printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \ + } + +// The number of threads should be equal to the number of available cores +// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor. + +// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +// Setup and initialize SPU/CELL/Libspe2 +PosixThreadSupport::PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo) +{ + startThreads(threadConstructionInfo); +} + +// cleanup/shutdown Libspe2 +PosixThreadSupport::~PosixThreadSupport() +{ + stopSPU(); +} + +#if (defined (__APPLE__)) +#define NAMED_SEMAPHORES +#endif + +// this semaphore will signal, if and how many threads are finished with their work +static sem_t* mainSemaphore=0; + +static sem_t* createSem(const char* baseName) +{ + static int semCount = 0; +#ifdef NAMED_SEMAPHORES + /// Named semaphore begin + char name[32]; + snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++); + sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0); + + if (tempSem != reinterpret_cast(SEM_FAILED)) + { +// printf("Created \"%s\" Semaphore %p\n", name, tempSem); + } + else + { + //printf("Error creating Semaphore %d\n", errno); + exit(-1); + } + /// Named semaphore end +#else + sem_t* tempSem = new sem_t; + checkPThreadFunction(sem_init(tempSem, 0, 0)); +#endif + return tempSem; +} + +static void destroySem(sem_t* semaphore) +{ +#ifdef NAMED_SEMAPHORES + checkPThreadFunction(sem_close(semaphore)); +#else + checkPThreadFunction(sem_destroy(semaphore)); + delete semaphore; +#endif +} + +static void *threadFunction(void *argument) +{ + + PosixThreadSupport::btSpuStatus* status = (PosixThreadSupport::btSpuStatus*)argument; + + + while (1) + { + checkPThreadFunction(sem_wait(status->startSemaphore)); + + void* userPtr = status->m_userPtr; + + if (userPtr) + { + btAssert(status->m_status); + status->m_userThreadFunc(userPtr,status->m_lsMemory); + status->m_status = 2; + checkPThreadFunction(sem_post(mainSemaphore)); + status->threadUsed++; + } else { + //exit Thread + status->m_status = 3; + checkPThreadFunction(sem_post(mainSemaphore)); + printf("Thread with taskId %i exiting\n",status->m_taskId); + break; + } + + } + + printf("Thread TERMINATED\n"); + return 0; + +} + +///send messages to SPUs +void PosixThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId) +{ + /// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (uint32_t) &taskDesc); + + ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished + + + + switch (uiCommand) + { + case CMD_GATHER_AND_PROCESS_PAIRLIST: + { + btSpuStatus& spuStatus = m_activeSpuStatus[taskId]; + btAssert(taskId >= 0); + btAssert(taskId < m_activeSpuStatus.size()); + + spuStatus.m_commandId = uiCommand; + spuStatus.m_status = 1; + spuStatus.m_userPtr = (void*)uiArgument0; + + // fire event to start new task + checkPThreadFunction(sem_post(spuStatus.startSemaphore)); + break; + } + default: + { + ///not implemented + btAssert(0); + } + + }; + + +} + + +///check for messages from SPUs +void PosixThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) +{ + ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response + + ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' + + + btAssert(m_activeSpuStatus.size()); + + // wait for any of the threads to finish + checkPThreadFunction(sem_wait(mainSemaphore)); + + // get at least one thread which has finished + size_t last = -1; + + for(size_t t=0; t < size_t(m_activeSpuStatus.size()); ++t) { + if(2 == m_activeSpuStatus[t].m_status) { + last = t; + break; + } + } + + btSpuStatus& spuStatus = m_activeSpuStatus[last]; + + btAssert(spuStatus.m_status > 1); + spuStatus.m_status = 0; + + // need to find an active spu + btAssert(last >= 0); + + *puiArgument0 = spuStatus.m_taskId; + *puiArgument1 = spuStatus.m_status; +} + + + +void PosixThreadSupport::startThreads(ThreadConstructionInfo& threadConstructionInfo) +{ + printf("%s creating %i threads.\n", __FUNCTION__, threadConstructionInfo.m_numThreads); + m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads); + + mainSemaphore = createSem("main"); + //checkPThreadFunction(sem_wait(mainSemaphore)); + + for (int i=0;i < threadConstructionInfo.m_numThreads;i++) + { + printf("starting thread %d\n",i); + + btSpuStatus& spuStatus = m_activeSpuStatus[i]; + + spuStatus.startSemaphore = createSem("threadLocal"); + + checkPThreadFunction(pthread_create(&spuStatus.thread, NULL, &threadFunction, (void*)&spuStatus)); + + spuStatus.m_userPtr=0; + + spuStatus.m_taskId = i; + spuStatus.m_commandId = 0; + spuStatus.m_status = 0; + spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc(); + spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + spuStatus.threadUsed = 0; + + printf("started thread %d \n",i); + + } + +} + +void PosixThreadSupport::startSPU() +{ +} + + +///tell the task scheduler we are done with the SPU tasks +void PosixThreadSupport::stopSPU() +{ + for(size_t t=0; t < size_t(m_activeSpuStatus.size()); ++t) + { + btSpuStatus& spuStatus = m_activeSpuStatus[t]; + printf("%s: Thread %i used: %ld\n", __FUNCTION__, int(t), spuStatus.threadUsed); + + spuStatus.m_userPtr = 0; + checkPThreadFunction(sem_post(spuStatus.startSemaphore)); + checkPThreadFunction(sem_wait(mainSemaphore)); + + printf("destroy semaphore\n"); + destroySem(spuStatus.startSemaphore); + printf("semaphore destroyed\n"); + checkPThreadFunction(pthread_join(spuStatus.thread,0)); + + } + printf("destroy main semaphore\n"); + destroySem(mainSemaphore); + printf("main semaphore destroyed\n"); + m_activeSpuStatus.clear(); +} + +class PosixCriticalSection : public btCriticalSection +{ + pthread_mutex_t m_mutex; + +public: + PosixCriticalSection() + { + pthread_mutex_init(&m_mutex, NULL); + } + virtual ~PosixCriticalSection() + { + pthread_mutex_destroy(&m_mutex); + } + + ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]); + + virtual unsigned int getSharedParam(int i) + { + return mCommonBuff[i]; + } + virtual void setSharedParam(int i,unsigned int p) + { + mCommonBuff[i] = p; + } + + virtual void lock() + { + pthread_mutex_lock(&m_mutex); + } + virtual void unlock() + { + pthread_mutex_unlock(&m_mutex); + } +}; + + +#if defined(_POSIX_BARRIERS) && (_POSIX_BARRIERS - 20012L) >= 0 +/* OK to use barriers on this platform */ +class PosixBarrier : public btBarrier +{ + pthread_barrier_t m_barr; + int m_numThreads; +public: + PosixBarrier() + :m_numThreads(0) { } + virtual ~PosixBarrier() { + pthread_barrier_destroy(&m_barr); + } + + virtual void sync() + { + int rc = pthread_barrier_wait(&m_barr); + if(rc != 0 && rc != PTHREAD_BARRIER_SERIAL_THREAD) + { + printf("Could not wait on barrier\n"); + exit(-1); + } + } + virtual void setMaxCount(int numThreads) + { + int result = pthread_barrier_init(&m_barr, NULL, numThreads); + m_numThreads = numThreads; + btAssert(result==0); + } + virtual int getMaxCount() + { + return m_numThreads; + } +}; +#else +/* Not OK to use barriers on this platform - insert alternate code here */ +class PosixBarrier : public btBarrier +{ + pthread_mutex_t m_mutex; + pthread_cond_t m_cond; + + int m_numThreads; + int m_called; + +public: + PosixBarrier() + :m_numThreads(0) + { + } + virtual ~PosixBarrier() + { + if (m_numThreads>0) + { + pthread_mutex_destroy(&m_mutex); + pthread_cond_destroy(&m_cond); + } + } + + virtual void sync() + { + pthread_mutex_lock(&m_mutex); + m_called++; + if (m_called == m_numThreads) { + m_called = 0; + pthread_cond_broadcast(&m_cond); + } else { + pthread_cond_wait(&m_cond,&m_mutex); + } + pthread_mutex_unlock(&m_mutex); + + } + virtual void setMaxCount(int numThreads) + { + if (m_numThreads>0) + { + pthread_mutex_destroy(&m_mutex); + pthread_cond_destroy(&m_cond); + } + m_called = 0; + pthread_mutex_init(&m_mutex,NULL); + pthread_cond_init(&m_cond,NULL); + m_numThreads = numThreads; + } + virtual int getMaxCount() + { + return m_numThreads; + } +}; + +#endif//_POSIX_BARRIERS + + + +btBarrier* PosixThreadSupport::createBarrier() +{ + PosixBarrier* barrier = new PosixBarrier(); + barrier->setMaxCount(getNumTasks()); + return barrier; +} + +btCriticalSection* PosixThreadSupport::createCriticalSection() +{ + return new PosixCriticalSection(); +} + +void PosixThreadSupport::deleteBarrier(btBarrier* barrier) +{ + delete barrier; +} + +void PosixThreadSupport::deleteCriticalSection(btCriticalSection* cs) +{ + delete cs; +} +#endif // USE_PTHREADS + diff --git a/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.h b/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.h new file mode 100644 index 00000000..bf7578f5 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/PosixThreadSupport.h @@ -0,0 +1,147 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_POSIX_THREAD_SUPPORT_H +#define BT_POSIX_THREAD_SUPPORT_H + + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + +#ifdef USE_PTHREADS //platform specifc defines are defined in PlatformDefinitions.h + +#ifndef _XOPEN_SOURCE +#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html +#endif //_XOPEN_SOURCE +#include +#include + + + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btThreadSupportInterface.h" + + +typedef void (*PosixThreadFunc)(void* userPtr,void* lsMemory); +typedef void* (*PosixlsMemorySetupFunc)(); + +// PosixThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class PosixThreadSupport : public btThreadSupportInterface +{ +public: + typedef enum sStatus { + STATUS_BUSY, + STATUS_READY, + STATUS_FINISHED + } Status; + + // placeholder, until libspe2 support is there + struct btSpuStatus + { + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + PosixThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + void* m_lsMemory; //initialized using PosixLocalStoreMemorySetupFunc + + pthread_t thread; + sem_t* startSemaphore; + + unsigned long threadUsed; + }; +private: + + btAlignedObjectArray m_activeSpuStatus; +public: + ///Setup and initialize SPU/CELL/Libspe2 + + + + struct ThreadConstructionInfo + { + ThreadConstructionInfo(const char* uniqueName, + PosixThreadFunc userThreadFunc, + PosixlsMemorySetupFunc lsMemoryFunc, + int numThreads=1, + int threadStackSize=65535 + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc), + m_numThreads(numThreads), + m_threadStackSize(threadStackSize) + { + + } + + const char* m_uniqueName; + PosixThreadFunc m_userThreadFunc; + PosixlsMemorySetupFunc m_lsMemoryFunc; + int m_numThreads; + int m_threadStackSize; + + }; + + PosixThreadSupport(ThreadConstructionInfo& threadConstructionInfo); + +///cleanup/shutdown Libspe2 + virtual ~PosixThreadSupport(); + + void startThreads(ThreadConstructionInfo& threadInfo); + + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) {} + + virtual int getNumTasks() const + { + return m_activeSpuStatus.size(); + } + + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + + virtual void deleteBarrier(btBarrier* barrier); + + virtual void deleteCriticalSection(btCriticalSection* criticalSection); + + + virtual void* getThreadLocalMemory(int taskId) + { + return m_activeSpuStatus[taskId].m_lsMemory; + } + +}; + +#endif // USE_PTHREADS + +#endif // BT_POSIX_THREAD_SUPPORT_H + + diff --git a/Code/Physics/src/BulletMultiThreaded/PpuAddressSpace.h b/Code/Physics/src/BulletMultiThreaded/PpuAddressSpace.h new file mode 100644 index 00000000..6f228274 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/PpuAddressSpace.h @@ -0,0 +1,37 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2010 Erwin Coumans http://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 BT_PPU_ADDRESS_SPACE_H +#define BT_PPU_ADDRESS_SPACE_H + + +#ifdef _WIN32 +//stop those casting warnings until we have a better solution for ppu_address_t / void* / uint64 conversions +#pragma warning (disable: 4311) +#pragma warning (disable: 4312) +#endif //_WIN32 + + +#if defined(_WIN64) + typedef unsigned __int64 ppu_address_t; +#elif defined(__LP64__) || defined(__x86_64__) + typedef uint64_t ppu_address_t; +#else + typedef uint32_t ppu_address_t; +#endif //defined(_WIN64) + +#endif //BT_PPU_ADDRESS_SPACE_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.cpp b/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.cpp new file mode 100644 index 00000000..19992772 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.cpp @@ -0,0 +1,181 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "SequentialThreadSupport.h" + + +#include "SpuCollisionTaskProcess.h" +#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" + +SequentialThreadSupport::SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo) +{ + startThreads(threadConstructionInfo); +} + +///cleanup/shutdown Libspe2 +SequentialThreadSupport::~SequentialThreadSupport() +{ + stopSPU(); +} + +#include + +///send messages to SPUs +void SequentialThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId) +{ + switch (uiCommand) + { + case CMD_GATHER_AND_PROCESS_PAIRLIST: + { + btSpuStatus& spuStatus = m_activeSpuStatus[0]; + spuStatus.m_userPtr=(void*)uiArgument0; + spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory); + } + break; + default: + { + ///not implemented + btAssert(0 && "Not implemented"); + } + + }; + + +} + +///check for messages from SPUs +void SequentialThreadSupport::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) +{ + btAssert(m_activeSpuStatus.size()); + btSpuStatus& spuStatus = m_activeSpuStatus[0]; + *puiArgument0 = spuStatus.m_taskId; + *puiArgument1 = spuStatus.m_status; +} + +void SequentialThreadSupport::startThreads(SequentialThreadConstructionInfo& threadConstructionInfo) +{ + m_activeSpuStatus.resize(1); + printf("STS: Not starting any threads\n"); + btSpuStatus& spuStatus = m_activeSpuStatus[0]; + spuStatus.m_userPtr = 0; + spuStatus.m_taskId = 0; + spuStatus.m_commandId = 0; + spuStatus.m_status = 0; + spuStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc(); + spuStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + printf("STS: Created local store at %p for task %s\n", spuStatus.m_lsMemory, threadConstructionInfo.m_uniqueName); +} + +void SequentialThreadSupport::startSPU() +{ +} + +void SequentialThreadSupport::stopSPU() +{ + m_activeSpuStatus.clear(); +} + +void SequentialThreadSupport::setNumTasks(int numTasks) +{ + printf("SequentialThreadSupport::setNumTasks(%d) is not implemented and has no effect\n",numTasks); +} + + + + +class btDummyBarrier : public btBarrier +{ +private: + +public: + btDummyBarrier() + { + } + + virtual ~btDummyBarrier() + { + } + + void sync() + { + } + + virtual void setMaxCount(int n) {} + virtual int getMaxCount() {return 1;} +}; + +class btDummyCriticalSection : public btCriticalSection +{ + +public: + btDummyCriticalSection() + { + } + + virtual ~btDummyCriticalSection() + { + } + + unsigned int getSharedParam(int i) + { + btAssert(i>=0&&i<31); + return mCommonBuff[i+1]; + } + + void setSharedParam(int i,unsigned int p) + { + btAssert(i>=0&&i<31); + mCommonBuff[i+1] = p; + } + + void lock() + { + mCommonBuff[0] = 1; + } + + void unlock() + { + mCommonBuff[0] = 0; + } +}; + + + + +btBarrier* SequentialThreadSupport::createBarrier() +{ + return new btDummyBarrier(); +} + +btCriticalSection* SequentialThreadSupport::createCriticalSection() +{ + return new btDummyCriticalSection(); + +} + +void SequentialThreadSupport::deleteBarrier(btBarrier* barrier) +{ + delete barrier; +} + +void SequentialThreadSupport::deleteCriticalSection(btCriticalSection* criticalSection) +{ + delete criticalSection; +} + + + + + diff --git a/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.h b/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.h new file mode 100644 index 00000000..a188ef21 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SequentialThreadSupport.h @@ -0,0 +1,100 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + + +#ifndef BT_SEQUENTIAL_THREAD_SUPPORT_H +#define BT_SEQUENTIAL_THREAD_SUPPORT_H + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btThreadSupportInterface.h" + +typedef void (*SequentialThreadFunc)(void* userPtr,void* lsMemory); +typedef void* (*SequentiallsMemorySetupFunc)(); + + + +///The SequentialThreadSupport is a portable non-parallel implementation of the btThreadSupportInterface +///This is useful for debugging and porting SPU Tasks to other platforms. +class SequentialThreadSupport : public btThreadSupportInterface +{ +public: + struct btSpuStatus + { + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + SequentialThreadFunc m_userThreadFunc; + + void* m_userPtr; //for taskDesc etc + void* m_lsMemory; //initialized using SequentiallsMemorySetupFunc + }; +private: + btAlignedObjectArray m_activeSpuStatus; + btAlignedObjectArray m_completeHandles; +public: + struct SequentialThreadConstructionInfo + { + SequentialThreadConstructionInfo (const char* uniqueName, + SequentialThreadFunc userThreadFunc, + SequentiallsMemorySetupFunc lsMemoryFunc + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc) + { + + } + + const char* m_uniqueName; + SequentialThreadFunc m_userThreadFunc; + SequentiallsMemorySetupFunc m_lsMemoryFunc; + }; + + SequentialThreadSupport(SequentialThreadConstructionInfo& threadConstructionInfo); + virtual ~SequentialThreadSupport(); + void startThreads(SequentialThreadConstructionInfo& threadInfo); +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks); + + virtual int getNumTasks() const + { + return 1; + } + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + + virtual void deleteBarrier(btBarrier* barrier); + + virtual void deleteCriticalSection(btCriticalSection* criticalSection); + + +}; + +#endif //BT_SEQUENTIAL_THREAD_SUPPORT_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp b/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp new file mode 100644 index 00000000..182aa269 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.cpp @@ -0,0 +1,48 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "SpuCollisionObjectWrapper.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" + +SpuCollisionObjectWrapper::SpuCollisionObjectWrapper () +{ +} + +#ifndef __SPU__ +SpuCollisionObjectWrapper::SpuCollisionObjectWrapper (const btCollisionObject* collisionObject) +{ + m_shapeType = collisionObject->getCollisionShape()->getShapeType (); + m_collisionObjectPtr = (ppu_address_t)collisionObject; + m_margin = collisionObject->getCollisionShape()->getMargin (); +} +#endif + +int +SpuCollisionObjectWrapper::getShapeType () const +{ + return m_shapeType; +} + +float +SpuCollisionObjectWrapper::getCollisionMargin () const +{ + return m_margin; +} + +ppu_address_t +SpuCollisionObjectWrapper::getCollisionObjectPtr () const +{ + return m_collisionObjectPtr; +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.h b/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.h new file mode 100644 index 00000000..f90da277 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuCollisionObjectWrapper.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_COLLISION_OBJECT_WRAPPER_H +#define BT_SPU_COLLISION_OBJECT_WRAPPER_H + +#include "PlatformDefinitions.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +ATTRIBUTE_ALIGNED16(class) SpuCollisionObjectWrapper +{ +protected: + int m_shapeType; + float m_margin; + ppu_address_t m_collisionObjectPtr; + +public: + SpuCollisionObjectWrapper (); + + SpuCollisionObjectWrapper (const btCollisionObject* collisionObject); + + int getShapeType () const; + float getCollisionMargin () const; + ppu_address_t getCollisionObjectPtr () const; +}; + + +#endif //BT_SPU_COLLISION_OBJECT_WRAPPER_H diff --git a/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp b/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp new file mode 100644 index 00000000..f606d136 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.cpp @@ -0,0 +1,317 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +//#define DEBUG_SPU_TASK_SCHEDULING 1 + + +//class OptimizedBvhNode; + +#include "SpuCollisionTaskProcess.h" + + + + +void SpuCollisionTaskProcess::setNumTasks(int maxNumTasks) +{ + if (int(m_maxNumOutstandingTasks) != maxNumTasks) + { + m_maxNumOutstandingTasks = maxNumTasks; + m_taskBusy.resize(m_maxNumOutstandingTasks); + m_spuGatherTaskDesc.resize(m_maxNumOutstandingTasks); + + for (int i = 0; i < m_taskBusy.size(); i++) + { + m_taskBusy[i] = false; + } + + ///re-allocate task memory buffers + if (m_workUnitTaskBuffers != 0) + { + btAlignedFree(m_workUnitTaskBuffers); + } + + m_workUnitTaskBuffers = (unsigned char *)btAlignedAlloc(MIDPHASE_WORKUNIT_TASK_SIZE*m_maxNumOutstandingTasks, 128); + } + +} + + + +SpuCollisionTaskProcess::SpuCollisionTaskProcess(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks) +:m_threadInterface(threadInterface), +m_maxNumOutstandingTasks(0) +{ + m_workUnitTaskBuffers = (unsigned char *)0; + setNumTasks(maxNumOutstandingTasks); + m_numBusyTasks = 0; + m_currentTask = 0; + m_currentPage = 0; + m_currentPageEntry = 0; + +#ifdef DEBUG_SpuCollisionTaskProcess + m_initialized = false; +#endif + + m_threadInterface->startSPU(); + + //printf("sizeof vec_float4: %d\n", sizeof(vec_float4)); + printf("sizeof SpuGatherAndProcessWorkUnitInput: %d\n", int(sizeof(SpuGatherAndProcessWorkUnitInput))); + +} + +SpuCollisionTaskProcess::~SpuCollisionTaskProcess() +{ + + if (m_workUnitTaskBuffers != 0) + { + btAlignedFree(m_workUnitTaskBuffers); + m_workUnitTaskBuffers = 0; + } + + + + m_threadInterface->stopSPU(); + +} + + + +void SpuCollisionTaskProcess::initialize2(bool useEpa) +{ + +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("SpuCollisionTaskProcess::initialize()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + for (int i = 0; i < int (m_maxNumOutstandingTasks); i++) + { + m_taskBusy[i] = false; + } + m_numBusyTasks = 0; + m_currentTask = 0; + m_currentPage = 0; + m_currentPageEntry = 0; + m_useEpa = useEpa; + +#ifdef DEBUG_SpuCollisionTaskProcess + m_initialized = true; + btAssert(MIDPHASE_NUM_WORKUNITS_PER_TASK*sizeof(SpuGatherAndProcessWorkUnitInput) <= MIDPHASE_WORKUNIT_TASK_SIZE); +#endif +} + + +void SpuCollisionTaskProcess::issueTask2() +{ + +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("SpuCollisionTaskProcess::issueTask (m_currentTask= %d\n)", m_currentTask); +#endif //DEBUG_SPU_TASK_SCHEDULING + + m_taskBusy[m_currentTask] = true; + m_numBusyTasks++; + + + SpuGatherAndProcessPairsTaskDesc& taskDesc = m_spuGatherTaskDesc[m_currentTask]; + taskDesc.m_useEpa = m_useEpa; + + { + // send task description in event message + // no error checking here... + // but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS. + + taskDesc.m_inPairPtr = reinterpret_cast(MIDPHASE_TASK_PTR(m_currentTask)); + + taskDesc.taskId = m_currentTask; + taskDesc.numPages = m_currentPage+1; + taskDesc.numOnLastPage = m_currentPageEntry; + } + + + + m_threadInterface->sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc,m_currentTask); + + // if all tasks busy, wait for spu event to clear the task. + + + if (m_numBusyTasks >= m_maxNumOutstandingTasks) + { + unsigned int taskId; + unsigned int outputSize; + + + for (int i=0;i=0); + + + m_threadInterface->waitForResponse(&taskId, &outputSize); + +// printf("issueTask taskId %d completed, numBusy=%d\n",taskId,m_numBusyTasks); + + //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize); + + //postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + +} + +void SpuCollisionTaskProcess::addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex) +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("#"); +#endif //DEBUG_SPU_TASK_SCHEDULING + +#ifdef DEBUG_SpuCollisionTaskProcess + btAssert(m_initialized); + btAssert(m_workUnitTaskBuffers); + +#endif + + bool batch = true; + + if (batch) + { + if (m_currentPageEntry == MIDPHASE_NUM_WORKUNITS_PER_PAGE) + { + if (m_currentPage == MIDPHASE_NUM_WORKUNIT_PAGES-1) + { + // task buffer is full, issue current task. + // if all task buffers busy, this waits until SPU is done. + issueTask2(); + + // find new task buffer + for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++) + { + if (!m_taskBusy[i]) + { + m_currentTask = i; + //init the task data + + break; + } + } + + m_currentPage = 0; + } + else + { + m_currentPage++; + } + + m_currentPageEntry = 0; + } + } + + { + + + + SpuGatherAndProcessWorkUnitInput &wuInput = + *(reinterpret_cast + (MIDPHASE_ENTRY_PTR(m_currentTask, m_currentPage, m_currentPageEntry))); + + wuInput.m_pairArrayPtr = reinterpret_cast(pairArrayPtr); + wuInput.m_startIndex = startIndex; + wuInput.m_endIndex = endIndex; + + + + m_currentPageEntry++; + + if (!batch) + { + issueTask2(); + + // find new task buffer + for (unsigned int i = 0; i < m_maxNumOutstandingTasks; i++) + { + if (!m_taskBusy[i]) + { + m_currentTask = i; + //init the task data + + break; + } + } + + m_currentPage = 0; + m_currentPageEntry =0; + } + } +} + + +void +SpuCollisionTaskProcess::flush2() +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("\nSpuCollisionTaskProcess::flush()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + // if there's a partially filled task buffer, submit that task + if (m_currentPage > 0 || m_currentPageEntry > 0) + { + issueTask2(); + } + + + // all tasks are issued, wait for all tasks to be complete + while(m_numBusyTasks > 0) + { + // Consolidating SPU code + unsigned int taskId=-1; + unsigned int outputSize; + + for (int i=0;i=0); + + + { + + // SPURS support. + m_threadInterface->waitForResponse(&taskId, &outputSize); + } +// printf("flush2 taskId %d completed, numBusy =%d \n",taskId,m_numBusyTasks); + //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize); + + //postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + + +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.h b/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.h new file mode 100644 index 00000000..23b5b05a --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuCollisionTaskProcess.h @@ -0,0 +1,163 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_COLLISION_TASK_PROCESS_H +#define BT_SPU_COLLISION_TASK_PROCESS_H + +#include + +#include "LinearMath/btScalar.h" + +#include "PlatformDefinitions.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" // for definitions processCollisionTask and createCollisionLocalStoreMemory + +#include "btThreadSupportInterface.h" + + +//#include "SPUAssert.h" +#include + + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + +#include "LinearMath/btAlignedAllocator.h" + +#include + + +#define DEBUG_SpuCollisionTaskProcess 1 + + +#define CMD_GATHER_AND_PROCESS_PAIRLIST 1 + +class btCollisionObject; +class btPersistentManifold; +class btDispatcher; + + +/////Task Description for SPU collision detection +//struct SpuGatherAndProcessPairsTaskDesc +//{ +// uint64_t inPtr;//m_pairArrayPtr; +// //mutex variable +// uint32_t m_someMutexVariableInMainMemory; +// +// uint64_t m_dispatcher; +// +// uint32_t numOnLastPage; +// +// uint16_t numPages; +// uint16_t taskId; +// +// struct CollisionTask_LocalStoreMemory* m_lsMemory; +//} +// +//#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) +//__attribute__ ((aligned (16))) +//#endif +//; + + +///MidphaseWorkUnitInput stores individual primitive versus mesh collision detection input, to be processed by the SPU. +ATTRIBUTE_ALIGNED16(struct) SpuGatherAndProcessWorkUnitInput +{ + uint64_t m_pairArrayPtr; + int m_startIndex; + int m_endIndex; +}; + + + + +/// SpuCollisionTaskProcess handles SPU processing of collision pairs. +/// Maintains a set of task buffers. +/// When the task is full, the task is issued for SPUs to process. Contact output goes into btPersistentManifold +/// associated with each task. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class SpuCollisionTaskProcess +{ + + unsigned char *m_workUnitTaskBuffers; + + + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArray m_spuGatherTaskDesc; + + class btThreadSupportInterface* m_threadInterface; + + unsigned int m_maxNumOutstandingTasks; + + unsigned int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + unsigned int m_currentTask; + unsigned int m_currentPage; + unsigned int m_currentPageEntry; + + bool m_useEpa; + +#ifdef DEBUG_SpuCollisionTaskProcess + bool m_initialized; +#endif + void issueTask2(); + //void postProcess(unsigned int taskId, int outputSize); + +public: + SpuCollisionTaskProcess(btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks); + + ~SpuCollisionTaskProcess(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize2(bool useEpa = false); + + ///batch up additional work to a current task for SPU processing. When batch is full, it issues the task. + void addWorkToTask(void* pairArrayPtr,int startIndex,int endIndex); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush2(); + + /// set the maximum number of SPU tasks allocated + void setNumTasks(int maxNumTasks); + + int getNumTasks() const + { + return m_maxNumOutstandingTasks; + } +}; + + + +#define MIDPHASE_TASK_PTR(task) (&m_workUnitTaskBuffers[0] + MIDPHASE_WORKUNIT_TASK_SIZE*task) +#define MIDPHASE_ENTRY_PTR(task,page,entry) (MIDPHASE_TASK_PTR(task) + MIDPHASE_WORKUNIT_PAGE_SIZE*page + sizeof(SpuGatherAndProcessWorkUnitInput)*entry) +#define MIDPHASE_OUTPUT_PTR(task) (&m_contactOutputBuffers[0] + MIDPHASE_MAX_CONTACT_BUFFER_SIZE*task) +#define MIDPHASE_TREENODES_PTR(task) (&m_complexShapeBuffers[0] + MIDPHASE_COMPLEX_SHAPE_BUFFER_SIZE*task) + + +#define MIDPHASE_WORKUNIT_PAGE_SIZE (16) +//#define MIDPHASE_WORKUNIT_PAGE_SIZE (128) + +#define MIDPHASE_NUM_WORKUNIT_PAGES 1 +#define MIDPHASE_WORKUNIT_TASK_SIZE (MIDPHASE_WORKUNIT_PAGE_SIZE*MIDPHASE_NUM_WORKUNIT_PAGES) +#define MIDPHASE_NUM_WORKUNITS_PER_PAGE (MIDPHASE_WORKUNIT_PAGE_SIZE / sizeof(SpuGatherAndProcessWorkUnitInput)) +#define MIDPHASE_NUM_WORKUNITS_PER_TASK (MIDPHASE_NUM_WORKUNITS_PER_PAGE*MIDPHASE_NUM_WORKUNIT_PAGES) + + +#endif // BT_SPU_COLLISION_TASK_PROCESS_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp b/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp new file mode 100644 index 00000000..62cf4f0f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp @@ -0,0 +1,69 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "SpuContactManifoldCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" + + + + +void SpuContactManifoldCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btAssert(0); +} + +btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btAssert(0); + return 1.f; +} + +#ifndef __SPU__ +SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1) +:btCollisionAlgorithm(ci) +#ifdef USE_SEPDISTANCE_UTIL +,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc()) +#endif //USE_SEPDISTANCE_UTIL +{ + m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + m_shapeType0 = body0->getCollisionShape()->getShapeType(); + m_shapeType1 = body1->getCollisionShape()->getShapeType(); + m_collisionMargin0 = body0->getCollisionShape()->getMargin(); + m_collisionMargin1 = body1->getCollisionShape()->getMargin(); + m_collisionObject0 = body0; + m_collisionObject1 = body1; + + if (body0->getCollisionShape()->isPolyhedral()) + { + btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape(); + m_shapeDimensions0 = convex0->getImplicitShapeDimensions(); + } + if (body1->getCollisionShape()->isPolyhedral()) + { + btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape(); + m_shapeDimensions1 = convex1->getImplicitShapeDimensions(); + } +} +#endif //__SPU__ + + +SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm() +{ + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h b/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h new file mode 100644 index 00000000..14b0a945 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h @@ -0,0 +1,121 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H +#define BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "LinearMath/btTransformUtil.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +class btPersistentManifold; + +//#define USE_SEPDISTANCE_UTIL 1 + +/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU. +ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm +{ + btVector3 m_shapeDimensions0; + btVector3 m_shapeDimensions1; + btPersistentManifold* m_manifoldPtr; + int m_shapeType0; + int m_shapeType1; + float m_collisionMargin0; + float m_collisionMargin1; + + const btCollisionObject* m_collisionObject0; + const btCollisionObject* m_collisionObject1; + + + + +public: + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + + SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1); +#ifdef USE_SEPDISTANCE_UTIL + btConvexSeparatingDistanceUtil m_sepDistance; +#endif //USE_SEPDISTANCE_UTIL + + virtual ~SpuContactManifoldCollisionAlgorithm(); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr) + manifoldArray.push_back(m_manifoldPtr); + } + + btPersistentManifold* getContactManifoldPtr() + { + return m_manifoldPtr; + } + + const btCollisionObject* getCollisionObject0() + { + return m_collisionObject0; + } + + const btCollisionObject* getCollisionObject1() + { + return m_collisionObject1; + } + + int getShapeType0() const + { + return m_shapeType0; + } + + int getShapeType1() const + { + return m_shapeType1; + } + float getCollisionMargin0() const + { + return m_collisionMargin0; + } + float getCollisionMargin1() const + { + return m_collisionMargin1; + } + + const btVector3& getShapeDimensions0() const + { + return m_shapeDimensions0; + } + + const btVector3& getShapeDimensions1() const + { + return m_shapeDimensions1; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm)); + return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + } + }; + +}; + +#endif //BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletMultiThreaded/SpuDoubleBuffer.h b/Code/Physics/src/BulletMultiThreaded/SpuDoubleBuffer.h new file mode 100644 index 00000000..558d6152 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuDoubleBuffer.h @@ -0,0 +1,126 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_DOUBLE_BUFFER_H +#define BT_DOUBLE_BUFFER_H + +#include "SpuFakeDma.h" +#include "LinearMath/btScalar.h" + + +///DoubleBuffer +template +class DoubleBuffer +{ +#if defined(__SPU__) || defined(USE_LIBSPE2) + ATTRIBUTE_ALIGNED128( T m_buffer0[size] ) ; + ATTRIBUTE_ALIGNED128( T m_buffer1[size] ) ; +#else + T m_buffer0[size]; + T m_buffer1[size]; +#endif + + T *m_frontBuffer; + T *m_backBuffer; + + unsigned int m_dmaTag; + bool m_dmaPending; +public: + bool isPending() const { return m_dmaPending;} + DoubleBuffer(); + + void init (); + + // dma get and put commands + void backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag); + void backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag); + + // gets pointer to a buffer + T *getFront(); + T *getBack(); + + // if back buffer dma was started, wait for it to complete + // then move back to front and vice versa + T *swapBuffers(); +}; + +template +DoubleBuffer::DoubleBuffer() +{ + init (); +} + +template +void DoubleBuffer::init() +{ + this->m_dmaPending = false; + this->m_frontBuffer = &this->m_buffer0[0]; + this->m_backBuffer = &this->m_buffer1[0]; +} + +template +void +DoubleBuffer::backBufferDmaGet(uint64_t ea, unsigned int numBytes, unsigned int tag) +{ + m_dmaPending = true; + m_dmaTag = tag; + if (numBytes) + { + m_backBuffer = (T*)cellDmaLargeGetReadOnly(m_backBuffer, ea, numBytes, tag, 0, 0); + } +} + +template +void +DoubleBuffer::backBufferDmaPut(uint64_t ea, unsigned int numBytes, unsigned int tag) +{ + m_dmaPending = true; + m_dmaTag = tag; + cellDmaLargePut(m_backBuffer, ea, numBytes, tag, 0, 0); +} + +template +T * +DoubleBuffer::getFront() +{ + return m_frontBuffer; +} + +template +T * +DoubleBuffer::getBack() +{ + return m_backBuffer; +} + +template +T * +DoubleBuffer::swapBuffers() +{ + if (m_dmaPending) + { + cellDmaWaitTagStatusAll(1< //for btAssert +//Disabling memcpy sometimes helps debugging DMA + +#define USE_MEMCPY 1 +#ifdef USE_MEMCPY + +#endif + + +void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid) +{ + +#if defined (__SPU__) || defined (USE_LIBSPE2) + cellDmaLargeGet(ls,ea,size,tag,tid,rid); + return ls; +#else + return (void*)(ppu_address_t)ea; +#endif +} + +void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid) +{ +#if defined (__SPU__) || defined (USE_LIBSPE2) + mfc_get(ls,ea,size,tag,0,0); + return ls; +#else + return (void*)(ppu_address_t)ea; +#endif +} + + + + +void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid) +{ +#if defined (__SPU__) || defined (USE_LIBSPE2) + cellDmaGet(ls,ea,size,tag,tid,rid); + return ls; +#else + return (void*)(ppu_address_t)ea; +#endif +} + + +///this unalignedDma should not be frequently used, only for small data. It handles alignment and performs check on size (<16 bytes) +int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size) +{ + + btAssert(size<32); + + ATTRIBUTE_ALIGNED16(char tmpBuffer[32]); + + + char* localStore = (char*)ls; + uint32_t i; + + + ///make sure last 4 bits are the same, for cellDmaSmallGet + uint32_t last4BitsOffset = ea & 0x0f; + char* tmpTarget = tmpBuffer + last4BitsOffset; + +#if defined (__SPU__) || defined (USE_LIBSPE2) + + int remainingSize = size; + +//#define FORCE_cellDmaUnalignedGet 1 +#ifdef FORCE_cellDmaUnalignedGet + cellDmaUnalignedGet(tmpTarget,ea,size,DMA_TAG(1),0,0); +#else + char* remainingTmpTarget = tmpTarget; + uint64_t remainingEa = ea; + + while (remainingSize) + { + switch (remainingSize) + { + case 1: + case 2: + case 4: + case 8: + case 16: + { + mfc_get(remainingTmpTarget,remainingEa,remainingSize,DMA_TAG(1),0,0); + remainingSize=0; + break; + } + default: + { + //spu_printf("unaligned DMA with non-natural size:%d\n",remainingSize); + int actualSize = 0; + + if (remainingSize > 16) + actualSize = 16; + else + if (remainingSize >8) + actualSize=8; + else + if (remainingSize >4) + actualSize=4; + else + if (remainingSize >2) + actualSize=2; + mfc_get(remainingTmpTarget,remainingEa,actualSize,DMA_TAG(1),0,0); + remainingSize-=actualSize; + remainingTmpTarget+=actualSize; + remainingEa += actualSize; + } + } + } +#endif//FORCE_cellDmaUnalignedGet + +#else + char* mainMem = (char*)ea; + //copy into final destination +#ifdef USE_MEMCPY + + memcpy(tmpTarget,mainMem,size); +#else + for ( i=0;i +#include + +#define DMA_TAG(xfer) (xfer + 1) +#define DMA_MASK(xfer) (1 << DMA_TAG(xfer)) + +#else // !USE_LIBSPE2 + +#define DMA_TAG(xfer) (xfer + 1) +#define DMA_MASK(xfer) (1 << DMA_TAG(xfer)) + +#include + +#define DEBUG_DMA +#ifdef DEBUG_DMA +#define dUASSERT(a,b) if (!(a)) { printf(b);} +#define uintsize ppu_address_t + +#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaLargePut(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("PUT %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ls,(unsigned int)ea,(unsigned int)size); \ + } \ + mfc_put(ls, ea, size, tag, tid, rid) +#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) if ( (((uintsize)ls%16) != ((uintsize)ea%16)) || ((((uintsize)ea%16) || ((uintsize)ls%16)) && (( ((uintsize)ls%16) != ((uintsize)size%16) ) || ( ((uintsize)ea%16) != ((uintsize)size%16) ) ) ) || ( ((uintsize)size%16) && ((uintsize)size!=1) && ((uintsize)size!=2) && ((uintsize)size!=4) && ((uintsize)size!=8) ) || (size >= 16384) || !(uintsize)ls || !(uintsize)ea) { \ + dUASSERT( (((uintsize)ea % 16) == 0) || (size < 16), "XDR Address not aligned: "); \ + dUASSERT( (((uintsize)ls % 16) == 0) || (size < 16), "LS Address not aligned: "); \ + dUASSERT( ((((uintsize)ls % size) == 0) && (((uintsize)ea % size) == 0)) || (size > 16), "Not naturally aligned: "); \ + dUASSERT((size == 1) || (size == 2) || (size == 4) || (size == 8) || ((size % 16) == 0), "size not a multiple of 16byte: "); \ + dUASSERT(size < 16384, "size too big: "); \ + dUASSERT( ((uintsize)ea%16)==((uintsize)ls%16), "wrong Quadword alignment of LS and EA: "); \ + dUASSERT(ea != 0, "Nullpointer EA: "); dUASSERT(ls != 0, "Nullpointer LS: ");\ + printf("GET %s:%d from: 0x%x, to: 0x%x - %d bytes\n", __FILE__, __LINE__, (unsigned int)ea,(unsigned int)ls,(unsigned int)size);\ + } \ + mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all() + +#else +#define cellDmaLargeGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaLargePut(ls, ea, size, tag, tid, rid) mfc_put(ls, ea, size, tag, tid, rid) +#define cellDmaSmallGet(ls, ea, size, tag, tid, rid) mfc_get(ls, ea, size, tag, tid, rid) +#define cellDmaWaitTagStatusAll(ignore) mfc_write_tag_mask(ignore) ; mfc_read_tag_status_all() +#endif // DEBUG_DMA + + + + + + + + +#endif // USE_LIBSPE2 +#else // !__SPU__ +//Simulate DMA using memcpy or direct access on non-CELL platforms that don't have DMAs and SPUs (Win32, Mac, Linux etc) +//Potential to add networked simulation using this interface + +#define DMA_TAG(a) (a) +#define DMA_MASK(a) (a) + + /// cellDmaLargeGet Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + int cellDmaLargeGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + int cellDmaGet(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + /// cellDmaLargePut Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + int cellDmaLargePut(const void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + /// cellDmaWaitTagStatusAll Win32 replacements for Cell DMA to allow simulating most of the SPU code (just memcpy) + void cellDmaWaitTagStatusAll(int ignore); + + +#endif //__CELLOS_LV2__ + +///stallingUnalignedDmaSmallGet internally uses DMA_TAG(1) +int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size); + + +void* cellDmaLargeGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); +void* cellDmaGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); +void* cellDmaSmallGetReadOnly(void *ls, uint64_t ea, uint32_t size, uint32_t tag, uint32_t tid, uint32_t rid); + + +#endif //BT_FAKE_DMA_H diff --git a/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp b/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp new file mode 100644 index 00000000..c8712dab --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp @@ -0,0 +1,283 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "SpuGatheringCollisionDispatcher.h" +#include "SpuCollisionTaskProcess.h" + + +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" +#include "SpuContactManifoldCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "LinearMath/btQuickprof.h" +#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + + + + +SpuGatheringCollisionDispatcher::SpuGatheringCollisionDispatcher(class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration) +:btCollisionDispatcher(collisionConfiguration), +m_spuCollisionTaskProcess(0), +m_threadInterface(threadInterface), +m_maxNumOutstandingTasks(maxNumOutstandingTasks) +{ + +} + + +bool SpuGatheringCollisionDispatcher::supportsDispatchPairOnSpu(int proxyType0,int proxyType1) +{ + bool supported0 = ( + (proxyType0 == BOX_SHAPE_PROXYTYPE) || + (proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) || + (proxyType0 == SPHERE_SHAPE_PROXYTYPE) || + (proxyType0 == CAPSULE_SHAPE_PROXYTYPE) || + (proxyType0 == CYLINDER_SHAPE_PROXYTYPE) || +// (proxyType0 == CONE_SHAPE_PROXYTYPE) || + (proxyType0 == TRIANGLE_MESH_SHAPE_PROXYTYPE) || + (proxyType0 == CONVEX_HULL_SHAPE_PROXYTYPE)|| + (proxyType0 == STATIC_PLANE_PROXYTYPE)|| + (proxyType0 == COMPOUND_SHAPE_PROXYTYPE) + ); + + bool supported1 = ( + (proxyType1 == BOX_SHAPE_PROXYTYPE) || + (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE) || + (proxyType1 == SPHERE_SHAPE_PROXYTYPE) || + (proxyType1 == CAPSULE_SHAPE_PROXYTYPE) || + (proxyType1 == CYLINDER_SHAPE_PROXYTYPE) || +// (proxyType1 == CONE_SHAPE_PROXYTYPE) || + (proxyType1 == TRIANGLE_MESH_SHAPE_PROXYTYPE) || + (proxyType1 == CONVEX_HULL_SHAPE_PROXYTYPE) || + (proxyType1 == STATIC_PLANE_PROXYTYPE) || + (proxyType1 == COMPOUND_SHAPE_PROXYTYPE) + ); + + + return supported0 && supported1; +} + + + +SpuGatheringCollisionDispatcher::~SpuGatheringCollisionDispatcher() +{ + if (m_spuCollisionTaskProcess) + delete m_spuCollisionTaskProcess; + +} + +#include "stdio.h" + + + +///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc) +///this is useful for the collision dispatcher. +class btSpuCollisionPairCallback : public btOverlapCallback +{ + const btDispatcherInfo& m_dispatchInfo; + SpuGatheringCollisionDispatcher* m_dispatcher; + +public: + + btSpuCollisionPairCallback(const btDispatcherInfo& dispatchInfo, SpuGatheringCollisionDispatcher* dispatcher) + :m_dispatchInfo(dispatchInfo), + m_dispatcher(dispatcher) + { + } + + virtual bool processOverlap(btBroadphasePair& collisionPair) + { + + + //PPU version + //(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo); + + //only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD + btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE); + + //by default, Bullet will use this near callback + { + ///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks) + if (!collisionPair.m_internalTmpValue) + { + collisionPair.m_internalTmpValue = 1; + } + if (!collisionPair.m_algorithm) + { + btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; + + btCollisionAlgorithmConstructionInfo ci; + ci.m_dispatcher1 = m_dispatcher; + ci.m_manifold = 0; + + if (m_dispatcher->needsCollision(colObj0,colObj1)) + { + int proxyType0 = colObj0->getCollisionShape()->getShapeType(); + int proxyType1 = colObj1->getCollisionShape()->getShapeType(); + bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1) + && ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0) + && ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0); + + if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE) + { + btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape(); + if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES) + { + //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES); + supportsSpuDispatch = false; + } + } + + if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE) + { + btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape(); + if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES) + { + //printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES); + supportsSpuDispatch = false; + } + } + + if (supportsSpuDispatch) + { + + int so = sizeof(SpuContactManifoldCollisionAlgorithm); +#ifdef ALLOCATE_SEPARATELY + void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so); +#else + void* mem = m_dispatcher->allocateCollisionAlgorithm(so); +#endif + collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1); + collisionPair.m_internalTmpValue = 2; + } else + { + btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1); + btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1); + + collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1); + collisionPair.m_internalTmpValue = 3; + } + } + } + } + return false; + } +}; + +void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher) +{ + + if (dispatchInfo.m_enableSPU) + { + m_maxNumOutstandingTasks = m_threadInterface->getNumTasks(); + + { + BT_PROFILE("processAllOverlappingPairs"); + + if (!m_spuCollisionTaskProcess) + m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks); + + m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks); + // printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks); + + m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa); + + + ///modified version of btCollisionDispatcher::dispatchAllCollisionPairs: + { + btSpuCollisionPairCallback collisionCallback(dispatchInfo,this); + + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); + } + } + + //send one big batch + int numTotalPairs = pairCache->getNumOverlappingPairs(); + if (numTotalPairs) + { + btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr(); + int i; + { + int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS; + if (numTotalPairs < (m_spuCollisionTaskProcess->getNumTasks()*SPU_BATCHSIZE_BROADPHASE_PAIRS)) + { + pairRange = (numTotalPairs/m_spuCollisionTaskProcess->getNumTasks())+1; + } + + BT_PROFILE("addWorkToTask"); + for (i=0;iaddWorkToTask(pairPtr,i,endIndex); + i = endIndex; + } + } + { + BT_PROFILE("PPU fallback"); + //handle PPU fallback pairs + for (i=0;im_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; + + if (dispatcher->needsCollision(colObj0,colObj1)) + { + //discrete collision detection query + btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1); + btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1); + + btManifoldResult contactPointResult(&ob0,&ob1); + + if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE) + { + + collisionPair.m_algorithm->processCollision(&ob0,&ob1,dispatchInfo,&contactPointResult); + } else + { + //continuous collision detection query, time of impact (toi) + btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult); + if (dispatchInfo.m_timeOfImpact > toi) + dispatchInfo.m_timeOfImpact = toi; + + } + } + } + } + } + } + } + { + BT_PROFILE("flush2"); + //make sure all SPU work is done + m_spuCollisionTaskProcess->flush2(); + } + + } else + { + ///PPU fallback + ///!Need to make sure to clear all 'algorithms' when switching between SPU and PPU + btCollisionDispatcher::dispatchAllCollisionPairs(pairCache,dispatchInfo,dispatcher); + } +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h b/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h new file mode 100644 index 00000000..f8bc7da6 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h @@ -0,0 +1,72 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_GATHERING_COLLISION__DISPATCHER_H +#define BT_SPU_GATHERING_COLLISION__DISPATCHER_H + +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + + +///Tuning value to optimized SPU utilization +///Too small value means Task overhead is large compared to computation (too fine granularity) +///Too big value might render some SPUs are idle, while a few other SPUs are doing all work. +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 8 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 16 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64 +#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 512 +//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024 + + + +class SpuCollisionTaskProcess; + +///SpuGatheringCollisionDispatcher can use SPU to gather and calculate collision detection +///Time of Impact, Closest Points and Penetration Depth. +class SpuGatheringCollisionDispatcher : public btCollisionDispatcher +{ + + SpuCollisionTaskProcess* m_spuCollisionTaskProcess; + +protected: + + class btThreadSupportInterface* m_threadInterface; + + unsigned int m_maxNumOutstandingTasks; + + +public: + + //can be used by SPU collision algorithms + SpuCollisionTaskProcess* getSpuCollisionTaskProcess() + { + return m_spuCollisionTaskProcess; + } + + SpuGatheringCollisionDispatcher (class btThreadSupportInterface* threadInterface, unsigned int maxNumOutstandingTasks,btCollisionConfiguration* collisionConfiguration); + + virtual ~SpuGatheringCollisionDispatcher(); + + bool supportsDispatchPairOnSpu(int proxyType0,int proxyType1); + + virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ; + +}; + + + +#endif //BT_SPU_GATHERING_COLLISION__DISPATCHER_H + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.cpp b/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.cpp new file mode 100644 index 00000000..a312450e --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.cpp @@ -0,0 +1,257 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifdef USE_LIBSPE2 + +#include "SpuLibspe2Support.h" + + + + +//SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +///Setup and initialize SPU/CELL/Libspe2 +SpuLibspe2Support::SpuLibspe2Support(spe_program_handle_t *speprog, int numThreads) +{ + this->program = speprog; + this->numThreads = ((numThreads <= spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1)) ? numThreads : spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1)); +} + +///cleanup/shutdown Libspe2 +SpuLibspe2Support::~SpuLibspe2Support() +{ + + stopSPU(); +} + + + +///send messages to SPUs +void SpuLibspe2Support::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1) +{ + spe_context_ptr_t context; + + switch (uiCommand) + { + case CMD_SAMPLE_TASK_COMMAND: + { + //get taskdescription + SpuSampleTaskDesc* taskDesc = (SpuSampleTaskDesc*) uiArgument0; + + btAssert(taskDesc->m_taskIdm_taskId]; + + //set data for spuStatus + spuStatus.m_commandId = uiCommand; + spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied" + spuStatus.m_taskDesc.p = taskDesc; + + //get context + context = data[taskDesc->m_taskId].context; + + + taskDesc->m_mainMemoryPtr = reinterpret_cast (spuStatus.m_lsMemory.p); + + + break; + } + case CMD_GATHER_AND_PROCESS_PAIRLIST: + { + //get taskdescription + SpuGatherAndProcessPairsTaskDesc* taskDesc = (SpuGatherAndProcessPairsTaskDesc*) uiArgument0; + + btAssert(taskDesc->taskIdtaskId]; + + //set data for spuStatus + spuStatus.m_commandId = uiCommand; + spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied" + spuStatus.m_taskDesc.p = taskDesc; + + //get context + context = data[taskDesc->taskId].context; + + + taskDesc->m_lsMemory = (CollisionTask_LocalStoreMemory*)spuStatus.m_lsMemory.p; + + break; + } + default: + { + ///not implemented + btAssert(0); + } + + }; + + + //write taskdescription in mailbox + unsigned int event = Spu_Mailbox_Event_Task; + spe_in_mbox_write(context, &event, 1, SPE_MBOX_ANY_NONBLOCKING); + +} + +///check for messages from SPUs +void SpuLibspe2Support::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) +{ + ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response + + ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' + + btAssert(m_activeSpuStatus.size()); + + + int last = -1; + + //find an active spu/thread + while(last < 0) + { + for (int i=0;i=0); + + + + *puiArgument0 = spuStatus.m_taskId; + *puiArgument1 = spuStatus.m_status; + + +} + + +void SpuLibspe2Support::startSPU() +{ + this->internal_startSPU(); +} + + + +///start the spus group (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) +void SpuLibspe2Support::internal_startSPU() +{ + m_activeSpuStatus.resize(numThreads); + + + for (int i=0; i < numThreads; i++) + { + + if(data[i].context == NULL) + { + + /* Create context */ + if ((data[i].context = spe_context_create(0, NULL)) == NULL) + { + perror ("Failed creating context"); + exit(1); + } + + /* Load program into context */ + if(spe_program_load(data[i].context, this->program)) + { + perror ("Failed loading program"); + exit(1); + } + + m_activeSpuStatus[i].m_status = Spu_Status_Startup; + m_activeSpuStatus[i].m_taskId = i; + m_activeSpuStatus[i].m_commandId = 0; + m_activeSpuStatus[i].m_lsMemory.p = NULL; + + + data[i].entry = SPE_DEFAULT_ENTRY; + data[i].flags = 0; + data[i].argp.p = &m_activeSpuStatus[i]; + data[i].envp.p = NULL; + + /* Create thread for each SPE context */ + if (pthread_create(&data[i].pthread, NULL, &ppu_pthread_function, &(data[i]) )) + { + perror ("Failed creating thread"); + exit(1); + } + /* + else + { + printf("started thread %d\n",i); + }*/ + } + } + + + for (int i=0; i < numThreads; i++) + { + if(data[i].context != NULL) + { + while( m_activeSpuStatus[i].m_status == Spu_Status_Startup) + { + // wait for spu to set up + sched_yield(); + } + printf("Spu %d is ready\n", i); + } + } +} + +///tell the task scheduler we are done with the SPU tasks +void SpuLibspe2Support::stopSPU() +{ + // wait for all threads to finish + int i; + for ( i = 0; i < this->numThreads; i++ ) + { + + unsigned int event = Spu_Mailbox_Event_Shutdown; + spe_context_ptr_t context = data[i].context; + spe_in_mbox_write(context, &event, 1, SPE_MBOX_ALL_BLOCKING); + pthread_join (data[i].pthread, NULL); + + } + // close SPE program + spe_image_close(program); + // destroy SPE contexts + for ( i = 0; i < this->numThreads; i++ ) + { + if(data[i].context != NULL) + { + spe_context_destroy (data[i].context); + } + } + + m_activeSpuStatus.clear(); + +} + + + +#endif //USE_LIBSPE2 + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.h b/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.h new file mode 100644 index 00000000..37a5e79f --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuLibspe2Support.h @@ -0,0 +1,180 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_LIBSPE2_SUPPORT_H +#define BT_SPU_LIBSPE2_SUPPORT_H + +#include //for uint32_t etc. + +#ifdef USE_LIBSPE2 + +#include +#include +//#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" +#include "PlatformDefinitions.h" + + +//extern struct SpuGatherAndProcessPairsTaskDesc; + +enum +{ + Spu_Mailbox_Event_Nothing = 0, + Spu_Mailbox_Event_Task = 1, + Spu_Mailbox_Event_Shutdown = 2, + + Spu_Mailbox_Event_ForceDword = 0xFFFFFFFF + +}; + +enum +{ + Spu_Status_Free = 0, + Spu_Status_Occupied = 1, + Spu_Status_Startup = 2, + + Spu_Status_ForceDword = 0xFFFFFFFF + +}; + + +struct btSpuStatus +{ + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + addr64 m_taskDesc; + addr64 m_lsMemory; + +} +__attribute__ ((aligned (128))) +; + + + +#ifndef __SPU__ + +#include "LinearMath/btAlignedObjectArray.h" +#include "SpuCollisionTaskProcess.h" +#include "SpuSampleTaskProcess.h" +#include "btThreadSupportInterface.h" +#include +#include +#include + +#define MAX_SPUS 4 + +typedef struct ppu_pthread_data +{ + spe_context_ptr_t context; + pthread_t pthread; + unsigned int entry; + unsigned int flags; + addr64 argp; + addr64 envp; + spe_stop_info_t stopinfo; +} ppu_pthread_data_t; + + +static void *ppu_pthread_function(void *arg) +{ + ppu_pthread_data_t * datap = (ppu_pthread_data_t *)arg; + /* + int rc; + do + {*/ + spe_context_run(datap->context, &datap->entry, datap->flags, datap->argp.p, datap->envp.p, &datap->stopinfo); + if (datap->stopinfo.stop_reason == SPE_EXIT) + { + if (datap->stopinfo.result.spe_exit_code != 0) + { + perror("FAILED: SPE returned a non-zero exit status: \n"); + exit(1); + } + } + else + { + perror("FAILED: SPE abnormally terminated\n"); + exit(1); + } + + + //} while (rc > 0); // loop until exit or error, and while any stop & signal + pthread_exit(NULL); +} + + + + + + +///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class SpuLibspe2Support : public btThreadSupportInterface +{ + + btAlignedObjectArray m_activeSpuStatus; + +public: + //Setup and initialize SPU/CELL/Libspe2 + SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads); + + // SPE program handle ptr. + spe_program_handle_t *program; + + // SPE program data + ppu_pthread_data_t data[MAX_SPUS]; + + //cleanup/shutdown Libspe2 + ~SpuLibspe2Support(); + + ///send messages to SPUs + void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0); + + //check for messages from SPUs + void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + + //start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + + //tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) + { + //changing the number of tasks after initialization is not implemented (yet) + } + +private: + + ///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + void internal_startSPU(); + + + + + int numThreads; + +}; + +#endif // NOT __SPU__ + +#endif //USE_LIBSPE2 + +#endif //BT_SPU_LIBSPE2_SUPPORT_H + + + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h new file mode 100644 index 00000000..e5179611 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h @@ -0,0 +1,167 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +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 __BOX_H__ +#define __BOX_H__ + + +#ifndef PE_REF +#define PE_REF(a) a& +#endif + +#include + + +#include "../PlatformDefinitions.h" + + + + +enum FeatureType { F, E, V }; + +//---------------------------------------------------------------------------- +// Box +//---------------------------------------------------------------------------- +///The Box is an internal class used by the boxBoxDistance calculation. +class Box +{ +public: + vmVector3 mHalf; + + inline Box() + {} + inline Box(PE_REF(vmVector3) half_); + inline Box(float hx, float hy, float hz); + + inline void Set(PE_REF(vmVector3) half_); + inline void Set(float hx, float hy, float hz); + + inline vmVector3 GetAABB(const vmMatrix3& rotation) const; +}; + +inline +Box::Box(PE_REF(vmVector3) half_) +{ + Set(half_); +} + +inline +Box::Box(float hx, float hy, float hz) +{ + Set(hx, hy, hz); +} + +inline +void +Box::Set(PE_REF(vmVector3) half_) +{ + mHalf = half_; +} + +inline +void +Box::Set(float hx, float hy, float hz) +{ + mHalf = vmVector3(hx, hy, hz); +} + +inline +vmVector3 +Box::GetAABB(const vmMatrix3& rotation) const +{ + return absPerElem(rotation) * mHalf; +} + +//------------------------------------------------------------------------------------------------- +// BoxPoint +//------------------------------------------------------------------------------------------------- + +///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation. +class BoxPoint +{ +public: + BoxPoint() : localPoint(0.0f) {} + + vmPoint3 localPoint; + FeatureType featureType; + int featureIdx; + + inline void setVertexFeature(int plusX, int plusY, int plusZ); + inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1); + inline void setFaceFeature(int dim, int plus); + + inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const; + inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const; + inline void getFaceFeature(int & dim, int & plus) const; +}; + +inline +void +BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ) +{ + featureType = V; + featureIdx = plusX << 2 | plusY << 1 | plusZ; +} + +inline +void +BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1) +{ + featureType = E; + + if (dim0 > dim1) { + featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0; + } else { + featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1; + } +} + +inline +void +BoxPoint::setFaceFeature(int dim, int plus) +{ + featureType = F; + featureIdx = plus << 2 | dim; +} + +inline +void +BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const +{ + plusX = featureIdx >> 2; + plusY = featureIdx >> 1 & 1; + plusZ = featureIdx & 1; +} + +inline +void +BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const +{ + plus0 = featureIdx >> 5; + dim0 = featureIdx >> 3 & 3; + plus1 = featureIdx >> 2 & 1; + dim1 = featureIdx & 3; +} + +inline +void +BoxPoint::getFaceFeature(int & dim, int & plus) const +{ + plus = featureIdx >> 2; + dim = featureIdx & 3; +} + +#endif /* __BOX_H__ */ diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp new file mode 100644 index 00000000..8d755b22 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp @@ -0,0 +1,302 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "SpuCollisionShapes.h" + +///not supported on IBM SDK, until we fix the alignment of btVector3 +#if defined (__CELLOS_LV2__) && defined (__SPU__) +#include +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__ + + +void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform) +{ + //calculate the aabb, given the types... + switch (shapeType) + { + case CYLINDER_SHAPE_PROXYTYPE: + /* fall through */ + case BOX_SHAPE_PROXYTYPE: + { + btScalar margin=convexShape->getMarginNV(); + btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); + halfExtents += btVector3(margin,margin,margin); + const btTransform& t = xform; + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] ); + + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case CAPSULE_SHAPE_PROXYTYPE: + { + btScalar margin=convexShape->getMarginNV(); + btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); + //add the radius to y-axis to get full height + btScalar radius = halfExtents[0]; + halfExtents[1] += radius; + halfExtents += btVector3(margin,margin,margin); +#if 0 + int capsuleUpAxis = convexShape->getUpAxis(); + btScalar halfHeight = convexShape->getHalfHeight(); + btScalar radius = convexShape->getRadius(); + halfExtents[capsuleUpAxis] = radius + halfHeight; +#endif + const btTransform& t = xform; + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] ); + + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case SPHERE_SHAPE_PROXYTYPE: + { + btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX(); + btScalar margin = radius + convexShape->getMarginNV(); + const btTransform& t = xform; + const btVector3& center = t.getOrigin(); + btVector3 extent(margin,margin,margin); + aabbMin = center - extent; + aabbMax = center + extent; + break; + } + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]); + cellDmaGet(&convexHullShape0, convexShapePtr , sizeof(btConvexHullShape), DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0; + const btTransform& t = xform; + btScalar margin = convexShape->getMarginNV(); + localPtr->getNonvirtualAabb(t,aabbMin,aabbMax,margin); + //spu_printf("SPU convex aabbMin=%f,%f,%f=\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ()); + //spu_printf("SPU convex aabbMax=%f,%f,%f=\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ()); + break; + } + default: + { + // spu_printf("SPU: unsupported shapetype %d in AABB calculation\n"); + } + }; +} + +void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape) +{ + register int dmaSize; + register ppu_address_t dmaPpuAddress2; + + dmaSize = sizeof(btTriangleIndexVertexArray); + dmaPpuAddress2 = reinterpret_cast(triMeshShape->getMeshInterface()); + // spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2); +#ifdef __SPU__ + cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage; +#else + bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); +#endif + + //cellDmaWaitTagStatusAll(DMA_MASK(1)); + + ///now DMA over the BVH + + dmaSize = sizeof(btOptimizedBvh); + dmaPpuAddress2 = reinterpret_cast(triMeshShape->getOptimizedBvh()); + //spu_printf("trimeshShape->getOptimizedBvh() == %llx\n",dmaPpuAddress2); + cellDmaGet(&bvhMeshShape->gOptimizedBvh, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(2)); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); +} + +void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag) +{ + cellDmaGet(IndexMesh, (ppu_address_t)&indexArray[index] , sizeof(btIndexedMesh), DMA_TAG(dmaTag), 0, 0); + +} + +void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag) +{ + cellDmaGet(subTreeHeaders, subTreePtr, batchSize * sizeof(btBvhSubtreeInfo), DMA_TAG(dmaTag), 0, 0); +} + +void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag) +{ + cellDmaGet(nodes, reinterpret_cast(&nodeArray[subtree.m_rootNodeIndex]) , subtree.m_subtreeSize* sizeof(btQuantizedBvhNode), DMA_TAG(2), 0, 0); +} + +///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck +int getShapeTypeSize(int shapeType) +{ + + + switch (shapeType) + { + case CYLINDER_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btCylinderShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + case BOX_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btBoxShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + case SPHERE_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btSphereShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + case TRIANGLE_MESH_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btBvhTriangleMeshShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + case CAPSULE_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btCapsuleShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + + case CONVEX_HULL_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btConvexHullShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + + case COMPOUND_SHAPE_PROXYTYPE: + { + int shapeSize = sizeof(btCompoundShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + case STATIC_PLANE_PROXYTYPE: + { + int shapeSize = sizeof(btStaticPlaneShape); + btAssert(shapeSize < MAX_SHAPE_SIZE); + return shapeSize; + } + + default: + btAssert(0); + //unsupported shapetype, please add here + return 0; + } +} + +void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU) +{ + convexVertexData->gNumConvexPoints = convexShapeSPU->getNumPoints(); + if (convexVertexData->gNumConvexPoints>MAX_NUM_SPU_CONVEX_POINTS) + { + btAssert(0); + // spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,convexVertexData->gNumConvexPoints); + return; + } + + register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3); + ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getUnscaledPoints(); + cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU , dmaSize, DMA_TAG(2), 0, 0); +} + +void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType) +{ + register int dmaSize = getShapeTypeSize(shapeType); + cellDmaGet(collisionShapeLocation, collisionShapePtr , dmaSize, DMA_TAG(dmaTag), 0, 0); + //cellDmaGetReadOnly(collisionShapeLocation, collisionShapePtr , dmaSize, DMA_TAG(dmaTag), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(dmaTag)); +} + +void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag) +{ + register int dmaSize; + register ppu_address_t dmaPpuAddress2; + int childShapeCount = spuCompoundShape->getNumChildShapes(); + dmaSize = childShapeCount * sizeof(btCompoundShapeChild); + dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList(); + cellDmaGet(&compoundShapeLocation->gSubshapes[0], dmaPpuAddress2, dmaSize, DMA_TAG(dmaTag), 0, 0); +} + +void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag) +{ + int childShapeCount = spuCompoundShape->getNumChildShapes(); + int i; + // DMA all the subshapes + for ( i = 0; i < childShapeCount; ++i) + { + btCompoundShapeChild& childShape = compoundShapeLocation->gSubshapes[i]; + dmaCollisionShape (&compoundShapeLocation->gSubshapeShape[i],(ppu_address_t)childShape.m_childShape, dmaTag, childShape.m_childShapeType); + } +} + + +void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex) +{ + + int curIndex = startNodeIndex; + int walkIterations = 0; +#ifdef BT_DEBUG + int subTreeSize = endNodeIndex - startNodeIndex; +#endif + + int escapeIndex; + + unsigned int aabbOverlap, isLeafNode; + + while (curIndex < endNodeIndex) + { + //catch bugs in tree data + btAssert (walkIterations < subTreeSize); + + walkIterations++; + aabbOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax); + isLeafNode = rootNode->isLeafNode(); + + if (isLeafNode && aabbOverlap) + { + //printf("overlap with node %d\n",rootNode->getTriangleIndex()); + nodeCallback->processNode(0,rootNode->getTriangleIndex()); + // spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex()); + } + + if (aabbOverlap || isLeafNode) + { + rootNode++; + curIndex++; + } else + { + escapeIndex = rootNode->getEscapeIndex(); + rootNode += escapeIndex; + curIndex += escapeIndex; + } + } + +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h new file mode 100644 index 00000000..aa8a2910 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h @@ -0,0 +1,128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 __SPU_COLLISION_SHAPES_H +#define __SPU_COLLISION_SHAPES_H + +#include "../SpuDoubleBuffer.h" + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/CollisionShapes/btCylinderShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" + +#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" + +#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points +#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes +#define MAX_SHAPE_SIZE 256 //@todo: assert on this + +ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData +{ + void* gSpuConvexShapePtr; + btVector3* gConvexPoints; + int gNumConvexPoints; + int unused; + ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]); +}; + + + +ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory +{ + ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]); +}; + +ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory +{ + // Compound data + + ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]); + ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]); +}; + +ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory +{ + //ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh); + ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]); + btOptimizedBvh* getOptimizedBvh() + { + return (btOptimizedBvh*) gOptimizedBvh; + } + + ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage); + btTriangleIndexVertexArray* gTriangleMeshInterfacePtr; + ///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment + ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh); + #define MAX_SPU_SUBTREE_HEADERS 32 + //1024 + ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]); + ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]); +}; + + +void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform); +void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape); +void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag); +void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag); +void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag); + +int getShapeTypeSize(int shapeType); +void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU); +void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType); +void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag); +void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag); + + +#define USE_BRANCHFREE_TEST 1 +#ifdef USE_BRANCHFREE_TEST +SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) +{ +#if defined(__CELLOS_LV2__) && defined (__SPU__) + vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0}; + vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0}; + vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax); + return spu_extract(spu_gather(isGt),0)==0; + +#else + return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0); +#endif +} +#else + +SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) +{ + unsigned int overlap = 1; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap; + return overlap; +} +#endif + +void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex); + +#endif diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp new file mode 100644 index 00000000..8584e74c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp @@ -0,0 +1,248 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "SpuContactResult.h" + +//#define DEBUG_SPU_COLLISION_DETECTION 1 + +#ifdef DEBUG_SPU_COLLISION_DETECTION +#ifndef __SPU__ +#include +#define spu_printf printf +#endif +#endif //DEBUG_SPU_COLLISION_DETECTION + +SpuContactResult::SpuContactResult() +{ + m_manifoldAddress = 0; + m_spuManifold = NULL; + m_RequiresWriteBack = false; +} + + SpuContactResult::~SpuContactResult() +{ + g_manifoldDmaExport.swapBuffers(); +} + + ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback; +inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1) +{ + btScalar friction = friction0*friction1; + + const btScalar MAX_FRICTION = btScalar(10.); + + if (friction < -MAX_FRICTION) + friction = -MAX_FRICTION; + if (friction > MAX_FRICTION) + friction = MAX_FRICTION; + return friction; + +} + +inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1) +{ + return restitution0*restitution1; +} + + + + void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped) + { + //spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress); + m_rootWorldTransform0 = worldTrans0; + m_rootWorldTransform1 = worldTrans1; + m_manifoldAddress = manifoldAddress; + m_spuManifold = spuManifold; + + m_combinedFriction = calculateCombinedFriction(friction0,friction1); + m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1); + m_isSwapped = isSwapped; + } + + void SpuContactResult::setShapeIdentifiersA(int partId0,int index0) + { + + } + + void SpuContactResult::setShapeIdentifiersB(int partId1,int index1) + { + + } + + + + ///return true if it requires a dma transfer back +bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld, + const btVector3& pointInWorld, + float depth, + btPersistentManifold* manifoldPtr, + btTransform& transA, + btTransform& transB, + btScalar combinedFriction, + btScalar combinedRestitution, + bool isSwapped) +{ + +// float contactTreshold = manifoldPtr->getContactBreakingThreshold(); + + //spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr); + +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("SPU: contactTreshold %f\n",contactTreshold); +#endif //DEBUG_SPU_COLLISION_DETECTION + if (depth > manifoldPtr->getContactBreakingThreshold()) + return false; + + //if (depth > manifoldPtr->getContactProcessingThreshold()) + // return false; + + + + btVector3 pointA; + btVector3 localA; + btVector3 localB; + btVector3 normal; + + + if (isSwapped) + { + normal = normalOnBInWorld * -1; + pointA = pointInWorld + normal * depth; + localA = transA.invXform(pointA ); + localB = transB.invXform(pointInWorld); + } + else + { + normal = normalOnBInWorld; + pointA = pointInWorld + normal * depth; + localA = transA.invXform(pointA ); + localB = transB.invXform(pointInWorld); + } + + btManifoldPoint newPt(localA,localB,normal,depth); + newPt.m_positionWorldOnA = pointA; + newPt.m_positionWorldOnB = pointInWorld; + + newPt.m_combinedFriction = combinedFriction; + newPt.m_combinedRestitution = combinedRestitution; + + + int insertIndex = manifoldPtr->getCacheEntry(newPt); + if (insertIndex >= 0) + { + // we need to replace the current contact point, otherwise small errors will accumulate (spheres start rolling etc) + manifoldPtr->replaceContactPoint(newPt,insertIndex); + return true; + + } else + { + + /* + ///@todo: SPU callbacks, either immediate (local on the SPU), or deferred + //User can override friction and/or restitution + if (gContactAddedCallback && + //and if either of the two bodies requires custom material + ((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) || + (m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback))) + { + //experimental feature info, for per-triangle material etc. + (*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1); + } + */ + + manifoldPtr->addManifoldPoint(newPt); + return true; + + } + return false; + +} + + +void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold) +{ + ///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place + ///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly' +#if defined (__SPU__) || defined (USE_LIBSPE2) + memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold)); + + g_manifoldDmaExport.swapBuffers(); + ppu_address_t mmAddr = (ppu_address_t)mmManifold; + g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9)); + // Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon? + //no, the swapBuffers does the wait +#endif +} + +void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) +{ +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth); + spu_printf("*** normal = %f,%f,%f\n",normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ()); + spu_printf("*** position = %f,%f,%f\n",pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ()); +#endif //DEBUG_SPU_COLLISION_DETECTION + + +#ifdef DEBUG_SPU_COLLISION_DETECTION + // int sman = sizeof(rage::phManifold); +// spu_printf("sizeof_manifold = %i\n",sman); +#endif //DEBUG_SPU_COLLISION_DETECTION + + btPersistentManifold* localManifold = m_spuManifold; + + btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ()); + btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ()); + + //process the contact point + const bool retVal = ManifoldResultAddContactPoint(normalB, + pointWrld, + depth, + localManifold, + m_rootWorldTransform0, + m_rootWorldTransform1, + m_combinedFriction, + m_combinedRestitution, + m_isSwapped); + m_RequiresWriteBack = m_RequiresWriteBack || retVal; +} + +void SpuContactResult::flush() +{ + + if (m_spuManifold && m_spuManifold->getNumContacts()) + { + m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1); + m_RequiresWriteBack = true; + } + + + if (m_RequiresWriteBack) + { +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n"); + spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts()); + spu_printf("Manifold address: %llu\n", m_manifoldAddress); +#endif //DEBUG_SPU_COLLISION_DETECTION + // spu_printf("writeDoubleBufferedManifold\n"); + writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress); +#ifdef DEBUG_SPU_COLLISION_DETECTION + spu_printf("SPU: Finished (Put) DMA\n"); +#endif //DEBUG_SPU_COLLISION_DETECTION + } + m_spuManifold = NULL; + m_RequiresWriteBack = false; +} + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h new file mode 100644 index 00000000..394f56dc --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h @@ -0,0 +1,106 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 SPU_CONTACT_RESULT2_H +#define SPU_CONTACT_RESULT2_H + + +#ifndef _WIN32 +#include +#endif + + + +#include "../SpuDoubleBuffer.h" + + +#include "LinearMath/btTransform.h" + + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + +class btCollisionShape; + + +struct SpuCollisionPairInput +{ + ppu_address_t m_collisionShapes[2]; + btCollisionShape* m_spuCollisionShapes[2]; + + ppu_address_t m_persistentManifoldPtr; + btVector3 m_primitiveDimensions0; + btVector3 m_primitiveDimensions1; + int m_shapeType0; + int m_shapeType1; + float m_collisionMargin0; + float m_collisionMargin1; + + btTransform m_worldTransform0; + btTransform m_worldTransform1; + + bool m_isSwapped; + bool m_useEpa; +}; + + +struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput +{ + struct SpuConvexPolyhedronVertexData* m_convexVertexData[2]; +}; + +///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed +///So when an existing contact point is duplicated, no transfer/refresh is performed. +class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result +{ + btTransform m_rootWorldTransform0; + btTransform m_rootWorldTransform1; + ppu_address_t m_manifoldAddress; + + btPersistentManifold* m_spuManifold; + bool m_RequiresWriteBack; + btScalar m_combinedFriction; + btScalar m_combinedRestitution; + + bool m_isSwapped; + + DoubleBuffer g_manifoldDmaExport; + + public: + SpuContactResult(); + virtual ~SpuContactResult(); + + btPersistentManifold* GetSpuManifold() const + { + return m_spuManifold; + } + + virtual void setShapeIdentifiersA(int partId0,int index0); + virtual void setShapeIdentifiersB(int partId1,int index1); + + void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped); + + + void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold); + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); + + void flush(); +}; + + + +#endif //SPU_CONTACT_RESULT2_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h new file mode 100644 index 00000000..b1bd53d9 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h @@ -0,0 +1,50 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 SPU_CONVEX_PENETRATION_DEPTH_H +#define SPU_CONVEX_PENETRATION_DEPTH_H + + + +class btIDebugDraw; +#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h" + +#include "LinearMath/btTransform.h" + + +///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. +class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +public: + + virtual ~SpuConvexPenetrationDepthSolver() {}; + virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver, + void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB, + btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw, + struct SpuConvexPolyhedronVertexData* convexVertexDataA, + struct SpuConvexPolyhedronVertexData* convexVertexDataB + ) const = 0; + + +}; + + + +#endif //SPU_CONVEX_PENETRATION_DEPTH_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp new file mode 100644 index 00000000..c2fe2905 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp @@ -0,0 +1,1432 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "SpuGatheringCollisionTask.h" + +//#define DEBUG_SPU_COLLISION_DETECTION 1 +#include "../SpuDoubleBuffer.h" + +#include "../SpuCollisionTaskProcess.h" +#include "../SpuGatheringCollisionDispatcher.h" //for SPU_BATCHSIZE_BROADPHASE_PAIRS + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "../SpuContactManifoldCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "SpuContactResult.h" +#include "BulletCollision/CollisionShapes/btOptimizedBvh.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h" + +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" + +#include "SpuMinkowskiPenetrationDepthSolver.h" +//#include "SpuEpaPenetrationDepthSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" + + +#include "boxBoxDistance.h" +#include "BulletMultiThreaded/vectormath2bullet.h" +#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData +#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" + +#ifdef __SPU__ +///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases +#ifndef USE_LIBSPE2 +//#define USE_SOFTWARE_CACHE 1 +#endif +#endif //__SPU__ + +int gSkippedCol = 0; +int gProcessedCol = 0; + +//////////////////////////////////////////////// +/// software caching +#if USE_SOFTWARE_CACHE +#include +#include +#include +#include +#define SPE_CACHE_NWAY 4 +//#define SPE_CACHE_NSETS 32, 16 +#define SPE_CACHE_NSETS 8 +//#define SPE_CACHELINE_SIZE 512 +#define SPE_CACHELINE_SIZE 128 +#define SPE_CACHE_SET_TAGID(set) 15 +///make sure that spe_cache.h is below those defines! +#include "../Extras/software_cache/cache/include/spe_cache.h" + + +int g_CacheMisses=0; +int g_CacheHits=0; + +#if 0 // Added to allow cache misses and hits to be tracked, change this to 1 to restore unmodified version +#define spe_cache_read(ea) _spe_cache_lookup_xfer_wait_(ea, 0, 1) +#else +#define spe_cache_read(ea) \ +({ \ + int set, idx, line, byte; \ + _spe_cache_nway_lookup_(ea, set, idx); \ + \ + if (btUnlikely(idx < 0)) { \ + ++g_CacheMisses; \ + idx = _spe_cache_miss_(ea, set, -1); \ + spu_writech(22, SPE_CACHE_SET_TAGMASK(set)); \ + spu_mfcstat(MFC_TAG_UPDATE_ALL); \ + } \ + else \ + { \ + ++g_CacheHits; \ + } \ + line = _spe_cacheline_num_(set, idx); \ + byte = _spe_cacheline_byte_offset_(ea); \ + (void *) &spe_cache_mem[line + byte]; \ +}) + +#endif + +#endif // USE_SOFTWARE_CACHE + +bool gUseEpa = false; + +#ifdef USE_SN_TUNER +#include +#endif //USE_SN_TUNER + +#if defined (__SPU__) && !defined (USE_LIBSPE2) +#include +#elif defined (USE_LIBSPE2) +#define spu_printf(a) +#else +#define IGNORE_ALIGNMENT 1 +#include +#include +#define spu_printf printf + +#endif + +//int gNumConvexPoints0=0; + +///Make sure no destructors are called on this memory +ATTRIBUTE_ALIGNED16(struct) CollisionTask_LocalStoreMemory +{ + ///This CollisionTask_LocalStoreMemory is mainly used for the SPU version, using explicit DMA + ///Other platforms can use other memory programming models. + + ATTRIBUTE_ALIGNED16(btBroadphasePair gBroadphasePairsBuffer[SPU_BATCHSIZE_BROADPHASE_PAIRS]); + DoubleBuffer g_workUnitTaskBuffers; + ATTRIBUTE_ALIGNED16(char gSpuContactManifoldAlgoBuffer [sizeof(SpuContactManifoldCollisionAlgorithm)+16]); + ATTRIBUTE_ALIGNED16(char gColObj0Buffer [sizeof(btCollisionObject)+16]); + ATTRIBUTE_ALIGNED16(char gColObj1Buffer [sizeof(btCollisionObject)+16]); + ///we reserve 32bit integer indices, even though they might be 16bit + ATTRIBUTE_ALIGNED16(int spuIndices[16]); + btPersistentManifold gPersistentManifoldBuffer; + CollisionShape_LocalStoreMemory gCollisionShapes[2]; + bvhMeshShape_LocalStoreMemory bvhShapeData; + ATTRIBUTE_ALIGNED16(SpuConvexPolyhedronVertexData convexVertexData[2]); + CompoundShape_LocalStoreMemory compoundShapeData[2]; + + ///The following pointers might either point into this local store memory, or to the original/other memory locations. + ///See SpuFakeDma for implementation of cellDmaSmallGetReadOnly. + btCollisionObject* m_lsColObj0Ptr; + btCollisionObject* m_lsColObj1Ptr; + btBroadphasePair* m_pairsPointer; + btPersistentManifold* m_lsManifoldPtr; + SpuContactManifoldCollisionAlgorithm* m_lsCollisionAlgorithmPtr; + + bool needsDmaPutContactManifoldAlgo; + + btCollisionObject* getColObj0() + { + return m_lsColObj0Ptr; + } + btCollisionObject* getColObj1() + { + return m_lsColObj1Ptr; + } + + + btBroadphasePair* getBroadphasePairPtr() + { + return m_pairsPointer; + } + + SpuContactManifoldCollisionAlgorithm* getlocalCollisionAlgorithm() + { + return m_lsCollisionAlgorithmPtr; + } + + btPersistentManifold* getContactManifoldPtr() + { + return m_lsManifoldPtr; + } +}; + + +#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) + +ATTRIBUTE_ALIGNED16(CollisionTask_LocalStoreMemory gLocalStoreMemory); + +void* createCollisionLocalStoreMemory() +{ + return &gLocalStoreMemory; +} +void deleteCollisionLocalStoreMemory() +{ +} +#else + +btAlignedObjectArray sLocalStorePointers; + +void* createCollisionLocalStoreMemory() +{ + CollisionTask_LocalStoreMemory* localStore = (CollisionTask_LocalStoreMemory*)btAlignedAlloc( sizeof(CollisionTask_LocalStoreMemory),16); + sLocalStorePointers.push_back(localStore); + return localStore; +} + +void deleteCollisionLocalStoreMemory() +{ + for (int i=0;ibvhShapeData.gIndexMesh.m_indexType == PHY_SHORT) + { + unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride); + ATTRIBUTE_ALIGNED16(unsigned short int tmpIndices[3]); + + small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0], + &tmpIndices[1],(ppu_address_t)&indexBasePtr[1], + &tmpIndices[2],(ppu_address_t)&indexBasePtr[2], + sizeof(unsigned short int)); + + m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]); + m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]); + m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]); + } else + { + unsigned int* indexBasePtr = (unsigned int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride); + + small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0], + &m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1], + &m_lsMemPtr->spuIndices[2],(ppu_address_t)&indexBasePtr[2], + sizeof(int)); + } + + // spu_printf("SPU index0=%d ,",spuIndices[0]); + // spu_printf("SPU index1=%d ,",spuIndices[1]); + // spu_printf("SPU index2=%d ,",spuIndices[2]); + // spu_printf("SPU: indexBasePtr=%llx\n",indexBasePtr); + + const btVector3& meshScaling = m_lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getScaling(); + for (int j=2;btLikely( j>=0 );j--) + { + int graphicsindex = m_lsMemPtr->spuIndices[j]; + + // spu_printf("SPU index=%d ,",graphicsindex); + btScalar* graphicsbasePtr = (btScalar*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexBase+graphicsindex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_vertexStride); + // spu_printf("SPU graphicsbasePtr=%llx\n",graphicsbasePtr); + + + ///handle un-aligned vertices... + + //another DMA for each vertex + small_cache_read_triple(&spuUnscaledVertex[0],(ppu_address_t)&graphicsbasePtr[0], + &spuUnscaledVertex[1],(ppu_address_t)&graphicsbasePtr[1], + &spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2], + sizeof(btScalar)); + + m_tmpTriangleShape.getVertexPtr(j).setValue(spuUnscaledVertex[0]*meshScaling.getX(), + spuUnscaledVertex[1]*meshScaling.getY(), + spuUnscaledVertex[2]*meshScaling.getZ()); + + // spu_printf("SPU:triangle vertices:%f,%f,%f\n",spuTriangleVertices[j].x(),spuTriangleVertices[j].y(),spuTriangleVertices[j].z()); + } + + + SpuCollisionPairInput triangleConcaveInput(*m_wuInput); +// triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0]; + triangleConcaveInput.m_spuCollisionShapes[1] = &m_tmpTriangleShape; + triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE; + + m_spuContacts.setShapeIdentifiersB(subPart,triangleIndex); + + // m_spuContacts.flush(); + + ProcessSpuConvexConvexCollision(&triangleConcaveInput, m_lsMemPtr,m_spuContacts); + ///this flush should be automatic + // m_spuContacts.flush(); + } + +}; + + + +void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts) +{ + + btConvexShape* convexShape = (btConvexShape*) wuInput->m_spuCollisionShapes[0]; + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) wuInput->m_spuCollisionShapes[1]; + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + + btTransform convexWorldTransform = wuInput->m_worldTransform0; + btTransform convexInPlaneTrans; + convexInPlaneTrans= wuInput->m_worldTransform1.inverse() * convexWorldTransform; + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * wuInput->m_worldTransform1; + + //btVector3 vtx = convexShape->localGetSupportVertexWithoutMarginNonVirtual(planeInConvex.getBasis()*-planeNormal); + btVector3 vtx = convexShape->localGetSupportVertexNonVirtual(planeInConvex.getBasis()*-planeNormal); + + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = wuInput->m_worldTransform1 * vtxInPlaneProjected; + + hasCollision = distance < lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold(); + //resultOut->setPersistentManifold(m_manifoldPtr); + if (hasCollision) + { + /// report a contact. internally this will be kept persistent, and contact reduction is done + btVector3 normalOnSurfaceB =wuInput->m_worldTransform1.getBasis() * planeNormal; + btVector3 pOnB = vtxInPlaneWorld; + spuContacts.addContactPoint(normalOnSurfaceB,pOnB,distance); + } +} + +void ProcessConvexPlaneSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts) +{ + + register int dmaSize = 0; + register ppu_address_t dmaPpuAddress2; + btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr; + + ///DMA in the vertices for convex shapes + ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]); + ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]); + + if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + // spu_printf("SPU: DMA btConvexHullShape\n"); + + dmaSize = sizeof(btConvexHullShape); + dmaPpuAddress2 = wuInput->m_collisionShapes[0]; + + cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + // spu_printf("SPU: DMA btConvexHullShape\n"); + dmaSize = sizeof(btConvexHullShape); + dmaPpuAddress2 = wuInput->m_collisionShapes[1]; + cellDmaGet(&convexHullShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + + if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(1)); + dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0); + lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0]; + } + + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(1)); + dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1); + lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1]; + } + + + btConvexPointCloudShape cpc0,cpc1; + + if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(2)); + lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0]; + btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0]; + const btVector3& localScaling = ch->getLocalScalingNV(); + cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling); + wuInput->m_spuCollisionShapes[0] = &cpc0; + } + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(2)); + lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0]; + btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1]; + const btVector3& localScaling = ch->getLocalScalingNV(); + cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling); + wuInput->m_spuCollisionShapes[1] = &cpc1; + + } + + +// const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0]; +// const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1]; +// int shapeType0 = wuInput->m_shapeType0; +// int shapeType1 = wuInput->m_shapeType1; + float marginA = wuInput->m_collisionMargin0; + float marginB = wuInput->m_collisionMargin1; + + SpuClosestPointInput cpInput; + cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0]; + cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1]; + cpInput.m_transformA = wuInput->m_worldTransform0; + cpInput.m_transformB = wuInput->m_worldTransform1; + float sumMargin = (marginA+marginB+lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold()); + cpInput.m_maximumDistanceSquared = sumMargin * sumMargin; + + ppu_address_t manifoldAddress = (ppu_address_t)manifold; + + btPersistentManifold* spuManifold=lsMemPtr->getContactManifoldPtr(); + //spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped); + spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(), + lsMemPtr->getColObj1()->getWorldTransform(), + lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(), + lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(), + wuInput->m_isSwapped); + + + btConvexPlaneCollideSingleContact(wuInput,lsMemPtr,spuContacts); + + + + +} + + + + +//////////////////////// +/// Convex versus Concave triangle mesh collision detection (handles concave triangle mesh versus sphere, box, cylinder, triangle, cone, convex polyhedron etc) +/////////////////// +void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts) +{ + //order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite + + btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1]; + //need the mesh interface, for access to triangle vertices + dmaBvhShapeData (&lsMemPtr->bvhShapeData, trimeshShape); + + btVector3 aabbMin(-1,-400,-1); + btVector3 aabbMax(1,400,1); + + + //recalc aabbs + btTransform convexInTriangleSpace; + convexInTriangleSpace = wuInput->m_worldTransform1.inverse() * wuInput->m_worldTransform0; + btConvexInternalShape* convexShape = (btConvexInternalShape*)wuInput->m_spuCollisionShapes[0]; + + computeAabb (aabbMin, aabbMax, convexShape, wuInput->m_collisionShapes[0], wuInput->m_shapeType0, convexInTriangleSpace); + + + //CollisionShape* triangleShape = static_cast(triBody->m_collisionShape); + //convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); + + // btScalar extraMargin = collisionMarginTriangle; + // btVector3 extra(extraMargin,extraMargin,extraMargin); + // aabbMax += extra; + // aabbMin -= extra; + + ///quantize query AABB + unsigned short int quantizedQueryAabbMin[3]; + unsigned short int quantizedQueryAabbMax[3]; + lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0); + lsMemPtr->bvhShapeData.getOptimizedBvh()->quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1); + + QuantizedNodeArray& nodeArray = lsMemPtr->bvhShapeData.getOptimizedBvh()->getQuantizedNodeArray(); + //spu_printf("SPU: numNodes = %d\n",nodeArray.size()); + + BvhSubtreeInfoArray& subTrees = lsMemPtr->bvhShapeData.getOptimizedBvh()->getSubtreeInfoArray(); + + + spuNodeCallback nodeCallback(wuInput,lsMemPtr,spuContacts); + IndexedMeshArray& indexArray = lsMemPtr->bvhShapeData.gTriangleMeshInterfacePtr->getIndexedMeshArray(); + //spu_printf("SPU:indexArray.size() = %d\n",indexArray.size()); + + // spu_printf("SPU: numSubTrees = %d\n",subTrees.size()); + //not likely to happen + if (subTrees.size() && indexArray.size() == 1) + { + ///DMA in the index info + dmaBvhIndexedMesh (&lsMemPtr->bvhShapeData.gIndexMesh, indexArray, 0 /* index into indexArray */, 1 /* dmaTag */); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + //display the headers + int numBatch = subTrees.size(); + for (int i=0;ibvhShapeData.gSubtreeHeaders[0], (ppu_address_t)(&subTrees[i]), nextBatch, 1); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + // spu_printf("nextBatch = %d\n",nextBatch); + + for (int j=0;jbvhShapeData.gSubtreeHeaders[j]; + + unsigned int overlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax); + if (overlap) + { + btAssert(subtree.m_subtreeSize); + + //dma the actual nodes of this subtree + dmaBvhSubTreeNodes (&lsMemPtr->bvhShapeData.gSubtreeNodes[0], subtree, nodeArray, 2); + cellDmaWaitTagStatusAll(DMA_MASK(2)); + + /* Walk this subtree */ + spuWalkStacklessQuantizedTree(&nodeCallback,quantizedQueryAabbMin,quantizedQueryAabbMax, + &lsMemPtr->bvhShapeData.gSubtreeNodes[0], + 0, + subtree.m_subtreeSize); + } + // spu_printf("subtreeSize = %d\n",gSubtreeHeaders[j].m_subtreeSize); + } + + // unsigned short int m_quantizedAabbMin[3]; + // unsigned short int m_quantizedAabbMax[3]; + // int m_rootNodeIndex; + // int m_subtreeSize; + i+=nextBatch; + } + + //pre-fetch first tree, then loop and double buffer + } + +} + + +#define MAX_DEGENERATE_STATS 15 +int stats[MAX_DEGENERATE_STATS]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; +int degenerateStats[MAX_DEGENERATE_STATS]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; + + +//////////////////////// +/// Convex versus Convex collision detection (handles collision between sphere, box, cylinder, triangle, cone, convex polyhedron etc) +/////////////////// +void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts) +{ + register int dmaSize; + register ppu_address_t dmaPpuAddress2; + +#ifdef DEBUG_SPU_COLLISION_DETECTION + //spu_printf("SPU: ProcessSpuConvexConvexCollision\n"); +#endif //DEBUG_SPU_COLLISION_DETECTION + //CollisionShape* shape0 = (CollisionShape*)wuInput->m_collisionShapes[0]; + //CollisionShape* shape1 = (CollisionShape*)wuInput->m_collisionShapes[1]; + btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr; + + bool genericGjk = true; + + if (genericGjk) + { + //try generic GJK + + + + //SpuConvexPenetrationDepthSolver* penetrationSolver=0; + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver epaPenetrationSolver2; + + btConvexPenetrationDepthSolver* penetrationSolver = &epaPenetrationSolver2; + + //SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver; +#ifdef ENABLE_EPA + if (gUseEpa) + { + penetrationSolver = &epaPenetrationSolver2; + } else +#endif + { + //penetrationSolver = &minkowskiPenetrationSolver; + } + + + ///DMA in the vertices for convex shapes + ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]); + ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]); + + if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + // spu_printf("SPU: DMA btConvexHullShape\n"); + + dmaSize = sizeof(btConvexHullShape); + dmaPpuAddress2 = wuInput->m_collisionShapes[0]; + + cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + // spu_printf("SPU: DMA btConvexHullShape\n"); + dmaSize = sizeof(btConvexHullShape); + dmaPpuAddress2 = wuInput->m_collisionShapes[1]; + cellDmaGet(&convexHullShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + //cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + + if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(1)); + dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0); + lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0]; + } + + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(1)); + dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1); + lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1]; + } + + + btConvexPointCloudShape cpc0,cpc1; + + if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(2)); + lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0]; + btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0]; + const btVector3& localScaling = ch->getLocalScalingNV(); + cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling); + wuInput->m_spuCollisionShapes[0] = &cpc0; + } + + if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) ) + { + cellDmaWaitTagStatusAll(DMA_MASK(2)); + lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0]; + btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1]; + const btVector3& localScaling = ch->getLocalScalingNV(); + cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling); + wuInput->m_spuCollisionShapes[1] = &cpc1; + + } + + + const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0]; + const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1]; + int shapeType0 = wuInput->m_shapeType0; + int shapeType1 = wuInput->m_shapeType1; + float marginA = wuInput->m_collisionMargin0; + float marginB = wuInput->m_collisionMargin1; + + SpuClosestPointInput cpInput; + cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0]; + cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1]; + cpInput.m_transformA = wuInput->m_worldTransform0; + cpInput.m_transformB = wuInput->m_worldTransform1; + float sumMargin = (marginA+marginB+lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold()); + cpInput.m_maximumDistanceSquared = sumMargin * sumMargin; + + ppu_address_t manifoldAddress = (ppu_address_t)manifold; + + btPersistentManifold* spuManifold=lsMemPtr->getContactManifoldPtr(); + //spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped); + spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(), + lsMemPtr->getColObj1()->getWorldTransform(), + lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(), + lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(), + wuInput->m_isSwapped); + + { + btGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&simplexSolver,penetrationSolver);//&vsSolver,penetrationSolver); + gjk.getClosestPoints(cpInput,spuContacts,0);//,debugDraw); + + btAssert(gjk.m_lastUsedMethod getContactBreakingThreshold(); + lsMemPtr->getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(gjk.getCachedSeparatingAxis(),sepDist,wuInput->m_worldTransform0,wuInput->m_worldTransform1); + lsMemPtr->needsDmaPutContactManifoldAlgo = true; +#endif //USE_SEPDISTANCE_UTIL + + } + + } + + +} + + +template void DoSwap(T& a, T& b) +{ + char tmp[sizeof(T)]; + memcpy(tmp, &a, sizeof(T)); + memcpy(&a, &b, sizeof(T)); + memcpy(&b, tmp, sizeof(T)); +} + +SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem) +{ + register int dmaSize; + register ppu_address_t dmaPpuAddress2; + + dmaSize = sizeof(btCollisionObject);//btTransform); + dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject0(); + lsMem.m_lsColObj0Ptr = (btCollisionObject*)cellDmaGetReadOnly(&lsMem.gColObj0Buffer, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + + dmaSize = sizeof(btCollisionObject);//btTransform); + dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.getlocalCollisionAlgorithm()->getCollisionObject1(); + lsMem.m_lsColObj1Ptr = (btCollisionObject*)cellDmaGetReadOnly(&lsMem.gColObj1Buffer, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0); + + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + + btCollisionObject* ob0 = lsMem.getColObj0(); + btCollisionObject* ob1 = lsMem.getColObj1(); + + collisionPairInput.m_worldTransform0 = ob0->getWorldTransform(); + collisionPairInput.m_worldTransform1 = ob1->getWorldTransform(); +} + + + +void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTask_LocalStoreMemory& lsMem, + SpuContactResult &spuContacts, + ppu_address_t collisionShape0Ptr, void* collisionShape0Loc, + ppu_address_t collisionShape1Ptr, void* collisionShape1Loc, bool dmaShapes = true) +{ + + if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0) + && btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1)) + { + if (dmaShapes) + { + dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0); + dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + } + + btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc; + btConvexInternalShape* spuConvexShape1 = (btConvexInternalShape*)collisionShape1Loc; + + btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions(); + btVector3 dim1 = spuConvexShape1->getImplicitShapeDimensions(); + + collisionPairInput.m_primitiveDimensions0 = dim0; + collisionPairInput.m_primitiveDimensions1 = dim1; + collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr; + collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr; + collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0; + collisionPairInput.m_spuCollisionShapes[1] = spuConvexShape1; + ProcessSpuConvexConvexCollision(&collisionPairInput,&lsMem,spuContacts); + } + else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) && + btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1)) + { + //snPause(); + + dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0); + dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + + // Both are compounds, do N^2 CD for now + ///@todo: add some AABB-based pruning (probably not -> slower) + + btCompoundShape* spuCompoundShape0 = (btCompoundShape*)collisionShape0Loc; + btCompoundShape* spuCompoundShape1 = (btCompoundShape*)collisionShape1Loc; + + dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape0, 1); + dmaCompoundShapeInfo (&lsMem.compoundShapeData[1], spuCompoundShape1, 2); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + + + dmaCompoundSubShapes (&lsMem.compoundShapeData[0], spuCompoundShape0, 1); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + dmaCompoundSubShapes (&lsMem.compoundShapeData[1], spuCompoundShape1, 1); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + int childShapeCount0 = spuCompoundShape0->getNumChildShapes(); + btAssert(childShapeCount0< MAX_SPU_COMPOUND_SUBSHAPES); + int childShapeCount1 = spuCompoundShape1->getNumChildShapes(); + btAssert(childShapeCount1< MAX_SPU_COMPOUND_SUBSHAPES); + + // Start the N^2 + for (int i = 0; i < childShapeCount0; ++i) + { + btCompoundShapeChild& childShape0 = lsMem.compoundShapeData[0].gSubshapes[i]; + btAssert(!btBroadphaseProxy::isCompound(childShape0.m_childShapeType)); + + for (int j = 0; j < childShapeCount1; ++j) + { + btCompoundShapeChild& childShape1 = lsMem.compoundShapeData[1].gSubshapes[j]; + btAssert(!btBroadphaseProxy::isCompound(childShape1.m_childShapeType)); + + + /* Create a new collision pair input struct using the two child shapes */ + SpuCollisionPairInput cinput (collisionPairInput); + + cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape0.m_transform; + cinput.m_shapeType0 = childShape0.m_childShapeType; + cinput.m_collisionMargin0 = childShape0.m_childMargin; + + cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape1.m_transform; + cinput.m_shapeType1 = childShape1.m_childShapeType; + cinput.m_collisionMargin1 = childShape1.m_childMargin; + /* Recursively call handleCollisionPair () with new collision pair input */ + + handleCollisionPair(cinput, lsMem, spuContacts, + (ppu_address_t)childShape0.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], + (ppu_address_t)childShape1.m_childShape, lsMem.compoundShapeData[1].gSubshapeShape[j], false); + } + } + } + else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) ) + { + //snPause(); + + dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0); + dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + + // object 0 compound, object 1 non-compound + btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape0Loc; + dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + int childShapeCount = spuCompoundShape->getNumChildShapes(); + btAssert(childShapeCount< MAX_SPU_COMPOUND_SUBSHAPES); + + for (int i = 0; i < childShapeCount; ++i) + { + btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i]; + btAssert(!btBroadphaseProxy::isCompound(childShape.m_childShapeType)); + // Dma the child shape + dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + SpuCollisionPairInput cinput (collisionPairInput); + cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape.m_transform; + cinput.m_shapeType0 = childShape.m_childShapeType; + cinput.m_collisionMargin0 = childShape.m_childMargin; + + handleCollisionPair(cinput, lsMem, spuContacts, + (ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], + collisionShape1Ptr, collisionShape1Loc, false); + } + } + else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1) ) + { + //snPause(); + + dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0); + dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + // object 0 non-compound, object 1 compound + btCompoundShape* spuCompoundShape = (btCompoundShape*)collisionShape1Loc; + dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape, 1); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + int childShapeCount = spuCompoundShape->getNumChildShapes(); + btAssert(childShapeCount< MAX_SPU_COMPOUND_SUBSHAPES); + + + for (int i = 0; i < childShapeCount; ++i) + { + btCompoundShapeChild& childShape = lsMem.compoundShapeData[0].gSubshapes[i]; + btAssert(!btBroadphaseProxy::isCompound(childShape.m_childShapeType)); + // Dma the child shape + dmaCollisionShape (&lsMem.compoundShapeData[0].gSubshapeShape[i], (ppu_address_t)childShape.m_childShape, 1, childShape.m_childShapeType); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + SpuCollisionPairInput cinput (collisionPairInput); + cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape.m_transform; + cinput.m_shapeType1 = childShape.m_childShapeType; + cinput.m_collisionMargin1 = childShape.m_childMargin; + handleCollisionPair(cinput, lsMem, spuContacts, + collisionShape0Ptr, collisionShape0Loc, + (ppu_address_t)childShape.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], false); + } + + } + else + { + //a non-convex shape is involved + bool handleConvexConcave = false; + + //snPause(); + + if (btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType0) && + btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType1)) + { + // Swap stuff + DoSwap(collisionShape0Ptr, collisionShape1Ptr); + DoSwap(collisionShape0Loc, collisionShape1Loc); + DoSwap(collisionPairInput.m_shapeType0, collisionPairInput.m_shapeType1); + DoSwap(collisionPairInput.m_worldTransform0, collisionPairInput.m_worldTransform1); + DoSwap(collisionPairInput.m_collisionMargin0, collisionPairInput.m_collisionMargin1); + + collisionPairInput.m_isSwapped = true; + } + + if (btBroadphaseProxy::isConvex(collisionPairInput.m_shapeType0)&& + btBroadphaseProxy::isConcave(collisionPairInput.m_shapeType1)) + { + handleConvexConcave = true; + } + if (handleConvexConcave) + { + if (dmaShapes) + { + dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0); + dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1); + cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2)); + } + + if (collisionPairInput.m_shapeType1 == STATIC_PLANE_PROXYTYPE) + { + btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc; + btStaticPlaneShape* planeShape= (btStaticPlaneShape*)collisionShape1Loc; + + btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions(); + collisionPairInput.m_primitiveDimensions0 = dim0; + collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr; + collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr; + collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0; + collisionPairInput.m_spuCollisionShapes[1] = planeShape; + + ProcessConvexPlaneSpuCollision(&collisionPairInput,&lsMem,spuContacts); + } else + { + btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc; + btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)collisionShape1Loc; + + btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions(); + collisionPairInput.m_primitiveDimensions0 = dim0; + collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr; + collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr; + collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0; + collisionPairInput.m_spuCollisionShapes[1] = trimeshShape; + + ProcessConvexConcaveSpuCollision(&collisionPairInput,&lsMem,spuContacts); + } + } + + } + + spuContacts.flush(); + +} + + +void processCollisionTask(void* userPtr, void* lsMemPtr) +{ + + SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr; + SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr; + CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr; + CollisionTask_LocalStoreMemory& lsMem = *(colMemPtr); + + gUseEpa = taskDesc.m_useEpa; + + // spu_printf("taskDescPtr=%llx\n",taskDescPtr); + + SpuContactResult spuContacts; + + //////////////////// + + ppu_address_t dmaInPtr = taskDesc.m_inPairPtr; + unsigned int numPages = taskDesc.numPages; + unsigned int numOnLastPage = taskDesc.numOnLastPage; + + // prefetch first set of inputs and wait + lsMem.g_workUnitTaskBuffers.init(); + + unsigned int nextNumOnPage = (numPages > 1)? MIDPHASE_NUM_WORKUNITS_PER_PAGE : numOnLastPage; + lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3)); + dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE; + + + register unsigned char *inputPtr; + register unsigned int numOnPage; + register unsigned int j; + SpuGatherAndProcessWorkUnitInput* wuInputs; + register int dmaSize; + register ppu_address_t dmaPpuAddress; + register ppu_address_t dmaPpuAddress2; + + int numPairs; + register int p; + SpuCollisionPairInput collisionPairInput; + + for (unsigned int i = 0; btLikely(i < numPages); i++) + { + + // wait for back buffer dma and swap buffers + inputPtr = lsMem.g_workUnitTaskBuffers.swapBuffers(); + + // number on current page is number prefetched last iteration + numOnPage = nextNumOnPage; + + + // prefetch next set of inputs +#if MIDPHASE_NUM_WORKUNIT_PAGES > 2 + if ( btLikely( i < numPages-1 ) ) +#else + if ( btUnlikely( i < numPages-1 ) ) +#endif + { + nextNumOnPage = (i == numPages-2)? numOnLastPage : MIDPHASE_NUM_WORKUNITS_PER_PAGE; + lsMem.g_workUnitTaskBuffers.backBufferDmaGet(dmaInPtr, nextNumOnPage*sizeof(SpuGatherAndProcessWorkUnitInput), DMA_TAG(3)); + dmaInPtr += MIDPHASE_WORKUNIT_PAGE_SIZE; + } + + wuInputs = reinterpret_cast(inputPtr); + + + for (j = 0; btLikely( j < numOnPage ); j++) + { +#ifdef DEBUG_SPU_COLLISION_DETECTION + // printMidphaseInput(&wuInputs[j]); +#endif //DEBUG_SPU_COLLISION_DETECTION + + + numPairs = wuInputs[j].m_endIndex - wuInputs[j].m_startIndex; + + if ( btLikely( numPairs ) ) + { + dmaSize = numPairs*sizeof(btBroadphasePair); + dmaPpuAddress = wuInputs[j].m_pairArrayPtr+wuInputs[j].m_startIndex * sizeof(btBroadphasePair); + lsMem.m_pairsPointer = (btBroadphasePair*)cellDmaGetReadOnly(&lsMem.gBroadphasePairsBuffer, dmaPpuAddress , dmaSize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + for (p=0;pm_userInfo = %d\n",pair.m_userInfo); + spu_printf("pair->m_algorithm = %d\n",pair.m_algorithm); + spu_printf("pair->m_pProxy0 = %d\n",pair.m_pProxy0); + spu_printf("pair->m_pProxy1 = %d\n",pair.m_pProxy1); +#endif //DEBUG_SPU_COLLISION_DETECTION + + if (pair.m_internalTmpValue == 2 && pair.m_algorithm && pair.m_pProxy0 && pair.m_pProxy1) + { + dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm); + dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm; + lsMem.m_lsCollisionAlgorithmPtr = (SpuContactManifoldCollisionAlgorithm*)cellDmaGetReadOnly(&lsMem.gSpuContactManifoldAlgoBuffer, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + lsMem.needsDmaPutContactManifoldAlgo = false; + + collisionPairInput.m_persistentManifoldPtr = (ppu_address_t) lsMem.getlocalCollisionAlgorithm()->getContactManifoldPtr(); + collisionPairInput.m_isSwapped = false; + + if (1) + { + + ///can wait on the combined DMA_MASK, or dma on the same tag + + +#ifdef DEBUG_SPU_COLLISION_DETECTION + // spu_printf("SPU collisionPairInput->m_shapeType0 = %d\n",collisionPairInput->m_shapeType0); + // spu_printf("SPU collisionPairInput->m_shapeType1 = %d\n",collisionPairInput->m_shapeType1); +#endif //DEBUG_SPU_COLLISION_DETECTION + + + dmaSize = sizeof(btPersistentManifold); + + dmaPpuAddress2 = collisionPairInput.m_persistentManifoldPtr; + lsMem.m_lsManifoldPtr = (btPersistentManifold*)cellDmaGetReadOnly(&lsMem.gPersistentManifoldBuffer, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + + collisionPairInput.m_shapeType0 = lsMem.getlocalCollisionAlgorithm()->getShapeType0(); + collisionPairInput.m_shapeType1 = lsMem.getlocalCollisionAlgorithm()->getShapeType1(); + collisionPairInput.m_collisionMargin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0(); + collisionPairInput.m_collisionMargin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1(); + + + + //??cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + if (1) + { + //snPause(); + + // Get the collision objects + dmaAndSetupCollisionObjects(collisionPairInput, lsMem); + + if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive()) + { + + lsMem.needsDmaPutContactManifoldAlgo = true; +#ifdef USE_SEPDISTANCE_UTIL + lsMem.getlocalCollisionAlgorithm()->m_sepDistance.updateSeparatingDistance(collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1); +#endif //USE_SEPDISTANCE_UTIL + +#define USE_DEDICATED_BOX_BOX 1 +#ifdef USE_DEDICATED_BOX_BOX + bool boxbox = ((lsMem.getlocalCollisionAlgorithm()->getShapeType0()==BOX_SHAPE_PROXYTYPE)&& + (lsMem.getlocalCollisionAlgorithm()->getShapeType1()==BOX_SHAPE_PROXYTYPE)); + if (boxbox) + { + //spu_printf("boxbox dist = %f\n",distance); + btPersistentManifold* spuManifold=lsMem.getContactManifoldPtr(); + btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr; + ppu_address_t manifoldAddress = (ppu_address_t)manifold; + + spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(), + lsMem.getColObj1()->getWorldTransform(), + lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(), + lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(), + collisionPairInput.m_isSwapped); + + + //float distance=0.f; + btVector3 normalInB; + + + if (//!gUseEpa && +#ifdef USE_SEPDISTANCE_UTIL + lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f +#else + 1 +#endif + ) + { +//#define USE_PE_BOX_BOX 1 +#ifdef USE_PE_BOX_BOX + { + + //getCollisionMargin0 + btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0(); + btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1(); + btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0); + btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1); +/* + //Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ()); + vmVector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin()); + vmVector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin()); + vmMatrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis()); + vmMatrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis()); + + vmTransform3 transformA(vmMatrix0,vmPos0); + Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ()); + vmTransform3 transformB(vmMatrix1,vmPos1); + BoxPoint resultClosestBoxPointA; + BoxPoint resultClosestBoxPointB; + vmVector3 resultNormal; + */ + +#ifdef USE_SEPDISTANCE_UTIL + float distanceThreshold = FLT_MAX +#else + //float distanceThreshold = 0.f; +#endif + + + vmVector3 n; + Box boxA; + vmVector3 hA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ()); + vmVector3 hB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ()); + boxA.mHalf= hA; + vmTransform3 trA; + trA.setTranslation(getVmVector3(collisionPairInput.m_worldTransform0.getOrigin())); + trA.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis())); + Box boxB; + boxB.mHalf = hB; + vmTransform3 trB; + trB.setTranslation(getVmVector3(collisionPairInput.m_worldTransform1.getOrigin())); + trB.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis())); + + float distanceThreshold = spuManifold->getContactBreakingThreshold();//0.001f; + + + BoxPoint ptA,ptB; + float dist = boxBoxDistance(n, ptA, ptB, + boxA, trA, boxB, trB, + distanceThreshold ); + + +// float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold); + + normalInB = -getBtVector3(n);//resultNormal); + + //if(dist < distanceThreshold)//spuManifold->getContactBreakingThreshold()) + if(dist < spuManifold->getContactBreakingThreshold()) + { + btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(ptB.localPoint)); + + spuContacts.addContactPoint( + normalInB, + pointOnB, + dist); + } + } +#else + { + + btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0(); + btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1(); + btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0); + btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1); + + + btBoxShape box0(shapeDim0); + btBoxShape box1(shapeDim1); + + struct SpuBridgeContactCollector : public btDiscreteCollisionDetectorInterface::Result + { + SpuContactResult& m_spuContacts; + + virtual void setShapeIdentifiersA(int partId0,int index0) + { + m_spuContacts.setShapeIdentifiersA(partId0,index0); + } + virtual void setShapeIdentifiersB(int partId1,int index1) + { + m_spuContacts.setShapeIdentifiersB(partId1,index1); + } + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + m_spuContacts.addContactPoint(normalOnBInWorld,pointInWorld,depth); + } + + SpuBridgeContactCollector(SpuContactResult& spuContacts) + :m_spuContacts(spuContacts) + { + + } + }; + + SpuBridgeContactCollector bridgeOutput(spuContacts); + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared = BT_LARGE_FLOAT; + input.m_transformA = collisionPairInput.m_worldTransform0; + input.m_transformB = collisionPairInput.m_worldTransform1; + + btBoxBoxDetector detector(&box0,&box1); + + detector.getClosestPoints(input,bridgeOutput,0); + + } +#endif //USE_PE_BOX_BOX + + lsMem.needsDmaPutContactManifoldAlgo = true; +#ifdef USE_SEPDISTANCE_UTIL + btScalar sepDist2 = distance+spuManifold->getContactBreakingThreshold(); + lsMem.getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(normalInB,sepDist2,collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1); +#endif //USE_SEPDISTANCE_UTIL + gProcessedCol++; + } else + { + gSkippedCol++; + } + + spuContacts.flush(); + + + } else +#endif //USE_DEDICATED_BOX_BOX + { + if ( +#ifdef USE_SEPDISTANCE_UTIL + lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f +#else + 1 +#endif //USE_SEPDISTANCE_UTIL + ) + { + handleCollisionPair(collisionPairInput, lsMem, spuContacts, + (ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape, + (ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape); + } else + { + //spu_printf("boxbox dist = %f\n",distance); + btPersistentManifold* spuManifold=lsMem.getContactManifoldPtr(); + btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr; + ppu_address_t manifoldAddress = (ppu_address_t)manifold; + + spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(), + lsMem.getColObj1()->getWorldTransform(), + lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(), + lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(), + collisionPairInput.m_isSwapped); + + spuContacts.flush(); + } + } + + } + + } + } + +#ifdef USE_SEPDISTANCE_UTIL +#if defined (__SPU__) || defined (USE_LIBSPE2) + if (lsMem.needsDmaPutContactManifoldAlgo) + { + dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm); + dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm; + cellDmaLargePut(&lsMem.gSpuContactManifoldAlgoBuffer, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } +#endif +#endif //#ifdef USE_SEPDISTANCE_UTIL + + } + } + } + } //end for (j = 0; j < numOnPage; j++) + + }// for + + + + return; +} + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h new file mode 100644 index 00000000..64af964c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h @@ -0,0 +1,140 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 SPU_GATHERING_COLLISION_TASK_H +#define SPU_GATHERING_COLLISION_TASK_H + +#include "../PlatformDefinitions.h" +//#define DEBUG_SPU_COLLISION_DETECTION 1 + + +///Task Description for SPU collision detection +struct SpuGatherAndProcessPairsTaskDesc +{ + ppu_address_t m_inPairPtr;//m_pairArrayPtr; + //mutex variable + uint32_t m_someMutexVariableInMainMemory; + + ppu_address_t m_dispatcher; + + uint32_t numOnLastPage; + + uint16_t numPages; + uint16_t taskId; + bool m_useEpa; + + struct CollisionTask_LocalStoreMemory* m_lsMemory; +} + +#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2) +__attribute__ ((aligned (128))) +#endif +; + + +void processCollisionTask(void* userPtr, void* lsMemory); + +void* createCollisionLocalStoreMemory(); +void deleteCollisionLocalStoreMemory(); + +#if defined(USE_LIBSPE2) && defined(__SPU__) +#include "../SpuLibspe2Support.h" +#include +#include +#include + +//#define DEBUG_LIBSPE2_SPU_TASK + + + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU: hello \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuGatherAndProcessPairsTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = createCollisionLocalStoreMemory(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while ( btLikely( !shutdown ) ) + { + + received_message = spu_read_in_mbox(); + + if( btLikely( received_message == Spu_Mailbox_Event_Task )) + { +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU: received Spu_Mailbox_Event_Task\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + + // refresh the status + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuGatherAndProcessPairsTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU:processCollisionTask\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + processCollisionTask((void*)&taskDesc, taskDesc.m_lsMemory); + +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU:finished processCollisionTask\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + } + else + { +#ifdef DEBUG_LIBSPE2_SPU_TASK + printf("SPU: received ShutDown\n"); +#endif //DEBUG_LIBSPE2_SPU_TASK + if( btLikely( received_message == Spu_Mailbox_Event_Shutdown ) ) + { + shutdown = true; + } + else + { + //printf("SPU - Sth. recieved\n"); + } + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + + printf("SPU: shutdown\n"); + return 0; +} +#endif // USE_LIBSPE2 + + +#endif //SPU_GATHERING_COLLISION_TASK_H + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h new file mode 100644 index 00000000..8b89de03 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h @@ -0,0 +1,19 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp new file mode 100644 index 00000000..166a38f6 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp @@ -0,0 +1,347 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "SpuMinkowskiPenetrationDepthSolver.h" +#include "SpuContactResult.h" +#include "SpuPreferredPenetrationDirections.h" +#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" +#include "SpuCollisionShapes.h" + +#define NUM_UNITSPHERE_POINTS 42 +static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = +{ +btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), +btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), +btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)), +btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)), +btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)), +btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)), +btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)), +btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)), +btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)), +btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)), +btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)), +btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)), +btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)), +btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)), +btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)), +btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)), +btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)), +btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)), +btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)), +btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)), +btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)), +btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)), +btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)), +btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)), +btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)), +btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)), +btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)), +btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)), +btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)), +btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)), +btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)), +btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)), +btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)), +btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)), +btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)), +btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)), +btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)), +btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)), +btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)), +btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)), +btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), +btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) +}; + + +bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw) +{ +#if 0 + (void)v; + + + struct btIntermediateResult : public SpuContactResult + { + + btIntermediateResult():m_hasResult(false) + { + } + + btVector3 m_normalOnBInWorld; + btVector3 m_pointInWorld; + btScalar m_depth; + bool m_hasResult; + + virtual void setShapeIdentifiersA(int partId0,int index0) + { + (void)partId0; + (void)index0; + } + + virtual void setShapeIdentifiersB(int partId1,int index1) + { + (void)partId1; + (void)index1; + } + void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) + { + m_normalOnBInWorld = normalOnBInWorld; + m_pointInWorld = pointInWorld; + m_depth = depth; + m_hasResult = true; + } + }; + + //just take fixed number of orientation, and sample the penetration depth in that direction + btScalar minProj = btScalar(BT_LARGE_FLOAT); + btVector3 minNorm(0.f,0.f,0.f); + btVector3 minVertex; + btVector3 minA,minB; + btVector3 seperatingAxisInA,seperatingAxisInB; + btVector3 pInA,qInB,pWorld,qWorld,w; + +//#define USE_BATCHED_SUPPORT 1 +#ifdef USE_BATCHED_SUPPORT + + btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + int i; + + int numSampleDirections = NUM_UNITSPHERE_POINTS; + + for (i=0;igetNumPreferredPenetrationDirections(); + if (numPDA) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transA.getBasis() * norm; + sPenetrationDirections[numSampleDirections] = norm; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + numSampleDirections++; + } + } + } + + { + int numPDB = convexB->getNumPreferredPenetrationDirections(); + if (numPDB) + { + for (int i=0;igetPreferredPenetrationDirection(i,norm); + norm = transB.getBasis() * norm; + sPenetrationDirections[numSampleDirections] = norm; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + numSampleDirections++; + } + } + } + + + + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections); + + for (i=0;ilocalGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL); + + // pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); + // qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); + + pWorld = transA(pInA); + qWorld = transB(qInB); + w = qWorld - pWorld; + btScalar delta = norm.dot(w); + //find smallest delta + if (delta < minProj) + { + minProj = delta; + minNorm = norm; + minA = pWorld; + minB = qWorld; + } + } +#endif //USE_BATCHED_SUPPORT + + //add the margins + + minA += minNorm*marginA; + minB -= minNorm*marginB; + //no penetration + if (minProj < btScalar(0.)) + return false; + + minProj += (marginA + marginB) + btScalar(1.00); + + + + + +//#define DEBUG_DRAW 1 +#ifdef DEBUG_DRAW + if (debugDraw) + { + btVector3 color(0,1,0); + debugDraw->drawLine(minA,minB,color); + color = btVector3 (1,1,1); + btVector3 vec = minB-minA; + btScalar prj2 = minNorm.dot(vec); + debugDraw->drawLine(minA,minA+(minNorm*minProj),color); + + } +#endif //DEBUG_DRAW + + + btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0); + + btScalar offsetDist = minProj; + btVector3 offset = minNorm * offsetDist; + + + SpuClosestPointInput input; + input.m_convexVertexData[0] = convexVertexDataA; + input.m_convexVertexData[1] = convexVertexDataB; + btVector3 newOrg = transA.getOrigin() + offset; + + btTransform displacedTrans = transA; + displacedTrans.setOrigin(newOrg); + + input.m_transformA = displacedTrans; + input.m_transformB = transB; + input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj; + + btIntermediateResult res; + gjkdet.getClosestPoints(input,res,0); + + btScalar correctedMinNorm = minProj - res.m_depth; + + + //the penetration depth is over-estimated, relax it + btScalar penetration_relaxation= btScalar(1.); + minNorm*=penetration_relaxation; + + if (res.m_hasResult) + { + + pa = res.m_pointInWorld - minNorm * correctedMinNorm; + pb = res.m_pointInWorld; + +#ifdef DEBUG_DRAW + if (debugDraw) + { + btVector3 color(1,0,0); + debugDraw->drawLine(pa,pb,color); + } +#endif//DEBUG_DRAW + + + } else { + // could not seperate shapes + //btAssert (false); + } + return res.m_hasResult; +#endif + return false; +} + + + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h new file mode 100644 index 00000000..98c4fc68 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h @@ -0,0 +1,47 @@ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 MINKOWSKI_PENETRATION_DEPTH_SOLVER_H +#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + + +#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" + +class btIDebugDraw; +class btVoronoiSimplexSolver; +class btConvexShape; + +///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. +///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. +class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver +{ +public: + SpuMinkowskiPenetrationDepthSolver() {} + virtual ~SpuMinkowskiPenetrationDepthSolver() {}; + + virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, + const btConvexShape* convexA,const btConvexShape* convexB, + const btTransform& transA,const btTransform& transB, + btVector3& v, btVector3& pa, btVector3& pb, + class btIDebugDraw* debugDraw + ); + + +}; + + +#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h new file mode 100644 index 00000000..774a0cb2 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 _SPU_PREFERRED_PENETRATION_DIRECTIONS_H +#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H + + +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" + +int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape) +{ + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + return 2; + //spu_printf("2\n"); + break; + } + default: + { +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + + return 0; +} + +void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector) +{ + + + switch (shapeType) + { + case TRIANGLE_SHAPE_PROXYTYPE: + { + btVector3* vertices = (btVector3*)shape; + ///calcNormal + penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); + penetrationVector.normalize(); + if (index) + penetrationVector *= btScalar(-1.); + break; + } + default: + { + +#if __ASSERT + spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType); +#endif // __ASSERT + } + } + +} + +#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp new file mode 100644 index 00000000..5e1202c0 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp @@ -0,0 +1,1160 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + + +//#include "PfxContactBoxBox.h" + +#include +#include "../PlatformDefinitions.h" +#include "boxBoxDistance.h" + +static inline float sqr( float a ) +{ + return (a * a); +} + +enum BoxSepAxisType +{ + A_AXIS, B_AXIS, CROSS_AXIS +}; + +//------------------------------------------------------------------------------------------------- +// voronoiTol: bevels Voronoi planes slightly which helps when features are parallel. +//------------------------------------------------------------------------------------------------- + +static const float voronoiTol = -1.0e-5f; + +//------------------------------------------------------------------------------------------------- +// separating axis tests: gaps along each axis are computed, and the axis with the maximum +// gap is stored. cross product axes are normalized. +//------------------------------------------------------------------------------------------------- + +#define AaxisTest( dim, letter, first ) \ +{ \ + if ( first ) \ + { \ + maxGap = gap = gapsA.get##letter(); \ + if ( gap > distanceThreshold ) return gap; \ + axisType = A_AXIS; \ + faceDimA = dim; \ + axisA = identity.getCol##dim(); \ + } \ + else \ + { \ + gap = gapsA.get##letter(); \ + if ( gap > distanceThreshold ) return gap; \ + else if ( gap > maxGap ) \ + { \ + maxGap = gap; \ + axisType = A_AXIS; \ + faceDimA = dim; \ + axisA = identity.getCol##dim(); \ + } \ + } \ +} + + +#define BaxisTest( dim, letter ) \ +{ \ + gap = gapsB.get##letter(); \ + if ( gap > distanceThreshold ) return gap; \ + else if ( gap > maxGap ) \ + { \ + maxGap = gap; \ + axisType = B_AXIS; \ + faceDimB = dim; \ + axisB = identity.getCol##dim(); \ + } \ +} + +#define CrossAxisTest( dima, dimb, letterb ) \ +{ \ + const float lsqr_tolerance = 1.0e-30f; \ + float lsqr; \ + \ + lsqr = lsqrs.getCol##dima().get##letterb(); \ + \ + if ( lsqr > lsqr_tolerance ) \ + { \ + float l_recip = 1.0f / sqrtf( lsqr ); \ + gap = float(gapsAxB.getCol##dima().get##letterb()) * l_recip; \ + \ + if ( gap > distanceThreshold ) \ + { \ + return gap; \ + } \ + \ + if ( gap > maxGap ) \ + { \ + maxGap = gap; \ + axisType = CROSS_AXIS; \ + edgeDimA = dima; \ + edgeDimB = dimb; \ + axisA = cross(identity.getCol##dima(),matrixAB.getCol##dimb()) * l_recip; \ + } \ + } \ +} + +//------------------------------------------------------------------------------------------------- +// tests whether a vertex of box B and a face of box A are the closest features +//------------------------------------------------------------------------------------------------- + +inline +float +VertexBFaceATest( + bool & inVoronoi, + float & t0, + float & t1, + const vmVector3 & hA, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesB ) +{ + // compute a corner of box B in A's coordinate system + + vmVector3 corner = + vmVector3( faceOffsetAB + matrixAB.getCol0() * scalesB.getX() + matrixAB.getCol1() * scalesB.getY() ); + + // compute the parameters of the point on A, closest to this corner + + t0 = corner[0]; + t1 = corner[1]; + + if ( t0 > hA[0] ) + t0 = hA[0]; + else if ( t0 < -hA[0] ) + t0 = -hA[0]; + if ( t1 > hA[1] ) + t1 = hA[1]; + else if ( t1 < -hA[1] ) + t1 = -hA[1]; + + // do the Voronoi test: already know the point on B is in the Voronoi region of the + // point on A, check the reverse. + + vmVector3 facePointB = + vmVector3( mulPerElem( faceOffsetBA + matrixBA.getCol0() * t0 + matrixBA.getCol1() * t1 - scalesB, signsB ) ); + + inVoronoi = ( ( facePointB[0] >= voronoiTol * facePointB[2] ) && + ( facePointB[1] >= voronoiTol * facePointB[0] ) && + ( facePointB[2] >= voronoiTol * facePointB[1] ) ); + + return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] )); +} + +#define VertexBFaceA_SetNewMin() \ +{ \ + minDistSqr = distSqr; \ + localPointA.setX(t0); \ + localPointA.setY(t1); \ + localPointB.setX( scalesB.getX() ); \ + localPointB.setY( scalesB.getY() ); \ + featureA = F; \ + featureB = V; \ +} + +void +VertexBFaceATests( + bool & done, + float & minDistSqr, + vmPoint3 & localPointA, + vmPoint3 & localPointB, + FeatureType & featureA, + FeatureType & featureB, + const vmVector3 & hA, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesB, + bool first ) +{ + + float t0, t1; + float distSqr; + + distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsB, scalesB ); + + if ( first ) { + VertexBFaceA_SetNewMin(); + } else { + if ( distSqr < minDistSqr ) { + VertexBFaceA_SetNewMin(); + } + } + + if ( done ) + return; + + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsB, scalesB ); + + if ( distSqr < minDistSqr ) { + VertexBFaceA_SetNewMin(); + } + + if ( done ) + return; + + signsB.setY( -signsB.getY() ); + scalesB.setY( -scalesB.getY() ); + + distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsB, scalesB ); + + if ( distSqr < minDistSqr ) { + VertexBFaceA_SetNewMin(); + } + + if ( done ) + return; + + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsB, scalesB ); + + if ( distSqr < minDistSqr ) { + VertexBFaceA_SetNewMin(); + } +} + +//------------------------------------------------------------------------------------------------- +// VertexAFaceBTest: tests whether a vertex of box A and a face of box B are the closest features +//------------------------------------------------------------------------------------------------- + +inline +float +VertexAFaceBTest( + bool & inVoronoi, + float & t0, + float & t1, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) scalesA ) +{ + vmVector3 corner = + vmVector3( faceOffsetBA + matrixBA.getCol0() * scalesA.getX() + matrixBA.getCol1() * scalesA.getY() ); + + t0 = corner[0]; + t1 = corner[1]; + + if ( t0 > hB[0] ) + t0 = hB[0]; + else if ( t0 < -hB[0] ) + t0 = -hB[0]; + if ( t1 > hB[1] ) + t1 = hB[1]; + else if ( t1 < -hB[1] ) + t1 = -hB[1]; + + vmVector3 facePointA = + vmVector3( mulPerElem( faceOffsetAB + matrixAB.getCol0() * t0 + matrixAB.getCol1() * t1 - scalesA, signsA ) ); + + inVoronoi = ( ( facePointA[0] >= voronoiTol * facePointA[2] ) && + ( facePointA[1] >= voronoiTol * facePointA[0] ) && + ( facePointA[2] >= voronoiTol * facePointA[1] ) ); + + return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] )); +} + +#define VertexAFaceB_SetNewMin() \ +{ \ + minDistSqr = distSqr; \ + localPointB.setX(t0); \ + localPointB.setY(t1); \ + localPointA.setX( scalesA.getX() ); \ + localPointA.setY( scalesA.getY() ); \ + featureA = V; \ + featureB = F; \ +} + +void +VertexAFaceBTests( + bool & done, + float & minDistSqr, + vmPoint3 & localPointA, + vmPoint3 & localPointB, + FeatureType & featureA, + FeatureType & featureB, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) scalesA, + bool first ) +{ + float t0, t1; + float distSqr; + + distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, scalesA ); + + if ( first ) { + VertexAFaceB_SetNewMin(); + } else { + if ( distSqr < minDistSqr ) { + VertexAFaceB_SetNewMin(); + } + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, scalesA ); + + if ( distSqr < minDistSqr ) { + VertexAFaceB_SetNewMin(); + } + + if ( done ) + return; + + signsA.setY( -signsA.getY() ); + scalesA.setY( -scalesA.getY() ); + + distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, scalesA ); + + if ( distSqr < minDistSqr ) { + VertexAFaceB_SetNewMin(); + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, scalesA ); + + if ( distSqr < minDistSqr ) { + VertexAFaceB_SetNewMin(); + } +} + +//------------------------------------------------------------------------------------------------- +// CustomEdgeEdgeTest: +// +// tests whether a pair of edges are the closest features +// +// note on the shorthand: +// 'a' & 'b' refer to the edges. +// 'c' is the dimension of the axis that points from the face center to the edge Center +// 'd' is the dimension of the edge Direction +// the dimension of the face normal is 2 +//------------------------------------------------------------------------------------------------- + +#define CustomEdgeEdgeTest( ac, ac_letter, ad, ad_letter, bc, bc_letter, bd, bd_letter ) \ +{ \ + vmVector3 edgeOffsetAB; \ + vmVector3 edgeOffsetBA; \ + \ + edgeOffsetAB = faceOffsetAB + matrixAB.getCol##bc() * scalesB.get##bc_letter(); \ + edgeOffsetAB.set##ac_letter( edgeOffsetAB.get##ac_letter() - scalesA.get##ac_letter() ); \ + \ + edgeOffsetBA = faceOffsetBA + matrixBA.getCol##ac() * scalesA.get##ac_letter(); \ + edgeOffsetBA.set##bc_letter( edgeOffsetBA.get##bc_letter() - scalesB.get##bc_letter() ); \ + \ + float dirDot = matrixAB.getCol##bd().get##ad_letter(); \ + float denom = 1.0f - dirDot*dirDot; \ + float edgeOffsetAB_ad = edgeOffsetAB.get##ad_letter(); \ + float edgeOffsetBA_bd = edgeOffsetBA.get##bd_letter(); \ + \ + if ( denom == 0.0f ) \ + { \ + tA = 0.0f; \ + } \ + else \ + { \ + tA = ( edgeOffsetAB_ad + edgeOffsetBA_bd * dirDot ) / denom; \ + } \ + \ + if ( tA < -hA[ad] ) tA = -hA[ad]; \ + else if ( tA > hA[ad] ) tA = hA[ad]; \ + \ + tB = tA * dirDot + edgeOffsetBA_bd; \ + \ + if ( tB < -hB[bd] ) \ + { \ + tB = -hB[bd]; \ + tA = tB * dirDot + edgeOffsetAB_ad; \ + \ + if ( tA < -hA[ad] ) tA = -hA[ad]; \ + else if ( tA > hA[ad] ) tA = hA[ad]; \ + } \ + else if ( tB > hB[bd] ) \ + { \ + tB = hB[bd]; \ + tA = tB * dirDot + edgeOffsetAB_ad; \ + \ + if ( tA < -hA[ad] ) tA = -hA[ad]; \ + else if ( tA > hA[ad] ) tA = hA[ad]; \ + } \ + \ + vmVector3 edgeOffAB = vmVector3( mulPerElem( edgeOffsetAB + matrixAB.getCol##bd() * tB, signsA ) );\ + vmVector3 edgeOffBA = vmVector3( mulPerElem( edgeOffsetBA + matrixBA.getCol##ad() * tA, signsB ) );\ + \ + inVoronoi = ( edgeOffAB[ac] >= voronoiTol * edgeOffAB[2] ) && \ + ( edgeOffAB[2] >= voronoiTol * edgeOffAB[ac] ) && \ + ( edgeOffBA[bc] >= voronoiTol * edgeOffBA[2] ) && \ + ( edgeOffBA[2] >= voronoiTol * edgeOffBA[bc] ); \ + \ + edgeOffAB[ad] -= tA; \ + edgeOffBA[bd] -= tB; \ + \ + return dot(edgeOffAB,edgeOffAB); \ +} + +float +CustomEdgeEdgeTest_0101( + bool & inVoronoi, + float & tA, + float & tB, + const vmVector3 & hA, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesA, + PE_REF(vmVector3) scalesB ) +{ + CustomEdgeEdgeTest( 0, X, 1, Y, 0, X, 1, Y ); +} + +float +CustomEdgeEdgeTest_0110( + bool & inVoronoi, + float & tA, + float & tB, + const vmVector3 & hA, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesA, + PE_REF(vmVector3) scalesB ) +{ + CustomEdgeEdgeTest( 0, X, 1, Y, 1, Y, 0, X ); +} + +float +CustomEdgeEdgeTest_1001( + bool & inVoronoi, + float & tA, + float & tB, + const vmVector3 & hA, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesA, + PE_REF(vmVector3) scalesB ) +{ + CustomEdgeEdgeTest( 1, Y, 0, X, 0, X, 1, Y ); +} + +float +CustomEdgeEdgeTest_1010( + bool & inVoronoi, + float & tA, + float & tB, + const vmVector3 & hA, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesA, + PE_REF(vmVector3) scalesB ) +{ + CustomEdgeEdgeTest( 1, Y, 0, X, 1, Y, 0, X ); +} + +#define EdgeEdge_SetNewMin( ac_letter, ad_letter, bc_letter, bd_letter ) \ +{ \ + minDistSqr = distSqr; \ + localPointA.set##ac_letter(scalesA.get##ac_letter()); \ + localPointA.set##ad_letter(tA); \ + localPointB.set##bc_letter(scalesB.get##bc_letter()); \ + localPointB.set##bd_letter(tB); \ + otherFaceDimA = testOtherFaceDimA; \ + otherFaceDimB = testOtherFaceDimB; \ + featureA = E; \ + featureB = E; \ +} + +void +EdgeEdgeTests( + bool & done, + float & minDistSqr, + vmPoint3 & localPointA, + vmPoint3 & localPointB, + int & otherFaceDimA, + int & otherFaceDimB, + FeatureType & featureA, + FeatureType & featureB, + const vmVector3 & hA, + const vmVector3 & hB, + PE_REF(vmVector3) faceOffsetAB, + PE_REF(vmVector3) faceOffsetBA, + const vmMatrix3 & matrixAB, + const vmMatrix3 & matrixBA, + PE_REF(vmVector3) signsA, + PE_REF(vmVector3) signsB, + PE_REF(vmVector3) scalesA, + PE_REF(vmVector3) scalesB, + bool first ) +{ + + float distSqr; + float tA, tB; + + int testOtherFaceDimA, testOtherFaceDimB; + + testOtherFaceDimA = 0; + testOtherFaceDimB = 0; + + distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( first ) { + EdgeEdge_SetNewMin( X, Y, X, Y ); + } else { + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, X, Y ); + } + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, X, Y ); + } + + if ( done ) + return; + + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, X, Y ); + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, X, Y ); + } + + if ( done ) + return; + + testOtherFaceDimA = 1; + testOtherFaceDimB = 0; + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, X, Y ); + } + + if ( done ) + return; + + signsA.setY( -signsA.getY() ); + scalesA.setY( -scalesA.getY() ); + + distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, X, Y ); + } + + if ( done ) + return; + + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, X, Y ); + } + + if ( done ) + return; + + signsA.setY( -signsA.getY() ); + scalesA.setY( -scalesA.getY() ); + + distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, X, Y ); + } + + if ( done ) + return; + + testOtherFaceDimA = 0; + testOtherFaceDimB = 1; + signsB.setX( -signsB.getX() ); + scalesB.setX( -scalesB.getX() ); + + distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, Y, X ); + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, Y, X ); + } + + if ( done ) + return; + + signsB.setY( -signsB.getY() ); + scalesB.setY( -scalesB.getY() ); + + distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, Y, X ); + } + + if ( done ) + return; + + signsA.setX( -signsA.getX() ); + scalesA.setX( -scalesA.getX() ); + + distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( X, Y, Y, X ); + } + + if ( done ) + return; + + testOtherFaceDimA = 1; + testOtherFaceDimB = 1; + signsB.setY( -signsB.getY() ); + scalesB.setY( -scalesB.getY() ); + + distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, Y, X ); + } + + if ( done ) + return; + + signsA.setY( -signsA.getY() ); + scalesA.setY( -scalesA.getY() ); + + distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, Y, X ); + } + + if ( done ) + return; + + signsB.setY( -signsB.getY() ); + scalesB.setY( -scalesB.getY() ); + + distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, Y, X ); + } + + if ( done ) + return; + + signsA.setY( -signsA.getY() ); + scalesA.setY( -scalesA.getY() ); + + distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA, + matrixAB, matrixBA, signsA, signsB, scalesA, scalesB ); + + if ( distSqr < minDistSqr ) { + EdgeEdge_SetNewMin( Y, X, Y, X ); + } +} + + +float +boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB, + PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB, + const vmTransform3 & transformB, + float distanceThreshold) +{ + vmMatrix3 identity; + identity = vmMatrix3::identity(); + vmVector3 ident[3]; + ident[0] = identity.getCol0(); + ident[1] = identity.getCol1(); + ident[2] = identity.getCol2(); + + // get relative transformations + + vmTransform3 transformAB, transformBA; + vmMatrix3 matrixAB, matrixBA; + vmVector3 offsetAB, offsetBA; + + transformAB = orthoInverse(transformA) * transformB; + transformBA = orthoInverse(transformAB); + + matrixAB = transformAB.getUpper3x3(); + offsetAB = transformAB.getTranslation(); + matrixBA = transformBA.getUpper3x3(); + offsetBA = transformBA.getTranslation(); + + vmMatrix3 absMatrixAB = absPerElem(matrixAB); + vmMatrix3 absMatrixBA = absPerElem(matrixBA); + + // find separating axis with largest gap between projections + + BoxSepAxisType axisType; + vmVector3 axisA(0.0f), axisB(0.0f); + float gap, maxGap; + int faceDimA = 0, faceDimB = 0, edgeDimA = 0, edgeDimB = 0; + + // face axes + + vmVector3 gapsA = absPerElem(offsetAB) - boxA.mHalf - absMatrixAB * boxB.mHalf; + + AaxisTest(0,X,true); + AaxisTest(1,Y,false); + AaxisTest(2,Z,false); + + vmVector3 gapsB = absPerElem(offsetBA) - boxB.mHalf - absMatrixBA * boxA.mHalf; + + BaxisTest(0,X); + BaxisTest(1,Y); + BaxisTest(2,Z); + + // cross product axes + + // ŠOÏ‚ª‚O‚Ì‚Æ‚«‚Ì‘Îô + absMatrixAB += vmMatrix3(1.0e-5f); + absMatrixBA += vmMatrix3(1.0e-5f); + + vmMatrix3 lsqrs, projOffset, projAhalf, projBhalf; + + lsqrs.setCol0( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) + + mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) ); + lsqrs.setCol1( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) + + mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) ); + lsqrs.setCol2( mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) + + mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) ); + + projOffset.setCol0(matrixBA.getCol1() * offsetAB.getZ() - matrixBA.getCol2() * offsetAB.getY()); + projOffset.setCol1(matrixBA.getCol2() * offsetAB.getX() - matrixBA.getCol0() * offsetAB.getZ()); + projOffset.setCol2(matrixBA.getCol0() * offsetAB.getY() - matrixBA.getCol1() * offsetAB.getX()); + + projAhalf.setCol0(absMatrixBA.getCol1() * boxA.mHalf.getZ() + absMatrixBA.getCol2() * boxA.mHalf.getY()); + projAhalf.setCol1(absMatrixBA.getCol2() * boxA.mHalf.getX() + absMatrixBA.getCol0() * boxA.mHalf.getZ()); + projAhalf.setCol2(absMatrixBA.getCol0() * boxA.mHalf.getY() + absMatrixBA.getCol1() * boxA.mHalf.getX()); + + projBhalf.setCol0(absMatrixAB.getCol1() * boxB.mHalf.getZ() + absMatrixAB.getCol2() * boxB.mHalf.getY()); + projBhalf.setCol1(absMatrixAB.getCol2() * boxB.mHalf.getX() + absMatrixAB.getCol0() * boxB.mHalf.getZ()); + projBhalf.setCol2(absMatrixAB.getCol0() * boxB.mHalf.getY() + absMatrixAB.getCol1() * boxB.mHalf.getX()); + + vmMatrix3 gapsAxB = absPerElem(projOffset) - projAhalf - transpose(projBhalf); + + CrossAxisTest(0,0,X); + CrossAxisTest(0,1,Y); + CrossAxisTest(0,2,Z); + CrossAxisTest(1,0,X); + CrossAxisTest(1,1,Y); + CrossAxisTest(1,2,Z); + CrossAxisTest(2,0,X); + CrossAxisTest(2,1,Y); + CrossAxisTest(2,2,Z); + + // need to pick the face on each box whose normal best matches the separating axis. + // will transform vectors to be in the coordinate system of this face to simplify things later. + // for this, a permutation matrix can be used, which the next section computes. + + int dimA[3], dimB[3]; + + if ( axisType == A_AXIS ) { + if ( dot(axisA,offsetAB) < 0.0f ) + axisA = -axisA; + axisB = matrixBA * -axisA; + + vmVector3 absAxisB = vmVector3(absPerElem(axisB)); + + if ( ( absAxisB[0] > absAxisB[1] ) && ( absAxisB[0] > absAxisB[2] ) ) + faceDimB = 0; + else if ( absAxisB[1] > absAxisB[2] ) + faceDimB = 1; + else + faceDimB = 2; + } else if ( axisType == B_AXIS ) { + if ( dot(axisB,offsetBA) < 0.0f ) + axisB = -axisB; + axisA = matrixAB * -axisB; + + vmVector3 absAxisA = vmVector3(absPerElem(axisA)); + + if ( ( absAxisA[0] > absAxisA[1] ) && ( absAxisA[0] > absAxisA[2] ) ) + faceDimA = 0; + else if ( absAxisA[1] > absAxisA[2] ) + faceDimA = 1; + else + faceDimA = 2; + } + + if ( axisType == CROSS_AXIS ) { + if ( dot(axisA,offsetAB) < 0.0f ) + axisA = -axisA; + axisB = matrixBA * -axisA; + + vmVector3 absAxisA = vmVector3(absPerElem(axisA)); + vmVector3 absAxisB = vmVector3(absPerElem(axisB)); + + dimA[1] = edgeDimA; + dimB[1] = edgeDimB; + + if ( edgeDimA == 0 ) { + if ( absAxisA[1] > absAxisA[2] ) { + dimA[0] = 2; + dimA[2] = 1; + } else { + dimA[0] = 1; + dimA[2] = 2; + } + } else if ( edgeDimA == 1 ) { + if ( absAxisA[2] > absAxisA[0] ) { + dimA[0] = 0; + dimA[2] = 2; + } else { + dimA[0] = 2; + dimA[2] = 0; + } + } else { + if ( absAxisA[0] > absAxisA[1] ) { + dimA[0] = 1; + dimA[2] = 0; + } else { + dimA[0] = 0; + dimA[2] = 1; + } + } + + if ( edgeDimB == 0 ) { + if ( absAxisB[1] > absAxisB[2] ) { + dimB[0] = 2; + dimB[2] = 1; + } else { + dimB[0] = 1; + dimB[2] = 2; + } + } else if ( edgeDimB == 1 ) { + if ( absAxisB[2] > absAxisB[0] ) { + dimB[0] = 0; + dimB[2] = 2; + } else { + dimB[0] = 2; + dimB[2] = 0; + } + } else { + if ( absAxisB[0] > absAxisB[1] ) { + dimB[0] = 1; + dimB[2] = 0; + } else { + dimB[0] = 0; + dimB[2] = 1; + } + } + } else { + dimA[2] = faceDimA; + dimA[0] = (faceDimA+1)%3; + dimA[1] = (faceDimA+2)%3; + dimB[2] = faceDimB; + dimB[0] = (faceDimB+1)%3; + dimB[1] = (faceDimB+2)%3; + } + + vmMatrix3 aperm_col, bperm_col; + + aperm_col.setCol0(ident[dimA[0]]); + aperm_col.setCol1(ident[dimA[1]]); + aperm_col.setCol2(ident[dimA[2]]); + + bperm_col.setCol0(ident[dimB[0]]); + bperm_col.setCol1(ident[dimB[1]]); + bperm_col.setCol2(ident[dimB[2]]); + + vmMatrix3 aperm_row, bperm_row; + + aperm_row = transpose(aperm_col); + bperm_row = transpose(bperm_col); + + // permute all box parameters to be in the face coordinate systems + + vmMatrix3 matrixAB_perm = aperm_row * matrixAB * bperm_col; + vmMatrix3 matrixBA_perm = transpose(matrixAB_perm); + + vmVector3 offsetAB_perm, offsetBA_perm; + + offsetAB_perm = aperm_row * offsetAB; + offsetBA_perm = bperm_row * offsetBA; + + vmVector3 halfA_perm, halfB_perm; + + halfA_perm = aperm_row * boxA.mHalf; + halfB_perm = bperm_row * boxB.mHalf; + + // compute the vector between the centers of each face, in each face's coordinate frame + + vmVector3 signsA_perm, signsB_perm, scalesA_perm, scalesB_perm, faceOffsetAB_perm, faceOffsetBA_perm; + + signsA_perm = copySignPerElem(vmVector3(1.0f),aperm_row * axisA); + signsB_perm = copySignPerElem(vmVector3(1.0f),bperm_row * axisB); + scalesA_perm = mulPerElem( signsA_perm, halfA_perm ); + scalesB_perm = mulPerElem( signsB_perm, halfB_perm ); + + faceOffsetAB_perm = offsetAB_perm + matrixAB_perm.getCol2() * scalesB_perm.getZ(); + faceOffsetAB_perm.setZ( faceOffsetAB_perm.getZ() - scalesA_perm.getZ() ); + + faceOffsetBA_perm = offsetBA_perm + matrixBA_perm.getCol2() * scalesA_perm.getZ(); + faceOffsetBA_perm.setZ( faceOffsetBA_perm.getZ() - scalesB_perm.getZ() ); + + if ( maxGap < 0.0f ) { + // if boxes overlap, this will separate the faces for finding points of penetration. + + faceOffsetAB_perm -= aperm_row * axisA * maxGap * 1.01f; + faceOffsetBA_perm -= bperm_row * axisB * maxGap * 1.01f; + } + + // for each vertex/face or edge/edge pair of the two faces, find the closest points. + // + // these points each have an associated box feature (vertex, edge, or face). if each + // point is in the external Voronoi region of the other's feature, they are the + // closest points of the boxes, and the algorithm can exit. + // + // the feature pairs are arranged so that in the general case, the first test will + // succeed. degenerate cases (parallel faces) may require up to all tests in the + // worst case. + // + // if for some reason no case passes the Voronoi test, the features with the minimum + // distance are returned. + + vmPoint3 localPointA_perm, localPointB_perm; + float minDistSqr; + bool done; + + vmVector3 hA_perm( halfA_perm ), hB_perm( halfB_perm ); + + localPointA_perm.setZ( scalesA_perm.getZ() ); + localPointB_perm.setZ( scalesB_perm.getZ() ); + scalesA_perm.setZ(0.0f); + scalesB_perm.setZ(0.0f); + + int otherFaceDimA, otherFaceDimB; + FeatureType featureA, featureB; + + if ( axisType == CROSS_AXIS ) { + EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm, + otherFaceDimA, otherFaceDimB, featureA, featureB, + hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm, + scalesA_perm, scalesB_perm, true ); + + if ( !done ) { + VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hA_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false ); + + if ( !done ) { + VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false ); + } + } + } else if ( axisType == B_AXIS ) { + VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, true ); + + if ( !done ) { + VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hA_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false ); + + if ( !done ) { + EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm, + otherFaceDimA, otherFaceDimB, featureA, featureB, + hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm, + scalesA_perm, scalesB_perm, false ); + } + } + } else { + VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hA_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, true ); + + if ( !done ) { + VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm, + featureA, featureB, + hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false ); + + if ( !done ) { + EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm, + otherFaceDimA, otherFaceDimB, featureA, featureB, + hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm, + matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm, + scalesA_perm, scalesB_perm, false ); + } + } + } + + // convert local points from face-local to box-local coordinate system + + + boxPointA.localPoint = vmPoint3( aperm_col * vmVector3( localPointA_perm )) ; + boxPointB.localPoint = vmPoint3( bperm_col * vmVector3( localPointB_perm )) ; + +#if 0 + // find which features of the boxes are involved. + // the only feature pairs which occur in this function are VF, FV, and EE, even though the + // closest points might actually lie on sub-features, as in a VF contact might be used for + // what's actually a VV contact. this means some feature pairs could possibly seem distinct + // from others, although their contact positions are the same. don't know yet whether this + // matters. + + int sA[3], sB[3]; + + sA[0] = boxPointA.localPoint.getX() > 0.0f; + sA[1] = boxPointA.localPoint.getY() > 0.0f; + sA[2] = boxPointA.localPoint.getZ() > 0.0f; + + sB[0] = boxPointB.localPoint.getX() > 0.0f; + sB[1] = boxPointB.localPoint.getY() > 0.0f; + sB[2] = boxPointB.localPoint.getZ() > 0.0f; + + if ( featureA == F ) { + boxPointA.setFaceFeature( dimA[2], sA[dimA[2]] ); + } else if ( featureA == E ) { + boxPointA.setEdgeFeature( dimA[2], sA[dimA[2]], dimA[otherFaceDimA], sA[dimA[otherFaceDimA]] ); + } else { + boxPointA.setVertexFeature( sA[0], sA[1], sA[2] ); + } + + if ( featureB == F ) { + boxPointB.setFaceFeature( dimB[2], sB[dimB[2]] ); + } else if ( featureB == E ) { + boxPointB.setEdgeFeature( dimB[2], sB[dimB[2]], dimB[otherFaceDimB], sB[dimB[otherFaceDimB]] ); + } else { + boxPointB.setVertexFeature( sB[0], sB[1], sB[2] ); + } +#endif + + normal = transformA * axisA; + + if ( maxGap < 0.0f ) { + return (maxGap); + } else { + return (sqrtf( minDistSqr )); + } +} diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h new file mode 100644 index 00000000..0d4957de --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h @@ -0,0 +1,65 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +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 __BOXBOXDISTANCE_H__ +#define __BOXBOXDISTANCE_H__ + + +#include "Box.h" + + +//--------------------------------------------------------------------------- +// boxBoxDistance: +// +// description: +// this computes info that can be used for the collision response of two boxes. when the boxes +// do not overlap, the points are set to the closest points of the boxes, and a positive +// distance between them is returned. if the boxes do overlap, a negative distance is returned +// and the points are set to two points that would touch after the boxes are translated apart. +// the contact normal gives the direction to repel or separate the boxes when they touch or +// overlap (it's being approximated here as one of the 15 "separating axis" directions). +// +// returns: +// positive or negative distance between two boxes. +// +// args: +// vmVector3& normal: set to a unit contact normal pointing from box A to box B. +// +// BoxPoint& boxPointA, BoxPoint& boxPointB: +// set to a closest point or point of penetration on each box. +// +// Box boxA, Box boxB: +// boxes, represented as 3 half-widths +// +// const vmTransform3& transformA, const vmTransform3& transformB: +// box transformations, in world coordinates +// +// float distanceThreshold: +// the algorithm will exit early if it finds that the boxes are more distant than this +// threshold, and not compute a contact normal or points. if this distance returned +// exceeds the threshold, all the other output data may not have been computed. by +// default, this is set to MAX_FLOAT so it will have no effect. +// +//--------------------------------------------------------------------------- + +float +boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB, + PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB, + const vmTransform3 & transformB, + float distanceThreshold = FLT_MAX ); + +#endif /* __BOXBOXDISTANCE_H__ */ diff --git a/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt new file mode 100644 index 00000000..5b4a9070 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/readme.txt @@ -0,0 +1 @@ +Empty placeholder for future Libspe2 SPU task diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp new file mode 100644 index 00000000..fe619555 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp @@ -0,0 +1,214 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + + +#include "SpuSampleTask.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "../PlatformDefinitions.h" +#include "../SpuFakeDma.h" +#include "LinearMath/btMinMax.h" + +#ifdef __SPU__ +#include +#else +#include +#define spu_printf printf +#endif + +#define MAX_NUM_BODIES 8192 + +struct SampleTask_LocalStoreMemory +{ + ATTRIBUTE_ALIGNED16(char gLocalRigidBody [sizeof(btRigidBody)+16]); + ATTRIBUTE_ALIGNED16(void* gPointerArray[MAX_NUM_BODIES]); + +}; + + + + +//-- MAIN METHOD +void processSampleTask(void* userPtr, void* lsMemory) +{ + // BT_PROFILE("processSampleTask"); + + SampleTask_LocalStoreMemory* localMemory = (SampleTask_LocalStoreMemory*)lsMemory; + + SpuSampleTaskDesc* taskDescPtr = (SpuSampleTaskDesc*)userPtr; + SpuSampleTaskDesc& taskDesc = *taskDescPtr; + + switch (taskDesc.m_sampleCommand) + { + case CMD_SAMPLE_INTEGRATE_BODIES: + { + btTransform predictedTrans; + btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr; + + int batchSize = taskDesc.m_sampleValue; + if (batchSize>MAX_NUM_BODIES) + { + spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n"); + break; + } + int dmaArraySize = batchSize*sizeof(void*); + + uint64_t ppuArrayAddress = reinterpret_cast(eaPtr); + + // spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize); + + if (dmaArraySize>=16) + { + cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } else + { + stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize); + } + + + for ( int i=0;igLocalRigidBody[0]; + void* shortAdd = localMemory->gPointerArray[i]; + uint64_t ppuRigidBodyAddress = reinterpret_cast(shortAdd); + + // spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr); + + int dmaBodySize = sizeof(btRigidBody); + + cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + float timeStep = 1.f/60.f; + + btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj); + if (body) + { + if (body->isActive() && (!body->isStaticOrKinematicObject())) + { + body->predictIntegratedTransform(timeStep, predictedTrans); + body->proceedToTransform( predictedTrans); + void* ptr = (void*)localPtr; + // spu_printf("cellDmaLargePut from %llx to LS %llx\n",ptr,ppuRigidBodyAddress); + + cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + } + } + + } + break; + } + + + case CMD_SAMPLE_PREDICT_MOTION_BODIES: + { + btTransform predictedTrans; + btCollisionObject** eaPtr = (btCollisionObject**)taskDesc.m_mainMemoryPtr; + + int batchSize = taskDesc.m_sampleValue; + int dmaArraySize = batchSize*sizeof(void*); + + if (batchSize>MAX_NUM_BODIES) + { + spu_printf("SPU Error: exceed number of bodies, see MAX_NUM_BODIES in SpuSampleTask.cpp\n"); + break; + } + + uint64_t ppuArrayAddress = reinterpret_cast(eaPtr); + + // spu_printf("array location is at %llx, batchSize = %d, DMA size = %d\n",ppuArrayAddress,batchSize,dmaArraySize); + + if (dmaArraySize>=16) + { + cellDmaLargeGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } else + { + stallingUnalignedDmaSmallGet((void*)&localMemory->gPointerArray[0], ppuArrayAddress , dmaArraySize); + } + + + for ( int i=0;igLocalRigidBody[0]; + void* shortAdd = localMemory->gPointerArray[i]; + uint64_t ppuRigidBodyAddress = reinterpret_cast(shortAdd); + + // spu_printf("cellDmaGet at CMD_SAMPLE_INTEGRATE_BODIES from %llx to %llx\n",ppuRigidBodyAddress,localPtr); + + int dmaBodySize = sizeof(btRigidBody); + + cellDmaGet((void*)localPtr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + + + float timeStep = 1.f/60.f; + + btRigidBody* body = (btRigidBody*) localPtr;//btRigidBody::upcast(colObj); + if (body) + { + if (!body->isStaticOrKinematicObject()) + { + if (body->isActive()) + { + body->integrateVelocities( timeStep); + //damping + body->applyDamping(timeStep); + + body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform()); + + void* ptr = (void*)localPtr; + cellDmaLargePut(ptr, ppuRigidBodyAddress , dmaBodySize, DMA_TAG(1), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(1)); + } + } + } + + } + break; + } + + + + default: + { + + } + }; +} + + +#if defined(__CELLOS_LV2__) || defined (LIBSPE2) + +ATTRIBUTE_ALIGNED16(SampleTask_LocalStoreMemory gLocalStoreMemory); + +void* createSampleLocalStoreMemory() +{ + return &gLocalStoreMemory; +} +#else +void* createSampleLocalStoreMemory() +{ + return new SampleTask_LocalStoreMemory; +}; + +#endif diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h new file mode 100644 index 00000000..c8ebdfd6 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h @@ -0,0 +1,54 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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 SPU_SAMPLE_TASK_H +#define SPU_SAMPLE_TASK_H + +#include "../PlatformDefinitions.h" +#include "LinearMath/btScalar.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btMatrix3x3.h" + +#include "LinearMath/btAlignedAllocator.h" + + +enum +{ + CMD_SAMPLE_INTEGRATE_BODIES = 1, + CMD_SAMPLE_PREDICT_MOTION_BODIES +}; + + + +ATTRIBUTE_ALIGNED16(struct) SpuSampleTaskDesc +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + uint32_t m_sampleCommand; + uint32_t m_taskId; + + uint64_t m_mainMemoryPtr; + int m_sampleValue; + + +}; + + +void processSampleTask(void* userPtr, void* lsMemory); +void* createSampleLocalStoreMemory(); + + +#endif //SPU_SAMPLE_TASK_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/readme.txt b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/readme.txt new file mode 100644 index 00000000..5b4a9070 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSampleTask/readme.txt @@ -0,0 +1 @@ +Empty placeholder for future Libspe2 SPU task diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.cpp b/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.cpp new file mode 100644 index 00000000..11cb9e7c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.cpp @@ -0,0 +1,222 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +//#define __CELLOS_LV2__ 1 + +#define USE_SAMPLE_PROCESS 1 +#ifdef USE_SAMPLE_PROCESS + + +#include "SpuSampleTaskProcess.h" +#include + +#ifdef __SPU__ + + + +void SampleThreadFunc(void* userPtr,void* lsMemory) +{ + //do nothing + printf("hello world\n"); +} + + +void* SamplelsMemoryFunc() +{ + //don't create local store memory, just return 0 + return 0; +} + + +#else + + +#include "btThreadSupportInterface.h" + +//# include "SPUAssert.h" +#include + + + +extern "C" { + extern char SPU_SAMPLE_ELF_SYMBOL[]; +} + + + + + +SpuSampleTaskProcess::SpuSampleTaskProcess(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks) +:m_threadInterface(threadInterface), +m_maxNumOutstandingTasks(maxNumOutstandingTasks) +{ + + m_taskBusy.resize(m_maxNumOutstandingTasks); + m_spuSampleTaskDesc.resize(m_maxNumOutstandingTasks); + + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + m_taskBusy[i] = false; + } + m_numBusyTasks = 0; + m_currentTask = 0; + + m_initialized = false; + + m_threadInterface->startSPU(); + + +} + +SpuSampleTaskProcess::~SpuSampleTaskProcess() +{ + m_threadInterface->stopSPU(); + +} + + + +void SpuSampleTaskProcess::initialize() +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("SpuSampleTaskProcess::initialize()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + m_taskBusy[i] = false; + } + m_numBusyTasks = 0; + m_currentTask = 0; + m_initialized = true; + +} + + +void SpuSampleTaskProcess::issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand) +{ + +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("SpuSampleTaskProcess::issueTask (m_currentTask= %d\)n", m_currentTask); +#endif //DEBUG_SPU_TASK_SCHEDULING + + m_taskBusy[m_currentTask] = true; + m_numBusyTasks++; + + SpuSampleTaskDesc& taskDesc = m_spuSampleTaskDesc[m_currentTask]; + { + // send task description in event message + // no error checking here... + // but, currently, event queue can be no larger than NUM_WORKUNIT_TASKS. + + taskDesc.m_mainMemoryPtr = reinterpret_cast(sampleMainMemPtr); + taskDesc.m_sampleValue = sampleValue; + taskDesc.m_sampleCommand = sampleCommand; + + //some bookkeeping to recognize finished tasks + taskDesc.m_taskId = m_currentTask; + } + + + m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc, m_currentTask); + + // if all tasks busy, wait for spu event to clear the task. + + if (m_numBusyTasks >= m_maxNumOutstandingTasks) + { + unsigned int taskId; + unsigned int outputSize; + + for (int i=0;iwaitForResponse(&taskId, &outputSize); + + //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize); + + postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + + // find new task buffer + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + if (!m_taskBusy[i]) + { + m_currentTask = i; + break; + } + } +} + + +///Optional PPU-size post processing for each task +void SpuSampleTaskProcess::postProcess(int taskId, int outputSize) +{ + +} + + +void SpuSampleTaskProcess::flush() +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("\nSpuCollisionTaskProcess::flush()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + + // all tasks are issued, wait for all tasks to be complete + while(m_numBusyTasks > 0) + { +// Consolidating SPU code + unsigned int taskId; + unsigned int outputSize; + + for (int i=0;iwaitForResponse(&taskId, &outputSize); + } + + //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize); + + postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + + +} + +#endif + + +#endif //USE_SAMPLE_PROCESS diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.h b/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.h new file mode 100644 index 00000000..6173225a --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSampleTaskProcess.h @@ -0,0 +1,153 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_SPU_SAMPLE_TASK_PROCESS_H +#define BT_SPU_SAMPLE_TASK_PROCESS_H + +#include + + +#include "PlatformDefinitions.h" + +#include + +#include "LinearMath/btAlignedObjectArray.h" + + +#include "SpuSampleTask/SpuSampleTask.h" + + +//just add your commands here, try to keep them globally unique for debugging purposes +#define CMD_SAMPLE_TASK_COMMAND 10 + + + +/// SpuSampleTaskProcess handles SPU processing of collision pairs. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class SpuSampleTaskProcess +{ + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArraym_spuSampleTaskDesc; + + int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + int m_currentTask; + + bool m_initialized; + + void postProcess(int taskId, int outputSize); + + class btThreadSupportInterface* m_threadInterface; + + int m_maxNumOutstandingTasks; + + + +public: + SpuSampleTaskProcess(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks); + + ~SpuSampleTaskProcess(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize(); + + void issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush(); +}; + + +#if defined(USE_LIBSPE2) && defined(__SPU__) +////////////////////MAIN///////////////////////////// +#include "../SpuLibspe2Support.h" +#include +#include +#include + +void * SamplelsMemoryFunc(); +void SampleThreadFunc(void* userPtr,void* lsMemory); + +//#define DEBUG_LIBSPE2_MAINLOOP + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU is up \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = SamplelsMemoryFunc(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while (!shutdown) + { + received_message = spu_read_in_mbox(); + + + + switch(received_message) + { + case Spu_Mailbox_Event_Shutdown: + shutdown = true; + break; + case Spu_Mailbox_Event_Task: + // refresh the status +#ifdef DEBUG_LIBSPE2_MAINLOOP + printf("SPU recieved Task \n"); +#endif //DEBUG_LIBSPE2_MAINLOOP + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + SampleThreadFunc((void*)&taskDesc, reinterpret_cast (taskDesc.m_mainMemoryPtr) ); + break; + case Spu_Mailbox_Event_Nothing: + default: + break; + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + return 0; +} +////////////////////////////////////////////////////// +#endif + + + +#endif // BT_SPU_SAMPLE_TASK_PROCESS_H + diff --git a/Code/Physics/src/BulletMultiThreaded/SpuSync.h b/Code/Physics/src/BulletMultiThreaded/SpuSync.h new file mode 100644 index 00000000..4157b8f0 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/SpuSync.h @@ -0,0 +1,149 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marten Svanfeldt +*/ + +#ifndef BT_SPU_SYNC_H +#define BT_SPU_SYNC_H + + +#include "PlatformDefinitions.h" + + +#if defined(WIN32) + +#define WIN32_LEAN_AND_MEAN +#ifdef _XBOX +#include +#else +#include +#endif + +///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms. +class btSpinlock +{ +public: + //typedef volatile LONG SpinVariable; + typedef CRITICAL_SECTION SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { + //*spinVariable = 0; + InitializeCriticalSection(spinVariable); + } + + void Lock () + { + EnterCriticalSection(spinVariable); + } + + void Unlock () + { + LeaveCriticalSection(spinVariable); + } + +private: + SpinVariable* spinVariable; +}; + + +#elif defined (__CELLOS_LV2__) + +//#include +#include + +///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms. +class btSpinlock +{ +public: + typedef CellSyncMutex SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { +#ifndef __SPU__ + //*spinVariable = 1; + cellSyncMutexInitialize(spinVariable); +#endif + } + + + + void Lock () + { +#ifdef __SPU__ + // lock semaphore + /*while (cellAtomicTestAndDecr32(atomic_buf, (uint64_t)spinVariable) == 0) + { + + };*/ + cellSyncMutexLock((uint64_t)spinVariable); +#endif + } + + void Unlock () + { +#ifdef __SPU__ + //cellAtomicIncr32(atomic_buf, (uint64_t)spinVariable); + cellSyncMutexUnlock((uint64_t)spinVariable); +#endif + } + + +private: + SpinVariable* spinVariable; + ATTRIBUTE_ALIGNED128(uint32_t atomic_buf[32]); +}; + +#else +//create a dummy implementation (without any locking) useful for serial processing +class btSpinlock +{ +public: + typedef int SpinVariable; + + btSpinlock (SpinVariable* var) + : spinVariable (var) + {} + + void Init () + { + } + + void Lock () + { + } + + void Unlock () + { + } + +private: + SpinVariable* spinVariable; +}; + + +#endif + + +#endif //BT_SPU_SYNC_H + diff --git a/Code/Physics/src/BulletMultiThreaded/TrbDynBody.h b/Code/Physics/src/BulletMultiThreaded/TrbDynBody.h new file mode 100644 index 00000000..a7f4bf1b --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/TrbDynBody.h @@ -0,0 +1,79 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 BT_RB_DYN_BODY_H__ +#define BT_RB_DYN_BODY_H__ + +#include "vectormath/vmInclude.h" +using namespace Vectormath::Aos; + +#include "TrbStateVec.h" + +class CollObject; + +class TrbDynBody +{ +public: + TrbDynBody() + { + fMass = 0.0f; + fCollObject = NULL; + fElasticity = 0.2f; + fFriction = 0.8f; + } + + // Get methods + float getMass() const {return fMass;}; + float getElasticity() const {return fElasticity;} + float getFriction() const {return fFriction;} + CollObject* getCollObject() const {return fCollObject;} + const Matrix3 &getBodyInertia() const {return fIBody;} + const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;} + float getMassInv() const {return fMassInv;} + + // Set methods + void setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;} + void setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);} + void setElasticity(float elasticity) {fElasticity = elasticity;} + void setFriction(float friction) {fFriction = friction;} + void setCollObject(CollObject *collObj) {fCollObject = collObj;} + + void setBodyInertiaInv(const Matrix3 bodyInertiaInv) + { + fIBody = inverse(bodyInertiaInv); + fIBodyInv = bodyInertiaInv; + } + void setMassInv(float invMass) { + fMass= invMass>0.0f ? 1.0f/invMass :0.0f; + fMassInv=invMass; + } + + +private: + // Rigid Body constants + float fMass; // Rigid Body mass + float fMassInv; // Inverse of mass + Matrix3 fIBody; // Inertia matrix in body's coords + Matrix3 fIBodyInv; // Inertia matrix inverse in body's coords + float fElasticity; // Coefficient of restitution + float fFriction; // Coefficient of friction + +public: + CollObject* fCollObject; // Collision object corresponding the RB +} __attribute__ ((aligned(16))); + +#endif //BT_RB_DYN_BODY_H__ + diff --git a/Code/Physics/src/BulletMultiThreaded/TrbStateVec.h b/Code/Physics/src/BulletMultiThreaded/TrbStateVec.h new file mode 100644 index 00000000..b6d895e1 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/TrbStateVec.h @@ -0,0 +1,339 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 BT_TRBSTATEVEC_H__ +#define BT_TRBSTATEVEC_H__ + +#include +#ifdef PFX_USE_FREE_VECTORMATH +#include "vecmath/vmInclude.h" +#else +#include "vectormath/vmInclude.h" +#endif //PFX_USE_FREE_VECTORMATH + + +#include "PlatformDefinitions.h" + + +static inline vmVector3 read_Vector3(const float* p) +{ + vmVector3 v; + loadXYZ(v, p); + return v; +} + +static inline vmQuat read_Quat(const float* p) +{ + vmQuat vq; + loadXYZW(vq, p); + return vq; +} + +static inline void store_Vector3(const vmVector3 &src, float* p) +{ + vmVector3 v = src; + storeXYZ(v, p); +} + +static inline void store_Quat(const vmQuat &src, float* p) +{ + vmQuat vq = src; + storeXYZW(vq, p); +} + +// Motion Type +enum { + PfxMotionTypeFixed = 0, + PfxMotionTypeActive, + PfxMotionTypeKeyframe, + PfxMotionTypeOneWay, + PfxMotionTypeTrigger, + PfxMotionTypeCount +}; + +#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay +#define PFX_MOTION_MASK_STATIC 0x95 // Fixed,Keyframe,Trigger,Sleeping +#define PFX_MOTION_MASK_SLEEP 0x0e // Can sleep +#define PFX_MOTION_MASK_TYPE 0x7f + +// +// Rigid Body state +// + +#ifdef __CELLOS_LV2__ +ATTRIBUTE_ALIGNED128(class) TrbState +#else +ATTRIBUTE_ALIGNED16(class) TrbState +#endif + +{ +public: + TrbState() + { + setMotionType(PfxMotionTypeActive); + contactFilterSelf=contactFilterTarget=0xffffffff; + deleted = 0; + mSleeping = 0; + useSleep = 1; + trbBodyIdx=0; + mSleepCount=0; + useCcd = 0; + useContactCallback = 0; + useSleepCallback = 0; + linearDamping = 1.0f; + angularDamping = 0.99f; + } + + TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega ); + + uint16_t mSleepCount; + uint8_t mMotionType; + uint8_t deleted : 1; + uint8_t mSleeping : 1; + uint8_t useSleep : 1; + uint8_t useCcd : 1; + uint8_t useContactCallback : 1; + uint8_t useSleepCallback : 1; + + uint16_t trbBodyIdx; + uint32_t contactFilterSelf; + uint32_t contactFilterTarget; + + float center[3]; // AABB center(World) + float half[3]; // AABB half(World) + + float linearDamping; + float angularDamping; + + float deltaLinearVelocity[3]; + float deltaAngularVelocity[3]; + + float fX[3]; // position + float fQ[4]; // orientation + float fV[3]; // velocity + float fOmega[3]; // angular velocity + + inline void setZero(); // Zeroes out the elements + inline void setIdentity(); // Sets the rotation to identity and zeroes out the other elements + + bool isDeleted() const {return deleted==1;} + + uint16_t getRigidBodyId() const {return trbBodyIdx;} + void setRigidBodyId(uint16_t i) {trbBodyIdx = i;} + + + uint32_t getContactFilterSelf() const {return contactFilterSelf;} + void setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;} + + uint32_t getContactFilterTarget() const {return contactFilterTarget;} + void setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;} + + float getLinearDamping() const {return linearDamping;} + float getAngularDamping() const {return angularDamping;} + + void setLinearDamping(float damping) {linearDamping=damping;} + void setAngularDamping(float damping) {angularDamping=damping;} + + + uint8_t getMotionType() const {return mMotionType;} + void setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;} + + uint8_t getMotionMask() const {return (1< + +#include "SpuCollisionTaskProcess.h" + +#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h" + + + +///The number of threads should be equal to the number of available cores +///@todo: each worker should be linked to a single core, using SetThreadIdealProcessor. + +///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +///Setup and initialize SPU/CELL/Libspe2 +Win32ThreadSupport::Win32ThreadSupport(const Win32ThreadConstructionInfo & threadConstructionInfo) +{ + m_maxNumTasks = threadConstructionInfo.m_numThreads; + startThreads(threadConstructionInfo); +} + +///cleanup/shutdown Libspe2 +Win32ThreadSupport::~Win32ThreadSupport() +{ + stopSPU(); +} + + + + +#include + +DWORD WINAPI Thread_no_1( LPVOID lpParam ) +{ + + Win32ThreadSupport::btSpuStatus* status = (Win32ThreadSupport::btSpuStatus*)lpParam; + + + while (1) + { + WaitForSingleObject(status->m_eventStartHandle,INFINITE); + + void* userPtr = status->m_userPtr; + + if (userPtr) + { + btAssert(status->m_status); + status->m_userThreadFunc(userPtr,status->m_lsMemory); + status->m_status = 2; + SetEvent(status->m_eventCompletetHandle); + } else + { + //exit Thread + status->m_status = 3; + printf("Thread with taskId %i with handle %p exiting\n",status->m_taskId, status->m_threadHandle); + SetEvent(status->m_eventCompletetHandle); + break; + } + + } + + printf("Thread TERMINATED\n"); + return 0; + +} + +///send messages to SPUs +void Win32ThreadSupport::sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t taskId) +{ + /// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (ppu_address_t) &taskDesc); + + ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished + + + + switch (uiCommand) + { + case CMD_GATHER_AND_PROCESS_PAIRLIST: + { + + +//#define SINGLE_THREADED 1 +#ifdef SINGLE_THREADED + + btSpuStatus& spuStatus = m_activeSpuStatus[0]; + spuStatus.m_userPtr=(void*)uiArgument0; + spuStatus.m_userThreadFunc(spuStatus.m_userPtr,spuStatus.m_lsMemory); + HANDLE handle =0; +#else + + + btSpuStatus& spuStatus = m_activeSpuStatus[taskId]; + btAssert(taskId>=0); + btAssert(int(taskId) 1); + spuStatus.m_status = 0; + + ///need to find an active spu + btAssert(last>=0); + +#else + last=0; + btSpuStatus& spuStatus = m_activeSpuStatus[last]; +#endif //SINGLE_THREADED + + + + *puiArgument0 = spuStatus.m_taskId; + *puiArgument1 = spuStatus.m_status; + + +} + + +///check for messages from SPUs +bool Win32ThreadSupport::isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds) +{ + ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response + + ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' + + + btAssert(m_activeSpuStatus.size()); + + int last = -1; +#ifndef SINGLE_THREADED + DWORD res = WaitForMultipleObjects(m_completeHandles.size(), &m_completeHandles[0], FALSE, timeOutInMilliseconds); + + if ((res != STATUS_TIMEOUT) && (res != WAIT_FAILED)) + { + + btAssert(res != WAIT_FAILED); + last = res - WAIT_OBJECT_0; + + btSpuStatus& spuStatus = m_activeSpuStatus[last]; + btAssert(spuStatus.m_threadHandle); + btAssert(spuStatus.m_eventCompletetHandle); + + //WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE); + btAssert(spuStatus.m_status > 1); + spuStatus.m_status = 0; + + ///need to find an active spu + btAssert(last>=0); + + #else + last=0; + btSpuStatus& spuStatus = m_activeSpuStatus[last]; + #endif //SINGLE_THREADED + + + + *puiArgument0 = spuStatus.m_taskId; + *puiArgument1 = spuStatus.m_status; + + return true; + } + + return false; +} + + +void Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo) +{ + + m_activeSpuStatus.resize(threadConstructionInfo.m_numThreads); + m_completeHandles.resize(threadConstructionInfo.m_numThreads); + + m_maxNumTasks = threadConstructionInfo.m_numThreads; + + for (int i=0;i0) + { + WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE); + } + + + spuStatus.m_userPtr = 0; + SetEvent(spuStatus.m_eventStartHandle); + WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE); + + CloseHandle(spuStatus.m_eventCompletetHandle); + CloseHandle(spuStatus.m_eventStartHandle); + CloseHandle(spuStatus.m_threadHandle); + + } + + m_activeSpuStatus.clear(); + m_completeHandles.clear(); + +} + + + +class btWin32Barrier : public btBarrier +{ +private: + CRITICAL_SECTION mExternalCriticalSection; + CRITICAL_SECTION mLocalCriticalSection; + HANDLE mRunEvent,mNotifyEvent; + int mCounter,mEnableCounter; + int mMaxCount; + +public: + btWin32Barrier() + { + mCounter = 0; + mMaxCount = 1; + mEnableCounter = 0; + InitializeCriticalSection(&mExternalCriticalSection); + InitializeCriticalSection(&mLocalCriticalSection); + mRunEvent = CreateEvent(NULL,TRUE,FALSE,NULL); + mNotifyEvent = CreateEvent(NULL,TRUE,FALSE,NULL); + } + + virtual ~btWin32Barrier() + { + DeleteCriticalSection(&mExternalCriticalSection); + DeleteCriticalSection(&mLocalCriticalSection); + CloseHandle(mRunEvent); + CloseHandle(mNotifyEvent); + } + + void sync() + { + int eventId; + + EnterCriticalSection(&mExternalCriticalSection); + + //PFX_PRINTF("enter taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter); + + if(mEnableCounter > 0) { + ResetEvent(mNotifyEvent); + LeaveCriticalSection(&mExternalCriticalSection); + WaitForSingleObject(mNotifyEvent,INFINITE); + EnterCriticalSection(&mExternalCriticalSection); + } + + eventId = mCounter; + mCounter++; + + if(eventId == mMaxCount-1) { + SetEvent(mRunEvent); + + mEnableCounter = mCounter-1; + mCounter = 0; + } + else { + ResetEvent(mRunEvent); + LeaveCriticalSection(&mExternalCriticalSection); + WaitForSingleObject(mRunEvent,INFINITE); + EnterCriticalSection(&mExternalCriticalSection); + mEnableCounter--; + } + + if(mEnableCounter == 0) { + SetEvent(mNotifyEvent); + } + + //PFX_PRINTF("leave taskId %d count %d stage %d phase %d mEnableCounter %d\n",taskId,mCounter,debug&0xff,debug>>16,mEnableCounter); + + LeaveCriticalSection(&mExternalCriticalSection); + } + + virtual void setMaxCount(int n) {mMaxCount = n;} + virtual int getMaxCount() {return mMaxCount;} +}; + +class btWin32CriticalSection : public btCriticalSection +{ +private: + CRITICAL_SECTION mCriticalSection; + +public: + btWin32CriticalSection() + { + InitializeCriticalSection(&mCriticalSection); + } + + ~btWin32CriticalSection() + { + DeleteCriticalSection(&mCriticalSection); + } + + unsigned int getSharedParam(int i) + { + btAssert(i>=0&&i<31); + return mCommonBuff[i+1]; + } + + void setSharedParam(int i,unsigned int p) + { + btAssert(i>=0&&i<31); + mCommonBuff[i+1] = p; + } + + void lock() + { + EnterCriticalSection(&mCriticalSection); + mCommonBuff[0] = 1; + } + + void unlock() + { + mCommonBuff[0] = 0; + LeaveCriticalSection(&mCriticalSection); + } +}; + + +btBarrier* Win32ThreadSupport::createBarrier() +{ + unsigned char* mem = (unsigned char*)btAlignedAlloc(sizeof(btWin32Barrier),16); + btWin32Barrier* barrier = new(mem) btWin32Barrier(); + barrier->setMaxCount(getNumTasks()); + return barrier; +} + +btCriticalSection* Win32ThreadSupport::createCriticalSection() +{ + unsigned char* mem = (unsigned char*) btAlignedAlloc(sizeof(btWin32CriticalSection),16); + btWin32CriticalSection* cs = new(mem) btWin32CriticalSection(); + return cs; +} + +void Win32ThreadSupport::deleteBarrier(btBarrier* barrier) +{ + barrier->~btBarrier(); + btAlignedFree(barrier); +} + +void Win32ThreadSupport::deleteCriticalSection(btCriticalSection* criticalSection) +{ + criticalSection->~btCriticalSection(); + btAlignedFree(criticalSection); +} + + +#endif //USE_WIN32_THREADING + + diff --git a/Code/Physics/src/BulletMultiThreaded/Win32ThreadSupport.h b/Code/Physics/src/BulletMultiThreaded/Win32ThreadSupport.h new file mode 100644 index 00000000..f688e6c8 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/Win32ThreadSupport.h @@ -0,0 +1,141 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + +#ifdef USE_WIN32_THREADING //platform specific defines are defined in PlatformDefinitions.h + +#ifndef BT_WIN32_THREAD_SUPPORT_H +#define BT_WIN32_THREAD_SUPPORT_H + +#include "LinearMath/btAlignedObjectArray.h" + +#include "btThreadSupportInterface.h" + + +typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory); +typedef void* (*Win32lsMemorySetupFunc)(); + + +///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class Win32ThreadSupport : public btThreadSupportInterface +{ +public: + ///placeholder, until libspe2 support is there + struct btSpuStatus + { + uint32_t m_taskId; + uint32_t m_commandId; + uint32_t m_status; + + Win32ThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + void* m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc + + void* m_threadHandle; //this one is calling 'Win32ThreadFunc' + + void* m_eventStartHandle; + char m_eventStartHandleName[32]; + + void* m_eventCompletetHandle; + char m_eventCompletetHandleName[32]; + + + }; +private: + + btAlignedObjectArray m_activeSpuStatus; + btAlignedObjectArray m_completeHandles; + + int m_maxNumTasks; +public: + ///Setup and initialize SPU/CELL/Libspe2 + + struct Win32ThreadConstructionInfo + { + Win32ThreadConstructionInfo(const char* uniqueName, + Win32ThreadFunc userThreadFunc, + Win32lsMemorySetupFunc lsMemoryFunc, + int numThreads=1, + int threadStackSize=65535 + ) + :m_uniqueName(uniqueName), + m_userThreadFunc(userThreadFunc), + m_lsMemoryFunc(lsMemoryFunc), + m_numThreads(numThreads), + m_threadStackSize(threadStackSize) + { + + } + + const char* m_uniqueName; + Win32ThreadFunc m_userThreadFunc; + Win32lsMemorySetupFunc m_lsMemoryFunc; + int m_numThreads; + int m_threadStackSize; + + }; + + + + Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo); + +///cleanup/shutdown Libspe2 + virtual ~Win32ThreadSupport(); + + void startThreads(const Win32ThreadConstructionInfo& threadInfo); + + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1); + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1); + + virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds); + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU(); + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU(); + + virtual void setNumTasks(int numTasks) + { + m_maxNumTasks = numTasks; + } + + virtual int getNumTasks() const + { + return m_maxNumTasks; + } + + virtual void* getThreadLocalMemory(int taskId) + { + return m_activeSpuStatus[taskId].m_lsMemory; + } + virtual btBarrier* createBarrier(); + + virtual btCriticalSection* createCriticalSection(); + + virtual void deleteBarrier(btBarrier* barrier); + + virtual void deleteCriticalSection(btCriticalSection* criticalSection); +}; + +#endif //BT_WIN32_THREAD_SUPPORT_H + +#endif //USE_WIN32_THREADING diff --git a/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp new file mode 100644 index 00000000..e1d0219d --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.cpp @@ -0,0 +1,590 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +///The 3 following lines include the CPU implementation of the kernels, keep them in this order. +#include "BulletMultiThreaded/btGpuDefines.h" +#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h" +#include "BulletMultiThreaded/btGpuUtilsSharedCode.h" + + + +#include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btQuickprof.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" + + + +#include "btGpuDefines.h" +#include "btGpuUtilsSharedDefs.h" + +#include "btGpu3DGridBroadphaseSharedDefs.h" + +#include "btGpu3DGridBroadphase.h" +#include //for memset + + +#include + + + +static bt3DGridBroadphaseParams s3DGridBroadphaseParams; + + + +btGpu3DGridBroadphase::btGpu3DGridBroadphase( const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell, + btScalar cellFactorAABB) : + btSimpleBroadphase(maxSmallProxies, +// new (btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16)) btSortedOverlappingPairCache), + new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache), + m_bInitialized(false), + m_numBodies(0) +{ + _initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, + maxSmallProxies, maxLargeProxies, maxPairsPerBody, + maxBodiesPerCell, cellFactorAABB); +} + + + +btGpu3DGridBroadphase::btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache, + const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell, + btScalar cellFactorAABB) : + btSimpleBroadphase(maxSmallProxies, overlappingPairCache), + m_bInitialized(false), + m_numBodies(0) +{ + _initialize(worldAabbMin, worldAabbMax, gridSizeX, gridSizeY, gridSizeZ, + maxSmallProxies, maxLargeProxies, maxPairsPerBody, + maxBodiesPerCell, cellFactorAABB); +} + + + +btGpu3DGridBroadphase::~btGpu3DGridBroadphase() +{ + //btSimpleBroadphase will free memory of btSortedOverlappingPairCache, because m_ownsPairCache + btAssert(m_bInitialized); + _finalize(); +} + + + +void btGpu3DGridBroadphase::_initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell, + btScalar cellFactorAABB) +{ + // set various paramerers + m_ownsPairCache = true; + m_params.m_gridSizeX = gridSizeX; + m_params.m_gridSizeY = gridSizeY; + m_params.m_gridSizeZ = gridSizeZ; + m_params.m_numCells = m_params.m_gridSizeX * m_params.m_gridSizeY * m_params.m_gridSizeZ; + btVector3 w_org = worldAabbMin; + m_params.m_worldOriginX = w_org.getX(); + m_params.m_worldOriginY = w_org.getY(); + m_params.m_worldOriginZ = w_org.getZ(); + btVector3 w_size = worldAabbMax - worldAabbMin; + m_params.m_cellSizeX = w_size.getX() / m_params.m_gridSizeX; + m_params.m_cellSizeY = w_size.getY() / m_params.m_gridSizeY; + m_params.m_cellSizeZ = w_size.getZ() / m_params.m_gridSizeZ; + m_maxRadius = btMin(btMin(m_params.m_cellSizeX, m_params.m_cellSizeY), m_params.m_cellSizeZ); + m_maxRadius *= btScalar(0.5f); + m_params.m_numBodies = m_numBodies; + m_params.m_maxBodiesPerCell = maxBodiesPerCell; + + m_numLargeHandles = 0; + m_maxLargeHandles = maxLargeProxies; + + m_maxPairsPerBody = maxPairsPerBody; + + m_cellFactorAABB = cellFactorAABB; + + m_LastLargeHandleIndex = -1; + + btAssert(!m_bInitialized); + // allocate host storage + m_hBodiesHash = new unsigned int[m_maxHandles * 2]; + memset(m_hBodiesHash, 0x00, m_maxHandles*2*sizeof(unsigned int)); + + m_hCellStart = new unsigned int[m_params.m_numCells]; + memset(m_hCellStart, 0x00, m_params.m_numCells * sizeof(unsigned int)); + + m_hPairBuffStartCurr = new unsigned int[m_maxHandles * 2 + 2]; + // --------------- for now, init with m_maxPairsPerBody for each body + m_hPairBuffStartCurr[0] = 0; + m_hPairBuffStartCurr[1] = 0; + for(int i = 1; i <= m_maxHandles; i++) + { + m_hPairBuffStartCurr[i * 2] = m_hPairBuffStartCurr[(i-1) * 2] + m_maxPairsPerBody; + m_hPairBuffStartCurr[i * 2 + 1] = 0; + } + //---------------- + unsigned int numAABB = m_maxHandles + m_maxLargeHandles; + m_hAABB = new bt3DGrid3F1U[numAABB * 2]; // AABB Min & Max + + m_hPairBuff = new unsigned int[m_maxHandles * m_maxPairsPerBody]; + memset(m_hPairBuff, 0x00, m_maxHandles * m_maxPairsPerBody * sizeof(unsigned int)); // needed? + + m_hPairScan = new unsigned int[m_maxHandles + 1]; + + m_hPairOut = new unsigned int[m_maxHandles * m_maxPairsPerBody]; + +// large proxies + + // allocate handles buffer and put all handles on free list + m_pLargeHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * m_maxLargeHandles, 16); + m_pLargeHandles = new(m_pLargeHandlesRawPtr) btSimpleBroadphaseProxy[m_maxLargeHandles]; + m_firstFreeLargeHandle = 0; + { + for (int i = m_firstFreeLargeHandle; i < m_maxLargeHandles; i++) + { + m_pLargeHandles[i].SetNextFree(i + 1); + m_pLargeHandles[i].m_uniqueId = m_maxHandles+2+i; + } + m_pLargeHandles[m_maxLargeHandles - 1].SetNextFree(0); + } + +// debug data + m_numPairsAdded = 0; + m_numOverflows = 0; + + m_bInitialized = true; +} + + + +void btGpu3DGridBroadphase::_finalize() +{ + btAssert(m_bInitialized); + delete [] m_hBodiesHash; + delete [] m_hCellStart; + delete [] m_hPairBuffStartCurr; + delete [] m_hAABB; + delete [] m_hPairBuff; + delete [] m_hPairScan; + delete [] m_hPairOut; + btAlignedFree(m_pLargeHandlesRawPtr); + m_bInitialized = false; +} + + + +void btGpu3DGridBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) +{ + if(m_numHandles <= 0) + { + BT_PROFILE("addLarge2LargePairsToCache"); + addLarge2LargePairsToCache(dispatcher); + return; + } + // update constants + setParameters(&m_params); + // prepare AABB array + prepareAABB(); + // calculate hash + calcHashAABB(); + // sort bodies based on hash + sortHash(); + // find start of each cell + findCellStart(); + // findOverlappingPairs (small/small) + findOverlappingPairs(); + // findOverlappingPairs (small/large) + findPairsLarge(); + // add pairs to CPU cache + computePairCacheChanges(); + scanOverlappingPairBuff(); + squeezeOverlappingPairBuff(); + addPairsToCache(dispatcher); + // find and add large/large pairs to CPU cache + addLarge2LargePairsToCache(dispatcher); + return; +} + + + +void btGpu3DGridBroadphase::addPairsToCache(btDispatcher* dispatcher) +{ + m_numPairsAdded = 0; + m_numPairsRemoved = 0; + for(int i = 0; i < m_numHandles; i++) + { + unsigned int num = m_hPairScan[i+1] - m_hPairScan[i]; + if(!num) + { + continue; + } + unsigned int* pInp = m_hPairOut + m_hPairScan[i]; + unsigned int index0 = m_hAABB[i * 2].uw; + btSimpleBroadphaseProxy* proxy0 = &m_pHandles[index0]; + for(unsigned int j = 0; j < num; j++) + { + unsigned int indx1_s = pInp[j]; + unsigned int index1 = indx1_s & (~BT_3DGRID_PAIR_ANY_FLG); + btSimpleBroadphaseProxy* proxy1; + if(index1 < (unsigned int)m_maxHandles) + { + proxy1 = &m_pHandles[index1]; + } + else + { + index1 -= m_maxHandles; + btAssert((index1 >= 0) && (index1 < (unsigned int)m_maxLargeHandles)); + proxy1 = &m_pLargeHandles[index1]; + } + if(indx1_s & BT_3DGRID_PAIR_NEW_FLG) + { + m_pairCache->addOverlappingPair(proxy0,proxy1); + m_numPairsAdded++; + } + else + { + m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); + m_numPairsRemoved++; + } + } + } +} + + + +btBroadphaseProxy* btGpu3DGridBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) +{ + btBroadphaseProxy* proxy; + bool bIsLarge = isLargeProxy(aabbMin, aabbMax); + if(bIsLarge) + { + if (m_numLargeHandles >= m_maxLargeHandles) + { + ///you have to increase the cell size, so 'large' proxies become 'small' proxies (fitting a cell) + btAssert(0); + return 0; //should never happen, but don't let the game crash ;-) + } + btAssert((aabbMin[0]<= aabbMax[0]) && (aabbMin[1]<= aabbMax[1]) && (aabbMin[2]<= aabbMax[2])); + int newHandleIndex = allocLargeHandle(); + proxy = new (&m_pLargeHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy); + } + else + { + proxy = btSimpleBroadphase::createProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, dispatcher, multiSapProxy); + } + return proxy; +} + + + +void btGpu3DGridBroadphase::destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher) +{ + bool bIsLarge = isLargeProxy(proxy); + if(bIsLarge) + { + + btSimpleBroadphaseProxy* proxy0 = static_cast(proxy); + freeLargeHandle(proxy0); + m_pairCache->removeOverlappingPairsContainingProxy(proxy,dispatcher); + } + else + { + btSimpleBroadphase::destroyProxy(proxy, dispatcher); + } + return; +} + + + +void btGpu3DGridBroadphase::resetPool(btDispatcher* dispatcher) +{ + m_hPairBuffStartCurr[0] = 0; + m_hPairBuffStartCurr[1] = 0; + for(int i = 1; i <= m_maxHandles; i++) + { + m_hPairBuffStartCurr[i * 2] = m_hPairBuffStartCurr[(i-1) * 2] + m_maxPairsPerBody; + m_hPairBuffStartCurr[i * 2 + 1] = 0; + } +} + + + +bool btGpu3DGridBroadphase::isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax) +{ + btVector3 diag = aabbMax - aabbMin; + + ///use the bounding sphere radius of this bounding box, to include rotation + btScalar radius = diag.length() * btScalar(0.5f); + radius *= m_cellFactorAABB; // user-defined factor + + return (radius > m_maxRadius); +} + + + +bool btGpu3DGridBroadphase::isLargeProxy(btBroadphaseProxy* proxy) +{ + return (proxy->getUid() >= (m_maxHandles+2)); +} + + + +void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher) +{ + int i,j; + if (m_numLargeHandles <= 0) + { + return; + } + int new_largest_index = -1; + for(i = 0; i <= m_LastLargeHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy0 = &m_pLargeHandles[i]; + if(!proxy0->m_clientObject) + { + continue; + } + new_largest_index = i; + for(j = i + 1; j <= m_LastLargeHandleIndex; j++) + { + btSimpleBroadphaseProxy* proxy1 = &m_pLargeHandles[j]; + if(!proxy1->m_clientObject) + { + continue; + } + btAssert(proxy0 != proxy1); + btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); + btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); + if(aabbOverlap(p0,p1)) + { + if (!m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->addOverlappingPair(proxy0,proxy1); + } + } + else + { + if(m_pairCache->findPair(proxy0,proxy1)) + { + m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); + } + } + } + } + m_LastLargeHandleIndex = new_largest_index; + return; +} + + + +void btGpu3DGridBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) +{ + btSimpleBroadphase::rayTest(rayFrom, rayTo, rayCallback); + for (int i=0; i <= m_LastLargeHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy = &m_pLargeHandles[i]; + if(!proxy->m_clientObject) + { + continue; + } + rayCallback.process(proxy); + } +} + + + +// +// overrides for CPU version +// + + + +void btGpu3DGridBroadphase::prepareAABB() +{ + BT_PROFILE("prepareAABB"); + bt3DGrid3F1U* pBB = m_hAABB; + int i; + int new_largest_index = -1; + unsigned int num_small = 0; + for(i = 0; i <= m_LastHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i]; + if(!proxy0->m_clientObject) + { + continue; + } + new_largest_index = i; + pBB->fx = proxy0->m_aabbMin.getX(); + pBB->fy = proxy0->m_aabbMin.getY(); + pBB->fz = proxy0->m_aabbMin.getZ(); + pBB->uw = i; + pBB++; + pBB->fx = proxy0->m_aabbMax.getX(); + pBB->fy = proxy0->m_aabbMax.getY(); + pBB->fz = proxy0->m_aabbMax.getZ(); + pBB->uw = num_small; + pBB++; + num_small++; + } + m_LastHandleIndex = new_largest_index; + new_largest_index = -1; + unsigned int num_large = 0; + for(i = 0; i <= m_LastLargeHandleIndex; i++) + { + btSimpleBroadphaseProxy* proxy0 = &m_pLargeHandles[i]; + if(!proxy0->m_clientObject) + { + continue; + } + new_largest_index = i; + pBB->fx = proxy0->m_aabbMin.getX(); + pBB->fy = proxy0->m_aabbMin.getY(); + pBB->fz = proxy0->m_aabbMin.getZ(); + pBB->uw = i + m_maxHandles; + pBB++; + pBB->fx = proxy0->m_aabbMax.getX(); + pBB->fy = proxy0->m_aabbMax.getY(); + pBB->fz = proxy0->m_aabbMax.getZ(); + pBB->uw = num_large + m_maxHandles; + pBB++; + num_large++; + } + m_LastLargeHandleIndex = new_largest_index; + // paranoid checks + btAssert(num_small == m_numHandles); + btAssert(num_large == m_numLargeHandles); + return; +} + + + +void btGpu3DGridBroadphase::setParameters(bt3DGridBroadphaseParams* hostParams) +{ + s3DGridBroadphaseParams = *hostParams; + return; +} + + + +void btGpu3DGridBroadphase::calcHashAABB() +{ + BT_PROFILE("bt3DGrid_calcHashAABB"); + btGpu_calcHashAABB(m_hAABB, m_hBodiesHash, m_numHandles); + return; +} + + + +void btGpu3DGridBroadphase::sortHash() +{ + class bt3DGridHashKey + { + public: + unsigned int hash; + unsigned int index; + void quickSort(bt3DGridHashKey* pData, int lo, int hi) + { + int i=lo, j=hi; + bt3DGridHashKey x = pData[(lo+hi)/2]; + do + { + while(pData[i].hash > x.hash) i++; + while(x.hash > pData[j].hash) j--; + if(i <= j) + { + bt3DGridHashKey t = pData[i]; + pData[i] = pData[j]; + pData[j] = t; + i++; j--; + } + } while(i <= j); + if(lo < j) pData->quickSort(pData, lo, j); + if(i < hi) pData->quickSort(pData, i, hi); + } + }; + BT_PROFILE("bt3DGrid_sortHash"); + bt3DGridHashKey* pHash = (bt3DGridHashKey*)m_hBodiesHash; + pHash->quickSort(pHash, 0, m_numHandles - 1); + return; +} + + + +void btGpu3DGridBroadphase::findCellStart() +{ + BT_PROFILE("bt3DGrid_findCellStart"); + btGpu_findCellStart(m_hBodiesHash, m_hCellStart, m_numHandles, m_params.m_numCells); + return; +} + + + +void btGpu3DGridBroadphase::findOverlappingPairs() +{ + BT_PROFILE("bt3DGrid_findOverlappingPairs"); + btGpu_findOverlappingPairs(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr, m_numHandles); + return; +} + + + +void btGpu3DGridBroadphase::findPairsLarge() +{ + BT_PROFILE("bt3DGrid_findPairsLarge"); + btGpu_findPairsLarge(m_hAABB, m_hBodiesHash, m_hCellStart, m_hPairBuff, m_hPairBuffStartCurr, m_numHandles, m_numLargeHandles); + return; +} + + + +void btGpu3DGridBroadphase::computePairCacheChanges() +{ + BT_PROFILE("bt3DGrid_computePairCacheChanges"); + btGpu_computePairCacheChanges(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hAABB, m_numHandles); + return; +} + + + +void btGpu3DGridBroadphase::scanOverlappingPairBuff() +{ + BT_PROFILE("bt3DGrid_scanOverlappingPairBuff"); + m_hPairScan[0] = 0; + for(int i = 1; i <= m_numHandles; i++) + { + unsigned int delta = m_hPairScan[i]; + m_hPairScan[i] = m_hPairScan[i-1] + delta; + } + return; +} + + + +void btGpu3DGridBroadphase::squeezeOverlappingPairBuff() +{ + BT_PROFILE("bt3DGrid_squeezeOverlappingPairBuff"); + btGpu_squeezeOverlappingPairBuff(m_hPairBuff, m_hPairBuffStartCurr, m_hPairScan, m_hPairOut, m_hAABB, m_numHandles); + return; +} + + + +#include "btGpu3DGridBroadphaseSharedCode.h" + + diff --git a/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.h b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.h new file mode 100644 index 00000000..1154a5fa --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphase.h @@ -0,0 +1,140 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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 BTGPU3DGRIDBROADPHASE_H +#define BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- + +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" + +#include "btGpu3DGridBroadphaseSharedTypes.h" + +//---------------------------------------------------------------------------------------- + +///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs + +class btGpu3DGridBroadphase : public btSimpleBroadphase +{ +protected: + bool m_bInitialized; + unsigned int m_numBodies; + unsigned int m_numCells; + unsigned int m_maxPairsPerBody; + btScalar m_cellFactorAABB; + unsigned int m_maxBodiesPerCell; + bt3DGridBroadphaseParams m_params; + btScalar m_maxRadius; + // CPU data + unsigned int* m_hBodiesHash; + unsigned int* m_hCellStart; + unsigned int* m_hPairBuffStartCurr; + bt3DGrid3F1U* m_hAABB; + unsigned int* m_hPairBuff; + unsigned int* m_hPairScan; + unsigned int* m_hPairOut; +// large proxies + int m_numLargeHandles; + int m_maxLargeHandles; + int m_LastLargeHandleIndex; + btSimpleBroadphaseProxy* m_pLargeHandles; + void* m_pLargeHandlesRawPtr; + int m_firstFreeLargeHandle; + int allocLargeHandle() + { + btAssert(m_numLargeHandles < m_maxLargeHandles); + int freeLargeHandle = m_firstFreeLargeHandle; + m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree(); + m_numLargeHandles++; + if(freeLargeHandle > m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex = freeLargeHandle; + } + return freeLargeHandle; + } + void freeLargeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy - m_pLargeHandles); + btAssert((handle >= 0) && (handle < m_maxHandles)); + if(handle == m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex--; + } + proxy->SetNextFree(m_firstFreeLargeHandle); + m_firstFreeLargeHandle = handle; + proxy->m_clientObject = 0; + m_numLargeHandles--; + } + bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax); + bool isLargeProxy(btBroadphaseProxy* proxy); +// debug + unsigned int m_numPairsAdded; + unsigned int m_numPairsRemoved; + unsigned int m_numOverflows; +// +public: + btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache, + const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + virtual ~btGpu3DGridBroadphase(); + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); + + + virtual void resetPool(btDispatcher* dispatcher); + +protected: + void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + void _finalize(); + void addPairsToCache(btDispatcher* dispatcher); + void addLarge2LargePairsToCache(btDispatcher* dispatcher); + +// overrides for CPU version + virtual void setParameters(bt3DGridBroadphaseParams* hostParams); + virtual void prepareAABB(); + virtual void calcHashAABB(); + virtual void sortHash(); + virtual void findCellStart(); + virtual void findOverlappingPairs(); + virtual void findPairsLarge(); + virtual void computePairCacheChanges(); + virtual void scanOverlappingPairBuff(); + virtual void squeezeOverlappingPairBuff(); +}; + +//---------------------------------------------------------------------------------------- + +#endif //BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- diff --git a/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h new file mode 100644 index 00000000..e0afb87b --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h @@ -0,0 +1,430 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +// K E R N E L F U N C T I O N S +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- + +// calculate position in uniform grid +BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p) +{ + int3 gridPos; + gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX); + gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY); + gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ); + return gridPos; +} // bt3DGrid_calcGridPos() + +//---------------------------------------------------------------------------------------- + +// calculate address in grid from position (clamping to edges) +BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos) +{ + gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1)); + gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1)); + gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1)); + return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x; +} // bt3DGrid_calcGridHash() + +//---------------------------------------------------------------------------------------- + +// calculate grid hash value for each body using its AABB +BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index*2]; + bt3DGrid3F1U bbMax = pAABB[index*2 + 1]; + float4 pos; + pos.x = (bbMin.fx + bbMax.fx) * 0.5f; + pos.y = (bbMin.fy + bbMax.fy) * 0.5f; + pos.z = (bbMin.fz + bbMax.fz) * 0.5f; + // get address in grid + int3 gridPos = bt3DGrid_calcGridPos(pos); + uint gridHash = bt3DGrid_calcGridHash(gridPos); + // store grid hash and body index + pHash[index] = BT_GPU_make_uint2(gridHash, index); +} // calcHashAABBD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + // Load hash data into shared memory so that we can look + // at neighboring body's hash value without loading + // two hash values per thread + BT_GPU___shared__ uint sharedHash[257]; + sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x; + if((index > 0) && (BT_GPU_threadIdx.x == 0)) + { + // first thread in block must load neighbor body hash + volatile uint2 prevData = pHash[index-1]; + sharedHash[0] = prevData.x; + } + BT_GPU___syncthreads(); + if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x])) + { + cellStart[sortedData.x] = index; + } +} // findCellStartD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1) +{ + return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) && + (min0.fy <= max1.fy)&& (min1.fy <= max0.fy) && + (min0.fz <= max1.fz)&& (min1.fz <= max0.fz); +} // cudaTestAABBOverlap() + +//---------------------------------------------------------------------------------------- + +BT_GPU___device__ void findPairsInCell( int3 gridPos, + uint index, + uint2* pHash, + uint* pCellStart, + bt3DGrid3F1U* pAABB, + uint* pPairBuff, + uint2* pPairBuffStartCurr, + uint numBodies) +{ + if ( (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1) + || (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1) + || (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1)) + { + return; + } + uint gridHash = bt3DGrid_calcGridHash(gridPos); + // get start of bucket for this cell + uint bucketStart = pCellStart[gridHash]; + if (bucketStart == 0xffffffff) + { + return; // cell empty + } + // iterate over bodies in this cell + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + uint handleIndex = min0.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1]; + uint curr_max = start_curr_next.x - start - 1; + uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell; + bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd; + for(uint index2 = bucketStart; index2 < bucketEnd; index2++) + { + uint2 cellData = pHash[index2]; + if (cellData.x != gridHash) + { + break; // no longer in same bucket + } + uint unsorted_indx2 = cellData.y; + if (unsorted_indx2 < unsorted_indx) // check not colliding with self + { + bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2); + bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1); + if(cudaTestAABBOverlap(min0, max0, min1, max1)) + { + uint handleIndex2 = min1.uw; + uint k; + for(k = 0; k < curr; k++) + { + uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG); + if(old_pair == handleIndex2) + { + pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG; + break; + } + } + if(k == curr) + { + if(curr >= curr_max) + { // not a good solution, but let's avoid crash + break; + } + pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG; + curr++; + } + } + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr); + return; +} // findPairsInCell() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findOverlappingPairsD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, + uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + float4 pos; + pos.x = (bbMin.fx + bbMax.fx) * 0.5f; + pos.y = (bbMin.fy + bbMax.fy) * 0.5f; + pos.z = (bbMin.fz + bbMax.fz) * 0.5f; + // get address in grid + int3 gridPos = bt3DGrid_calcGridPos(pos); + // examine only neighbouring cells + for(int z=-1; z<=1; z++) { + for(int y=-1; y<=1; y++) { + for(int x=-1; x<=1; x++) { + findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies); + } + } + } +} // findOverlappingPairsD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void findPairsLargeD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff, + uint2* pPairBuffStartCurr, uint numBodies, uint numLarge) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + uint2 sortedData = pHash[index]; + uint unsorted_indx = sortedData.y; + bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2); + bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1); + uint handleIndex = min0.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1]; + uint curr_max = start_curr_next.x - start - 1; + for(uint i = 0; i < numLarge; i++) + { + uint indx2 = numBodies + i; + bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2); + bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1); + if(cudaTestAABBOverlap(min0, max0, min1, max1)) + { + uint k; + uint handleIndex2 = min1.uw; + for(k = 0; k < curr; k++) + { + uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG); + if(old_pair == handleIndex2) + { + pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG; + break; + } + } + if(k == curr) + { + pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG; + if(curr >= curr_max) + { // not a good solution, but let's avoid crash + break; + } + curr++; + } + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr); + return; +} // findPairsLargeD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr, + uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index * 2]; + uint handleIndex = bbMin.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint *pInp = pPairBuff + start; + uint num_changes = 0; + for(uint k = 0; k < curr; k++, pInp++) + { + if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG)) + { + num_changes++; + } + } + pPairScan[index+1] = num_changes; +} // computePairCacheChangesD() + +//---------------------------------------------------------------------------------------- + +BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan, + uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies) +{ + int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x; + if(index >= (int)numBodies) + { + return; + } + bt3DGrid3F1U bbMin = pAABB[index * 2]; + uint handleIndex = bbMin.uw; + uint2 start_curr = pPairBuffStartCurr[handleIndex]; + uint start = start_curr.x; + uint curr = start_curr.y; + uint* pInp = pPairBuff + start; + uint* pOut = pPairOut + pPairScan[index]; + uint* pOut2 = pInp; + uint num = 0; + for(uint k = 0; k < curr; k++, pInp++) + { + if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG)) + { + *pOut = *pInp; + pOut++; + } + if((*pInp) & BT_3DGRID_PAIR_ANY_FLG) + { + *pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG); + pOut2++; + num++; + } + } + pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num); +} // squeezeOverlappingPairBuffD() + + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +// E N D O F K E R N E L F U N C T I O N S +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- + +extern "C" +{ + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + // execute the kernel + BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies)); + // check if kernel invocation generated an error + BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed"); +} // calcHashAABB() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint))); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD"); +} // findCellStart() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies)) +{ +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U))); +#endif + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD"); +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex)); +#endif +} // findOverlappingPairs() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge)) +{ +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U))); +#endif + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD"); +#if B_CUDA_USE_TEX + BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex)); +#endif +} // findPairsLarge() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD"); +} // computePairCacheChanges() + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies)) +{ + int numThreads, numBlocks; + BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads); + BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies)); + BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD"); +} // btCuda_squeezeOverlappingPairBuff() + +//------------------------------------------------------------------------------------------------ + +} // extern "C" + +//------------------------------------------------------------------------------------------------ +//------------------------------------------------------------------------------------------------ +//------------------------------------------------------------------------------------------------ diff --git a/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h new file mode 100644 index 00000000..607bda7e --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h @@ -0,0 +1,61 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +// Shared definitions for GPU-based 3D Grid collision detection broadphase + +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +// Keep this file free from Bullet headers +// it is included into both CUDA and CPU code +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H +#define BTGPU3DGRIDBROADPHASESHAREDDEFS_H + +//---------------------------------------------------------------------------------------- + +#include "btGpu3DGridBroadphaseSharedTypes.h" + +//---------------------------------------------------------------------------------------- + +extern "C" +{ + +//---------------------------------------------------------------------------------------- + +void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies); + +void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells); + +void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies); + +void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge); + +void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies); + +void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies); + + +//---------------------------------------------------------------------------------------- + +} // extern "C" + +//---------------------------------------------------------------------------------------- + +#endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H + diff --git a/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h new file mode 100644 index 00000000..616a4009 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h @@ -0,0 +1,67 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + +//---------------------------------------------------------------------------------------- + +// Shared definitions for GPU-based 3D Grid collision detection broadphase + +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! +// Keep this file free from Bullet headers +// it is included into both CUDA and CPU code +//!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASESHAREDTYPES_H +#define BTGPU3DGRIDBROADPHASESHAREDTYPES_H + +//---------------------------------------------------------------------------------------- + +#define BT_3DGRID_PAIR_FOUND_FLG (0x40000000) +#define BT_3DGRID_PAIR_NEW_FLG (0x20000000) +#define BT_3DGRID_PAIR_ANY_FLG (BT_3DGRID_PAIR_FOUND_FLG | BT_3DGRID_PAIR_NEW_FLG) + +//---------------------------------------------------------------------------------------- + +struct bt3DGridBroadphaseParams +{ + unsigned int m_gridSizeX; + unsigned int m_gridSizeY; + unsigned int m_gridSizeZ; + unsigned int m_numCells; + float m_worldOriginX; + float m_worldOriginY; + float m_worldOriginZ; + float m_cellSizeX; + float m_cellSizeY; + float m_cellSizeZ; + unsigned int m_numBodies; + unsigned int m_maxBodiesPerCell; +}; + +//---------------------------------------------------------------------------------------- + +struct bt3DGrid3F1U +{ + float fx; + float fy; + float fz; + unsigned int uw; +}; + +//---------------------------------------------------------------------------------------- + +#endif // BTGPU3DGRIDBROADPHASESHAREDTYPES_H + diff --git a/Code/Physics/src/BulletMultiThreaded/btGpuDefines.h b/Code/Physics/src/BulletMultiThreaded/btGpuDefines.h new file mode 100644 index 00000000..f9315ab6 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btGpuDefines.h @@ -0,0 +1,211 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +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. +*/ + + + +// definitions for "GPU on CPU" code + + +#ifndef BT_GPU_DEFINES_H +#define BT_GPU_DEFINES_H + +typedef unsigned int uint; + +struct int2 +{ + int x, y; +}; + +struct uint2 +{ + unsigned int x, y; +}; + +struct int3 +{ + int x, y, z; +}; + +struct uint3 +{ + unsigned int x, y, z; +}; + +struct float4 +{ + float x, y, z, w; +}; + +struct float3 +{ + float x, y, z; +}; + + +#define BT_GPU___device__ inline +#define BT_GPU___devdata__ +#define BT_GPU___constant__ +#define BT_GPU_max(a, b) ((a) > (b) ? (a) : (b)) +#define BT_GPU_min(a, b) ((a) < (b) ? (a) : (b)) +#define BT_GPU_params s3DGridBroadphaseParams +#define BT_GPU___mul24(a, b) ((a)*(b)) +#define BT_GPU___global__ inline +#define BT_GPU___shared__ static +#define BT_GPU___syncthreads() +#define CUDART_PI_F SIMD_PI + +static inline uint2 bt3dGrid_make_uint2(unsigned int x, unsigned int y) +{ + uint2 t; t.x = x; t.y = y; return t; +} +#define BT_GPU_make_uint2(x, y) bt3dGrid_make_uint2(x, y) + +static inline int3 bt3dGrid_make_int3(int x, int y, int z) +{ + int3 t; t.x = x; t.y = y; t.z = z; return t; +} +#define BT_GPU_make_int3(x, y, z) bt3dGrid_make_int3(x, y, z) + +static inline float3 bt3dGrid_make_float3(float x, float y, float z) +{ + float3 t; t.x = x; t.y = y; t.z = z; return t; +} +#define BT_GPU_make_float3(x, y, z) bt3dGrid_make_float3(x, y, z) + +static inline float3 bt3dGrid_make_float34(float4 f) +{ + float3 t; t.x = f.x; t.y = f.y; t.z = f.z; return t; +} +#define BT_GPU_make_float34(f) bt3dGrid_make_float34(f) + +static inline float3 bt3dGrid_make_float31(float f) +{ + float3 t; t.x = t.y = t.z = f; return t; +} +#define BT_GPU_make_float31(x) bt3dGrid_make_float31(x) + +static inline float4 bt3dGrid_make_float42(float3 v, float f) +{ + float4 t; t.x = v.x; t.y = v.y; t.z = v.z; t.w = f; return t; +} +#define BT_GPU_make_float42(a, b) bt3dGrid_make_float42(a, b) + +static inline float4 bt3dGrid_make_float44(float a, float b, float c, float d) +{ + float4 t; t.x = a; t.y = b; t.z = c; t.w = d; return t; +} +#define BT_GPU_make_float44(a, b, c, d) bt3dGrid_make_float44(a, b, c, d) + +inline int3 operator+(int3 a, int3 b) +{ + return bt3dGrid_make_int3(a.x + b.x, a.y + b.y, a.z + b.z); +} + +inline float4 operator+(const float4& a, const float4& b) +{ + float4 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; r.w = a.w+b.w; return r; +} +inline float4 operator*(const float4& a, float fact) +{ + float4 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; r.w = a.w*fact; return r; +} +inline float4 operator*(float fact, float4& a) +{ + return (a * fact); +} +inline float4& operator*=(float4& a, float fact) +{ + a = fact * a; + return a; +} +inline float4& operator+=(float4& a, const float4& b) +{ + a = a + b; + return a; +} + +inline float3 operator+(const float3& a, const float3& b) +{ + float3 r; r.x = a.x+b.x; r.y = a.y+b.y; r.z = a.z+b.z; return r; +} +inline float3 operator-(const float3& a, const float3& b) +{ + float3 r; r.x = a.x-b.x; r.y = a.y-b.y; r.z = a.z-b.z; return r; +} +static inline float bt3dGrid_dot(float3& a, float3& b) +{ + return a.x*b.x+a.y*b.y+a.z*b.z; +} +#define BT_GPU_dot(a,b) bt3dGrid_dot(a,b) + +static inline float bt3dGrid_dot4(float4& a, float4& b) +{ + return a.x*b.x+a.y*b.y+a.z*b.z+a.w*b.w; +} +#define BT_GPU_dot4(a,b) bt3dGrid_dot4(a,b) + +static inline float3 bt3dGrid_cross(const float3& a, const float3& b) +{ + float3 r; r.x = a.y*b.z-a.z*b.y; r.y = -a.x*b.z+a.z*b.x; r.z = a.x*b.y-a.y*b.x; return r; +} +#define BT_GPU_cross(a,b) bt3dGrid_cross(a,b) + + +inline float3 operator*(const float3& a, float fact) +{ + float3 r; r.x = a.x*fact; r.y = a.y*fact; r.z = a.z*fact; return r; +} + + +inline float3& operator+=(float3& a, const float3& b) +{ + a = a + b; + return a; +} +inline float3& operator-=(float3& a, const float3& b) +{ + a = a - b; + return a; +} +inline float3& operator*=(float3& a, float fact) +{ + a = a * fact; + return a; +} +inline float3 operator-(const float3& v) +{ + float3 r; r.x = -v.x; r.y = -v.y; r.z = -v.z; return r; +} + + +#define BT_GPU_FETCH(a, b) a[b] +#define BT_GPU_FETCH4(a, b) a[b] +#define BT_GPU_PREF(func) btGpu_##func +#define BT_GPU_SAFE_CALL(func) func +#define BT_GPU_Memset memset +#define BT_GPU_MemcpyToSymbol(a, b, c) memcpy(&a, b, c) +#define BT_GPU_BindTexture(a, b, c, d) +#define BT_GPU_UnbindTexture(a) + +static uint2 s_blockIdx, s_blockDim, s_threadIdx; +#define BT_GPU_blockIdx s_blockIdx +#define BT_GPU_blockDim s_blockDim +#define BT_GPU_threadIdx s_threadIdx +#define BT_GPU_EXECKERNEL(numb, numt, kfunc, args) {s_blockDim.x=numt;for(int nb=0;nb c.m_upperLimit) + { + deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + c.m_appliedImpulse = c.m_upperLimit; + } + else + { + c.m_appliedImpulse = sum; + } + + + if (body1.mMassInv) + { + btVector3 linearComponent = c.m_contactNormal1*body1.mMassInv; + body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse); + btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse)); + body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } + + if (body2.mMassInv) + { + btVector3 linearComponent = c.m_contactNormal2*body2.mMassInv; + body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse); + btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor); + body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ()); + } + + //body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + //body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + +} + + +static SIMD_FORCE_INLINE +void pfxSolveLinearConstraintRow(btConstraintRow &constraint, + vmVector3 &deltaLinearVelocityA,vmVector3 &deltaAngularVelocityA, + float massInvA,const vmMatrix3 &inertiaInvA,const vmVector3 &rA, + vmVector3 &deltaLinearVelocityB,vmVector3 &deltaAngularVelocityB, + float massInvB,const vmMatrix3 &inertiaInvB,const vmVector3 &rB) +{ + const vmVector3 normal(btReadVector3(constraint.m_normal)); + btScalar deltaImpulse = constraint.m_rhs; + vmVector3 dVA = deltaLinearVelocityA + cross(deltaAngularVelocityA,rA); + vmVector3 dVB = deltaLinearVelocityB + cross(deltaAngularVelocityB,rB); + deltaImpulse -= constraint.m_jacDiagInv * dot(normal,dVA-dVB); + btScalar oldImpulse = constraint.m_accumImpulse; + constraint.m_accumImpulse = btClamped(oldImpulse + deltaImpulse,constraint.m_lowerLimit,constraint.m_upperLimit); + deltaImpulse = constraint.m_accumImpulse - oldImpulse; + deltaLinearVelocityA += deltaImpulse * massInvA * normal; + deltaAngularVelocityA += deltaImpulse * inertiaInvA * cross(rA,normal); + deltaLinearVelocityB -= deltaImpulse * massInvB * normal; + deltaAngularVelocityB -= deltaImpulse * inertiaInvB * cross(rB,normal); + +} + +void btSolveContactConstraint( + btConstraintRow &constraintResponse, + btConstraintRow &constraintFriction1, + btConstraintRow &constraintFriction2, + const vmVector3 &contactPointA, + const vmVector3 &contactPointB, + PfxSolverBody &solverBodyA, + PfxSolverBody &solverBodyB, + float friction + ) +{ + vmVector3 rA = rotate(solverBodyA.mOrientation,contactPointA); + vmVector3 rB = rotate(solverBodyB.mOrientation,contactPointB); + + pfxSolveLinearConstraintRow(constraintResponse, + solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA, + solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB); + + float mf = friction*fabsf(constraintResponse.m_accumImpulse); + constraintFriction1.m_lowerLimit = -mf; + constraintFriction1.m_upperLimit = mf; + constraintFriction2.m_lowerLimit = -mf; + constraintFriction2.m_upperLimit = mf; + + pfxSolveLinearConstraintRow(constraintFriction1, + solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA, + solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB); + + pfxSolveLinearConstraintRow(constraintFriction2, + solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA, + solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB); +} + + +void CustomSolveConstraintsTaskParallel( + const PfxParallelGroup *contactParallelGroup,const PfxParallelBatch *contactParallelBatches, + PfxConstraintPair *contactPairs,uint32_t numContactPairs, + btPersistentManifold* offsetContactManifolds, + btConstraintRow* offsetContactConstraintRows, + const PfxParallelGroup *jointParallelGroup,const PfxParallelBatch *jointParallelBatches, + PfxConstraintPair *jointPairs,uint32_t numJointPairs, + btSolverConstraint* offsetSolverConstraints, + TrbState *offsetRigStates, + PfxSolverBody *offsetSolverBodies, + uint32_t numRigidBodies, + int iteration,unsigned int taskId,unsigned int numTasks,btBarrier *barrier) +{ + + PfxSolverBody staticBody; + staticBody.mMassInv = 0.f; + staticBody.mDeltaAngularVelocity=vmVector3(0,0,0); + staticBody.mDeltaLinearVelocity =vmVector3(0,0,0); + + + for(int k=0;knumPhases;phaseId++) { + for(uint32_t batchId=0;batchIdnumBatches[phaseId];batchId++) { + uint32_t numPairs = jointParallelGroup->numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId]; + if(batchId%numTasks == taskId && numPairs > 0) { + const PfxParallelBatch &batch = jointParallelBatches[phaseId*PFX_MAX_SOLVER_BATCHES+batchId]; + for(uint32_t i=0;isync(); + } + + // Contact + for(uint32_t phaseId=0;phaseIdnumPhases;phaseId++) { + for(uint32_t batchId=0;batchIdnumBatches[phaseId];batchId++) { + uint32_t numPairs = contactParallelGroup->numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId]; + if(batchId%numTasks == taskId && numPairs > 0) { + const PfxParallelBatch &batch = contactParallelBatches[phaseId*PFX_MAX_SOLVER_BATCHES+batchId]; + for(uint32_t i=0;isync(); + } + } +} + +void CustomPostSolverTask( + TrbState *states, + PfxSolverBody *solverBodies, + uint32_t numRigidBodies) +{ + for(uint32_t i=0;i 0.707f) { + // choose p in y-z plane + float a = n[1]*n[1] + n[2]*n[2]; + float k = 1.0f/sqrtf(a); + p[0] = 0; + p[1] = -n[2]*k; + p[2] = n[1]*k; + // set q = n x p + q[0] = a*k; + q[1] = -n[0]*p[2]; + q[2] = n[0]*p[1]; + } + else { + // choose p in x-y plane + float a = n[0]*n[0] + n[1]*n[1]; + float k = 1.0f/sqrtf(a); + p[0] = -n[1]*k; + p[1] = n[0]*k; + p[2] = 0; + // set q = n x p + q[0] = -n[2]*p[1]; + q[1] = n[2]*p[0]; + q[2] = a*k; + } +} + + + +#define PFX_CONTACT_SLOP 0.001f + +void btSetupContactConstraint( + btConstraintRow &constraintResponse, + btConstraintRow &constraintFriction1, + btConstraintRow &constraintFriction2, + float penetrationDepth, + float restitution, + float friction, + const vmVector3 &contactNormal, + const vmVector3 &contactPointA, + const vmVector3 &contactPointB, + const TrbState &stateA, + const TrbState &stateB, + PfxSolverBody &solverBodyA, + PfxSolverBody &solverBodyB, + const vmVector3& linVelA, + const vmVector3& angVelA, + const vmVector3& linVelB, + const vmVector3& angVelB, + + float separateBias, + float timeStep + ) +{ + vmVector3 rA = rotate(solverBodyA.mOrientation,contactPointA); + vmVector3 rB = rotate(solverBodyB.mOrientation,contactPointB); + + vmMatrix3 K = vmMatrix3::scale(vmVector3(solverBodyA.mMassInv + solverBodyB.mMassInv)) - + crossMatrix(rA) * solverBodyA.mInertiaInv * crossMatrix(rA) - + crossMatrix(rB) * solverBodyB.mInertiaInv * crossMatrix(rB); + + //use the velocities without the applied (gravity and external) forces for restitution computation + vmVector3 vArestitution = linVelA + cross(angVelA,rA); + vmVector3 vBrestitution = linVelB + cross(angVelB,rB); + vmVector3 vABrestitution = vArestitution-vBrestitution; + + vmVector3 vA = stateA.getLinearVelocity() + cross(stateA.getAngularVelocity(),rA); + vmVector3 vB = stateB.getLinearVelocity() + cross(stateB.getAngularVelocity(),rB); + vmVector3 vAB = vA-vB; + + + vmVector3 tangent1,tangent2; + btPlaneSpace1(contactNormal,tangent1,tangent2); + +// constraintResponse.m_accumImpulse = 0.f; +// constraintFriction1.m_accumImpulse = 0.f; +// constraintFriction2.m_accumImpulse = 0.f; + + // Contact Constraint + { + vmVector3 normal = contactNormal; + + float denom = dot(K*normal,normal); + + constraintResponse.m_rhs = -(1.0f+restitution)*dot(vAB,normal); // velocity error + constraintResponse.m_rhs -= (separateBias * btMin(0.0f,penetrationDepth+PFX_CONTACT_SLOP)) / timeStep; // position error + constraintResponse.m_rhs /= denom; + constraintResponse.m_jacDiagInv = 1.0f/denom; + constraintResponse.m_lowerLimit = 0.0f; + constraintResponse.m_upperLimit = SIMD_INFINITY; + btStoreVector3(normal,constraintResponse.m_normal); + } + + // Friction Constraint 1 + { + vmVector3 normal = tangent1; + + float denom = dot(K*normal,normal); + + constraintFriction1.m_jacDiagInv = 1.0f/denom; + constraintFriction1.m_rhs = -dot(vAB,normal); + constraintFriction1.m_rhs *= constraintFriction1.m_jacDiagInv; + constraintFriction1.m_lowerLimit = 0.0f; + constraintFriction1.m_upperLimit = SIMD_INFINITY; + btStoreVector3(normal,constraintFriction1.m_normal); + } + + // Friction Constraint 2 + { + vmVector3 normal = tangent2; + + float denom = dot(K*normal,normal); + + constraintFriction2.m_jacDiagInv = 1.0f/denom; + constraintFriction2.m_rhs = -dot(vAB,normal); + constraintFriction2.m_rhs *= constraintFriction2.m_jacDiagInv; + constraintFriction2.m_lowerLimit = 0.0f; + constraintFriction2.m_upperLimit = SIMD_INFINITY; + btStoreVector3(normal,constraintFriction2.m_normal); + } +} + + +void CustomSetupContactConstraintsTask( + PfxConstraintPair *contactPairs,uint32_t numContactPairs, + btPersistentManifold* offsetContactManifolds, + btConstraintRow* offsetContactConstraintRows, + TrbState *offsetRigStates, + PfxSolverBody *offsetSolverBodies, + uint32_t numRigidBodies, + float separateBias, + float timeStep) +{ + for(uint32_t i=0;i 1) restitution = 0.0f; + + float friction = sqrtf(solverBodyA.friction * solverBodyB.friction); + + for(int j=0;jgetInvMass()>0.f)) + { + linVelA = rbA->getLinearVelocity(); + angVelA = rbA->getAngularVelocity(); + } else + { + linVelA.setValue(0,0,0); + angVelA.setValue(0,0,0); + } + + if (rbB && (rbB->getInvMass()>0.f)) + { + linVelB = rbB->getLinearVelocity(); + angVelB = rbB->getAngularVelocity(); + } else + { + linVelB.setValue(0,0,0); + angVelB.setValue(0,0,0); + } + + + + btSetupContactConstraint( + contactConstraintRows[j*3], + contactConstraintRows[j*3+1], + contactConstraintRows[j*3+2], + cp.getDistance(), + restitution, + friction, + btReadVector3(cp.m_normalWorldOnB),//.mConstraintRow[0].m_normal), + btReadVector3(cp.m_localPointA), + btReadVector3(cp.m_localPointB), + stateA, + stateB, + solverBodyA, + solverBodyB, + (const vmVector3&)linVelA, (const vmVector3&)angVelA, + (const vmVector3&)linVelB, (const vmVector3&)angVelB, + separateBias, + timeStep + ); + } + + //contact.setCompositeFriction(friction); + } +} + + +void CustomWritebackContactConstraintsTask( + PfxConstraintPair *contactPairs,uint32_t numContactPairs, + btPersistentManifold* offsetContactManifolds, + btConstraintRow* offsetContactConstraintRows, + TrbState *offsetRigStates, + PfxSolverBody *offsetSolverBodies, + uint32_t numRigidBodies, + float separateBias, + float timeStep) +{ + for(uint32_t i=0;iio); + btCriticalSection* criticalsection = io->setupContactConstraints.criticalSection; + + + //CustomCriticalSection *criticalsection = &io->m_cs; + switch(io->cmd) { + + case PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS: + CustomSolveConstraintsTaskParallel( + io->solveConstraints.contactParallelGroup, + io->solveConstraints.contactParallelBatches, + io->solveConstraints.contactPairs, + io->solveConstraints.numContactPairs, + io->solveConstraints.offsetContactManifolds, + io->solveConstraints.offsetContactConstraintRows, + + io->solveConstraints.jointParallelGroup, + io->solveConstraints.jointParallelBatches, + io->solveConstraints.jointPairs, + io->solveConstraints.numJointPairs, + io->solveConstraints.offsetSolverConstraints, + io->solveConstraints.offsetRigStates1, + io->solveConstraints.offsetSolverBodies, + io->solveConstraints.numRigidBodies, + io->solveConstraints.iteration, + + io->solveConstraints.taskId, + io->maxTasks1, + io->solveConstraints.barrier + ); + break; + + case PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER: + CustomPostSolverTask( io->postSolver.states,io->postSolver.solverBodies, io->postSolver.numRigidBodies); + break; + + + case PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS: + { + bool empty = false; + while(!empty) { + int start,batch; + + criticalsection->lock(); + + start = (int)criticalsection->getSharedParam(0); + batch = (int)criticalsection->getSharedParam(1); + + //PFX_PRINTF("taskId %d start %d num %d\n",arg->taskId,start,batch); + + // ŽŸ‚̃oƒbƒtƒ@‚ðƒZƒbƒg + int nextStart = start + batch; + int rest = btMax((int)io->setupContactConstraints.numContactPairs1 - nextStart,0); + int nextBatch = (rest > batch)?batch:rest; + + criticalsection->setSharedParam(0,nextStart); + criticalsection->setSharedParam(1,nextBatch); + + criticalsection->unlock(); + + if(batch > 0) { + CustomSetupContactConstraintsTask( + io->setupContactConstraints.offsetContactPairs+start,batch, + io->setupContactConstraints.offsetContactManifolds, + io->setupContactConstraints.offsetContactConstraintRows, + io->setupContactConstraints.offsetRigStates, +// io->setupContactConstraints.offsetRigBodies, + io->setupContactConstraints.offsetSolverBodies, + io->setupContactConstraints.numRigidBodies, + io->setupContactConstraints.separateBias, + io->setupContactConstraints.timeStep); + } + else { + empty = true; + } + } + } + break; + + case PFX_CONSTRAINT_SOLVER_CMD_WRITEBACK_APPLIED_IMPULSES_CONTACT_CONSTRAINTS: + { + bool empty = false; + while(!empty) { + int start,batch; + + criticalsection->lock(); + + start = (int)criticalsection->getSharedParam(0); + batch = (int)criticalsection->getSharedParam(1); + + //PFX_PRINTF("taskId %d start %d num %d\n",arg->taskId,start,batch); + + // ŽŸ‚̃oƒbƒtƒ@‚ðƒZƒbƒg + int nextStart = start + batch; + int rest = btMax((int)io->setupContactConstraints.numContactPairs1 - nextStart,0); + int nextBatch = (rest > batch)?batch:rest; + + criticalsection->setSharedParam(0,nextStart); + criticalsection->setSharedParam(1,nextBatch); + + criticalsection->unlock(); + + if(batch > 0) { + CustomWritebackContactConstraintsTask( + io->setupContactConstraints.offsetContactPairs+start,batch, + io->setupContactConstraints.offsetContactManifolds, + io->setupContactConstraints.offsetContactConstraintRows, + io->setupContactConstraints.offsetRigStates, +// io->setupContactConstraints.offsetRigBodies, + io->setupContactConstraints.offsetSolverBodies, + io->setupContactConstraints.numRigidBodies, + io->setupContactConstraints.separateBias, + io->setupContactConstraints.timeStep); + } + else { + empty = true; + } + } + } + break; + + default: + { + btAssert(0); + } + } + +} + + +void CustomSetupContactConstraintsNew( + PfxConstraintPair *contactPairs1,uint32_t numContactPairs, + btPersistentManifold *offsetContactManifolds, + btConstraintRow* offsetContactConstraintRows, + TrbState *offsetRigStates, + PfxSolverBody *offsetSolverBodies, + uint32_t numRigidBodies, + float separationBias, + float timeStep, + class btThreadSupportInterface* threadSupport, + btCriticalSection* criticalSection, + btConstraintSolverIO *io , + uint8_t cmd + ) +{ + int maxTasks = threadSupport->getNumTasks(); + + int div = (int)maxTasks * 4; + int batch = ((int)numContactPairs + div - 1) / div; +#ifdef __PPU__ + BulletPE2ConstraintSolverSpursSupport* spursThread = (BulletPE2ConstraintSolverSpursSupport*) threadSupport; +#endif + if (criticalSection) + { + criticalSection->setSharedParam(0,0); + criticalSection->setSharedParam(1,btMin(batch,64)); // batched number + } else + { +#ifdef __PPU__ + spursThread->setSharedParam(0,0); + spursThread->setSharedParam(1,btMin(batch,64)); // batched number +#endif //__PPU__ + } + + for(int t=0;tgetBarrierAddress(); + io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress(); +#endif + + +//#define SEQUENTIAL_SETUP +#ifdef SEQUENTIAL_SETUP + CustomSetupContactConstraintsTask(contactPairs1,numContactPairs,offsetContactManifolds,offsetRigStates,offsetSolverBodies,numRigidBodies,separationBias,timeStep); +#else + threadSupport->sendRequest(1,(ppu_address_t)&io[t],t); +#endif + + } +#ifndef SEQUENTIAL_SETUP + unsigned int arg0,arg1; + for(int t=0;twaitForResponse(&arg0,&arg1); + } +#endif //SEQUENTIAL_SETUP + +} + + +void CustomSplitConstraints( + PfxConstraintPair *pairs,uint32_t numPairs, + PfxParallelGroup &group,PfxParallelBatch *batches, + uint32_t numTasks, + uint32_t numRigidBodies, + void *poolBuff, + uint32_t poolBytes + ) +{ + HeapManager pool((unsigned char*)poolBuff,poolBytes); + + // ƒXƒe[ƒgƒ`ƒFƒbƒN—pƒrƒbƒgƒtƒ‰ƒOƒe[ƒuƒ‹ + int bufSize = sizeof(uint8_t)*numRigidBodies; + bufSize = ((bufSize+127)>>7)<<7; // 128 bytes alignment + uint8_t *bodyTable = (uint8_t*)pool.allocate(bufSize,HeapManager::ALIGN128); + + // ƒyƒAƒ`ƒFƒbƒN—pƒrƒbƒgƒtƒ‰ƒOƒe[ƒuƒ‹ + uint32_t *pairTable; + size_t allocSize = sizeof(uint32_t)*((numPairs+31)/32); + pairTable = (uint32_t*)pool.allocate(allocSize); + memset(pairTable,0,allocSize); + + // –Ú•W‚Æ‚·‚镪Š„” + uint32_t targetCount = btMax(uint32_t(PFX_MIN_SOLVER_PAIRS),btMin(numPairs / (numTasks*2),uint32_t(PFX_MAX_SOLVER_PAIRS))); + uint32_t startIndex = 0; + + uint32_t phaseId; + uint32_t batchId; + uint32_t totalCount=0; + + uint32_t maxBatches = btMin(numTasks,uint32_t(PFX_MAX_SOLVER_BATCHES)); + + for(phaseId=0;phaseId>5; + uint32_t maskP = 1L << (i & 31); + + //pair is already assigned to a phase/batch + if(pairTable[idxP] & maskP) { + continue; + } + + uint32_t idxA = pfxGetRigidBodyIdA(pairs[i]); + uint32_t idxB = pfxGetRigidBodyIdB(pairs[i]); + + // —¼•û‚Æ‚àƒAƒNƒeƒBƒu‚Å‚È‚¢A‚Ü‚½‚ÍÕ“Ë“_‚ª‚O‚̃yƒA‚Í“o˜^‘ÎÛ‚©‚ç‚Í‚¸‚· + if(!pfxGetActive(pairs[i]) || pfxGetNumConstraints(pairs[i]) == 0 || + ((pfxGetMotionMaskA(pairs[i])&PFX_MOTION_MASK_STATIC) && (pfxGetMotionMaskB(pairs[i])&PFX_MOTION_MASK_STATIC)) ) { + if(startIndexCheck) + startIndex++; + //assign pair -> skip it because it has no constraints + pairTable[idxP] |= maskP; + totalCount++; + continue; + } + + // ˆË‘¶«‚̃`ƒFƒbƒN + if( (bodyTable[idxA] != batchId && bodyTable[idxA] != 0xff) || + (bodyTable[idxB] != batchId && bodyTable[idxB] != 0xff) ) { + startIndexCheck = false; + //bodies of the pair are already assigned to another batch within this phase + continue; + } + + // ˆË‘¶«”»’èƒe[ƒuƒ‹‚É“o˜^ + if(pfxGetMotionMaskA(pairs[i])&PFX_MOTION_MASK_DYNAMIC) + bodyTable[idxA] = batchId; + if(pfxGetMotionMaskB(pairs[i])&PFX_MOTION_MASK_DYNAMIC) + bodyTable[idxB] = batchId; + + if(startIndexCheck) + startIndex++; + + pairTable[idxP] |= maskP; + //add the pair 'i' to the current batch + batch.pairIndices[pairId++] = i; + pairCount++; + } + + group.numPairs[phaseId*PFX_MAX_SOLVER_BATCHES+batchId] = (uint16_t)pairId; + totalCount += pairCount; + } + + group.numBatches[phaseId] = batchId; + } + + group.numPhases = phaseId; + + pool.clear(); +} + + + +void CustomSolveConstraintsParallel( + PfxConstraintPair *contactPairs,uint32_t numContactPairs, + + PfxConstraintPair *jointPairs,uint32_t numJointPairs, + btPersistentManifold* offsetContactManifolds, + btConstraintRow* offsetContactConstraintRows, + btSolverConstraint* offsetSolverConstraints, + TrbState *offsetRigStates, + PfxSolverBody *offsetSolverBodies, + uint32_t numRigidBodies, + struct btConstraintSolverIO* io, + class btThreadSupportInterface* threadSupport, + int iteration, + void* poolBuf, + int poolBytes, + class btBarrier* barrier) + { + + int maxTasks = threadSupport->getNumTasks(); +// config.taskManager->setTaskEntry(PFX_SOLVER_ENTRY); + + HeapManager pool((unsigned char*)poolBuf,poolBytes); + + { + PfxParallelGroup *cgroup = (PfxParallelGroup*)pool.allocate(sizeof(PfxParallelGroup)); + PfxParallelBatch *cbatches = (PfxParallelBatch*)pool.allocate(sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES),128); + PfxParallelGroup *jgroup = (PfxParallelGroup*)pool.allocate(sizeof(PfxParallelGroup)); + PfxParallelBatch *jbatches = (PfxParallelBatch*)pool.allocate(sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES),128); + + uint32_t tmpBytes = poolBytes - 2 * (sizeof(PfxParallelGroup) + sizeof(PfxParallelBatch)*(PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES) + 128); + void *tmpBuff = pool.allocate(tmpBytes); + + { + BT_PROFILE("CustomSplitConstraints"); + CustomSplitConstraints(contactPairs,numContactPairs,*cgroup,cbatches,maxTasks,numRigidBodies,tmpBuff,tmpBytes); + CustomSplitConstraints(jointPairs,numJointPairs,*jgroup,jbatches,maxTasks,numRigidBodies,tmpBuff,tmpBytes); + } + + { + BT_PROFILE("PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS"); +//#define SOLVE_SEQUENTIAL +#ifdef SOLVE_SEQUENTIAL + CustomSolveConstraintsTask( + io->solveConstraints.contactParallelGroup, + io->solveConstraints.contactParallelBatches, + io->solveConstraints.contactPairs, + io->solveConstraints.numContactPairs, + io->solveConstraints.offsetContactManifolds, + + io->solveConstraints.jointParallelGroup, + io->solveConstraints.jointParallelBatches, + io->solveConstraints.jointPairs, + io->solveConstraints.numJointPairs, + io->solveConstraints.offsetSolverConstraints, + + io->solveConstraints.offsetRigStates1, + io->solveConstraints.offsetSolverBodies, + io->solveConstraints.numRigidBodies, + io->solveConstraints.iteration,0,1,0);//arg->taskId,1,0);//,arg->maxTasks,arg->barrier); +#else + for(int t=0;tgetBarrierAddress(); + io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress(); +#endif + + threadSupport->sendRequest(1,(ppu_address_t)&io[t],t); + } + + unsigned int arg0,arg1; + for(int t=0;twaitForResponse(&arg0,&arg1); + } +#endif + } + pool.clear(); + } + + { + BT_PROFILE("PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER"); + int batch = ((int)numRigidBodies + maxTasks - 1) / maxTasks; + int rest = (int)numRigidBodies; + int start = 0; + + for(int t=0;t 0 ? batch : rest; + io[t].cmd = PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER; + io[t].postSolver.states = offsetRigStates + start; + io[t].postSolver.solverBodies = offsetSolverBodies + start; + io[t].postSolver.numRigidBodies = (uint32_t)num; + io[t].maxTasks1 = maxTasks; +#ifdef __PPU__ + BulletPE2ConstraintSolverSpursSupport* spursThread = (BulletPE2ConstraintSolverSpursSupport*) threadSupport; + io[t].barrierAddr2 = (unsigned int)spursThread->getBarrierAddress(); + io[t].criticalsectionAddr2 = (unsigned int)spursThread->getCriticalSectionAddress(); +#endif + +#ifdef SOLVE_SEQUENTIAL + CustomPostSolverTask( io[t].postSolver.states,io[t].postSolver.solverBodies, io[t].postSolver.numRigidBodies); +#else + threadSupport->sendRequest(1,(ppu_address_t)&io[t],t); +#endif + rest -= num; + start += num; + } + + unsigned int arg0,arg1; + for(int t=0;twaitForResponse(&arg0,&arg1); +#endif + } + } + +} + + + +void BPE_customConstraintSolverSequentialNew(unsigned int new_num, PfxBroadphasePair *new_pairs1 , + btPersistentManifold* offsetContactManifolds, + PfxConstraintRow* offsetContactConstraintRows, + TrbState* states,int numRigidBodies, + struct PfxSolverBody* solverBodies, + PfxConstraintPair* jointPairs, unsigned int numJoints, + btSolverConstraint* offsetSolverConstraints, + float separateBias, + float timeStep, + int iteration, + btThreadSupportInterface* solverThreadSupport, + btCriticalSection* criticalSection, + struct btConstraintSolverIO* solverIO, + btBarrier* barrier + ) +{ + + { + BT_PROFILE("pfxSetupConstraints"); + + for(uint32_t i=0;i m_mystates; + btAlignedObjectArray m_mysolverbodies; + btAlignedObjectArray m_mypairs; + btAlignedObjectArray m_jointPairs; + btAlignedObjectArray m_constraintRows; + +}; + + +btConstraintSolverIO* createSolverIO(int numThreads) +{ + return new btConstraintSolverIO[numThreads]; +} + +btParallelConstraintSolver::btParallelConstraintSolver(btThreadSupportInterface* solverThreadSupport) +{ + + m_solverThreadSupport = solverThreadSupport;//createSolverThreadSupport(maxNumThreads); + m_solverIO = createSolverIO(m_solverThreadSupport->getNumTasks()); + + m_barrier = m_solverThreadSupport->createBarrier(); + m_criticalSection = m_solverThreadSupport->createCriticalSection(); + + m_memoryCache = new btParallelSolverMemoryCache(); +} + +btParallelConstraintSolver::~btParallelConstraintSolver() +{ + delete m_memoryCache; + delete m_solverIO; + m_solverThreadSupport->deleteBarrier(m_barrier); + m_solverThreadSupport->deleteCriticalSection(m_criticalSection); +} + + + +btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) +{ + +/* int sz = sizeof(PfxSolverBody); + int sz2 = sizeof(vmVector3); + int sz3 = sizeof(vmMatrix3); + int sz4 = sizeof(vmQuat); + int sz5 = sizeof(btConstraintRow); + int sz6 = sizeof(btSolverConstraint); + int sz7 = sizeof(TrbState); +*/ + + btPersistentManifold* offsetContactManifolds= (btPersistentManifold*) dispatcher->getInternalManifoldPool()->getPoolAddress(); + + + m_memoryCache->m_mysolverbodies.resize(numRigidBodies); + m_memoryCache->m_mystates.resize(numRigidBodies); + + { + BT_PROFILE("create states and solver bodies"); + for (int i=0;isetCompanionId(i); + + PfxSolverBody& solverBody = m_memoryCache->m_mysolverbodies[i]; + btRigidBody* rb = btRigidBody::upcast(obj); + TrbState& state = m_memoryCache->m_mystates[i]; + + state.reset(); + const btQuaternion& orgOri = obj->getWorldTransform().getRotation(); + vmQuat orn(orgOri.getX(),orgOri.getY(),orgOri.getZ(),orgOri.getW()); + state.setPosition(getVmVector3(obj->getWorldTransform().getOrigin())); + state.setOrientation(orn); + state.setPosition(state.getPosition()); + state.setRigidBodyId(i); + state.setAngularDamping(0); + state.setLinearDamping(0); + + + solverBody.mOrientation = state.getOrientation(); + solverBody.mDeltaLinearVelocity = vmVector3(0.0f); + solverBody.mDeltaAngularVelocity = vmVector3(0.0f); + solverBody.friction = obj->getFriction(); + solverBody.restitution = obj->getRestitution(); + + state.resetSleepCount(); + + //if(state.getMotionMask()&PFX_MOTION_MASK_DYNAMIC) { + if (rb && (rb->getInvMass()>0.f)) + { + btVector3 angVelPlusForces = rb->getAngularVelocity()+rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + btVector3 linVelPlusForces = rb->getLinearVelocity()+rb->getTotalForce()*rb->getInvMass()*infoGlobal.m_timeStep; + + state.setAngularVelocity(btReadVector3(angVelPlusForces)); + state.setLinearVelocity(btReadVector3(linVelPlusForces)); + + state.setMotionType(PfxMotionTypeActive); + vmMatrix3 ori(solverBody.mOrientation); + vmMatrix3 localInvInertia = vmMatrix3::identity(); + localInvInertia.setCol(0,vmVector3(rb->getInvInertiaDiagLocal().getX(),0,0)); + localInvInertia.setCol(1,vmVector3(0, rb->getInvInertiaDiagLocal().getY(),0)); + localInvInertia.setCol(2,vmVector3(0,0, rb->getInvInertiaDiagLocal().getZ())); + + solverBody.mMassInv = rb->getInvMass(); + solverBody.mInertiaInv = ori * localInvInertia * transpose(ori); + } else + { + state.setAngularVelocity(vmVector3(0)); + state.setLinearVelocity(vmVector3(0)); + + state.setMotionType(PfxMotionTypeFixed); + m_memoryCache->m_mysolverbodies[i].mMassInv = 0.f; + m_memoryCache->m_mysolverbodies[i].mInertiaInv = vmMatrix3(0.0f); + } + + } + } + + + + int totalPoints = 0; +#ifndef USE_C_ARRAYS + m_memoryCache->m_mypairs.resize(numManifolds); + //4 points per manifold and 3 rows per point makes 12 rows per manifold + m_memoryCache->m_constraintRows.resize(numManifolds*12); + m_memoryCache->m_jointPairs.resize(numConstraints); +#endif//USE_C_ARRAYS + + int actualNumManifolds= 0; + { + BT_PROFILE("convert manifolds"); + for (int i1=0;i1getNumContacts()>0) + { + btPersistentManifold* m = manifoldPtr[i1]; + btCollisionObject* obA = (btCollisionObject*)m->getBody0(); + btCollisionObject* obB = (btCollisionObject*)m->getBody1(); + bool obAisActive = !obA->isStaticOrKinematicObject() && obA->isActive(); + bool obBisActive = !obB->isStaticOrKinematicObject() && obB->isActive(); + + if (!obAisActive && !obBisActive) + continue; + + + //int contactId = i1;//actualNumManifolds; + + PfxBroadphasePair& pair = m_memoryCache->m_mypairs[actualNumManifolds]; + //init those + // float compFric = obA->getFriction()*obB->getFriction();//@todo + int idA = obA->getCompanionId(); + int idB = obB->getCompanionId(); + + m->m_companionIdA = idA; + m->m_companionIdB = idB; + + + // if ((mysolverbodies[idA].mMassInv!=0)&&(mysolverbodies[idB].mMassInv!=0)) + // continue; + int numPosPoints=0; + for (int p=0;pgetNumContacts();p++) + { + //btManifoldPoint& pt = m->getContactPoint(p); + //float dist = pt.getDistance(); + //if (dist<0.001) + numPosPoints++; + } + + + totalPoints+=numPosPoints; + pfxSetRigidBodyIdA(pair,idA); + pfxSetRigidBodyIdB(pair,idB); + pfxSetMotionMaskA(pair,m_memoryCache->m_mystates[idA].getMotionMask()); + pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask()); + pfxSetActive(pair,numPosPoints>0); + + pfxSetBroadphaseFlag(pair,0); + int contactId = m-offsetContactManifolds; + //likely the contact pool is not contiguous, make sure to allocate large enough contact pool + btAssert(contactId>=0); + btAssert(contactIdgetInternalManifoldPool()->getMaxCount()); + + pfxSetContactId(pair,contactId); + pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts()); + actualNumManifolds++; + } + + } + } + + PfxConstraintPair* jointPairs=0; + jointPairs = numConstraints? &m_memoryCache->m_jointPairs[0]:0; + int actualNumJoints=0; + + + btSolverConstraint* offsetSolverConstraints = 0; + + //if (1) + { + + { + BT_PROFILE("convert constraints"); + + int totalNumRows = 0; + int i; + + m_tmpConstraintSizesPool.resize(numConstraints); + //calculate the total number of contraint rows + for (i=0;igetInfo1(&info1); + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resize(totalNumRows); + offsetSolverConstraints =totalNumRows? &m_tmpSolverNonContactConstraintPool[0]:0; + + + ///setup the btSolverConstraints + int currentRow = 0; + + for (i=0;igetRigidBodyA(); + btRigidBody& rbB = constraint->getRigidBodyB(); + + int idA = constraint->getRigidBodyA().getCompanionId(); + int idB = constraint->getRigidBodyB().getCompanionId(); + + + int j; + for ( j=0;jm_contactNormal1; + info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; + info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; + info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; + info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this + ///the size of btSolverConstraint needs be a multiple of btScalar + btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); + info2.m_constraintError = ¤tConstraintRow->m_rhs; + currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; + info2.cfm = ¤tConstraintRow->m_cfm; + info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; + info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; + info2.m_numIterations = infoGlobal.m_numIterations; + constraints[i]->getInfo2(&info2); + + + + + ///finalize the constraint setup + for ( j=0;jgetRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); + } + { + const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; + solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); + } + + { + btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); + btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; + btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? + btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; + + btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJlB.dot(solverConstraint.m_contactNormal2); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + + solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; + } + + + ///fix rhs + ///todo: add force/torque accelerators + { + btScalar rel_vel; + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()); + + rel_vel = vel1Dotn+vel2Dotn; + + btScalar restitution = 0.f; + btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 + btScalar velocityError = restitution - rel_vel;// * damping; + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_appliedImpulse = 0.f; + + } + } + + PfxConstraintPair& pair = jointPairs[actualNumJoints]; + + int numConstraintRows= info1.m_numConstraintRows; + pfxSetNumConstraints(pair,numConstraintRows); + + + + pfxSetRigidBodyIdA(pair,idA); + pfxSetRigidBodyIdB(pair,idB); + //is this needed? + if (idA>=0) + pfxSetMotionMaskA(pair,m_memoryCache->m_mystates[idA].getMotionMask()); + if (idB>=0) + pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask()); + + pfxSetActive(pair,true); + int id = currentConstraintRow-offsetSolverConstraints; + pfxSetContactId(pair,id); + actualNumJoints++; + + + } + currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows; + } + } + } + + + + float separateBias=0.1;//info.m_erp;//or m_erp2? + float timeStep=infoGlobal.m_timeStep; + int iteration=infoGlobal.m_numIterations; + + //create a pair for each constraints, copy over info etc + + + + + + { + BT_PROFILE("compute num contacts"); + int totalContacts =0; + + for (int i=0;im_mypairs[i]; + totalContacts += pfxGetNumConstraints(*pair); + } + //printf("numManifolds = %d\n",numManifolds); + //printf("totalContacts=%d\n",totalContacts); + } + + + +// printf("actualNumManifolds=%d\n",actualNumManifolds); + { + BT_PROFILE("BPE_customConstraintSolverSequentialNew"); + if (numRigidBodies>0 && (actualNumManifolds+actualNumJoints)>0) + { +// PFX_PRINTF("num points = %d\n",totalPoints); +// PFX_PRINTF("num points PFX = %d\n",total); + + + PfxConstraintRow* contactRows = actualNumManifolds? &m_memoryCache->m_constraintRows[0] : 0; + PfxBroadphasePair* actualPairs = m_memoryCache->m_mypairs.size() ? &m_memoryCache->m_mypairs[0] : 0; + BPE_customConstraintSolverSequentialNew( + actualNumManifolds, + actualPairs, + offsetContactManifolds, + contactRows, + &m_memoryCache->m_mystates[0],numRigidBodies, + &m_memoryCache->m_mysolverbodies[0], + jointPairs,actualNumJoints, + offsetSolverConstraints, + separateBias,timeStep,iteration, + m_solverThreadSupport,m_criticalSection,m_solverIO,m_barrier); + } + } + + //copy results back to bodies + { + BT_PROFILE("copy back"); + for (int i=0;im_mystates[i]; + if (rb && (rb->getInvMass()>0.f)) + { + rb->setLinearVelocity(btVector3(state.getLinearVelocity().getX(),state.getLinearVelocity().getY(),state.getLinearVelocity().getZ())); + rb->setAngularVelocity(btVector3(state.getAngularVelocity().getX(),state.getAngularVelocity().getY(),state.getAngularVelocity().getZ())); + } + } + } + + + return 0.f; +} diff --git a/Code/Physics/src/BulletMultiThreaded/btParallelConstraintSolver.h b/Code/Physics/src/BulletMultiThreaded/btParallelConstraintSolver.h new file mode 100644 index 00000000..b5b475a1 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btParallelConstraintSolver.h @@ -0,0 +1,288 @@ +/* + Copyright (C) 2010 Sony Computer Entertainment Inc. + All rights reserved. + +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 __BT_PARALLEL_CONSTRAINT_SOLVER_H +#define __BT_PARALLEL_CONSTRAINT_SOLVER_H + +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + + + + +#include "LinearMath/btScalar.h" +#include "PlatformDefinitions.h" + + +#define PFX_MAX_SOLVER_PHASES 64 +#define PFX_MAX_SOLVER_BATCHES 16 +#define PFX_MAX_SOLVER_PAIRS 128 +#define PFX_MIN_SOLVER_PAIRS 16 + +#ifdef __CELLOS_LV2__ +ATTRIBUTE_ALIGNED128(struct) PfxParallelBatch { +#else +ATTRIBUTE_ALIGNED16(struct) PfxParallelBatch { +#endif + uint16_t pairIndices[PFX_MAX_SOLVER_PAIRS]; +}; + +#ifdef __CELLOS_LV2__ +ATTRIBUTE_ALIGNED128(struct) PfxParallelGroup { +#else +ATTRIBUTE_ALIGNED16(struct) PfxParallelGroup { +#endif + uint16_t numPhases; + uint16_t numBatches[PFX_MAX_SOLVER_PHASES]; + uint16_t numPairs[PFX_MAX_SOLVER_PHASES*PFX_MAX_SOLVER_BATCHES]; +}; + + + +ATTRIBUTE_ALIGNED16(struct) PfxSortData16 { + union { + uint8_t i8data[16]; + uint16_t i16data[8]; + uint32_t i32data[4]; +#ifdef __SPU__ + vec_uint4 vdata; +#endif + }; + +#ifdef __SPU__ + void set8(int elem,uint8_t data) {vdata=(vec_uint4)spu_insert(data,(vec_uchar16)vdata,elem);} + void set16(int elem,uint16_t data) {vdata=(vec_uint4)spu_insert(data,(vec_ushort8)vdata,elem);} + void set32(int elem,uint32_t data) {vdata=(vec_uint4)spu_insert(data,(vec_uint4)vdata,elem);} + uint8_t get8(int elem) const {return spu_extract((vec_uchar16)vdata,elem);} + uint16_t get16(int elem) const {return spu_extract((vec_ushort8)vdata,elem);} + uint32_t get32(int elem) const {return spu_extract((vec_uint4)vdata,elem);} +#else + void set8(int elem,uint8_t data) {i8data[elem] = data;} + void set16(int elem,uint16_t data) {i16data[elem] = data;} + void set32(int elem,uint32_t data) {i32data[elem] = data;} + uint8_t get8(int elem) const {return i8data[elem];} + uint16_t get16(int elem) const {return i16data[elem];} + uint32_t get32(int elem) const {return i32data[elem];} +#endif +}; + +typedef PfxSortData16 PfxConstraintPair; + + +//J PfxBroadphasePair‚Æ‹¤’Ê + +SIMD_FORCE_INLINE void pfxSetConstraintId(PfxConstraintPair &pair,uint32_t i) {pair.set32(2,i);} +SIMD_FORCE_INLINE void pfxSetNumConstraints(PfxConstraintPair &pair,uint8_t n) {pair.set8(7,n);} + +SIMD_FORCE_INLINE uint32_t pfxGetConstraintId1(const PfxConstraintPair &pair) {return pair.get32(2);} +SIMD_FORCE_INLINE uint8_t pfxGetNumConstraints(const PfxConstraintPair &pair) {return pair.get8(7);} + +typedef PfxSortData16 PfxBroadphasePair; + +SIMD_FORCE_INLINE void pfxSetRigidBodyIdA(PfxBroadphasePair &pair,uint16_t i) {pair.set16(0,i);} +SIMD_FORCE_INLINE void pfxSetRigidBodyIdB(PfxBroadphasePair &pair,uint16_t i) {pair.set16(1,i);} +SIMD_FORCE_INLINE void pfxSetMotionMaskA(PfxBroadphasePair &pair,uint8_t i) {pair.set8(4,i);} +SIMD_FORCE_INLINE void pfxSetMotionMaskB(PfxBroadphasePair &pair,uint8_t i) {pair.set8(5,i);} +SIMD_FORCE_INLINE void pfxSetBroadphaseFlag(PfxBroadphasePair &pair,uint8_t f) {pair.set8(6,(pair.get8(6)&0xf0)|(f&0x0f));} +SIMD_FORCE_INLINE void pfxSetActive(PfxBroadphasePair &pair,bool b) {pair.set8(6,(pair.get8(6)&0x0f)|((b?1:0)<<4));} +SIMD_FORCE_INLINE void pfxSetContactId(PfxBroadphasePair &pair,uint32_t i) {pair.set32(2,i);} + +SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdA(const PfxBroadphasePair &pair) {return pair.get16(0);} +SIMD_FORCE_INLINE uint16_t pfxGetRigidBodyIdB(const PfxBroadphasePair &pair) {return pair.get16(1);} +SIMD_FORCE_INLINE uint8_t pfxGetMotionMaskA(const PfxBroadphasePair &pair) {return pair.get8(4);} +SIMD_FORCE_INLINE uint8_t pfxGetMotionMaskB(const PfxBroadphasePair &pair) {return pair.get8(5);} +SIMD_FORCE_INLINE uint8_t pfxGetBroadphaseFlag(const PfxBroadphasePair &pair) {return pair.get8(6)&0x0f;} +SIMD_FORCE_INLINE bool pfxGetActive(const PfxBroadphasePair &pair) {return (pair.get8(6)>>4)!=0;} +SIMD_FORCE_INLINE uint32_t pfxGetContactId1(const PfxBroadphasePair &pair) {return pair.get32(2);} + + + +#if defined(__PPU__) || defined (__SPU__) +ATTRIBUTE_ALIGNED128(struct) PfxSolverBody { +#else +ATTRIBUTE_ALIGNED16(struct) PfxSolverBody { +#endif + vmVector3 mDeltaLinearVelocity; + vmVector3 mDeltaAngularVelocity; + vmMatrix3 mInertiaInv; + vmQuat mOrientation; + float mMassInv; + float friction; + float restitution; + float unused; + float unused2; + float unused3; + float unused4; + float unused5; +}; + + +#ifdef __PPU__ +#include "SpuDispatch/BulletPE2ConstraintSolverSpursSupport.h" +#endif + +static SIMD_FORCE_INLINE vmVector3 btReadVector3(const double* p) +{ + float tmp[3] = {float(p[0]),float(p[1]),float(p[2])}; + vmVector3 v; + loadXYZ(v, tmp); + return v; +} + +static SIMD_FORCE_INLINE vmQuat btReadQuat(const double* p) +{ + float tmp[4] = {float(p[0]),float(p[1]),float(p[2]),float(p[4])}; + vmQuat vq; + loadXYZW(vq, tmp); + return vq; +} + +static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, double* p) +{ + float tmp[3]; + vmVector3 v = src; + storeXYZ(v, tmp); + p[0] = tmp[0]; + p[1] = tmp[1]; + p[2] = tmp[2]; +} + + +static SIMD_FORCE_INLINE vmVector3 btReadVector3(const float* p) +{ + vmVector3 v; + loadXYZ(v, p); + return v; +} + +static SIMD_FORCE_INLINE vmQuat btReadQuat(const float* p) +{ + vmQuat vq; + loadXYZW(vq, p); + return vq; +} + +static SIMD_FORCE_INLINE void btStoreVector3(const vmVector3 &src, float* p) +{ + vmVector3 v = src; + storeXYZ(v, p); +} + + + + +class btPersistentManifold; + +enum { + PFX_CONSTRAINT_SOLVER_CMD_SETUP_SOLVER_BODIES, + PFX_CONSTRAINT_SOLVER_CMD_SETUP_CONTACT_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_WRITEBACK_APPLIED_IMPULSES_CONTACT_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_SETUP_JOINT_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_SOLVE_CONSTRAINTS, + PFX_CONSTRAINT_SOLVER_CMD_POST_SOLVER +}; + + +struct PfxSetupContactConstraintsIO { + PfxConstraintPair *offsetContactPairs; + uint32_t numContactPairs1; + btPersistentManifold* offsetContactManifolds; + btConstraintRow* offsetContactConstraintRows; + class TrbState *offsetRigStates; + struct PfxSolverBody *offsetSolverBodies; + uint32_t numRigidBodies; + float separateBias; + float timeStep; + class btCriticalSection* criticalSection; +}; + + + +struct PfxSolveConstraintsIO { + PfxParallelGroup *contactParallelGroup; + PfxParallelBatch *contactParallelBatches; + PfxConstraintPair *contactPairs; + uint32_t numContactPairs; + btPersistentManifold *offsetContactManifolds; + btConstraintRow* offsetContactConstraintRows; + PfxParallelGroup *jointParallelGroup; + PfxParallelBatch *jointParallelBatches; + PfxConstraintPair *jointPairs; + uint32_t numJointPairs; + struct btSolverConstraint* offsetSolverConstraints; + TrbState *offsetRigStates1; + PfxSolverBody *offsetSolverBodies; + uint32_t numRigidBodies; + uint32_t iteration; + + uint32_t taskId; + + class btBarrier* barrier; + +}; + +struct PfxPostSolverIO { + TrbState *states; + PfxSolverBody *solverBodies; + uint32_t numRigidBodies; +}; + +ATTRIBUTE_ALIGNED16(struct) btConstraintSolverIO { + uint8_t cmd; + union { + PfxSetupContactConstraintsIO setupContactConstraints; + PfxSolveConstraintsIO solveConstraints; + PfxPostSolverIO postSolver; + }; + + //SPU only + uint32_t barrierAddr2; + uint32_t criticalsectionAddr2; + uint32_t maxTasks1; +}; + + + + +void SolverThreadFunc(void* userPtr,void* lsMemory); +void* SolverlsMemoryFunc(); +///The btParallelConstraintSolver performs computations on constraint rows in parallel +///Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs +class btParallelConstraintSolver : public btSequentialImpulseConstraintSolver +{ + +protected: + struct btParallelSolverMemoryCache* m_memoryCache; + + class btThreadSupportInterface* m_solverThreadSupport; + + struct btConstraintSolverIO* m_solverIO; + class btBarrier* m_barrier; + class btCriticalSection* m_criticalSection; + + +public: + + btParallelConstraintSolver(class btThreadSupportInterface* solverThreadSupport); + + virtual ~btParallelConstraintSolver(); + + virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); + +}; + + + +#endif //__BT_PARALLEL_CONSTRAINT_SOLVER_H \ No newline at end of file diff --git a/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.cpp b/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.cpp new file mode 100644 index 00000000..8192aa46 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.cpp @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "btThreadSupportInterface.h" + +btThreadSupportInterface::~btThreadSupportInterface() +{ + +} + diff --git a/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.h b/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.h new file mode 100644 index 00000000..54f1769c --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/btThreadSupportInterface.h @@ -0,0 +1,89 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 BT_THREAD_SUPPORT_INTERFACE_H +#define BT_THREAD_SUPPORT_INTERFACE_H + + +#include //for ATTRIBUTE_ALIGNED16 +#include "PlatformDefinitions.h" +#include "PpuAddressSpace.h" + +class btBarrier { +public: + btBarrier() {} + virtual ~btBarrier() {} + + virtual void sync() = 0; + virtual void setMaxCount(int n) = 0; + virtual int getMaxCount() = 0; +}; + +class btCriticalSection { +public: + btCriticalSection() {} + virtual ~btCriticalSection() {} + + ATTRIBUTE_ALIGNED16(unsigned int mCommonBuff[32]); + + virtual unsigned int getSharedParam(int i) = 0; + virtual void setSharedParam(int i,unsigned int p) = 0; + + virtual void lock() = 0; + virtual void unlock() = 0; +}; + + +class btThreadSupportInterface +{ +public: + + virtual ~btThreadSupportInterface(); + +///send messages to SPUs + virtual void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1) =0; + +///check for messages from SPUs + virtual void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1) =0; + + + ///non-blocking test if a task is completed. First implement all versions, and then enable this API + ///virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds)=0; + +///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded) + virtual void startSPU() =0; + +///tell the task scheduler we are done with the SPU tasks + virtual void stopSPU()=0; + + ///tell the task scheduler to use no more than numTasks tasks + virtual void setNumTasks(int numTasks)=0; + + virtual int getNumTasks() const = 0; + + virtual btBarrier* createBarrier() = 0; + + virtual btCriticalSection* createCriticalSection() = 0; + + virtual void deleteBarrier(btBarrier* barrier)=0; + + virtual void deleteCriticalSection(btCriticalSection* criticalSection)=0; + + virtual void* getThreadLocalMemory(int taskId) { return 0; } + +}; + +#endif //BT_THREAD_SUPPORT_INTERFACE_H + diff --git a/Code/Physics/src/BulletMultiThreaded/vectormath2bullet.h b/Code/Physics/src/BulletMultiThreaded/vectormath2bullet.h new file mode 100644 index 00000000..4cc72ac5 --- /dev/null +++ b/Code/Physics/src/BulletMultiThreaded/vectormath2bullet.h @@ -0,0 +1,73 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef BT_AOS_VECTORMATH_BULLET_CONVERT_H +#define BT_AOS_VECTORMATH_BULLET_CONVERT_H + +#include "PlatformDefinitions.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btMatrix3x3.h" + +inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec) +{ + return Vectormath::Aos::Vector3((float)bulletVec.getX(),(float)bulletVec.getY(),(float)bulletVec.getZ()); +} + +inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec) +{ + return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ()); +} +inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec) +{ + return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ()); +} + +inline Vectormath::Aos::Quat getVmQuat(const btQuaternion& bulletQuat) +{ + Vectormath::Aos::Quat vmQuat((float)bulletQuat.getX(),(float)bulletQuat.getY(),(float)bulletQuat.getZ(),(float)bulletQuat.getW()); + return vmQuat; +} + +inline btQuaternion getBtQuat(const Vectormath::Aos::Quat& vmQuat) +{ + return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW()); +} + +inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat) +{ + Vectormath::Aos::Matrix3 mat( + getVmVector3(btMat.getColumn(0)), + getVmVector3(btMat.getColumn(1)), + getVmVector3(btMat.getColumn(2))); + return mat; +} + + +#endif //BT_AOS_VECTORMATH_BULLET_CONVERT_H diff --git a/Code/Physics/src/BulletSoftBody/CMakeLists.txt b/Code/Physics/src/BulletSoftBody/CMakeLists.txt new file mode 100644 index 00000000..e66bd02d --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/CMakeLists.txt @@ -0,0 +1,67 @@ + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src + +) + +#SUBDIRS( Solvers ) + +SET(BulletSoftBody_SRCS + btSoftBody.cpp + btSoftBodyConcaveCollisionAlgorithm.cpp + btSoftBodyHelpers.cpp + btSoftBodyRigidBodyCollisionConfiguration.cpp + btSoftRigidCollisionAlgorithm.cpp + btSoftRigidDynamicsWorld.cpp + btSoftSoftCollisionAlgorithm.cpp + btDefaultSoftBodySolver.cpp + +) + +SET(BulletSoftBody_HDRS + btSoftBody.h + btSoftBodyData.h + btSoftBodyConcaveCollisionAlgorithm.h + btSoftBodyHelpers.h + btSoftBodyRigidBodyCollisionConfiguration.h + btSoftRigidCollisionAlgorithm.h + btSoftRigidDynamicsWorld.h + btSoftSoftCollisionAlgorithm.h + btSparseSDF.h + + btSoftBodySolvers.h + btDefaultSoftBodySolver.h + + btSoftBodySolverVertexBuffer.h +) + + + +ADD_LIBRARY(BulletSoftBody ${BulletSoftBody_SRCS} ${BulletSoftBody_HDRS}) +SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES SOVERSION ${BULLET_VERSION}) +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(BulletSoftBody BulletDynamics) +ENDIF (BUILD_SHARED_LIBS) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBody DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS BulletSoftBody RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(BulletSoftBody PROPERTIES PUBLIC_HEADER "${BulletSoftBody_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.cpp b/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.cpp new file mode 100644 index 00000000..e90d24e6 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.cpp @@ -0,0 +1,151 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" + +#include "btDefaultSoftBodySolver.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletSoftBody/btSoftBody.h" + + +btDefaultSoftBodySolver::btDefaultSoftBodySolver() +{ + // Initial we will clearly need to update solver constants + // For now this is global for the cloths linked with this solver - we should probably make this body specific + // for performance in future once we understand more clearly when constants need to be updated + m_updateSolverConstants = true; +} + +btDefaultSoftBodySolver::~btDefaultSoftBodySolver() +{ +} + +// In this case the data is already in the soft bodies so there is no need for us to do anything +void btDefaultSoftBodySolver::copyBackToSoftBodies(bool bMove) +{ + +} + +void btDefaultSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate) +{ + m_softBodySet.copyFromArray( softBodies ); +} + +void btDefaultSoftBodySolver::updateSoftBodies( ) +{ + for ( int i=0; i < m_softBodySet.size(); i++) + { + btSoftBody* psb=(btSoftBody*)m_softBodySet[i]; + if (psb->isActive()) + { + psb->integrateMotion(); + } + } +} // updateSoftBodies + +bool btDefaultSoftBodySolver::checkInitialized() +{ + return true; +} + +void btDefaultSoftBodySolver::solveConstraints( float solverdt ) +{ + // Solve constraints for non-solver softbodies + for(int i=0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = static_cast(m_softBodySet[i]); + if (psb->isActive()) + { + psb->solveConstraints(); + } + } +} // btDefaultSoftBodySolver::solveConstraints + + +void btDefaultSoftBodySolver::copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ) +{ + // Currently only support CPU output buffers + // TODO: check for DX11 buffers. Take all offsets into the same DX11 buffer + // and use them together on a single kernel call if possible by setting up a + // per-cloth target buffer array for the copy kernel. + + if( vertexBuffer->getBufferType() == btVertexBufferDescriptor::CPU_BUFFER ) + { + const btAlignedObjectArray &clothVertices( softBody->m_nodes ); + int numVertices = clothVertices.size(); + + const btCPUVertexBufferDescriptor *cpuVertexBuffer = static_cast< btCPUVertexBufferDescriptor* >(vertexBuffer); + float *basePointer = cpuVertexBuffer->getBasePointer(); + + if( vertexBuffer->hasVertexPositions() ) + { + const int vertexOffset = cpuVertexBuffer->getVertexOffset(); + const int vertexStride = cpuVertexBuffer->getVertexStride(); + float *vertexPointer = basePointer + vertexOffset; + + for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + { + btVector3 position = clothVertices[vertexIndex].m_x; + *(vertexPointer + 0) = position.getX(); + *(vertexPointer + 1) = position.getY(); + *(vertexPointer + 2) = position.getZ(); + vertexPointer += vertexStride; + } + } + if( vertexBuffer->hasNormals() ) + { + const int normalOffset = cpuVertexBuffer->getNormalOffset(); + const int normalStride = cpuVertexBuffer->getNormalStride(); + float *normalPointer = basePointer + normalOffset; + + for( int vertexIndex = 0; vertexIndex < numVertices; ++vertexIndex ) + { + btVector3 normal = clothVertices[vertexIndex].m_n; + *(normalPointer + 0) = normal.getX(); + *(normalPointer + 1) = normal.getY(); + *(normalPointer + 2) = normal.getZ(); + normalPointer += normalStride; + } + } + } +} // btDefaultSoftBodySolver::copySoftBodyToVertexBuffer + +void btDefaultSoftBodySolver::processCollision( btSoftBody* softBody, btSoftBody* otherSoftBody) +{ + softBody->defaultCollisionHandler( otherSoftBody); +} + +// For the default solver just leave the soft body to do its collision processing +void btDefaultSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObjectWrap ) +{ + softBody->defaultCollisionHandler( collisionObjectWrap ); +} // btDefaultSoftBodySolver::processCollision + + +void btDefaultSoftBodySolver::predictMotion( float timeStep ) +{ + for ( int i=0; i < m_softBodySet.size(); ++i) + { + btSoftBody* psb = m_softBodySet[i]; + + if (psb->isActive()) + { + psb->predictMotion(timeStep); + } + } +} + diff --git a/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.h b/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.h new file mode 100644 index 00000000..1c17ffcb --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btDefaultSoftBodySolver.h @@ -0,0 +1,63 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_DEFAULT_SOLVER_H +#define BT_SOFT_BODY_DEFAULT_SOLVER_H + + +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodySolverVertexBuffer.h" +struct btCollisionObjectWrapper; + +class btDefaultSoftBodySolver : public btSoftBodySolver +{ +protected: + /** Variable to define whether we need to update solver constants on the next iteration */ + bool m_updateSolverConstants; + + btAlignedObjectArray< btSoftBody * > m_softBodySet; + + +public: + btDefaultSoftBodySolver(); + + virtual ~btDefaultSoftBodySolver(); + + virtual SolverTypes getSolverType() const + { + return DEFAULT_SOLVER; + } + + virtual bool checkInitialized(); + + virtual void updateSoftBodies( ); + + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies,bool forceUpdate=false ); + + virtual void copyBackToSoftBodies(bool bMove = true); + + virtual void solveConstraints( float solverdt ); + + virtual void predictMotion( float solverdt ); + + virtual void copySoftBodyToVertexBuffer( const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer ); + + virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* ); + + virtual void processCollision( btSoftBody*, btSoftBody* ); + +}; + +#endif // #ifndef BT_ACCELERATED_SOFT_BODY_CPU_SOLVER_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBody.cpp b/Code/Physics/src/BulletSoftBody/btSoftBody.cpp new file mode 100644 index 00000000..a0c8cca4 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBody.cpp @@ -0,0 +1,3655 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#include "btSoftBodyInternals.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBodyData.h" +#include "LinearMath/btSerializer.h" + + +// +btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m) +:m_softBodySolver(0),m_worldInfo(worldInfo) +{ + /* Init */ + initDefaults(); + + /* Default material */ + Material* pm=appendMaterial(); + pm->m_kLST = 1; + pm->m_kAST = 1; + pm->m_kVST = 1; + pm->m_flags = fMaterial::Default; + + /* Nodes */ + const btScalar margin=getCollisionShape()->getMargin(); + m_nodes.resize(node_count); + for(int i=0,ni=node_count;i0?1/n.m_im:0; + n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n); + n.m_material= pm; + } + updateBounds(); + +} + +btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo) +:m_worldInfo(worldInfo) +{ + initDefaults(); +} + + +void btSoftBody::initDefaults() +{ + m_internalType = CO_SOFT_BODY; + m_cfg.aeromodel = eAeroModel::V_Point; + m_cfg.kVCF = 1; + m_cfg.kDG = 0; + m_cfg.kLF = 0; + m_cfg.kDP = 0; + m_cfg.kPR = 0; + m_cfg.kVC = 0; + m_cfg.kDF = (btScalar)0.2; + m_cfg.kMT = 0; + m_cfg.kCHR = (btScalar)1.0; + m_cfg.kKHR = (btScalar)0.1; + m_cfg.kSHR = (btScalar)1.0; + m_cfg.kAHR = (btScalar)0.7; + m_cfg.kSRHR_CL = (btScalar)0.1; + m_cfg.kSKHR_CL = (btScalar)1; + m_cfg.kSSHR_CL = (btScalar)0.5; + m_cfg.kSR_SPLT_CL = (btScalar)0.5; + m_cfg.kSK_SPLT_CL = (btScalar)0.5; + m_cfg.kSS_SPLT_CL = (btScalar)0.5; + m_cfg.maxvolume = (btScalar)1; + m_cfg.timescale = 1; + m_cfg.viterations = 0; + m_cfg.piterations = 1; + m_cfg.diterations = 0; + m_cfg.citerations = 4; + m_cfg.collisions = fCollision::Default; + m_pose.m_bvolume = false; + m_pose.m_bframe = false; + m_pose.m_volume = 0; + m_pose.m_com = btVector3(0,0,0); + m_pose.m_rot.setIdentity(); + m_pose.m_scl.setIdentity(); + m_tag = 0; + m_timeacc = 0; + m_bUpdateRtCst = true; + m_bounds[0] = btVector3(0,0,0); + m_bounds[1] = btVector3(0,0,0); + m_worldTransform.setIdentity(); + setSolver(eSolverPresets::Positions); + + /* Collision shape */ + ///for now, create a collision shape internally + m_collisionShape = new btSoftBodyCollisionShape(this); + m_collisionShape->setMargin(0.25f); + + m_initialWorldTransform.setIdentity(); + + m_windVelocity = btVector3(0,0,0); + m_restLengthScale = btScalar(1.0); +} + +// +btSoftBody::~btSoftBody() +{ + //for now, delete the internal shape + delete m_collisionShape; + int i; + + releaseClusters(); + for(i=0;i0) + *pm=*m_materials[0]; + else + ZeroInitialize(*pm); + m_materials.push_back(pm); + return(pm); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + const btVector4& c, + Node* n0, + Node* n1, + Node* n2, + Node* n3) +{ + Note n; + ZeroInitialize(n); + n.m_rank = 0; + n.m_text = text; + n.m_offset = o; + n.m_coords[0] = c.x(); + n.m_coords[1] = c.y(); + n.m_coords[2] = c.z(); + n.m_coords[3] = c.w(); + n.m_nodes[0] = n0;n.m_rank+=n0?1:0; + n.m_nodes[1] = n1;n.m_rank+=n1?1:0; + n.m_nodes[2] = n2;n.m_rank+=n2?1:0; + n.m_nodes[3] = n3;n.m_rank+=n3?1:0; + m_notes.push_back(n); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Node* feature) +{ + appendNote(text,o,btVector4(1,0,0,0),feature); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Link* feature) +{ + static const btScalar w=1/(btScalar)2; + appendNote(text,o,btVector4(w,w,0,0), feature->m_n[0], + feature->m_n[1]); +} + +// +void btSoftBody::appendNote( const char* text, + const btVector3& o, + Face* feature) +{ + static const btScalar w=1/(btScalar)3; + appendNote(text,o,btVector4(w,w,w,0), feature->m_n[0], + feature->m_n[1], + feature->m_n[2]); +} + +// +void btSoftBody::appendNode( const btVector3& x,btScalar m) +{ + if(m_nodes.capacity()==m_nodes.size()) + { + pointersToIndices(); + m_nodes.reserve(m_nodes.size()*2+1); + indicesToPointers(); + } + const btScalar margin=getCollisionShape()->getMargin(); + m_nodes.push_back(Node()); + Node& n=m_nodes[m_nodes.size()-1]; + ZeroInitialize(n); + n.m_x = x; + n.m_q = n.m_x; + n.m_im = m>0?1/m:0; + n.m_material = m_materials[0]; + n.m_leaf = m_ndbvt.insert(btDbvtVolume::FromCR(n.m_x,margin),&n); +} + +// +void btSoftBody::appendLink(int model,Material* mat) +{ + Link l; + if(model>=0) + l=m_links[model]; + else + { ZeroInitialize(l);l.m_material=mat?mat:m_materials[0]; } + m_links.push_back(l); +} + +// +void btSoftBody::appendLink( int node0, + int node1, + Material* mat, + bool bcheckexist) +{ + appendLink(&m_nodes[node0],&m_nodes[node1],mat,bcheckexist); +} + +// +void btSoftBody::appendLink( Node* node0, + Node* node1, + Material* mat, + bool bcheckexist) +{ + if((!bcheckexist)||(!checkLink(node0,node1))) + { + appendLink(-1,mat); + Link& l=m_links[m_links.size()-1]; + l.m_n[0] = node0; + l.m_n[1] = node1; + l.m_rl = (l.m_n[0]->m_x-l.m_n[1]->m_x).length(); + m_bUpdateRtCst=true; + } +} + +// +void btSoftBody::appendFace(int model,Material* mat) +{ + Face f; + if(model>=0) + { f=m_faces[model]; } + else + { ZeroInitialize(f);f.m_material=mat?mat:m_materials[0]; } + m_faces.push_back(f); +} + +// +void btSoftBody::appendFace(int node0,int node1,int node2,Material* mat) +{ + if (node0==node1) + return; + if (node1==node2) + return; + if (node2==node0) + return; + + appendFace(-1,mat); + Face& f=m_faces[m_faces.size()-1]; + btAssert(node0!=node1); + btAssert(node1!=node2); + btAssert(node2!=node0); + f.m_n[0] = &m_nodes[node0]; + f.m_n[1] = &m_nodes[node1]; + f.m_n[2] = &m_nodes[node2]; + f.m_ra = AreaOf( f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x); + m_bUpdateRtCst=true; +} + +// +void btSoftBody::appendTetra(int model,Material* mat) +{ +Tetra t; +if(model>=0) + t=m_tetras[model]; + else + { ZeroInitialize(t);t.m_material=mat?mat:m_materials[0]; } +m_tetras.push_back(t); +} + +// +void btSoftBody::appendTetra(int node0, + int node1, + int node2, + int node3, + Material* mat) +{ + appendTetra(-1,mat); + Tetra& t=m_tetras[m_tetras.size()-1]; + t.m_n[0] = &m_nodes[node0]; + t.m_n[1] = &m_nodes[node1]; + t.m_n[2] = &m_nodes[node2]; + t.m_n[3] = &m_nodes[node3]; + t.m_rv = VolumeOf(t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x); + m_bUpdateRtCst=true; +} + +// + +void btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies,btScalar influence) +{ + btVector3 local = body->getWorldTransform().inverse()*m_nodes[node].m_x; + appendAnchor(node,body,local,disableCollisionBetweenLinkedBodies,influence); +} + +// +void btSoftBody::appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies,btScalar influence) +{ + if (disableCollisionBetweenLinkedBodies) + { + if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size()) + { + m_collisionDisabledObjects.push_back(body); + } + } + + Anchor a; + a.m_node = &m_nodes[node]; + a.m_body = body; + a.m_local = localPivot; + a.m_node->m_battach = 1; + a.m_influence = influence; + m_anchors.push_back(a); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1) +{ + LJoint* pj = new(btAlignedAlloc(sizeof(LJoint),16)) LJoint(); + pj->m_bodies[0] = body0; + pj->m_bodies[1] = body1; + pj->m_refs[0] = pj->m_bodies[0].xform().inverse()*specs.position; + pj->m_refs[1] = pj->m_bodies[1].xform().inverse()*specs.position; + pj->m_cfm = specs.cfm; + pj->m_erp = specs.erp; + pj->m_split = specs.split; + m_joints.push_back(pj); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,Body body) +{ + appendLinearJoint(specs,m_clusters[0],body); +} + +// +void btSoftBody::appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body) +{ + appendLinearJoint(specs,m_clusters[0],body->m_clusters[0]); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1) +{ + AJoint* pj = new(btAlignedAlloc(sizeof(AJoint),16)) AJoint(); + pj->m_bodies[0] = body0; + pj->m_bodies[1] = body1; + pj->m_refs[0] = pj->m_bodies[0].xform().inverse().getBasis()*specs.axis; + pj->m_refs[1] = pj->m_bodies[1].xform().inverse().getBasis()*specs.axis; + pj->m_cfm = specs.cfm; + pj->m_erp = specs.erp; + pj->m_split = specs.split; + pj->m_icontrol = specs.icontrol; + m_joints.push_back(pj); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,Body body) +{ + appendAngularJoint(specs,m_clusters[0],body); +} + +// +void btSoftBody::appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body) +{ + appendAngularJoint(specs,m_clusters[0],body->m_clusters[0]); +} + +// +void btSoftBody::addForce(const btVector3& force) +{ + for(int i=0,ni=m_nodes.size();i0) + { + n.m_f += force; + } +} + +void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeIndex) +{ + btAssert(nodeIndex >= 0 && nodeIndex < m_nodes.size()); + + const btScalar dt = m_sst.sdt; + const btScalar kLF = m_cfg.kLF; + const btScalar kDG = m_cfg.kDG; + //const btScalar kPR = m_cfg.kPR; + //const btScalar kVC = m_cfg.kVC; + const bool as_lift = kLF>0; + const bool as_drag = kDG>0; + const bool as_aero = as_lift || as_drag; + const bool as_vaero = as_aero && (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided); + + Node& n = m_nodes[nodeIndex]; + + if( n.m_im>0 ) + { + btSoftBody::sMedium medium; + + EvaluateMedium(m_worldInfo, n.m_x, medium); + medium.m_velocity = windVelocity; + medium.m_density = m_worldInfo->air_density; + + /* Aerodynamics */ + if(as_vaero) + { + const btVector3 rel_v = n.m_v - medium.m_velocity; + const btScalar rel_v_len = rel_v.length(); + const btScalar rel_v2 = rel_v.length2(); + + if(rel_v2>SIMD_EPSILON) + { + const btVector3 rel_v_nrm = rel_v.normalized(); + btVector3 nrm = n.m_n; + + if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSidedLiftDrag) + { + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + btVector3 fDrag(0, 0, 0); + btVector3 fLift(0, 0, 0); + + btScalar n_dot_v = nrm.dot(rel_v_nrm); + btScalar tri_area = 0.5f * n.m_area; + + fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); + + // Check angle of attack + // cos(10º) = 0.98480 + if ( 0 < n_dot_v && n_dot_v < 0.98480f) + fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); + + // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node. + btVector3 del_v_by_fDrag = fDrag*n.m_im*m_sst.sdt; + btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2(); + btScalar v_len2 = n.m_v.length2(); + + if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0) + { + btScalar del_v_by_fDrag_len = del_v_by_fDrag.length(); + btScalar v_len = n.m_v.length(); + fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len); + } + + n.m_f += fDrag; + n.m_f += fLift; + } + else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided) + { + if (btSoftBody::eAeroModel::V_TwoSided) + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + const btScalar dvn = btDot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = n.m_area * dvn * rel_v2/2; + const btScalar c1 = c0 * medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized() * (-c1 * kDG); + ApplyClampedForce(n, force, dt); + } + } + } + } + } +} + +void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceIndex) +{ + const btScalar dt = m_sst.sdt; + const btScalar kLF = m_cfg.kLF; + const btScalar kDG = m_cfg.kDG; +// const btScalar kPR = m_cfg.kPR; +// const btScalar kVC = m_cfg.kVC; + const bool as_lift = kLF>0; + const bool as_drag = kDG>0; + const bool as_aero = as_lift || as_drag; + const bool as_faero = as_aero && (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided); + + if(as_faero) + { + btSoftBody::Face& f=m_faces[faceIndex]; + + btSoftBody::sMedium medium; + + const btVector3 v=(f.m_n[0]->m_v+f.m_n[1]->m_v+f.m_n[2]->m_v)/3; + const btVector3 x=(f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3; + EvaluateMedium(m_worldInfo,x,medium); + medium.m_velocity = windVelocity; + medium.m_density = m_worldInfo->air_density; + const btVector3 rel_v=v-medium.m_velocity; + const btScalar rel_v_len = rel_v.length(); + const btScalar rel_v2=rel_v.length2(); + + if(rel_v2>SIMD_EPSILON) + { + const btVector3 rel_v_nrm = rel_v.normalized(); + btVector3 nrm = f.m_normal; + + if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSidedLiftDrag) + { + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + btVector3 fDrag(0, 0, 0); + btVector3 fLift(0, 0, 0); + + btScalar n_dot_v = nrm.dot(rel_v_nrm); + btScalar tri_area = 0.5f * f.m_ra; + + fDrag = 0.5f * kDG * medium.m_density * rel_v2 * tri_area * n_dot_v * (-rel_v_nrm); + + // Check angle of attack + // cos(10º) = 0.98480 + if ( 0 < n_dot_v && n_dot_v < 0.98480f) + fLift = 0.5f * kLF * medium.m_density * rel_v_len * tri_area * btSqrt(1.0f-n_dot_v*n_dot_v) * (nrm.cross(rel_v_nrm).cross(rel_v_nrm)); + + fDrag /= 3; + fLift /= 3; + + for(int j=0;j<3;++j) + { + if (f.m_n[j]->m_im>0) + { + // Check if the velocity change resulted by aero drag force exceeds the current velocity of the node. + btVector3 del_v_by_fDrag = fDrag*f.m_n[j]->m_im*m_sst.sdt; + btScalar del_v_by_fDrag_len2 = del_v_by_fDrag.length2(); + btScalar v_len2 = f.m_n[j]->m_v.length2(); + + if (del_v_by_fDrag_len2 >= v_len2 && del_v_by_fDrag_len2 > 0) + { + btScalar del_v_by_fDrag_len = del_v_by_fDrag.length(); + btScalar v_len = f.m_n[j]->m_v.length(); + fDrag *= btScalar(0.8)*(v_len / del_v_by_fDrag_len); + } + + f.m_n[j]->m_f += fDrag; + f.m_n[j]->m_f += fLift; + } + } + } + else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided) + { + if (btSoftBody::eAeroModel::F_TwoSided) + nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1); + + const btScalar dvn=btDot(rel_v,nrm); + /* Compute forces */ + if(dvn>0) + { + btVector3 force(0,0,0); + const btScalar c0 = f.m_ra*dvn*rel_v2; + const btScalar c1 = c0*medium.m_density; + force += nrm*(-c1*kLF); + force += rel_v.normalized()*(-c1*kDG); + force /= 3; + for(int j=0;j<3;++j) ApplyClampedForce(*f.m_n[j],force,dt); + } + } + } + } + +} + +// +void btSoftBody::addVelocity(const btVector3& velocity) +{ + for(int i=0,ni=m_nodes.size();i0) + { + n.m_v = velocity; + } + } +} + + +// +void btSoftBody::addVelocity(const btVector3& velocity,int node) +{ + Node& n=m_nodes[node]; + if(n.m_im>0) + { + n.m_v += velocity; + } +} + +// +void btSoftBody::setMass(int node,btScalar mass) +{ + m_nodes[node].m_im=mass>0?1/mass:0; + m_bUpdateRtCst=true; +} + +// +btScalar btSoftBody::getMass(int node) const +{ + return(m_nodes[node].m_im>0?1/m_nodes[node].m_im:0); +} + +// +btScalar btSoftBody::getTotalMass() const +{ + btScalar mass=0; + for(int i=0;im_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x); + for(int j=0;j<3;++j) + { + f.m_n[j]->m_im+=twicearea; + } + } + for( i=0;i ranks; +ranks.resize(m_nodes.size(),0); +int i; + +for(i=0;im_im+=btFabs(t.m_rv); + ranks[int(t.m_n[j]-&m_nodes[0])]+=1; + } + } +for( i=0;i0) + { + m_nodes[i].m_im=ranks[i]/m_nodes[i].m_im; + } + } +setTotalMass(mass,false); +} + +// +void btSoftBody::setVolumeDensity(btScalar density) +{ +btScalar volume=0; +for(int i=0;igetMargin(); + ATTRIBUTE_ALIGNED16(btDbvtVolume) vol; + + for(int i=0,ni=m_nodes.size();igetMargin(); + ATTRIBUTE_ALIGNED16(btDbvtVolume) vol; + + for(int i=0,ni=m_nodes.size();i0 ? + 1/(m_nodes[i].m_im*tmass) : + kmass/tmass; + } + /* Pos */ + const btVector3 com=evaluateCom(); + m_pose.m_pos.resize(m_nodes.size()); + for( i=0,ni=m_nodes.size();im_x-l.m_n[1]->m_x).length(); + l.m_c1 = l.m_rl*l.m_rl; + } +} + +// +btScalar btSoftBody::getVolume() const +{ + btScalar vol=0; + if(m_nodes.size()>0) + { + int i,ni; + + const btVector3 org=m_nodes[0].m_x; + for(i=0,ni=m_faces.size();im_x-org,btCross(f.m_n[1]->m_x-org,f.m_n[2]->m_x-org)); + } + vol/=(btScalar)6; + } + return(vol); +} + +// +int btSoftBody::clusterCount() const +{ + return(m_clusters.size()); +} + +// +btVector3 btSoftBody::clusterCom(const Cluster* cluster) +{ + btVector3 com(0,0,0); + for(int i=0,ni=cluster->m_nodes.size();im_nodes[i]->m_x*cluster->m_masses[i]; + } + return(com*cluster->m_imass); +} + +// +btVector3 btSoftBody::clusterCom(int cluster) const +{ + return(clusterCom(m_clusters[cluster])); +} + +// +btVector3 btSoftBody::clusterVelocity(const Cluster* cluster,const btVector3& rpos) +{ + return(cluster->m_lv+btCross(cluster->m_av,rpos)); +} + +// +void btSoftBody::clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse) +{ + const btVector3 li=cluster->m_imass*impulse; + const btVector3 ai=cluster->m_invwi*btCross(rpos,impulse); + cluster->m_vimpulses[0]+=li;cluster->m_lv+=li; + cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai; + cluster->m_nvimpulses++; +} + +// +void btSoftBody::clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse) +{ + const btVector3 li=cluster->m_imass*impulse; + const btVector3 ai=cluster->m_invwi*btCross(rpos,impulse); + cluster->m_dimpulses[0]+=li; + cluster->m_dimpulses[1]+=ai; + cluster->m_ndimpulses++; +} + +// +void btSoftBody::clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse) +{ + if(impulse.m_asVelocity) clusterVImpulse(cluster,rpos,impulse.m_velocity); + if(impulse.m_asDrift) clusterDImpulse(cluster,rpos,impulse.m_drift); +} + +// +void btSoftBody::clusterVAImpulse(Cluster* cluster,const btVector3& impulse) +{ + const btVector3 ai=cluster->m_invwi*impulse; + cluster->m_vimpulses[1]+=ai;cluster->m_av+=ai; + cluster->m_nvimpulses++; +} + +// +void btSoftBody::clusterDAImpulse(Cluster* cluster,const btVector3& impulse) +{ + const btVector3 ai=cluster->m_invwi*impulse; + cluster->m_dimpulses[1]+=ai; + cluster->m_ndimpulses++; +} + +// +void btSoftBody::clusterAImpulse(Cluster* cluster,const Impulse& impulse) +{ + if(impulse.m_asVelocity) clusterVAImpulse(cluster,impulse.m_velocity); + if(impulse.m_asDrift) clusterDAImpulse(cluster,impulse.m_drift); +} + +// +void btSoftBody::clusterDCImpulse(Cluster* cluster,const btVector3& impulse) +{ + cluster->m_dimpulses[0]+=impulse*cluster->m_imass; + cluster->m_ndimpulses++; +} + +struct NodeLinks +{ + btAlignedObjectArray m_links; +}; + + + +// +int btSoftBody::generateBendingConstraints(int distance,Material* mat) +{ + int i,j; + + if(distance>1) + { + /* Build graph */ + const int n=m_nodes.size(); + const unsigned inf=(~(unsigned)0)>>1; + unsigned* adj=new unsigned[n*n]; + + +#define IDX(_x_,_y_) ((_y_)*n+(_x_)) + for(j=0;j nodeLinks; + + + /* Build node links */ + nodeLinks.resize(m_nodes.size()); + + for( i=0;isum) + { + adj[IDX(i,j)]=adj[IDX(j,i)]=sum; + } + } + + } + } + } + } else + { + ///generic Floyd's algorithm + for(int k=0;ksum) + { + adj[IDX(i,j)]=adj[IDX(j,i)]=sum; + } + } + } + } + } + + + /* Build links */ + int nlinks=0; + for(j=0;jm_leaf) m_cdbvt.remove(c->m_leaf); + c->~Cluster(); + btAlignedFree(c); + m_clusters.remove(c); +} + +// +void btSoftBody::releaseClusters() +{ + while(m_clusters.size()>0) releaseCluster(0); +} + +// +int btSoftBody::generateClusters(int k,int maxiterations) +{ + int i; + releaseClusters(); + m_clusters.resize(btMin(k,m_nodes.size())); + for(i=0;im_collide= true; + } + k=m_clusters.size(); + if(k>0) + { + /* Initialize */ + btAlignedObjectArray centers; + btVector3 cog(0,0,0); + int i; + for(i=0;im_nodes.push_back(&m_nodes[i]); + } + cog/=(btScalar)m_nodes.size(); + centers.resize(k,cog); + /* Iterate */ + const btScalar slope=16; + bool changed; + int iterations=0; + do { + const btScalar w=2-btMin(1,iterations/slope); + changed=false; + iterations++; + int i; + + for(i=0;im_nodes.size();++j) + { + c+=m_clusters[i]->m_nodes[j]->m_x; + } + if(m_clusters[i]->m_nodes.size()) + { + c /= (btScalar)m_clusters[i]->m_nodes.size(); + c = centers[i]+(c-centers[i])*w; + changed |= ((c-centers[i]).length2()>SIMD_EPSILON); + centers[i] = c; + m_clusters[i]->m_nodes.resize(0); + } + } + for(i=0;im_nodes.push_back(&m_nodes[i]); + } + } while(changed&&(iterations cids; + cids.resize(m_nodes.size(),-1); + for(i=0;im_nodes.size();++j) + { + cids[int(m_clusters[i]->m_nodes[j]-&m_nodes[0])]=i; + } + } + for(i=0;im_nodes.findLinearSearch(&m_nodes[kid])==m_clusters[cid]->m_nodes.size()) + { + m_clusters[cid]->m_nodes.push_back(&m_nodes[kid]); + } + } + } + } + } + /* Master */ + if(m_clusters.size()>1) + { + Cluster* pmaster=new(btAlignedAlloc(sizeof(Cluster),16)) Cluster(); + pmaster->m_collide = false; + pmaster->m_nodes.reserve(m_nodes.size()); + for(int i=0;im_nodes.push_back(&m_nodes[i]); + m_clusters.push_back(pmaster); + btSwap(m_clusters[0],m_clusters[m_clusters.size()-1]); + } + /* Terminate */ + for(i=0;im_nodes.size()==0) + { + releaseCluster(i--); + } + } + } else + { + //create a cluster for each tetrahedron (if tetrahedra exist) or each face + if (m_tetras.size()) + { + m_clusters.resize(m_tetras.size()); + for(i=0;im_collide= true; + } + for (i=0;im_nodes.push_back(m_tetras[i].m_n[j]); + } + } + + } else + { + m_clusters.resize(m_faces.size()); + for(i=0;im_collide= true; + } + + for(i=0;im_nodes.push_back(m_faces[i].m_n[j]); + } + } + } + } + + if (m_clusters.size()) + { + initializeClusters(); + updateClusters(); + + + //for self-collision + m_clusterConnectivity.resize(m_clusters.size()*m_clusters.size()); + { + for (int c0=0;c0m_clusterIndex=c0; + for (int c1=0;c1m_nodes.size();i++) + { + for (int j=0;jm_nodes.size();j++) + { + if (cla->m_nodes[i] == clb->m_nodes[j]) + { + connected=true; + break; + } + } + } + m_clusterConnectivity[c0+c1*m_clusters.size()]=connected; + } + } + } + } + + return(m_clusters.size()); +} + +// +void btSoftBody::refine(ImplicitFn* ifn,btScalar accurary,bool cut) +{ + const Node* nbase = &m_nodes[0]; + int ncount = m_nodes.size(); + btSymMatrix edges(ncount,-2); + int newnodes=0; + int i,j,k,ni; + + /* Filter out */ + for(i=0;iEval(l.m_n[0]->m_x),ifn->Eval(l.m_n[1]->m_x))) + { + btSwap(m_links[i],m_links[m_links.size()-1]); + m_links.pop_back();--i; + } + } + } + /* Fill edges */ + for(i=0;i0) + { + const btVector3 x=Lerp(a.m_x,b.m_x,t); + const btVector3 v=Lerp(a.m_v,b.m_v,t); + btScalar m=0; + if(a.m_im>0) + { + if(b.m_im>0) + { + const btScalar ma=1/a.m_im; + const btScalar mb=1/b.m_im; + const btScalar mc=Lerp(ma,mb,t); + const btScalar f=(ma+mb)/(ma+mb+mc); + a.m_im=1/(ma*f); + b.m_im=1/(mb*f); + m=mc*f; + } + else + { a.m_im/=0.5f;m=1/a.m_im; } + } + else + { + if(b.m_im>0) + { b.m_im/=0.5f;m=1/b.m_im; } + else + m=0; + } + appendNode(x,m); + edges(i,j)=m_nodes.size()-1; + m_nodes[edges(i,j)].m_v=v; + ++newnodes; + } + } + } + } + nbase=&m_nodes[0]; + /* Refine links */ + for(i=0,ni=m_links.size();i0) + { + appendLink(i); + Link* pft[]={ &m_links[i], + &m_links[m_links.size()-1]}; + pft[0]->m_n[0]=&m_nodes[idx[0]]; + pft[0]->m_n[1]=&m_nodes[ni]; + pft[1]->m_n[0]=&m_nodes[ni]; + pft[1]->m_n[1]=&m_nodes[idx[1]]; + } + } + } + /* Refine faces */ + for(i=0;i0) + { + appendFace(i); + const int l=(k+1)%3; + Face* pft[]={ &m_faces[i], + &m_faces[m_faces.size()-1]}; + pft[0]->m_n[0]=&m_nodes[idx[l]]; + pft[0]->m_n[1]=&m_nodes[idx[j]]; + pft[0]->m_n[2]=&m_nodes[ni]; + pft[1]->m_n[0]=&m_nodes[ni]; + pft[1]->m_n[1]=&m_nodes[idx[k]]; + pft[1]->m_n[2]=&m_nodes[idx[l]]; + appendLink(ni,idx[l],pft[0]->m_material); + --i;break; + } + } + } + } + /* Cut */ + if(cut) + { + btAlignedObjectArray cnodes; + const int pcount=ncount; + int i; + ncount=m_nodes.size(); + cnodes.resize(ncount,0); + /* Nodes */ + for(i=0;i=pcount)||(btFabs(ifn->Eval(x))0) { m*=0.5f;m_nodes[i].m_im/=0.5f; } + appendNode(x,m); + cnodes[i]=m_nodes.size()-1; + m_nodes[cnodes[i]].m_v=v; + } + } + nbase=&m_nodes[0]; + /* Links */ + for(i=0,ni=m_links.size();iEval(m_nodes[id[0]].m_x)Eval(m_nodes[id[1]].m_x)Eval(n[0]->m_x)Eval(n[1]->m_x)Eval(n[2]->m_x) ranks; + btAlignedObjectArray todelete; + ranks.resize(nnodes,0); + for(i=0,ni=m_links.size();i=0;--i) + { + if(!ranks[i]) todelete.push_back(i); + } + if(todelete.size()) + { + btAlignedObjectArray& map=ranks; + for(int i=0;im_v=v; + pn[1]->m_v=v; + for(i=0,ni=m_links.size();im_n[1]=pn[mtch]; + pft[1]->m_n[0]=pn[1-mtch]; + done=true; + } + } + for(i=0,ni=m_faces.size();im_n[l]=pn[mtch]; + pft[1]->m_n[k]=pn[1-mtch]; + appendLink(pn[0],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true); + appendLink(pn[1],pft[0]->m_n[(l+1)%3],pft[0]->m_material,true); + } + } + } + if(!done) + { + m_ndbvt.remove(pn[0]->m_leaf); + m_ndbvt.remove(pn[1]->m_leaf); + m_nodes.pop_back(); + m_nodes.pop_back(); + } + return(done); +} + +// +bool btSoftBody::rayTest(const btVector3& rayFrom, + const btVector3& rayTo, + sRayCast& results) +{ + if(m_faces.size()&&m_fdbvt.empty()) + initializeFaceTree(); + + results.body = this; + results.fraction = 1.f; + results.feature = eFeature::None; + results.index = -1; + + return(rayTest(rayFrom,rayTo,results.fraction,results.feature,results.index,false)!=0); +} + +// +void btSoftBody::setSolver(eSolverPresets::_ preset) +{ + m_cfg.m_vsequence.clear(); + m_cfg.m_psequence.clear(); + m_cfg.m_dsequence.clear(); + switch(preset) + { + case eSolverPresets::Positions: + m_cfg.m_psequence.push_back(ePSolver::Anchors); + m_cfg.m_psequence.push_back(ePSolver::RContacts); + m_cfg.m_psequence.push_back(ePSolver::SContacts); + m_cfg.m_psequence.push_back(ePSolver::Linear); + break; + case eSolverPresets::Velocities: + m_cfg.m_vsequence.push_back(eVSolver::Linear); + + m_cfg.m_psequence.push_back(ePSolver::Anchors); + m_cfg.m_psequence.push_back(ePSolver::RContacts); + m_cfg.m_psequence.push_back(ePSolver::SContacts); + + m_cfg.m_dsequence.push_back(ePSolver::Linear); + break; + } +} + +// +void btSoftBody::predictMotion(btScalar dt) +{ + + int i,ni; + + /* Update */ + if(m_bUpdateRtCst) + { + m_bUpdateRtCst=false; + updateConstants(); + m_fdbvt.clear(); + if(m_cfg.collisions&fCollision::VF_SS) + { + initializeFaceTree(); + } + } + + /* Prepare */ + m_sst.sdt = dt*m_cfg.timescale; + m_sst.isdt = 1/m_sst.sdt; + m_sst.velmrg = m_sst.sdt*3; + m_sst.radmrg = getCollisionShape()->getMargin(); + m_sst.updmrg = m_sst.radmrg*(btScalar)0.25; + /* Forces */ + addVelocity(m_worldInfo->m_gravity*m_sst.sdt); + applyForces(); + /* Integrate */ + for(i=0,ni=m_nodes.size();im_maxDisplacement; + btScalar clampDeltaV = maxDisplacement/m_sst.sdt; + for (int c=0;c<3;c++) + { + if (deltaV[c]>clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c]<-clampDeltaV) + { + deltaV[c]=-clampDeltaV; + } + } + } + n.m_v += deltaV; + n.m_x += n.m_v*m_sst.sdt; + n.m_f = btVector3(0,0,0); + } + /* Clusters */ + updateClusters(); + /* Bounds */ + updateBounds(); + /* Nodes */ + ATTRIBUTE_ALIGNED16(btDbvtVolume) vol; + for(i=0,ni=m_nodes.size();im_v+ + f.m_n[1]->m_v+ + f.m_n[2]->m_v)/3; + vol = VolumeOf(f,m_sst.radmrg); + m_fdbvt.update( f.m_leaf, + vol, + v*m_sst.velmrg, + m_sst.updmrg); + } + } + /* Pose */ + updatePose(); + /* Match */ + if(m_pose.m_bframe&&(m_cfg.kMT>0)) + { + const btMatrix3x3 posetrs=m_pose.m_rot; + for(int i=0,ni=m_nodes.size();i0) + { + const btVector3 x=posetrs*m_pose.m_pos[i]+m_pose.m_com; + n.m_x=Lerp(n.m_x,x,m_cfg.kMT); + } + } + } + /* Clear contacts */ + m_rcontacts.resize(0); + m_scontacts.resize(0); + /* Optimize dbvt's */ + m_ndbvt.optimizeIncremental(1); + m_fdbvt.optimizeIncremental(1); + m_cdbvt.optimizeIncremental(1); +} + +// +void btSoftBody::solveConstraints() +{ + + /* Apply clusters */ + applyClusters(false); + /* Prepare links */ + + int i,ni; + + for(i=0,ni=m_links.size();im_q-l.m_n[0]->m_q; + l.m_c2 = 1/(l.m_c3.length2()*l.m_c0); + } + /* Prepare anchors */ + for(i=0,ni=m_anchors.size();igetWorldTransform().getBasis()*a.m_local; + a.m_c0 = ImpulseMatrix( m_sst.sdt, + a.m_node->m_im, + a.m_body->getInvMass(), + a.m_body->getInvInertiaTensorWorld(), + ra); + a.m_c1 = ra; + a.m_c2 = m_sst.sdt*a.m_node->m_im; + a.m_body->activate(); + } + /* Solve velocities */ + if(m_cfg.viterations>0) + { + /* Solve */ + for(int isolve=0;isolve0) + { + for(int isolve=0;isolve0) + { + const btScalar vcf=m_cfg.kVCF*m_sst.isdt; + for(i=0,ni=m_nodes.size();i& bodies) +{ + const int nb=bodies.size(); + int iterations=0; + int i; + + for(i=0;im_cfg.citerations); + } + for(i=0;iprepareClusters(iterations); + } + for(i=0;isolveClusters(sor); + } + } + for(i=0;icleanupClusters(); + } +} + +// +void btSoftBody::integrateMotion() +{ + /* Update */ + updateNormals(); +} + +// +btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt) +{ + m_rayFrom = rayFrom; + m_rayNormalizedDirection = (rayTo-rayFrom); + m_rayTo = rayTo; + m_mint = mxt; + m_face = 0; + m_tests = 0; +} + +// +void btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf) +{ + btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data; + const btScalar t=rayFromToTriangle( m_rayFrom,m_rayTo,m_rayNormalizedDirection, + f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + m_mint); + if((t>0)&&(tteps)&&(tceps) && + (btDot(n,btCross(b-hit,c-hit))>ceps) && + (btDot(n,btCross(c-hit,a-hit))>ceps)) + { + return(t); + } + } + } + return(-1); +} + +// +void btSoftBody::pointersToIndices() +{ +#define PTR2IDX(_p_,_b_) reinterpret_cast((_p_)-(_b_)) + btSoftBody::Node* base=m_nodes.size() ? &m_nodes[0] : 0; + int i,ni; + + for(i=0,ni=m_nodes.size();idata=*(void**)&i; + } + } + for(i=0,ni=m_links.size();idata=*(void**)&i; + } + } + for(i=0,ni=m_anchors.size();idata=&m_nodes[i]; + } + } + for(i=0,ni=m_links.size();idata=&m_faces[i]; + } + } + for(i=0,ni=m_anchors.size();im_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + mint); + if(t>0) + { + ++cnt; + if(!bcountonly) + { + feature=btSoftBody::eFeature::Face; + index=i; + mint=t; + } + } + } + } + else + {/* Use dbvt */ + RayFromToCaster collider(rayFrom,rayTo,mint); + + btDbvt::rayTest(m_fdbvt.m_root,rayFrom,rayTo,collider); + if(collider.m_face) + { + mint=collider.m_mint; + feature=btSoftBody::eFeature::Face; + index=(int)(collider.m_face-&m_faces[0]); + cnt=1; + } + } + + for (int i=0;im_x; + btVector3 v1=tet.m_n[index1]->m_x; + btVector3 v2=tet.m_n[index2]->m_x; + + + const btScalar t=RayFromToCaster::rayFromToTriangle( rayFrom,rayTo,dir, + v0,v1,v2, + mint); + if(t>0) + { + ++cnt; + if(!bcountonly) + { + feature=btSoftBody::eFeature::Tetra; + index=i; + mint=t; + } + } + } + } + return(cnt); +} + +// +void btSoftBody::initializeFaceTree() +{ + m_fdbvt.clear(); + for(int i=0;igetCollisionShape(); +// const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + //const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform &wtr = colObjWrap->getWorldTransform(); + //todo: check which transform is needed here + + btScalar dst = + m_worldInfo->m_sparsesdf.Evaluate( + wtr.invXform(x), + shp, + nrm, + margin); + if(dst<0) + { + cti.m_colObj = colObjWrap->getCollisionObject(); + cti.m_normal = wtr.getBasis()*nrm; + cti.m_offset = -btDot( cti.m_normal, x - cti.m_normal * dst ); + return(true); + } + return(false); +} + +// +void btSoftBody::updateNormals() +{ + + const btVector3 zv(0,0,0); + int i,ni; + + for(i=0,ni=m_nodes.size();im_x-f.m_n[0]->m_x, + f.m_n[2]->m_x-f.m_n[0]->m_x); + f.m_normal=n.normalized(); + f.m_n[0]->m_n+=n; + f.m_n[1]->m_n+=n; + f.m_n[2]->m_n+=n; + } + for(i=0,ni=m_nodes.size();iSIMD_EPSILON) + m_nodes[i].m_n /= len; + } +} + +// +void btSoftBody::updateBounds() +{ + /*if( m_acceleratedSoftBody ) + { + // If we have an accelerated softbody we need to obtain the bounds correctly + // For now (slightly hackily) just have a very large AABB + // TODO: Write get bounds kernel + // If that is updating in place, atomic collisions might be low (when the cloth isn't perfectly aligned to an axis) and we could + // probably do a test and exchange reasonably efficiently. + + m_bounds[0] = btVector3(-1000, -1000, -1000); + m_bounds[1] = btVector3(1000, 1000, 1000); + + } else {*/ + if(m_ndbvt.m_root) + { + const btVector3& mins=m_ndbvt.m_root->volume.Mins(); + const btVector3& maxs=m_ndbvt.m_root->volume.Maxs(); + const btScalar csm=getCollisionShape()->getMargin(); + const btVector3 mrg=btVector3( csm, + csm, + csm)*1; // ??? to investigate... + m_bounds[0]=mins-mrg; + m_bounds[1]=maxs+mrg; + if(0!=getBroadphaseHandle()) + { + m_worldInfo->m_broadphase->setAabb( getBroadphaseHandle(), + m_bounds[0], + m_bounds[1], + m_worldInfo->m_dispatcher); + } + } + else + { + m_bounds[0]= + m_bounds[1]=btVector3(0,0,0); + } + //} +} + + +// +void btSoftBody::updatePose() +{ + if(m_pose.m_bframe) + { + btSoftBody::Pose& pose=m_pose; + const btVector3 com=evaluateCom(); + /* Com */ + pose.m_com = com; + /* Rotation */ + btMatrix3x3 Apq; + const btScalar eps=SIMD_EPSILON; + Apq[0]=Apq[1]=Apq[2]=btVector3(0,0,0); + Apq[0].setX(eps);Apq[1].setY(eps*2);Apq[2].setZ(eps*3); + for(int i=0,ni=m_nodes.size();i1) + { + const btScalar idet=Clamp( 1/pose.m_scl.determinant(), + 1,m_cfg.maxvolume); + pose.m_scl=Mul(pose.m_scl,idet); + } + + } +} + +// +void btSoftBody::updateArea(bool averageArea) +{ + int i,ni; + + /* Face area */ + for(i=0,ni=m_faces.size();im_x,f.m_n[1]->m_x,f.m_n[2]->m_x); + } + + /* Node area */ + + if (averageArea) + { + btAlignedObjectArray counts; + counts.resize(m_nodes.size(),0); + for(i=0,ni=m_nodes.size();im_area+=btFabs(f.m_ra); + } + } + for(i=0,ni=m_nodes.size();i0) + m_nodes[i].m_area/=(btScalar)counts[i]; + else + m_nodes[i].m_area=0; + } + } + else + { + // initialize node area as zero + for(i=0,ni=m_nodes.size();im_area += f.m_ra; + } + } + + for(i=0,ni=m_nodes.size();im_im+l.m_n[1]->m_im)/m.m_kLST; + } +} + +void btSoftBody::updateConstants() +{ + resetLinkRestLengths(); + updateLinkConstants(); + updateArea(); +} + + + +// +void btSoftBody::initializeClusters() +{ + int i; + + for( i=0;im_im==0) + { + c.m_containsAnchor = true; + c.m_masses[j] = BT_LARGE_FLOAT; + } else + { + c.m_masses[j] = btScalar(1.)/c.m_nodes[j]->m_im; + } + c.m_imass += c.m_masses[j]; + } + c.m_imass = btScalar(1.)/c.m_imass; + c.m_com = btSoftBody::clusterCom(&c); + c.m_lv = btVector3(0,0,0); + c.m_av = btVector3(0,0,0); + c.m_leaf = 0; + /* Inertia */ + btMatrix3x3& ii=c.m_locii; + ii[0]=ii[1]=ii[2]=btVector3(0,0,0); + { + int i,ni; + + for(i=0,ni=c.m_nodes.size();im_x-c.m_com; + const btVector3 q=k*k; + const btScalar m=c.m_masses[i]; + ii[0][0] += m*(q[1]+q[2]); + ii[1][1] += m*(q[0]+q[2]); + ii[2][2] += m*(q[0]+q[1]); + ii[0][1] -= m*k[0]*k[1]; + ii[0][2] -= m*k[0]*k[2]; + ii[1][2] -= m*k[1]*k[2]; + } + } + ii[1][0]=ii[0][1]; + ii[2][0]=ii[0][2]; + ii[2][1]=ii[1][2]; + + ii = ii.inverse(); + + /* Frame */ + c.m_framexform.setIdentity(); + c.m_framexform.setOrigin(c.m_com); + c.m_framerefs.resize(c.m_nodes.size()); + { + int i; + for(i=0;im_x-c.m_com; + } + } + } +} + +// +void btSoftBody::updateClusters() +{ + BT_PROFILE("UpdateClusters"); + int i; + + for(i=0;im_x-c.m_com; + const btVector3& b=c.m_framerefs[i]; + m[0]+=a[0]*b;m[1]+=a[1]*b;m[2]+=a[2]*b; + } + PolarDecompose(m,r,s); + c.m_framexform.setOrigin(c.m_com); + c.m_framexform.setBasis(r); + /* Inertia */ +#if 1/* Constant */ + c.m_invwi=c.m_framexform.getBasis()*c.m_locii*c.m_framexform.getBasis().transpose(); +#else +#if 0/* Sphere */ + const btScalar rk=(2*c.m_extents.length2())/(5*c.m_imass); + const btVector3 inertia(rk,rk,rk); + const btVector3 iin(btFabs(inertia[0])>SIMD_EPSILON?1/inertia[0]:0, + btFabs(inertia[1])>SIMD_EPSILON?1/inertia[1]:0, + btFabs(inertia[2])>SIMD_EPSILON?1/inertia[2]:0); + + c.m_invwi=c.m_xform.getBasis().scaled(iin)*c.m_xform.getBasis().transpose(); +#else/* Actual */ + c.m_invwi[0]=c.m_invwi[1]=c.m_invwi[2]=btVector3(0,0,0); + for(int i=0;im_x-c.m_com; + const btVector3 q=k*k; + const btScalar m=1/c.m_nodes[i]->m_im; + c.m_invwi[0][0] += m*(q[1]+q[2]); + c.m_invwi[1][1] += m*(q[0]+q[2]); + c.m_invwi[2][2] += m*(q[0]+q[1]); + c.m_invwi[0][1] -= m*k[0]*k[1]; + c.m_invwi[0][2] -= m*k[0]*k[2]; + c.m_invwi[1][2] -= m*k[1]*k[2]; + } + c.m_invwi[1][0]=c.m_invwi[0][1]; + c.m_invwi[2][0]=c.m_invwi[0][2]; + c.m_invwi[2][1]=c.m_invwi[1][2]; + c.m_invwi=c.m_invwi.inverse(); +#endif +#endif + /* Velocities */ + c.m_lv=btVector3(0,0,0); + c.m_av=btVector3(0,0,0); + { + int i; + + for(i=0;im_v*c.m_masses[i]; + c.m_lv += v; + c.m_av += btCross(c.m_nodes[i]->m_x-c.m_com,v); + } + } + c.m_lv=c.m_imass*c.m_lv*(1-c.m_ldamping); + c.m_av=c.m_invwi*c.m_av*(1-c.m_adamping); + c.m_vimpulses[0] = + c.m_vimpulses[1] = btVector3(0,0,0); + c.m_dimpulses[0] = + c.m_dimpulses[1] = btVector3(0,0,0); + c.m_nvimpulses = 0; + c.m_ndimpulses = 0; + /* Matching */ + if(c.m_matching>0) + { + for(int j=0;jm_x; + btVector3 mx=mi; + for(int j=1;jm_x); + mx.setMax(c.m_nodes[j]->m_x); + } + ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(mi,mx); + if(c.m_leaf) + m_cdbvt.update(c.m_leaf,bounds,c.m_lv*m_sst.sdt*3,m_sst.radmrg); + else + c.m_leaf=m_cdbvt.insert(bounds,&c); + } + } + } + + +} + + + + +// +void btSoftBody::cleanupClusters() +{ + for(int i=0;iTerminate(m_sst.sdt); + if(m_joints[i]->m_delete) + { + btAlignedFree(m_joints[i]); + m_joints.remove(m_joints[i--]); + } + } +} + +// +void btSoftBody::prepareClusters(int iterations) +{ + for(int i=0;iPrepare(m_sst.sdt,iterations); + } +} + + +// +void btSoftBody::solveClusters(btScalar sor) +{ + for(int i=0,ni=m_joints.size();iSolve(m_sst.sdt,sor); + } +} + +// +void btSoftBody::applyClusters(bool drift) +{ + BT_PROFILE("ApplyClusters"); +// const btScalar f0=m_sst.sdt; + //const btScalar f1=f0/2; + btAlignedObjectArray deltas; + btAlignedObjectArray weights; + deltas.resize(m_nodes.size(),btVector3(0,0,0)); + weights.resize(m_nodes.size(),0); + int i; + + if(drift) + { + for(i=0;im_x; + const btScalar q=c.m_masses[j]; + deltas[idx] += (v+btCross(w,x-c.m_com))*q; + weights[idx] += q; + } + } + } + for(i=0;i0) + { + m_nodes[i].m_x+=deltas[i]/weights[i]; + } + } +} + +// +void btSoftBody::dampClusters() +{ + int i; + + for(i=0;i0) + { + for(int j=0;j0) + { + const btVector3 vx=c.m_lv+btCross(c.m_av,c.m_nodes[j]->m_q-c.m_com); + if(vx.length2()<=n.m_v.length2()) + { + n.m_v += c.m_ndamping*(vx-n.m_v); + } + } + } + } + } +} + +// +void btSoftBody::Joint::Prepare(btScalar dt,int) +{ + m_bodies[0].activate(); + m_bodies[1].activate(); +} + +// +void btSoftBody::LJoint::Prepare(btScalar dt,int iterations) +{ + static const btScalar maxdrift=4; + Joint::Prepare(dt,iterations); + m_rpos[0] = m_bodies[0].xform()*m_refs[0]; + m_rpos[1] = m_bodies[1].xform()*m_refs[1]; + m_drift = Clamp(m_rpos[0]-m_rpos[1],maxdrift)*m_erp/dt; + m_rpos[0] -= m_bodies[0].xform().getOrigin(); + m_rpos[1] -= m_bodies[1].xform().getOrigin(); + m_massmatrix = ImpulseMatrix( m_bodies[0].invMass(),m_bodies[0].invWorldInertia(),m_rpos[0], + m_bodies[1].invMass(),m_bodies[1].invWorldInertia(),m_rpos[1]); + if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } + m_drift /=(btScalar)iterations; +} + +// +void btSoftBody::LJoint::Solve(btScalar dt,btScalar sor) +{ + const btVector3 va=m_bodies[0].velocity(m_rpos[0]); + const btVector3 vb=m_bodies[1].velocity(m_rpos[1]); + const btVector3 vr=va-vb; + btSoftBody::Impulse impulse; + impulse.m_asVelocity = 1; + impulse.m_velocity = m_massmatrix*(m_drift+vr*m_cfm)*sor; + m_bodies[0].applyImpulse(-impulse,m_rpos[0]); + m_bodies[1].applyImpulse( impulse,m_rpos[1]); +} + +// +void btSoftBody::LJoint::Terminate(btScalar dt) +{ + if(m_split>0) + { + m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]); + m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]); + } +} + +// +void btSoftBody::AJoint::Prepare(btScalar dt,int iterations) +{ + static const btScalar maxdrift=SIMD_PI/16; + m_icontrol->Prepare(this); + Joint::Prepare(dt,iterations); + m_axis[0] = m_bodies[0].xform().getBasis()*m_refs[0]; + m_axis[1] = m_bodies[1].xform().getBasis()*m_refs[1]; + m_drift = NormalizeAny(btCross(m_axis[1],m_axis[0])); + m_drift *= btMin(maxdrift,btAcos(Clamp(btDot(m_axis[0],m_axis[1]),-1,+1))); + m_drift *= m_erp/dt; + m_massmatrix= AngularImpulseMatrix(m_bodies[0].invWorldInertia(),m_bodies[1].invWorldInertia()); + if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } + m_drift /=(btScalar)iterations; +} + +// +void btSoftBody::AJoint::Solve(btScalar dt,btScalar sor) +{ + const btVector3 va=m_bodies[0].angularVelocity(); + const btVector3 vb=m_bodies[1].angularVelocity(); + const btVector3 vr=va-vb; + const btScalar sp=btDot(vr,m_axis[0]); + const btVector3 vc=vr-m_axis[0]*m_icontrol->Speed(this,sp); + btSoftBody::Impulse impulse; + impulse.m_asVelocity = 1; + impulse.m_velocity = m_massmatrix*(m_drift+vc*m_cfm)*sor; + m_bodies[0].applyAImpulse(-impulse); + m_bodies[1].applyAImpulse( impulse); +} + +// +void btSoftBody::AJoint::Terminate(btScalar dt) +{ + if(m_split>0) + { + m_bodies[0].applyDAImpulse(-m_sdrift); + m_bodies[1].applyDAImpulse( m_sdrift); + } +} + +// +void btSoftBody::CJoint::Prepare(btScalar dt,int iterations) +{ + Joint::Prepare(dt,iterations); + const bool dodrift=(m_life==0); + m_delete=(++m_life)>m_maxlife; + if(dodrift) + { + m_drift=m_drift*m_erp/dt; + if(m_split>0) + { + m_sdrift = m_massmatrix*(m_drift*m_split); + m_drift *= 1-m_split; + } + m_drift/=(btScalar)iterations; + } + else + { + m_drift=m_sdrift=btVector3(0,0,0); + } +} + +// +void btSoftBody::CJoint::Solve(btScalar dt,btScalar sor) +{ + const btVector3 va=m_bodies[0].velocity(m_rpos[0]); + const btVector3 vb=m_bodies[1].velocity(m_rpos[1]); + const btVector3 vrel=va-vb; + const btScalar rvac=btDot(vrel,m_normal); + btSoftBody::Impulse impulse; + impulse.m_asVelocity = 1; + impulse.m_velocity = m_drift; + if(rvac<0) + { + const btVector3 iv=m_normal*rvac; + const btVector3 fv=vrel-iv; + impulse.m_velocity += iv+fv*m_friction; + } + impulse.m_velocity=m_massmatrix*impulse.m_velocity*sor; + + if (m_bodies[0].m_soft==m_bodies[1].m_soft) + { + if ((impulse.m_velocity.getX() ==impulse.m_velocity.getX())&&(impulse.m_velocity.getY() ==impulse.m_velocity.getY())&& + (impulse.m_velocity.getZ() ==impulse.m_velocity.getZ())) + { + if (impulse.m_asVelocity) + { + if (impulse.m_velocity.length() m_maxSelfCollisionImpulse) + { + + } else + { + m_bodies[0].applyImpulse(-impulse*m_bodies[0].m_soft->m_selfCollisionImpulseFactor,m_rpos[0]); + m_bodies[1].applyImpulse( impulse*m_bodies[0].m_soft->m_selfCollisionImpulseFactor,m_rpos[1]); + } + } + } + } else + { + m_bodies[0].applyImpulse(-impulse,m_rpos[0]); + m_bodies[1].applyImpulse( impulse,m_rpos[1]); + } +} + +// +void btSoftBody::CJoint::Terminate(btScalar dt) +{ + if(m_split>0) + { + m_bodies[0].applyDImpulse(-m_sdrift,m_rpos[0]); + m_bodies[1].applyDImpulse( m_sdrift,m_rpos[1]); + } +} + +// +void btSoftBody::applyForces() +{ + + BT_PROFILE("SoftBody applyForces"); +// const btScalar dt = m_sst.sdt; + const btScalar kLF = m_cfg.kLF; + const btScalar kDG = m_cfg.kDG; + const btScalar kPR = m_cfg.kPR; + const btScalar kVC = m_cfg.kVC; + const bool as_lift = kLF>0; + const bool as_drag = kDG>0; + const bool as_pressure = kPR!=0; + const bool as_volume = kVC>0; + const bool as_aero = as_lift || + as_drag ; + //const bool as_vaero = as_aero && + // (m_cfg.aeromodel < btSoftBody::eAeroModel::F_TwoSided); + //const bool as_faero = as_aero && + // (m_cfg.aeromodel >= btSoftBody::eAeroModel::F_TwoSided); + const bool use_medium = as_aero; + const bool use_volume = as_pressure || + as_volume ; + btScalar volume = 0; + btScalar ivolumetp = 0; + btScalar dvolumetv = 0; + btSoftBody::sMedium medium; + if(use_volume) + { + volume = getVolume(); + ivolumetp = 1/btFabs(volume)*kPR; + dvolumetv = (m_pose.m_volume-volume)*kVC; + } + /* Per vertex forces */ + int i,ni; + + for(i=0,ni=m_nodes.size();i0) + { + if(use_medium) + { + /* Aerodynamics */ + addAeroForceToNode(m_windVelocity, i); + } + /* Pressure */ + if(as_pressure) + { + n.m_f += n.m_n*(n.m_area*ivolumetp); + } + /* Volume */ + if(as_volume) + { + n.m_f += n.m_n*(n.m_area*dvolumetv); + } + } + } + + /* Per face forces */ + for(i=0,ni=m_faces.size();im_cfg.kAHR*kst; + const btScalar dt=psb->m_sst.sdt; + for(int i=0,ni=psb->m_anchors.size();im_anchors[i]; + const btTransform& t=a.m_body->getWorldTransform(); + Node& n=*a.m_node; + const btVector3 wa=t*a.m_local; + const btVector3 va=a.m_body->getVelocityInLocalPoint(a.m_c1)*dt; + const btVector3 vb=n.m_x-n.m_q; + const btVector3 vr=(va-vb)+(wa-n.m_x)*kAHR; + const btVector3 impulse=a.m_c0*vr*a.m_influence; + n.m_x+=impulse*a.m_c2; + a.m_body->applyImpulse(-impulse,a.m_c1); + } +} + +// +void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) +{ + const btScalar dt = psb->m_sst.sdt; + const btScalar mrg = psb->getCollisionShape()->getMargin(); + for(int i=0,ni=psb->m_rcontacts.size();im_rcontacts[i]; + const sCti& cti = c.m_cti; + btRigidBody* tmpRigid = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + + const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0); + const btVector3 vb = c.m_node->m_x-c.m_node->m_q; + const btVector3 vr = vb-va; + const btScalar dn = btDot(vr, cti.m_normal); + if(dn<=SIMD_EPSILON) + { + const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg ); + const btVector3 fv = vr - (cti.m_normal * dn); + // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient + const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst ); + c.m_node->m_x -= impulse * c.m_c2; + if (tmpRigid) + tmpRigid->applyImpulse(impulse,c.m_c1); + } + } +} + +// +void btSoftBody::PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti) +{ + for(int i=0,ni=psb->m_scontacts.size();im_scontacts[i]; + const btVector3& nr=c.m_normal; + Node& n=*c.m_node; + Face& f=*c.m_face; + const btVector3 p=BaryEval( f.m_n[0]->m_x, + f.m_n[1]->m_x, + f.m_n[2]->m_x, + c.m_weights); + const btVector3 q=BaryEval( f.m_n[0]->m_q, + f.m_n[1]->m_q, + f.m_n[2]->m_q, + c.m_weights); + const btVector3 vr=(n.m_x-n.m_q)-(p-q); + btVector3 corr(0,0,0); + btScalar dot = btDot(vr,nr); + if(dot<0) + { + const btScalar j=c.m_margin-(btDot(nr,n.m_x)-btDot(nr,p)); + corr+=c.m_normal*j; + } + corr -= ProjectOnPlane(vr,nr)*c.m_friction; + n.m_x += corr*c.m_cfm[0]; + f.m_n[0]->m_x -= corr*(c.m_cfm[1]*c.m_weights.x()); + f.m_n[1]->m_x -= corr*(c.m_cfm[1]*c.m_weights.y()); + f.m_n[2]->m_x -= corr*(c.m_cfm[1]*c.m_weights.z()); + } +} + +// +void btSoftBody::PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti) +{ + for(int i=0,ni=psb->m_links.size();im_links[i]; + if(l.m_c0>0) + { + Node& a=*l.m_n[0]; + Node& b=*l.m_n[1]; + const btVector3 del=b.m_x-a.m_x; + const btScalar len=del.length2(); + if (l.m_c1+len > SIMD_EPSILON) + { + const btScalar k=((l.m_c1-len)/(l.m_c0*(l.m_c1+len)))*kst; + a.m_x-=del*(k*a.m_im); + b.m_x+=del*(k*b.m_im); + } + } + } +} + +// +void btSoftBody::VSolve_Links(btSoftBody* psb,btScalar kst) +{ + for(int i=0,ni=psb->m_links.size();im_links[i]; + Node** n=l.m_n; + const btScalar j=-btDot(l.m_c3,n[0]->m_v-n[1]->m_v)*l.m_c2*kst; + n[0]->m_v+= l.m_c3*(j*n[0]->m_im); + n[1]->m_v-= l.m_c3*(j*n[1]->m_im); + } +} + +// +btSoftBody::psolver_t btSoftBody::getSolver(ePSolver::_ solver) +{ + switch(solver) + { + case ePSolver::Anchors: + return(&btSoftBody::PSolve_Anchors); + case ePSolver::Linear: + return(&btSoftBody::PSolve_Links); + case ePSolver::RContacts: + return(&btSoftBody::PSolve_RContacts); + case ePSolver::SContacts: + return(&btSoftBody::PSolve_SContacts); + default: + { + } + } + return(0); +} + +// +btSoftBody::vsolver_t btSoftBody::getSolver(eVSolver::_ solver) +{ + switch(solver) + { + case eVSolver::Linear: return(&btSoftBody::VSolve_Links); + default: + { + } + } + return(0); +} + +// +void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap) +{ + + switch(m_cfg.collisions&fCollision::RVSmask) + { + case fCollision::SDF_RS: + { + btSoftColliders::CollideSDF_RS docollide; + btRigidBody* prb1=(btRigidBody*) btRigidBody::upcast(pcoWrap->getCollisionObject()); + btTransform wtr=pcoWrap->getWorldTransform(); + + const btTransform ctr=pcoWrap->getWorldTransform(); + const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length(); + const btScalar basemargin=getCollisionShape()->getMargin(); + btVector3 mins; + btVector3 maxs; + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume; + pcoWrap->getCollisionShape()->getAabb( pcoWrap->getWorldTransform(), + mins, + maxs); + volume=btDbvtVolume::FromMM(mins,maxs); + volume.Expand(btVector3(basemargin,basemargin,basemargin)); + docollide.psb = this; + docollide.m_colObj1Wrap = pcoWrap; + docollide.m_rigidBody = prb1; + + docollide.dynmargin = basemargin+timemargin; + docollide.stamargin = basemargin; + m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide); + } + break; + case fCollision::CL_RS: + { + btSoftColliders::CollideCL_RS collider; + collider.ProcessColObj(this,pcoWrap); + } + break; + } +} + +// +void btSoftBody::defaultCollisionHandler(btSoftBody* psb) +{ + const int cf=m_cfg.collisions&psb->m_cfg.collisions; + switch(cf&fCollision::SVSmask) + { + case fCollision::CL_SS: + { + + //support self-collision if CL_SELF flag set + if (this!=psb || psb->m_cfg.collisions&fCollision::CL_SELF) + { + btSoftColliders::CollideCL_SS docollide; + docollide.ProcessSoftSoft(this,psb); + } + + } + break; + case fCollision::VF_SS: + { + //only self-collision for Cluster, not Vertex-Face yet + if (this!=psb) + { + btSoftColliders::CollideVF_SS docollide; + /* common */ + docollide.mrg= getCollisionShape()->getMargin()+ + psb->getCollisionShape()->getMargin(); + /* psb0 nodes vs psb1 faces */ + docollide.psb[0]=this; + docollide.psb[1]=psb; + docollide.psb[0]->m_ndbvt.collideTT( docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + /* psb1 nodes vs psb0 faces */ + docollide.psb[0]=psb; + docollide.psb[1]=this; + docollide.psb[0]->m_ndbvt.collideTT( docollide.psb[0]->m_ndbvt.m_root, + docollide.psb[1]->m_fdbvt.m_root, + docollide); + } + } + break; + default: + { + + } + } +} + + + +void btSoftBody::setWindVelocity( const btVector3 &velocity ) +{ + m_windVelocity = velocity; +} + + +const btVector3& btSoftBody::getWindVelocity() +{ + return m_windVelocity; +} + + + +int btSoftBody::calculateSerializeBufferSize() const +{ + int sz = sizeof(btSoftBodyData); + return sz; +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializer) const +{ + btSoftBodyData* sbd = (btSoftBodyData*) dataBuffer; + + btCollisionObject::serialize(&sbd->m_collisionObjectData, serializer); + + btHashMap m_nodeIndexMap; + + sbd->m_numMaterials = m_materials.size(); + sbd->m_materials = sbd->m_numMaterials? (SoftBodyMaterialData**) serializer->getUniquePointer((void*)&m_materials): 0; + + if (sbd->m_materials) + { + int sz = sizeof(SoftBodyMaterialData*); + int numElem = sbd->m_numMaterials; + btChunk* chunk = serializer->allocate(sz,numElem); + //SoftBodyMaterialData** memPtr = chunk->m_oldPtr; + SoftBodyMaterialData** memPtr = (SoftBodyMaterialData**)chunk->m_oldPtr; + for (int i=0;igetUniquePointer((void*)mat) : 0; + if (!serializer->findPointer(mat)) + { + //serialize it here + btChunk* chunk = serializer->allocate(sizeof(SoftBodyMaterialData),1); + SoftBodyMaterialData* memPtr = (SoftBodyMaterialData*)chunk->m_oldPtr; + memPtr->m_flags = mat->m_flags; + memPtr->m_angularStiffness = mat->m_kAST; + memPtr->m_linearStiffness = mat->m_kLST; + memPtr->m_volumeStiffness = mat->m_kVST; + serializer->finalizeChunk(chunk,"SoftBodyMaterialData",BT_SBMATERIAL_CODE,mat); + } + } + serializer->finalizeChunk(chunk,"SoftBodyMaterialData",BT_ARRAY_CODE,(void*) &m_materials); + } + + + + + sbd->m_numNodes = m_nodes.size(); + sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes): 0; + if (sbd->m_nodes) + { + int sz = sizeof(SoftBodyNodeData); + int numElem = sbd->m_numNodes; + btChunk* chunk = serializer->allocate(sz,numElem); + SoftBodyNodeData* memPtr = (SoftBodyNodeData*)chunk->m_oldPtr; + for (int i=0;im_accumulatedForce); + memPtr->m_area = m_nodes[i].m_area; + memPtr->m_attach = m_nodes[i].m_battach; + memPtr->m_inverseMass = m_nodes[i].m_im; + memPtr->m_material = m_nodes[i].m_material? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_nodes[i].m_material):0; + m_nodes[i].m_n.serializeFloat(memPtr->m_normal); + m_nodes[i].m_x.serializeFloat(memPtr->m_position); + m_nodes[i].m_q.serializeFloat(memPtr->m_previousPosition); + m_nodes[i].m_v.serializeFloat(memPtr->m_velocity); + m_nodeIndexMap.insert(&m_nodes[i],i); + } + serializer->finalizeChunk(chunk,"SoftBodyNodeData",BT_SBNODE_CODE,(void*) &m_nodes); + } + + sbd->m_numLinks = m_links.size(); + sbd->m_links = sbd->m_numLinks? (SoftBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0; + if (sbd->m_links) + { + int sz = sizeof(SoftBodyLinkData); + int numElem = sbd->m_numLinks; + btChunk* chunk = serializer->allocate(sz,numElem); + SoftBodyLinkData* memPtr = (SoftBodyLinkData*)chunk->m_oldPtr; + for (int i=0;im_bbending = m_links[i].m_bbending; + memPtr->m_material = m_links[i].m_material? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_links[i].m_material):0; + memPtr->m_nodeIndices[0] = m_links[i].m_n[0] ? m_links[i].m_n[0] - &m_nodes[0]: -1; + memPtr->m_nodeIndices[1] = m_links[i].m_n[1] ? m_links[i].m_n[1] - &m_nodes[0]: -1; + btAssert(memPtr->m_nodeIndices[0]m_nodeIndices[1]m_restLength = m_links[i].m_rl; + } + serializer->finalizeChunk(chunk,"SoftBodyLinkData",BT_ARRAY_CODE,(void*) &m_links[0]); + + } + + + sbd->m_numFaces = m_faces.size(); + sbd->m_faces = sbd->m_numFaces? (SoftBodyFaceData*) serializer->getUniquePointer((void*)&m_faces[0]):0; + if (sbd->m_faces) + { + int sz = sizeof(SoftBodyFaceData); + int numElem = sbd->m_numFaces; + btChunk* chunk = serializer->allocate(sz,numElem); + SoftBodyFaceData* memPtr = (SoftBodyFaceData*)chunk->m_oldPtr; + for (int i=0;im_material = m_faces[i].m_material ? (SoftBodyMaterialData*) serializer->getUniquePointer((void*)m_faces[i].m_material): 0; + m_faces[i].m_normal.serializeFloat( memPtr->m_normal); + for (int j=0;j<3;j++) + { + memPtr->m_nodeIndices[j] = m_faces[i].m_n[j]? m_faces[i].m_n[j] - &m_nodes[0]: -1; + } + memPtr->m_restArea = m_faces[i].m_ra; + } + serializer->finalizeChunk(chunk,"SoftBodyFaceData",BT_ARRAY_CODE,(void*) &m_faces[0]); + } + + + sbd->m_numTetrahedra = m_tetras.size(); + sbd->m_tetrahedra = sbd->m_numTetrahedra ? (SoftBodyTetraData*) serializer->getUniquePointer((void*)&m_tetras[0]):0; + if (sbd->m_tetrahedra) + { + int sz = sizeof(SoftBodyTetraData); + int numElem = sbd->m_numTetrahedra; + btChunk* chunk = serializer->allocate(sz,numElem); + SoftBodyTetraData* memPtr = (SoftBodyTetraData*)chunk->m_oldPtr; + for (int i=0;im_c0[j] ); + memPtr->m_nodeIndices[j] = m_tetras[j].m_n[j]? m_tetras[j].m_n[j]-&m_nodes[0] : -1; + } + memPtr->m_c1 = m_tetras[i].m_c1; + memPtr->m_c2 = m_tetras[i].m_c2; + memPtr->m_material = m_tetras[i].m_material ? (SoftBodyMaterialData*)serializer->getUniquePointer((void*) m_tetras[i].m_material): 0; + memPtr->m_restVolume = m_tetras[i].m_rv; + } + serializer->finalizeChunk(chunk,"SoftBodyTetraData",BT_ARRAY_CODE,(void*) &m_tetras[0]); + } + + sbd->m_numAnchors = m_anchors.size(); + sbd->m_anchors = sbd->m_numAnchors ? (SoftRigidAnchorData*) serializer->getUniquePointer((void*)&m_anchors[0]):0; + if (sbd->m_anchors) + { + int sz = sizeof(SoftRigidAnchorData); + int numElem = sbd->m_numAnchors; + btChunk* chunk = serializer->allocate(sz,numElem); + SoftRigidAnchorData* memPtr = (SoftRigidAnchorData*)chunk->m_oldPtr; + for (int i=0;im_c0); + m_anchors[i].m_c1.serializeFloat(memPtr->m_c1); + memPtr->m_c2 = m_anchors[i].m_c2; + m_anchors[i].m_local.serializeFloat(memPtr->m_localFrame); + memPtr->m_nodeIndex = m_anchors[i].m_node? m_anchors[i].m_node-&m_nodes[0]: -1; + + memPtr->m_rigidBody = m_anchors[i].m_body? (btRigidBodyData*) serializer->getUniquePointer((void*)m_anchors[i].m_body): 0; + btAssert(memPtr->m_nodeIndex < m_nodes.size()); + } + serializer->finalizeChunk(chunk,"SoftRigidAnchorData",BT_ARRAY_CODE,(void*) &m_anchors[0]); + } + + + sbd->m_config.m_dynamicFriction = m_cfg.kDF; + sbd->m_config.m_baumgarte = m_cfg.kVCF; + sbd->m_config.m_pressure = m_cfg.kPR; + sbd->m_config.m_aeroModel = this->m_cfg.aeromodel; + sbd->m_config.m_lift = m_cfg.kLF; + sbd->m_config.m_drag = m_cfg.kDG; + sbd->m_config.m_positionIterations = m_cfg.piterations; + sbd->m_config.m_driftIterations = m_cfg.diterations; + sbd->m_config.m_clusterIterations = m_cfg.citerations; + sbd->m_config.m_velocityIterations = m_cfg.viterations; + sbd->m_config.m_maxVolume = m_cfg.maxvolume; + sbd->m_config.m_damping = m_cfg.kDP; + sbd->m_config.m_poseMatch = m_cfg.kMT; + sbd->m_config.m_collisionFlags = m_cfg.collisions; + sbd->m_config.m_volume = m_cfg.kVC; + sbd->m_config.m_rigidContactHardness = m_cfg.kCHR; + sbd->m_config.m_kineticContactHardness = m_cfg.kKHR; + sbd->m_config.m_softContactHardness = m_cfg.kSHR; + sbd->m_config.m_anchorHardness = m_cfg.kAHR; + sbd->m_config.m_timeScale = m_cfg.timescale; + sbd->m_config.m_maxVolume = m_cfg.maxvolume; + sbd->m_config.m_softRigidClusterHardness = m_cfg.kSRHR_CL; + sbd->m_config.m_softKineticClusterHardness = m_cfg.kSKHR_CL; + sbd->m_config.m_softSoftClusterHardness = m_cfg.kSSHR_CL; + sbd->m_config.m_softRigidClusterImpulseSplit = m_cfg.kSR_SPLT_CL; + sbd->m_config.m_softKineticClusterImpulseSplit = m_cfg.kSK_SPLT_CL; + sbd->m_config.m_softSoftClusterImpulseSplit = m_cfg.kSS_SPLT_CL; + + //pose for shape matching + { + sbd->m_pose = (SoftBodyPoseData*)serializer->getUniquePointer((void*)&m_pose); + + int sz = sizeof(SoftBodyPoseData); + btChunk* chunk = serializer->allocate(sz,1); + SoftBodyPoseData* memPtr = (SoftBodyPoseData*)chunk->m_oldPtr; + + m_pose.m_aqq.serializeFloat(memPtr->m_aqq); + memPtr->m_bframe = m_pose.m_bframe; + memPtr->m_bvolume = m_pose.m_bvolume; + m_pose.m_com.serializeFloat(memPtr->m_com); + + memPtr->m_numPositions = m_pose.m_pos.size(); + memPtr->m_positions = memPtr->m_numPositions ? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_pose.m_pos[0]): 0; + if (memPtr->m_numPositions) + { + int numElem = memPtr->m_numPositions; + int sz = sizeof(btVector3Data); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3FloatData* memPtr = (btVector3FloatData*)chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)&m_pose.m_pos[0]); + } + memPtr->m_restVolume = m_pose.m_volume; + m_pose.m_rot.serializeFloat(memPtr->m_rot); + m_pose.m_scl.serializeFloat(memPtr->m_scale); + + memPtr->m_numWeigts = m_pose.m_wgh.size(); + memPtr->m_weights = memPtr->m_numWeigts? (float*) serializer->getUniquePointer((void*) &m_pose.m_wgh[0]) : 0; + if (memPtr->m_numWeigts) + { + + int numElem = memPtr->m_numWeigts; + int sz = sizeof(float); + btChunk* chunk = serializer->allocate(sz,numElem); + float* memPtr = (float*) chunk->m_oldPtr; + for (int i=0;ifinalizeChunk(chunk,"float",BT_ARRAY_CODE,(void*)&m_pose.m_wgh[0]); + } + + serializer->finalizeChunk(chunk,"SoftBodyPoseData",BT_ARRAY_CODE,(void*)&m_pose); + } + + //clusters for convex-cluster collision detection + + sbd->m_numClusters = m_clusters.size(); + sbd->m_clusters = sbd->m_numClusters? (SoftBodyClusterData*) serializer->getUniquePointer((void*)m_clusters[0]) : 0; + if (sbd->m_numClusters) + { + int numElem = sbd->m_numClusters; + int sz = sizeof(SoftBodyClusterData); + btChunk* chunk = serializer->allocate(sz,numElem); + SoftBodyClusterData* memPtr = (SoftBodyClusterData*) chunk->m_oldPtr; + for (int i=0;im_adamping= m_clusters[i]->m_adamping; + m_clusters[i]->m_av.serializeFloat(memPtr->m_av); + memPtr->m_clusterIndex = m_clusters[i]->m_clusterIndex; + memPtr->m_collide = m_clusters[i]->m_collide; + m_clusters[i]->m_com.serializeFloat(memPtr->m_com); + memPtr->m_containsAnchor = m_clusters[i]->m_containsAnchor; + m_clusters[i]->m_dimpulses[0].serializeFloat(memPtr->m_dimpulses[0]); + m_clusters[i]->m_dimpulses[1].serializeFloat(memPtr->m_dimpulses[1]); + m_clusters[i]->m_framexform.serializeFloat(memPtr->m_framexform); + memPtr->m_idmass = m_clusters[i]->m_idmass; + memPtr->m_imass = m_clusters[i]->m_imass; + m_clusters[i]->m_invwi.serializeFloat(memPtr->m_invwi); + memPtr->m_ldamping = m_clusters[i]->m_ldamping; + m_clusters[i]->m_locii.serializeFloat(memPtr->m_locii); + m_clusters[i]->m_lv.serializeFloat(memPtr->m_lv); + memPtr->m_matching = m_clusters[i]->m_matching; + memPtr->m_maxSelfCollisionImpulse = m_clusters[i]->m_maxSelfCollisionImpulse; + memPtr->m_ndamping = m_clusters[i]->m_ndamping; + memPtr->m_ldamping = m_clusters[i]->m_ldamping; + memPtr->m_adamping = m_clusters[i]->m_adamping; + memPtr->m_selfCollisionImpulseFactor = m_clusters[i]->m_selfCollisionImpulseFactor; + + memPtr->m_numFrameRefs = m_clusters[i]->m_framerefs.size(); + memPtr->m_numMasses = m_clusters[i]->m_masses.size(); + memPtr->m_numNodes = m_clusters[i]->m_nodes.size(); + + memPtr->m_nvimpulses = m_clusters[i]->m_nvimpulses; + m_clusters[i]->m_vimpulses[0].serializeFloat(memPtr->m_vimpulses[0]); + m_clusters[i]->m_vimpulses[1].serializeFloat(memPtr->m_vimpulses[1]); + memPtr->m_ndimpulses = m_clusters[i]->m_ndimpulses; + + + + memPtr->m_framerefs = memPtr->m_numFrameRefs? (btVector3FloatData*)serializer->getUniquePointer((void*)&m_clusters[i]->m_framerefs[0]) : 0; + if (memPtr->m_framerefs) + { + int numElem = memPtr->m_numFrameRefs; + int sz = sizeof(btVector3FloatData); + btChunk* chunk = serializer->allocate(sz,numElem); + btVector3FloatData* memPtr = (btVector3FloatData*) chunk->m_oldPtr; + for (int j=0;jm_framerefs[j].serializeFloat(*memPtr); + } + serializer->finalizeChunk(chunk,"btVector3FloatData",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_framerefs[0]); + } + + memPtr->m_masses = memPtr->m_numMasses ? (float*) serializer->getUniquePointer((void*)&m_clusters[i]->m_masses[0]): 0; + if (memPtr->m_masses) + { + int numElem = memPtr->m_numMasses; + int sz = sizeof(float); + btChunk* chunk = serializer->allocate(sz,numElem); + float* memPtr = (float*) chunk->m_oldPtr; + for (int j=0;jm_masses[j]; + } + serializer->finalizeChunk(chunk,"float",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_masses[0]); + } + + memPtr->m_nodeIndices = memPtr->m_numNodes ? (int*) serializer->getUniquePointer((void*) &m_clusters[i]->m_nodes) : 0; + if (memPtr->m_nodeIndices ) + { + int numElem = memPtr->m_numMasses; + int sz = sizeof(int); + btChunk* chunk = serializer->allocate(sz,numElem); + int* memPtr = (int*) chunk->m_oldPtr; + for (int j=0;jm_nodes[j]); + btAssert(indexPtr); + *memPtr = *indexPtr; + } + serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_nodes); + } + } + serializer->finalizeChunk(chunk,"SoftBodyClusterData",BT_ARRAY_CODE,(void*)m_clusters[0]); + + } + + + + sbd->m_numJoints = m_joints.size(); + sbd->m_joints = m_joints.size()? (btSoftBodyJointData*) serializer->getUniquePointer((void*)&m_joints[0]) : 0; + + if (sbd->m_joints) + { + int sz = sizeof(btSoftBodyJointData); + int numElem = m_joints.size(); + btChunk* chunk = serializer->allocate(sz,numElem); + btSoftBodyJointData* memPtr = (btSoftBodyJointData*)chunk->m_oldPtr; + + for (int i=0;im_jointType = (int)m_joints[i]->Type(); + m_joints[i]->m_refs[0].serializeFloat(memPtr->m_refs[0]); + m_joints[i]->m_refs[1].serializeFloat(memPtr->m_refs[1]); + memPtr->m_cfm = m_joints[i]->m_cfm; + memPtr->m_erp = m_joints[i]->m_erp; + memPtr->m_split = m_joints[i]->m_split; + memPtr->m_delete = m_joints[i]->m_delete; + + for (int j=0;j<4;j++) + { + memPtr->m_relPosition[0].m_floats[j] = 0.f; + memPtr->m_relPosition[1].m_floats[j] = 0.f; + } + memPtr->m_bodyA = 0; + memPtr->m_bodyB = 0; + if (m_joints[i]->m_bodies[0].m_soft) + { + memPtr->m_bodyAtype = BT_JOINT_SOFT_BODY_CLUSTER; + memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_soft); + } + if (m_joints[i]->m_bodies[0].m_collisionObject) + { + memPtr->m_bodyAtype = BT_JOINT_COLLISION_OBJECT; + memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_collisionObject); + } + if (m_joints[i]->m_bodies[0].m_rigid) + { + memPtr->m_bodyAtype = BT_JOINT_RIGID_BODY; + memPtr->m_bodyA = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[0].m_rigid); + } + + if (m_joints[i]->m_bodies[1].m_soft) + { + memPtr->m_bodyBtype = BT_JOINT_SOFT_BODY_CLUSTER; + memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_soft); + } + if (m_joints[i]->m_bodies[1].m_collisionObject) + { + memPtr->m_bodyBtype = BT_JOINT_COLLISION_OBJECT; + memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_collisionObject); + } + if (m_joints[i]->m_bodies[1].m_rigid) + { + memPtr->m_bodyBtype = BT_JOINT_RIGID_BODY; + memPtr->m_bodyB = serializer->getUniquePointer((void*)m_joints[i]->m_bodies[1].m_rigid); + } + } + serializer->finalizeChunk(chunk,"btSoftBodyJointData",BT_ARRAY_CODE,(void*) &m_joints[0]); + } + + + return btSoftBodyDataName; +} + diff --git a/Code/Physics/src/BulletSoftBody/btSoftBody.h b/Code/Physics/src/BulletSoftBody/btSoftBody.h new file mode 100644 index 00000000..ee1a3d95 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBody.h @@ -0,0 +1,1000 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_H +#define _BT_SOFT_BODY_H + +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btIDebugDraw.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +#include "btSparseSDF.h" +#include "BulletCollision/BroadphaseCollision/btDbvt.h" + +//#ifdef BT_USE_DOUBLE_PRECISION +//#define btRigidBodyData btRigidBodyDoubleData +//#define btRigidBodyDataName "btRigidBodyDoubleData" +//#else +#define btSoftBodyData btSoftBodyFloatData +#define btSoftBodyDataName "btSoftBodyFloatData" +//#endif //BT_USE_DOUBLE_PRECISION + +class btBroadphaseInterface; +class btDispatcher; +class btSoftBodySolver; + +/* btSoftBodyWorldInfo */ +struct btSoftBodyWorldInfo +{ + btScalar air_density; + btScalar water_density; + btScalar water_offset; + btScalar m_maxDisplacement; + btVector3 water_normal; + btBroadphaseInterface* m_broadphase; + btDispatcher* m_dispatcher; + btVector3 m_gravity; + btSparseSdf<3> m_sparsesdf; + + btSoftBodyWorldInfo() + :air_density((btScalar)1.2), + water_density(0), + water_offset(0), + m_maxDisplacement(1000.f),//avoid soft body from 'exploding' so use some upper threshold of maximum motion that a node can travel per frame + water_normal(0,0,0), + m_broadphase(0), + m_dispatcher(0), + m_gravity(0,-10,0) + { + } +}; + + +///The btSoftBody is an class to simulate cloth and volumetric soft bodies. +///There is two-way interaction between btSoftBody and btRigidBody/btCollisionObject. +class btSoftBody : public btCollisionObject +{ +public: + btAlignedObjectArray m_collisionDisabledObjects; + + // The solver object that handles this soft body + btSoftBodySolver *m_softBodySolver; + + // + // Enumerations + // + + ///eAeroModel + struct eAeroModel { enum _ { + V_Point, ///Vertex normals are oriented toward velocity + V_TwoSided, ///Vertex normals are flipped to match velocity + V_TwoSidedLiftDrag, ///Vertex normals are flipped to match velocity and lift and drag forces are applied + V_OneSided, ///Vertex normals are taken as it is + F_TwoSided, ///Face normals are flipped to match velocity + F_TwoSidedLiftDrag, ///Face normals are flipped to match velocity and lift and drag forces are applied + F_OneSided, ///Face normals are taken as it is + END + };}; + + ///eVSolver : velocities solvers + struct eVSolver { enum _ { + Linear, ///Linear solver + END + };}; + + ///ePSolver : positions solvers + struct ePSolver { enum _ { + Linear, ///Linear solver + Anchors, ///Anchor solver + RContacts, ///Rigid contacts solver + SContacts, ///Soft contacts solver + END + };}; + + ///eSolverPresets + struct eSolverPresets { enum _ { + Positions, + Velocities, + Default = Positions, + END + };}; + + ///eFeature + struct eFeature { enum _ { + None, + Node, + Link, + Face, + Tetra, + END + };}; + + typedef btAlignedObjectArray tVSolverArray; + typedef btAlignedObjectArray tPSolverArray; + + // + // Flags + // + + ///fCollision + struct fCollision { enum _ { + RVSmask = 0x000f, ///Rigid versus soft mask + SDF_RS = 0x0001, ///SDF based rigid vs soft + CL_RS = 0x0002, ///Cluster vs convex rigid vs soft + + SVSmask = 0x0030, ///Rigid versus soft mask + VF_SS = 0x0010, ///Vertex vs face soft vs soft handling + CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling + CL_SELF = 0x0040, ///Cluster soft body self collision + /* presets */ + Default = SDF_RS, + END + };}; + + ///fMaterial + struct fMaterial { enum _ { + DebugDraw = 0x0001, /// Enable debug draw + /* presets */ + Default = DebugDraw, + END + };}; + + // + // API Types + // + + /* sRayCast */ + struct sRayCast + { + btSoftBody* body; /// soft body + eFeature::_ feature; /// feature type + int index; /// feature index + btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction) + }; + + /* ImplicitFn */ + struct ImplicitFn + { + virtual btScalar Eval(const btVector3& x)=0; + }; + + // + // Internal types + // + + typedef btAlignedObjectArray tScalarArray; + typedef btAlignedObjectArray tVector3Array; + + /* sCti is Softbody contact info */ + struct sCti + { + const btCollisionObject* m_colObj; /* Rigid body */ + btVector3 m_normal; /* Outward normal */ + btScalar m_offset; /* Offset from origin */ + }; + + /* sMedium */ + struct sMedium + { + btVector3 m_velocity; /* Velocity */ + btScalar m_pressure; /* Pressure */ + btScalar m_density; /* Density */ + }; + + /* Base type */ + struct Element + { + void* m_tag; // User data + Element() : m_tag(0) {} + }; + /* Material */ + struct Material : Element + { + btScalar m_kLST; // Linear stiffness coefficient [0,1] + btScalar m_kAST; // Area/Angular stiffness coefficient [0,1] + btScalar m_kVST; // Volume stiffness coefficient [0,1] + int m_flags; // Flags + }; + + /* Feature */ + struct Feature : Element + { + Material* m_material; // Material + }; + /* Node */ + struct Node : Feature + { + btVector3 m_x; // Position + btVector3 m_q; // Previous step position + btVector3 m_v; // Velocity + btVector3 m_f; // Force accumulator + btVector3 m_n; // Normal + btScalar m_im; // 1/mass + btScalar m_area; // Area + btDbvtNode* m_leaf; // Leaf data + int m_battach:1; // Attached + }; + /* Link */ + struct Link : Feature + { + Node* m_n[2]; // Node pointers + btScalar m_rl; // Rest length + int m_bbending:1; // Bending link + btScalar m_c0; // (ima+imb)*kLST + btScalar m_c1; // rl^2 + btScalar m_c2; // |gradient|^2/c0 + btVector3 m_c3; // gradient + }; + /* Face */ + struct Face : Feature + { + Node* m_n[3]; // Node pointers + btVector3 m_normal; // Normal + btScalar m_ra; // Rest area + btDbvtNode* m_leaf; // Leaf data + }; + /* Tetra */ + struct Tetra : Feature + { + Node* m_n[4]; // Node pointers + btScalar m_rv; // Rest volume + btDbvtNode* m_leaf; // Leaf data + btVector3 m_c0[4]; // gradients + btScalar m_c1; // (4*kVST)/(im0+im1+im2+im3) + btScalar m_c2; // m_c1/sum(|g0..3|^2) + }; + /* RContact */ + struct RContact + { + sCti m_cti; // Contact infos + Node* m_node; // Owner node + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + btScalar m_c3; // Friction + btScalar m_c4; // Hardness + }; + /* SContact */ + struct SContact + { + Node* m_node; // Node + Face* m_face; // Face + btVector3 m_weights; // Weigths + btVector3 m_normal; // Normal + btScalar m_margin; // Margin + btScalar m_friction; // Friction + btScalar m_cfm[2]; // Constraint force mixing + }; + /* Anchor */ + struct Anchor + { + Node* m_node; // Node pointer + btVector3 m_local; // Anchor position in body space + btRigidBody* m_body; // Body + btScalar m_influence; + btMatrix3x3 m_c0; // Impulse matrix + btVector3 m_c1; // Relative anchor + btScalar m_c2; // ima*dt + }; + /* Note */ + struct Note : Element + { + const char* m_text; // Text + btVector3 m_offset; // Offset + int m_rank; // Rank + Node* m_nodes[4]; // Nodes + btScalar m_coords[4]; // Coordinates + }; + /* Pose */ + struct Pose + { + bool m_bvolume; // Is valid + bool m_bframe; // Is frame + btScalar m_volume; // Rest volume + tVector3Array m_pos; // Reference positions + tScalarArray m_wgh; // Weights + btVector3 m_com; // COM + btMatrix3x3 m_rot; // Rotation + btMatrix3x3 m_scl; // Scale + btMatrix3x3 m_aqq; // Base scaling + }; + /* Cluster */ + struct Cluster + { + tScalarArray m_masses; + btAlignedObjectArray m_nodes; + tVector3Array m_framerefs; + btTransform m_framexform; + btScalar m_idmass; + btScalar m_imass; + btMatrix3x3 m_locii; + btMatrix3x3 m_invwi; + btVector3 m_com; + btVector3 m_vimpulses[2]; + btVector3 m_dimpulses[2]; + int m_nvimpulses; + int m_ndimpulses; + btVector3 m_lv; + btVector3 m_av; + btDbvtNode* m_leaf; + btScalar m_ndamping; /* Node damping */ + btScalar m_ldamping; /* Linear damping */ + btScalar m_adamping; /* Angular damping */ + btScalar m_matching; + btScalar m_maxSelfCollisionImpulse; + btScalar m_selfCollisionImpulseFactor; + bool m_containsAnchor; + bool m_collide; + int m_clusterIndex; + Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0) + ,m_maxSelfCollisionImpulse(100.f), + m_selfCollisionImpulseFactor(0.01f), + m_containsAnchor(false) + {} + }; + /* Impulse */ + struct Impulse + { + btVector3 m_velocity; + btVector3 m_drift; + int m_asVelocity:1; + int m_asDrift:1; + Impulse() : m_velocity(0,0,0),m_drift(0,0,0),m_asVelocity(0),m_asDrift(0) {} + Impulse operator -() const + { + Impulse i=*this; + i.m_velocity=-i.m_velocity; + i.m_drift=-i.m_drift; + return(i); + } + Impulse operator*(btScalar x) const + { + Impulse i=*this; + i.m_velocity*=x; + i.m_drift*=x; + return(i); + } + }; + /* Body */ + struct Body + { + Cluster* m_soft; + btRigidBody* m_rigid; + const btCollisionObject* m_collisionObject; + + Body() : m_soft(0),m_rigid(0),m_collisionObject(0) {} + Body(Cluster* p) : m_soft(p),m_rigid(0),m_collisionObject(0) {} + Body(const btCollisionObject* colObj) : m_soft(0),m_collisionObject(colObj) + { + m_rigid = (btRigidBody*)btRigidBody::upcast(m_collisionObject); + } + + void activate() const + { + if(m_rigid) + m_rigid->activate(); + if (m_collisionObject) + m_collisionObject->activate(); + + } + const btMatrix3x3& invWorldInertia() const + { + static const btMatrix3x3 iwi(0,0,0,0,0,0,0,0,0); + if(m_rigid) return(m_rigid->getInvInertiaTensorWorld()); + if(m_soft) return(m_soft->m_invwi); + return(iwi); + } + btScalar invMass() const + { + if(m_rigid) return(m_rigid->getInvMass()); + if(m_soft) return(m_soft->m_imass); + return(0); + } + const btTransform& xform() const + { + static const btTransform identity=btTransform::getIdentity(); + if(m_collisionObject) return(m_collisionObject->getWorldTransform()); + if(m_soft) return(m_soft->m_framexform); + return(identity); + } + btVector3 linearVelocity() const + { + if(m_rigid) return(m_rigid->getLinearVelocity()); + if(m_soft) return(m_soft->m_lv); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity(const btVector3& rpos) const + { + if(m_rigid) return(btCross(m_rigid->getAngularVelocity(),rpos)); + if(m_soft) return(btCross(m_soft->m_av,rpos)); + return(btVector3(0,0,0)); + } + btVector3 angularVelocity() const + { + if(m_rigid) return(m_rigid->getAngularVelocity()); + if(m_soft) return(m_soft->m_av); + return(btVector3(0,0,0)); + } + btVector3 velocity(const btVector3& rpos) const + { + return(linearVelocity()+angularVelocity(rpos)); + } + void applyVImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterVImpulse(m_soft,rpos,impulse); + } + void applyDImpulse(const btVector3& impulse,const btVector3& rpos) const + { + if(m_rigid) m_rigid->applyImpulse(impulse,rpos); + if(m_soft) btSoftBody::clusterDImpulse(m_soft,rpos,impulse); + } + void applyImpulse(const Impulse& impulse,const btVector3& rpos) const + { + if(impulse.m_asVelocity) + { +// printf("impulse.m_velocity = %f,%f,%f\n",impulse.m_velocity.getX(),impulse.m_velocity.getY(),impulse.m_velocity.getZ()); + applyVImpulse(impulse.m_velocity,rpos); + } + if(impulse.m_asDrift) + { +// printf("impulse.m_drift = %f,%f,%f\n",impulse.m_drift.getX(),impulse.m_drift.getY(),impulse.m_drift.getZ()); + applyDImpulse(impulse.m_drift,rpos); + } + } + void applyVAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterVAImpulse(m_soft,impulse); + } + void applyDAImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyTorqueImpulse(impulse); + if(m_soft) btSoftBody::clusterDAImpulse(m_soft,impulse); + } + void applyAImpulse(const Impulse& impulse) const + { + if(impulse.m_asVelocity) applyVAImpulse(impulse.m_velocity); + if(impulse.m_asDrift) applyDAImpulse(impulse.m_drift); + } + void applyDCImpulse(const btVector3& impulse) const + { + if(m_rigid) m_rigid->applyCentralImpulse(impulse); + if(m_soft) btSoftBody::clusterDCImpulse(m_soft,impulse); + } + }; + /* Joint */ + struct Joint + { + struct eType { enum _ { + Linear=0, + Angular, + Contact + };}; + struct Specs + { + Specs() : erp(1),cfm(1),split(1) {} + btScalar erp; + btScalar cfm; + btScalar split; + }; + Body m_bodies[2]; + btVector3 m_refs[2]; + btScalar m_cfm; + btScalar m_erp; + btScalar m_split; + btVector3 m_drift; + btVector3 m_sdrift; + btMatrix3x3 m_massmatrix; + bool m_delete; + virtual ~Joint() {} + Joint() : m_delete(false) {} + virtual void Prepare(btScalar dt,int iterations); + virtual void Solve(btScalar dt,btScalar sor)=0; + virtual void Terminate(btScalar dt)=0; + virtual eType::_ Type() const=0; + }; + /* LJoint */ + struct LJoint : Joint + { + struct Specs : Joint::Specs + { + btVector3 position; + }; + btVector3 m_rpos[2]; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Linear); } + }; + /* AJoint */ + struct AJoint : Joint + { + struct IControl + { + virtual void Prepare(AJoint*) {} + virtual btScalar Speed(AJoint*,btScalar current) { return(current); } + static IControl* Default() { static IControl def;return(&def); } + }; + struct Specs : Joint::Specs + { + Specs() : icontrol(IControl::Default()) {} + btVector3 axis; + IControl* icontrol; + }; + btVector3 m_axis[2]; + IControl* m_icontrol; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Angular); } + }; + /* CJoint */ + struct CJoint : Joint + { + int m_life; + int m_maxlife; + btVector3 m_rpos[2]; + btVector3 m_normal; + btScalar m_friction; + void Prepare(btScalar dt,int iterations); + void Solve(btScalar dt,btScalar sor); + void Terminate(btScalar dt); + eType::_ Type() const { return(eType::Contact); } + }; + /* Config */ + struct Config + { + eAeroModel::_ aeromodel; // Aerodynamic model (default: V_Point) + btScalar kVCF; // Velocities correction factor (Baumgarte) + btScalar kDP; // Damping coefficient [0,1] + btScalar kDG; // Drag coefficient [0,+inf] + btScalar kLF; // Lift coefficient [0,+inf] + btScalar kPR; // Pressure coefficient [-inf,+inf] + btScalar kVC; // Volume conversation coefficient [0,+inf] + btScalar kDF; // Dynamic friction coefficient [0,1] + btScalar kMT; // Pose matching coefficient [0,1] + btScalar kCHR; // Rigid contacts hardness [0,1] + btScalar kKHR; // Kinetic contacts hardness [0,1] + btScalar kSHR; // Soft contacts hardness [0,1] + btScalar kAHR; // Anchors hardness [0,1] + btScalar kSRHR_CL; // Soft vs rigid hardness [0,1] (cluster only) + btScalar kSKHR_CL; // Soft vs kinetic hardness [0,1] (cluster only) + btScalar kSSHR_CL; // Soft vs soft hardness [0,1] (cluster only) + btScalar kSR_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSK_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar kSS_SPLT_CL; // Soft vs rigid impulse split [0,1] (cluster only) + btScalar maxvolume; // Maximum volume ratio for pose + btScalar timescale; // Time scale + int viterations; // Velocities solver iterations + int piterations; // Positions solver iterations + int diterations; // Drift solver iterations + int citerations; // Cluster solver iterations + int collisions; // Collisions flags + tVSolverArray m_vsequence; // Velocity solvers sequence + tPSolverArray m_psequence; // Position solvers sequence + tPSolverArray m_dsequence; // Drift solvers sequence + }; + /* SolverState */ + struct SolverState + { + btScalar sdt; // dt*timescale + btScalar isdt; // 1/sdt + btScalar velmrg; // velocity margin + btScalar radmrg; // radial margin + btScalar updmrg; // Update margin + }; + /// RayFromToCaster takes a ray from, ray to (instead of direction!) + struct RayFromToCaster : btDbvt::ICollide + { + btVector3 m_rayFrom; + btVector3 m_rayTo; + btVector3 m_rayNormalizedDirection; + btScalar m_mint; + Face* m_face; + int m_tests; + RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt); + void Process(const btDbvtNode* leaf); + + static inline btScalar rayFromToTriangle(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& rayNormalizedDirection, + const btVector3& a, + const btVector3& b, + const btVector3& c, + btScalar maxt=SIMD_INFINITY); + }; + + // + // Typedefs + // + + typedef void (*psolver_t)(btSoftBody*,btScalar,btScalar); + typedef void (*vsolver_t)(btSoftBody*,btScalar); + typedef btAlignedObjectArray tClusterArray; + typedef btAlignedObjectArray tNoteArray; + typedef btAlignedObjectArray tNodeArray; + typedef btAlignedObjectArray tLeafArray; + typedef btAlignedObjectArray tLinkArray; + typedef btAlignedObjectArray tFaceArray; + typedef btAlignedObjectArray tTetraArray; + typedef btAlignedObjectArray tAnchorArray; + typedef btAlignedObjectArray tRContactArray; + typedef btAlignedObjectArray tSContactArray; + typedef btAlignedObjectArray tMaterialArray; + typedef btAlignedObjectArray tJointArray; + typedef btAlignedObjectArray tSoftBodyArray; + + // + // Fields + // + + Config m_cfg; // Configuration + SolverState m_sst; // Solver state + Pose m_pose; // Pose + void* m_tag; // User data + btSoftBodyWorldInfo* m_worldInfo; // World info + tNoteArray m_notes; // Notes + tNodeArray m_nodes; // Nodes + tLinkArray m_links; // Links + tFaceArray m_faces; // Faces + tTetraArray m_tetras; // Tetras + tAnchorArray m_anchors; // Anchors + tRContactArray m_rcontacts; // Rigid contacts + tSContactArray m_scontacts; // Soft contacts + tJointArray m_joints; // Joints + tMaterialArray m_materials; // Materials + btScalar m_timeacc; // Time accumulator + btVector3 m_bounds[2]; // Spatial bounds + bool m_bUpdateRtCst; // Update runtime constants + btDbvt m_ndbvt; // Nodes tree + btDbvt m_fdbvt; // Faces tree + btDbvt m_cdbvt; // Clusters tree + tClusterArray m_clusters; // Clusters + + btAlignedObjectArraym_clusterConnectivity;//cluster connectivity, for self-collision + + btTransform m_initialWorldTransform; + + btVector3 m_windVelocity; + + btScalar m_restLengthScale; + + // + // Api + // + + /* ctor */ + btSoftBody( btSoftBodyWorldInfo* worldInfo,int node_count, const btVector3* x, const btScalar* m); + + /* ctor */ + btSoftBody( btSoftBodyWorldInfo* worldInfo); + + void initDefaults(); + + /* dtor */ + virtual ~btSoftBody(); + /* Check for existing link */ + + btAlignedObjectArray m_userIndexMapping; + + btSoftBodyWorldInfo* getWorldInfo() + { + return m_worldInfo; + } + + ///@todo: avoid internal softbody shape hack and move collision code to collision library + virtual void setCollisionShape(btCollisionShape* collisionShape) + { + + } + + bool checkLink( int node0, + int node1) const; + bool checkLink( const Node* node0, + const Node* node1) const; + /* Check for existring face */ + bool checkFace( int node0, + int node1, + int node2) const; + /* Append material */ + Material* appendMaterial(); + /* Append note */ + void appendNote( const char* text, + const btVector3& o, + const btVector4& c=btVector4(1,0,0,0), + Node* n0=0, + Node* n1=0, + Node* n2=0, + Node* n3=0); + void appendNote( const char* text, + const btVector3& o, + Node* feature); + void appendNote( const char* text, + const btVector3& o, + Link* feature); + void appendNote( const char* text, + const btVector3& o, + Face* feature); + /* Append node */ + void appendNode( const btVector3& x,btScalar m); + /* Append link */ + void appendLink(int model=-1,Material* mat=0); + void appendLink( int node0, + int node1, + Material* mat=0, + bool bcheckexist=false); + void appendLink( Node* node0, + Node* node1, + Material* mat=0, + bool bcheckexist=false); + /* Append face */ + void appendFace(int model=-1,Material* mat=0); + void appendFace( int node0, + int node1, + int node2, + Material* mat=0); + void appendTetra(int model,Material* mat); + // + void appendTetra(int node0, + int node1, + int node2, + int node3, + Material* mat=0); + + + /* Append anchor */ + void appendAnchor( int node, + btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1); + void appendAnchor(int node,btRigidBody* body, const btVector3& localPivot,bool disableCollisionBetweenLinkedBodies=false,btScalar influence = 1); + /* Append linear joint */ + void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1); + void appendLinearJoint(const LJoint::Specs& specs,Body body=Body()); + void appendLinearJoint(const LJoint::Specs& specs,btSoftBody* body); + /* Append linear joint */ + void appendAngularJoint(const AJoint::Specs& specs,Cluster* body0,Body body1); + void appendAngularJoint(const AJoint::Specs& specs,Body body=Body()); + void appendAngularJoint(const AJoint::Specs& specs,btSoftBody* body); + /* Add force (or gravity) to the entire body */ + void addForce( const btVector3& force); + /* Add force (or gravity) to a node of the body */ + void addForce( const btVector3& force, + int node); + /* Add aero force to a node of the body */ + void addAeroForceToNode(const btVector3& windVelocity,int nodeIndex); + + /* Add aero force to a face of the body */ + void addAeroForceToFace(const btVector3& windVelocity,int faceIndex); + + /* Add velocity to the entire body */ + void addVelocity( const btVector3& velocity); + + /* Set velocity for the entire body */ + void setVelocity( const btVector3& velocity); + + /* Add velocity to a node of the body */ + void addVelocity( const btVector3& velocity, + int node); + /* Set mass */ + void setMass( int node, + btScalar mass); + /* Get mass */ + btScalar getMass( int node) const; + /* Get total mass */ + btScalar getTotalMass() const; + /* Set total mass (weighted by previous masses) */ + void setTotalMass( btScalar mass, + bool fromfaces=false); + /* Set total density */ + void setTotalDensity(btScalar density); + /* Set volume mass (using tetrahedrons) */ + void setVolumeMass( btScalar mass); + /* Set volume density (using tetrahedrons) */ + void setVolumeDensity( btScalar density); + /* Transform */ + void transform( const btTransform& trs); + /* Translate */ + void translate( const btVector3& trs); + /* Rotate */ + void rotate( const btQuaternion& rot); + /* Scale */ + void scale( const btVector3& scl); + /* Get link resting lengths scale */ + btScalar getRestLengthScale(); + /* Scale resting length of all springs */ + void setRestLengthScale(btScalar restLength); + /* Set current state as pose */ + void setPose( bool bvolume, + bool bframe); + /* Set current link lengths as resting lengths */ + void resetLinkRestLengths(); + /* Return the volume */ + btScalar getVolume() const; + /* Cluster count */ + int clusterCount() const; + /* Cluster center of mass */ + static btVector3 clusterCom(const Cluster* cluster); + btVector3 clusterCom(int cluster) const; + /* Cluster velocity at rpos */ + static btVector3 clusterVelocity(const Cluster* cluster,const btVector3& rpos); + /* Cluster impulse */ + static void clusterVImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterDImpulse(Cluster* cluster,const btVector3& rpos,const btVector3& impulse); + static void clusterImpulse(Cluster* cluster,const btVector3& rpos,const Impulse& impulse); + static void clusterVAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterDAImpulse(Cluster* cluster,const btVector3& impulse); + static void clusterAImpulse(Cluster* cluster,const Impulse& impulse); + static void clusterDCImpulse(Cluster* cluster,const btVector3& impulse); + /* Generate bending constraints based on distance in the adjency graph */ + int generateBendingConstraints( int distance, + Material* mat=0); + /* Randomize constraints to reduce solver bias */ + void randomizeConstraints(); + /* Release clusters */ + void releaseCluster(int index); + void releaseClusters(); + /* Generate clusters (K-mean) */ + ///generateClusters with k=0 will create a convex cluster for each tetrahedron or triangle + ///otherwise an approximation will be used (better performance) + int generateClusters(int k,int maxiterations=8192); + /* Refine */ + void refine(ImplicitFn* ifn,btScalar accurary,bool cut); + /* CutLink */ + bool cutLink(int node0,int node1,btScalar position); + bool cutLink(const Node* node0,const Node* node1,btScalar position); + + ///Ray casting using rayFrom and rayTo in worldspace, (not direction!) + bool rayTest(const btVector3& rayFrom, + const btVector3& rayTo, + sRayCast& results); + /* Solver presets */ + void setSolver(eSolverPresets::_ preset); + /* predictMotion */ + void predictMotion(btScalar dt); + /* solveConstraints */ + void solveConstraints(); + /* staticSolve */ + void staticSolve(int iterations); + /* solveCommonConstraints */ + static void solveCommonConstraints(btSoftBody** bodies,int count,int iterations); + /* solveClusters */ + static void solveClusters(const btAlignedObjectArray& bodies); + /* integrateMotion */ + void integrateMotion(); + /* defaultCollisionHandlers */ + void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap); + void defaultCollisionHandler(btSoftBody* psb); + + + + // + // Functionality to deal with new accelerated solvers. + // + + /** + * Set a wind velocity for interaction with the air. + */ + void setWindVelocity( const btVector3 &velocity ); + + + /** + * Return the wind velocity for interaction with the air. + */ + const btVector3& getWindVelocity(); + + // + // Set the solver that handles this soft body + // Should not be allowed to get out of sync with reality + // Currently called internally on addition to the world + void setSoftBodySolver( btSoftBodySolver *softBodySolver ) + { + m_softBodySolver = softBodySolver; + } + + // + // Return the solver that handles this soft body + // + btSoftBodySolver *getSoftBodySolver() + { + return m_softBodySolver; + } + + // + // Return the solver that handles this soft body + // + btSoftBodySolver *getSoftBodySolver() const + { + return m_softBodySolver; + } + + + // + // Cast + // + + static const btSoftBody* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (const btSoftBody*)colObj; + return 0; + } + static btSoftBody* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_SOFT_BODY) + return (btSoftBody*)colObj; + return 0; + } + + // + // ::btCollisionObject + // + + virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const + { + aabbMin = m_bounds[0]; + aabbMax = m_bounds[1]; + } + // + // Private + // + void pointersToIndices(); + void indicesToPointers(const int* map=0); + + int rayTest(const btVector3& rayFrom,const btVector3& rayTo, + btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const; + void initializeFaceTree(); + btVector3 evaluateCom() const; + bool checkContact(const btCollisionObjectWrapper* colObjWrap,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const; + void updateNormals(); + void updateBounds(); + void updatePose(); + void updateConstants(); + void updateLinkConstants(); + void updateArea(bool averageArea = true); + void initializeClusters(); + void updateClusters(); + void cleanupClusters(); + void prepareClusters(int iterations); + void solveClusters(btScalar sor); + void applyClusters(bool drift); + void dampClusters(); + void applyForces(); + static void PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti); + static void PSolve_SContacts(btSoftBody* psb,btScalar,btScalar ti); + static void PSolve_Links(btSoftBody* psb,btScalar kst,btScalar ti); + static void VSolve_Links(btSoftBody* psb,btScalar kst); + static psolver_t getSolver(ePSolver::_ solver); + static vsolver_t getSolver(eVSolver::_ solver); + + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + + //virtual void serializeSingleObject(class btSerializer* serializer) const; + + +}; + + + + +#endif //_BT_SOFT_BODY_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp new file mode 100644 index 00000000..9f0d4452 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp @@ -0,0 +1,357 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btSoftBodyConcaveCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionShapes/btConcaveShape.h" +#include "BulletCollision/CollisionDispatch/btManifoldResult.h" +#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + + +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletSoftBody/btSoftBody.h" + +#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable + +btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) +: btCollisionAlgorithm(ci), +m_isSwapped(isSwapped), +m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped) +{ +} + + + +btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm() +{ +} + + + +btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped): +m_dispatcher(dispatcher), +m_dispatchInfoPtr(0) +{ + m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject()); + m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject(); + + // + // create the manifold from the dispatcher 'manifold pool' + // + // m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody); + + clearCache(); +} + +btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback() +{ + clearCache(); + // m_dispatcher->releaseManifold( m_manifoldPtr ); + +} + + +void btSoftBodyTriangleCallback::clearCache() +{ + for (int i=0;im_childShape); + m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary? + delete tmp->m_childShape; + } + m_shapeCache.clear(); +} + + +void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) +{ + //just for debugging purposes + //printf("triangle %d",m_triangleCount++); + + btCollisionAlgorithmConstructionInfo ci; + ci.m_dispatcher1 = m_dispatcher; + + ///debug drawing of the overlapping triangles + if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe)) + { + btVector3 color(1,1,0); + const btTransform& tr = m_triBody->getWorldTransform(); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color); + m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color); + } + + btTriIndex triIndex(partId,triangleIndex,0); + btHashKey triKey(triIndex.getUid()); + + + btTriIndex* shapeIndex = m_shapeCache[triKey]; + if (shapeIndex) + { + btCollisionShape* tm = shapeIndex->m_childShape; + btAssert(tm); + + //copy over user pointers to temporary shape + tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); + + btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); + //btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//?? + btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex); + + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); + + colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut); + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + + return; + } + + //aabb filter is already applied! + + //btCollisionObject* colObj = static_cast(m_convexProxy->m_clientObject); + + // if (m_softBody->getCollisionShape()->getShapeType()== + { + // btVector3 other; + btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); + normal.normalize(); + normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION; + // other=(triangle[0]+triangle[1]+triangle[2])*0.333333f; + // other+=normal*22.f; + btVector3 pts[6] = {triangle[0]+normal, + triangle[1]+normal, + triangle[2]+normal, + triangle[0]-normal, + triangle[1]-normal, + triangle[2]-normal}; + + btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6); + + + // btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other); + + //btTriangleShape tm(triangle[0],triangle[1],triangle[2]); + // tm.setMargin(m_collisionMarginTriangle); + + //copy over user pointers to temporary shape + tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); + + + btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); + btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//?? + + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); + + colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut); + colAlgo->~btCollisionAlgorithm(); + ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); + + triIndex.m_childShape = tm; + m_shapeCache.insert(triKey,triIndex); + + } + + + +} + + + +void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + m_dispatchInfoPtr = &dispatchInfo; + m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION); + m_resultOut = resultOut; + + + btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax; + m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax); + btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5); + btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5); + + btTransform softTransform; + softTransform.setIdentity(); + softTransform.setOrigin(softBodyCenter); + + btTransform convexInTriangleSpace; + convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform; + btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax); +} + +void btSoftBodyConcaveCollisionAlgorithm::clearCache() +{ + m_btSoftBodyTriangleCallback.clearCache(); + +} + +void btSoftBodyConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + + //btCollisionObject* convexBody = m_isSwapped ? body1 : body0; + const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap; + + if (triBody->getCollisionShape()->isConcave()) + { + + + const btCollisionObject* triOb = triBody->getCollisionObject(); + const btConcaveShape* concaveShape = static_cast( triOb->getCollisionShape()); + + // if (convexBody->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); + + // resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); + m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut); + + + concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax()); + + // resultOut->refreshContactPoints(); + + } + + } + +} + + +btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + btCollisionObject* convexbody = m_isSwapped ? body1 : body0; + btCollisionObject* triBody = m_isSwapped ? body0 : body1; + + + //quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast) + + //only perform CCD above a certain threshold, this prevents blocking on the long run + //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame... + btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); + if (squareMot0 < convexbody->getCcdSquareMotionThreshold()) + { + return btScalar(1.); + } + + //const btVector3& from = convexbody->m_worldTransform.getOrigin(); + //btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin(); + //todo: only do if the motion exceeds the 'radius' + + btTransform triInv = triBody->getWorldTransform().inverse(); + btTransform convexFromLocal = triInv * convexbody->getWorldTransform(); + btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform(); + + struct LocalTriangleSphereCastCallback : public btTriangleCallback + { + btTransform m_ccdSphereFromTrans; + btTransform m_ccdSphereToTrans; + btTransform m_meshTransform; + + btScalar m_ccdSphereRadius; + btScalar m_hitFraction; + + + LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) + :m_ccdSphereFromTrans(from), + m_ccdSphereToTrans(to), + m_ccdSphereRadius(ccdSphereRadius), + m_hitFraction(hitFraction) + { + } + + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) + { + (void)partId; + (void)triangleIndex; + //do a swept sphere for now + btTransform ident; + ident.setIdentity(); + btConvexCast::CastResult castResult; + castResult.m_fraction = m_hitFraction; + btSphereShape pointShape(m_ccdSphereRadius); + btTriangleShape triShape(triangle[0],triangle[1],triangle[2]); + btVoronoiSimplexSolver simplexSolver; + btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver); + //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); + //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); + //local space? + + if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans, + ident,ident,castResult)) + { + if (m_hitFraction > castResult.m_fraction) + m_hitFraction = castResult.m_fraction; + } + + } + + }; + + + + + + if (triBody->getCollisionShape()->isConcave()) + { + btVector3 rayAabbMin = convexFromLocal.getOrigin(); + rayAabbMin.setMin(convexToLocal.getOrigin()); + btVector3 rayAabbMax = convexFromLocal.getOrigin(); + rayAabbMax.setMax(convexToLocal.getOrigin()); + btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius(); + rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0); + + btScalar curHitFraction = btScalar(1.); //is this available? + LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal, + convexbody->getCcdSweptSphereRadius(),curHitFraction); + + raycastCallback.m_hitFraction = convexbody->getHitFraction(); + + btCollisionObject* concavebody = triBody; + + btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape(); + + if (triangleMesh) + { + triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax); + } + + + + if (raycastCallback.m_hitFraction < convexbody->getHitFraction()) + { + convexbody->setHitFraction( raycastCallback.m_hitFraction); + return raycastCallback.m_hitFraction; + } + } + + return btScalar(1.); + +} diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h new file mode 100644 index 00000000..11c7b88f --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h @@ -0,0 +1,155 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H +#define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionShapes/btTriangleCallback.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +class btDispatcher; +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btSoftBody; +class btCollisionShape; + +#include "LinearMath/btHashMap.h" + +#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS + +struct btTriIndex +{ + int m_PartIdTriangleIndex; + class btCollisionShape* m_childShape; + + btTriIndex(int partId,int triangleIndex,btCollisionShape* shape) + { + m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; + m_childShape = shape; + } + + int getTriangleIndex() const + { + // Get only the lower bits where the triangle index is stored + unsigned int x = 0; + unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS); + return (m_PartIdTriangleIndex&~(y)); + } + int getPartId() const + { + // Get only the highest bits where the part index is stored + return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); + } + int getUid() const + { + return m_PartIdTriangleIndex; + } +}; + + +///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. +class btSoftBodyTriangleCallback : public btTriangleCallback +{ + btSoftBody* m_softBody; + const btCollisionObject* m_triBody; + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + btManifoldResult* m_resultOut; + + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + + btHashMap,btTriIndex> m_shapeCache; + +public: + int m_triangleCount; + + // btPersistentManifold* m_manifoldPtr; + + btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual ~btSoftBodyTriangleCallback(); + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); + + void clearCache(); + + SIMD_FORCE_INLINE const btVector3& getAabbMin() const + { + return m_aabbMin; + } + SIMD_FORCE_INLINE const btVector3& getAabbMax() const + { + return m_aabbMax; + } + +}; + + + + +/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. +class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm +{ + + bool m_isSwapped; + + btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; + +public: + + btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); + + virtual ~btSoftBodyConcaveCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + void clearCache(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); + } + }; + + struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); + return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); + } + }; + +}; + +#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyData.h b/Code/Physics/src/BulletSoftBody/btSoftBodyData.h new file mode 100644 index 00000000..87d8841c --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyData.h @@ -0,0 +1,217 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFTBODY_FLOAT_DATA +#define BT_SOFTBODY_FLOAT_DATA + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + + +struct SoftBodyMaterialData +{ + float m_linearStiffness; + float m_angularStiffness; + float m_volumeStiffness; + int m_flags; +}; + +struct SoftBodyNodeData +{ + SoftBodyMaterialData *m_material; + btVector3FloatData m_position; + btVector3FloatData m_previousPosition; + btVector3FloatData m_velocity; + btVector3FloatData m_accumulatedForce; + btVector3FloatData m_normal; + float m_inverseMass; + float m_area; + int m_attach; + int m_pad; +}; + +struct SoftBodyLinkData +{ + SoftBodyMaterialData *m_material; + int m_nodeIndices[2]; // Node pointers + float m_restLength; // Rest length + int m_bbending; // Bending link +}; + +struct SoftBodyFaceData +{ + btVector3FloatData m_normal; // Normal + SoftBodyMaterialData *m_material; + int m_nodeIndices[3]; // Node pointers + float m_restArea; // Rest area +}; + +struct SoftBodyTetraData +{ + btVector3FloatData m_c0[4]; // gradients + SoftBodyMaterialData *m_material; + int m_nodeIndices[4]; // Node pointers + float m_restVolume; // Rest volume + float m_c1; // (4*kVST)/(im0+im1+im2+im3) + float m_c2; // m_c1/sum(|g0..3|^2) + int m_pad; +}; + +struct SoftRigidAnchorData +{ + btMatrix3x3FloatData m_c0; // Impulse matrix + btVector3FloatData m_c1; // Relative anchor + btVector3FloatData m_localFrame; // Anchor position in body space + btRigidBodyData *m_rigidBody; + int m_nodeIndex; // Node pointer + float m_c2; // ima*dt +}; + + + +struct SoftBodyConfigData +{ + int m_aeroModel; // Aerodynamic model (default: V_Point) + float m_baumgarte; // Velocities correction factor (Baumgarte) + float m_damping; // Damping coefficient [0,1] + float m_drag; // Drag coefficient [0,+inf] + float m_lift; // Lift coefficient [0,+inf] + float m_pressure; // Pressure coefficient [-inf,+inf] + float m_volume; // Volume conversation coefficient [0,+inf] + float m_dynamicFriction; // Dynamic friction coefficient [0,1] + float m_poseMatch; // Pose matching coefficient [0,1] + float m_rigidContactHardness; // Rigid contacts hardness [0,1] + float m_kineticContactHardness; // Kinetic contacts hardness [0,1] + float m_softContactHardness; // Soft contacts hardness [0,1] + float m_anchorHardness; // Anchors hardness [0,1] + float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only) + float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only) + float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only) + float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) + float m_maxVolume; // Maximum volume ratio for pose + float m_timeScale; // Time scale + int m_velocityIterations; // Velocities solver iterations + int m_positionIterations; // Positions solver iterations + int m_driftIterations; // Drift solver iterations + int m_clusterIterations; // Cluster solver iterations + int m_collisionFlags; // Collisions flags +}; + +struct SoftBodyPoseData +{ + btMatrix3x3FloatData m_rot; // Rotation + btMatrix3x3FloatData m_scale; // Scale + btMatrix3x3FloatData m_aqq; // Base scaling + btVector3FloatData m_com; // COM + + btVector3FloatData *m_positions; // Reference positions + float *m_weights; // Weights + int m_numPositions; + int m_numWeigts; + + int m_bvolume; // Is valid + int m_bframe; // Is frame + float m_restVolume; // Rest volume + int m_pad; +}; + +struct SoftBodyClusterData +{ + btTransformFloatData m_framexform; + btMatrix3x3FloatData m_locii; + btMatrix3x3FloatData m_invwi; + btVector3FloatData m_com; + btVector3FloatData m_vimpulses[2]; + btVector3FloatData m_dimpulses[2]; + btVector3FloatData m_lv; + btVector3FloatData m_av; + + btVector3FloatData *m_framerefs; + int *m_nodeIndices; + float *m_masses; + + int m_numFrameRefs; + int m_numNodes; + int m_numMasses; + + float m_idmass; + float m_imass; + int m_nvimpulses; + int m_ndimpulses; + float m_ndamping; + float m_ldamping; + float m_adamping; + float m_matching; + float m_maxSelfCollisionImpulse; + float m_selfCollisionImpulseFactor; + int m_containsAnchor; + int m_collide; + int m_clusterIndex; +}; + + +enum btSoftJointBodyType +{ + BT_JOINT_SOFT_BODY_CLUSTER=1, + BT_JOINT_RIGID_BODY, + BT_JOINT_COLLISION_OBJECT +}; + +struct btSoftBodyJointData +{ + void *m_bodyA; + void *m_bodyB; + btVector3FloatData m_refs[2]; + float m_cfm; + float m_erp; + float m_split; + int m_delete; + btVector3FloatData m_relPosition[2];//linear + int m_bodyAtype; + int m_bodyBtype; + int m_jointType; + int m_pad; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btSoftBodyFloatData +{ + btCollisionObjectFloatData m_collisionObjectData; + + SoftBodyPoseData *m_pose; + SoftBodyMaterialData **m_materials; + SoftBodyNodeData *m_nodes; + SoftBodyLinkData *m_links; + SoftBodyFaceData *m_faces; + SoftBodyTetraData *m_tetrahedra; + SoftRigidAnchorData *m_anchors; + SoftBodyClusterData *m_clusters; + btSoftBodyJointData *m_joints; + + int m_numMaterials; + int m_numNodes; + int m_numLinks; + int m_numFaces; + int m_numTetrahedra; + int m_numAnchors; + int m_numClusters; + int m_numJoints; + SoftBodyConfigData m_config; +}; + +#endif //BT_SOFTBODY_FLOAT_DATA + diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.cpp b/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.cpp new file mode 100644 index 00000000..36f675a6 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -0,0 +1,1055 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBodyHelpers.cpp by Nathanael Presson + +#include "btSoftBodyInternals.h" +#include +#include +#include "btSoftBodyHelpers.h" +#include "LinearMath/btConvexHull.h" +#include "LinearMath/btConvexHullComputer.h" + + +// +static void drawVertex( btIDebugDraw* idraw, + const btVector3& x,btScalar s,const btVector3& c) +{ + idraw->drawLine(x-btVector3(s,0,0),x+btVector3(s,0,0),c); + idraw->drawLine(x-btVector3(0,s,0),x+btVector3(0,s,0),c); + idraw->drawLine(x-btVector3(0,0,s),x+btVector3(0,0,s),c); +} + +// +static void drawBox( btIDebugDraw* idraw, + const btVector3& mins, + const btVector3& maxs, + const btVector3& color) +{ + const btVector3 c[]={ btVector3(mins.x(),mins.y(),mins.z()), + btVector3(maxs.x(),mins.y(),mins.z()), + btVector3(maxs.x(),maxs.y(),mins.z()), + btVector3(mins.x(),maxs.y(),mins.z()), + btVector3(mins.x(),mins.y(),maxs.z()), + btVector3(maxs.x(),mins.y(),maxs.z()), + btVector3(maxs.x(),maxs.y(),maxs.z()), + btVector3(mins.x(),maxs.y(),maxs.z())}; + idraw->drawLine(c[0],c[1],color);idraw->drawLine(c[1],c[2],color); + idraw->drawLine(c[2],c[3],color);idraw->drawLine(c[3],c[0],color); + idraw->drawLine(c[4],c[5],color);idraw->drawLine(c[5],c[6],color); + idraw->drawLine(c[6],c[7],color);idraw->drawLine(c[7],c[4],color); + idraw->drawLine(c[0],c[4],color);idraw->drawLine(c[1],c[5],color); + idraw->drawLine(c[2],c[6],color);idraw->drawLine(c[3],c[7],color); +} + +// +static void drawTree( btIDebugDraw* idraw, + const btDbvtNode* node, + int depth, + const btVector3& ncolor, + const btVector3& lcolor, + int mindepth, + int maxdepth) +{ + if(node) + { + if(node->isinternal()&&((depthchilds[0],depth+1,ncolor,lcolor,mindepth,maxdepth); + drawTree(idraw,node->childs[1],depth+1,ncolor,lcolor,mindepth,maxdepth); + } + if(depth>=mindepth) + { + const btScalar scl=(btScalar)(node->isinternal()?1:1); + const btVector3 mi=node->volume.Center()-node->volume.Extents()*scl; + const btVector3 mx=node->volume.Center()+node->volume.Extents()*scl; + drawBox(idraw,mi,mx,node->isleaf()?lcolor:ncolor); + } + } +} + +// +template +static inline T sum(const btAlignedObjectArray& items) +{ + T v; + if(items.size()) + { + v=items[0]; + for(int i=1,ni=items.size();i +static inline void add(btAlignedObjectArray& items,const Q& value) +{ + for(int i=0,ni=items.size();i +static inline void mul(btAlignedObjectArray& items,const Q& value) +{ + for(int i=0,ni=items.size();i +static inline T average(const btAlignedObjectArray& items) +{ + const btScalar n=(btScalar)(items.size()>0?items.size():1); + return(sum(items)/n); +} + +// +static inline btScalar tetravolume(const btVector3& x0, + const btVector3& x1, + const btVector3& x2, + const btVector3& x3) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 c=x3-x0; + return(btDot(a,btCross(b,c))); +} + +// +#if 0 +static btVector3 stresscolor(btScalar stress) +{ + static const btVector3 spectrum[]= { btVector3(1,0,1), + btVector3(0,0,1), + btVector3(0,1,1), + btVector3(0,1,0), + btVector3(1,1,0), + btVector3(1,0,0), + btVector3(1,0,0)}; + static const int ncolors=sizeof(spectrum)/sizeof(spectrum[0])-1; + static const btScalar one=1; + stress=btMax(0,btMin(1,stress))*ncolors; + const int sel=(int)stress; + const btScalar frc=stress-sel; + return(spectrum[sel]+(spectrum[sel+1]-spectrum[sel])*frc); +} +#endif + +// +void btSoftBodyHelpers::Draw( btSoftBody* psb, + btIDebugDraw* idraw, + int drawflags) +{ + const btScalar scl=(btScalar)0.1; + const btScalar nscl=scl*5; + const btVector3 lcolor=btVector3(0,0,0); + const btVector3 ncolor=btVector3(1,1,1); + const btVector3 ccolor=btVector3(1,0,0); + int i,j,nj; + + /* Clusters */ + if(0!=(drawflags&fDrawFlags::Clusters)) + { + srand(1806); + for(i=0;im_clusters.size();++i) + { + if(psb->m_clusters[i]->m_collide) + { + btVector3 color( rand()/(btScalar)RAND_MAX, + rand()/(btScalar)RAND_MAX, + rand()/(btScalar)RAND_MAX); + color=color.normalized()*0.75; + btAlignedObjectArray vertices; + vertices.resize(psb->m_clusters[i]->m_nodes.size()); + for(j=0,nj=vertices.size();jm_clusters[i]->m_nodes[j]->m_x; + } +#define USE_NEW_CONVEX_HULL_COMPUTER +#ifdef USE_NEW_CONVEX_HULL_COMPUTER + btConvexHullComputer computer; + int stride = sizeof(btVector3); + int count = vertices.size(); + btScalar shrink=0.f; + btScalar shrinkClamp=0.f; + computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp); + for (int i=0;igetNextEdgeOfFace(); + + int v0 = firstEdge->getSourceVertex(); + int v1 = firstEdge->getTargetVertex(); + while (edge!=firstEdge) + { + int v2 = edge->getTargetVertex(); + idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1); + edge = edge->getNextEdgeOfFace(); + v0=v1; + v1=v2; + }; + } +#else + + HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]); + HullResult hres; + HullLibrary hlib; + hdsc.mMaxVertices=vertices.size(); + hlib.CreateConvexHull(hdsc,hres); + const btVector3 center=average(hres.m_OutputVertices); + add(hres.m_OutputVertices,-center); + mul(hres.m_OutputVertices,(btScalar)1); + add(hres.m_OutputVertices,center); + for(j=0;j<(int)hres.mNumFaces;++j) + { + const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]}; + idraw->drawTriangle(hres.m_OutputVertices[idx[0]], + hres.m_OutputVertices[idx[1]], + hres.m_OutputVertices[idx[2]], + color,1); + } + hlib.ReleaseResult(hres); +#endif + + } + /* Velocities */ +#if 0 + for(int j=0;jm_clusters[i].m_nodes.size();++j) + { + const btSoftBody::Cluster& c=psb->m_clusters[i]; + const btVector3 r=c.m_nodes[j]->m_x-c.m_com; + const btVector3 v=c.m_lv+btCross(c.m_av,r); + idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0)); + } +#endif + /* Frame */ + // btSoftBody::Cluster& c=*psb->m_clusters[i]; + // idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0)); + // idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0)); + // idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1)); + } + } + else + { + /* Nodes */ + if(0!=(drawflags&fDrawFlags::Nodes)) + { + for(i=0;im_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0)); + idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0)); + idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1)); + } + } + /* Links */ + if(0!=(drawflags&fDrawFlags::Links)) + { + for(i=0;im_links.size();++i) + { + const btSoftBody::Link& l=psb->m_links[i]; + if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor); + } + } + /* Normals */ + if(0!=(drawflags&fDrawFlags::Normals)) + { + for(i=0;im_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + const btVector3 d=n.m_n*nscl; + idraw->drawLine(n.m_x,n.m_x+d,ncolor); + idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5); + } + } + /* Contacts */ + if(0!=(drawflags&fDrawFlags::Contacts)) + { + static const btVector3 axis[]={btVector3(1,0,0), + btVector3(0,1,0), + btVector3(0,0,1)}; + for(i=0;im_rcontacts.size();++i) + { + const btSoftBody::RContact& c=psb->m_rcontacts[i]; + const btVector3 o= c.m_node->m_x-c.m_cti.m_normal* + (btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset); + const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized(); + const btVector3 y=btCross(x,c.m_cti.m_normal).normalized(); + idraw->drawLine(o-x*nscl,o+x*nscl,ccolor); + idraw->drawLine(o-y*nscl,o+y*nscl,ccolor); + idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0)); + } + } + /* Faces */ + if(0!=(drawflags&fDrawFlags::Faces)) + { + const btScalar scl=(btScalar)0.8; + const btScalar alp=(btScalar)1; + const btVector3 col(0,(btScalar)0.7,0); + for(i=0;im_faces.size();++i) + { + const btSoftBody::Face& f=psb->m_faces[i]; + if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x}; + const btVector3 c=(x[0]+x[1]+x[2])/3; + idraw->drawTriangle((x[0]-c)*scl+c, + (x[1]-c)*scl+c, + (x[2]-c)*scl+c, + col,alp); + } + } + /* Tetras */ + if(0!=(drawflags&fDrawFlags::Tetras)) + { + const btScalar scl=(btScalar)0.8; + const btScalar alp=(btScalar)1; + const btVector3 col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7); + for(int i=0;im_tetras.size();++i) + { + const btSoftBody::Tetra& t=psb->m_tetras[i]; + if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x}; + const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4; + idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp); + idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp); + idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp); + idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp); + } + } + } + /* Anchors */ + if(0!=(drawflags&fDrawFlags::Anchors)) + { + for(i=0;im_anchors.size();++i) + { + const btSoftBody::Anchor& a=psb->m_anchors[i]; + const btVector3 q=a.m_body->getWorldTransform()*a.m_local; + drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0)); + drawVertex(idraw,q,0.25,btVector3(0,1,0)); + idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1)); + } + for(i=0;im_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue; + if(n.m_im<=0) + { + drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0)); + } + } + } + + + /* Notes */ + if(0!=(drawflags&fDrawFlags::Notes)) + { + for(i=0;im_notes.size();++i) + { + const btSoftBody::Note& n=psb->m_notes[i]; + btVector3 p=n.m_offset; + for(int j=0;jm_x*n.m_coords[j]; + } + idraw->draw3dText(p,n.m_text); + } + } + /* Node tree */ + if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw); + /* Face tree */ + if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw); + /* Cluster tree */ + if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw); + /* Joints */ + if(0!=(drawflags&fDrawFlags::Joints)) + { + for(i=0;im_joints.size();++i) + { + const btSoftBody::Joint* pj=psb->m_joints[i]; + switch(pj->Type()) + { + case btSoftBody::Joint::eType::Linear: + { + const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj; + const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0]; + const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1]; + idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0)); + idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1)); + drawVertex(idraw,a0,0.25,btVector3(1,1,0)); + drawVertex(idraw,a1,0.25,btVector3(0,1,1)); + } + break; + case btSoftBody::Joint::eType::Angular: + { + //const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj; + const btVector3 o0=pj->m_bodies[0].xform().getOrigin(); + const btVector3 o1=pj->m_bodies[1].xform().getOrigin(); + const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0]; + const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1]; + idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0)); + idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0)); + idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1)); + idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1)); + break; + } + default: + { + } + + } + } + } +} + +// +void btSoftBodyHelpers::DrawInfos( btSoftBody* psb, + btIDebugDraw* idraw, + bool masses, + bool areas, + bool /*stress*/) +{ + for(int i=0;im_nodes.size();++i) + { + const btSoftBody::Node& n=psb->m_nodes[i]; + char text[2048]={0}; + char buff[1024]; + if(masses) + { + sprintf(buff," M(%.2f)",1/n.m_im); + strcat(text,buff); + } + if(areas) + { + sprintf(buff," A(%.2f)",n.m_area); + strcat(text,buff); + } + if(text[0]) idraw->draw3dText(n.m_x,text); + } +} + +// +void btSoftBodyHelpers::DrawNodeTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ + drawTree(idraw,psb->m_ndbvt.m_root,0,btVector3(1,0,1),btVector3(1,1,1),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawFaceTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ + drawTree(idraw,psb->m_fdbvt.m_root,0,btVector3(0,1,0),btVector3(1,0,0),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawClusterTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth, + int maxdepth) +{ + drawTree(idraw,psb->m_cdbvt.m_root,0,btVector3(0,1,1),btVector3(1,0,0),mindepth,maxdepth); +} + +// +void btSoftBodyHelpers::DrawFrame( btSoftBody* psb, + btIDebugDraw* idraw) +{ + if(psb->m_pose.m_bframe) + { + static const btScalar ascl=10; + static const btScalar nscl=(btScalar)0.1; + const btVector3 com=psb->m_pose.m_com; + const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl; + const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized(); + const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized(); + const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized(); + idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0)); + idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0)); + idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1)); + for(int i=0;im_pose.m_pos.size();++i) + { + const btVector3 x=com+trs*psb->m_pose.m_pos[i]; + drawVertex(idraw,x,nscl,btVector3(1,0,1)); + } + } +} + +// +btSoftBody* btSoftBodyHelpers::CreateRope( btSoftBodyWorldInfo& worldInfo, const btVector3& from, + const btVector3& to, + int res, + int fixeds) +{ + /* Create nodes */ + const int r=res+2; + btVector3* x=new btVector3[r]; + btScalar* m=new btScalar[r]; + int i; + + for(i=0;isetMass(0,0); + if(fixeds&2) psb->setMass(r-1,0); + delete[] x; + delete[] m; + /* Create links */ + for(i=1;iappendLink(i-1,i); + } + /* Finished */ + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreatePatch(btSoftBodyWorldInfo& worldInfo,const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags) +{ +#define IDX(_x_,_y_) ((_y_)*rx+(_x_)) + /* Create nodes */ + if((resx<2)||(resy<2)) return(0); + const int rx=resx; + const int ry=resy; + const int tot=rx*ry; + btVector3* x=new btVector3[tot]; + btScalar* m=new btScalar[tot]; + int iy; + + for(iy=0;iysetMass(IDX(0,0),0); + if(fixeds&2) psb->setMass(IDX(rx-1,0),0); + if(fixeds&4) psb->setMass(IDX(0,ry-1),0); + if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0); + delete[] x; + delete[] m; + /* Create links and faces */ + for(iy=0;iyappendLink(idx,IDX(ix+1,iy)); + if(mdy) psb->appendLink(idx,IDX(ix,iy+1)); + if(mdx&&mdy) + { + if((ix+iy)&1) + { + psb->appendFace(IDX(ix,iy),IDX(ix+1,iy),IDX(ix+1,iy+1)); + psb->appendFace(IDX(ix,iy),IDX(ix+1,iy+1),IDX(ix,iy+1)); + if(gendiags) + { + psb->appendLink(IDX(ix,iy),IDX(ix+1,iy+1)); + } + } + else + { + psb->appendFace(IDX(ix,iy+1),IDX(ix,iy),IDX(ix+1,iy)); + psb->appendFace(IDX(ix,iy+1),IDX(ix+1,iy),IDX(ix+1,iy+1)); + if(gendiags) + { + psb->appendLink(IDX(ix+1,iy),IDX(ix,iy+1)); + } + } + } + } + } + /* Finished */ +#undef IDX + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreatePatchUV(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags, + float* tex_coords) +{ + + /* + * + * corners: + * + * [0][0] corner00 ------- corner01 [resx][0] + * | | + * | | + * [0][resy] corner10 -------- corner11 [resx][resy] + * + * + * + * + * + * + * "fixedgs" map: + * + * corner00 --> +1 + * corner01 --> +2 + * corner10 --> +4 + * corner11 --> +8 + * upper middle --> +16 + * left middle --> +32 + * right middle --> +64 + * lower middle --> +128 + * center --> +256 + * + * + * tex_coords size (resx-1)*(resy-1)*12 + * + * + * + * SINGLE QUAD INTERNALS + * + * 1) btSoftBody's nodes and links, + * diagonal link is optional ("gendiags") + * + * + * node00 ------ node01 + * | . + * | . + * | . + * | . + * | . + * node10 node11 + * + * + * + * 2) Faces: + * two triangles, + * UV Coordinates (hier example for single quad) + * + * (0,1) (0,1) (1,1) + * 1 |\ 3 \-----| 2 + * | \ \ | + * | \ \ | + * | \ \ | + * | \ \ | + * 2 |-----\ 3 \| 1 + * (0,0) (1,0) (1,0) + * + * + * + * + * + * + */ + +#define IDX(_x_,_y_) ((_y_)*rx+(_x_)) + /* Create nodes */ + if((resx<2)||(resy<2)) return(0); + const int rx=resx; + const int ry=resy; + const int tot=rx*ry; + btVector3* x=new btVector3[tot]; + btScalar* m=new btScalar[tot]; + + int iy; + + for(iy=0;iysetMass(IDX(0,0),0); + if(fixeds&2) psb->setMass(IDX(rx-1,0),0); + if(fixeds&4) psb->setMass(IDX(0,ry-1),0); + if(fixeds&8) psb->setMass(IDX(rx-1,ry-1),0); + if(fixeds&16) psb->setMass(IDX((rx-1)/2,0),0); + if(fixeds&32) psb->setMass(IDX(0,(ry-1)/2),0); + if(fixeds&64) psb->setMass(IDX(rx-1,(ry-1)/2),0); + if(fixeds&128) psb->setMass(IDX((rx-1)/2,ry-1),0); + if(fixeds&256) psb->setMass(IDX((rx-1)/2,(ry-1)/2),0); + delete[] x; + delete[] m; + + + int z = 0; + /* Create links and faces */ + for(iy=0;iyappendLink(node00,node01); + if(mdy) psb->appendLink(node00,node10); + if(mdx&&mdy) + { + psb->appendFace(node00,node10,node11); + if (tex_coords) { + tex_coords[z+0]=CalculateUV(resx,resy,ix,iy,0); + tex_coords[z+1]=CalculateUV(resx,resy,ix,iy,1); + tex_coords[z+2]=CalculateUV(resx,resy,ix,iy,0); + tex_coords[z+3]=CalculateUV(resx,resy,ix,iy,2); + tex_coords[z+4]=CalculateUV(resx,resy,ix,iy,3); + tex_coords[z+5]=CalculateUV(resx,resy,ix,iy,2); + } + psb->appendFace(node11,node01,node00); + if (tex_coords) { + tex_coords[z+6 ]=CalculateUV(resx,resy,ix,iy,3); + tex_coords[z+7 ]=CalculateUV(resx,resy,ix,iy,2); + tex_coords[z+8 ]=CalculateUV(resx,resy,ix,iy,3); + tex_coords[z+9 ]=CalculateUV(resx,resy,ix,iy,1); + tex_coords[z+10]=CalculateUV(resx,resy,ix,iy,0); + tex_coords[z+11]=CalculateUV(resx,resy,ix,iy,1); + } + if (gendiags) psb->appendLink(node00,node11); + z += 12; + } + } + } + /* Finished */ +#undef IDX + return(psb); +} + +float btSoftBodyHelpers::CalculateUV(int resx,int resy,int ix,int iy,int id) +{ + + /* + * + * + * node00 --- node01 + * | | + * node10 --- node11 + * + * + * ID map: + * + * node00 s --> 0 + * node00 t --> 1 + * + * node01 s --> 3 + * node01 t --> 1 + * + * node10 s --> 0 + * node10 t --> 2 + * + * node11 s --> 3 + * node11 t --> 2 + * + * + */ + + float tc=0.0f; + if (id == 0) { + tc = (1.0f/((resx-1))*ix); + } + else if (id==1) { + tc = (1.0f/((resy-1))*(resy-1-iy)); + } + else if (id==2) { + tc = (1.0f/((resy-1))*(resy-1-iy-1)); + } + else if (id==3) { + tc = (1.0f/((resx-1))*(ix+1)); + } + return tc; +} +// +btSoftBody* btSoftBodyHelpers::CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,const btVector3& center, + const btVector3& radius, + int res) +{ + struct Hammersley + { + static void Generate(btVector3* x,int n) + { + for(int i=0;i>=1) if(j&1) t+=p; + btScalar w=2*t-1; + btScalar a=(SIMD_PI+2*i*SIMD_PI)/n; + btScalar s=btSqrt(1-w*w); + *x++=btVector3(s*btCos(a),s*btSin(a),w); + } + } + }; + btAlignedObjectArray vtx; + vtx.resize(3+res); + Hammersley::Generate(&vtx[0],vtx.size()); + for(int i=0;i chks; + btAlignedObjectArray vtx; + chks.resize(maxidx*maxidx,false); + vtx.resize(maxidx); + for(i=0,j=0,ni=maxidx*3;iappendLink(idx[j],idx[k]); + } + } +#undef IDX + psb->appendFace(idx[0],idx[1],idx[2]); + } + + if (randomizeConstraints) + { + psb->randomizeConstraints(); + } + + return(psb); +} + +// +btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldInfo, const btVector3* vertices, + int nvertices, bool randomizeConstraints) +{ + HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); + HullResult hres; + HullLibrary hlib;/*??*/ + hdsc.mMaxVertices=nvertices; + hlib.CreateConvexHull(hdsc,hres); + btSoftBody* psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices, + &hres.m_OutputVertices[0],0); + for(int i=0;i<(int)hres.mNumFaces;++i) + { + const int idx[]={ static_cast(hres.m_Indices[i*3+0]), + static_cast(hres.m_Indices[i*3+1]), + static_cast(hres.m_Indices[i*3+2])}; + if(idx[0]appendLink( idx[0],idx[1]); + if(idx[1]appendLink( idx[1],idx[2]); + if(idx[2]appendLink( idx[2],idx[0]); + psb->appendFace(idx[0],idx[1],idx[2]); + } + hlib.ReleaseResult(hres); + if (randomizeConstraints) + { + psb->randomizeConstraints(); + } + return(psb); +} + + + + +static int nextLine(const char* buffer) +{ + int numBytesRead=0; + + while (*buffer != '\n') + { + buffer++; + numBytesRead++; + } + + + if (buffer[0]==0x0a) + { + buffer++; + numBytesRead++; + } + return numBytesRead; +} + +/* Create from TetGen .ele, .face, .node data */ +btSoftBody* btSoftBodyHelpers::CreateFromTetGenData(btSoftBodyWorldInfo& worldInfo, + const char* ele, + const char* face, + const char* node, + bool bfacelinks, + bool btetralinks, + bool bfacesfromtetras) +{ +btAlignedObjectArray pos; +int nnode=0; +int ndims=0; +int nattrb=0; +int hasbounds=0; +int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds); +result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds); +node += nextLine(node); + +pos.resize(nnode); +for(int i=0;i>index; +// sn>>x;sn>>y;sn>>z; + node += nextLine(node); + + //for(int j=0;j>a; + + //if(hasbounds) + // sn>>bound; + + pos[index].setX(btScalar(x)); + pos[index].setY(btScalar(y)); + pos[index].setZ(btScalar(z)); + } +btSoftBody* psb=new btSoftBody(&worldInfo,nnode,&pos[0],0); +#if 0 +if(face&&face[0]) + { + int nface=0; + sf>>nface;sf>>hasbounds; + for(int i=0;i>index; + sf>>ni[0];sf>>ni[1];sf>>ni[2]; + sf>>bound; + psb->appendFace(ni[0],ni[1],ni[2]); + if(btetralinks) + { + psb->appendLink(ni[0],ni[1],0,true); + psb->appendLink(ni[1],ni[2],0,true); + psb->appendLink(ni[2],ni[0],0,true); + } + } + } +#endif + +if(ele&&ele[0]) + { + int ntetra=0; + int ncorner=0; + int neattrb=0; + sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb); + ele += nextLine(ele); + + //se>>ntetra;se>>ncorner;se>>neattrb; + for(int i=0;i>index; + //se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3]; + sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]); + ele+=nextLine(ele); + //for(int j=0;j>a; + psb->appendTetra(ni[0],ni[1],ni[2],ni[3]); + if(btetralinks) + { + psb->appendLink(ni[0],ni[1],0,true); + psb->appendLink(ni[1],ni[2],0,true); + psb->appendLink(ni[2],ni[0],0,true); + psb->appendLink(ni[0],ni[3],0,true); + psb->appendLink(ni[1],ni[3],0,true); + psb->appendLink(ni[2],ni[3],0,true); + } + } + } +printf("Nodes: %u\r\n",psb->m_nodes.size()); +printf("Links: %u\r\n",psb->m_links.size()); +printf("Faces: %u\r\n",psb->m_faces.size()); +printf("Tetras: %u\r\n",psb->m_tetras.size()); +return(psb); +} + diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.h b/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.h new file mode 100644 index 00000000..620a52fe --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyHelpers.h @@ -0,0 +1,143 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_HELPERS_H +#define BT_SOFT_BODY_HELPERS_H + +#include "btSoftBody.h" + +// +// Helpers +// + +/* fDrawFlags */ +struct fDrawFlags { enum _ { + Nodes = 0x0001, + Links = 0x0002, + Faces = 0x0004, + Tetras = 0x0008, + Normals = 0x0010, + Contacts = 0x0020, + Anchors = 0x0040, + Notes = 0x0080, + Clusters = 0x0100, + NodeTree = 0x0200, + FaceTree = 0x0400, + ClusterTree = 0x0800, + Joints = 0x1000, + /* presets */ + Std = Links+Faces+Tetras+Anchors+Notes+Joints, + StdTetra = Std-Faces+Tetras +};}; + +struct btSoftBodyHelpers +{ + /* Draw body */ + static void Draw( btSoftBody* psb, + btIDebugDraw* idraw, + int drawflags=fDrawFlags::Std); + /* Draw body infos */ + static void DrawInfos( btSoftBody* psb, + btIDebugDraw* idraw, + bool masses, + bool areas, + bool stress); + /* Draw node tree */ + static void DrawNodeTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw face tree */ + static void DrawFaceTree( btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw cluster tree */ + static void DrawClusterTree(btSoftBody* psb, + btIDebugDraw* idraw, + int mindepth=0, + int maxdepth=-1); + /* Draw rigid frame */ + static void DrawFrame( btSoftBody* psb, + btIDebugDraw* idraw); + /* Create a rope */ + static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo, + const btVector3& from, + const btVector3& to, + int res, + int fixeds); + /* Create a patch */ + static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags); + /* Create a patch with UV Texture Coordinates */ + static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo, + const btVector3& corner00, + const btVector3& corner10, + const btVector3& corner01, + const btVector3& corner11, + int resx, + int resy, + int fixeds, + bool gendiags, + float* tex_coords=0); + static float CalculateUV(int resx,int resy,int ix,int iy,int id); + /* Create an ellipsoid */ + static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo, + const btVector3& center, + const btVector3& radius, + int res); + /* Create from trimesh */ + static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo, + const btScalar* vertices, + const int* triangles, + int ntriangles, + bool randomizeConstraints = true); + /* Create from convex-hull */ + static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo, + const btVector3* vertices, + int nvertices, + bool randomizeConstraints = true); + + + /* Export TetGen compatible .smesh file */ +// static void ExportAsSMeshFile( btSoftBody* psb, +// const char* filename); + /* Create from TetGen .ele, .face, .node files */ +// static btSoftBody* CreateFromTetGenFile( btSoftBodyWorldInfo& worldInfo, +// const char* ele, +// const char* face, +// const char* node, +// bool bfacelinks, +// bool btetralinks, +// bool bfacesfromtetras); + /* Create from TetGen .ele, .face, .node data */ + static btSoftBody* CreateFromTetGenData( btSoftBodyWorldInfo& worldInfo, + const char* ele, + const char* face, + const char* node, + bool bfacelinks, + bool btetralinks, + bool bfacesfromtetras); + +}; + +#endif //BT_SOFT_BODY_HELPERS_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyInternals.h b/Code/Physics/src/BulletSoftBody/btSoftBodyInternals.h new file mode 100644 index 00000000..19d0543e --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyInternals.h @@ -0,0 +1,908 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSoftBody implementation by Nathanael Presson + +#ifndef _BT_SOFT_BODY_INTERNALS_H +#define _BT_SOFT_BODY_INTERNALS_H + +#include "btSoftBody.h" + + +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btPolarDecomposition.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" +#include //for memset +// +// btSymMatrix +// +template +struct btSymMatrix +{ + btSymMatrix() : dim(0) {} + btSymMatrix(int n,const T& init=T()) { resize(n,init); } + void resize(int n,const T& init=T()) { dim=n;store.resize((n*(n+1))/2,init); } + int index(int c,int r) const { if(c>r) btSwap(c,r);btAssert(r store; + int dim; +}; + +// +// btSoftBodyCollisionShape +// +class btSoftBodyCollisionShape : public btConcaveShape +{ +public: + btSoftBody* m_body; + + btSoftBodyCollisionShape(btSoftBody* backptr) + { + m_shapeType = SOFTBODY_SHAPE_PROXYTYPE; + m_body=backptr; + } + + virtual ~btSoftBodyCollisionShape() + { + + } + + void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const + { + //not yet + btAssert(0); + } + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + { + /* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */ + const btVector3 mins=m_body->m_bounds[0]; + const btVector3 maxs=m_body->m_bounds[1]; + const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),mins.y(),mins.z()), + t*btVector3(maxs.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),maxs.y(),mins.z()), + t*btVector3(mins.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),mins.y(),maxs.z()), + t*btVector3(maxs.x(),maxs.y(),maxs.z()), + t*btVector3(mins.x(),maxs.y(),maxs.z())}; + aabbMin=aabbMax=crns[0]; + for(int i=1;i<8;++i) + { + aabbMin.setMin(crns[i]); + aabbMax.setMax(crns[i]); + } + } + + + virtual void setLocalScaling(const btVector3& /*scaling*/) + { + ///na + } + virtual const btVector3& getLocalScaling() const + { + static const btVector3 dummy(1,1,1); + return dummy; + } + virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const + { + ///not yet + btAssert(0); + } + virtual const char* getName()const + { + return "SoftBody"; + } + +}; + +// +// btSoftClusterCollisionShape +// +class btSoftClusterCollisionShape : public btConvexInternalShape +{ +public: + const btSoftBody::Cluster* m_cluster; + + btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); } + + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + btSoftBody::Node* const * n=&m_cluster->m_nodes[0]; + btScalar d=btDot(vec,n[0]->m_x); + int j=0; + for(int i=1,ni=m_cluster->m_nodes.size();im_x); + if(k>d) { d=k;j=i; } + } + return(n[j]->m_x); + } + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const + { + return(localGetSupportingVertex(vec)); + } + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const + {} + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + {} + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const + {} + + virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; } + + //debugging + virtual const char* getName()const {return "SOFTCLUSTER";} + + virtual void setMargin(btScalar margin) + { + btConvexInternalShape::setMargin(margin); + } + virtual btScalar getMargin() const + { + return getMargin(); + } +}; + +// +// Inline's +// + +// +template +static inline void ZeroInitialize(T& value) +{ + memset(&value,0,sizeof(T)); +} +// +template +static inline bool CompLess(const T& a,const T& b) +{ return(a +static inline bool CompGreater(const T& a,const T& b) +{ return(a>b); } +// +template +static inline T Lerp(const T& a,const T& b,btScalar t) +{ return(a+(b-a)*t); } +// +template +static inline T InvLerp(const T& a,const T& b,btScalar t) +{ return((b+a*t-b*t)/(a*b)); } +// +static inline btMatrix3x3 Lerp( const btMatrix3x3& a, + const btMatrix3x3& b, + btScalar t) +{ + btMatrix3x3 r; + r[0]=Lerp(a[0],b[0],t); + r[1]=Lerp(a[1],b[1],t); + r[2]=Lerp(a[2],b[2],t); + return(r); +} +// +static inline btVector3 Clamp(const btVector3& v,btScalar maxlength) +{ + const btScalar sql=v.length2(); + if(sql>(maxlength*maxlength)) + return((v*maxlength)/btSqrt(sql)); + else + return(v); +} +// +template +static inline T Clamp(const T& x,const T& l,const T& h) +{ return(xh?h:x); } +// +template +static inline T Sq(const T& x) +{ return(x*x); } +// +template +static inline T Cube(const T& x) +{ return(x*x*x); } +// +template +static inline T Sign(const T& x) +{ return((T)(x<0?-1:+1)); } +// +template +static inline bool SameSign(const T& x,const T& y) +{ return((x*y)>0); } +// +static inline btScalar ClusterMetric(const btVector3& x,const btVector3& y) +{ + const btVector3 d=x-y; + return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2])); +} +// +static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a,btScalar s) +{ + const btScalar xx=a.x()*a.x(); + const btScalar yy=a.y()*a.y(); + const btScalar zz=a.z()*a.z(); + const btScalar xy=a.x()*a.y(); + const btScalar yz=a.y()*a.z(); + const btScalar zx=a.z()*a.x(); + btMatrix3x3 m; + m[0]=btVector3(1-xx+xx*s,xy*s-xy,zx*s-zx); + m[1]=btVector3(xy*s-xy,1-yy+yy*s,yz*s-yz); + m[2]=btVector3(zx*s-zx,yz*s-yz,1-zz+zz*s); + return(m); +} +// +static inline btMatrix3x3 Cross(const btVector3& v) +{ + btMatrix3x3 m; + m[0]=btVector3(0,-v.z(),+v.y()); + m[1]=btVector3(+v.z(),0,-v.x()); + m[2]=btVector3(-v.y(),+v.x(),0); + return(m); +} +// +static inline btMatrix3x3 Diagonal(btScalar x) +{ + btMatrix3x3 m; + m[0]=btVector3(x,0,0); + m[1]=btVector3(0,x,0); + m[2]=btVector3(0,0,x); + return(m); +} +// +static inline btMatrix3x3 Add(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]+b[i]; + return(r); +} +// +static inline btMatrix3x3 Sub(const btMatrix3x3& a, + const btMatrix3x3& b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]-b[i]; + return(r); +} +// +static inline btMatrix3x3 Mul(const btMatrix3x3& a, + btScalar b) +{ + btMatrix3x3 r; + for(int i=0;i<3;++i) r[i]=a[i]*b; + return(r); +} +// +static inline void Orthogonalize(btMatrix3x3& m) +{ + m[2]=btCross(m[0],m[1]).normalized(); + m[1]=btCross(m[2],m[0]).normalized(); + m[0]=btCross(m[1],m[2]).normalized(); +} +// +static inline btMatrix3x3 MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r) +{ + const btMatrix3x3 cr=Cross(r); + return(Sub(Diagonal(im),cr*iwi*cr)); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar dt, + btScalar ima, + btScalar imb, + const btMatrix3x3& iwi, + const btVector3& r) +{ + return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse()); +} + +// +static inline btMatrix3x3 ImpulseMatrix( btScalar ima,const btMatrix3x3& iia,const btVector3& ra, + btScalar imb,const btMatrix3x3& iib,const btVector3& rb) +{ + return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse()); +} + +// +static inline btMatrix3x3 AngularImpulseMatrix( const btMatrix3x3& iia, + const btMatrix3x3& iib) +{ + return(Add(iia,iib).inverse()); +} + +// +static inline btVector3 ProjectOnAxis( const btVector3& v, + const btVector3& a) +{ + return(a*btDot(v,a)); +} +// +static inline btVector3 ProjectOnPlane( const btVector3& v, + const btVector3& a) +{ + return(v-ProjectOnAxis(v,a)); +} + +// +static inline void ProjectOrigin( const btVector3& a, + const btVector3& b, + btVector3& prj, + btScalar& sqd) +{ + const btVector3 d=b-a; + const btScalar m2=d.length2(); + if(m2>SIMD_EPSILON) + { + const btScalar t=Clamp(-btDot(a,d)/m2,0,1); + const btVector3 p=a+d*t; + const btScalar l2=p.length2(); + if(l2SIMD_EPSILON) + { + const btVector3 n=q/btSqrt(m2); + const btScalar k=btDot(a,n); + const btScalar k2=k*k; + if(k20)&& + (btDot(btCross(b-p,c-p),q)>0)&& + (btDot(btCross(c-p,a-p),q)>0)) + { + prj=p; + sqd=k2; + } + else + { + ProjectOrigin(a,b,prj,sqd); + ProjectOrigin(b,c,prj,sqd); + ProjectOrigin(c,a,prj,sqd); + } + } + } +} + +// +template +static inline T BaryEval( const T& a, + const T& b, + const T& c, + const btVector3& coord) +{ + return(a*coord.x()+b*coord.y()+c*coord.z()); +} +// +static inline btVector3 BaryCoord( const btVector3& a, + const btVector3& b, + const btVector3& c, + const btVector3& p) +{ + const btScalar w[]={ btCross(a-p,b-p).length(), + btCross(b-p,c-p).length(), + btCross(c-p,a-p).length()}; + const btScalar isum=1/(w[0]+w[1]+w[2]); + return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum)); +} + +// +static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn, + const btVector3& a, + const btVector3& b, + const btScalar accuracy, + const int maxiterations=256) +{ + btScalar span[2]={0,1}; + btScalar values[2]={fn->Eval(a),fn->Eval(b)}; + if(values[0]>values[1]) + { + btSwap(span[0],span[1]); + btSwap(values[0],values[1]); + } + if(values[0]>-accuracy) return(-1); + if(values[1]<+accuracy) return(-1); + for(int i=0;iEval(Lerp(a,b,t)); + if((t<=0)||(t>=1)) break; + if(btFabs(v)SIMD_EPSILON) + return(v/l); + else + return(btVector3(0,0,0)); +} + +// +static inline btDbvtVolume VolumeOf( const btSoftBody::Face& f, + btScalar margin) +{ + const btVector3* pts[]={ &f.m_n[0]->m_x, + &f.m_n[1]->m_x, + &f.m_n[2]->m_x}; + btDbvtVolume vol=btDbvtVolume::FromPoints(pts,3); + vol.Expand(btVector3(margin,margin,margin)); + return(vol); +} + +// +static inline btVector3 CenterOf( const btSoftBody::Face& f) +{ + return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3); +} + +// +static inline btScalar AreaOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 cr=btCross(a,b); + const btScalar area=cr.length(); + return(area); +} + +// +static inline btScalar VolumeOf( const btVector3& x0, + const btVector3& x1, + const btVector3& x2, + const btVector3& x3) +{ + const btVector3 a=x1-x0; + const btVector3 b=x2-x0; + const btVector3 c=x3-x0; + return(btDot(a,btCross(b,c))); +} + +// +static void EvaluateMedium( const btSoftBodyWorldInfo* wfi, + const btVector3& x, + btSoftBody::sMedium& medium) +{ + medium.m_velocity = btVector3(0,0,0); + medium.m_pressure = 0; + medium.m_density = wfi->air_density; + if(wfi->water_density>0) + { + const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset); + if(depth>0) + { + medium.m_density = wfi->water_density; + medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length(); + } + } +} + +// +static inline void ApplyClampedForce( btSoftBody::Node& n, + const btVector3& f, + btScalar dt) +{ + const btScalar dtim=dt*n.m_im; + if((f*dtim).length2()>n.m_v.length2()) + {/* Clamp */ + n.m_f-=ProjectOnAxis(n.m_v,f.normalized())/dtim; + } + else + {/* Apply */ + n.m_f+=f; + } +} + +// +static inline int MatchEdge( const btSoftBody::Node* a, + const btSoftBody::Node* b, + const btSoftBody::Node* ma, + const btSoftBody::Node* mb) +{ + if((a==ma)&&(b==mb)) return(0); + if((a==mb)&&(b==ma)) return(1); + return(-1); +} + +// +// btEigen : Extract eigen system, +// straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html +// outputs are NOT sorted. +// +struct btEigen +{ + static int system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0) + { + static const int maxiterations=16; + static const btScalar accuracy=(btScalar)0.0001; + btMatrix3x3& v=*vectors; + int iterations=0; + vectors->setIdentity(); + do { + int p=0,q=1; + if(btFabs(a[p][q])accuracy) + { + const btScalar w=(a[q][q]-a[p][p])/(2*a[p][q]); + const btScalar z=btFabs(w); + const btScalar t=w/(z*(btSqrt(1+w*w)+z)); + if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */ + { + const btScalar c=1/btSqrt(t*t+1); + const btScalar s=c*t; + mulPQ(a,c,s,p,q); + mulTPQ(a,c,s,p,q); + mulPQ(v,c,s,p,q); + } else break; + } else break; + } while((++iterations)data; + btSoftClusterCollisionShape cshape(cluster); + + const btConvexShape* rshape=(const btConvexShape*)m_colObjWrap->getCollisionShape(); + + ///don't collide an anchored cluster with a static/kinematic object + if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject() && cluster->m_containsAnchor) + return; + + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(), + rshape,m_colObjWrap->getWorldTransform(), + btVector3(1,0,0),res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cluster,m_colObjWrap->getCollisionObject(),joint))//prb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;psb->m_joints.push_back(pj); + if(m_colObjWrap->getCollisionObject()->isStaticOrKinematicObject()) + { + pj->m_erp *= psb->m_cfg.kSKHR_CL; + pj->m_split *= psb->m_cfg.kSK_SPLT_CL; + } + else + { + pj->m_erp *= psb->m_cfg.kSRHR_CL; + pj->m_split *= psb->m_cfg.kSR_SPLT_CL; + } + } + } + } + void ProcessColObj(btSoftBody* ps,const btCollisionObjectWrapper* colObWrap) + { + psb = ps; + m_colObjWrap = colObWrap; + idt = ps->m_sst.isdt; + m_margin = m_colObjWrap->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin(); + ///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful. + friction = btMin(psb->m_cfg.kDF,m_colObjWrap->getCollisionObject()->getFriction()); + btVector3 mins; + btVector3 maxs; + + ATTRIBUTE_ALIGNED16(btDbvtVolume) volume; + colObWrap->getCollisionShape()->getAabb(colObWrap->getWorldTransform(),mins,maxs); + volume=btDbvtVolume::FromMM(mins,maxs); + volume.Expand(btVector3(1,1,1)*m_margin); + ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this); + } + }; + // + // CollideCL_SS + // + struct CollideCL_SS : ClusterBase + { + btSoftBody* bodies[2]; + void Process(const btDbvtNode* la,const btDbvtNode* lb) + { + btSoftBody::Cluster* cla=(btSoftBody::Cluster*)la->data; + btSoftBody::Cluster* clb=(btSoftBody::Cluster*)lb->data; + + + bool connected=false; + if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size())) + { + connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex]; + } + + if (!connected) + { + btSoftClusterCollisionShape csa(cla); + btSoftClusterCollisionShape csb(clb); + btGjkEpaSolver2::sResults res; + if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(), + &csb,btTransform::getIdentity(), + cla->m_com-clb->m_com,res)) + { + btSoftBody::CJoint joint; + if(SolveContact(res,cla,clb,joint)) + { + btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint(); + *pj=joint;bodies[0]->m_joints.push_back(pj); + pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL); + pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2; + } + } + } else + { + static int count=0; + count++; + //printf("count=%d\n",count); + + } + } + void ProcessSoftSoft(btSoftBody* psa,btSoftBody* psb) + { + idt = psa->m_sst.isdt; + //m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2; + m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin()); + friction = btMin(psa->m_cfg.kDF,psb->m_cfg.kDF); + bodies[0] = psa; + bodies[1] = psb; + psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this); + } + }; + // + // CollideSDF_RS + // + struct CollideSDF_RS : btDbvt::ICollide + { + void Process(const btDbvtNode* leaf) + { + btSoftBody::Node* node=(btSoftBody::Node*)leaf->data; + DoNode(*node); + } + void DoNode(btSoftBody::Node& n) const + { + const btScalar m=n.m_im>0?dynmargin:stamargin; + btSoftBody::RContact c; + + if( (!n.m_battach)&& + psb->checkContact(m_colObj1Wrap,n.m_x,m,c.m_cti)) + { + const btScalar ima=n.m_im; + const btScalar imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f; + const btScalar ms=ima+imb; + if(ms>0) + { + const btTransform& wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform(); + static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0); + const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic; + const btVector3 ra=n.m_x-wtr.getOrigin(); + const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0); + const btVector3 vb=n.m_x-n.m_q; + const btVector3 vr=vb-va; + const btScalar dn=btDot(vr,c.m_cti.m_normal); + const btVector3 fv=vr-c.m_cti.m_normal*dn; + const btScalar fc=psb->m_cfg.kDF*m_colObj1Wrap->getCollisionObject()->getFriction(); + c.m_node = &n; + c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra); + c.m_c1 = ra; + c.m_c2 = ima*psb->m_sst.sdt; + c.m_c3 = fv.length2()<(dn*fc*dn*fc)?0:1-fc; + c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR; + psb->m_rcontacts.push_back(c); + if (m_rigidBody) + m_rigidBody->activate(); + } + } + } + btSoftBody* psb; + const btCollisionObjectWrapper* m_colObj1Wrap; + btRigidBody* m_rigidBody; + btScalar dynmargin; + btScalar stamargin; + }; + // + // CollideVF_SS + // + struct CollideVF_SS : btDbvt::ICollide + { + void Process(const btDbvtNode* lnode, + const btDbvtNode* lface) + { + btSoftBody::Node* node=(btSoftBody::Node*)lnode->data; + btSoftBody::Face* face=(btSoftBody::Face*)lface->data; + btVector3 o=node->m_x; + btVector3 p; + btScalar d=SIMD_INFINITY; + ProjectOrigin( face->m_n[0]->m_x-o, + face->m_n[1]->m_x-o, + face->m_n[2]->m_x-o, + p,d); + const btScalar m=mrg+(o-node->m_q).length()*2; + if(d<(m*m)) + { + const btSoftBody::Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]}; + const btVector3 w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o); + const btScalar ma=node->m_im; + btScalar mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w); + if( (n[0]->m_im<=0)|| + (n[1]->m_im<=0)|| + (n[2]->m_im<=0)) + { + mb=0; + } + const btScalar ms=ma+mb; + if(ms>0) + { + btSoftBody::SContact c; + c.m_normal = p/-btSqrt(d); + c.m_margin = m; + c.m_node = node; + c.m_face = face; + c.m_weights = w; + c.m_friction = btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF); + c.m_cfm[0] = ma/ms*psb[0]->m_cfg.kSHR; + c.m_cfm[1] = mb/ms*psb[1]->m_cfg.kSHR; + psb[0]->m_scontacts.push_back(c); + } + } + } + btSoftBody* psb[2]; + btScalar mrg; + }; +}; + +#endif //_BT_SOFT_BODY_INTERNALS_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp b/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp new file mode 100644 index 00000000..f5a67f6d --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp @@ -0,0 +1,134 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSoftBodyRigidBodyCollisionConfiguration.h" +#include "btSoftRigidCollisionAlgorithm.h" +#include "btSoftBodyConcaveCollisionAlgorithm.h" +#include "btSoftSoftCollisionAlgorithm.h" + +#include "LinearMath/btPoolAllocator.h" + +#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1 + +btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) +:btDefaultCollisionConfiguration(constructionInfo) +{ + void* mem; + + mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16); + m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); + m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); + m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; + m_swappedSoftRigidConvexCreateFunc->m_swapped=true; + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); + m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc; + + mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); + m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc; + m_swappedSoftRigidConcaveCreateFunc->m_swapped=true; +#endif + + //replace pool by a new one, with potential larger size + + if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool) + { + int curElemSize = m_collisionAlgorithmPool->getElementSize(); + ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool + + + int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm); + int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm); + int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm); + + int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1); + collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); + + if (collisionAlgorithmMaxElementSize > curElemSize) + { + m_collisionAlgorithmPool->~btPoolAllocator(); + btAlignedFree(m_collisionAlgorithmPool); + void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); + m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); + } + } + +} + +btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration() +{ + m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softSoftCreateFunc); + + m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softRigidConvexCreateFunc); + + m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedSoftRigidConvexCreateFunc); + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_softRigidConcaveCreateFunc); + + m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); + btAlignedFree( m_swappedSoftRigidConcaveCreateFunc); +#endif +} + +///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation +btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) +{ + + ///try to handle the softbody interactions first + + if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE)) + { + return m_softSoftCreateFunc; + } + + ///softbody versus convex + if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1)) + { + return m_softRigidConvexCreateFunc; + } + + ///convex versus soft body + if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) + { + return m_swappedSoftRigidConvexCreateFunc; + } + +#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS + ///softbody versus convex + if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1)) + { + return m_softRigidConcaveCreateFunc; + } + + ///convex versus soft body + if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) + { + return m_swappedSoftRigidConcaveCreateFunc; + } +#endif + + ///fallback to the regular rigid collision shape + return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1); +} diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h b/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h new file mode 100644 index 00000000..21addcfe --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h @@ -0,0 +1,48 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION +#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +class btVoronoiSimplexSolver; +class btGjkEpaPenetrationDepthSolver; + + +///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration +class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration +{ + + //default CreationFunctions, filling the m_doubleDispatch table + btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc; + btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc; + btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc; + +public: + + btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo()); + + virtual ~btSoftBodyRigidBodyCollisionConfiguration(); + + ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation + virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + +}; + +#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION + diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h b/Code/Physics/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h new file mode 100644 index 00000000..c4733d64 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodySolverVertexBuffer.h @@ -0,0 +1,165 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H +#define BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H + + +class btVertexBufferDescriptor +{ +public: + enum BufferTypes + { + CPU_BUFFER, + DX11_BUFFER, + OPENGL_BUFFER + }; + +protected: + + bool m_hasVertexPositions; + bool m_hasNormals; + + int m_vertexOffset; + int m_vertexStride; + + int m_normalOffset; + int m_normalStride; + +public: + btVertexBufferDescriptor() + { + m_hasVertexPositions = false; + m_hasNormals = false; + m_vertexOffset = 0; + m_vertexStride = 0; + m_normalOffset = 0; + m_normalStride = 0; + } + + virtual ~btVertexBufferDescriptor() + { + + } + + virtual bool hasVertexPositions() const + { + return m_hasVertexPositions; + } + + virtual bool hasNormals() const + { + return m_hasNormals; + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const = 0; + + /** + * Return the vertex offset in floats from the base pointer. + */ + virtual int getVertexOffset() const + { + return m_vertexOffset; + } + + /** + * Return the vertex stride in number of floats between vertices. + */ + virtual int getVertexStride() const + { + return m_vertexStride; + } + + /** + * Return the vertex offset in floats from the base pointer. + */ + virtual int getNormalOffset() const + { + return m_normalOffset; + } + + /** + * Return the vertex stride in number of floats between vertices. + */ + virtual int getNormalStride() const + { + return m_normalStride; + } +}; + + +class btCPUVertexBufferDescriptor : public btVertexBufferDescriptor +{ +protected: + float *m_basePointer; + +public: + /** + * vertexBasePointer is pointer to beginning of the buffer. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride ) + { + m_basePointer = basePointer; + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + } + + /** + * vertexBasePointer is pointer to beginning of the buffer. + * vertexOffset is the offset in floats to the first vertex. + * vertexStride is the stride in floats between vertices. + */ + btCPUVertexBufferDescriptor( float *basePointer, int vertexOffset, int vertexStride, int normalOffset, int normalStride ) + { + m_basePointer = basePointer; + + m_vertexOffset = vertexOffset; + m_vertexStride = vertexStride; + m_hasVertexPositions = true; + + m_normalOffset = normalOffset; + m_normalStride = normalStride; + m_hasNormals = true; + } + + virtual ~btCPUVertexBufferDescriptor() + { + + } + + /** + * Return the type of the vertex buffer descriptor. + */ + virtual BufferTypes getBufferType() const + { + return CPU_BUFFER; + } + + /** + * Return the base pointer in memory to the first vertex. + */ + virtual float *getBasePointer() const + { + return m_basePointer; + } +}; + +#endif // #ifndef BT_SOFT_BODY_SOLVER_VERTEX_BUFFER_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftBodySolvers.h b/Code/Physics/src/BulletSoftBody/btSoftBodySolvers.h new file mode 100644 index 00000000..6947bc27 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftBodySolvers.h @@ -0,0 +1,154 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_BODY_SOLVERS_H +#define BT_SOFT_BODY_SOLVERS_H + +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" + + +class btSoftBodyTriangleData; +class btSoftBodyLinkData; +class btSoftBodyVertexData; +class btVertexBufferDescriptor; +class btCollisionObject; +class btSoftBody; + + +class btSoftBodySolver +{ +public: + enum SolverTypes + { + DEFAULT_SOLVER, + CPU_SOLVER, + CL_SOLVER, + CL_SIMD_SOLVER, + DX_SOLVER, + DX_SIMD_SOLVER + }; + + +protected: + int m_numberOfPositionIterations; + int m_numberOfVelocityIterations; + // Simulation timescale + float m_timeScale; + +public: + btSoftBodySolver() : + m_numberOfPositionIterations( 10 ), + m_timeScale( 1 ) + { + m_numberOfVelocityIterations = 0; + m_numberOfPositionIterations = 5; + } + + virtual ~btSoftBodySolver() + { + } + + /** + * Return the type of the solver. + */ + virtual SolverTypes getSolverType() const = 0; + + + /** Ensure that this solver is initialized. */ + virtual bool checkInitialized() = 0; + + /** Optimize soft bodies in this solver. */ + virtual void optimize( btAlignedObjectArray< btSoftBody * > &softBodies , bool forceUpdate=false) = 0; + + /** Copy necessary data back to the original soft body source objects. */ + virtual void copyBackToSoftBodies(bool bMove = true) = 0; + + /** Predict motion of soft bodies into next timestep */ + virtual void predictMotion( float solverdt ) = 0; + + /** Solve constraints for a set of soft bodies */ + virtual void solveConstraints( float solverdt ) = 0; + + /** Perform necessary per-step updates of soft bodies such as recomputing normals and bounding boxes */ + virtual void updateSoftBodies() = 0; + + /** Process a collision between one of the world's soft bodies and another collision object */ + virtual void processCollision( btSoftBody *, const struct btCollisionObjectWrapper* ) = 0; + + /** Process a collision between two soft bodies */ + virtual void processCollision( btSoftBody*, btSoftBody* ) = 0; + + /** Set the number of velocity constraint solver iterations this solver uses. */ + virtual void setNumberOfPositionIterations( int iterations ) + { + m_numberOfPositionIterations = iterations; + } + + /** Get the number of velocity constraint solver iterations this solver uses. */ + virtual int getNumberOfPositionIterations() + { + return m_numberOfPositionIterations; + } + + /** Set the number of velocity constraint solver iterations this solver uses. */ + virtual void setNumberOfVelocityIterations( int iterations ) + { + m_numberOfVelocityIterations = iterations; + } + + /** Get the number of velocity constraint solver iterations this solver uses. */ + virtual int getNumberOfVelocityIterations() + { + return m_numberOfVelocityIterations; + } + + /** Return the timescale that the simulation is using */ + float getTimeScale() + { + return m_timeScale; + } + +#if 0 + /** + * Add a collision object to be used by the indicated softbody. + */ + virtual void addCollisionObjectForSoftBody( int clothIdentifier, btCollisionObject *collisionObject ) = 0; +#endif +}; + +/** + * Class to manage movement of data from a solver to a given target. + * This version is abstract. Subclasses will have custom pairings for different combinations. + */ +class btSoftBodySolverOutput +{ +protected: + +public: + btSoftBodySolverOutput() + { + } + + virtual ~btSoftBodySolverOutput() + { + } + + + /** Output current computed vertex data to the vertex buffers for all cloths in the solver. */ + virtual void copySoftBodyToVertexBuffer( const btSoftBody * const softBody, btVertexBufferDescriptor *vertexBuffer ) = 0; +}; + + +#endif // #ifndef BT_SOFT_BODY_SOLVERS_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp b/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp new file mode 100644 index 00000000..01c148a2 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp @@ -0,0 +1,86 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSoftRigidCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "btSoftBody.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +///TODO: include all the shapes that the softbody can collide with +///alternatively, implement special case collision algorithms (just like for rigid collision shapes) + +//#include + +btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped) +: btCollisionAlgorithm(ci), +//m_ownManifold(false), +//m_manifoldPtr(mf), +m_isSwapped(isSwapped) +{ +} + + +btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm() +{ + + //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject); + + /*if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } + */ + +} + + +#include + +void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + (void)resultOut; + //printf("btSoftRigidCollisionAlgorithm\n"); +// const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap; +// const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap; + btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject(); + const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap; + + if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size()) + { + softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap); + } + + +} + +btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} + + + diff --git a/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h b/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h new file mode 100644 index 00000000..a9b513e3 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h @@ -0,0 +1,75 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_RIGID_COLLISION_ALGORITHM_H +#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" +class btPersistentManifold; +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" + +#include "LinearMath/btVector3.h" +class btSoftBody; + +/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody +class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm +{ + // bool m_ownManifold; + // btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody; + btCollisionObject* m_rigidCollisionObject; + + ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean + bool m_isSwapped; + +public: + + btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0,const btCollisionObjectWrapper* col1Wrap, bool isSwapped); + + virtual ~btSoftRigidCollisionAlgorithm(); + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + //we don't add any manifolds + } + + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm)); + if (!m_swapped) + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false); + } else + { + return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true); + } + } + }; + +}; + +#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H + + diff --git a/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp new file mode 100644 index 00000000..5f359354 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp @@ -0,0 +1,367 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btSoftRigidDynamicsWorld.h" +#include "LinearMath/btQuickprof.h" + +//softbody & helpers +#include "btSoftBody.h" +#include "btSoftBodyHelpers.h" +#include "btSoftBodySolvers.h" +#include "btDefaultSoftBodySolver.h" +#include "LinearMath/btSerializer.h" + + +btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld( + btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolver* constraintSolver, + btCollisionConfiguration* collisionConfiguration, + btSoftBodySolver *softBodySolver ) : + btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration), + m_softBodySolver( softBodySolver ), + m_ownsSolver(false) +{ + if( !m_softBodySolver ) + { + void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16); + m_softBodySolver = new(ptr) btDefaultSoftBodySolver(); + m_ownsSolver = true; + } + + m_drawFlags = fDrawFlags::Std; + m_drawNodeTree = true; + m_drawFaceTree = false; + m_drawClusterTree = false; + m_sbi.m_broadphase = pairCache; + m_sbi.m_dispatcher = dispatcher; + m_sbi.m_sparsesdf.Initialize(); + m_sbi.m_sparsesdf.Reset(); + + m_sbi.air_density = (btScalar)1.2; + m_sbi.water_density = 0; + m_sbi.water_offset = 0; + m_sbi.water_normal = btVector3(0,0,0); + m_sbi.m_gravity.setValue(0,-10,0); + + m_sbi.m_sparsesdf.Initialize(); + + +} + +btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld() +{ + if (m_ownsSolver) + { + m_softBodySolver->~btSoftBodySolver(); + btAlignedFree(m_softBodySolver); + } +} + +void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) +{ + btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep ); + { + BT_PROFILE("predictUnconstraintMotionSoftBody"); + m_softBodySolver->predictMotion( timeStep ); + } +} + +void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep ) +{ + + // Let the solver grab the soft bodies and if necessary optimize for it + m_softBodySolver->optimize( getSoftBodyArray() ); + + if( !m_softBodySolver->checkInitialized() ) + { + btAssert( "Solver initialization failed\n" ); + } + + btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep ); + + ///solve soft bodies constraints + solveSoftBodiesConstraints( timeStep ); + + //self collisions + for ( int i=0;idefaultCollisionHandler(psb); + } + + ///update soft bodies + m_softBodySolver->updateSoftBodies( ); + + // End solver-wise simulation step + // /////////////////////////////// + +} + +void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep ) +{ + BT_PROFILE("solveSoftConstraints"); + + if(m_softBodies.size()) + { + btSoftBody::solveClusters(m_softBodies); + } + + // Solve constraints solver-wise + m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() ); + +} + +void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body,short int collisionFilterGroup,short int collisionFilterMask) +{ + m_softBodies.push_back(body); + + // Set the soft body solver that will deal with this body + // to be the world's solver + body->setSoftBodySolver( m_softBodySolver ); + + btCollisionWorld::addCollisionObject(body, + collisionFilterGroup, + collisionFilterMask); + +} + +void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body) +{ + m_softBodies.remove(body); + + btCollisionWorld::removeCollisionObject(body); +} + +void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject) +{ + btSoftBody* body = btSoftBody::upcast(collisionObject); + if (body) + removeSoftBody(body); + else + btDiscreteDynamicsWorld::removeCollisionObject(collisionObject); +} + +void btSoftRigidDynamicsWorld::debugDrawWorld() +{ + btDiscreteDynamicsWorld::debugDrawWorld(); + + if (getDebugDrawer()) + { + int i; + for ( i=0;im_softBodies.size();i++) + { + btSoftBody* psb=(btSoftBody*)this->m_softBodies[i]; + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe))) + { + btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer); + btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags); + } + + if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer); + if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer); + if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer); + } + } + } +} + + + + +struct btSoftSingleRayCallback : public btBroadphaseRayCallback +{ + btVector3 m_rayFromWorld; + btVector3 m_rayToWorld; + btTransform m_rayFromTrans; + btTransform m_rayToTrans; + btVector3 m_hitNormal; + + const btSoftRigidDynamicsWorld* m_world; + btCollisionWorld::RayResultCallback& m_resultCallback; + + btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftRigidDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld), + m_world(world), + m_resultCallback(resultCallback) + { + m_rayFromTrans.setIdentity(); + m_rayFromTrans.setOrigin(m_rayFromWorld); + m_rayToTrans.setIdentity(); + m_rayToTrans.setOrigin(m_rayToWorld); + + btVector3 rayDir = (rayToWorld-rayFromWorld); + + rayDir.normalize (); + ///what about division by zero? --> just set rayDirection[i] to INF/1e30 + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld); + + } + + + + virtual bool process(const btBroadphaseProxy* proxy) + { + ///terminate further ray tests, once the closestHitFraction reached zero + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + //btVector3 collisionObjectAabbMin,collisionObjectAabbMax; +#if 0 +#ifdef RECALCULATE_AABB + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); +#else + //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax); + const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin; + const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax; +#endif +#endif + //btScalar hitLambda = m_resultCallback.m_closestHitFraction; + //culling already done by broadphase + //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal)) + { + m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + m_resultCallback); + } + } + return true; + } +}; + +void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const +{ + BT_PROFILE("rayTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback); + +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB); +#else + for (int i=0;igetNumCollisionObjects();i++) + { + rayCB.process(m_collisionObjects[i]->getBroadphaseHandle()); + } +#endif //USE_BRUTEFORCE_RAYBROADPHASE + +} + + +void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback) +{ + if (collisionShape->isSoftBody()) { + btSoftBody* softBody = btSoftBody::upcast(collisionObject); + if (softBody) { + btSoftBody::sRayCast softResult; + if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult)) + { + + if (softResult.fraction<= resultCallback.m_closestHitFraction) + { + + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = 0; + shapeInfo.m_triangleIndex = softResult.index; + // get the normal + btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin(); + btVector3 normal=-rayDir; + normal.normalize(); + + if (softResult.feature == btSoftBody::eFeature::Face) + { + normal = softBody->m_faces[softResult.index].m_normal; + if (normal.dot(rayDir) > 0) { + // normal always point toward origin of the ray + normal = -normal; + } + } + + btCollisionWorld::LocalRayResult rayResult + (collisionObject, + &shapeInfo, + normal, + softResult.fraction); + bool normalInWorldSpace = true; + resultCallback.addSingleResult(rayResult,normalInWorldSpace); + } + } + } + } + else { + btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback); + } +} + + +void btSoftRigidDynamicsWorld::serializeSoftBodies(btSerializer* serializer) +{ + int i; + //serialize all collision objects + for (i=0;igetInternalType() & btCollisionObject::CO_SOFT_BODY) + { + int len = colObj->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_SOFTBODY_CODE,colObj); + } + } + +} + +void btSoftRigidDynamicsWorld::serialize(btSerializer* serializer) +{ + + serializer->startSerialization(); + + serializeDynamicsWorldInfo( serializer); + + serializeSoftBodies(serializer); + + serializeRigidBodies(serializer); + + serializeCollisionObjects(serializer); + + serializer->finishSerialization(); +} + + diff --git a/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.h b/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.h new file mode 100644 index 00000000..3e0efafd --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftRigidDynamicsWorld.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_RIGID_DYNAMICS_WORLD_H +#define BT_SOFT_RIGID_DYNAMICS_WORLD_H + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" +#include "btSoftBody.h" + +typedef btAlignedObjectArray btSoftBodyArray; + +class btSoftBodySolver; + +class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld +{ + + btSoftBodyArray m_softBodies; + int m_drawFlags; + bool m_drawNodeTree; + bool m_drawFaceTree; + bool m_drawClusterTree; + btSoftBodyWorldInfo m_sbi; + ///Solver classes that encapsulate multiple soft bodies for solving + btSoftBodySolver *m_softBodySolver; + bool m_ownsSolver; + +protected: + + virtual void predictUnconstraintMotion(btScalar timeStep); + + virtual void internalSingleStepSimulation( btScalar timeStep); + + void solveSoftBodiesConstraints( btScalar timeStep ); + + void serializeSoftBodies(btSerializer* serializer); + +public: + + btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btSoftBodySolver *softBodySolver = 0 ); + + virtual ~btSoftRigidDynamicsWorld(); + + virtual void debugDrawWorld(); + + void addSoftBody(btSoftBody* body,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); + + void removeSoftBody(btSoftBody* body); + + ///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject + virtual void removeCollisionObject(btCollisionObject* collisionObject); + + int getDrawFlags() const { return(m_drawFlags); } + void setDrawFlags(int f) { m_drawFlags=f; } + + btSoftBodyWorldInfo& getWorldInfo() + { + return m_sbi; + } + const btSoftBodyWorldInfo& getWorldInfo() const + { + return m_sbi; + } + + virtual btDynamicsWorldType getWorldType() const + { + return BT_SOFT_RIGID_DYNAMICS_WORLD; + } + + btSoftBodyArray& getSoftBodyArray() + { + return m_softBodies; + } + + const btSoftBodyArray& getSoftBodyArray() const + { + return m_softBodies; + } + + + virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const; + + /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. + /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. + /// This allows more customization. + static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback); + + virtual void serialize(btSerializer* serializer); + +}; + +#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H diff --git a/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp b/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp new file mode 100644 index 00000000..72043e69 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp @@ -0,0 +1,48 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btSoftSoftCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletSoftBody/btSoftBodySolvers.h" +#include "btSoftBody.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +#define USE_PERSISTENT_CONTACTS 1 + +btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* /*obj0*/,const btCollisionObjectWrapper* /*obj1*/) +: btCollisionAlgorithm(ci) +//m_ownManifold(false), +//m_manifoldPtr(mf) +{ +} + +btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm() +{ +} + +void btSoftSoftCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + btSoftBody* soft0 = (btSoftBody*)body0Wrap->getCollisionObject(); + btSoftBody* soft1 = (btSoftBody*)body1Wrap->getCollisionObject(); + soft0->getSoftBodySolver()->processCollision(soft0, soft1); +} + +btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + //not yet + return 1.f; +} diff --git a/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h b/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h new file mode 100644 index 00000000..43b1439c --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h @@ -0,0 +1,69 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SOFT_SOFT_COLLISION_ALGORITHM_H +#define BT_SOFT_SOFT_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" + +class btPersistentManifold; +class btSoftBody; + +///collision detection between two btSoftBody shapes +class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm +{ + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + + btSoftBody* m_softBody0; + btSoftBody* m_softBody1; + + +public: + btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + : btCollisionAlgorithm(ci) {} + + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + + virtual ~btSoftSoftCollisionAlgorithm(); + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + { + int bbsize = sizeof(btSoftSoftCollisionAlgorithm); + void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize); + return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0Wrap,body1Wrap); + } + }; + +}; + +#endif //BT_SOFT_SOFT_COLLISION_ALGORITHM_H + + diff --git a/Code/Physics/src/BulletSoftBody/btSparseSDF.h b/Code/Physics/src/BulletSoftBody/btSparseSDF.h new file mode 100644 index 00000000..bcf0c798 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/btSparseSDF.h @@ -0,0 +1,319 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ +///btSparseSdf implementation by Nathanael Presson + +#ifndef BT_SPARSE_SDF_H +#define BT_SPARSE_SDF_H + +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" + +// Modified Paul Hsieh hash +template +unsigned int HsiehHash(const void* pdata) +{ + const unsigned short* data=(const unsigned short*)pdata; + unsigned hash=DWORDLEN<<2,tmp; + for(int i=0;i>11; + } + hash^=hash<<3;hash+=hash>>5; + hash^=hash<<4;hash+=hash>>17; + hash^=hash<<25;hash+=hash>>6; + return(hash); +} + +template +struct btSparseSdf +{ + // + // Inner types + // + struct IntFrac + { + int b; + int i; + btScalar f; + }; + struct Cell + { + btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1]; + int c[3]; + int puid; + unsigned hash; + const btCollisionShape* pclient; + Cell* next; + }; + // + // Fields + // + + btAlignedObjectArray cells; + btScalar voxelsz; + int puid; + int ncells; + int m_clampCells; + int nprobes; + int nqueries; + + // + // Methods + // + + // + void Initialize(int hashsize=2383, int clampCells = 256*1024) + { + //avoid a crash due to running out of memory, so clamp the maximum number of cells allocated + //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) + m_clampCells = clampCells; + cells.resize(hashsize,0); + Reset(); + } + // + void Reset() + { + for(int i=0,ni=cells.size();inext; + delete pc; + pc=pn; + } + } + voxelsz =0.25; + puid =0; + ncells =0; + nprobes =1; + nqueries =1; + } + // + void GarbageCollect(int lifetime=256) + { + const int life=puid-lifetime; + for(int i=0;inext; + if(pc->puidnext=pn; else root=pn; + delete pc;pc=pp;--ncells; + } + pp=pc;pc=pn; + } + } + //printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries); + nqueries=1; + nprobes=1; + ++puid; ///@todo: Reset puid's when int range limit is reached */ + /* else setup a priority list... */ + } + // + int RemoveReferences(btCollisionShape* pcs) + { + int refcount=0; + for(int i=0;inext; + if(pc->pclient==pcs) + { + if(pp) pp->next=pn; else root=pn; + delete pc;pc=pp;++refcount; + } + pp=pc;pc=pn; + } + } + return(refcount); + } + // + btScalar Evaluate( const btVector3& x, + const btCollisionShape* shape, + btVector3& normal, + btScalar margin) + { + /* Lookup cell */ + const btVector3 scx=x/voxelsz; + const IntFrac ix=Decompose(scx.x()); + const IntFrac iy=Decompose(scx.y()); + const IntFrac iz=Decompose(scx.z()); + const unsigned h=Hash(ix.b,iy.b,iz.b,shape); + Cell*& root=cells[static_cast(h%cells.size())]; + Cell* c=root; + ++nqueries; + while(c) + { + ++nprobes; + if( (c->hash==h) && + (c->c[0]==ix.b) && + (c->c[1]==iy.b) && + (c->c[2]==iz.b) && + (c->pclient==shape)) + { break; } + else + { c=c->next; } + } + if(!c) + { + ++nprobes; + ++ncells; + int sz = sizeof(Cell); + if (ncells>m_clampCells) + { + static int numResets=0; + numResets++; +// printf("numResets=%d\n",numResets); + Reset(); + } + + c=new Cell(); + c->next=root;root=c; + c->pclient=shape; + c->hash=h; + c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b; + BuildCell(*c); + } + c->puid=puid; + /* Extract infos */ + const int o[]={ ix.i,iy.i,iz.i}; + const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0], + c->d[o[0]+1][o[1]+0][o[2]+0], + c->d[o[0]+1][o[1]+1][o[2]+0], + c->d[o[0]+0][o[1]+1][o[2]+0], + c->d[o[0]+0][o[1]+0][o[2]+1], + c->d[o[0]+1][o[1]+0][o[2]+1], + c->d[o[0]+1][o[1]+1][o[2]+1], + c->d[o[0]+0][o[1]+1][o[2]+1]}; + /* Normal */ +#if 1 + const btScalar gx[]={ d[1]-d[0],d[2]-d[3], + d[5]-d[4],d[6]-d[7]}; + const btScalar gy[]={ d[3]-d[0],d[2]-d[1], + d[7]-d[4],d[6]-d[5]}; + const btScalar gz[]={ d[4]-d[0],d[5]-d[1], + d[7]-d[3],d[6]-d[2]}; + normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f), + Lerp(gx[2],gx[3],iy.f),iz.f)); + normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f), + Lerp(gy[2],gy[3],ix.f),iz.f)); + normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f), + Lerp(gz[2],gz[3],ix.f),iy.f)); + normal = normal.normalized(); +#else + normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized(); +#endif + /* Distance */ + const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f), + Lerp(d[3],d[2],ix.f),iy.f); + const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f), + Lerp(d[7],d[6],ix.f),iy.f); + return(Lerp(d0,d1,iz.f)-margin); + } + // + void BuildCell(Cell& c) + { + const btVector3 org=btVector3( (btScalar)c.c[0], + (btScalar)c.c[1], + (btScalar)c.c[2]) * + CELLSIZE*voxelsz; + for(int k=0;k<=CELLSIZE;++k) + { + const btScalar z=voxelsz*k+org.z(); + for(int j=0;j<=CELLSIZE;++j) + { + const btScalar y=voxelsz*j+org.y(); + for(int i=0;i<=CELLSIZE;++i) + { + const btScalar x=voxelsz*i+org.x(); + c.d[i][j][k]=DistanceToShape( btVector3(x,y,z), + c.pclient); + } + } + } + } + // + static inline btScalar DistanceToShape(const btVector3& x, + const btCollisionShape* shape) + { + btTransform unit; + unit.setIdentity(); + if(shape->isConvex()) + { + btGjkEpaSolver2::sResults res; + const btConvexShape* csh=static_cast(shape); + return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res)); + } + return(0); + } + // + static inline IntFrac Decompose(btScalar x) + { + /* That one need a lot of improvements... */ + /* Remove test, faster floor... */ + IntFrac r; + x/=CELLSIZE; + const int o=x<0?(int)(-x+1):0; + x+=o;r.b=(int)x; + const btScalar k=(x-r.b)*CELLSIZE; + r.i=(int)k;r.f=k-r.i;r.b-=o; + return(r); + } + // + static inline btScalar Lerp(btScalar a,btScalar b,btScalar t) + { + return(a+(b-a)*t); + } + + + + // + static inline unsigned int Hash(int x,int y,int z,const btCollisionShape* shape) + { + struct btS + { + int x,y,z; + void* p; + }; + + btS myset; + + myset.x=x;myset.y=y;myset.z=z;myset.p=(void*)shape; + const void* ptr = &myset; + + unsigned int result = HsiehHash (ptr); + + + return result; + } +}; + + +#endif //BT_SPARSE_SDF_H diff --git a/Code/Physics/src/BulletSoftBody/premake4.lua b/Code/Physics/src/BulletSoftBody/premake4.lua new file mode 100644 index 00000000..339043f5 --- /dev/null +++ b/Code/Physics/src/BulletSoftBody/premake4.lua @@ -0,0 +1,11 @@ + project "BulletSoftBody" + + kind "StaticLib" + targetdir "../../lib" + includedirs { + "..", + } + files { + "**.cpp", + "**.h" + } \ No newline at end of file diff --git a/Code/Physics/src/CMakeLists.txt b/Code/Physics/src/CMakeLists.txt new file mode 100644 index 00000000..3a736b42 --- /dev/null +++ b/Code/Physics/src/CMakeLists.txt @@ -0,0 +1,32 @@ +SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath ) + +IF(BUILD_MULTITHREADING) + SUBDIRS(MiniCL BulletMultiThreaded) +ENDIF() + +IF(INSTALL_LIBS) + #INSTALL of other files requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + # Don't actually need to install any common files, the frameworks include everything + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(FILES btBulletCollisionCommon.h btBulletDynamicsCommon.h Bullet-C-Api.h DESTINATION ${INCLUDE_INSTALL_DIR}) + INSTALL(FILES vectormath/vmInclude.h DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath) + INSTALL(FILES vectormath/scalar/boolInVec.h + vectormath/scalar/floatInVec.h + vectormath/scalar/mat_aos.h + vectormath/scalar/quat_aos.h + vectormath/scalar/vec_aos.h + vectormath/scalar/vectormath_aos.h + DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath/scalar) + INSTALL(FILES vectormath/sse/boolInVec.h + vectormath/sse/floatInVec.h + vectormath/sse/mat_aos.h + vectormath/sse/quat_aos.h + vectormath/sse/vec_aos.h + vectormath/sse/vecidx_aos.h + vectormath/sse/vectormath_aos.h + DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath/sse) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) +ENDIF(INSTALL_LIBS) diff --git a/Code/Physics/src/LinearMath/CMakeLists.txt b/Code/Physics/src/LinearMath/CMakeLists.txt new file mode 100644 index 00000000..8d8a54b9 --- /dev/null +++ b/Code/Physics/src/LinearMath/CMakeLists.txt @@ -0,0 +1,72 @@ + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src +) + +SET(LinearMath_SRCS + btAlignedAllocator.cpp + btConvexHull.cpp + btConvexHullComputer.cpp + btGeometryUtil.cpp + btPolarDecomposition.cpp + btQuickprof.cpp + btSerializer.cpp + btVector3.cpp +) + +SET(LinearMath_HDRS + btAabbUtil2.h + btAlignedAllocator.h + btAlignedObjectArray.h + btConvexHull.h + btConvexHullComputer.h + btDefaultMotionState.h + btGeometryUtil.h + btGrahamScan2dConvexHull.h + btHashMap.h + btIDebugDraw.h + btList.h + btMatrix3x3.h + btMinMax.h + btMotionState.h + btPolarDecomposition.h + btPoolAllocator.h + btQuadWord.h + btQuaternion.h + btQuickprof.h + btRandom.h + btScalar.h + btSerializer.h + btStackAlloc.h + btTransform.h + btTransformUtil.h + btVector3.h +) + +ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION}) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #FILES_MATCHING requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS LinearMath + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} +DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN +".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true) + SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}") + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) diff --git a/Code/Physics/src/LinearMath/btAabbUtil2.h b/Code/Physics/src/LinearMath/btAabbUtil2.h new file mode 100644 index 00000000..d2997b4e --- /dev/null +++ b/Code/Physics/src/LinearMath/btAabbUtil2.h @@ -0,0 +1,232 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_AABB_UTIL2 +#define BT_AABB_UTIL2 + +#include "btTransform.h" +#include "btVector3.h" +#include "btMinMax.h" + + + +SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, + btVector3& aabbMax, + const btVector3& expansionMin, + const btVector3& expansionMax) +{ + aabbMin = aabbMin + expansionMin; + aabbMax = aabbMax + expansionMax; +} + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &point) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap; + return overlap; +} + + +/// conservative test for overlap between two aabbs +SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, + const btVector3 &aabbMin2, const btVector3 &aabbMax2) +{ + bool overlap = true; + overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap; + overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap; + overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap; + return overlap; +} + +/// conservative test for overlap between triangle and aabb +SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices, + const btVector3 &aabbMin, const btVector3 &aabbMax) +{ + const btVector3 &p1 = vertices[0]; + const btVector3 &p2 = vertices[1]; + const btVector3 &p3 = vertices[2]; + + if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false; + if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false; + + if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false; + if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false; + + if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false; + if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false; + return true; +} + + +SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent) +{ + return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) | + (p.getX() > halfExtent.getX() ? 0x08 : 0x0) | + (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) | + (p.getY() > halfExtent.getY() ? 0x10 : 0x0) | + (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) | + (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); +} + + + +SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, + const btVector3& rayInvDirection, + const unsigned int raySign[3], + const btVector3 bounds[2], + btScalar& tmin, + btScalar lambda_min, + btScalar lambda_max) +{ + btScalar tmax, tymin, tymax, tzmin, tzmax; + tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX(); + tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY(); + + if ( (tmin > tymax) || (tymin > tmax) ) + return false; + + if (tymin > tmin) + tmin = tymin; + + if (tymax < tmax) + tmax = tymax; + + tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ(); + + if ( (tmin > tzmax) || (tzmin > tmax) ) + return false; + if (tzmin > tmin) + tmin = tzmin; + if (tzmax < tmax) + tmax = tzmax; + return ( (tmin < lambda_max) && (tmax > lambda_min) ); +} + +SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, + const btVector3& rayTo, + const btVector3& aabbMin, + const btVector3& aabbMax, + btScalar& param, btVector3& normal) +{ + btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5); + btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5); + btVector3 source = rayFrom - aabbCenter; + btVector3 target = rayTo - aabbCenter; + int sourceOutcode = btOutcode(source,aabbHalfExtent); + int targetOutcode = btOutcode(target,aabbHalfExtent); + if ((sourceOutcode & targetOutcode) == 0x0) + { + btScalar lambda_enter = btScalar(0.0); + btScalar lambda_exit = param; + btVector3 r = target - source; + int i; + btScalar normSign = 1; + btVector3 hitNormal(0,0,0); + int bit=1; + + for (int j=0;j<2;j++) + { + for (i = 0; i != 3; ++i) + { + if (sourceOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + if (lambda_enter <= lambda) + { + lambda_enter = lambda; + hitNormal.setValue(0,0,0); + hitNormal[i] = normSign; + } + } + else if (targetOutcode & bit) + { + btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i]; + btSetMin(lambda_exit, lambda); + } + bit<<=1; + } + normSign = btScalar(-1.); + } + if (lambda_enter <= lambda_exit) + { + param = lambda_enter; + normal = hitNormal; + return true; + } + } + return false; +} + + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] ); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] ); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + +#define USE_BANCHLESS 1 +#ifdef USE_BANCHLESS + //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360) + SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + return static_cast(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0]) + & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2]) + & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])), + 1, 0)); + } +#else + SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2) + { + bool overlap = true; + overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap; + overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap; + overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap; + return overlap; + } +#endif //USE_BANCHLESS + +#endif //BT_AABB_UTIL2 + + diff --git a/Code/Physics/src/LinearMath/btAlignedAllocator.cpp b/Code/Physics/src/LinearMath/btAlignedAllocator.cpp new file mode 100644 index 00000000..a65296c6 --- /dev/null +++ b/Code/Physics/src/LinearMath/btAlignedAllocator.cpp @@ -0,0 +1,181 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#include "btAlignedAllocator.h" + +int gNumAlignedAllocs = 0; +int gNumAlignedFree = 0; +int gTotalBytesAlignedAllocs = 0;//detect memory leaks + +static void *btAllocDefault(size_t size) +{ + return malloc(size); +} + +static void btFreeDefault(void *ptr) +{ + free(ptr); +} + +static btAllocFunc *sAllocFunc = btAllocDefault; +static btFreeFunc *sFreeFunc = btFreeDefault; + + + +#if defined (BT_HAS_ALIGNED_ALLOCATOR) +#include +static void *btAlignedAllocDefault(size_t size, int alignment) +{ + return _aligned_malloc(size, (size_t)alignment); +} + +static void btAlignedFreeDefault(void *ptr) +{ + _aligned_free(ptr); +} +#elif defined(__CELLOS_LV2__) +#include + +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + return memalign(alignment, size); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + free(ptr); +} +#else + + + + + +static inline void *btAlignedAllocDefault(size_t size, int alignment) +{ + void *ret; + char *real; + real = (char *)sAllocFunc(size + sizeof(void *) + (alignment-1)); + if (real) { + ret = btAlignPointer(real + sizeof(void *),alignment); + *((void **)(ret)-1) = (void *)(real); + } else { + ret = (void *)(real); + } + return (ret); +} + +static inline void btAlignedFreeDefault(void *ptr) +{ + void* real; + + if (ptr) { + real = *((void **)(ptr)-1); + sFreeFunc(real); + } +} +#endif + + +static btAlignedAllocFunc *sAlignedAllocFunc = btAlignedAllocDefault; +static btAlignedFreeFunc *sAlignedFreeFunc = btAlignedFreeDefault; + +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc) +{ + sAlignedAllocFunc = allocFunc ? allocFunc : btAlignedAllocDefault; + sAlignedFreeFunc = freeFunc ? freeFunc : btAlignedFreeDefault; +} + +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc) +{ + sAllocFunc = allocFunc ? allocFunc : btAllocDefault; + sFreeFunc = freeFunc ? freeFunc : btFreeDefault; +} + +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS +//this generic allocator provides the total allocated number of bytes +#include + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename) +{ + void *ret; + char *real; + + gTotalBytesAlignedAllocs += size; + gNumAlignedAllocs++; + + + real = (char *)sAllocFunc(size + 2*sizeof(void *) + (alignment-1)); + if (real) { + ret = (void*) btAlignPointer(real + 2*sizeof(void *), alignment); + *((void **)(ret)-1) = (void *)(real); + *((int*)(ret)-2) = size; + + } else { + ret = (void *)(real);//?? + } + + printf("allocation#%d at address %x, from %s,line %d, size %d\n",gNumAlignedAllocs,real, filename,line,size); + + int* ptr = (int*)ret; + *ptr = 12; + return (ret); +} + +void btAlignedFreeInternal (void* ptr,int line,char* filename) +{ + + void* real; + gNumAlignedFree++; + + if (ptr) { + real = *((void **)(ptr)-1); + int size = *((int*)(ptr)-2); + gTotalBytesAlignedAllocs -= size; + + printf("free #%d at address %x, from %s,line %d, size %d\n",gNumAlignedFree,real, filename,line,size); + + sFreeFunc(real); + } else + { + printf("NULL ptr\n"); + } +} + +#else //BT_DEBUG_MEMORY_ALLOCATIONS + +void* btAlignedAllocInternal (size_t size, int alignment) +{ + gNumAlignedAllocs++; + void* ptr; + ptr = sAlignedAllocFunc(size, alignment); +// printf("btAlignedAllocInternal %d, %x\n",size,ptr); + return ptr; +} + +void btAlignedFreeInternal (void* ptr) +{ + if (!ptr) + { + return; + } + + gNumAlignedFree++; +// printf("btAlignedFreeInternal %x\n",ptr); + sAlignedFreeFunc(ptr); +} + +#endif //BT_DEBUG_MEMORY_ALLOCATIONS + diff --git a/Code/Physics/src/LinearMath/btAlignedAllocator.h b/Code/Physics/src/LinearMath/btAlignedAllocator.h new file mode 100644 index 00000000..f168f3c6 --- /dev/null +++ b/Code/Physics/src/LinearMath/btAlignedAllocator.h @@ -0,0 +1,107 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_ALIGNED_ALLOCATOR +#define BT_ALIGNED_ALLOCATOR + +///we probably replace this with our own aligned memory allocator +///so we replace _aligned_malloc and _aligned_free with our own +///that is better portable and more predictable + +#include "btScalar.h" +//#define BT_DEBUG_MEMORY_ALLOCATIONS 1 +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS + +#define btAlignedAlloc(a,b) \ + btAlignedAllocInternal(a,b,__LINE__,__FILE__) + +#define btAlignedFree(ptr) \ + btAlignedFreeInternal(ptr,__LINE__,__FILE__) + +void* btAlignedAllocInternal (size_t size, int alignment,int line,char* filename); + +void btAlignedFreeInternal (void* ptr,int line,char* filename); + +#else + void* btAlignedAllocInternal (size_t size, int alignment); + void btAlignedFreeInternal (void* ptr); + + #define btAlignedAlloc(size,alignment) btAlignedAllocInternal(size,alignment) + #define btAlignedFree(ptr) btAlignedFreeInternal(ptr) + +#endif +typedef int size_type; + +typedef void *(btAlignedAllocFunc)(size_t size, int alignment); +typedef void (btAlignedFreeFunc)(void *memblock); +typedef void *(btAllocFunc)(size_t size); +typedef void (btFreeFunc)(void *memblock); + +///The developer can let all Bullet memory allocations go through a custom memory allocator, using btAlignedAllocSetCustom +void btAlignedAllocSetCustom(btAllocFunc *allocFunc, btFreeFunc *freeFunc); +///If the developer has already an custom aligned allocator, then btAlignedAllocSetCustomAligned can be used. The default aligned allocator pre-allocates extra memory using the non-aligned allocator, and instruments it. +void btAlignedAllocSetCustomAligned(btAlignedAllocFunc *allocFunc, btAlignedFreeFunc *freeFunc); + + +///The btAlignedAllocator is a portable class for aligned memory allocations. +///Default implementations for unaligned and aligned allocations can be overridden by a custom allocator using btAlignedAllocSetCustom and btAlignedAllocSetCustomAligned. +template < typename T , unsigned Alignment > +class btAlignedAllocator { + + typedef btAlignedAllocator< T , Alignment > self_type; + +public: + + //just going down a list: + btAlignedAllocator() {} + /* + btAlignedAllocator( const self_type & ) {} + */ + + template < typename Other > + btAlignedAllocator( const btAlignedAllocator< Other , Alignment > & ) {} + + typedef const T* const_pointer; + typedef const T& const_reference; + typedef T* pointer; + typedef T& reference; + typedef T value_type; + + pointer address ( reference ref ) const { return &ref; } + const_pointer address ( const_reference ref ) const { return &ref; } + pointer allocate ( size_type n , const_pointer * hint = 0 ) { + (void)hint; + return reinterpret_cast< pointer >(btAlignedAlloc( sizeof(value_type) * n , Alignment )); + } + void construct ( pointer ptr , const value_type & value ) { new (ptr) value_type( value ); } + void deallocate( pointer ptr ) { + btAlignedFree( reinterpret_cast< void * >( ptr ) ); + } + void destroy ( pointer ptr ) { ptr->~value_type(); } + + + template < typename O > struct rebind { + typedef btAlignedAllocator< O , Alignment > other; + }; + template < typename O > + self_type & operator=( const btAlignedAllocator< O , Alignment > & ) { return *this; } + + friend bool operator==( const self_type & , const self_type & ) { return true; } +}; + + + +#endif //BT_ALIGNED_ALLOCATOR + diff --git a/Code/Physics/src/LinearMath/btAlignedObjectArray.h b/Code/Physics/src/LinearMath/btAlignedObjectArray.h new file mode 100644 index 00000000..24e59ab6 --- /dev/null +++ b/Code/Physics/src/LinearMath/btAlignedObjectArray.h @@ -0,0 +1,511 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_OBJECT_ARRAY__ +#define BT_OBJECT_ARRAY__ + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btAlignedAllocator.h" + +///If the platform doesn't support placement new, you can disable BT_USE_PLACEMENT_NEW +///then the btAlignedObjectArray doesn't support objects with virtual methods, and non-trivial constructors/destructors +///You can enable BT_USE_MEMCPY, then swapping elements in the array will use memcpy instead of operator= +///see discussion here: http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1231 and +///http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1240 + +#define BT_USE_PLACEMENT_NEW 1 +//#define BT_USE_MEMCPY 1 //disable, because it is cumbersome to find out for each platform where memcpy is defined. It can be in or or otherwise... +#define BT_ALLOW_ARRAY_COPY_OPERATOR // enabling this can accidently perform deep copies of data if you are not careful + +#ifdef BT_USE_MEMCPY +#include +#include +#endif //BT_USE_MEMCPY + +#ifdef BT_USE_PLACEMENT_NEW +#include //for placement new +#endif //BT_USE_PLACEMENT_NEW + + +///The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods +///It is developed to replace stl::vector to avoid portability issues, including STL alignment issues to add SIMD/SSE data +template +//template +class btAlignedObjectArray +{ + btAlignedAllocator m_allocator; + + int m_size; + int m_capacity; + T* m_data; + //PCK: added this line + bool m_ownsMemory; + +#ifdef BT_ALLOW_ARRAY_COPY_OPERATOR +public: + SIMD_FORCE_INLINE btAlignedObjectArray& operator=(const btAlignedObjectArray &other) + { + copyFromArray(other); + return *this; + } +#else//BT_ALLOW_ARRAY_COPY_OPERATOR +private: + SIMD_FORCE_INLINE btAlignedObjectArray& operator=(const btAlignedObjectArray &other); +#endif//BT_ALLOW_ARRAY_COPY_OPERATOR + +protected: + SIMD_FORCE_INLINE int allocSize(int size) + { + return (size ? size*2 : 1); + } + SIMD_FORCE_INLINE void copy(int start,int end, T* dest) const + { + int i; + for (i=start;i=0); + btAssert(n=0); + btAssert(n=0); + btAssert(n=0); + btAssert(n0); + m_size--; + m_data[m_size].~T(); + } + + + ///resize changes the number of elements in the array. If the new size is larger, the new elements will be constructed using the optional second argument. + ///when the new number of elements is smaller, the destructor will be called, but memory will not be freed, to reduce performance overhead of run-time memory (de)allocations. + SIMD_FORCE_INLINE void resizeNoInitialize(int newsize) + { + int curSize = size(); + + if (newsize < curSize) + { + } else + { + if (newsize > size()) + { + reserve(newsize); + } + //leave this uninitialized + } + m_size = newsize; + } + + SIMD_FORCE_INLINE void resize(int newsize, const T& fillData=T()) + { + int curSize = size(); + + if (newsize < curSize) + { + for(int i = newsize; i < curSize; i++) + { + m_data[i].~T(); + } + } else + { + if (newsize > size()) + { + reserve(newsize); + } +#ifdef BT_USE_PLACEMENT_NEW + for (int i=curSize;i + void quickSortInternal(const L& CompareFunc,int lo, int hi) + { + // lo is the lower index, hi is the upper index + // of the region of array a that is to be sorted + int i=lo, j=hi; + T x=m_data[(lo+hi)/2]; + + // partition + do + { + while (CompareFunc(m_data[i],x)) + i++; + while (CompareFunc(x,m_data[j])) + j--; + if (i<=j) + { + swap(i,j); + i++; j--; + } + } while (i<=j); + + // recursion + if (lo + void quickSort(const L& CompareFunc) + { + //don't sort 0 or 1 elements + if (size()>1) + { + quickSortInternal(CompareFunc,0,size()-1); + } + } + + + ///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/ + template + void downHeap(T *pArr, int k, int n, const L& CompareFunc) + { + /* PRE: a[k+1..N] is a heap */ + /* POST: a[k..N] is a heap */ + + T temp = pArr[k - 1]; + /* k has child(s) */ + while (k <= n/2) + { + int child = 2*k; + + if ((child < n) && CompareFunc(pArr[child - 1] , pArr[child])) + { + child++; + } + /* pick larger child */ + if (CompareFunc(temp , pArr[child - 1])) + { + /* move child up */ + pArr[k - 1] = pArr[child - 1]; + k = child; + } + else + { + break; + } + } + pArr[k - 1] = temp; + } /*downHeap*/ + + void swap(int index0,int index1) + { +#ifdef BT_USE_MEMCPY + char temp[sizeof(T)]; + memcpy(temp,&m_data[index0],sizeof(T)); + memcpy(&m_data[index0],&m_data[index1],sizeof(T)); + memcpy(&m_data[index1],temp,sizeof(T)); +#else + T temp = m_data[index0]; + m_data[index0] = m_data[index1]; + m_data[index1] = temp; +#endif //BT_USE_PLACEMENT_NEW + + } + + template + void heapSort(const L& CompareFunc) + { + /* sort a[0..N-1], N.B. 0 to N-1 */ + int k; + int n = m_size; + for (k = n/2; k > 0; k--) + { + downHeap(m_data, k, n, CompareFunc); + } + + /* a[1..N] is now a heap */ + while ( n>=1 ) + { + swap(0,n-1); /* largest of a[0..n-1] */ + + + n = n - 1; + /* restore a[1..i-1] heap */ + downHeap(m_data, 1, n, CompareFunc); + } + } + + ///non-recursive binary search, assumes sorted array + int findBinarySearch(const T& key) const + { + int first = 0; + int last = size()-1; + + //assume sorted array + while (first <= last) { + int mid = (first + last) / 2; // compute mid point. + if (key > m_data[mid]) + first = mid + 1; // repeat search in top half. + else if (key < m_data[mid]) + last = mid - 1; // repeat search in bottom half. + else + return mid; // found it. return position ///// + } + return size(); // failed to find key + } + + + int findLinearSearch(const T& key) const + { + int index=size(); + int i; + + for (i=0;i + +#include "btConvexHull.h" +#include "btAlignedObjectArray.h" +#include "btMinMax.h" +#include "btVector3.h" + + + + + +//---------------------------------- + +class int3 +{ +public: + int x,y,z; + int3(){}; + int3(int _x,int _y, int _z){x=_x;y=_y;z=_z;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + + +//------- btPlane ---------- + + +inline btPlane PlaneFlip(const btPlane &plane){return btPlane(-plane.normal,-plane.dist);} +inline int operator==( const btPlane &a, const btPlane &b ) { return (a.normal==b.normal && a.dist==b.dist); } +inline int coplanar( const btPlane &a, const btPlane &b ) { return (a==b || a==PlaneFlip(b)); } + + +//--------- Utility Functions ------ + +btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1); +btVector3 PlaneProject(const btPlane &plane, const btVector3 &point); + +btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2); +btVector3 ThreePlaneIntersection(const btPlane &p0,const btPlane &p1, const btPlane &p2) +{ + btVector3 N1 = p0.normal; + btVector3 N2 = p1.normal; + btVector3 N3 = p2.normal; + + btVector3 n2n3; n2n3 = N2.cross(N3); + btVector3 n3n1; n3n1 = N3.cross(N1); + btVector3 n1n2; n1n2 = N1.cross(N2); + + btScalar quotient = (N1.dot(n2n3)); + + btAssert(btFabs(quotient) > btScalar(0.000001)); + + quotient = btScalar(-1.) / quotient; + n2n3 *= p0.dist; + n3n1 *= p1.dist; + n1n2 *= p2.dist; + btVector3 potentialVertex = n2n3; + potentialVertex += n3n1; + potentialVertex += n1n2; + potentialVertex *= quotient; + + btVector3 result(potentialVertex.getX(),potentialVertex.getY(),potentialVertex.getZ()); + return result; + +} + +btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint=NULL, btVector3 *vpoint=NULL); +btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2); +btVector3 NormalOf(const btVector3 *vert, const int n); + + +btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1) +{ + // returns the point where the line p0-p1 intersects the plane n&d + static btVector3 dif; + dif = p1-p0; + btScalar dn= btDot(plane.normal,dif); + btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn; + return p0 + (dif*t); +} + +btVector3 PlaneProject(const btPlane &plane, const btVector3 &point) +{ + return point - plane.normal * (btDot(point,plane.normal)+plane.dist); +} + +btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) +{ + // return the normal of the triangle + // inscribed by v0, v1, and v2 + btVector3 cp=btCross(v1-v0,v2-v1); + btScalar m=cp.length(); + if(m==0) return btVector3(1,0,0); + return cp*(btScalar(1.0)/m); +} + + +btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint) +{ + static btVector3 cp; + cp = btCross(udir,vdir).normalized(); + + btScalar distu = -btDot(cp,ustart); + btScalar distv = -btDot(cp,vstart); + btScalar dist = (btScalar)fabs(distu-distv); + if(upoint) + { + btPlane plane; + plane.normal = btCross(vdir,cp).normalized(); + plane.dist = -btDot(plane.normal,vstart); + *upoint = PlaneLineIntersection(plane,ustart,ustart+udir); + } + if(vpoint) + { + btPlane plane; + plane.normal = btCross(udir,cp).normalized(); + plane.dist = -btDot(plane.normal,ustart); + *vpoint = PlaneLineIntersection(plane,vstart,vstart+vdir); + } + return dist; +} + + + + + + + +#define COPLANAR (0) +#define UNDER (1) +#define OVER (2) +#define SPLIT (OVER|UNDER) +#define PAPERWIDTH (btScalar(0.001)) + +btScalar planetestepsilon = PAPERWIDTH; + + + +typedef ConvexH::HalfEdge HalfEdge; + +ConvexH::ConvexH(int vertices_size,int edges_size,int facets_size) +{ + vertices.resize(vertices_size); + edges.resize(edges_size); + facets.resize(facets_size); +} + + +int PlaneTest(const btPlane &p, const btVector3 &v); +int PlaneTest(const btPlane &p, const btVector3 &v) { + btScalar a = btDot(v,p.normal)+p.dist; + int flag = (a>planetestepsilon)?OVER:((a<-planetestepsilon)?UNDER:COPLANAR); + return flag; +} + +int SplitTest(ConvexH &convex,const btPlane &plane); +int SplitTest(ConvexH &convex,const btPlane &plane) { + int flag=0; + for(int i=0;i +int maxdirfiltered(const T *p,int count,const T &dir,btAlignedObjectArray &allow) +{ + btAssert(count); + int m=-1; + for(int i=0;ibtDot(p[m],dir)) + m=i; + } + btAssert(m!=-1); + return m; +} + +btVector3 orth(const btVector3 &v); +btVector3 orth(const btVector3 &v) +{ + btVector3 a=btCross(v,btVector3(0,0,1)); + btVector3 b=btCross(v,btVector3(0,1,0)); + if (a.length() > b.length()) + { + return a.normalized(); + } else { + return b.normalized(); + } +} + + +template +int maxdirsterid(const T *p,int count,const T &dir,btAlignedObjectArray &allow) +{ + int m=-1; + while(m==-1) + { + m = maxdirfiltered(p,count,dir,allow); + if(allow[m]==3) return m; + T u = orth(dir); + T v = btCross(u,dir); + int ma=-1; + for(btScalar x = btScalar(0.0) ; x<= btScalar(360.0) ; x+= btScalar(45.0)) + { + btScalar s = btSin(SIMD_RADS_PER_DEG*(x)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(x)); + int mb = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); + if(ma==m && mb==m) + { + allow[m]=3; + return m; + } + if(ma!=-1 && ma!=mb) // Yuck - this is really ugly + { + int mc = ma; + for(btScalar xx = x-btScalar(40.0) ; xx <= x ; xx+= btScalar(5.0)) + { + btScalar s = btSin(SIMD_RADS_PER_DEG*(xx)); + btScalar c = btCos(SIMD_RADS_PER_DEG*(xx)); + int md = maxdirfiltered(p,count,dir+(u*s+v*c)*btScalar(0.025),allow); + if(mc==m && md==m) + { + allow[m]=3; + return m; + } + mc=md; + } + } + ma=mb; + } + allow[m]=0; + m=-1; + } + btAssert(0); + return m; +} + + + + +int operator ==(const int3 &a,const int3 &b); +int operator ==(const int3 &a,const int3 &b) +{ + for(int i=0;i<3;i++) + { + if(a[i]!=b[i]) return 0; + } + return 1; +} + + +int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon); +int above(btVector3* vertices,const int3& t, const btVector3 &p, btScalar epsilon) +{ + btVector3 n=TriNormal(vertices[t[0]],vertices[t[1]],vertices[t[2]]); + return (btDot(n,p-vertices[t[0]]) > epsilon); // EPSILON??? +} +int hasedge(const int3 &t, int a,int b); +int hasedge(const int3 &t, int a,int b) +{ + for(int i=0;i<3;i++) + { + int i1= (i+1)%3; + if(t[i]==a && t[i1]==b) return 1; + } + return 0; +} +int hasvert(const int3 &t, int v); +int hasvert(const int3 &t, int v) +{ + return (t[0]==v || t[1]==v || t[2]==v) ; +} +int shareedge(const int3 &a,const int3 &b); +int shareedge(const int3 &a,const int3 &b) +{ + int i; + for(i=0;i<3;i++) + { + int i1= (i+1)%3; + if(hasedge(a,b[i1],b[i])) return 1; + } + return 0; +} + +class btHullTriangle; + + + +class btHullTriangle : public int3 +{ +public: + int3 n; + int id; + int vmax; + btScalar rise; + btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1) + { + vmax=-1; + rise = btScalar(0.0); + } + ~btHullTriangle() + { + } + int &neib(int a,int b); +}; + + +int &btHullTriangle::neib(int a,int b) +{ + static int er=-1; + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + if((*this)[i]==a && (*this)[i1]==b) return n[i2]; + if((*this)[i]==b && (*this)[i1]==a) return n[i2]; + } + btAssert(0); + return er; +} +void HullLibrary::b2bfix(btHullTriangle* s,btHullTriangle*t) +{ + int i; + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*s)[i1]; + int b = (*s)[i2]; + btAssert(m_tris[s->neib(a,b)]->neib(b,a) == s->id); + btAssert(m_tris[t->neib(a,b)]->neib(b,a) == t->id); + m_tris[s->neib(a,b)]->neib(b,a) = t->neib(b,a); + m_tris[t->neib(b,a)]->neib(a,b) = s->neib(a,b); + } +} + +void HullLibrary::removeb2b(btHullTriangle* s,btHullTriangle*t) +{ + b2bfix(s,t); + deAllocateTriangle(s); + + deAllocateTriangle(t); +} + +void HullLibrary::checkit(btHullTriangle *t) +{ + (void)t; + + int i; + btAssert(m_tris[t->id]==t); + for(i=0;i<3;i++) + { + int i1=(i+1)%3; + int i2=(i+2)%3; + int a = (*t)[i1]; + int b = (*t)[i2]; + + // release compile fix + (void)i1; + (void)i2; + (void)a; + (void)b; + + btAssert(a!=b); + btAssert( m_tris[t->n[i]]->neib(b,a) == t->id); + } +} + +btHullTriangle* HullLibrary::allocateTriangle(int a,int b,int c) +{ + void* mem = btAlignedAlloc(sizeof(btHullTriangle),16); + btHullTriangle* tr = new (mem)btHullTriangle(a,b,c); + tr->id = m_tris.size(); + m_tris.push_back(tr); + + return tr; +} + +void HullLibrary::deAllocateTriangle(btHullTriangle* tri) +{ + btAssert(m_tris[tri->id]==tri); + m_tris[tri->id]=NULL; + tri->~btHullTriangle(); + btAlignedFree(tri); +} + + +void HullLibrary::extrude(btHullTriangle *t0,int v) +{ + int3 t= *t0; + int n = m_tris.size(); + btHullTriangle* ta = allocateTriangle(v,t[1],t[2]); + ta->n = int3(t0->n[0],n+1,n+2); + m_tris[t0->n[0]]->neib(t[1],t[2]) = n+0; + btHullTriangle* tb = allocateTriangle(v,t[2],t[0]); + tb->n = int3(t0->n[1],n+2,n+0); + m_tris[t0->n[1]]->neib(t[2],t[0]) = n+1; + btHullTriangle* tc = allocateTriangle(v,t[0],t[1]); + tc->n = int3(t0->n[2],n+0,n+1); + m_tris[t0->n[2]]->neib(t[0],t[1]) = n+2; + checkit(ta); + checkit(tb); + checkit(tc); + if(hasvert(*m_tris[ta->n[0]],v)) removeb2b(ta,m_tris[ta->n[0]]); + if(hasvert(*m_tris[tb->n[0]],v)) removeb2b(tb,m_tris[tb->n[0]]); + if(hasvert(*m_tris[tc->n[0]],v)) removeb2b(tc,m_tris[tc->n[0]]); + deAllocateTriangle(t0); + +} + +btHullTriangle* HullLibrary::extrudable(btScalar epsilon) +{ + int i; + btHullTriangle *t=NULL; + for(i=0;iriserise)) + { + t = m_tris[i]; + } + } + return (t->rise >epsilon)?t:NULL ; +} + + + + +int4 HullLibrary::FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray &allow) +{ + btVector3 basis[3]; + basis[0] = btVector3( btScalar(0.01), btScalar(0.02), btScalar(1.0) ); + int p0 = maxdirsterid(verts,verts_count, basis[0],allow); + int p1 = maxdirsterid(verts,verts_count,-basis[0],allow); + basis[0] = verts[p0]-verts[p1]; + if(p0==p1 || basis[0]==btVector3(0,0,0)) + return int4(-1,-1,-1,-1); + basis[1] = btCross(btVector3( btScalar(1),btScalar(0.02), btScalar(0)),basis[0]); + basis[2] = btCross(btVector3(btScalar(-0.02), btScalar(1), btScalar(0)),basis[0]); + if (basis[1].length() > basis[2].length()) + { + basis[1].normalize(); + } else { + basis[1] = basis[2]; + basis[1].normalize (); + } + int p2 = maxdirsterid(verts,verts_count,basis[1],allow); + if(p2 == p0 || p2 == p1) + { + p2 = maxdirsterid(verts,verts_count,-basis[1],allow); + } + if(p2 == p0 || p2 == p1) + return int4(-1,-1,-1,-1); + basis[1] = verts[p2] - verts[p0]; + basis[2] = btCross(basis[1],basis[0]).normalized(); + int p3 = maxdirsterid(verts,verts_count,basis[2],allow); + if(p3==p0||p3==p1||p3==p2) p3 = maxdirsterid(verts,verts_count,-basis[2],allow); + if(p3==p0||p3==p1||p3==p2) + return int4(-1,-1,-1,-1); + btAssert(!(p0==p1||p0==p2||p0==p3||p1==p2||p1==p3||p2==p3)); + if(btDot(verts[p3]-verts[p0],btCross(verts[p1]-verts[p0],verts[p2]-verts[p0])) <0) {btSwap(p2,p3);} + return int4(p0,p1,p2,p3); +} + +int HullLibrary::calchullgen(btVector3 *verts,int verts_count, int vlimit) +{ + if(verts_count <4) return 0; + if(vlimit==0) vlimit=1000000000; + int j; + btVector3 bmin(*verts),bmax(*verts); + btAlignedObjectArray isextreme; + isextreme.reserve(verts_count); + btAlignedObjectArray allow; + allow.reserve(verts_count); + + for(j=0;jn=int3(2,3,1); + btHullTriangle *t1 = allocateTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0); + btHullTriangle *t2 = allocateTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3); + btHullTriangle *t3 = allocateTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2); + isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1; + checkit(t0);checkit(t1);checkit(t2);checkit(t3); + + for(j=0;jvmax<0); + btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); + } + btHullTriangle *te; + vlimit-=4; + while(vlimit >0 && ((te=extrudable(epsilon)) != 0)) + { + //int3 ti=*te; + int v=te->vmax; + btAssert(v != -1); + btAssert(!isextreme[v]); // wtf we've already done this vertex + isextreme[v]=1; + //if(v==p0 || v==p1 || v==p2 || v==p3) continue; // done these already + j=m_tris.size(); + while(j--) { + if(!m_tris[j]) continue; + int3 t=*m_tris[j]; + if(above(verts,t,verts[v],btScalar(0.01)*epsilon)) + { + extrude(m_tris[j],v); + } + } + // now check for those degenerate cases where we have a flipped triangle or a really skinny triangle + j=m_tris.size(); + while(j--) + { + if(!m_tris[j]) continue; + if(!hasvert(*m_tris[j],v)) break; + int3 nt=*m_tris[j]; + if(above(verts,nt,center,btScalar(0.01)*epsilon) || btCross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]).length()< epsilon*epsilon*btScalar(0.1) ) + { + btHullTriangle *nb = m_tris[m_tris[j]->n[0]]; + btAssert(nb);btAssert(!hasvert(*nb,v));btAssert(nb->idvmax>=0) break; + btVector3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]); + t->vmax = maxdirsterid(verts,verts_count,n,allow); + if(isextreme[t->vmax]) + { + t->vmax=-1; // already done that vertex - algorithm needs to be able to terminate. + } + else + { + t->rise = btDot(n,verts[t->vmax]-verts[(*t)[0]]); + } + } + vlimit --; + } + return 1; +} + +int HullLibrary::calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit) +{ + int rc=calchullgen(verts,verts_count, vlimit) ; + if(!rc) return 0; + btAlignedObjectArray ts; + int i; + + for(i=0;i(ts[i]); + } + m_tris.resize(0); + + return 1; +} + + + + + +bool HullLibrary::ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit) +{ + + int tris_count; + int ret = calchull( (btVector3 *) vertices, (int) vcount, result.m_Indices, tris_count, static_cast(vlimit) ); + if(!ret) return false; + result.mIndexCount = (unsigned int) (tris_count*3); + result.mFaceCount = (unsigned int) tris_count; + result.mVertices = (btVector3*) vertices; + result.mVcount = (unsigned int) vcount; + return true; + +} + + +void ReleaseHull(PHullResult &result); +void ReleaseHull(PHullResult &result) +{ + if ( result.m_Indices.size() ) + { + result.m_Indices.clear(); + } + + result.mVcount = 0; + result.mIndexCount = 0; + result.mVertices = 0; +} + + +//********************************************************************* +//********************************************************************* +//******** HullLib header +//********************************************************************* +//********************************************************************* + +//********************************************************************* +//********************************************************************* +//******** HullLib implementation +//********************************************************************* +//********************************************************************* + +HullError HullLibrary::CreateConvexHull(const HullDesc &desc, // describes the input request + HullResult &result) // contains the resulst +{ + HullError ret = QE_FAIL; + + + PHullResult hr; + + unsigned int vcount = desc.mVcount; + if ( vcount < 8 ) vcount = 8; + + btAlignedObjectArray vertexSource; + vertexSource.resize(static_cast(vcount)); + + btVector3 scale; + + unsigned int ovcount; + + bool ok = CleanupVertices(desc.mVcount,desc.mVertices, desc.mVertexStride, ovcount, &vertexSource[0], desc.mNormalEpsilon, scale ); // normalize point cloud, remove duplicates! + + if ( ok ) + { + + +// if ( 1 ) // scale vertices back to their original size. + { + for (unsigned int i=0; i(i)]; + v[0]*=scale[0]; + v[1]*=scale[1]; + v[2]*=scale[2]; + } + } + + ok = ComputeHull(ovcount,&vertexSource[0],hr,desc.mMaxVertices); + + if ( ok ) + { + + // re-index triangle mesh so it refers to only used vertices, rebuild a new vertex table. + btAlignedObjectArray vertexScratch; + vertexScratch.resize(static_cast(hr.mVcount)); + + BringOutYourDead(hr.mVertices,hr.mVcount, &vertexScratch[0], ovcount, &hr.m_Indices[0], hr.mIndexCount ); + + ret = QE_OK; + + if ( desc.HasHullFlag(QF_TRIANGLES) ) // if he wants the results as triangle! + { + result.mPolygons = false; + result.mNumOutputVertices = ovcount; + result.m_OutputVertices.resize(static_cast(ovcount)); + result.mNumFaces = hr.mFaceCount; + result.mNumIndices = hr.mIndexCount; + + result.m_Indices.resize(static_cast(hr.mIndexCount)); + + memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); + + if ( desc.HasHullFlag(QF_REVERSE_ORDER) ) + { + + const unsigned int *source = &hr.m_Indices[0]; + unsigned int *dest = &result.m_Indices[0]; + + for (unsigned int i=0; i(ovcount)); + result.mNumFaces = hr.mFaceCount; + result.mNumIndices = hr.mIndexCount+hr.mFaceCount; + result.m_Indices.resize(static_cast(result.mNumIndices)); + memcpy(&result.m_OutputVertices[0], &vertexScratch[0], sizeof(btVector3)*ovcount ); + +// if ( 1 ) + { + const unsigned int *source = &hr.m_Indices[0]; + unsigned int *dest = &result.m_Indices[0]; + for (unsigned int i=0; i bmax[j] ) bmax[j] = p[j]; + } + } + } + + btScalar dx = bmax[0] - bmin[0]; + btScalar dy = bmax[1] - bmin[1]; + btScalar dz = bmax[2] - bmin[2]; + + btVector3 center; + + center[0] = dx*btScalar(0.5) + bmin[0]; + center[1] = dy*btScalar(0.5) + bmin[1]; + center[2] = dz*btScalar(0.5) + bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || svcount < 3 ) + { + + btScalar len = FLT_MAX; + + if ( dx > EPSILON && dx < len ) len = dx; + if ( dy > EPSILON && dy < len ) len = dy; + if ( dz > EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = btScalar(0.01); // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * btScalar(0.05); + if ( dz < EPSILON ) dz = len * btScalar(0.05); + } + + btScalar x1 = center[0] - dx; + btScalar x2 = center[0] + dx; + + btScalar y1 = center[1] - dy; + btScalar y2 = center[1] + dy; + + btScalar z1 = center[2] - dz; + btScalar z2 = center[2] + dz; + + addPoint(vcount,vertices,x1,y1,z1); + addPoint(vcount,vertices,x2,y1,z1); + addPoint(vcount,vertices,x2,y2,z1); + addPoint(vcount,vertices,x1,y2,z1); + addPoint(vcount,vertices,x1,y1,z2); + addPoint(vcount,vertices,x2,y1,z2); + addPoint(vcount,vertices,x2,y2,z2); + addPoint(vcount,vertices,x1,y2,z2); + + return true; // return cube + + + } + else + { + if ( scale ) + { + scale[0] = dx; + scale[1] = dy; + scale[2] = dz; + + recip[0] = 1 / dx; + recip[1] = 1 / dy; + recip[2] = 1 / dz; + + center[0]*=recip[0]; + center[1]*=recip[1]; + center[2]*=recip[2]; + + } + + } + + + + vtx = (const char *) svertices; + + for (unsigned int i=0; igetX(); + btScalar py = p->getY(); + btScalar pz = p->getZ(); + + if ( scale ) + { + px = px*recip[0]; // normalize + py = py*recip[1]; // normalize + pz = pz*recip[2]; // normalize + } + +// if ( 1 ) + { + unsigned int j; + + for (j=0; j dist2 ) + { + v[0] = px; + v[1] = py; + v[2] = pz; + + } + + break; + } + } + + if ( j == vcount ) + { + btVector3& dest = vertices[vcount]; + dest[0] = px; + dest[1] = py; + dest[2] = pz; + vcount++; + } + m_vertexIndexMapping.push_back(j); + } + } + + // ok..now make sure we didn't prune so many vertices it is now invalid. +// if ( 1 ) + { + btScalar bmin[3] = { FLT_MAX, FLT_MAX, FLT_MAX }; + btScalar bmax[3] = { -FLT_MAX, -FLT_MAX, -FLT_MAX }; + + for (unsigned int i=0; i bmax[j] ) bmax[j] = p[j]; + } + } + + btScalar dx = bmax[0] - bmin[0]; + btScalar dy = bmax[1] - bmin[1]; + btScalar dz = bmax[2] - bmin[2]; + + if ( dx < EPSILON || dy < EPSILON || dz < EPSILON || vcount < 3) + { + btScalar cx = dx*btScalar(0.5) + bmin[0]; + btScalar cy = dy*btScalar(0.5) + bmin[1]; + btScalar cz = dz*btScalar(0.5) + bmin[2]; + + btScalar len = FLT_MAX; + + if ( dx >= EPSILON && dx < len ) len = dx; + if ( dy >= EPSILON && dy < len ) len = dy; + if ( dz >= EPSILON && dz < len ) len = dz; + + if ( len == FLT_MAX ) + { + dx = dy = dz = btScalar(0.01); // one centimeter + } + else + { + if ( dx < EPSILON ) dx = len * btScalar(0.05); // 1/5th the shortest non-zero edge. + if ( dy < EPSILON ) dy = len * btScalar(0.05); + if ( dz < EPSILON ) dz = len * btScalar(0.05); + } + + btScalar x1 = cx - dx; + btScalar x2 = cx + dx; + + btScalar y1 = cy - dy; + btScalar y2 = cy + dy; + + btScalar z1 = cz - dz; + btScalar z2 = cz + dz; + + vcount = 0; // add box + + addPoint(vcount,vertices,x1,y1,z1); + addPoint(vcount,vertices,x2,y1,z1); + addPoint(vcount,vertices,x2,y2,z1); + addPoint(vcount,vertices,x1,y2,z1); + addPoint(vcount,vertices,x1,y1,z2); + addPoint(vcount,vertices,x2,y1,z2); + addPoint(vcount,vertices,x2,y2,z2); + addPoint(vcount,vertices,x1,y2,z2); + + return true; + } + } + + return true; +} + +void HullLibrary::BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int *indices,unsigned indexcount) +{ + btAlignedObjectArraytmpIndices; + tmpIndices.resize(m_vertexIndexMapping.size()); + int i; + + for (i=0;i(vcount)); + memset(&usedIndices[0],0,sizeof(unsigned int)*vcount); + + ocount = 0; + + for (i=0; i= 0 && v < vcount ); + + if ( usedIndices[static_cast(v)] ) // if already remapped + { + indices[i] = usedIndices[static_cast(v)]-1; // index to new array + } + else + { + + indices[i] = ocount; // new index mapping + + overts[ocount][0] = verts[v][0]; // copy old vert to new vert array + overts[ocount][1] = verts[v][1]; + overts[ocount][2] = verts[v][2]; + + for (int k=0;k=0 && ocount <= vcount ); + + usedIndices[static_cast(v)] = ocount; // assign new index remapping + + + } + } + + +} diff --git a/Code/Physics/src/LinearMath/btConvexHull.h b/Code/Physics/src/LinearMath/btConvexHull.h new file mode 100644 index 00000000..69c52bc6 --- /dev/null +++ b/Code/Physics/src/LinearMath/btConvexHull.h @@ -0,0 +1,241 @@ + +/* +Stan Melax Convex Hull Computation +Copyright (c) 2008 Stan Melax http://www.melax.com/ + +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. +*/ + +///includes modifications/improvements by John Ratcliff, see BringOutYourDead below. + +#ifndef BT_CD_HULL_H +#define BT_CD_HULL_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +typedef btAlignedObjectArray TUIntArray; + +class HullResult +{ +public: + HullResult(void) + { + mPolygons = true; + mNumOutputVertices = 0; + mNumFaces = 0; + mNumIndices = 0; + } + bool mPolygons; // true if indices represents polygons, false indices are triangles + unsigned int mNumOutputVertices; // number of vertices in the output hull + btAlignedObjectArray m_OutputVertices; // array of vertices + unsigned int mNumFaces; // the number of faces produced + unsigned int mNumIndices; // the total number of indices + btAlignedObjectArray m_Indices; // pointer to indices. + +// If triangles, then indices are array indexes into the vertex list. +// If polygons, indices are in the form (number of points in face) (p1, p2, p3, ..) etc.. +}; + +enum HullFlag +{ + QF_TRIANGLES = (1<<0), // report results as triangles, not polygons. + QF_REVERSE_ORDER = (1<<1), // reverse order of the triangle indices. + QF_DEFAULT = QF_TRIANGLES +}; + + +class HullDesc +{ +public: + HullDesc(void) + { + mFlags = QF_DEFAULT; + mVcount = 0; + mVertices = 0; + mVertexStride = sizeof(btVector3); + mNormalEpsilon = 0.001f; + mMaxVertices = 4096; // maximum number of points to be considered for a convex hull. + mMaxFaces = 4096; + }; + + HullDesc(HullFlag flag, + unsigned int vcount, + const btVector3 *vertices, + unsigned int stride = sizeof(btVector3)) + { + mFlags = flag; + mVcount = vcount; + mVertices = vertices; + mVertexStride = stride; + mNormalEpsilon = btScalar(0.001); + mMaxVertices = 4096; + } + + bool HasHullFlag(HullFlag flag) const + { + if ( mFlags & flag ) return true; + return false; + } + + void SetHullFlag(HullFlag flag) + { + mFlags|=flag; + } + + void ClearHullFlag(HullFlag flag) + { + mFlags&=~flag; + } + + unsigned int mFlags; // flags to use when generating the convex hull. + unsigned int mVcount; // number of vertices in the input point cloud + const btVector3 *mVertices; // the array of vertices. + unsigned int mVertexStride; // the stride of each vertex, in bytes. + btScalar mNormalEpsilon; // the epsilon for removing duplicates. This is a normalized value, if normalized bit is on. + unsigned int mMaxVertices; // maximum number of vertices to be considered for the hull! + unsigned int mMaxFaces; +}; + +enum HullError +{ + QE_OK, // success! + QE_FAIL // failed. +}; + +class btPlane +{ + public: + btVector3 normal; + btScalar dist; // distance below origin - the D from plane equasion Ax+By+Cz+D=0 + btPlane(const btVector3 &n,btScalar d):normal(n),dist(d){} + btPlane():normal(),dist(0){} + +}; + + + +class ConvexH +{ + public: + class HalfEdge + { + public: + short ea; // the other half of the edge (index into edges list) + unsigned char v; // the vertex at the start of this edge (index into vertices list) + unsigned char p; // the facet on which this edge lies (index into facets list) + HalfEdge(){} + HalfEdge(short _ea,unsigned char _v, unsigned char _p):ea(_ea),v(_v),p(_p){} + }; + ConvexH() + { + } + ~ConvexH() + { + } + btAlignedObjectArray vertices; + btAlignedObjectArray edges; + btAlignedObjectArray facets; + ConvexH(int vertices_size,int edges_size,int facets_size); +}; + + +class int4 +{ +public: + int x,y,z,w; + int4(){}; + int4(int _x,int _y, int _z,int _w){x=_x;y=_y;z=_z;w=_w;} + const int& operator[](int i) const {return (&x)[i];} + int& operator[](int i) {return (&x)[i];} +}; + +class PHullResult +{ +public: + + PHullResult(void) + { + mVcount = 0; + mIndexCount = 0; + mFaceCount = 0; + mVertices = 0; + } + + unsigned int mVcount; + unsigned int mIndexCount; + unsigned int mFaceCount; + btVector3* mVertices; + TUIntArray m_Indices; +}; + + + +///The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull method. +///The btShapeHull class uses this HullLibrary to create a approximate convex mesh given a general (non-polyhedral) convex shape. +class HullLibrary +{ + + btAlignedObjectArray m_tris; + +public: + + btAlignedObjectArray m_vertexIndexMapping; + + + HullError CreateConvexHull(const HullDesc& desc, // describes the input request + HullResult& result); // contains the resulst + HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it. + +private: + + bool ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit); + + class btHullTriangle* allocateTriangle(int a,int b,int c); + void deAllocateTriangle(btHullTriangle*); + void b2bfix(btHullTriangle* s,btHullTriangle*t); + + void removeb2b(btHullTriangle* s,btHullTriangle*t); + + void checkit(btHullTriangle *t); + + btHullTriangle* extrudable(btScalar epsilon); + + int calchull(btVector3 *verts,int verts_count, TUIntArray& tris_out, int &tris_count,int vlimit); + + int calchullgen(btVector3 *verts,int verts_count, int vlimit); + + int4 FindSimplex(btVector3 *verts,int verts_count,btAlignedObjectArray &allow); + + class ConvexH* ConvexHCrop(ConvexH& convex,const btPlane& slice); + + void extrude(class btHullTriangle* t0,int v); + + ConvexH* test_cube(); + + //BringOutYourDead (John Ratcliff): When you create a convex hull you hand it a large input set of vertices forming a 'point cloud'. + //After the hull is generated it give you back a set of polygon faces which index the *original* point cloud. + //The thing is, often times, there are many 'dead vertices' in the point cloud that are on longer referenced by the hull. + //The routine 'BringOutYourDead' find only the referenced vertices, copies them to an new buffer, and re-indexes the hull so that it is a minimal representation. + void BringOutYourDead(const btVector3* verts,unsigned int vcount, btVector3* overts,unsigned int &ocount,unsigned int* indices,unsigned indexcount); + + bool CleanupVertices(unsigned int svcount, + const btVector3* svertices, + unsigned int stride, + unsigned int &vcount, // output number of vertices + btVector3* vertices, // location to store the results. + btScalar normalepsilon, + btVector3& scale); +}; + + +#endif //BT_CD_HULL_H + diff --git a/Code/Physics/src/LinearMath/btConvexHullComputer.cpp b/Code/Physics/src/LinearMath/btConvexHullComputer.cpp new file mode 100644 index 00000000..d58ac955 --- /dev/null +++ b/Code/Physics/src/LinearMath/btConvexHullComputer.cpp @@ -0,0 +1,2755 @@ +/* +Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net + +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. +*/ + +#include + +#include "btConvexHullComputer.h" +#include "btAlignedObjectArray.h" +#include "btMinMax.h" +#include "btVector3.h" + +#ifdef __GNUC__ + #include +#elif defined(_MSC_VER) + typedef __int32 int32_t; + typedef __int64 int64_t; + typedef unsigned __int32 uint32_t; + typedef unsigned __int64 uint64_t; +#else + typedef int int32_t; + typedef long long int int64_t; + typedef unsigned int uint32_t; + typedef unsigned long long int uint64_t; +#endif + + +//The definition of USE_X86_64_ASM is moved into the build system. You can enable it manually by commenting out the following lines +//#if (defined(__GNUC__) && defined(__x86_64__) && !defined(__ICL)) // || (defined(__ICL) && defined(_M_X64)) bug in Intel compiler, disable inline assembly +// #define USE_X86_64_ASM +//#endif + + +//#define DEBUG_CONVEX_HULL +//#define SHOW_ITERATIONS + +#if defined(DEBUG_CONVEX_HULL) || defined(SHOW_ITERATIONS) + #include +#endif + +// Convex hull implementation based on Preparata and Hong +// Ole Kniemeyer, MAXON Computer GmbH +class btConvexHullInternal +{ + public: + + class Point64 + { + public: + int64_t x; + int64_t y; + int64_t z; + + Point64(int64_t x, int64_t y, int64_t z): x(x), y(y), z(z) + { + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + }; + + class Point32 + { + public: + int32_t x; + int32_t y; + int32_t z; + int index; + + Point32() + { + } + + Point32(int32_t x, int32_t y, int32_t z): x(x), y(y), z(z), index(-1) + { + } + + bool operator==(const Point32& b) const + { + return (x == b.x) && (y == b.y) && (z == b.z); + } + + bool operator!=(const Point32& b) const + { + return (x != b.x) || (y != b.y) || (z != b.z); + } + + bool isZero() + { + return (x == 0) && (y == 0) && (z == 0); + } + + Point64 cross(const Point32& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + Point64 cross(const Point64& b) const + { + return Point64(y * b.z - z * b.y, z * b.x - x * b.z, x * b.y - y * b.x); + } + + int64_t dot(const Point32& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + int64_t dot(const Point64& b) const + { + return x * b.x + y * b.y + z * b.z; + } + + Point32 operator+(const Point32& b) const + { + return Point32(x + b.x, y + b.y, z + b.z); + } + + Point32 operator-(const Point32& b) const + { + return Point32(x - b.x, y - b.y, z - b.z); + } + }; + + class Int128 + { + public: + uint64_t low; + uint64_t high; + + Int128() + { + } + + Int128(uint64_t low, uint64_t high): low(low), high(high) + { + } + + Int128(uint64_t low): low(low), high(0) + { + } + + Int128(int64_t value): low(value), high((value >= 0) ? 0 : (uint64_t) -1LL) + { + } + + static Int128 mul(int64_t a, int64_t b); + + static Int128 mul(uint64_t a, uint64_t b); + + Int128 operator-() const + { + return Int128((uint64_t) -(int64_t)low, ~high + (low == 0)); + } + + Int128 operator+(const Int128& b) const + { +#ifdef USE_X86_64_ASM + Int128 result; + __asm__ ("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r" (result.low), [rh] "=r" (result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); + return result; +#else + uint64_t lo = low + b.low; + return Int128(lo, high + b.high + (lo < low)); +#endif + } + + Int128 operator-(const Int128& b) const + { +#ifdef USE_X86_64_ASM + Int128 result; + __asm__ ("subq %[bl], %[rl]\n\t" + "sbbq %[bh], %[rh]\n\t" + : [rl] "=r" (result.low), [rh] "=r" (result.high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); + return result; +#else + return *this + -b; +#endif + } + + Int128& operator+=(const Int128& b) + { +#ifdef USE_X86_64_ASM + __asm__ ("addq %[bl], %[rl]\n\t" + "adcq %[bh], %[rh]\n\t" + : [rl] "=r" (low), [rh] "=r" (high) + : "0"(low), "1"(high), [bl] "g"(b.low), [bh] "g"(b.high) + : "cc" ); +#else + uint64_t lo = low + b.low; + if (lo < low) + { + ++high; + } + low = lo; + high += b.high; +#endif + return *this; + } + + Int128& operator++() + { + if (++low == 0) + { + ++high; + } + return *this; + } + + Int128 operator*(int64_t b) const; + + btScalar toScalar() const + { + return ((int64_t) high >= 0) ? btScalar(high) * (btScalar(0x100000000LL) * btScalar(0x100000000LL)) + btScalar(low) + : -(-*this).toScalar(); + } + + int getSign() const + { + return ((int64_t) high < 0) ? -1 : (high || low) ? 1 : 0; + } + + bool operator<(const Int128& b) const + { + return (high < b.high) || ((high == b.high) && (low < b.low)); + } + + int ucmp(const Int128&b) const + { + if (high < b.high) + { + return -1; + } + if (high > b.high) + { + return 1; + } + if (low < b.low) + { + return -1; + } + if (low > b.low) + { + return 1; + } + return 0; + } + }; + + + class Rational64 + { + private: + uint64_t m_numerator; + uint64_t m_denominator; + int sign; + + public: + Rational64(int64_t numerator, int64_t denominator) + { + if (numerator > 0) + { + sign = 1; + m_numerator = (uint64_t) numerator; + } + else if (numerator < 0) + { + sign = -1; + m_numerator = (uint64_t) -numerator; + } + else + { + sign = 0; + m_numerator = 0; + } + if (denominator > 0) + { + m_denominator = (uint64_t) denominator; + } + else if (denominator < 0) + { + sign = -sign; + m_denominator = (uint64_t) -denominator; + } + else + { + m_denominator = 0; + } + } + + bool isNegativeInfinity() const + { + return (sign < 0) && (m_denominator == 0); + } + + bool isNaN() const + { + return (sign == 0) && (m_denominator == 0); + } + + int compare(const Rational64& b) const; + + btScalar toScalar() const + { + return sign * ((m_denominator == 0) ? SIMD_INFINITY : (btScalar) m_numerator / m_denominator); + } + }; + + + class Rational128 + { + private: + Int128 numerator; + Int128 denominator; + int sign; + bool isInt64; + + public: + Rational128(int64_t value) + { + if (value > 0) + { + sign = 1; + this->numerator = value; + } + else if (value < 0) + { + sign = -1; + this->numerator = -value; + } + else + { + sign = 0; + this->numerator = (uint64_t) 0; + } + this->denominator = (uint64_t) 1; + isInt64 = true; + } + + Rational128(const Int128& numerator, const Int128& denominator) + { + sign = numerator.getSign(); + if (sign >= 0) + { + this->numerator = numerator; + } + else + { + this->numerator = -numerator; + } + int dsign = denominator.getSign(); + if (dsign >= 0) + { + this->denominator = denominator; + } + else + { + sign = -sign; + this->denominator = -denominator; + } + isInt64 = false; + } + + int compare(const Rational128& b) const; + + int compare(int64_t b) const; + + btScalar toScalar() const + { + return sign * ((denominator.getSign() == 0) ? SIMD_INFINITY : numerator.toScalar() / denominator.toScalar()); + } + }; + + class PointR128 + { + public: + Int128 x; + Int128 y; + Int128 z; + Int128 denominator; + + PointR128() + { + } + + PointR128(Int128 x, Int128 y, Int128 z, Int128 denominator): x(x), y(y), z(z), denominator(denominator) + { + } + + btScalar xvalue() const + { + return x.toScalar() / denominator.toScalar(); + } + + btScalar yvalue() const + { + return y.toScalar() / denominator.toScalar(); + } + + btScalar zvalue() const + { + return z.toScalar() / denominator.toScalar(); + } + }; + + + class Edge; + class Face; + + class Vertex + { + public: + Vertex* next; + Vertex* prev; + Edge* edges; + Face* firstNearbyFace; + Face* lastNearbyFace; + PointR128 point128; + Point32 point; + int copy; + + Vertex(): next(NULL), prev(NULL), edges(NULL), firstNearbyFace(NULL), lastNearbyFace(NULL), copy(-1) + { + } + +#ifdef DEBUG_CONVEX_HULL + void print() + { + printf("V%d (%d, %d, %d)", point.index, point.x, point.y, point.z); + } + + void printGraph(); +#endif + + Point32 operator-(const Vertex& b) const + { + return point - b.point; + } + + Rational128 dot(const Point64& b) const + { + return (point.index >= 0) ? Rational128(point.dot(b)) + : Rational128(point128.x * b.x + point128.y * b.y + point128.z * b.z, point128.denominator); + } + + btScalar xvalue() const + { + return (point.index >= 0) ? btScalar(point.x) : point128.xvalue(); + } + + btScalar yvalue() const + { + return (point.index >= 0) ? btScalar(point.y) : point128.yvalue(); + } + + btScalar zvalue() const + { + return (point.index >= 0) ? btScalar(point.z) : point128.zvalue(); + } + + void receiveNearbyFaces(Vertex* src) + { + if (lastNearbyFace) + { + lastNearbyFace->nextWithSameNearbyVertex = src->firstNearbyFace; + } + else + { + firstNearbyFace = src->firstNearbyFace; + } + if (src->lastNearbyFace) + { + lastNearbyFace = src->lastNearbyFace; + } + for (Face* f = src->firstNearbyFace; f; f = f->nextWithSameNearbyVertex) + { + btAssert(f->nearbyVertex == src); + f->nearbyVertex = this; + } + src->firstNearbyFace = NULL; + src->lastNearbyFace = NULL; + } + }; + + + class Edge + { + public: + Edge* next; + Edge* prev; + Edge* reverse; + Vertex* target; + Face* face; + int copy; + + ~Edge() + { + next = NULL; + prev = NULL; + reverse = NULL; + target = NULL; + face = NULL; + } + + void link(Edge* n) + { + btAssert(reverse->target == n->reverse->target); + next = n; + n->prev = this; + } + +#ifdef DEBUG_CONVEX_HULL + void print() + { + printf("E%p : %d -> %d, n=%p p=%p (0 %d\t%d\t%d) -> (%d %d %d)", this, reverse->target->point.index, target->point.index, next, prev, + reverse->target->point.x, reverse->target->point.y, reverse->target->point.z, target->point.x, target->point.y, target->point.z); + } +#endif + }; + + class Face + { + public: + Face* next; + Vertex* nearbyVertex; + Face* nextWithSameNearbyVertex; + Point32 origin; + Point32 dir0; + Point32 dir1; + + Face(): next(NULL), nearbyVertex(NULL), nextWithSameNearbyVertex(NULL) + { + } + + void init(Vertex* a, Vertex* b, Vertex* c) + { + nearbyVertex = a; + origin = a->point; + dir0 = *b - *a; + dir1 = *c - *a; + if (a->lastNearbyFace) + { + a->lastNearbyFace->nextWithSameNearbyVertex = this; + } + else + { + a->firstNearbyFace = this; + } + a->lastNearbyFace = this; + } + + Point64 getNormal() + { + return dir0.cross(dir1); + } + }; + + template class DMul + { + private: + static uint32_t high(uint64_t value) + { + return (uint32_t) (value >> 32); + } + + static uint32_t low(uint64_t value) + { + return (uint32_t) value; + } + + static uint64_t mul(uint32_t a, uint32_t b) + { + return (uint64_t) a * (uint64_t) b; + } + + static void shlHalf(uint64_t& value) + { + value <<= 32; + } + + static uint64_t high(Int128 value) + { + return value.high; + } + + static uint64_t low(Int128 value) + { + return value.low; + } + + static Int128 mul(uint64_t a, uint64_t b) + { + return Int128::mul(a, b); + } + + static void shlHalf(Int128& value) + { + value.high = value.low; + value.low = 0; + } + + public: + + static void mul(UWord a, UWord b, UWord& resLow, UWord& resHigh) + { + UWord p00 = mul(low(a), low(b)); + UWord p01 = mul(low(a), high(b)); + UWord p10 = mul(high(a), low(b)); + UWord p11 = mul(high(a), high(b)); + UWord p0110 = UWord(low(p01)) + UWord(low(p10)); + p11 += high(p01); + p11 += high(p10); + p11 += high(p0110); + shlHalf(p0110); + p00 += p0110; + if (p00 < p0110) + { + ++p11; + } + resLow = p00; + resHigh = p11; + } + }; + + private: + + class IntermediateHull + { + public: + Vertex* minXy; + Vertex* maxXy; + Vertex* minYx; + Vertex* maxYx; + + IntermediateHull(): minXy(NULL), maxXy(NULL), minYx(NULL), maxYx(NULL) + { + } + + void print(); + }; + + enum Orientation {NONE, CLOCKWISE, COUNTER_CLOCKWISE}; + + template class PoolArray + { + private: + T* array; + int size; + + public: + PoolArray* next; + + PoolArray(int size): size(size), next(NULL) + { + array = (T*) btAlignedAlloc(sizeof(T) * size, 16); + } + + ~PoolArray() + { + btAlignedFree(array); + } + + T* init() + { + T* o = array; + for (int i = 0; i < size; i++, o++) + { + o->next = (i+1 < size) ? o + 1 : NULL; + } + return array; + } + }; + + template class Pool + { + private: + PoolArray* arrays; + PoolArray* nextArray; + T* freeObjects; + int arraySize; + + public: + Pool(): arrays(NULL), nextArray(NULL), freeObjects(NULL), arraySize(256) + { + } + + ~Pool() + { + while (arrays) + { + PoolArray* p = arrays; + arrays = p->next; + p->~PoolArray(); + btAlignedFree(p); + } + } + + void reset() + { + nextArray = arrays; + freeObjects = NULL; + } + + void setArraySize(int arraySize) + { + this->arraySize = arraySize; + } + + T* newObject() + { + T* o = freeObjects; + if (!o) + { + PoolArray* p = nextArray; + if (p) + { + nextArray = p->next; + } + else + { + p = new(btAlignedAlloc(sizeof(PoolArray), 16)) PoolArray(arraySize); + p->next = arrays; + arrays = p; + } + o = p->init(); + } + freeObjects = o->next; + return new(o) T(); + }; + + void freeObject(T* object) + { + object->~T(); + object->next = freeObjects; + freeObjects = object; + } + }; + + btVector3 scaling; + btVector3 center; + Pool vertexPool; + Pool edgePool; + Pool facePool; + btAlignedObjectArray originalVertices; + int mergeStamp; + int minAxis; + int medAxis; + int maxAxis; + int usedEdgePairs; + int maxUsedEdgePairs; + + static Orientation getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t); + Edge* findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot); + void findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1); + + Edge* newEdgePair(Vertex* from, Vertex* to); + + void removeEdgePair(Edge* edge) + { + Edge* n = edge->next; + Edge* r = edge->reverse; + + btAssert(edge->target && r->target); + + if (n != edge) + { + n->prev = edge->prev; + edge->prev->next = n; + r->target->edges = n; + } + else + { + r->target->edges = NULL; + } + + n = r->next; + + if (n != r) + { + n->prev = r->prev; + r->prev->next = n; + edge->target->edges = n; + } + else + { + edge->target->edges = NULL; + } + + edgePool.freeObject(edge); + edgePool.freeObject(r); + usedEdgePairs--; + } + + void computeInternal(int start, int end, IntermediateHull& result); + + bool mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1); + + void merge(IntermediateHull& h0, IntermediateHull& h1); + + btVector3 toBtVector(const Point32& v); + + btVector3 getBtNormal(Face* face); + + bool shiftFace(Face* face, btScalar amount, btAlignedObjectArray stack); + + public: + Vertex* vertexList; + + void compute(const void* coords, bool doubleCoords, int stride, int count); + + btVector3 getCoordinates(const Vertex* v); + + btScalar shrink(btScalar amount, btScalar clampAmount); +}; + + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::operator*(int64_t b) const +{ + bool negative = (int64_t) high < 0; + Int128 a = negative ? -*this : *this; + if (b < 0) + { + negative = !negative; + b = -b; + } + Int128 result = mul(a.low, (uint64_t) b); + result.high += a.high * (uint64_t) b; + return negative ? -result : result; +} + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(int64_t a, int64_t b) +{ + Int128 result; + +#ifdef USE_X86_64_ASM + __asm__ ("imulq %[b]" + : "=a" (result.low), "=d" (result.high) + : "0"(a), [b] "r"(b) + : "cc" ); + return result; + +#else + bool negative = a < 0; + if (negative) + { + a = -a; + } + if (b < 0) + { + negative = !negative; + b = -b; + } + DMul::mul((uint64_t) a, (uint64_t) b, result.low, result.high); + return negative ? -result : result; +#endif +} + +btConvexHullInternal::Int128 btConvexHullInternal::Int128::mul(uint64_t a, uint64_t b) +{ + Int128 result; + +#ifdef USE_X86_64_ASM + __asm__ ("mulq %[b]" + : "=a" (result.low), "=d" (result.high) + : "0"(a), [b] "r"(b) + : "cc" ); + +#else + DMul::mul(a, b, result.low, result.high); +#endif + + return result; +} + +int btConvexHullInternal::Rational64::compare(const Rational64& b) const +{ + if (sign != b.sign) + { + return sign - b.sign; + } + else if (sign == 0) + { + return 0; + } + + // return (numerator * b.denominator > b.numerator * denominator) ? sign : (numerator * b.denominator < b.numerator * denominator) ? -sign : 0; + +#ifdef USE_X86_64_ASM + + int result; + int64_t tmp; + int64_t dummy; + __asm__ ("mulq %[bn]\n\t" + "movq %%rax, %[tmp]\n\t" + "movq %%rdx, %%rbx\n\t" + "movq %[tn], %%rax\n\t" + "mulq %[bd]\n\t" + "subq %[tmp], %%rax\n\t" + "sbbq %%rbx, %%rdx\n\t" // rdx:rax contains 128-bit-difference "numerator*b.denominator - b.numerator*denominator" + "setnsb %%bh\n\t" // bh=1 if difference is non-negative, bh=0 otherwise + "orq %%rdx, %%rax\n\t" + "setnzb %%bl\n\t" // bl=1 if difference if non-zero, bl=0 if it is zero + "decb %%bh\n\t" // now bx=0x0000 if difference is zero, 0xff01 if it is negative, 0x0001 if it is positive (i.e., same sign as difference) + "shll $16, %%ebx\n\t" // ebx has same sign as difference + : "=&b"(result), [tmp] "=&r"(tmp), "=a"(dummy) + : "a"(denominator), [bn] "g"(b.numerator), [tn] "g"(numerator), [bd] "g"(b.denominator) + : "%rdx", "cc" ); + return result ? result ^ sign // if sign is +1, only bit 0 of result is inverted, which does not change the sign of result (and cannot result in zero) + // if sign is -1, all bits of result are inverted, which changes the sign of result (and again cannot result in zero) + : 0; + +#else + + return sign * Int128::mul(m_numerator, b.m_denominator).ucmp(Int128::mul(m_denominator, b.m_numerator)); + +#endif +} + +int btConvexHullInternal::Rational128::compare(const Rational128& b) const +{ + if (sign != b.sign) + { + return sign - b.sign; + } + else if (sign == 0) + { + return 0; + } + if (isInt64) + { + return -b.compare(sign * (int64_t) numerator.low); + } + + Int128 nbdLow, nbdHigh, dbnLow, dbnHigh; + DMul::mul(numerator, b.denominator, nbdLow, nbdHigh); + DMul::mul(denominator, b.numerator, dbnLow, dbnHigh); + + int cmp = nbdHigh.ucmp(dbnHigh); + if (cmp) + { + return cmp * sign; + } + return nbdLow.ucmp(dbnLow) * sign; +} + +int btConvexHullInternal::Rational128::compare(int64_t b) const +{ + if (isInt64) + { + int64_t a = sign * (int64_t) numerator.low; + return (a > b) ? 1 : (a < b) ? -1 : 0; + } + if (b > 0) + { + if (sign <= 0) + { + return -1; + } + } + else if (b < 0) + { + if (sign >= 0) + { + return 1; + } + b = -b; + } + else + { + return sign; + } + + return numerator.ucmp(denominator * b) * sign; +} + + +btConvexHullInternal::Edge* btConvexHullInternal::newEdgePair(Vertex* from, Vertex* to) +{ + btAssert(from && to); + Edge* e = edgePool.newObject(); + Edge* r = edgePool.newObject(); + e->reverse = r; + r->reverse = e; + e->copy = mergeStamp; + r->copy = mergeStamp; + e->target = to; + r->target = from; + e->face = NULL; + r->face = NULL; + usedEdgePairs++; + if (usedEdgePairs > maxUsedEdgePairs) + { + maxUsedEdgePairs = usedEdgePairs; + } + return e; +} + +bool btConvexHullInternal::mergeProjection(IntermediateHull& h0, IntermediateHull& h1, Vertex*& c0, Vertex*& c1) +{ + Vertex* v0 = h0.maxYx; + Vertex* v1 = h1.minYx; + if ((v0->point.x == v1->point.x) && (v0->point.y == v1->point.y)) + { + btAssert(v0->point.z < v1->point.z); + Vertex* v1p = v1->prev; + if (v1p == v1) + { + c0 = v0; + if (v1->edges) + { + btAssert(v1->edges->next == v1->edges); + v1 = v1->edges->target; + btAssert(v1->edges->next == v1->edges); + } + c1 = v1; + return false; + } + Vertex* v1n = v1->next; + v1p->next = v1n; + v1n->prev = v1p; + if (v1 == h1.minXy) + { + if ((v1n->point.x < v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y < v1p->point.y))) + { + h1.minXy = v1n; + } + else + { + h1.minXy = v1p; + } + } + if (v1 == h1.maxXy) + { + if ((v1n->point.x > v1p->point.x) || ((v1n->point.x == v1p->point.x) && (v1n->point.y > v1p->point.y))) + { + h1.maxXy = v1n; + } + else + { + h1.maxXy = v1p; + } + } + } + + v0 = h0.maxXy; + v1 = h1.maxXy; + Vertex* v00 = NULL; + Vertex* v10 = NULL; + int32_t sign = 1; + + for (int side = 0; side <= 1; side++) + { + int32_t dx = (v1->point.x - v0->point.x) * sign; + if (dx > 0) + { + while (true) + { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w0 = side ? v0->next : v0->prev; + if (w0 != v0) + { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + if ((dy0 <= 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx <= dy * dx0)))) + { + v0 = w0; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w1 = side ? v1->next : v1->prev; + if (w1 != v1) + { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + int32_t dxn = (w1->point.x - v0->point.x) * sign; + if ((dxn > 0) && (dy1 < 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx < dy * dx1)))) + { + v1 = w1; + dx = dxn; + continue; + } + } + + break; + } + } + else if (dx < 0) + { + while (true) + { + int32_t dy = v1->point.y - v0->point.y; + + Vertex* w1 = side ? v1->prev : v1->next; + if (w1 != v1) + { + int32_t dx1 = (w1->point.x - v1->point.x) * sign; + int32_t dy1 = w1->point.y - v1->point.y; + if ((dy1 >= 0) && ((dx1 == 0) || ((dx1 < 0) && (dy1 * dx <= dy * dx1)))) + { + v1 = w1; + dx = (v1->point.x - v0->point.x) * sign; + continue; + } + } + + Vertex* w0 = side ? v0->prev : v0->next; + if (w0 != v0) + { + int32_t dx0 = (w0->point.x - v0->point.x) * sign; + int32_t dy0 = w0->point.y - v0->point.y; + int32_t dxn = (v1->point.x - w0->point.x) * sign; + if ((dxn < 0) && (dy0 > 0) && ((dx0 == 0) || ((dx0 < 0) && (dy0 * dx < dy * dx0)))) + { + v0 = w0; + dx = dxn; + continue; + } + } + + break; + } + } + else + { + int32_t x = v0->point.x; + int32_t y0 = v0->point.y; + Vertex* w0 = v0; + Vertex* t; + while (((t = side ? w0->next : w0->prev) != v0) && (t->point.x == x) && (t->point.y <= y0)) + { + w0 = t; + y0 = t->point.y; + } + v0 = w0; + + int32_t y1 = v1->point.y; + Vertex* w1 = v1; + while (((t = side ? w1->prev : w1->next) != v1) && (t->point.x == x) && (t->point.y >= y1)) + { + w1 = t; + y1 = t->point.y; + } + v1 = w1; + } + + if (side == 0) + { + v00 = v0; + v10 = v1; + + v0 = h0.minXy; + v1 = h1.minXy; + sign = -1; + } + } + + v0->prev = v1; + v1->next = v0; + + v00->next = v10; + v10->prev = v00; + + if (h1.minXy->point.x < h0.minXy->point.x) + { + h0.minXy = h1.minXy; + } + if (h1.maxXy->point.x >= h0.maxXy->point.x) + { + h0.maxXy = h1.maxXy; + } + + h0.maxYx = h1.maxYx; + + c0 = v00; + c1 = v10; + + return true; +} + +void btConvexHullInternal::computeInternal(int start, int end, IntermediateHull& result) +{ + int n = end - start; + switch (n) + { + case 0: + result.minXy = NULL; + result.maxXy = NULL; + result.minYx = NULL; + result.maxYx = NULL; + return; + case 2: + { + Vertex* v = originalVertices[start]; + Vertex* w = v + 1; + if (v->point != w->point) + { + int32_t dx = v->point.x - w->point.x; + int32_t dy = v->point.y - w->point.y; + + if ((dx == 0) && (dy == 0)) + { + if (v->point.z > w->point.z) + { + Vertex* t = w; + w = v; + v = t; + } + btAssert(v->point.z < w->point.z); + v->next = v; + v->prev = v; + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + } + else + { + v->next = w; + v->prev = w; + w->next = v; + w->prev = v; + + if ((dx < 0) || ((dx == 0) && (dy < 0))) + { + result.minXy = v; + result.maxXy = w; + } + else + { + result.minXy = w; + result.maxXy = v; + } + + if ((dy < 0) || ((dy == 0) && (dx < 0))) + { + result.minYx = v; + result.maxYx = w; + } + else + { + result.minYx = w; + result.maxYx = v; + } + } + + Edge* e = newEdgePair(v, w); + e->link(e); + v->edges = e; + + e = e->reverse; + e->link(e); + w->edges = e; + + return; + } + } + // lint -fallthrough + case 1: + { + Vertex* v = originalVertices[start]; + v->edges = NULL; + v->next = v; + v->prev = v; + + result.minXy = v; + result.maxXy = v; + result.minYx = v; + result.maxYx = v; + + return; + } + } + + int split0 = start + n / 2; + Point32 p = originalVertices[split0-1]->point; + int split1 = split0; + while ((split1 < end) && (originalVertices[split1]->point == p)) + { + split1++; + } + computeInternal(start, split0, result); + IntermediateHull hull1; + computeInternal(split1, end, hull1); +#ifdef DEBUG_CONVEX_HULL + printf("\n\nMerge\n"); + result.print(); + hull1.print(); +#endif + merge(result, hull1); +#ifdef DEBUG_CONVEX_HULL + printf("\n Result\n"); + result.print(); +#endif +} + +#ifdef DEBUG_CONVEX_HULL +void btConvexHullInternal::IntermediateHull::print() +{ + printf(" Hull\n"); + for (Vertex* v = minXy; v; ) + { + printf(" "); + v->print(); + if (v == maxXy) + { + printf(" maxXy"); + } + if (v == minYx) + { + printf(" minYx"); + } + if (v == maxYx) + { + printf(" maxYx"); + } + if (v->next->prev != v) + { + printf(" Inconsistency"); + } + printf("\n"); + v = v->next; + if (v == minXy) + { + break; + } + } + if (minXy) + { + minXy->copy = (minXy->copy == -1) ? -2 : -1; + minXy->printGraph(); + } +} + +void btConvexHullInternal::Vertex::printGraph() +{ + print(); + printf("\nEdges\n"); + Edge* e = edges; + if (e) + { + do + { + e->print(); + printf("\n"); + e = e->next; + } while (e != edges); + do + { + Vertex* v = e->target; + if (v->copy != copy) + { + v->copy = copy; + v->printGraph(); + } + e = e->next; + } while (e != edges); + } +} +#endif + +btConvexHullInternal::Orientation btConvexHullInternal::getOrientation(const Edge* prev, const Edge* next, const Point32& s, const Point32& t) +{ + btAssert(prev->reverse->target == next->reverse->target); + if (prev->next == next) + { + if (prev->prev == next) + { + Point64 n = t.cross(s); + Point64 m = (*prev->target - *next->reverse->target).cross(*next->target - *next->reverse->target); + btAssert(!m.isZero()); + int64_t dot = n.dot(m); + btAssert(dot != 0); + return (dot > 0) ? COUNTER_CLOCKWISE : CLOCKWISE; + } + return COUNTER_CLOCKWISE; + } + else if (prev->prev == next) + { + return CLOCKWISE; + } + else + { + return NONE; + } +} + +btConvexHullInternal::Edge* btConvexHullInternal::findMaxAngle(bool ccw, const Vertex* start, const Point32& s, const Point64& rxs, const Point64& sxrxs, Rational64& minCot) +{ + Edge* minEdge = NULL; + +#ifdef DEBUG_CONVEX_HULL + printf("find max edge for %d\n", start->point.index); +#endif + Edge* e = start->edges; + if (e) + { + do + { + if (e->copy > mergeStamp) + { + Point32 t = *e->target - *start; + Rational64 cot(t.dot(sxrxs), t.dot(rxs)); +#ifdef DEBUG_CONVEX_HULL + printf(" Angle is %f (%d) for ", (float) btAtan(cot.toScalar()), (int) cot.isNaN()); + e->print(); +#endif + if (cot.isNaN()) + { + btAssert(ccw ? (t.dot(s) < 0) : (t.dot(s) > 0)); + } + else + { + int cmp; + if (minEdge == NULL) + { + minCot = cot; + minEdge = e; + } + else if ((cmp = cot.compare(minCot)) < 0) + { + minCot = cot; + minEdge = e; + } + else if ((cmp == 0) && (ccw == (getOrientation(minEdge, e, s, t) == COUNTER_CLOCKWISE))) + { + minEdge = e; + } + } +#ifdef DEBUG_CONVEX_HULL + printf("\n"); +#endif + } + e = e->next; + } while (e != start->edges); + } + return minEdge; +} + +void btConvexHullInternal::findEdgeForCoplanarFaces(Vertex* c0, Vertex* c1, Edge*& e0, Edge*& e1, Vertex* stop0, Vertex* stop1) +{ + Edge* start0 = e0; + Edge* start1 = e1; + Point32 et0 = start0 ? start0->target->point : c0->point; + Point32 et1 = start1 ? start1->target->point : c1->point; + Point32 s = c1->point - c0->point; + Point64 normal = ((start0 ? start0 : start1)->target->point - c0->point).cross(s); + int64_t dist = c0->point.dot(normal); + btAssert(!start1 || (start1->target->point.dot(normal) == dist)); + Point64 perp = s.cross(normal); + btAssert(!perp.isZero()); + +#ifdef DEBUG_CONVEX_HULL + printf(" Advancing %d %d (%p %p, %d %d)\n", c0->point.index, c1->point.index, start0, start1, start0 ? start0->target->point.index : -1, start1 ? start1->target->point.index : -1); +#endif + + int64_t maxDot0 = et0.dot(perp); + if (e0) + { + while (e0->target != stop0) + { + Edge* e = e0->reverse->prev; + if (e->target->point.dot(normal) < dist) + { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) + { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot0) + { + break; + } + maxDot0 = dot; + e0 = e; + et0 = e->target->point; + } + } + + int64_t maxDot1 = et1.dot(perp); + if (e1) + { + while (e1->target != stop1) + { + Edge* e = e1->reverse->next; + if (e->target->point.dot(normal) < dist) + { + break; + } + btAssert(e->target->point.dot(normal) == dist); + if (e->copy == mergeStamp) + { + break; + } + int64_t dot = e->target->point.dot(perp); + if (dot <= maxDot1) + { + break; + } + maxDot1 = dot; + e1 = e; + et1 = e->target->point; + } + } + +#ifdef DEBUG_CONVEX_HULL + printf(" Starting at %d %d\n", et0.index, et1.index); +#endif + + int64_t dx = maxDot1 - maxDot0; + if (dx > 0) + { + while (true) + { + int64_t dy = (et1 - et0).dot(s); + + if (e0 && (e0->target != stop0)) + { + Edge* f0 = e0->next->reverse; + if (f0->copy > mergeStamp) + { + int64_t dx0 = (f0->target->point - et0).dot(perp); + int64_t dy0 = (f0->target->point - et0).dot(s); + if ((dx0 == 0) ? (dy0 < 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) >= 0))) + { + et0 = f0->target->point; + dx = (et1 - et0).dot(perp); + e0 = (e0 == start0) ? NULL : f0; + continue; + } + } + } + + if (e1 && (e1->target != stop1)) + { + Edge* f1 = e1->reverse->next; + if (f1->copy > mergeStamp) + { + Point32 d1 = f1->target->point - et1; + if (d1.dot(normal) == 0) + { + int64_t dx1 = d1.dot(perp); + int64_t dy1 = d1.dot(s); + int64_t dxn = (f1->target->point - et0).dot(perp); + if ((dxn > 0) && ((dx1 == 0) ? (dy1 < 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) > 0)))) + { + e1 = f1; + et1 = e1->target->point; + dx = dxn; + continue; + } + } + else + { + btAssert((e1 == start1) && (d1.dot(normal) < 0)); + } + } + } + + break; + } + } + else if (dx < 0) + { + while (true) + { + int64_t dy = (et1 - et0).dot(s); + + if (e1 && (e1->target != stop1)) + { + Edge* f1 = e1->prev->reverse; + if (f1->copy > mergeStamp) + { + int64_t dx1 = (f1->target->point - et1).dot(perp); + int64_t dy1 = (f1->target->point - et1).dot(s); + if ((dx1 == 0) ? (dy1 > 0) : ((dx1 < 0) && (Rational64(dy1, dx1).compare(Rational64(dy, dx)) <= 0))) + { + et1 = f1->target->point; + dx = (et1 - et0).dot(perp); + e1 = (e1 == start1) ? NULL : f1; + continue; + } + } + } + + if (e0 && (e0->target != stop0)) + { + Edge* f0 = e0->reverse->prev; + if (f0->copy > mergeStamp) + { + Point32 d0 = f0->target->point - et0; + if (d0.dot(normal) == 0) + { + int64_t dx0 = d0.dot(perp); + int64_t dy0 = d0.dot(s); + int64_t dxn = (et1 - f0->target->point).dot(perp); + if ((dxn < 0) && ((dx0 == 0) ? (dy0 > 0) : ((dx0 < 0) && (Rational64(dy0, dx0).compare(Rational64(dy, dx)) < 0)))) + { + e0 = f0; + et0 = e0->target->point; + dx = dxn; + continue; + } + } + else + { + btAssert((e0 == start0) && (d0.dot(normal) < 0)); + } + } + } + + break; + } + } +#ifdef DEBUG_CONVEX_HULL + printf(" Advanced edges to %d %d\n", et0.index, et1.index); +#endif +} + + +void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1) +{ + if (!h1.maxXy) + { + return; + } + if (!h0.maxXy) + { + h0 = h1; + return; + } + + mergeStamp--; + + Vertex* c0 = NULL; + Edge* toPrev0 = NULL; + Edge* firstNew0 = NULL; + Edge* pendingHead0 = NULL; + Edge* pendingTail0 = NULL; + Vertex* c1 = NULL; + Edge* toPrev1 = NULL; + Edge* firstNew1 = NULL; + Edge* pendingHead1 = NULL; + Edge* pendingTail1 = NULL; + Point32 prevPoint; + + if (mergeProjection(h0, h1, c0, c1)) + { + Point32 s = *c1 - *c0; + Point64 normal = Point32(0, 0, -1).cross(s); + Point64 t = s.cross(normal); + btAssert(!t.isZero()); + + Edge* e = c0->edges; + Edge* start0 = NULL; + if (e) + { + do + { + int64_t dot = (*e->target - *c0).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c0).dot(t) > 0)) + { + if (!start0 || (getOrientation(start0, e, s, Point32(0, 0, -1)) == CLOCKWISE)) + { + start0 = e; + } + } + e = e->next; + } while (e != c0->edges); + } + + e = c1->edges; + Edge* start1 = NULL; + if (e) + { + do + { + int64_t dot = (*e->target - *c1).dot(normal); + btAssert(dot <= 0); + if ((dot == 0) && ((*e->target - *c1).dot(t) > 0)) + { + if (!start1 || (getOrientation(start1, e, s, Point32(0, 0, -1)) == COUNTER_CLOCKWISE)) + { + start1 = e; + } + } + e = e->next; + } while (e != c1->edges); + } + + if (start0 || start1) + { + findEdgeForCoplanarFaces(c0, c1, start0, start1, NULL, NULL); + if (start0) + { + c0 = start0->target; + } + if (start1) + { + c1 = start1->target; + } + } + + prevPoint = c1->point; + prevPoint.z++; + } + else + { + prevPoint = c1->point; + prevPoint.x++; + } + + Vertex* first0 = c0; + Vertex* first1 = c1; + bool firstRun = true; + + while (true) + { + Point32 s = *c1 - *c0; + Point32 r = prevPoint - c0->point; + Point64 rxs = r.cross(s); + Point64 sxrxs = s.cross(rxs); + +#ifdef DEBUG_CONVEX_HULL + printf("\n Checking %d %d\n", c0->point.index, c1->point.index); +#endif + Rational64 minCot0(0, 0); + Edge* min0 = findMaxAngle(false, c0, s, rxs, sxrxs, minCot0); + Rational64 minCot1(0, 0); + Edge* min1 = findMaxAngle(true, c1, s, rxs, sxrxs, minCot1); + if (!min0 && !min1) + { + Edge* e = newEdgePair(c0, c1); + e->link(e); + c0->edges = e; + + e = e->reverse; + e->link(e); + c1->edges = e; + return; + } + else + { + int cmp = !min0 ? 1 : !min1 ? -1 : minCot0.compare(minCot1); +#ifdef DEBUG_CONVEX_HULL + printf(" -> Result %d\n", cmp); +#endif + if (firstRun || ((cmp >= 0) ? !minCot1.isNegativeInfinity() : !minCot0.isNegativeInfinity())) + { + Edge* e = newEdgePair(c0, c1); + if (pendingTail0) + { + pendingTail0->prev = e; + } + else + { + pendingHead0 = e; + } + e->next = pendingTail0; + pendingTail0 = e; + + e = e->reverse; + if (pendingTail1) + { + pendingTail1->next = e; + } + else + { + pendingHead1 = e; + } + e->prev = pendingTail1; + pendingTail1 = e; + } + + Edge* e0 = min0; + Edge* e1 = min1; + +#ifdef DEBUG_CONVEX_HULL + printf(" Found min edges to %d %d\n", e0 ? e0->target->point.index : -1, e1 ? e1->target->point.index : -1); +#endif + + if (cmp == 0) + { + findEdgeForCoplanarFaces(c0, c1, e0, e1, NULL, NULL); + } + + if ((cmp >= 0) && e1) + { + if (toPrev1) + { + for (Edge* e = toPrev1->next, *n = NULL; e != min1; e = n) + { + n = e->next; + removeEdgePair(e); + } + } + + if (pendingTail1) + { + if (toPrev1) + { + toPrev1->link(pendingHead1); + } + else + { + min1->prev->link(pendingHead1); + firstNew1 = pendingHead1; + } + pendingTail1->link(min1); + pendingHead1 = NULL; + pendingTail1 = NULL; + } + else if (!toPrev1) + { + firstNew1 = min1; + } + + prevPoint = c1->point; + c1 = e1->target; + toPrev1 = e1->reverse; + } + + if ((cmp <= 0) && e0) + { + if (toPrev0) + { + for (Edge* e = toPrev0->prev, *n = NULL; e != min0; e = n) + { + n = e->prev; + removeEdgePair(e); + } + } + + if (pendingTail0) + { + if (toPrev0) + { + pendingHead0->link(toPrev0); + } + else + { + pendingHead0->link(min0->next); + firstNew0 = pendingHead0; + } + min0->link(pendingTail0); + pendingHead0 = NULL; + pendingTail0 = NULL; + } + else if (!toPrev0) + { + firstNew0 = min0; + } + + prevPoint = c0->point; + c0 = e0->target; + toPrev0 = e0->reverse; + } + } + + if ((c0 == first0) && (c1 == first1)) + { + if (toPrev0 == NULL) + { + pendingHead0->link(pendingTail0); + c0->edges = pendingTail0; + } + else + { + for (Edge* e = toPrev0->prev, *n = NULL; e != firstNew0; e = n) + { + n = e->prev; + removeEdgePair(e); + } + if (pendingTail0) + { + pendingHead0->link(toPrev0); + firstNew0->link(pendingTail0); + } + } + + if (toPrev1 == NULL) + { + pendingTail1->link(pendingHead1); + c1->edges = pendingTail1; + } + else + { + for (Edge* e = toPrev1->next, *n = NULL; e != firstNew1; e = n) + { + n = e->next; + removeEdgePair(e); + } + if (pendingTail1) + { + toPrev1->link(pendingHead1); + pendingTail1->link(firstNew1); + } + } + + return; + } + + firstRun = false; + } +} + +class pointCmp +{ + public: + + bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const + { + return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); + } +}; + +void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count) +{ + btVector3 min(btScalar(1e30), btScalar(1e30), btScalar(1e30)), max(btScalar(-1e30), btScalar(-1e30), btScalar(-1e30)); + const char* ptr = (const char*) coords; + if (doubleCoords) + { + for (int i = 0; i < count; i++) + { + const double* v = (const double*) ptr; + btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + else + { + for (int i = 0; i < count; i++) + { + const float* v = (const float*) ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + min.setMin(p); + max.setMax(p); + } + } + + btVector3 s = max - min; + maxAxis = s.maxAxis(); + minAxis = s.minAxis(); + if (minAxis == maxAxis) + { + minAxis = (maxAxis + 1) % 3; + } + medAxis = 3 - maxAxis - minAxis; + + s /= btScalar(10216); + if (((medAxis + 1) % 3) != maxAxis) + { + s *= -1; + } + scaling = s; + + if (s[0] != 0) + { + s[0] = btScalar(1) / s[0]; + } + if (s[1] != 0) + { + s[1] = btScalar(1) / s[1]; + } + if (s[2] != 0) + { + s[2] = btScalar(1) / s[2]; + } + + center = (min + max) * btScalar(0.5); + + btAlignedObjectArray points; + points.resize(count); + ptr = (const char*) coords; + if (doubleCoords) + { + for (int i = 0; i < count; i++) + { + const double* v = (const double*) ptr; + btVector3 p((btScalar) v[0], (btScalar) v[1], (btScalar) v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t) p[medAxis]; + points[i].y = (int32_t) p[maxAxis]; + points[i].z = (int32_t) p[minAxis]; + points[i].index = i; + } + } + else + { + for (int i = 0; i < count; i++) + { + const float* v = (const float*) ptr; + btVector3 p(v[0], v[1], v[2]); + ptr += stride; + p = (p - center) * s; + points[i].x = (int32_t) p[medAxis]; + points[i].y = (int32_t) p[maxAxis]; + points[i].z = (int32_t) p[minAxis]; + points[i].index = i; + } + } + points.quickSort(pointCmp()); + + vertexPool.reset(); + vertexPool.setArraySize(count); + originalVertices.resize(count); + for (int i = 0; i < count; i++) + { + Vertex* v = vertexPool.newObject(); + v->edges = NULL; + v->point = points[i]; + v->copy = -1; + originalVertices[i] = v; + } + + points.clear(); + + edgePool.reset(); + edgePool.setArraySize(6 * count); + + usedEdgePairs = 0; + maxUsedEdgePairs = 0; + + mergeStamp = -3; + + IntermediateHull hull; + computeInternal(0, count, hull); + vertexList = hull.minXy; +#ifdef DEBUG_CONVEX_HULL + printf("max. edges %d (3v = %d)", maxUsedEdgePairs, 3 * count); +#endif +} + +btVector3 btConvexHullInternal::toBtVector(const Point32& v) +{ + btVector3 p; + p[medAxis] = btScalar(v.x); + p[maxAxis] = btScalar(v.y); + p[minAxis] = btScalar(v.z); + return p * scaling; +} + +btVector3 btConvexHullInternal::getBtNormal(Face* face) +{ + return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized(); +} + +btVector3 btConvexHullInternal::getCoordinates(const Vertex* v) +{ + btVector3 p; + p[medAxis] = v->xvalue(); + p[maxAxis] = v->yvalue(); + p[minAxis] = v->zvalue(); + return p * scaling + center; +} + +btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount) +{ + if (!vertexList) + { + return 0; + } + int stamp = --mergeStamp; + btAlignedObjectArray stack; + vertexList->copy = stamp; + stack.push_back(vertexList); + btAlignedObjectArray faces; + + Point32 ref = vertexList->point; + Int128 hullCenterX(0, 0); + Int128 hullCenterY(0, 0); + Int128 hullCenterZ(0, 0); + Int128 volume(0, 0); + + while (stack.size() > 0) + { + Vertex* v = stack[stack.size() - 1]; + stack.pop_back(); + Edge* e = v->edges; + if (e) + { + do + { + if (e->target->copy != stamp) + { + e->target->copy = stamp; + stack.push_back(e->target); + } + if (e->copy != stamp) + { + Face* face = facePool.newObject(); + face->init(e->target, e->reverse->prev->target, v); + faces.push_back(face); + Edge* f = e; + + Vertex* a = NULL; + Vertex* b = NULL; + do + { + if (a && b) + { + int64_t vol = (v->point - ref).dot((a->point - ref).cross(b->point - ref)); + btAssert(vol >= 0); + Point32 c = v->point + a->point + b->point + ref; + hullCenterX += vol * c.x; + hullCenterY += vol * c.y; + hullCenterZ += vol * c.z; + volume += vol; + } + + btAssert(f->copy != stamp); + f->copy = stamp; + f->face = face; + + a = b; + b = f->target; + + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != v->edges); + } + } + + if (volume.getSign() <= 0) + { + return 0; + } + + btVector3 hullCenter; + hullCenter[medAxis] = hullCenterX.toScalar(); + hullCenter[maxAxis] = hullCenterY.toScalar(); + hullCenter[minAxis] = hullCenterZ.toScalar(); + hullCenter /= 4 * volume.toScalar(); + hullCenter *= scaling; + + int faceCount = faces.size(); + + if (clampAmount > 0) + { + btScalar minDist = SIMD_INFINITY; + for (int i = 0; i < faceCount; i++) + { + btVector3 normal = getBtNormal(faces[i]); + btScalar dist = normal.dot(toBtVector(faces[i]->origin) - hullCenter); + if (dist < minDist) + { + minDist = dist; + } + } + + if (minDist <= 0) + { + return 0; + } + + amount = btMin(amount, minDist * clampAmount); + } + + unsigned int seed = 243703; + for (int i = 0; i < faceCount; i++, seed = 1664525 * seed + 1013904223) + { + btSwap(faces[i], faces[seed % faceCount]); + } + + for (int i = 0; i < faceCount; i++) + { + if (!shiftFace(faces[i], amount, stack)) + { + return -amount; + } + } + + return amount; +} + +bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray stack) +{ + btVector3 origShift = getBtNormal(face) * -amount; + if (scaling[0] != 0) + { + origShift[0] /= scaling[0]; + } + if (scaling[1] != 0) + { + origShift[1] /= scaling[1]; + } + if (scaling[2] != 0) + { + origShift[2] /= scaling[2]; + } + Point32 shift((int32_t) origShift[medAxis], (int32_t) origShift[maxAxis], (int32_t) origShift[minAxis]); + if (shift.isZero()) + { + return true; + } + Point64 normal = face->getNormal(); +#ifdef DEBUG_CONVEX_HULL + printf("\nShrinking face (%d %d %d) (%d %d %d) (%d %d %d) by (%d %d %d)\n", + face->origin.x, face->origin.y, face->origin.z, face->dir0.x, face->dir0.y, face->dir0.z, face->dir1.x, face->dir1.y, face->dir1.z, shift.x, shift.y, shift.z); +#endif + int64_t origDot = face->origin.dot(normal); + Point32 shiftedOrigin = face->origin + shift; + int64_t shiftedDot = shiftedOrigin.dot(normal); + btAssert(shiftedDot <= origDot); + if (shiftedDot >= origDot) + { + return false; + } + + Edge* intersection = NULL; + + Edge* startEdge = face->nearbyVertex->edges; +#ifdef DEBUG_CONVEX_HULL + printf("Start edge is "); + startEdge->print(); + printf(", normal is (%lld %lld %lld), shifted dot is %lld\n", normal.x, normal.y, normal.z, shiftedDot); +#endif + Rational128 optDot = face->nearbyVertex->dot(normal); + int cmp = optDot.compare(shiftedDot); +#ifdef SHOW_ITERATIONS + int n = 0; +#endif + if (cmp >= 0) + { + Edge* e = startEdge; + do + { +#ifdef SHOW_ITERATIONS + n++; +#endif + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); +#ifdef DEBUG_CONVEX_HULL + printf("Moving downwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); +#endif + if (dot.compare(optDot) < 0) + { + int c = dot.compare(shiftedDot); + optDot = dot; + e = e->reverse; + startEdge = e; + if (c < 0) + { + intersection = e; + break; + } + cmp = c; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) + { + return false; + } + } + else + { + Edge* e = startEdge; + do + { +#ifdef SHOW_ITERATIONS + n++; +#endif + Rational128 dot = e->target->dot(normal); + btAssert(dot.compare(origDot) <= 0); +#ifdef DEBUG_CONVEX_HULL + printf("Moving upwards, edge is "); + e->print(); + printf(", dot is %f (%f %lld)\n", (float) dot.toScalar(), (float) optDot.toScalar(), shiftedDot); +#endif + if (dot.compare(optDot) > 0) + { + cmp = dot.compare(shiftedDot); + if (cmp >= 0) + { + intersection = e; + break; + } + optDot = dot; + e = e->reverse; + startEdge = e; + } + e = e->prev; + } while (e != startEdge); + + if (!intersection) + { + return true; + } + } + +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to find initial intersection\n", n); +#endif + + if (cmp == 0) + { + Edge* e = intersection->reverse->next; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (e->target->dot(normal).compare(shiftedDot) <= 0) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + e = e->next; + if (e == intersection->reverse) + { + return true; + } +#ifdef DEBUG_CONVEX_HULL + printf("Checking for outwards edge, current edge is "); + e->print(); + printf("\n"); +#endif + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to check for complete containment\n", n); +#endif + } + + Edge* firstIntersection = NULL; + Edge* faceEdge = NULL; + Edge* firstFaceEdge = NULL; + +#ifdef SHOW_ITERATIONS + int m = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + m++; +#endif +#ifdef DEBUG_CONVEX_HULL + printf("Intersecting edge is "); + intersection->print(); + printf("\n"); +#endif + if (cmp == 0) + { + Edge* e = intersection->reverse->next; + startEdge = e; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + if (e->target->dot(normal).compare(shiftedDot) >= 0) + { + break; + } + intersection = e->reverse; + e = e->next; + if (e == startEdge) + { + return true; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to advance intersection\n", n); +#endif + } + +#ifdef DEBUG_CONVEX_HULL + printf("Advanced intersecting edge to "); + intersection->print(); + printf(", cmp = %d\n", cmp); +#endif + + if (!firstIntersection) + { + firstIntersection = intersection; + } + else if (intersection == firstIntersection) + { + break; + } + + int prevCmp = cmp; + Edge* prevIntersection = intersection; + Edge* prevFaceEdge = faceEdge; + + Edge* e = intersection->reverse; +#ifdef SHOW_ITERATIONS + n = 0; +#endif + while (true) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + e = e->reverse->prev; + btAssert(e != intersection->reverse); + cmp = e->target->dot(normal).compare(shiftedDot); +#ifdef DEBUG_CONVEX_HULL + printf("Testing edge "); + e->print(); + printf(" -> cmp = %d\n", cmp); +#endif + if (cmp >= 0) + { + intersection = e; + break; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to find other intersection of face\n", n); +#endif + + if (cmp > 0) + { + Vertex* removed = intersection->target; + e = intersection->reverse; + if (e->prev == e) + { + removed->edges = NULL; + } + else + { + removed->edges = e->prev; + e->prev->link(e->next); + e->link(e); + } +#ifdef DEBUG_CONVEX_HULL + printf("1: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + + Point64 n0 = intersection->face->getNormal(); + Point64 n1 = intersection->reverse->face->getNormal(); + int64_t m00 = face->dir0.dot(n0); + int64_t m01 = face->dir1.dot(n0); + int64_t m10 = face->dir0.dot(n1); + int64_t m11 = face->dir1.dot(n1); + int64_t r0 = (intersection->face->origin - shiftedOrigin).dot(n0); + int64_t r1 = (intersection->reverse->face->origin - shiftedOrigin).dot(n1); + Int128 det = Int128::mul(m00, m11) - Int128::mul(m01, m10); + btAssert(det.getSign() != 0); + Vertex* v = vertexPool.newObject(); + v->point.index = -1; + v->copy = -1; + v->point128 = PointR128(Int128::mul(face->dir0.x * r0, m11) - Int128::mul(face->dir0.x * r1, m01) + + Int128::mul(face->dir1.x * r1, m00) - Int128::mul(face->dir1.x * r0, m10) + det * shiftedOrigin.x, + Int128::mul(face->dir0.y * r0, m11) - Int128::mul(face->dir0.y * r1, m01) + + Int128::mul(face->dir1.y * r1, m00) - Int128::mul(face->dir1.y * r0, m10) + det * shiftedOrigin.y, + Int128::mul(face->dir0.z * r0, m11) - Int128::mul(face->dir0.z * r1, m01) + + Int128::mul(face->dir1.z * r1, m00) - Int128::mul(face->dir1.z * r0, m10) + det * shiftedOrigin.z, + det); + v->point.x = (int32_t) v->point128.xvalue(); + v->point.y = (int32_t) v->point128.yvalue(); + v->point.z = (int32_t) v->point128.zvalue(); + intersection->target = v; + v->edges = e; + + stack.push_back(v); + stack.push_back(removed); + stack.push_back(NULL); + } + + if (cmp || prevCmp || (prevIntersection->reverse->next->target != intersection->target)) + { + faceEdge = newEdgePair(prevIntersection->target, intersection->target); + if (prevCmp == 0) + { + faceEdge->link(prevIntersection->reverse->next); + } + if ((prevCmp == 0) || prevFaceEdge) + { + prevIntersection->reverse->link(faceEdge); + } + if (cmp == 0) + { + intersection->reverse->prev->link(faceEdge->reverse); + } + faceEdge->reverse->link(intersection->reverse); + } + else + { + faceEdge = prevIntersection->reverse->next; + } + + if (prevFaceEdge) + { + if (prevCmp > 0) + { + faceEdge->link(prevFaceEdge->reverse); + } + else if (faceEdge != prevFaceEdge->reverse) + { + stack.push_back(prevFaceEdge->target); + while (faceEdge->next != prevFaceEdge->reverse) + { + Vertex* removed = faceEdge->next->target; + removeEdgePair(faceEdge->next); + stack.push_back(removed); +#ifdef DEBUG_CONVEX_HULL + printf("2: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + } + stack.push_back(NULL); + } + } + faceEdge->face = face; + faceEdge->reverse->face = intersection->face; + + if (!firstFaceEdge) + { + firstFaceEdge = faceEdge; + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to process all intersections\n", m); +#endif + + if (cmp > 0) + { + firstFaceEdge->reverse->target = faceEdge->target; + firstIntersection->reverse->link(firstFaceEdge); + firstFaceEdge->link(faceEdge->reverse); + } + else if (firstFaceEdge != faceEdge->reverse) + { + stack.push_back(faceEdge->target); + while (firstFaceEdge->next != faceEdge->reverse) + { + Vertex* removed = firstFaceEdge->next->target; + removeEdgePair(firstFaceEdge->next); + stack.push_back(removed); +#ifdef DEBUG_CONVEX_HULL + printf("3: Removed part contains (%d %d %d)\n", removed->point.x, removed->point.y, removed->point.z); +#endif + } + stack.push_back(NULL); + } + + btAssert(stack.size() > 0); + vertexList = stack[0]; + +#ifdef DEBUG_CONVEX_HULL + printf("Removing part\n"); +#endif +#ifdef SHOW_ITERATIONS + n = 0; +#endif + int pos = 0; + while (pos < stack.size()) + { + int end = stack.size(); + while (pos < end) + { + Vertex* kept = stack[pos++]; +#ifdef DEBUG_CONVEX_HULL + kept->print(); +#endif + bool deeper = false; + Vertex* removed; + while ((removed = stack[pos++]) != NULL) + { +#ifdef SHOW_ITERATIONS + n++; +#endif + kept->receiveNearbyFaces(removed); + while (removed->edges) + { + if (!deeper) + { + deeper = true; + stack.push_back(kept); + } + stack.push_back(removed->edges->target); + removeEdgePair(removed->edges); + } + } + if (deeper) + { + stack.push_back(NULL); + } + } + } +#ifdef SHOW_ITERATIONS + printf("Needed %d iterations to remove part\n", n); +#endif + + stack.resize(0); + face->origin = shiftedOrigin; + + return true; +} + + +static int getVertexCopy(btConvexHullInternal::Vertex* vertex, btAlignedObjectArray& vertices) +{ + int index = vertex->copy; + if (index < 0) + { + index = vertices.size(); + vertex->copy = index; + vertices.push_back(vertex); +#ifdef DEBUG_CONVEX_HULL + printf("Vertex %d gets index *%d\n", vertex->point.index, index); +#endif + } + return index; +} + +btScalar btConvexHullComputer::compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp) +{ + if (count <= 0) + { + vertices.clear(); + edges.clear(); + faces.clear(); + return 0; + } + + btConvexHullInternal hull; + hull.compute(coords, doubleCoords, stride, count); + + btScalar shift = 0; + if ((shrink > 0) && ((shift = hull.shrink(shrink, shrinkClamp)) < 0)) + { + vertices.clear(); + edges.clear(); + faces.clear(); + return shift; + } + + vertices.resize(0); + edges.resize(0); + faces.resize(0); + + btAlignedObjectArray oldVertices; + getVertexCopy(hull.vertexList, oldVertices); + int copied = 0; + while (copied < oldVertices.size()) + { + btConvexHullInternal::Vertex* v = oldVertices[copied]; + vertices.push_back(hull.getCoordinates(v)); + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) + { + int firstCopy = -1; + int prevCopy = -1; + btConvexHullInternal::Edge* e = firstEdge; + do + { + if (e->copy < 0) + { + int s = edges.size(); + edges.push_back(Edge()); + edges.push_back(Edge()); + Edge* c = &edges[s]; + Edge* r = &edges[s + 1]; + e->copy = s; + e->reverse->copy = s + 1; + c->reverse = 1; + r->reverse = -1; + c->targetVertex = getVertexCopy(e->target, oldVertices); + r->targetVertex = copied; +#ifdef DEBUG_CONVEX_HULL + printf(" CREATE: Vertex *%d has edge to *%d\n", copied, c->getTargetVertex()); +#endif + } + if (prevCopy >= 0) + { + edges[e->copy].next = prevCopy - e->copy; + } + else + { + firstCopy = e->copy; + } + prevCopy = e->copy; + e = e->next; + } while (e != firstEdge); + edges[firstCopy].next = prevCopy - firstCopy; + } + copied++; + } + + for (int i = 0; i < copied; i++) + { + btConvexHullInternal::Vertex* v = oldVertices[i]; + btConvexHullInternal::Edge* firstEdge = v->edges; + if (firstEdge) + { + btConvexHullInternal::Edge* e = firstEdge; + do + { + if (e->copy >= 0) + { +#ifdef DEBUG_CONVEX_HULL + printf("Vertex *%d has edge to *%d\n", i, edges[e->copy].getTargetVertex()); +#endif + faces.push_back(e->copy); + btConvexHullInternal::Edge* f = e; + do + { +#ifdef DEBUG_CONVEX_HULL + printf(" Face *%d\n", edges[f->copy].getTargetVertex()); +#endif + f->copy = -1; + f = f->reverse->prev; + } while (f != e); + } + e = e->next; + } while (e != firstEdge); + } + } + + return shift; +} + + + + + diff --git a/Code/Physics/src/LinearMath/btConvexHullComputer.h b/Code/Physics/src/LinearMath/btConvexHullComputer.h new file mode 100644 index 00000000..7240ac4f --- /dev/null +++ b/Code/Physics/src/LinearMath/btConvexHullComputer.h @@ -0,0 +1,103 @@ +/* +Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net + +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 BT_CONVEX_HULL_COMPUTER_H +#define BT_CONVEX_HULL_COMPUTER_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +/// Convex hull implementation based on Preparata and Hong +/// See http://code.google.com/p/bullet/issues/detail?id=275 +/// Ole Kniemeyer, MAXON Computer GmbH +class btConvexHullComputer +{ + private: + btScalar compute(const void* coords, bool doubleCoords, int stride, int count, btScalar shrink, btScalar shrinkClamp); + + public: + + class Edge + { + private: + int next; + int reverse; + int targetVertex; + + friend class btConvexHullComputer; + + public: + int getSourceVertex() const + { + return (this + reverse)->targetVertex; + } + + int getTargetVertex() const + { + return targetVertex; + } + + const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex + { + return this + next; + } + + const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face + { + return (this + reverse)->getNextEdgeOfVertex(); + } + + const Edge* getReverseEdge() const + { + return this + reverse; + } + }; + + + // Vertices of the output hull + btAlignedObjectArray vertices; + + // Edges of the output hull + btAlignedObjectArray edges; + + // Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons + btAlignedObjectArray faces; + + /* + Compute convex hull of "count" vertices stored in "coords". "stride" is the difference in bytes + between the addresses of consecutive vertices. If "shrink" is positive, the convex hull is shrunken + by that amount (each face is moved by "shrink" length units towards the center along its normal). + If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" + is the minimum distance of a face to the center of the convex hull. + + The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large + that the resulting convex hull is empty. + + The output convex hull can be found in the member variables "vertices", "edges", "faces". + */ + btScalar compute(const float* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, false, stride, count, shrink, shrinkClamp); + } + + // same as above, but double precision + btScalar compute(const double* coords, int stride, int count, btScalar shrink, btScalar shrinkClamp) + { + return compute(coords, true, stride, count, shrink, shrinkClamp); + } +}; + + +#endif //BT_CONVEX_HULL_COMPUTER_H + diff --git a/Code/Physics/src/LinearMath/btDefaultMotionState.h b/Code/Physics/src/LinearMath/btDefaultMotionState.h new file mode 100644 index 00000000..c90b7492 --- /dev/null +++ b/Code/Physics/src/LinearMath/btDefaultMotionState.h @@ -0,0 +1,42 @@ +#ifndef BT_DEFAULT_MOTION_STATE_H +#define BT_DEFAULT_MOTION_STATE_H + +#include "btMotionState.h" + +///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets. +ATTRIBUTE_ALIGNED16(struct) btDefaultMotionState : public btMotionState +{ + btTransform m_graphicsWorldTrans; + btTransform m_centerOfMassOffset; + btTransform m_startWorldTrans; + void* m_userPointer; + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity()) + : m_graphicsWorldTrans(startTrans), + m_centerOfMassOffset(centerOfMassOffset), + m_startWorldTrans(startTrans), + m_userPointer(0) + + { + } + + ///synchronizes world transform from user to physics + virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const + { + centerOfMassWorldTrans = m_centerOfMassOffset.inverse() * m_graphicsWorldTrans ; + } + + ///synchronizes world transform from physics to user + ///Bullet only calls the update of worldtransform for active objects + virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans) + { + m_graphicsWorldTrans = centerOfMassWorldTrans * m_centerOfMassOffset ; + } + + + +}; + +#endif //BT_DEFAULT_MOTION_STATE_H diff --git a/Code/Physics/src/LinearMath/btGeometryUtil.cpp b/Code/Physics/src/LinearMath/btGeometryUtil.cpp new file mode 100644 index 00000000..5ac230f7 --- /dev/null +++ b/Code/Physics/src/LinearMath/btGeometryUtil.cpp @@ -0,0 +1,185 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + + +#include "btGeometryUtil.h" + + +/* + Make sure this dummy function never changes so that it + can be used by probes that are checking whether the + library is actually installed. +*/ +extern "C" +{ + void btBulletMathProbe (); + + void btBulletMathProbe () {} +} + + +bool btGeometryUtil::isPointInsidePlanes(const btAlignedObjectArray& planeEquations, const btVector3& point, btScalar margin) +{ + int numbrushes = planeEquations.size(); + for (int i=0;ibtScalar(0.)) + { + return false; + } + } + return true; + +} + + +bool btGeometryUtil::areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray& vertices, btScalar margin) +{ + int numvertices = vertices.size(); + for (int i=0;ibtScalar(0.)) + { + return false; + } + } + return true; +} + +bool notExist(const btVector3& planeEquation,const btAlignedObjectArray& planeEquations); + +bool notExist(const btVector3& planeEquation,const btAlignedObjectArray& planeEquations) +{ + int numbrushes = planeEquations.size(); + for (int i=0;i btScalar(0.999)) + { + return false; + } + } + return true; +} + +void btGeometryUtil::getPlaneEquationsFromVertices(btAlignedObjectArray& vertices, btAlignedObjectArray& planeEquationsOut ) +{ + const int numvertices = vertices.size(); + // brute force: + for (int i=0;i btScalar(0.0001)) + { + planeEquation.normalize(); + if (notExist(planeEquation,planeEquationsOut)) + { + planeEquation[3] = -planeEquation.dot(N1); + + //check if inside, and replace supportingVertexOut if needed + if (areVerticesBehindPlane(planeEquation,vertices,btScalar(0.01))) + { + planeEquationsOut.push_back(planeEquation); + } + } + } + normalSign = btScalar(-1.); + } + + } + } + } + +} + +void btGeometryUtil::getVerticesFromPlaneEquations(const btAlignedObjectArray& planeEquations , btAlignedObjectArray& verticesOut ) +{ + const int numbrushes = planeEquations.size(); + // brute force: + for (int i=0;i btScalar(0.0001) ) && + ( n3n1.length2() > btScalar(0.0001) ) && + ( n1n2.length2() > btScalar(0.0001) ) ) + { + //point P out of 3 plane equations: + + // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) + //P = ------------------------------------------------------------------------- + // N1 . ( N2 * N3 ) + + + btScalar quotient = (N1.dot(n2n3)); + if (btFabs(quotient) > btScalar(0.000001)) + { + quotient = btScalar(-1.) / quotient; + n2n3 *= N1[3]; + n3n1 *= N2[3]; + n1n2 *= N3[3]; + btVector3 potentialVertex = n2n3; + potentialVertex += n3n1; + potentialVertex += n1n2; + potentialVertex *= quotient; + + //check if inside, and replace supportingVertexOut if needed + if (isPointInsidePlanes(planeEquations,potentialVertex,btScalar(0.01))) + { + verticesOut.push_back(potentialVertex); + } + } + } + } + } + } +} + diff --git a/Code/Physics/src/LinearMath/btGeometryUtil.h b/Code/Physics/src/LinearMath/btGeometryUtil.h new file mode 100644 index 00000000..a4b13b45 --- /dev/null +++ b/Code/Physics/src/LinearMath/btGeometryUtil.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GEOMETRY_UTIL_H +#define BT_GEOMETRY_UTIL_H + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +///The btGeometryUtil helper class provides a few methods to convert between plane equations and vertices. +class btGeometryUtil +{ + public: + + + static void getPlaneEquationsFromVertices(btAlignedObjectArray& vertices, btAlignedObjectArray& planeEquationsOut ); + + static void getVerticesFromPlaneEquations(const btAlignedObjectArray& planeEquations , btAlignedObjectArray& verticesOut ); + + static bool isInside(const btAlignedObjectArray& vertices, const btVector3& planeNormal, btScalar margin); + + static bool isPointInsidePlanes(const btAlignedObjectArray& planeEquations, const btVector3& point, btScalar margin); + + static bool areVerticesBehindPlane(const btVector3& planeNormal, const btAlignedObjectArray& vertices, btScalar margin); + +}; + + +#endif //BT_GEOMETRY_UTIL_H + diff --git a/Code/Physics/src/LinearMath/btGrahamScan2dConvexHull.h b/Code/Physics/src/LinearMath/btGrahamScan2dConvexHull.h new file mode 100644 index 00000000..e658c5cf --- /dev/null +++ b/Code/Physics/src/LinearMath/btGrahamScan2dConvexHull.h @@ -0,0 +1,117 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2011 Advanced Micro Devices, Inc. http://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 GRAHAM_SCAN_2D_CONVEX_HULL_H +#define GRAHAM_SCAN_2D_CONVEX_HULL_H + + +#include "btVector3.h" +#include "btAlignedObjectArray.h" + +struct GrahamVector3 : public btVector3 +{ + GrahamVector3(const btVector3& org, int orgIndex) + :btVector3(org), + m_orgIndex(orgIndex) + { + } + btScalar m_angle; + int m_orgIndex; +}; + + +struct btAngleCompareFunc { + btVector3 m_anchor; + btAngleCompareFunc(const btVector3& anchor) + : m_anchor(anchor) + { + } + bool operator()(const GrahamVector3& a, const GrahamVector3& b) const { + if (a.m_angle != b.m_angle) + return a.m_angle < b.m_angle; + else + { + btScalar al = (a-m_anchor).length2(); + btScalar bl = (b-m_anchor).length2(); + if (al != bl) + return al < bl; + else + { + return a.m_orgIndex < b.m_orgIndex; + } + } + } +}; + +inline void GrahamScanConvexHull2D(btAlignedObjectArray& originalPoints, btAlignedObjectArray& hull, const btVector3& normalAxis) +{ + btVector3 axis0,axis1; + btPlaneSpace1(normalAxis,axis0,axis1); + + + if (originalPoints.size()<=1) + { + for (int i=0;i1) { + btVector3& a = hull[hull.size()-2]; + btVector3& b = hull[hull.size()-1]; + isConvex = btCross(a-b,a-originalPoints[i]).dot(normalAxis)> 0; + if (!isConvex) + hull.pop_back(); + else + hull.push_back(originalPoints[i]); + } + } +} + +#endif //GRAHAM_SCAN_2D_CONVEX_HULL_H diff --git a/Code/Physics/src/LinearMath/btHashMap.h b/Code/Physics/src/LinearMath/btHashMap.h new file mode 100644 index 00000000..ce07db3a --- /dev/null +++ b/Code/Physics/src/LinearMath/btHashMap.h @@ -0,0 +1,450 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_HASH_MAP_H +#define BT_HASH_MAP_H + +#include "btAlignedObjectArray.h" + +///very basic hashable string implementation, compatible with btHashMap +struct btHashString +{ + const char* m_string; + unsigned int m_hash; + + SIMD_FORCE_INLINE unsigned int getHash()const + { + return m_hash; + } + + btHashString(const char* name) + :m_string(name) + { + /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ + static const unsigned int InitialFNV = 2166136261u; + static const unsigned int FNVMultiple = 16777619u; + + /* Fowler / Noll / Vo (FNV) Hash */ + unsigned int hash = InitialFNV; + + for(int i = 0; m_string[i]; i++) + { + hash = hash ^ (m_string[i]); /* xor the low 8 bits */ + hash = hash * FNVMultiple; /* multiply by the magic number */ + } + m_hash = hash; + } + + int portableStringCompare(const char* src, const char* dst) const + { + int ret = 0 ; + + while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst) + ++src, ++dst; + + if ( ret < 0 ) + ret = -1 ; + else if ( ret > 0 ) + ret = 1 ; + + return( ret ); + } + + bool equals(const btHashString& other) const + { + return (m_string == other.m_string) || + (0==portableStringCompare(m_string,other.m_string)); + + } + +}; + +const int BT_HASH_NULL=0xffffffff; + + +class btHashInt +{ + int m_uid; +public: + btHashInt(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + void setUid1(int uid) + { + m_uid = uid; + } + + bool equals(const btHashInt& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } +}; + + + +class btHashPtr +{ + + union + { + const void* m_pointer; + int m_hashValues[2]; + }; + +public: + + btHashPtr(const void* ptr) + :m_pointer(ptr) + { + } + + const void* getPointer() const + { + return m_pointer; + } + + bool equals(const btHashPtr& other) const + { + return getPointer() == other.getPointer(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + const bool VOID_IS_8 = ((sizeof(void*)==8)); + + int key = VOID_IS_8? m_hashValues[0]+m_hashValues[1] : m_hashValues[0]; + + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template +class btHashKeyPtr +{ + int m_uid; +public: + + btHashKeyPtr(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKeyPtr& other) const + { + return getUid1() == other.getUid1(); + } + + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } + + +}; + + +template +class btHashKey +{ + int m_uid; +public: + + btHashKey(int uid) :m_uid(uid) + { + } + + int getUid1() const + { + return m_uid; + } + + bool equals(const btHashKey& other) const + { + return getUid1() == other.getUid1(); + } + //to our success + SIMD_FORCE_INLINE unsigned int getHash()const + { + int key = m_uid; + // Thomas Wang's hash + key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16); + return key; + } +}; + + +///The btHashMap template class implements a generic and lightweight hashmap. +///A basic sample of how to use btHashMap is located in Demos\BasicDemo\main.cpp +template +class btHashMap +{ + +protected: + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + + btAlignedObjectArray m_valueArray; + btAlignedObjectArray m_keyArray; + + void growTables(const Key& /*key*/) + { + int newCapacity = m_valueArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_HASH_NULL; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_HASH_NULL; + } + + for(i=0;i= (unsigned int)m_hashTable.size()) + { + return BT_HASH_NULL; + } + + int index = m_hashTable[hash]; + while ((index != BT_HASH_NULL) && key.equals(m_keyArray[index]) == false) + { + index = m_next[index]; + } + return index; + } + + void clear() + { + m_hashTable.clear(); + m_next.clear(); + m_valueArray.clear(); + m_keyArray.clear(); + } + +}; + +#endif //BT_HASH_MAP_H diff --git a/Code/Physics/src/LinearMath/btIDebugDraw.h b/Code/Physics/src/LinearMath/btIDebugDraw.h new file mode 100644 index 00000000..de97c3f8 --- /dev/null +++ b/Code/Physics/src/LinearMath/btIDebugDraw.h @@ -0,0 +1,445 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_IDEBUG_DRAW__H +#define BT_IDEBUG_DRAW__H + +#include "btVector3.h" +#include "btTransform.h" + + +///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations. +///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld. +///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum. +///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1] +class btIDebugDraw +{ + public: + + enum DebugDrawModes + { + DBG_NoDebug=0, + DBG_DrawWireframe = 1, + DBG_DrawAabb=2, + DBG_DrawFeaturesText=4, + DBG_DrawContactPoints=8, + DBG_NoDeactivation=16, + DBG_NoHelpText = 32, + DBG_DrawText=64, + DBG_ProfileTimings = 128, + DBG_EnableSatComparison = 256, + DBG_DisableBulletLCP = 512, + DBG_EnableCCD = 1024, + DBG_DrawConstraints = (1 << 11), + DBG_DrawConstraintLimits = (1 << 12), + DBG_FastWireframe = (1<<13), + DBG_DrawNormals = (1<<14), + DBG_MAX_DEBUG_DRAW_MODE + }; + + virtual ~btIDebugDraw() {}; + + virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0; + + virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor) + { + (void) toColor; + drawLine (from, to, fromColor); + } + + virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) + { + + btVector3 center = transform.getOrigin(); + btVector3 up = transform.getBasis().getColumn(1); + btVector3 axis = transform.getBasis().getColumn(0); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + btScalar stepDegrees = 30.f; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false); + drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false ); + } + + virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) + { + btTransform tr; + tr.setIdentity(); + tr.setOrigin(p); + drawSphere(radius,tr,color); + } + + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha) + { + drawTriangle(v0,v1,v2,color,alpha); + } + virtual void drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/) + { + drawLine(v0,v1,color); + drawLine(v1,v2,color); + drawLine(v2,v0,color); + } + + virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0; + + virtual void reportErrorWarning(const char* warningString) = 0; + + virtual void draw3dText(const btVector3& location,const char* textString) = 0; + + virtual void setDebugMode(int debugMode) =0; + + virtual int getDebugMode() const = 0; + + virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color) + { + + btVector3 halfExtents = (to-from)* 0.5f; + btVector3 center = (to+from) *0.5f; + int i,j; + + btVector3 edgecoord(1.f,1.f,1.f),pa,pb; + for (i=0;i<4;i++) + { + for (j=0;j<3;j++) + { + pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pa+=center; + + int othercoord = j%3; + edgecoord[othercoord]*=-1.f; + pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1], + edgecoord[2]*halfExtents[2]); + pb+=center; + + drawLine(pa,pb,color); + } + edgecoord = btVector3(-1.f,-1.f,-1.f); + if (i<3) + edgecoord[i]*=-1.f; + } + } + virtual void drawTransform(const btTransform& transform, btScalar orthoLen) + { + btVector3 start = transform.getOrigin(); + drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0)); + drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0)); + drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f)); + } + + virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, + const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f)) + { + const btVector3& vx = axis; + btVector3 vy = normal.cross(axis); + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + int nSteps = (int)((maxAngle - minAngle) / step); + if(!nSteps) nSteps = 1; + btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle); + if(drawSect) + { + drawLine(center, prev, color); + } + for(int i = 1; i <= nSteps; i++) + { + btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps); + btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle); + drawLine(prev, next, color); + prev = next; + } + if(drawSect) + { + drawLine(center, prev, color); + } + } + virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, + btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true) + { + btVector3 vA[74]; + btVector3 vB[74]; + btVector3 *pvA = vA, *pvB = vB, *pT; + btVector3 npole = center + up * radius; + btVector3 spole = center - up * radius; + btVector3 arcStart; + btScalar step = stepDegrees * SIMD_RADS_PER_DEG; + const btVector3& kv = up; + const btVector3& iv = axis; + btVector3 jv = kv.cross(iv); + bool drawN = false; + bool drawS = false; + if(minTh <= -SIMD_HALF_PI) + { + minTh = -SIMD_HALF_PI + step; + drawN = true; + } + if(maxTh >= SIMD_HALF_PI) + { + maxTh = SIMD_HALF_PI - step; + drawS = true; + } + if(minTh > maxTh) + { + minTh = -SIMD_HALF_PI + step; + maxTh = SIMD_HALF_PI - step; + drawN = drawS = true; + } + int n_hor = (int)((maxTh - minTh) / step) + 1; + if(n_hor < 2) n_hor = 2; + btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1); + bool isClosed = false; + if(minPs > maxPs) + { + minPs = -SIMD_PI + step; + maxPs = SIMD_PI; + isClosed = true; + } + else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f)) + { + isClosed = true; + } + else + { + isClosed = false; + } + int n_vert = (int)((maxPs - minPs) / step) + 1; + if(n_vert < 2) n_vert = 2; + btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1); + for(int i = 0; i < n_hor; i++) + { + btScalar th = minTh + btScalar(i) * step_h; + btScalar sth = radius * btSin(th); + btScalar cth = radius * btCos(th); + for(int j = 0; j < n_vert; j++) + { + btScalar psi = minPs + btScalar(j) * step_v; + btScalar sps = btSin(psi); + btScalar cps = btCos(psi); + pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv; + if(i) + { + drawLine(pvA[j], pvB[j], color); + } + else if(drawS) + { + drawLine(spole, pvB[j], color); + } + if(j) + { + drawLine(pvB[j-1], pvB[j], color); + } + else + { + arcStart = pvB[j]; + } + if((i == (n_hor - 1)) && drawN) + { + drawLine(npole, pvB[j], color); + } + + if (drawCenter) + { + if(isClosed) + { + if(j == (n_vert-1)) + { + drawLine(arcStart, pvB[j], color); + } + } + else + { + if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + { + drawLine(center, pvB[j], color); + } + } + } + } + pT = pvA; pvA = pvB; pvB = pT; + } + } + + + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color) + { + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } + virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color) + { + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color); + drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color); + } + + virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) + { + int stepDegrees = 30; + + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; + + // Draw the ends + { + + btTransform childTransform = transform; + childTransform.getOrigin() = transform * capStart; + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = -childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } + + + + } + + { + btTransform childTransform = transform; + childTransform.getOrigin() = transform * capEnd; + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } + } + + // Draw some additional lines + btVector3 start = transform.getOrigin(); + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } + + } + + virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) + { + btVector3 start = transform.getOrigin(); + btVector3 offsetHeight(0,0,0); + offsetHeight[upAxis] = halfHeight; + int stepDegrees=30; + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } + // Drawing top and bottom caps of the cylinder + btVector3 yaxis(0,0,0); + yaxis[upAxis] = btScalar(1.0); + btVector3 xaxis(0,0,0); + xaxis[(upAxis+1)%3] = btScalar(1.0); + drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0)); + drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0)); + } + + virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color) + { + int stepDegrees = 30; + btVector3 start = transform.getOrigin(); + + btVector3 offsetHeight(0,0,0); + btScalar halfHeight = height * btScalar(0.5); + offsetHeight[upAxis] = halfHeight; + btVector3 offsetRadius(0,0,0); + offsetRadius[(upAxis+1)%3] = radius; + btVector3 offset2Radius(0,0,0); + offset2Radius[(upAxis+2)%3] = radius; + + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = -halfHeight; + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color); + } + + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color); + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color); + + // Drawing the base of the cone + btVector3 yaxis(0,0,0); + yaxis[upAxis] = btScalar(1.0); + btVector3 xaxis(0,0,0); + xaxis[(upAxis+1)%3] = btScalar(1.0); + drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0); + } + + virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color) + { + btVector3 planeOrigin = planeNormal * planeConst; + btVector3 vec0,vec1; + btPlaneSpace1(planeNormal,vec0,vec1); + btScalar vecLen = 100.f; + btVector3 pt0 = planeOrigin + vec0*vecLen; + btVector3 pt1 = planeOrigin - vec0*vecLen; + btVector3 pt2 = planeOrigin + vec1*vecLen; + btVector3 pt3 = planeOrigin - vec1*vecLen; + drawLine(transform*pt0,transform*pt1,color); + drawLine(transform*pt2,transform*pt3,color); + } +}; + + +#endif //BT_IDEBUG_DRAW__H + diff --git a/Code/Physics/src/LinearMath/btList.h b/Code/Physics/src/LinearMath/btList.h new file mode 100644 index 00000000..eec80a70 --- /dev/null +++ b/Code/Physics/src/LinearMath/btList.h @@ -0,0 +1,73 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GEN_LIST_H +#define BT_GEN_LIST_H + +class btGEN_Link { +public: + btGEN_Link() : m_next(0), m_prev(0) {} + btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {} + + btGEN_Link *getNext() const { return m_next; } + btGEN_Link *getPrev() const { return m_prev; } + + bool isHead() const { return m_prev == 0; } + bool isTail() const { return m_next == 0; } + + void insertBefore(btGEN_Link *link) { + m_next = link; + m_prev = link->m_prev; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void insertAfter(btGEN_Link *link) { + m_next = link->m_next; + m_prev = link; + m_next->m_prev = this; + m_prev->m_next = this; + } + + void remove() { + m_next->m_prev = m_prev; + m_prev->m_next = m_next; + } + +private: + btGEN_Link *m_next; + btGEN_Link *m_prev; +}; + +class btGEN_List { +public: + btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {} + + btGEN_Link *getHead() const { return m_head.getNext(); } + btGEN_Link *getTail() const { return m_tail.getPrev(); } + + void addHead(btGEN_Link *link) { link->insertAfter(&m_head); } + void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); } + +private: + btGEN_Link m_head; + btGEN_Link m_tail; +}; + +#endif //BT_GEN_LIST_H + + + diff --git a/Code/Physics/src/LinearMath/btMatrix3x3.h b/Code/Physics/src/LinearMath/btMatrix3x3.h new file mode 100644 index 00000000..14fe704f --- /dev/null +++ b/Code/Physics/src/LinearMath/btMatrix3x3.h @@ -0,0 +1,1367 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MATRIX3x3_H +#define BT_MATRIX3x3_H + +#include "btVector3.h" +#include "btQuaternion.h" +#include + +#ifdef BT_USE_SSE +//const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +#define vMPPP (_mm_set_ps (+0.0f, +0.0f, +0.0f, -0.0f)) +#endif + +#if defined(BT_USE_SSE) +#define v1000 (_mm_set_ps(0.0f,0.0f,0.0f,1.0f)) +#define v0100 (_mm_set_ps(0.0f,0.0f,1.0f,0.0f)) +#define v0010 (_mm_set_ps(0.0f,1.0f,0.0f,0.0f)) +#elif defined(BT_USE_NEON) +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; +#endif + +#ifdef BT_USE_DOUBLE_PRECISION +#define btMatrix3x3Data btMatrix3x3DoubleData +#else +#define btMatrix3x3Data btMatrix3x3FloatData +#endif //BT_USE_DOUBLE_PRECISION + + +/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. +* Make sure to only include a pure orthogonal matrix without scaling. */ +ATTRIBUTE_ALIGNED16(class) btMatrix3x3 { + + ///Data storage for the matrix, each vector is a row of the matrix + btVector3 m_el[3]; + +public: + /** @brief No initializaion constructor */ + btMatrix3x3 () {} + + // explicit btMatrix3x3(const btScalar *m) { setFromOpenGLSubMatrix(m); } + + /**@brief Constructor from Quaternion */ + explicit btMatrix3x3(const btQuaternion& q) { setRotation(q); } + /* + template + Matrix3x3(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerYPR(yaw, pitch, roll); + } + */ + /** @brief Constructor with row major formatting */ + btMatrix3x3(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + setValue(xx, xy, xz, + yx, yy, yz, + zx, zy, zz); + } + +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + SIMD_FORCE_INLINE btMatrix3x3 (const btSimdFloat4 v0, const btSimdFloat4 v1, const btSimdFloat4 v2 ) + { + m_el[0].mVec128 = v0; + m_el[1].mVec128 = v1; + m_el[2].mVec128 = v2; + } + + SIMD_FORCE_INLINE btMatrix3x3 (const btVector3& v0, const btVector3& v1, const btVector3& v2 ) + { + m_el[0] = v0; + m_el[1] = v1; + m_el[2] = v2; + } + + // Copy constructor + SIMD_FORCE_INLINE btMatrix3x3(const btMatrix3x3& rhs) + { + m_el[0].mVec128 = rhs.m_el[0].mVec128; + m_el[1].mVec128 = rhs.m_el[1].mVec128; + m_el[2].mVec128 = rhs.m_el[2].mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& m) + { + m_el[0].mVec128 = m.m_el[0].mVec128; + m_el[1].mVec128 = m.m_el[1].mVec128; + m_el[2].mVec128 = m.m_el[2].mVec128; + + return *this; + } + +#else + + /** @brief Copy constructor */ + SIMD_FORCE_INLINE btMatrix3x3 (const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + } + + /** @brief Assignment Operator */ + SIMD_FORCE_INLINE btMatrix3x3& operator=(const btMatrix3x3& other) + { + m_el[0] = other.m_el[0]; + m_el[1] = other.m_el[1]; + m_el[2] = other.m_el[2]; + return *this; + } + +#endif + + /** @brief Get a column of the matrix as a vector + * @param i Column number 0 indexed */ + SIMD_FORCE_INLINE btVector3 getColumn(int i) const + { + return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]); + } + + + /** @brief Get a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& getRow(int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a mutable reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE btVector3& operator[](int i) + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Get a const reference to a row of the matrix as a vector + * @param i Row number 0 indexed */ + SIMD_FORCE_INLINE const btVector3& operator[](int i) const + { + btFullAssert(0 <= i && i < 3); + return m_el[i]; + } + + /** @brief Multiply by the target matrix on the right + * @param m Rotation matrix to be applied + * Equivilant to this = this * m */ + btMatrix3x3& operator*=(const btMatrix3x3& m); + + /** @brief Adds by the target matrix on the right + * @param m matrix to be applied + * Equivilant to this = this + m */ + btMatrix3x3& operator+=(const btMatrix3x3& m); + + /** @brief Substractss by the target matrix on the right + * @param m matrix to be applied + * Equivilant to this = this - m */ + btMatrix3x3& operator-=(const btMatrix3x3& m); + + /** @brief Set from the rotational part of a 4x4 OpenGL matrix + * @param m A pointer to the beginning of the array of scalars*/ + void setFromOpenGLSubMatrix(const btScalar *m) + { + m_el[0].setValue(m[0],m[4],m[8]); + m_el[1].setValue(m[1],m[5],m[9]); + m_el[2].setValue(m[2],m[6],m[10]); + + } + /** @brief Set the values of the matrix explicitly (row major) + * @param xx Top left + * @param xy Top Middle + * @param xz Top Right + * @param yx Middle Left + * @param yy Middle Middle + * @param yz Middle Right + * @param zx Bottom Left + * @param zy Bottom Middle + * @param zz Bottom Right*/ + void setValue(const btScalar& xx, const btScalar& xy, const btScalar& xz, + const btScalar& yx, const btScalar& yy, const btScalar& yz, + const btScalar& zx, const btScalar& zy, const btScalar& zz) + { + m_el[0].setValue(xx,xy,xz); + m_el[1].setValue(yx,yy,yz); + m_el[2].setValue(zx,zy,zz); + } + + /** @brief Set the matrix from a quaternion + * @param q The Quaternion to match */ + void setRotation(const btQuaternion& q) + { + btScalar d = q.length2(); + btFullAssert(d != btScalar(0.0)); + btScalar s = btScalar(2.0) / d; + + #if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs, Q = q.get128(); + __m128i Qi = btCastfTo128i(Q); + __m128 Y, Z; + __m128 V1, V2, V3; + __m128 V11, V21, V31; + __m128 NQ = _mm_xor_ps(Q, btvMzeroMask); + __m128i NQi = btCastfTo128i(NQ); + + V1 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,2,3))); // Y X Z W + V2 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(0,0,1,3)); // -X -X Y W + V3 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(2,1,0,3))); // Z Y X W + V1 = _mm_xor_ps(V1, vMPPP); // change the sign of the first element + + V11 = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,1,0,3))); // Y Y X W + V21 = _mm_unpackhi_ps(Q, Q); // Z Z W W + V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(0,2,0,3)); // X Z -X -W + + V2 = V2 * V1; // + V1 = V1 * V11; // + V3 = V3 * V31; // + + V11 = _mm_shuffle_ps(NQ, Q, BT_SHUFFLE(2,3,1,3)); // -Z -W Y W + V11 = V11 * V21; // + V21 = _mm_xor_ps(V21, vMPPP); // change the sign of the first element + V31 = _mm_shuffle_ps(Q, NQ, BT_SHUFFLE(3,3,1,3)); // W W -Y -W + V31 = _mm_xor_ps(V31, vMPPP); // change the sign of the first element + Y = btCastiTo128f(_mm_shuffle_epi32 (NQi, BT_SHUFFLE(3,2,0,3))); // -W -Z -X -W + Z = btCastiTo128f(_mm_shuffle_epi32 (Qi, BT_SHUFFLE(1,0,1,3))); // Y X Y W + + vs = _mm_load_ss(&s); + V21 = V21 * Y; + V31 = V31 * Z; + + V1 = V1 + V11; + V2 = V2 + V21; + V3 = V3 + V31; + + vs = bt_splat3_ps(vs, 0); + // s ready + V1 = V1 * vs; + V2 = V2 * vs; + V3 = V3 * vs; + + V1 = V1 + v1000; + V2 = V2 + v0100; + V3 = V3 + v0010; + + m_el[0] = V1; + m_el[1] = V2; + m_el[2] = V3; + #else + btScalar xs = q.x() * s, ys = q.y() * s, zs = q.z() * s; + btScalar wx = q.w() * xs, wy = q.w() * ys, wz = q.w() * zs; + btScalar xx = q.x() * xs, xy = q.x() * ys, xz = q.x() * zs; + btScalar yy = q.y() * ys, yz = q.y() * zs, zz = q.z() * zs; + setValue( + btScalar(1.0) - (yy + zz), xy - wz, xz + wy, + xy + wz, btScalar(1.0) - (xx + zz), yz - wx, + xz - wy, yz + wx, btScalar(1.0) - (xx + yy)); + #endif + } + + + /** @brief Set the matrix from euler angles using YPR around YXZ respectively + * @param yaw Yaw about Y axis + * @param pitch Pitch about X axis + * @param roll Roll about Z axis + */ + void setEulerYPR(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + setEulerZYX(roll, pitch, yaw); + } + + /** @brief Set the matrix from euler angles YPR around ZYX axes + * @param eulerX Roll about X axis + * @param eulerY Pitch around Y axis + * @param eulerZ Yaw aboud Z axis + * + * These angles are used to produce a rotation matrix. The euler + * angles are applied in ZYX order. I.e a vector is first rotated + * about X then Y and then Z + **/ + void setEulerZYX(btScalar eulerX,btScalar eulerY,btScalar eulerZ) { + ///@todo proposed to reverse this since it's labeled zyx but takes arguments xyz and it will match all other parts of the code + btScalar ci ( btCos(eulerX)); + btScalar cj ( btCos(eulerY)); + btScalar ch ( btCos(eulerZ)); + btScalar si ( btSin(eulerX)); + btScalar sj ( btSin(eulerY)); + btScalar sh ( btSin(eulerZ)); + btScalar cc = ci * ch; + btScalar cs = ci * sh; + btScalar sc = si * ch; + btScalar ss = si * sh; + + setValue(cj * ch, sj * sc - cs, sj * cc + ss, + cj * sh, sj * ss + cc, sj * cs - sc, + -sj, cj * si, cj * ci); + } + + /**@brief Set the matrix to the identity */ + void setIdentity() + { +#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON) + m_el[0] = v1000; + m_el[1] = v0100; + m_el[2] = v0010; +#else + setValue(btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); +#endif + } + + static const btMatrix3x3& getIdentity() + { +#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined(BT_USE_NEON) + static const btMatrix3x3 + identityMatrix(v1000, v0100, v0010); +#else + static const btMatrix3x3 + identityMatrix( + btScalar(1.0), btScalar(0.0), btScalar(0.0), + btScalar(0.0), btScalar(1.0), btScalar(0.0), + btScalar(0.0), btScalar(0.0), btScalar(1.0)); +#endif + return identityMatrix; + } + + /**@brief Fill the rotational part of an OpenGL matrix and clear the shear/perspective + * @param m The array to be filled */ + void getOpenGLSubMatrix(btScalar *m) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 v0 = m_el[0].mVec128; + __m128 v1 = m_el[1].mVec128; + __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 + __m128 *vm = (__m128 *)m; + __m128 vT; + + v2 = _mm_and_ps(v2, btvFFF0fMask); // x2 y2 z2 0 + + vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * + v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 + + v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) ); // y0 y1 y2 0 + v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) ); // x0 x1 x2 0 + v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT))); // z0 z1 z2 0 + + vm[0] = v0; + vm[1] = v1; + vm[2] = v2; +#elif defined(BT_USE_NEON) + // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. + static const uint32x2_t zMask = (const uint32x2_t) {static_cast(-1), 0 }; + float32x4_t *vm = (float32x4_t *)m; + float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} + float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} + float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); + float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] ); + float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask ); + float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q ); // z0 z1 z2 0 + + vm[0] = v0; + vm[1] = v1; + vm[2] = v2; +#else + m[0] = btScalar(m_el[0].x()); + m[1] = btScalar(m_el[1].x()); + m[2] = btScalar(m_el[2].x()); + m[3] = btScalar(0.0); + m[4] = btScalar(m_el[0].y()); + m[5] = btScalar(m_el[1].y()); + m[6] = btScalar(m_el[2].y()); + m[7] = btScalar(0.0); + m[8] = btScalar(m_el[0].z()); + m[9] = btScalar(m_el[1].z()); + m[10] = btScalar(m_el[2].z()); + m[11] = btScalar(0.0); +#endif + } + + /**@brief Get the matrix represented as a quaternion + * @param q The quaternion which will be set */ + void getRotation(btQuaternion& q) const + { +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z(); + btScalar s, x; + + union { + btSimdFloat4 vec; + btScalar f[4]; + } temp; + + if (trace > btScalar(0.0)) + { + x = trace + btScalar(1.0); + + temp.f[0]=m_el[2].y() - m_el[1].z(); + temp.f[1]=m_el[0].z() - m_el[2].x(); + temp.f[2]=m_el[1].x() - m_el[0].y(); + temp.f[3]=x; + //temp.f[3]= s * btScalar(0.5); + } + else + { + int i, j, k; + if(m_el[0].x() < m_el[1].y()) + { + if( m_el[1].y() < m_el[2].z() ) + { i = 2; j = 0; k = 1; } + else + { i = 1; j = 2; k = 0; } + } + else + { + if( m_el[0].x() < m_el[2].z()) + { i = 2; j = 0; k = 1; } + else + { i = 0; j = 1; k = 2; } + } + + x = m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0); + + temp.f[3] = (m_el[k][j] - m_el[j][k]); + temp.f[j] = (m_el[j][i] + m_el[i][j]); + temp.f[k] = (m_el[k][i] + m_el[i][k]); + temp.f[i] = x; + //temp.f[i] = s * btScalar(0.5); + } + + s = btSqrt(x); + q.set128(temp.vec); + s = btScalar(0.5) / s; + + q *= s; +#else + btScalar trace = m_el[0].x() + m_el[1].y() + m_el[2].z(); + + btScalar temp[4]; + + if (trace > btScalar(0.0)) + { + btScalar s = btSqrt(trace + btScalar(1.0)); + temp[3]=(s * btScalar(0.5)); + s = btScalar(0.5) / s; + + temp[0]=((m_el[2].y() - m_el[1].z()) * s); + temp[1]=((m_el[0].z() - m_el[2].x()) * s); + temp[2]=((m_el[1].x() - m_el[0].y()) * s); + } + else + { + int i = m_el[0].x() < m_el[1].y() ? + (m_el[1].y() < m_el[2].z() ? 2 : 1) : + (m_el[0].x() < m_el[2].z() ? 2 : 0); + int j = (i + 1) % 3; + int k = (i + 2) % 3; + + btScalar s = btSqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + btScalar(1.0)); + temp[i] = s * btScalar(0.5); + s = btScalar(0.5) / s; + + temp[3] = (m_el[k][j] - m_el[j][k]) * s; + temp[j] = (m_el[j][i] + m_el[i][j]) * s; + temp[k] = (m_el[k][i] + m_el[i][k]) * s; + } + q.setValue(temp[0],temp[1],temp[2],temp[3]); +#endif + } + + /**@brief Get the matrix represented as euler angles around YXZ, roundtrip with setEulerYPR + * @param yaw Yaw around Y axis + * @param pitch Pitch around X axis + * @param roll around Z axis */ + void getEulerYPR(btScalar& yaw, btScalar& pitch, btScalar& roll) const + { + + // first use the normal calculus + yaw = btScalar(btAtan2(m_el[1].x(), m_el[0].x())); + pitch = btScalar(btAsin(-m_el[2].x())); + roll = btScalar(btAtan2(m_el[2].y(), m_el[2].z())); + + // on pitch = +/-HalfPI + if (btFabs(pitch)==SIMD_HALF_PI) + { + if (yaw>0) + yaw-=SIMD_PI; + else + yaw+=SIMD_PI; + + if (roll>0) + roll-=SIMD_PI; + else + roll+=SIMD_PI; + } + }; + + + /**@brief Get the matrix represented as euler angles around ZYX + * @param yaw Yaw around X axis + * @param pitch Pitch around Y axis + * @param roll around X axis + * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ + void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const + { + struct Euler + { + btScalar yaw; + btScalar pitch; + btScalar roll; + }; + + Euler euler_out; + Euler euler_out2; //second solution + //get the pointer to the raw data + + // Check that pitch is not at a singularity + if (btFabs(m_el[2].x()) >= 1) + { + euler_out.yaw = 0; + euler_out2.yaw = 0; + + // From difference of angles formula + btScalar delta = btAtan2(m_el[0].x(),m_el[0].z()); + if (m_el[2].x() > 0) //gimbal locked up + { + euler_out.pitch = SIMD_PI / btScalar(2.0); + euler_out2.pitch = SIMD_PI / btScalar(2.0); + euler_out.roll = euler_out.pitch + delta; + euler_out2.roll = euler_out.pitch + delta; + } + else // gimbal locked down + { + euler_out.pitch = -SIMD_PI / btScalar(2.0); + euler_out2.pitch = -SIMD_PI / btScalar(2.0); + euler_out.roll = -euler_out.pitch + delta; + euler_out2.roll = -euler_out.pitch + delta; + } + } + else + { + euler_out.pitch = - btAsin(m_el[2].x()); + euler_out2.pitch = SIMD_PI - euler_out.pitch; + + euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch), + m_el[2].z()/btCos(euler_out.pitch)); + euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch), + m_el[2].z()/btCos(euler_out2.pitch)); + + euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch), + m_el[0].x()/btCos(euler_out.pitch)); + euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch), + m_el[0].x()/btCos(euler_out2.pitch)); + } + + if (solution_number == 1) + { + yaw = euler_out.yaw; + pitch = euler_out.pitch; + roll = euler_out.roll; + } + else + { + yaw = euler_out2.yaw; + pitch = euler_out2.pitch; + roll = euler_out2.roll; + } + } + + /**@brief Create a scaled copy of the matrix + * @param s Scaling vector The elements of the vector will scale each column */ + + btMatrix3x3 scaled(const btVector3& s) const + { +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3(m_el[0] * s, m_el[1] * s, m_el[2] * s); +#else + return btMatrix3x3( + m_el[0].x() * s.x(), m_el[0].y() * s.y(), m_el[0].z() * s.z(), + m_el[1].x() * s.x(), m_el[1].y() * s.y(), m_el[1].z() * s.z(), + m_el[2].x() * s.x(), m_el[2].y() * s.y(), m_el[2].z() * s.z()); +#endif + } + + /**@brief Return the determinant of the matrix */ + btScalar determinant() const; + /**@brief Return the adjoint of the matrix */ + btMatrix3x3 adjoint() const; + /**@brief Return the matrix with all values non negative */ + btMatrix3x3 absolute() const; + /**@brief Return the transpose of the matrix */ + btMatrix3x3 transpose() const; + /**@brief Return the inverse of the matrix */ + btMatrix3x3 inverse() const; + + btMatrix3x3 transposeTimes(const btMatrix3x3& m) const; + btMatrix3x3 timesTranspose(const btMatrix3x3& m) const; + + SIMD_FORCE_INLINE btScalar tdotx(const btVector3& v) const + { + return m_el[0].x() * v.x() + m_el[1].x() * v.y() + m_el[2].x() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdoty(const btVector3& v) const + { + return m_el[0].y() * v.x() + m_el[1].y() * v.y() + m_el[2].y() * v.z(); + } + SIMD_FORCE_INLINE btScalar tdotz(const btVector3& v) const + { + return m_el[0].z() * v.x() + m_el[1].z() * v.y() + m_el[2].z() * v.z(); + } + + + /**@brief diagonalizes this matrix by the Jacobi method. + * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original + * coordinate system, i.e., old_this = rot * new_this * rot^T. + * @param threshold See iteration + * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied + * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. + * + * Note that this matrix is assumed to be symmetric. + */ + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) + { + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } + + + + + /**@brief Calculate the matrix cofactor + * @param r1 The first row to use for calculating the cofactor + * @param c1 The first column to use for calculating the cofactor + * @param r1 The second row to use for calculating the cofactor + * @param c1 The second column to use for calculating the cofactor + * See http://en.wikipedia.org/wiki/Cofactor_(linear_algebra) for more details + */ + btScalar cofac(int r1, int c1, int r2, int c2) const + { + return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1]; + } + + void serialize(struct btMatrix3x3Data& dataOut) const; + + void serializeFloat(struct btMatrix3x3FloatData& dataOut) const; + + void deSerialize(const struct btMatrix3x3Data& dataIn); + + void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn); + + void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn); + +}; + + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator*=(const btMatrix3x3& m) +{ +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 rv00, rv01, rv02; + __m128 rv10, rv11, rv12; + __m128 rv20, rv21, rv22; + __m128 mv0, mv1, mv2; + + rv02 = m_el[0].mVec128; + rv12 = m_el[1].mVec128; + rv22 = m_el[2].mVec128; + + mv0 = _mm_and_ps(m[0].mVec128, btvFFF0fMask); + mv1 = _mm_and_ps(m[1].mVec128, btvFFF0fMask); + mv2 = _mm_and_ps(m[2].mVec128, btvFFF0fMask); + + // rv0 + rv00 = bt_splat_ps(rv02, 0); + rv01 = bt_splat_ps(rv02, 1); + rv02 = bt_splat_ps(rv02, 2); + + rv00 = _mm_mul_ps(rv00, mv0); + rv01 = _mm_mul_ps(rv01, mv1); + rv02 = _mm_mul_ps(rv02, mv2); + + // rv1 + rv10 = bt_splat_ps(rv12, 0); + rv11 = bt_splat_ps(rv12, 1); + rv12 = bt_splat_ps(rv12, 2); + + rv10 = _mm_mul_ps(rv10, mv0); + rv11 = _mm_mul_ps(rv11, mv1); + rv12 = _mm_mul_ps(rv12, mv2); + + // rv2 + rv20 = bt_splat_ps(rv22, 0); + rv21 = bt_splat_ps(rv22, 1); + rv22 = bt_splat_ps(rv22, 2); + + rv20 = _mm_mul_ps(rv20, mv0); + rv21 = _mm_mul_ps(rv21, mv1); + rv22 = _mm_mul_ps(rv22, mv2); + + rv00 = _mm_add_ps(rv00, rv01); + rv10 = _mm_add_ps(rv10, rv11); + rv20 = _mm_add_ps(rv20, rv21); + + m_el[0].mVec128 = _mm_add_ps(rv00, rv02); + m_el[1].mVec128 = _mm_add_ps(rv10, rv12); + m_el[2].mVec128 = _mm_add_ps(rv20, rv22); + +#elif defined(BT_USE_NEON) + + float32x4_t rv0, rv1, rv2; + float32x4_t v0, v1, v2; + float32x4_t mv0, mv1, mv2; + + v0 = m_el[0].mVec128; + v1 = m_el[1].mVec128; + v2 = m_el[2].mVec128; + + mv0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); + mv1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); + mv2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); + + rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); + rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); + rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); + + rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); + rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); + rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); + + rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); + rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); + rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); + + m_el[0].mVec128 = rv0; + m_el[1].mVec128 = rv1; + m_el[2].mVec128 = rv2; +#else + setValue( + m.tdotx(m_el[0]), m.tdoty(m_el[0]), m.tdotz(m_el[0]), + m.tdotx(m_el[1]), m.tdoty(m_el[1]), m.tdotz(m_el[1]), + m.tdotx(m_el[2]), m.tdoty(m_el[2]), m.tdotz(m_el[2])); +#endif + return *this; +} + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator+=(const btMatrix3x3& m) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + m_el[0].mVec128 = m_el[0].mVec128 + m.m_el[0].mVec128; + m_el[1].mVec128 = m_el[1].mVec128 + m.m_el[1].mVec128; + m_el[2].mVec128 = m_el[2].mVec128 + m.m_el[2].mVec128; +#else + setValue( + m_el[0][0]+m.m_el[0][0], + m_el[0][1]+m.m_el[0][1], + m_el[0][2]+m.m_el[0][2], + m_el[1][0]+m.m_el[1][0], + m_el[1][1]+m.m_el[1][1], + m_el[1][2]+m.m_el[1][2], + m_el[2][0]+m.m_el[2][0], + m_el[2][1]+m.m_el[2][1], + m_el[2][2]+m.m_el[2][2]); +#endif + return *this; +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator*(const btMatrix3x3& m, const btScalar & k) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 vk = bt_splat_ps(_mm_load_ss((float *)&k), 0x80); + return btMatrix3x3( + _mm_mul_ps(m[0].mVec128, vk), + _mm_mul_ps(m[1].mVec128, vk), + _mm_mul_ps(m[2].mVec128, vk)); +#elif defined(BT_USE_NEON) + return btMatrix3x3( + vmulq_n_f32(m[0].mVec128, k), + vmulq_n_f32(m[1].mVec128, k), + vmulq_n_f32(m[2].mVec128, k)); +#else + return btMatrix3x3( + m[0].x()*k,m[0].y()*k,m[0].z()*k, + m[1].x()*k,m[1].y()*k,m[1].z()*k, + m[2].x()*k,m[2].y()*k,m[2].z()*k); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator+(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3( + m1[0].mVec128 + m2[0].mVec128, + m1[1].mVec128 + m2[1].mVec128, + m1[2].mVec128 + m2[2].mVec128); +#else + return btMatrix3x3( + m1[0][0]+m2[0][0], + m1[0][1]+m2[0][1], + m1[0][2]+m2[0][2], + + m1[1][0]+m2[1][0], + m1[1][1]+m2[1][1], + m1[1][2]+m2[1][2], + + m1[2][0]+m2[2][0], + m1[2][1]+m2[2][1], + m1[2][2]+m2[2][2]); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator-(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return btMatrix3x3( + m1[0].mVec128 - m2[0].mVec128, + m1[1].mVec128 - m2[1].mVec128, + m1[2].mVec128 - m2[2].mVec128); +#else + return btMatrix3x3( + m1[0][0]-m2[0][0], + m1[0][1]-m2[0][1], + m1[0][2]-m2[0][2], + + m1[1][0]-m2[1][0], + m1[1][1]-m2[1][1], + m1[1][2]-m2[1][2], + + m1[2][0]-m2[2][0], + m1[2][1]-m2[2][1], + m1[2][2]-m2[2][2]); +#endif +} + + +SIMD_FORCE_INLINE btMatrix3x3& +btMatrix3x3::operator-=(const btMatrix3x3& m) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + m_el[0].mVec128 = m_el[0].mVec128 - m.m_el[0].mVec128; + m_el[1].mVec128 = m_el[1].mVec128 - m.m_el[1].mVec128; + m_el[2].mVec128 = m_el[2].mVec128 - m.m_el[2].mVec128; +#else + setValue( + m_el[0][0]-m.m_el[0][0], + m_el[0][1]-m.m_el[0][1], + m_el[0][2]-m.m_el[0][2], + m_el[1][0]-m.m_el[1][0], + m_el[1][1]-m.m_el[1][1], + m_el[1][2]-m.m_el[1][2], + m_el[2][0]-m.m_el[2][0], + m_el[2][1]-m.m_el[2][1], + m_el[2][2]-m.m_el[2][2]); +#endif + return *this; +} + + +SIMD_FORCE_INLINE btScalar +btMatrix3x3::determinant() const +{ + return btTriple((*this)[0], (*this)[1], (*this)[2]); +} + + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::absolute() const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + return btMatrix3x3( + _mm_and_ps(m_el[0].mVec128, btvAbsfMask), + _mm_and_ps(m_el[1].mVec128, btvAbsfMask), + _mm_and_ps(m_el[2].mVec128, btvAbsfMask)); +#elif defined(BT_USE_NEON) + return btMatrix3x3( + (float32x4_t)vandq_s32((int32x4_t)m_el[0].mVec128, btv3AbsMask), + (float32x4_t)vandq_s32((int32x4_t)m_el[1].mVec128, btv3AbsMask), + (float32x4_t)vandq_s32((int32x4_t)m_el[2].mVec128, btv3AbsMask)); +#else + return btMatrix3x3( + btFabs(m_el[0].x()), btFabs(m_el[0].y()), btFabs(m_el[0].z()), + btFabs(m_el[1].x()), btFabs(m_el[1].y()), btFabs(m_el[1].z()), + btFabs(m_el[2].x()), btFabs(m_el[2].y()), btFabs(m_el[2].z())); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transpose() const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 v0 = m_el[0].mVec128; + __m128 v1 = m_el[1].mVec128; + __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 + __m128 vT; + + v2 = _mm_and_ps(v2, btvFFF0fMask); // x2 y2 z2 0 + + vT = _mm_unpackhi_ps(v0, v1); // z0 z1 * * + v0 = _mm_unpacklo_ps(v0, v1); // x0 x1 y0 y1 + + v1 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(2, 3, 1, 3) ); // y0 y1 y2 0 + v0 = _mm_shuffle_ps(v0, v2, BT_SHUFFLE(0, 1, 0, 3) ); // x0 x1 x2 0 + v2 = btCastdTo128f(_mm_move_sd(btCastfTo128d(v2), btCastfTo128d(vT))); // z0 z1 z2 0 + + + return btMatrix3x3( v0, v1, v2 ); +#elif defined(BT_USE_NEON) + // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. + static const uint32x2_t zMask = (const uint32x2_t) {static_cast(-1), 0 }; + float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} + float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} + float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); + float32x4_t v1 = vcombine_f32( vget_low_f32(top.val[1]), bl.val[1] ); + float32x2_t q = (float32x2_t) vand_u32( (uint32x2_t) vget_high_f32( m_el[2].mVec128), zMask ); + float32x4_t v2 = vcombine_f32( vget_high_f32(top.val[0]), q ); // z0 z1 z2 0 + return btMatrix3x3( v0, v1, v2 ); +#else + return btMatrix3x3( m_el[0].x(), m_el[1].x(), m_el[2].x(), + m_el[0].y(), m_el[1].y(), m_el[2].y(), + m_el[0].z(), m_el[1].z(), m_el[2].z()); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::adjoint() const +{ + return btMatrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), + cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), + cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::inverse() const +{ + btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); + btScalar det = (*this)[0].dot(co); + btFullAssert(det != btScalar(0.0)); + btScalar s = btScalar(1.0) / det; + return btMatrix3x3(co.x() * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, + co.y() * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, + co.z() * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::transposeTimes(const btMatrix3x3& m) const +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + // zeros w +// static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; + __m128 row = m_el[0].mVec128; + __m128 m0 = _mm_and_ps( m.getRow(0).mVec128, btvFFF0fMask ); + __m128 m1 = _mm_and_ps( m.getRow(1).mVec128, btvFFF0fMask); + __m128 m2 = _mm_and_ps( m.getRow(2).mVec128, btvFFF0fMask ); + __m128 r0 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0)); + __m128 r1 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0x55)); + __m128 r2 = _mm_mul_ps(m0, _mm_shuffle_ps(row, row, 0xaa)); + row = m_el[1].mVec128; + r0 = _mm_add_ps( r0, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0))); + r1 = _mm_add_ps( r1, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0x55))); + r2 = _mm_add_ps( r2, _mm_mul_ps(m1, _mm_shuffle_ps(row, row, 0xaa))); + row = m_el[2].mVec128; + r0 = _mm_add_ps( r0, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0))); + r1 = _mm_add_ps( r1, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0x55))); + r2 = _mm_add_ps( r2, _mm_mul_ps(m2, _mm_shuffle_ps(row, row, 0xaa))); + return btMatrix3x3( r0, r1, r2 ); + +#elif defined BT_USE_NEON + // zeros w + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast(-1), static_cast(-1), static_cast(-1), 0 }; + float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask ); + float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask ); + float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask ); + float32x4_t row = m_el[0].mVec128; + float32x4_t r0 = vmulq_lane_f32( m0, vget_low_f32(row), 0); + float32x4_t r1 = vmulq_lane_f32( m0, vget_low_f32(row), 1); + float32x4_t r2 = vmulq_lane_f32( m0, vget_high_f32(row), 0); + row = m_el[1].mVec128; + r0 = vmlaq_lane_f32( r0, m1, vget_low_f32(row), 0); + r1 = vmlaq_lane_f32( r1, m1, vget_low_f32(row), 1); + r2 = vmlaq_lane_f32( r2, m1, vget_high_f32(row), 0); + row = m_el[2].mVec128; + r0 = vmlaq_lane_f32( r0, m2, vget_low_f32(row), 0); + r1 = vmlaq_lane_f32( r1, m2, vget_low_f32(row), 1); + r2 = vmlaq_lane_f32( r2, m2, vget_high_f32(row), 0); + return btMatrix3x3( r0, r1, r2 ); +#else + return btMatrix3x3( + m_el[0].x() * m[0].x() + m_el[1].x() * m[1].x() + m_el[2].x() * m[2].x(), + m_el[0].x() * m[0].y() + m_el[1].x() * m[1].y() + m_el[2].x() * m[2].y(), + m_el[0].x() * m[0].z() + m_el[1].x() * m[1].z() + m_el[2].x() * m[2].z(), + m_el[0].y() * m[0].x() + m_el[1].y() * m[1].x() + m_el[2].y() * m[2].x(), + m_el[0].y() * m[0].y() + m_el[1].y() * m[1].y() + m_el[2].y() * m[2].y(), + m_el[0].y() * m[0].z() + m_el[1].y() * m[1].z() + m_el[2].y() * m[2].z(), + m_el[0].z() * m[0].x() + m_el[1].z() * m[1].x() + m_el[2].z() * m[2].x(), + m_el[0].z() * m[0].y() + m_el[1].z() * m[1].y() + m_el[2].z() * m[2].y(), + m_el[0].z() * m[0].z() + m_el[1].z() * m[1].z() + m_el[2].z() * m[2].z()); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +btMatrix3x3::timesTranspose(const btMatrix3x3& m) const +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 a0 = m_el[0].mVec128; + __m128 a1 = m_el[1].mVec128; + __m128 a2 = m_el[2].mVec128; + + btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here + __m128 mx = mT[0].mVec128; + __m128 my = mT[1].mVec128; + __m128 mz = mT[2].mVec128; + + __m128 r0 = _mm_mul_ps(mx, _mm_shuffle_ps(a0, a0, 0x00)); + __m128 r1 = _mm_mul_ps(mx, _mm_shuffle_ps(a1, a1, 0x00)); + __m128 r2 = _mm_mul_ps(mx, _mm_shuffle_ps(a2, a2, 0x00)); + r0 = _mm_add_ps(r0, _mm_mul_ps(my, _mm_shuffle_ps(a0, a0, 0x55))); + r1 = _mm_add_ps(r1, _mm_mul_ps(my, _mm_shuffle_ps(a1, a1, 0x55))); + r2 = _mm_add_ps(r2, _mm_mul_ps(my, _mm_shuffle_ps(a2, a2, 0x55))); + r0 = _mm_add_ps(r0, _mm_mul_ps(mz, _mm_shuffle_ps(a0, a0, 0xaa))); + r1 = _mm_add_ps(r1, _mm_mul_ps(mz, _mm_shuffle_ps(a1, a1, 0xaa))); + r2 = _mm_add_ps(r2, _mm_mul_ps(mz, _mm_shuffle_ps(a2, a2, 0xaa))); + return btMatrix3x3( r0, r1, r2); + +#elif defined BT_USE_NEON + float32x4_t a0 = m_el[0].mVec128; + float32x4_t a1 = m_el[1].mVec128; + float32x4_t a2 = m_el[2].mVec128; + + btMatrix3x3 mT = m.transpose(); // we rely on transpose() zeroing w channel so that we don't have to do it here + float32x4_t mx = mT[0].mVec128; + float32x4_t my = mT[1].mVec128; + float32x4_t mz = mT[2].mVec128; + + float32x4_t r0 = vmulq_lane_f32( mx, vget_low_f32(a0), 0); + float32x4_t r1 = vmulq_lane_f32( mx, vget_low_f32(a1), 0); + float32x4_t r2 = vmulq_lane_f32( mx, vget_low_f32(a2), 0); + r0 = vmlaq_lane_f32( r0, my, vget_low_f32(a0), 1); + r1 = vmlaq_lane_f32( r1, my, vget_low_f32(a1), 1); + r2 = vmlaq_lane_f32( r2, my, vget_low_f32(a2), 1); + r0 = vmlaq_lane_f32( r0, mz, vget_high_f32(a0), 0); + r1 = vmlaq_lane_f32( r1, mz, vget_high_f32(a1), 0); + r2 = vmlaq_lane_f32( r2, mz, vget_high_f32(a2), 0); + return btMatrix3x3( r0, r1, r2 ); + +#else + return btMatrix3x3( + m_el[0].dot(m[0]), m_el[0].dot(m[1]), m_el[0].dot(m[2]), + m_el[1].dot(m[0]), m_el[1].dot(m[1]), m_el[1].dot(m[2]), + m_el[2].dot(m[0]), m_el[2].dot(m[1]), m_el[2].dot(m[2])); +#endif +} + +SIMD_FORCE_INLINE btVector3 +operator*(const btMatrix3x3& m, const btVector3& v) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE))|| defined (BT_USE_NEON) + return v.dot3(m[0], m[1], m[2]); +#else + return btVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v)); +#endif +} + + +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btMatrix3x3& m) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + const __m128 vv = v.mVec128; + + __m128 c0 = bt_splat_ps( vv, 0); + __m128 c1 = bt_splat_ps( vv, 1); + __m128 c2 = bt_splat_ps( vv, 2); + + c0 = _mm_mul_ps(c0, _mm_and_ps(m[0].mVec128, btvFFF0fMask) ); + c1 = _mm_mul_ps(c1, _mm_and_ps(m[1].mVec128, btvFFF0fMask) ); + c0 = _mm_add_ps(c0, c1); + c2 = _mm_mul_ps(c2, _mm_and_ps(m[2].mVec128, btvFFF0fMask) ); + + return btVector3(_mm_add_ps(c0, c2)); +#elif defined(BT_USE_NEON) + const float32x4_t vv = v.mVec128; + const float32x2_t vlo = vget_low_f32(vv); + const float32x2_t vhi = vget_high_f32(vv); + + float32x4_t c0, c1, c2; + + c0 = (float32x4_t) vandq_s32((int32x4_t)m[0].mVec128, btvFFF0Mask); + c1 = (float32x4_t) vandq_s32((int32x4_t)m[1].mVec128, btvFFF0Mask); + c2 = (float32x4_t) vandq_s32((int32x4_t)m[2].mVec128, btvFFF0Mask); + + c0 = vmulq_lane_f32(c0, vlo, 0); + c1 = vmulq_lane_f32(c1, vlo, 1); + c2 = vmulq_lane_f32(c2, vhi, 0); + c0 = vaddq_f32(c0, c1); + c0 = vaddq_f32(c0, c2); + + return btVector3(c0); +#else + return btVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v)); +#endif +} + +SIMD_FORCE_INLINE btMatrix3x3 +operator*(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + __m128 m10 = m1[0].mVec128; + __m128 m11 = m1[1].mVec128; + __m128 m12 = m1[2].mVec128; + + __m128 m2v = _mm_and_ps(m2[0].mVec128, btvFFF0fMask); + + __m128 c0 = bt_splat_ps( m10, 0); + __m128 c1 = bt_splat_ps( m11, 0); + __m128 c2 = bt_splat_ps( m12, 0); + + c0 = _mm_mul_ps(c0, m2v); + c1 = _mm_mul_ps(c1, m2v); + c2 = _mm_mul_ps(c2, m2v); + + m2v = _mm_and_ps(m2[1].mVec128, btvFFF0fMask); + + __m128 c0_1 = bt_splat_ps( m10, 1); + __m128 c1_1 = bt_splat_ps( m11, 1); + __m128 c2_1 = bt_splat_ps( m12, 1); + + c0_1 = _mm_mul_ps(c0_1, m2v); + c1_1 = _mm_mul_ps(c1_1, m2v); + c2_1 = _mm_mul_ps(c2_1, m2v); + + m2v = _mm_and_ps(m2[2].mVec128, btvFFF0fMask); + + c0 = _mm_add_ps(c0, c0_1); + c1 = _mm_add_ps(c1, c1_1); + c2 = _mm_add_ps(c2, c2_1); + + m10 = bt_splat_ps( m10, 2); + m11 = bt_splat_ps( m11, 2); + m12 = bt_splat_ps( m12, 2); + + m10 = _mm_mul_ps(m10, m2v); + m11 = _mm_mul_ps(m11, m2v); + m12 = _mm_mul_ps(m12, m2v); + + c0 = _mm_add_ps(c0, m10); + c1 = _mm_add_ps(c1, m11); + c2 = _mm_add_ps(c2, m12); + + return btMatrix3x3(c0, c1, c2); + +#elif defined(BT_USE_NEON) + + float32x4_t rv0, rv1, rv2; + float32x4_t v0, v1, v2; + float32x4_t mv0, mv1, mv2; + + v0 = m1[0].mVec128; + v1 = m1[1].mVec128; + v2 = m1[2].mVec128; + + mv0 = (float32x4_t) vandq_s32((int32x4_t)m2[0].mVec128, btvFFF0Mask); + mv1 = (float32x4_t) vandq_s32((int32x4_t)m2[1].mVec128, btvFFF0Mask); + mv2 = (float32x4_t) vandq_s32((int32x4_t)m2[2].mVec128, btvFFF0Mask); + + rv0 = vmulq_lane_f32(mv0, vget_low_f32(v0), 0); + rv1 = vmulq_lane_f32(mv0, vget_low_f32(v1), 0); + rv2 = vmulq_lane_f32(mv0, vget_low_f32(v2), 0); + + rv0 = vmlaq_lane_f32(rv0, mv1, vget_low_f32(v0), 1); + rv1 = vmlaq_lane_f32(rv1, mv1, vget_low_f32(v1), 1); + rv2 = vmlaq_lane_f32(rv2, mv1, vget_low_f32(v2), 1); + + rv0 = vmlaq_lane_f32(rv0, mv2, vget_high_f32(v0), 0); + rv1 = vmlaq_lane_f32(rv1, mv2, vget_high_f32(v1), 0); + rv2 = vmlaq_lane_f32(rv2, mv2, vget_high_f32(v2), 0); + + return btMatrix3x3(rv0, rv1, rv2); + +#else + return btMatrix3x3( + m2.tdotx( m1[0]), m2.tdoty( m1[0]), m2.tdotz( m1[0]), + m2.tdotx( m1[1]), m2.tdoty( m1[1]), m2.tdotz( m1[1]), + m2.tdotx( m1[2]), m2.tdoty( m1[2]), m2.tdotz( m1[2])); +#endif +} + +/* +SIMD_FORCE_INLINE btMatrix3x3 btMultTransposeLeft(const btMatrix3x3& m1, const btMatrix3x3& m2) { +return btMatrix3x3( +m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], +m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], +m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], +m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], +m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], +m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], +m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], +m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], +m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); +} +*/ + +/**@brief Equality operator between two matrices +* It will test all elements are equal. */ +SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2) +{ +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + + __m128 c0, c1, c2; + + c0 = _mm_cmpeq_ps(m1[0].mVec128, m2[0].mVec128); + c1 = _mm_cmpeq_ps(m1[1].mVec128, m2[1].mVec128); + c2 = _mm_cmpeq_ps(m1[2].mVec128, m2[2].mVec128); + + c0 = _mm_and_ps(c0, c1); + c0 = _mm_and_ps(c0, c2); + + return (0x7 == _mm_movemask_ps((__m128)c0)); +#else + return + ( m1[0][0] == m2[0][0] && m1[1][0] == m2[1][0] && m1[2][0] == m2[2][0] && + m1[0][1] == m2[0][1] && m1[1][1] == m2[1][1] && m1[2][1] == m2[2][1] && + m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] ); +#endif +} + +///for serialization +struct btMatrix3x3FloatData +{ + btVector3FloatData m_el[3]; +}; + +///for serialization +struct btMatrix3x3DoubleData +{ + btVector3DoubleData m_el[3]; +}; + + + + +SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serialize(dataOut.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const +{ + for (int i=0;i<3;i++) + m_el[i].serializeFloat(dataOut.m_el[i]); +} + + +SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerialize(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeFloat(dataIn.m_el[i]); +} + +SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn) +{ + for (int i=0;i<3;i++) + m_el[i].deSerializeDouble(dataIn.m_el[i]); +} + +#endif //BT_MATRIX3x3_H + diff --git a/Code/Physics/src/LinearMath/btMatrixX.h b/Code/Physics/src/LinearMath/btMatrixX.h new file mode 100644 index 00000000..1c29632c --- /dev/null +++ b/Code/Physics/src/LinearMath/btMatrixX.h @@ -0,0 +1,504 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_MATRIX_X_H +#define BT_MATRIX_X_H + +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btAlignedObjectArray.h" + +class btIntSortPredicate +{ + public: + bool operator() ( const int& a, const int& b ) const + { + return a < b; + } +}; + + +template +struct btMatrixX +{ + int m_rows; + int m_cols; + int m_operations; + int m_resizeOperations; + int m_setElemOperations; + + btAlignedObjectArray m_storage; + btAlignedObjectArray< btAlignedObjectArray > m_rowNonZeroElements1; + btAlignedObjectArray< btAlignedObjectArray > m_colNonZeroElements; + + T* getBufferPointerWritable() + { + return m_storage.size() ? &m_storage[0] : 0; + } + + const T* getBufferPointer() const + { + return m_storage.size() ? &m_storage[0] : 0; + } + btMatrixX() + :m_rows(0), + m_cols(0), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + } + btMatrixX(int rows,int cols) + :m_rows(rows), + m_cols(cols), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + resize(rows,cols); + } + void resize(int rows, int cols) + { + m_resizeOperations++; + m_rows = rows; + m_cols = cols; + { + BT_PROFILE("m_storage.resize"); + m_storage.resize(rows*cols); + } + clearSparseInfo(); + } + int cols() const + { + return m_cols; + } + int rows() const + { + return m_rows; + } + ///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead + /*T& operator() (int row,int col) + { + return m_storage[col*m_rows+row]; + } + */ + + void addElem(int row,int col, T val) + { + if (val) + { + if (m_storage[col+row*m_cols]==0.f) + { + setElem(row,col,val); + } else + { + m_storage[row*m_cols+col] += val; + } + } + } + + void copyLowerToUpperTriangle() + { + int count=0; + for (int row=0;row0 && numRowsOther>0 && B && C); + const btScalar *bb = B; + for ( int i = 0;i +struct btVectorX +{ + btAlignedObjectArray m_storage; + + btVectorX() + { + } + btVectorX(int numRows) + { + m_storage.resize(numRows); + } + + void resize(int rows) + { + m_storage.resize(rows); + } + int cols() const + { + return 1; + } + int rows() const + { + return m_storage.size(); + } + int size() const + { + return rows(); + } + void setZero() + { + // for (int i=0;i +void setElem(btMatrixX& mat, int row, int col, T val) +{ + mat.setElem(row,col,val); +} +*/ + + +typedef btMatrixX btMatrixXf; +typedef btVectorX btVectorXf; + +typedef btMatrixX btMatrixXd; +typedef btVectorX btVectorXd; + + + +inline void setElem(btMatrixXd& mat, int row, int col, double val) +{ + mat.setElem(row,col,val); +} + +inline void setElem(btMatrixXf& mat, int row, int col, float val) +{ + mat.setElem(row,col,val); +} + +#ifdef BT_USE_DOUBLE_PRECISION + #define btVectorXu btVectorXd + #define btMatrixXu btMatrixXd +#else + #define btVectorXu btVectorXf + #define btMatrixXu btMatrixXf +#endif //BT_USE_DOUBLE_PRECISION + + + +#endif//BT_MATRIX_H_H diff --git a/Code/Physics/src/LinearMath/btMinMax.h b/Code/Physics/src/LinearMath/btMinMax.h new file mode 100644 index 00000000..5b436e9b --- /dev/null +++ b/Code/Physics/src/LinearMath/btMinMax.h @@ -0,0 +1,71 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GEN_MINMAX_H +#define BT_GEN_MINMAX_H + +#include "btScalar.h" + +template +SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) +{ + return a < b ? a : b ; +} + +template +SIMD_FORCE_INLINE const T& btMax(const T& a, const T& b) +{ + return a > b ? a : b; +} + +template +SIMD_FORCE_INLINE const T& btClamped(const T& a, const T& lb, const T& ub) +{ + return a < lb ? lb : (ub < a ? ub : a); +} + +template +SIMD_FORCE_INLINE void btSetMin(T& a, const T& b) +{ + if (b < a) + { + a = b; + } +} + +template +SIMD_FORCE_INLINE void btSetMax(T& a, const T& b) +{ + if (a < b) + { + a = b; + } +} + +template +SIMD_FORCE_INLINE void btClamp(T& a, const T& lb, const T& ub) +{ + if (a < lb) + { + a = lb; + } + else if (ub < a) + { + a = ub; + } +} + +#endif //BT_GEN_MINMAX_H diff --git a/Code/Physics/src/LinearMath/btMotionState.h b/Code/Physics/src/LinearMath/btMotionState.h new file mode 100644 index 00000000..94318140 --- /dev/null +++ b/Code/Physics/src/LinearMath/btMotionState.h @@ -0,0 +1,40 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_MOTIONSTATE_H +#define BT_MOTIONSTATE_H + +#include "btTransform.h" + +///The btMotionState interface class allows the dynamics world to synchronize and interpolate the updated world transforms with graphics +///For optimizations, potentially only moving objects get synchronized (using setWorldPosition/setWorldOrientation) +class btMotionState +{ + public: + + virtual ~btMotionState() + { + + } + + virtual void getWorldTransform(btTransform& worldTrans ) const =0; + + //Bullet only calls the update of worldtransform for active objects + virtual void setWorldTransform(const btTransform& worldTrans)=0; + + +}; + +#endif //BT_MOTIONSTATE_H diff --git a/Code/Physics/src/LinearMath/btPolarDecomposition.cpp b/Code/Physics/src/LinearMath/btPolarDecomposition.cpp new file mode 100644 index 00000000..a4dca7fd --- /dev/null +++ b/Code/Physics/src/LinearMath/btPolarDecomposition.cpp @@ -0,0 +1,99 @@ +#include "btPolarDecomposition.h" +#include "btMinMax.h" + +namespace +{ + btScalar abs_column_sum(const btMatrix3x3& a, int i) + { + return btFabs(a[0][i]) + btFabs(a[1][i]) + btFabs(a[2][i]); + } + + btScalar abs_row_sum(const btMatrix3x3& a, int i) + { + return btFabs(a[i][0]) + btFabs(a[i][1]) + btFabs(a[i][2]); + } + + btScalar p1_norm(const btMatrix3x3& a) + { + const btScalar sum0 = abs_column_sum(a,0); + const btScalar sum1 = abs_column_sum(a,1); + const btScalar sum2 = abs_column_sum(a,2); + return btMax(btMax(sum0, sum1), sum2); + } + + btScalar pinf_norm(const btMatrix3x3& a) + { + const btScalar sum0 = abs_row_sum(a,0); + const btScalar sum1 = abs_row_sum(a,1); + const btScalar sum2 = abs_row_sum(a,2); + return btMax(btMax(sum0, sum1), sum2); + } +} + +const btScalar btPolarDecomposition::DEFAULT_TOLERANCE = btScalar(0.0001); +const unsigned int btPolarDecomposition::DEFAULT_MAX_ITERATIONS = 16; + +btPolarDecomposition::btPolarDecomposition(btScalar tolerance, unsigned int maxIterations) +: m_tolerance(tolerance) +, m_maxIterations(maxIterations) +{ +} + +unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const +{ + // Use the 'u' and 'h' matrices for intermediate calculations + u = a; + h = a.inverse(); + + for (unsigned int i = 0; i < m_maxIterations; ++i) + { + const btScalar h_1 = p1_norm(h); + const btScalar h_inf = pinf_norm(h); + const btScalar u_1 = p1_norm(u); + const btScalar u_inf = pinf_norm(u); + + const btScalar h_norm = h_1 * h_inf; + const btScalar u_norm = u_1 * u_inf; + + // The matrix is effectively singular so we cannot invert it + if (btFuzzyZero(h_norm) || btFuzzyZero(u_norm)) + break; + + const btScalar gamma = btPow(h_norm / u_norm, 0.25f); + const btScalar inv_gamma = btScalar(1.0) / gamma; + + // Determine the delta to 'u' + const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5); + + // Update the matrices + u += delta; + h = u.inverse(); + + // Check for convergence + if (p1_norm(delta) <= m_tolerance * u_1) + { + h = u.transpose() * a; + h = (h + h.transpose()) * 0.5; + return i; + } + } + + // The algorithm has failed to converge to the specified tolerance, but we + // want to make sure that the matrices returned are in the right form. + h = u.transpose() * a; + h = (h + h.transpose()) * 0.5; + + return m_maxIterations; +} + +unsigned int btPolarDecomposition::maxIterations() const +{ + return m_maxIterations; +} + +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) +{ + static btPolarDecomposition polar; + return polar.decompose(a, u, h); +} + diff --git a/Code/Physics/src/LinearMath/btPolarDecomposition.h b/Code/Physics/src/LinearMath/btPolarDecomposition.h new file mode 100644 index 00000000..56156676 --- /dev/null +++ b/Code/Physics/src/LinearMath/btPolarDecomposition.h @@ -0,0 +1,73 @@ +#ifndef POLARDECOMPOSITION_H +#define POLARDECOMPOSITION_H + +#include "btMatrix3x3.h" + +/** + * This class is used to compute the polar decomposition of a matrix. In + * general, the polar decomposition factorizes a matrix, A, into two parts: a + * unitary matrix (U) and a positive, semi-definite Hermitian matrix (H). + * However, in this particular implementation the original matrix, A, is + * required to be a square 3x3 matrix with real elements. This means that U will + * be an orthogonal matrix and H with be a positive-definite, symmetric matrix. + */ +class btPolarDecomposition +{ + public: + static const btScalar DEFAULT_TOLERANCE; + static const unsigned int DEFAULT_MAX_ITERATIONS; + + /** + * Creates an instance with optional parameters. + * + * @param tolerance - the tolerance used to determine convergence of the + * algorithm + * @param maxIterations - the maximum number of iterations used to achieve + * convergence + */ + btPolarDecomposition(btScalar tolerance = DEFAULT_TOLERANCE, + unsigned int maxIterations = DEFAULT_MAX_ITERATIONS); + + /** + * Decomposes a matrix into orthogonal and symmetric, positive-definite + * parts. If the number of iterations returned by this function is equal to + * the maximum number of iterations, the algorithm has failed to converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ + unsigned int decompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h) const; + + /** + * Returns the maximum number of iterations that this algorithm will perform + * to achieve convergence. + * + * @return maximum number of iterations + */ + unsigned int maxIterations() const; + + private: + btScalar m_tolerance; + unsigned int m_maxIterations; +}; + +/** + * This functions decomposes the matrix 'a' into two parts: an orthogonal matrix + * 'u' and a symmetric, positive-definite matrix 'h'. If the number of + * iterations returned by this function is equal to + * btPolarDecomposition::DEFAULT_MAX_ITERATIONS, the algorithm has failed to + * converge. + * + * @param a - the original matrix + * @param u - the resulting orthogonal matrix + * @param h - the resulting symmetric matrix + * + * @return the number of iterations performed by the algorithm. + */ +unsigned int polarDecompose(const btMatrix3x3& a, btMatrix3x3& u, btMatrix3x3& h); + +#endif // POLARDECOMPOSITION_H + diff --git a/Code/Physics/src/LinearMath/btPoolAllocator.h b/Code/Physics/src/LinearMath/btPoolAllocator.h new file mode 100644 index 00000000..ef208453 --- /dev/null +++ b/Code/Physics/src/LinearMath/btPoolAllocator.h @@ -0,0 +1,121 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 _BT_POOL_ALLOCATOR_H +#define _BT_POOL_ALLOCATOR_H + +#include "btScalar.h" +#include "btAlignedAllocator.h" + +///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. +class btPoolAllocator +{ + int m_elemSize; + int m_maxElements; + int m_freeCount; + void* m_firstFree; + unsigned char* m_pool; + +public: + + btPoolAllocator(int elemSize, int maxElements) + :m_elemSize(elemSize), + m_maxElements(maxElements) + { + m_pool = (unsigned char*) btAlignedAlloc( static_cast(m_elemSize*m_maxElements),16); + + unsigned char* p = m_pool; + m_firstFree = p; + m_freeCount = m_maxElements; + int count = m_maxElements; + while (--count) { + *(void**)p = (p + m_elemSize); + p += m_elemSize; + } + *(void**)p = 0; + } + + ~btPoolAllocator() + { + btAlignedFree( m_pool); + } + + int getFreeCount() const + { + return m_freeCount; + } + + int getUsedCount() const + { + return m_maxElements - m_freeCount; + } + + int getMaxCount() const + { + return m_maxElements; + } + + void* allocate(int size) + { + // release mode fix + (void)size; + btAssert(!size || size<=m_elemSize); + btAssert(m_freeCount>0); + void* result = m_firstFree; + m_firstFree = *(void**)m_firstFree; + --m_freeCount; + return result; + } + + bool validPtr(void* ptr) + { + if (ptr) { + if (((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize)) + { + return true; + } + } + return false; + } + + void freeMemory(void* ptr) + { + if (ptr) { + btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); + + *(void**)ptr = m_firstFree; + m_firstFree = ptr; + ++m_freeCount; + } + } + + int getElementSize() const + { + return m_elemSize; + } + + unsigned char* getPoolAddress() + { + return m_pool; + } + + const unsigned char* getPoolAddress() const + { + return m_pool; + } + +}; + +#endif //_BT_POOL_ALLOCATOR_H diff --git a/Code/Physics/src/LinearMath/btQuadWord.h b/Code/Physics/src/LinearMath/btQuadWord.h new file mode 100644 index 00000000..11067ef4 --- /dev/null +++ b/Code/Physics/src/LinearMath/btQuadWord.h @@ -0,0 +1,244 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMD_QUADWORD_H +#define BT_SIMD_QUADWORD_H + +#include "btScalar.h" +#include "btMinMax.h" + + + + + +#if defined (__CELLOS_LV2) && defined (__SPU__) +#include +#endif + +/**@brief The btQuadWord class is base class for btVector3 and btQuaternion. + * Some issues under PS3 Linux with IBM 2.1 SDK, gcc compiler prevent from using aligned quadword. + */ +#ifndef USE_LIBSPE2 +ATTRIBUTE_ALIGNED16(class) btQuadWord +#else +class btQuadWord +#endif +{ +protected: + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + union { + vec_float4 mVec128; + btScalar m_floats[4]; + }; +public: + vec_float4 get128() const + { + return mVec128; + } +protected: +#else //__CELLOS_LV2__ __SPU__ + +#if defined(BT_USE_SSE) || defined(BT_USE_NEON) + union { + btSimdFloat4 mVec128; + btScalar m_floats[4]; + }; +public: + SIMD_FORCE_INLINE btSimdFloat4 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) + { + mVec128 = v128; + } +#else + btScalar m_floats[4]; +#endif // BT_USE_SSE + +#endif //__CELLOS_LV2__ __SPU__ + + public: + +#if defined(BT_USE_SSE) || defined(BT_USE_NEON) + + // Set Vector + SIMD_FORCE_INLINE btQuadWord(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + // Copy constructor + SIMD_FORCE_INLINE btQuadWord(const btQuadWord& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btQuadWord& + operator=(const btQuadWord& v) + { + mVec128 = v.mVec128; + + return *this; + } + +#endif + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btQuadWord& other) const + { +#ifdef BT_USE_SSE + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif + } + + SIMD_FORCE_INLINE bool operator!=(const btQuadWord& other) const + { + return !(*this == other); + } + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = 0.f; + } + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] = m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; + } + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btQuadWord() + // :m_floats[0](btScalar(0.)),m_floats[1](btScalar(0.)),m_floats[2](btScalar(0.)),m_floats[3](btScalar(0.)) + { + } + + /**@brief Three argument constructor (zeros w) + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = 0.0f; + } + +/**@brief Initializing constructor + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE btQuadWord(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0] = _x, m_floats[1] = _y, m_floats[2] = _z, m_floats[3] = _w; + } + + /**@brief Set each element to the max of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMax(const btQuadWord& other) + { + #ifdef BT_USE_SSE + mVec128 = _mm_max_ps(mVec128, other.mVec128); + #elif defined(BT_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); + #else + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.m_floats[3]); + #endif + } + /**@brief Set each element to the min of the current values and the values of another btQuadWord + * @param other The other btQuadWord to compare with + */ + SIMD_FORCE_INLINE void setMin(const btQuadWord& other) + { + #ifdef BT_USE_SSE + mVec128 = _mm_min_ps(mVec128, other.mVec128); + #elif defined(BT_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); + #else + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.m_floats[3]); + #endif + } + + + +}; + +#endif //BT_SIMD_QUADWORD_H diff --git a/Code/Physics/src/LinearMath/btQuaternion.h b/Code/Physics/src/LinearMath/btQuaternion.h new file mode 100644 index 00000000..665421de --- /dev/null +++ b/Code/Physics/src/LinearMath/btQuaternion.h @@ -0,0 +1,909 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_SIMD__QUATERNION_H_ +#define BT_SIMD__QUATERNION_H_ + + +#include "btVector3.h" +#include "btQuadWord.h" + + + + + +#ifdef BT_USE_SSE + +//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f)) + +#endif + +#if defined(BT_USE_SSE) + +#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f)) +#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f)) + +#elif defined(BT_USE_NEON) + +const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f}; +const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f}; + +#endif + +/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */ +class btQuaternion : public btQuadWord { +public: + /**@brief No initialization constructor */ + btQuaternion() {} + +#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE))|| defined(BT_USE_NEON) + // Set Vector + SIMD_FORCE_INLINE btQuaternion(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + // Copy constructor + SIMD_FORCE_INLINE btQuaternion(const btQuaternion& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btQuaternion& + operator=(const btQuaternion& v) + { + mVec128 = v.mVec128; + + return *this; + } + +#endif + + // template + // explicit Quaternion(const btScalar *v) : Tuple4(v) {} + /**@brief Constructor from scalars */ + btQuaternion(const btScalar& _x, const btScalar& _y, const btScalar& _z, const btScalar& _w) + : btQuadWord(_x, _y, _z, _w) + {} + /**@brief Axis angle Constructor + * @param axis The axis which the rotation is around + * @param angle The magnitude of the rotation around the angle (Radians) */ + btQuaternion(const btVector3& _axis, const btScalar& _angle) + { + setRotation(_axis, _angle); + } + /**@brief Constructor from Euler angles + * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z + * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y + * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */ + btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { +#ifndef BT_EULER_DEFAULT_ZYX + setEuler(yaw, pitch, roll); +#else + setEulerZYX(yaw, pitch, roll); +#endif + } + /**@brief Set the rotation using axis angle notation + * @param axis The axis around which to rotate + * @param angle The magnitude of the rotation in Radians */ + void setRotation(const btVector3& axis, const btScalar& _angle) + { + btScalar d = axis.length(); + btAssert(d != btScalar(0.0)); + btScalar s = btSin(_angle * btScalar(0.5)) / d; + setValue(axis.x() * s, axis.y() * s, axis.z() * s, + btCos(_angle * btScalar(0.5))); + } + /**@brief Set the quaternion using Euler angles + * @param yaw Angle around Y + * @param pitch Angle around X + * @param roll Angle around Z */ + void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + btScalar halfYaw = btScalar(yaw) * btScalar(0.5); + btScalar halfPitch = btScalar(pitch) * btScalar(0.5); + btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, + sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); + } + /**@brief Set the quaternion using euler angles + * @param yaw Angle around Z + * @param pitch Angle around Y + * @param roll Angle around X */ + void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) + { + btScalar halfYaw = btScalar(yaw) * btScalar(0.5); + btScalar halfPitch = btScalar(pitch) * btScalar(0.5); + btScalar halfRoll = btScalar(roll) * btScalar(0.5); + btScalar cosYaw = btCos(halfYaw); + btScalar sinYaw = btSin(halfYaw); + btScalar cosPitch = btCos(halfPitch); + btScalar sinPitch = btSin(halfPitch); + btScalar cosRoll = btCos(halfRoll); + btScalar sinRoll = btSin(halfRoll); + setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x + cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y + cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z + cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx + } + /**@brief Add two quaternions + * @param q The quaternion to add to this one */ + SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_add_ps(mVec128, q.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vaddq_f32(mVec128, q.mVec128); +#else + m_floats[0] += q.x(); + m_floats[1] += q.y(); + m_floats[2] += q.z(); + m_floats[3] += q.m_floats[3]; +#endif + return *this; + } + + /**@brief Subtract out a quaternion + * @param q The quaternion to subtract from this one */ + btQuaternion& operator-=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_sub_ps(mVec128, q.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vsubq_f32(mVec128, q.mVec128); +#else + m_floats[0] -= q.x(); + m_floats[1] -= q.y(); + m_floats[2] -= q.z(); + m_floats[3] -= q.m_floats[3]; +#endif + return *this; + } + + /**@brief Scale this quaternion + * @param s The scalar to scale by */ + btQuaternion& operator*=(const btScalar& s) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0); // (S S S S) + mVec128 = _mm_mul_ps(mVec128, vs); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_n_f32(mVec128, s); +#else + m_floats[0] *= s; + m_floats[1] *= s; + m_floats[2] *= s; + m_floats[3] *= s; +#endif + return *this; + } + + /**@brief Multiply this quaternion by q on the right + * @param q The other quaternion + * Equivilant to this = this * q */ + btQuaternion& operator*=(const btQuaternion& q) + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ2 = q.get128(); + + __m128 A1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(0,1,2,0)); + __m128 B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); + + A1 = A1 * B1; + + __m128 A2 = bt_pshufd_ps(mVec128, BT_SHUFFLE(1,2,0,1)); + __m128 B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 * B2; + + B1 = bt_pshufd_ps(mVec128, BT_SHUFFLE(2,0,1,2)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + B1 = B1 * B2; // A3 *= B3 + + mVec128 = bt_splat_ps(mVec128, 3); // A0 + mVec128 = mVec128 * vQ2; // A0 * B0 + + A1 = A1 + A2; // AB12 + mVec128 = mVec128 - B1; // AB03 = AB0 - AB3 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + mVec128 = mVec128+ A1; // AB03 + AB12 + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = mVec128; + float32x4_t vQ2 = q.get128(); + float32x4_t A0, A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + A0 = vaddq_f32(A0, A1); // AB03 + AB12 + + mVec128 = A0; +#else + setValue( + m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(), + m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(), + m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(), + m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z()); +#endif + return *this; + } + /**@brief Return the dot product between this quaternion and another + * @param q The other quaternion */ + btScalar dot(const btQuaternion& q) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd; + + vd = _mm_mul_ps(mVec128, q.mVec128); + + __m128 t = _mm_movehl_ps(vd, vd); + vd = _mm_add_ps(vd, t); + t = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, t); + + return _mm_cvtss_f32(vd); +#elif defined(BT_USE_NEON) + float32x4_t vd = vmulq_f32(mVec128, q.mVec128); + float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_high_f32(vd)); + x = vpadd_f32(x, x); + return vget_lane_f32(x, 0); +#else + return m_floats[0] * q.x() + + m_floats[1] * q.y() + + m_floats[2] * q.z() + + m_floats[3] * q.m_floats[3]; +#endif + } + + /**@brief Return the length squared of the quaternion */ + btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the quaternion */ + btScalar length() const + { + return btSqrt(length2()); + } + + /**@brief Normalize the quaternion + * Such that x^2 + y^2 + z^2 +w^2 = 1 */ + btQuaternion& normalize() + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd; + + vd = _mm_mul_ps(mVec128, mVec128); + + __m128 t = _mm_movehl_ps(vd, vd); + vd = _mm_add_ps(vd, t); + t = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, t); + + vd = _mm_sqrt_ss(vd); + vd = _mm_div_ss(vOnes, vd); + vd = bt_pshufd_ps(vd, 0); // splat + mVec128 = _mm_mul_ps(mVec128, vd); + + return *this; +#else + return *this /= length(); +#endif + } + + /**@brief Return a scaled version of this quaternion + * @param s The scale factor */ + SIMD_FORCE_INLINE btQuaternion + operator*(const btScalar& s) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + return btQuaternion(_mm_mul_ps(mVec128, vs)); +#elif defined(BT_USE_NEON) + return btQuaternion(vmulq_n_f32(mVec128, s)); +#else + return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s); +#endif + } + + /**@brief Return an inversely scaled versionof this quaternion + * @param s The inverse scale factor */ + btQuaternion operator/(const btScalar& s) const + { + btAssert(s != btScalar(0.0)); + return *this * (btScalar(1.0) / s); + } + + /**@brief Inversely scale this quaternion + * @param s The scale factor */ + btQuaternion& operator/=(const btScalar& s) + { + btAssert(s != btScalar(0.0)); + return *this *= btScalar(1.0) / s; + } + + /**@brief Return a normalized version of this quaternion */ + btQuaternion normalized() const + { + return *this / length(); + } + /**@brief Return the ***half*** angle between this quaternion and the other + * @param q The other quaternion */ + btScalar angle(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + return btAcos(dot(q) / s); + } + + /**@brief Return the angle between this quaternion and the other along the shortest path + * @param q The other quaternion */ + btScalar angleShortestPath(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + return btAcos(dot(-q) / s) * btScalar(2.0); + else + return btAcos(dot(q) / s) * btScalar(2.0); + } + + /**@brief Return the angle of rotation represented by this quaternion */ + btScalar getAngle() const + { + btScalar s = btScalar(2.) * btAcos(m_floats[3]); + return s; + } + + /**@brief Return the angle of rotation represented by this quaternion along the shortest path*/ + btScalar getAngleShortestPath() const + { + btScalar s; + if (dot(*this) < 0) + s = btScalar(2.) * btAcos(m_floats[3]); + else + s = btScalar(2.) * btAcos(-m_floats[3]); + + return s; + } + + + /**@brief Return the axis of the rotation represented by this quaternion */ + btVector3 getAxis() const + { + btScalar s_squared = 1.f-m_floats[3]*m_floats[3]; + + if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero + return btVector3(1.0, 0.0, 0.0); // Arbitrary + btScalar s = 1.f/btSqrt(s_squared); + return btVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s); + } + + /**@brief Return the inverse of this quaternion */ + btQuaternion inverse() const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_xor_ps(mVec128, vQInv)); +#elif defined(BT_USE_NEON) + return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)vQInv)); +#else + return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]); +#endif + } + + /**@brief Return the sum of this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator+(const btQuaternion& q2) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_add_ps(mVec128, q2.mVec128)); +#elif defined(BT_USE_NEON) + return btQuaternion(vaddq_f32(mVec128, q2.mVec128)); +#else + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]); +#endif + } + + /**@brief Return the difference between this quaternion and the other + * @param q2 The other quaternion */ + SIMD_FORCE_INLINE btQuaternion + operator-(const btQuaternion& q2) const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_sub_ps(mVec128, q2.mVec128)); +#elif defined(BT_USE_NEON) + return btQuaternion(vsubq_f32(mVec128, q2.mVec128)); +#else + const btQuaternion& q1 = *this; + return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]); +#endif + } + + /**@brief Return the negative of this quaternion + * This simply negates each element */ + SIMD_FORCE_INLINE btQuaternion operator-() const + { +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btQuaternion(_mm_xor_ps(mVec128, btvMzeroMask)); +#elif defined(BT_USE_NEON) + return btQuaternion((btSimdFloat4)veorq_s32((int32x4_t)mVec128, (int32x4_t)btvMzeroMask) ); +#else + const btQuaternion& q2 = *this; + return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]); +#endif + } + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) > sum.dot(sum) ) + return qd; + return (-qd); + } + + /**@todo document this and it's use */ + SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const + { + btQuaternion diff,sum; + diff = *this - qd; + sum = *this + qd; + if( diff.dot(diff) < sum.dot(sum) ) + return qd; + return (-qd); + } + + + /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion + * @param q The other quaternion to interpolate with + * @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. + * Slerp interpolates assuming constant velocity. */ + btQuaternion slerp(const btQuaternion& q, const btScalar& t) const + { + btScalar magnitude = btSqrt(length2() * q.length2()); + btAssert(magnitude > btScalar(0)); + + btScalar product = dot(q) / magnitude; + if (btFabs(product) < btScalar(1)) + { + // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1); + + const btScalar theta = btAcos(sign * product); + const btScalar s1 = btSin(sign * t * theta); + const btScalar d = btScalar(1.0) / btSin(theta); + const btScalar s0 = btSin((btScalar(1.0) - t) * theta); + + return btQuaternion( + (m_floats[0] * s0 + q.x() * s1) * d, + (m_floats[1] * s0 + q.y() * s1) * d, + (m_floats[2] * s0 + q.z() * s1) * d, + (m_floats[3] * s0 + q.m_floats[3] * s1) * d); + } + else + { + return *this; + } + } + + static const btQuaternion& getIdentity() + { + static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.)); + return identityQuat; + } + + SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; } + + +}; + + + + + +/**@brief Return the product of two quaternions */ +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q1, const btQuaternion& q2) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = q1.get128(); + __m128 vQ2 = q2.get128(); + __m128 A0, A1, B1, A2, B2; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y z x // vtrn + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W W X // vdup vext + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); // Y Z X Y // vext + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); // z x Y Y // vtrn vdup + + A2 = A2 * B2; + + B1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); // z x Y Z // vtrn vext + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); // Y Z x z // vext vtrn + + B1 = B1 * B2; // A3 *= B3 + + A0 = bt_splat_ps(vQ1, 3); // A0 + A0 = A0 * vQ2; // A0 * B0 + + A1 = A1 + A2; // AB12 + A0 = A0 - B1; // AB03 = AB0 - AB3 + + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A0 = A0 + A1; // AB03 + AB12 + + return btQuaternion(A0); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = q1.get128(); + float32x4_t vQ2 = q2.get128(); + float32x4_t A0, A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + A0 = vmulq_lane_f32(vQ2, vget_high_f32(vQ1), 1); // A0 * B0 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + A0 = vsubq_f32(A0, A3); // AB03 = AB0 - AB3 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + A0 = vaddq_f32(A0, A1); // AB03 + AB12 + + return btQuaternion(A0); + +#else + return btQuaternion( + q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), + q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), + q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), + q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btQuaternion& q, const btVector3& w) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = q.get128(); + __m128 vQ2 = w.get128(); + __m128 A1, B1, A2, B2, A3, B3; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(3,3,3,0)); + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(0,1,2,0)); + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 * B2; + + A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); + B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + A3 = A3 * B3; // A3 *= B3 + + A1 = A1 + A2; // AB12 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A1 = A1 - A3; // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = q.get128(); + float32x4_t vQ2 = w.get128(); + float32x4_t A1, B1, A2, B2, A3, B3; + float32x2_t vQ1wx, vQ2zx, vQ1yz, vQ2yz, vQ1zx, vQ2xz; + + vQ1wx = vext_f32(vget_high_f32(vQ1), vget_low_f32(vQ1), 1); + { + float32x2x2_t tmp; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + } + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ1), 1), vQ1wx); // W W W X + B1 = vcombine_f32(vget_low_f32(vQ2), vQ2zx); // X Y z x + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + + A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#else + return btQuaternion( + q.w() * w.x() + q.y() * w.z() - q.z() * w.y(), + q.w() * w.y() + q.z() * w.x() - q.x() * w.z(), + q.w() * w.z() + q.x() * w.y() - q.y() * w.x(), + -q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +operator*(const btVector3& w, const btQuaternion& q) +{ +#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vQ1 = w.get128(); + __m128 vQ2 = q.get128(); + __m128 A1, B1, A2, B2, A3, B3; + + A1 = bt_pshufd_ps(vQ1, BT_SHUFFLE(0,1,2,0)); // X Y z x + B1 = bt_pshufd_ps(vQ2, BT_SHUFFLE(3,3,3,0)); // W W W X + + A1 = A1 * B1; + + A2 = bt_pshufd_ps(vQ1, BT_SHUFFLE(1,2,0,1)); + B2 = bt_pshufd_ps(vQ2, BT_SHUFFLE(2,0,1,1)); + + A2 = A2 *B2; + + A3 = bt_pshufd_ps(vQ1, BT_SHUFFLE(2,0,1,2)); + B3 = bt_pshufd_ps(vQ2, BT_SHUFFLE(1,2,0,2)); + + A3 = A3 * B3; // A3 *= B3 + + A1 = A1 + A2; // AB12 + A1 = _mm_xor_ps(A1, vPPPM); // change sign of the last element + A1 = A1 - A3; // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#elif defined(BT_USE_NEON) + + float32x4_t vQ1 = w.get128(); + float32x4_t vQ2 = q.get128(); + float32x4_t A1, B1, A2, B2, A3, B3; + float32x2_t vQ1zx, vQ2wx, vQ1yz, vQ2zx, vQ2yz, vQ2xz; + + { + float32x2x2_t tmp; + + tmp = vtrn_f32( vget_high_f32(vQ1), vget_low_f32(vQ1) ); // {z x}, {w y} + vQ1zx = tmp.val[0]; + + tmp = vtrn_f32( vget_high_f32(vQ2), vget_low_f32(vQ2) ); // {z x}, {w y} + vQ2zx = tmp.val[0]; + } + vQ2wx = vext_f32(vget_high_f32(vQ2), vget_low_f32(vQ2), 1); + + vQ1yz = vext_f32(vget_low_f32(vQ1), vget_high_f32(vQ1), 1); + + vQ2yz = vext_f32(vget_low_f32(vQ2), vget_high_f32(vQ2), 1); + vQ2xz = vext_f32(vQ2zx, vQ2zx, 1); + + A1 = vcombine_f32(vget_low_f32(vQ1), vQ1zx); // X Y z x + B1 = vcombine_f32(vdup_lane_f32(vget_high_f32(vQ2), 1), vQ2wx); // W W W X + + A2 = vcombine_f32(vQ1yz, vget_low_f32(vQ1)); + B2 = vcombine_f32(vQ2zx, vdup_lane_f32(vget_low_f32(vQ2), 1)); + + A3 = vcombine_f32(vQ1zx, vQ1yz); // Z X Y Z + B3 = vcombine_f32(vQ2yz, vQ2xz); // Y Z x z + + A1 = vmulq_f32(A1, B1); + A2 = vmulq_f32(A2, B2); + A3 = vmulq_f32(A3, B3); // A3 *= B3 + + A1 = vaddq_f32(A1, A2); // AB12 = AB1 + AB2 + + // change the sign of the last element + A1 = (btSimdFloat4)veorq_s32((int32x4_t)A1, (int32x4_t)vPPPM); + + A1 = vsubq_f32(A1, A3); // AB123 = AB12 - AB3 + + return btQuaternion(A1); + +#else + return btQuaternion( + +w.x() * q.w() + w.y() * q.z() - w.z() * q.y(), + +w.y() * q.w() + w.z() * q.x() - w.x() * q.z(), + +w.z() * q.w() + w.x() * q.y() - w.y() * q.x(), + -w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); +#endif +} + +/**@brief Calculate the dot product between two quaternions */ +SIMD_FORCE_INLINE btScalar +dot(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.dot(q2); +} + + +/**@brief Return the length of a quaternion */ +SIMD_FORCE_INLINE btScalar +length(const btQuaternion& q) +{ + return q.length(); +} + +/**@brief Return the angle between two quaternions*/ +SIMD_FORCE_INLINE btScalar +btAngle(const btQuaternion& q1, const btQuaternion& q2) +{ + return q1.angle(q2); +} + +/**@brief Return the inverse of a quaternion*/ +SIMD_FORCE_INLINE btQuaternion +inverse(const btQuaternion& q) +{ + return q.inverse(); +} + +/**@brief Return the result of spherical linear interpolation betwen two quaternions + * @param q1 The first quaternion + * @param q2 The second quaternion + * @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2 + * Slerp assumes constant velocity between positions. */ +SIMD_FORCE_INLINE btQuaternion +slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) +{ + return q1.slerp(q2, t); +} + +SIMD_FORCE_INLINE btVector3 +quatRotate(const btQuaternion& rotation, const btVector3& v) +{ + btQuaternion q = rotation * v; + q *= rotation.inverse(); +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask)); +#elif defined(BT_USE_NEON) + return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask)); +#else + return btVector3(q.getX(),q.getY(),q.getZ()); +#endif +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized +{ + btVector3 c = v0.cross(v1); + btScalar d = v0.dot(v1); + + if (d < -1.0 + SIMD_EPSILON) + { + btVector3 n,unused; + btPlaneSpace1(v0,n,unused); + return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0 + } + + btScalar s = btSqrt((1.0f + d) * 2.0f); + btScalar rs = 1.0f / s; + + return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f); +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) +{ + v0.normalize(); + v1.normalize(); + return shortestArcQuat(v0,v1); +} + +#endif //BT_SIMD__QUATERNION_H_ + + + diff --git a/Code/Physics/src/LinearMath/btQuickprof.cpp b/Code/Physics/src/LinearMath/btQuickprof.cpp new file mode 100644 index 00000000..544aee89 --- /dev/null +++ b/Code/Physics/src/LinearMath/btQuickprof.cpp @@ -0,0 +1,566 @@ +/* + +*************************************************************************************************** +** +** profile.cpp +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ + +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). + +#include "btQuickprof.h" + +#ifndef BT_NO_PROFILE + + +static btClock gProfileClock; + + +#ifdef __CELLOS_LV2__ +#include +#include +#include +#endif + +#if defined (SUNOS) || defined (__SUNOS__) +#include +#endif + +#if defined(WIN32) || defined(_WIN32) + +#define BT_USE_WINDOWS_TIMERS +#define WIN32_LEAN_AND_MEAN +#define NOWINRES +#define NOMCX +#define NOIME + +#ifdef _XBOX + #include +#else //_XBOX + #include +#endif //_XBOX + +#include + + +#else //_WIN32 +#include +#endif //_WIN32 + +#define mymin(a,b) (a > b ? a : b) + +struct btClockData +{ + +#ifdef BT_USE_WINDOWS_TIMERS + LARGE_INTEGER mClockFrequency; + DWORD mStartTick; + LONGLONG mPrevElapsedTime; + LARGE_INTEGER mStartTime; +#else +#ifdef __CELLOS_LV2__ + uint64_t mStartTime; +#else + struct timeval mStartTime; +#endif +#endif //__CELLOS_LV2__ + +}; + +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. +btClock::btClock() +{ + m_data = new btClockData; +#ifdef BT_USE_WINDOWS_TIMERS + QueryPerformanceFrequency(&m_data->mClockFrequency); +#endif + reset(); +} + +btClock::~btClock() +{ + delete m_data; +} + +btClock::btClock(const btClock& other) +{ + m_data = new btClockData; + *m_data = *other.m_data; +} + +btClock& btClock::operator=(const btClock& other) +{ + *m_data = *other.m_data; + return *this; +} + + + /// Resets the initial reference time. +void btClock::reset() +{ +#ifdef BT_USE_WINDOWS_TIMERS + QueryPerformanceCounter(&m_data->mStartTime); + m_data->mStartTick = GetTickCount(); + m_data->mPrevElapsedTime = 0; +#else +#ifdef __CELLOS_LV2__ + + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + m_data->mStartTime = newTime; +#else + gettimeofday(&m_data->mStartTime, 0); +#endif +#endif +} + +/// Returns the time in ms since the last call to reset or since +/// the btClock was created. +unsigned long int btClock::getTimeMilliseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + LARGE_INTEGER currentTime; + QueryPerformanceCounter(¤tTime); + LONGLONG elapsedTime = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + // Compute the number of millisecond ticks elapsed. + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + m_data->mClockFrequency.QuadPart); + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA + // bridge, aka south bridge. See Microsoft KB274323.) + unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick; + signed long msecOff = (signed long)(msecTicks - elapsedTicks); + if (msecOff < -100 || msecOff > 100) + { + // Adjust the starting time forwards. + LONGLONG msecAdjustment = mymin(msecOff * + m_data->mClockFrequency.QuadPart / 1000, elapsedTime - + m_data->mPrevElapsedTime); + m_data->mStartTime.QuadPart += msecAdjustment; + elapsedTime -= msecAdjustment; + + // Recompute the number of millisecond ticks elapsed. + msecTicks = (unsigned long)(1000 * elapsedTime / + m_data->mClockFrequency.QuadPart); + } + + // Store the current elapsed time for adjustments next time. + m_data->mPrevElapsedTime = elapsedTime; + + return msecTicks; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq) / 1000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + SYS_TIMEBASE_GET( newTime ); + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else + + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec) / 1000; +#endif //__CELLOS_LV2__ +#endif +} + + /// Returns the time in us since the last call to reset or since + /// the Clock was created. +unsigned long int btClock::getTimeMicroseconds() +{ +#ifdef BT_USE_WINDOWS_TIMERS + LARGE_INTEGER currentTime; + QueryPerformanceCounter(¤tTime); + LONGLONG elapsedTime = currentTime.QuadPart - + m_data->mStartTime.QuadPart; + + // Compute the number of millisecond ticks elapsed. + unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / + m_data->mClockFrequency.QuadPart); + + // Check for unexpected leaps in the Win32 performance counter. + // (This is caused by unexpected data across the PCI to ISA + // bridge, aka south bridge. See Microsoft KB274323.) + unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick; + signed long msecOff = (signed long)(msecTicks - elapsedTicks); + if (msecOff < -100 || msecOff > 100) + { + // Adjust the starting time forwards. + LONGLONG msecAdjustment = mymin(msecOff * + m_data->mClockFrequency.QuadPart / 1000, elapsedTime - + m_data->mPrevElapsedTime); + m_data->mStartTime.QuadPart += msecAdjustment; + elapsedTime -= msecAdjustment; + } + + // Store the current elapsed time for adjustments next time. + m_data->mPrevElapsedTime = elapsedTime; + + // Convert to microseconds. + unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime / + m_data->mClockFrequency.QuadPart); + + return usecTicks; +#else + +#ifdef __CELLOS_LV2__ + uint64_t freq=sys_time_get_timebase_frequency(); + double dFreq=((double) freq)/ 1000000.0; + typedef uint64_t ClockSize; + ClockSize newTime; + //__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory"); + SYS_TIMEBASE_GET( newTime ); + + return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq); +#else + + struct timeval currentTime; + gettimeofday(¤tTime, 0); + return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1000000 + + (currentTime.tv_usec - m_data->mStartTime.tv_usec); +#endif//__CELLOS_LV2__ +#endif +} + + + + + +inline void Profile_Get_Ticks(unsigned long int * ticks) +{ + *ticks = gProfileClock.getTimeMicroseconds(); +} + +inline float Profile_Get_Tick_Rate(void) +{ +// return 1000000.f; + return 1000.f; + +} + + + +/*************************************************************************************************** +** +** CProfileNode +** +***************************************************************************************************/ + +/*********************************************************************************************** + * INPUT: * + * name - pointer to a static string which is the name of this profile node * + * parent - parent pointer * + * * + * WARNINGS: * + * The name is assumed to be a static pointer, only the pointer is stored and compared for * + * efficiency reasons. * + *=============================================================================================*/ +CProfileNode::CProfileNode( const char * name, CProfileNode * parent ) : + Name( name ), + TotalCalls( 0 ), + TotalTime( 0 ), + StartTime( 0 ), + RecursionCounter( 0 ), + Parent( parent ), + Child( NULL ), + Sibling( NULL ), + m_userPtr(0) +{ + Reset(); +} + + +void CProfileNode::CleanupMemory() +{ + delete ( Child); + Child = NULL; + delete ( Sibling); + Sibling = NULL; +} + +CProfileNode::~CProfileNode( void ) +{ + delete ( Child); + delete ( Sibling); +} + + +/*********************************************************************************************** + * INPUT: * + * name - static string pointer to the name of the node we are searching for * + * * + * WARNINGS: * + * All profile names are assumed to be static strings so this function uses pointer compares * + * to find the named node. * + *=============================================================================================*/ +CProfileNode * CProfileNode::Get_Sub_Node( const char * name ) +{ + // Try to find this sub node + CProfileNode * child = Child; + while ( child ) { + if ( child->Name == name ) { + return child; + } + child = child->Sibling; + } + + // We didn't find it, so add it + + CProfileNode * node = new CProfileNode( name, this ); + node->Sibling = Child; + Child = node; + return node; +} + + +void CProfileNode::Reset( void ) +{ + TotalCalls = 0; + TotalTime = 0.0f; + + + if ( Child ) { + Child->Reset(); + } + if ( Sibling ) { + Sibling->Reset(); + } +} + + +void CProfileNode::Call( void ) +{ + TotalCalls++; + if (RecursionCounter++ == 0) { + Profile_Get_Ticks(&StartTime); + } +} + + +bool CProfileNode::Return( void ) +{ + if ( --RecursionCounter == 0 && TotalCalls != 0 ) { + unsigned long int time; + Profile_Get_Ticks(&time); + time-=StartTime; + TotalTime += (float)time / Profile_Get_Tick_Rate(); + } + return ( RecursionCounter == 0 ); +} + + +/*************************************************************************************************** +** +** CProfileIterator +** +***************************************************************************************************/ +CProfileIterator::CProfileIterator( CProfileNode * start ) +{ + CurrentParent = start; + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::First(void) +{ + CurrentChild = CurrentParent->Get_Child(); +} + + +void CProfileIterator::Next(void) +{ + CurrentChild = CurrentChild->Get_Sibling(); +} + + +bool CProfileIterator::Is_Done(void) +{ + return CurrentChild == NULL; +} + + +void CProfileIterator::Enter_Child( int index ) +{ + CurrentChild = CurrentParent->Get_Child(); + while ( (CurrentChild != NULL) && (index != 0) ) { + index--; + CurrentChild = CurrentChild->Get_Sibling(); + } + + if ( CurrentChild != NULL ) { + CurrentParent = CurrentChild; + CurrentChild = CurrentParent->Get_Child(); + } +} + + +void CProfileIterator::Enter_Parent( void ) +{ + if ( CurrentParent->Get_Parent() != NULL ) { + CurrentParent = CurrentParent->Get_Parent(); + } + CurrentChild = CurrentParent->Get_Child(); +} + + +/*************************************************************************************************** +** +** CProfileManager +** +***************************************************************************************************/ + +CProfileNode CProfileManager::Root( "Root", NULL ); +CProfileNode * CProfileManager::CurrentNode = &CProfileManager::Root; +int CProfileManager::FrameCounter = 0; +unsigned long int CProfileManager::ResetTime = 0; + + +/*********************************************************************************************** + * CProfileManager::Start_Profile -- Begin a named profile * + * * + * Steps one level deeper into the tree, if a child already exists with the specified name * + * then it accumulates the profiling; otherwise a new child node is added to the profile tree. * + * * + * INPUT: * + * name - name of this profiling record * + * * + * WARNINGS: * + * The string used is assumed to be a static string; pointer compares are used throughout * + * the profiling code for efficiency. * + *=============================================================================================*/ +void CProfileManager::Start_Profile( const char * name ) +{ + if (name != CurrentNode->Get_Name()) { + CurrentNode = CurrentNode->Get_Sub_Node( name ); + } + + CurrentNode->Call(); +} + + +/*********************************************************************************************** + * CProfileManager::Stop_Profile -- Stop timing and record the results. * + *=============================================================================================*/ +void CProfileManager::Stop_Profile( void ) +{ + // Return will indicate whether we should back up to our parent (we may + // be profiling a recursive function) + if (CurrentNode->Return()) { + CurrentNode = CurrentNode->Get_Parent(); + } +} + + +/*********************************************************************************************** + * CProfileManager::Reset -- Reset the contents of the profiling system * + * * + * This resets everything except for the tree structure. All of the timing data is reset. * + *=============================================================================================*/ +void CProfileManager::Reset( void ) +{ + gProfileClock.reset(); + Root.Reset(); + Root.Call(); + FrameCounter = 0; + Profile_Get_Ticks(&ResetTime); +} + + +/*********************************************************************************************** + * CProfileManager::Increment_Frame_Counter -- Increment the frame counter * + *=============================================================================================*/ +void CProfileManager::Increment_Frame_Counter( void ) +{ + FrameCounter++; +} + + +/*********************************************************************************************** + * CProfileManager::Get_Time_Since_Reset -- returns the elapsed time since last reset * + *=============================================================================================*/ +float CProfileManager::Get_Time_Since_Reset( void ) +{ + unsigned long int time; + Profile_Get_Ticks(&time); + time -= ResetTime; + return (float)time / Profile_Get_Tick_Rate(); +} + +#include + +void CProfileManager::dumpRecursive(CProfileIterator* profileIterator, int spacing) +{ + profileIterator->First(); + if (profileIterator->Is_Done()) + return; + + float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time(); + int i; + int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); + for (i=0;iGet_Current_Parent_Name(), parent_time ); + float totalTime = 0.f; + + + int numChildren = 0; + + for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next()) + { + numChildren++; + float current_total_time = profileIterator->Get_Current_Total_Time(); + accumulated_time += current_total_time; + float fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f; + { + int i; for (i=0;iGet_Current_Name(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls()); + totalTime += current_total_time; + //recurse into children + } + + if (parent_time < accumulated_time) + { + printf("what's wrong\n"); + } + for (i=0;i SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); + + for (i=0;iEnter_Child(i); + dumpRecursive(profileIterator,spacing+3); + profileIterator->Enter_Parent(); + } +} + + + +void CProfileManager::dumpAll() +{ + CProfileIterator* profileIterator = 0; + profileIterator = CProfileManager::Get_Iterator(); + + dumpRecursive(profileIterator,0); + + CProfileManager::Release_Iterator(profileIterator); +} + + + + +#endif //BT_NO_PROFILE diff --git a/Code/Physics/src/LinearMath/btQuickprof.h b/Code/Physics/src/LinearMath/btQuickprof.h new file mode 100644 index 00000000..93f3f4a6 --- /dev/null +++ b/Code/Physics/src/LinearMath/btQuickprof.h @@ -0,0 +1,203 @@ + +/*************************************************************************************************** +** +** Real-Time Hierarchical Profiling for Game Programming Gems 3 +** +** by Greg Hjelstrom & Byon Garrabrant +** +***************************************************************************************************/ + +// Credits: The Clock class was inspired by the Timer classes in +// Ogre (www.ogre3d.org). + + + +#ifndef BT_QUICK_PROF_H +#define BT_QUICK_PROF_H + +//To disable built-in profiling, please comment out next line +//#define BT_NO_PROFILE 1 +#ifndef BT_NO_PROFILE +#include //@todo remove this, backwards compatibility +#include "btScalar.h" +#include "btAlignedAllocator.h" +#include + + + + + +#define USE_BT_CLOCK 1 + +#ifdef USE_BT_CLOCK + +///The btClock is a portable basic clock that measures accurate time in seconds, use for profiling. +class btClock +{ +public: + btClock(); + + btClock(const btClock& other); + btClock& operator=(const btClock& other); + + ~btClock(); + + /// Resets the initial reference time. + void reset(); + + /// Returns the time in ms since the last call to reset or since + /// the btClock was created. + unsigned long int getTimeMilliseconds(); + + /// Returns the time in us since the last call to reset or since + /// the Clock was created. + unsigned long int getTimeMicroseconds(); +private: + struct btClockData* m_data; +}; + +#endif //USE_BT_CLOCK + + + + +///A node in the Profile Hierarchy Tree +class CProfileNode { + +public: + CProfileNode( const char * name, CProfileNode * parent ); + ~CProfileNode( void ); + + CProfileNode * Get_Sub_Node( const char * name ); + + CProfileNode * Get_Parent( void ) { return Parent; } + CProfileNode * Get_Sibling( void ) { return Sibling; } + CProfileNode * Get_Child( void ) { return Child; } + + void CleanupMemory(); + void Reset( void ); + void Call( void ); + bool Return( void ); + + const char * Get_Name( void ) { return Name; } + int Get_Total_Calls( void ) { return TotalCalls; } + float Get_Total_Time( void ) { return TotalTime; } + void* GetUserPointer() const {return m_userPtr;} + void SetUserPointer(void* ptr) { m_userPtr = ptr;} +protected: + + const char * Name; + int TotalCalls; + float TotalTime; + unsigned long int StartTime; + int RecursionCounter; + + CProfileNode * Parent; + CProfileNode * Child; + CProfileNode * Sibling; + void* m_userPtr; +}; + +///An iterator to navigate through the tree +class CProfileIterator +{ +public: + // Access all the children of the current parent + void First(void); + void Next(void); + bool Is_Done(void); + bool Is_Root(void) { return (CurrentParent->Get_Parent() == 0); } + + void Enter_Child( int index ); // Make the given child the new parent + void Enter_Largest_Child( void ); // Make the largest child the new parent + void Enter_Parent( void ); // Make the current parent's parent the new parent + + // Access the current child + const char * Get_Current_Name( void ) { return CurrentChild->Get_Name(); } + int Get_Current_Total_Calls( void ) { return CurrentChild->Get_Total_Calls(); } + float Get_Current_Total_Time( void ) { return CurrentChild->Get_Total_Time(); } + + void* Get_Current_UserPointer( void ) { return CurrentChild->GetUserPointer(); } + void Set_Current_UserPointer(void* ptr) {CurrentChild->SetUserPointer(ptr);} + // Access the current parent + const char * Get_Current_Parent_Name( void ) { return CurrentParent->Get_Name(); } + int Get_Current_Parent_Total_Calls( void ) { return CurrentParent->Get_Total_Calls(); } + float Get_Current_Parent_Total_Time( void ) { return CurrentParent->Get_Total_Time(); } + + + +protected: + + CProfileNode * CurrentParent; + CProfileNode * CurrentChild; + + + CProfileIterator( CProfileNode * start ); + friend class CProfileManager; +}; + + +///The Manager for the Profile system +class CProfileManager { +public: + static void Start_Profile( const char * name ); + static void Stop_Profile( void ); + + static void CleanupMemory(void) + { + Root.CleanupMemory(); + } + + static void Reset( void ); + static void Increment_Frame_Counter( void ); + static int Get_Frame_Count_Since_Reset( void ) { return FrameCounter; } + static float Get_Time_Since_Reset( void ); + + static CProfileIterator * Get_Iterator( void ) + { + + return new CProfileIterator( &Root ); + } + static void Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); } + + static void dumpRecursive(CProfileIterator* profileIterator, int spacing); + + static void dumpAll(); + +private: + static CProfileNode Root; + static CProfileNode * CurrentNode; + static int FrameCounter; + static unsigned long int ResetTime; +}; + + +///ProfileSampleClass is a simple way to profile a function's scope +///Use the BT_PROFILE macro at the start of scope to time +class CProfileSample { +public: + CProfileSample( const char * name ) + { + CProfileManager::Start_Profile( name ); + } + + ~CProfileSample( void ) + { + CProfileManager::Stop_Profile(); + } +}; + + +#define BT_PROFILE( name ) CProfileSample __profile( name ) + +#else + +#define BT_PROFILE( name ) + +#endif //#ifndef BT_NO_PROFILE + + + +#endif //BT_QUICK_PROF_H + + diff --git a/Code/Physics/src/LinearMath/btRandom.h b/Code/Physics/src/LinearMath/btRandom.h new file mode 100644 index 00000000..4cbfc6bf --- /dev/null +++ b/Code/Physics/src/LinearMath/btRandom.h @@ -0,0 +1,42 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_GEN_RANDOM_H +#define BT_GEN_RANDOM_H + +#ifdef MT19937 + +#include +#include + +#define GEN_RAND_MAX UINT_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { init_genrand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return genrand_int32(); } + +#else + +#include + +#define GEN_RAND_MAX RAND_MAX + +SIMD_FORCE_INLINE void GEN_srand(unsigned int seed) { srand(seed); } +SIMD_FORCE_INLINE unsigned int GEN_rand() { return rand(); } + +#endif + +#endif //BT_GEN_RANDOM_H + diff --git a/Code/Physics/src/LinearMath/btScalar.h b/Code/Physics/src/LinearMath/btScalar.h new file mode 100644 index 00000000..37c6dec1 --- /dev/null +++ b/Code/Physics/src/LinearMath/btScalar.h @@ -0,0 +1,731 @@ +/* +Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com + +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 BT_SCALAR_H +#define BT_SCALAR_H + +#ifdef BT_MANAGED_CODE +//Aligned data types not supported in managed code +#pragma unmanaged +#endif + + +#include +#include //size_t for MSVC 6.0 +#include + +/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ +#define BT_BULLET_VERSION 282 + +inline int btGetVersion() +{ + return BT_BULLET_VERSION; +} + +#if defined(DEBUG) || defined (_DEBUG) +#define BT_DEBUG +#endif + + +#ifdef _WIN32 + + #if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300) + + #define SIMD_FORCE_INLINE inline + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #else + //#define BT_HAS_ALIGNED_ALLOCATOR + #pragma warning(disable : 4324) // disable padding warning +// #pragma warning(disable:4530) // Disable the exception disable but used in MSCV Stl warning. +// #pragma warning(disable:4996) //Turn off warnings about deprecated C routines +// #pragma warning(disable:4786) // Disable the "debug name too long" warning + + #define SIMD_FORCE_INLINE __forceinline + #define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a + #define ATTRIBUTE_ALIGNED64(a) __declspec(align(64)) a + #define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a + #ifdef _XBOX + #define BT_USE_VMX128 + + #include + #define BT_HAVE_NATIVE_FSEL + #define btFsel(a,b,c) __fsel((a),(b),(c)) + #else + +#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #if _MSC_VER>1400 + #define BT_USE_SIMD_VECTOR3 + #endif + + #define BT_USE_SSE + #ifdef BT_USE_SSE + //BT_USE_SSE_IN_API is disabled under Windows by default, because + //it makes it harder to integrate Bullet into your application under Windows + //(structured embedding Bullet structs/classes need to be 16-byte aligned) + //with relatively little performance gain + //If you are not embedded Bullet data in your classes, or make sure that you align those classes on 16-byte boundaries + //you can manually enable this line or set it in the build system for a bit of performance gain (a few percent, dependent on usage) + //#define BT_USE_SSE_IN_API + #endif //BT_USE_SSE + #include +#endif + + #endif//_XBOX + + #endif //__MINGW32__ + +#ifdef BT_DEBUG + #ifdef _MSC_VER + #include + #define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak(); }} + #else//_MSC_VER + #include + #define btAssert assert + #endif//_MSC_VER +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + +#if defined (__CELLOS_LV2__) + #define SIMD_FORCE_INLINE inline __attribute__((always_inline)) + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif +#ifdef BT_DEBUG +#ifdef __SPU__ +#include +#define printf spu_printf + #define btAssert(x) {if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);spu_hcmpeq(0,0);}} +#else + #define btAssert assert +#endif + +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + +#ifdef USE_LIBSPE2 + + #define SIMD_FORCE_INLINE __inline + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif +#ifdef BT_DEBUG + #define btAssert assert +#else + #define btAssert(x) +#endif + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + + + #define btLikely(_c) __builtin_expect((_c), 1) + #define btUnlikely(_c) __builtin_expect((_c), 0) + + +#else + //non-windows systems + +#if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) + #if defined (__i386__) || defined (__x86_64__) + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE + //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries + //if apps run into issues, we will disable the next line + #define BT_USE_SSE_IN_API + #ifdef BT_USE_SSE + // include appropriate SSE level + #if defined (__SSE4_1__) + #include + #elif defined (__SSSE3__) + #include + #elif defined (__SSE3__) + #include + #else + #include + #endif + #endif //BT_USE_SSE + #elif defined( __ARM_NEON__ ) + #ifdef __clang__ + #define BT_USE_NEON 1 + #define BT_USE_SIMD_VECTOR3 + + #if defined BT_USE_NEON && defined (__clang__) + #include + #endif//BT_USE_NEON + #endif //__clang__ + #endif//__arm__ + + #define SIMD_FORCE_INLINE inline __attribute__ ((always_inline)) +///@todo: check out alignment methods for other platforms/compilers + #define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + #define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + #define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #ifndef assert + #include + #endif + + #if defined(DEBUG) || defined (_DEBUG) + #if defined (__i386__) || defined (__x86_64__) + #include + #define btAssert(x)\ + {\ + if(!(x))\ + {\ + printf("Assert %s in line %d, file %s\n",#x, __LINE__, __FILE__);\ + asm volatile ("int3");\ + }\ + } + #else//defined (__i386__) || defined (__x86_64__) + #define btAssert assert + #endif//defined (__i386__) || defined (__x86_64__) + #else//defined(DEBUG) || defined (_DEBUG) + #define btAssert(x) + #endif//defined(DEBUG) || defined (_DEBUG) + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c + +#else + + #define SIMD_FORCE_INLINE inline + ///@todo: check out alignment methods for other platforms/compilers + ///#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16))) + ///#define ATTRIBUTE_ALIGNED64(a) a __attribute__ ((aligned (64))) + ///#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128))) + #define ATTRIBUTE_ALIGNED16(a) a + #define ATTRIBUTE_ALIGNED64(a) a + #define ATTRIBUTE_ALIGNED128(a) a + #ifndef assert + #include + #endif + +#if defined(DEBUG) || defined (_DEBUG) + #define btAssert assert +#else + #define btAssert(x) +#endif + + //btFullAssert is optional, slows down a lot + #define btFullAssert(x) + #define btLikely(_c) _c + #define btUnlikely(_c) _c +#endif //__APPLE__ + +#endif // LIBSPE2 + +#endif //__CELLOS_LV2__ +#endif + + +///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. +#if defined(BT_USE_DOUBLE_PRECISION) + +typedef double btScalar; +//this number could be bigger in double precision +#define BT_LARGE_FLOAT 1e30 +#else + +typedef float btScalar; +//keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX +#define BT_LARGE_FLOAT 1e18f +#endif + +#ifdef BT_USE_SSE +typedef __m128 btSimdFloat4; +#endif//BT_USE_SSE + +#if defined (BT_USE_SSE) +//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) +#ifdef _WIN32 + +#ifndef BT_NAN +static int btNanMask = 0x7F800001; +#define BT_NAN (*(float*)&btNanMask) +#endif + +#ifndef BT_INFINITY +static int btInfinityMask = 0x7F800000; +#define BT_INFINITY (*(float*)&btInfinityMask) +#endif + +//use this, in case there are clashes (such as xnamath.h) +#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS +inline __m128 operator + (const __m128 A, const __m128 B) +{ + return _mm_add_ps(A, B); +} + +inline __m128 operator - (const __m128 A, const __m128 B) +{ + return _mm_sub_ps(A, B); +} + +inline __m128 operator * (const __m128 A, const __m128 B) +{ + return _mm_mul_ps(A, B); +} +#endif //BT_NO_SIMD_OPERATOR_OVERLOADS + +#define btCastfTo128i(a) (_mm_castps_si128(a)) +#define btCastfTo128d(a) (_mm_castps_pd(a)) +#define btCastiTo128f(a) (_mm_castsi128_ps(a)) +#define btCastdTo128f(a) (_mm_castpd_ps(a)) +#define btCastdTo128i(a) (_mm_castpd_si128(a)) +#define btAssign128(r0,r1,r2,r3) _mm_setr_ps(r0,r1,r2,r3) + +#else//_WIN32 + +#define btCastfTo128i(a) ((__m128i)(a)) +#define btCastfTo128d(a) ((__m128d)(a)) +#define btCastiTo128f(a) ((__m128) (a)) +#define btCastdTo128f(a) ((__m128) (a)) +#define btCastdTo128i(a) ((__m128i)(a)) +#define btAssign128(r0,r1,r2,r3) (__m128){r0,r1,r2,r3} +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#endif//_WIN32 +#else + +#ifdef BT_USE_NEON + #include + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#else//BT_USE_NEON + + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float*)&btInfinityMask) + #endif +#endif//BT_USE_NEON + +#endif //BT_USE_SSE + +#ifdef BT_USE_NEON +#include + +typedef float32x4_t btSimdFloat4; +#define BT_INFINITY INFINITY +#define BT_NAN NAN +#define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#endif + + + + + +#define BT_DECLARE_ALIGNED_ALLOCATOR() \ + SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete(void*, void*) { } \ + SIMD_FORCE_INLINE void* operator new[](size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \ + SIMD_FORCE_INLINE void operator delete[](void* ptr) { btAlignedFree(ptr); } \ + SIMD_FORCE_INLINE void* operator new[](size_t, void* ptr) { return ptr; } \ + SIMD_FORCE_INLINE void operator delete[](void*, void*) { } \ + + + +#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS) + +SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); } +SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabs(x); } +SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cos(x); } +SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sin(x); } +SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tan(x); } +SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return acos(x); } +SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { if (xbtScalar(1)) x=btScalar(1); return asin(x); } +SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atan(x); } +SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2(x, y); } +SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return exp(x); } +SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return log(x); } +SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); } +SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmod(x,y); } + +#else + +SIMD_FORCE_INLINE btScalar btSqrt(btScalar y) +{ +#ifdef USE_APPROXIMATION + double x, z, tempf; + unsigned long *tfptr = ((unsigned long *)&tempf) + 1; + + tempf = y; + *tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */ + x = tempf; + z = y*btScalar(0.5); + x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */ + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + x = (btScalar(1.5)*x)-(x*x)*(x*z); + return x*y; +#else + return sqrtf(y); +#endif +} +SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } +SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } +SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } +SIMD_FORCE_INLINE btScalar btTan(btScalar x) { return tanf(x); } +SIMD_FORCE_INLINE btScalar btAcos(btScalar x) { + if (xbtScalar(1)) + x=btScalar(1); + return acosf(x); +} +SIMD_FORCE_INLINE btScalar btAsin(btScalar x) { + if (xbtScalar(1)) + x=btScalar(1); + return asinf(x); +} +SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); } +SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); } +SIMD_FORCE_INLINE btScalar btExp(btScalar x) { return expf(x); } +SIMD_FORCE_INLINE btScalar btLog(btScalar x) { return logf(x); } +SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return powf(x,y); } +SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } + +#endif + +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI btScalar(2.0) * SIMD_PI +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) +#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) +#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) +#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) + +#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ +#define btRecip(x) (btScalar(1.0)/btScalar(x)) + +#ifdef BT_USE_DOUBLE_PRECISION +#define SIMD_EPSILON DBL_EPSILON +#define SIMD_INFINITY DBL_MAX +#else +#define SIMD_EPSILON FLT_EPSILON +#define SIMD_INFINITY FLT_MAX +#endif + +SIMD_FORCE_INLINE btScalar btAtan2Fast(btScalar y, btScalar x) +{ + btScalar coeff_1 = SIMD_PI / 4.0f; + btScalar coeff_2 = 3.0f * coeff_1; + btScalar abs_y = btFabs(y); + btScalar angle; + if (x >= 0.0f) { + btScalar r = (x - abs_y) / (x + abs_y); + angle = coeff_1 - coeff_1 * r; + } else { + btScalar r = (x + abs_y) / (abs_y - x); + angle = coeff_2 - coeff_1 * r; + } + return (y < 0.0f) ? -angle : angle; +} + +SIMD_FORCE_INLINE bool btFuzzyZero(btScalar x) { return btFabs(x) < SIMD_EPSILON; } + +SIMD_FORCE_INLINE bool btEqual(btScalar a, btScalar eps) { + return (((a) <= eps) && !((a) < -eps)); +} +SIMD_FORCE_INLINE bool btGreaterEqual (btScalar a, btScalar eps) { + return (!((a) <= eps)); +} + + +SIMD_FORCE_INLINE int btIsNegative(btScalar x) { + return x < btScalar(0.0) ? 1 : 0; +} + +SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; } +SIMD_FORCE_INLINE btScalar btDegrees(btScalar x) { return x * SIMD_DEGS_PER_RAD; } + +#define BT_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name + +#ifndef btFsel +SIMD_FORCE_INLINE btScalar btFsel(btScalar a, btScalar b, btScalar c) +{ + return a >= 0 ? b : c; +} +#endif +#define btFsels(a,b,c) (btScalar)btFsel(a,b,c) + + +SIMD_FORCE_INLINE bool btMachineIsLittleEndian() +{ + long int i = 1; + const char *p = (const char *) &i; + if (p[0] == 1) // Lowest address contains the least significant byte + return true; + else + return false; +} + + + +///btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBox 360 +///Thanks Phil Knight. See also http://www.cellperformance.com/articles/2006/04/more_techniques_for_eliminatin_1.html +SIMD_FORCE_INLINE unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero) +{ + // Set testNz to 0xFFFFFFFF if condition is nonzero, 0x00000000 if condition is zero + // Rely on positive value or'ed with its negative having sign bit on + // and zero value or'ed with its negative (which is still zero) having sign bit off + // Use arithmetic shift right, shifting the sign bit through all 32 bits + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return ((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE int btSelect(unsigned condition, int valueIfConditionNonZero, int valueIfConditionZero) +{ + unsigned testNz = (unsigned)(((int)condition | -(int)condition) >> 31); + unsigned testEqz = ~testNz; + return static_cast((valueIfConditionNonZero & testNz) | (valueIfConditionZero & testEqz)); +} +SIMD_FORCE_INLINE float btSelect(unsigned condition, float valueIfConditionNonZero, float valueIfConditionZero) +{ +#ifdef BT_HAVE_NATIVE_FSEL + return (float)btFsel((btScalar)condition - btScalar(1.0f), valueIfConditionNonZero, valueIfConditionZero); +#else + return (condition != 0) ? valueIfConditionNonZero : valueIfConditionZero; +#endif +} + +template SIMD_FORCE_INLINE void btSwap(T& a, T& b) +{ + T tmp = a; + a = b; + b = tmp; +} + + +//PCK: endian swapping functions +SIMD_FORCE_INLINE unsigned btSwapEndian(unsigned val) +{ + return (((val & 0xff000000) >> 24) | ((val & 0x00ff0000) >> 8) | ((val & 0x0000ff00) << 8) | ((val & 0x000000ff) << 24)); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(unsigned short val) +{ + return static_cast(((val & 0xff00) >> 8) | ((val & 0x00ff) << 8)); +} + +SIMD_FORCE_INLINE unsigned btSwapEndian(int val) +{ + return btSwapEndian((unsigned)val); +} + +SIMD_FORCE_INLINE unsigned short btSwapEndian(short val) +{ + return btSwapEndian((unsigned short) val); +} + +///btSwapFloat uses using char pointers to swap the endianness +////btSwapFloat/btSwapDouble will NOT return a float, because the machine might 'correct' invalid floating point values +///Not all values of sign/exponent/mantissa are valid floating point numbers according to IEEE 754. +///When a floating point unit is faced with an invalid value, it may actually change the value, or worse, throw an exception. +///In most systems, running user mode code, you wouldn't get an exception, but instead the hardware/os/runtime will 'fix' the number for you. +///so instead of returning a float/double, we return integer/long long integer +SIMD_FORCE_INLINE unsigned int btSwapEndianFloat(float d) +{ + unsigned int a = 0; + unsigned char *dst = (unsigned char *)&a; + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + return a; +} + +// unswap using char pointers +SIMD_FORCE_INLINE float btUnswapEndianFloat(unsigned int a) +{ + float d = 0.0f; + unsigned char *src = (unsigned char *)&a; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; + + return d; +} + + +// swap using char pointers +SIMD_FORCE_INLINE void btSwapEndianDouble(double d, unsigned char* dst) +{ + unsigned char *src = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + +} + +// unswap using char pointers +SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) +{ + double d = 0.0; + unsigned char *dst = (unsigned char *)&d; + + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; + + return d; +} + +template +SIMD_FORCE_INLINE void btSetZero(T* a, int n) +{ + T* acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} + + +SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) +{ + btScalar p0,q0,m0,p1,q1,m1,sum; + sum = 0; + n -= 2; + while (n >= 0) { + p0 = a[0]; q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; +} + + +// returns normalized value in range [-SIMD_PI, SIMD_PI] +SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) +{ + angleInRadians = btFmod(angleInRadians, SIMD_2_PI); + if(angleInRadians < -SIMD_PI) + { + return angleInRadians + SIMD_2_PI; + } + else if(angleInRadians > SIMD_PI) + { + return angleInRadians - SIMD_2_PI; + } + else + { + return angleInRadians; + } +} + + + +///rudimentary class to provide type info +struct btTypedObject +{ + btTypedObject(int objectType) + :m_objectType(objectType) + { + } + int m_objectType; + inline int getObjectType() const + { + return m_objectType; + } +}; + + + +///align a pointer to the provided alignment, upwards +template T* btAlignPointer(T* unalignedPtr, size_t alignment) +{ + + struct btConvertPointerSizeT + { + union + { + T* ptr; + size_t integer; + }; + }; + btConvertPointerSizeT converter; + + + const size_t bit_mask = ~(alignment - 1); + converter.ptr = unalignedPtr; + converter.integer += alignment-1; + converter.integer &= bit_mask; + return converter.ptr; +} + +#endif //BT_SCALAR_H diff --git a/Code/Physics/src/LinearMath/btSerializer.cpp b/Code/Physics/src/LinearMath/btSerializer.cpp new file mode 100644 index 00000000..ba344939 --- /dev/null +++ b/Code/Physics/src/LinearMath/btSerializer.cpp @@ -0,0 +1,991 @@ +char sBulletDNAstr[]= { +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), 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+char(7),char(0),char(-82),char(0),char(7),char(0),char(-81),char(0),char(7),char(0),char(-76),char(0),char(0),char(0),char(21),char(0),char(68),char(0),char(9),char(0), +char(57),char(0),char(-95),char(0),char(17),char(0),char(-92),char(0),char(17),char(0),char(-91),char(0),char(13),char(0),char(-75),char(0),char(13),char(0),char(-74),char(0), +char(13),char(0),char(-73),char(0),char(13),char(0),char(-72),char(0),char(4),char(0),char(-71),char(0),char(4),char(0),char(-70),char(0),char(69),char(0),char(9),char(0), +char(59),char(0),char(-95),char(0),char(18),char(0),char(-92),char(0),char(18),char(0),char(-91),char(0),char(14),char(0),char(-75),char(0),char(14),char(0),char(-74),char(0), +char(14),char(0),char(-73),char(0),char(14),char(0),char(-72),char(0),char(4),char(0),char(-71),char(0),char(4),char(0),char(-70),char(0),char(70),char(0),char(5),char(0), 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+char(8),char(0),char(-75),char(0),char(8),char(0),char(-74),char(0),char(8),char(0),char(-73),char(0),char(8),char(0),char(-72),char(0),char(4),char(0),char(-71),char(0), +char(4),char(0),char(-70),char(0),char(74),char(0),char(5),char(0),char(56),char(0),char(-95),char(0),char(13),char(0),char(-64),char(0),char(13),char(0),char(-63),char(0), +char(7),char(0),char(-62),char(0),char(0),char(0),char(37),char(0),char(75),char(0),char(4),char(0),char(59),char(0),char(-95),char(0),char(14),char(0),char(-64),char(0), +char(14),char(0),char(-63),char(0),char(8),char(0),char(-62),char(0),char(50),char(0),char(22),char(0),char(8),char(0),char(-61),char(0),char(8),char(0),char(-76),char(0), +char(8),char(0),char(111),char(0),char(8),char(0),char(-60),char(0),char(8),char(0),char(113),char(0),char(8),char(0),char(-59),char(0),char(8),char(0),char(-58),char(0), 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+char(13),char(0),char(-21),char(0),char(58),char(0),char(-20),char(0),char(4),char(0),char(-19),char(0),char(7),char(0),char(-23),char(0),char(82),char(0),char(26),char(0), +char(4),char(0),char(-18),char(0),char(7),char(0),char(-17),char(0),char(7),char(0),char(-76),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0), +char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0), +char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0), +char(7),char(0),char(-4),char(0),char(7),char(0),char(-3),char(0),char(7),char(0),char(-2),char(0),char(7),char(0),char(-1),char(0),char(7),char(0),char(0),char(1), +char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(3),char(1),char(4),char(0),char(4),char(1),char(4),char(0),char(5),char(1), +char(4),char(0),char(118),char(0),char(83),char(0),char(12),char(0),char(15),char(0),char(6),char(1),char(15),char(0),char(7),char(1),char(15),char(0),char(8),char(1), +char(13),char(0),char(9),char(1),char(13),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(4),char(0),char(12),char(1),char(4),char(0),char(13),char(1), +char(4),char(0),char(14),char(1),char(4),char(0),char(15),char(1),char(7),char(0),char(-25),char(0),char(4),char(0),char(53),char(0),char(84),char(0),char(27),char(0), +char(17),char(0),char(16),char(1),char(15),char(0),char(17),char(1),char(15),char(0),char(18),char(1),char(13),char(0),char(9),char(1),char(13),char(0),char(19),char(1), +char(13),char(0),char(20),char(1),char(13),char(0),char(21),char(1),char(13),char(0),char(22),char(1),char(13),char(0),char(23),char(1),char(4),char(0),char(24),char(1), +char(7),char(0),char(25),char(1),char(4),char(0),char(26),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(28),char(1),char(7),char(0),char(29),char(1), +char(7),char(0),char(30),char(1),char(4),char(0),char(31),char(1),char(4),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1), +char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(7),char(0),char(37),char(1),char(7),char(0),char(38),char(1),char(4),char(0),char(39),char(1), +char(4),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(85),char(0),char(12),char(0),char(9),char(0),char(42),char(1),char(9),char(0),char(43),char(1), +char(13),char(0),char(44),char(1),char(7),char(0),char(45),char(1),char(7),char(0),char(-57),char(0),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1), +char(13),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(4),char(0),char(51),char(1),char(4),char(0),char(53),char(0), +char(86),char(0),char(19),char(0),char(48),char(0),char(126),char(0),char(83),char(0),char(52),char(1),char(76),char(0),char(53),char(1),char(77),char(0),char(54),char(1), +char(78),char(0),char(55),char(1),char(79),char(0),char(56),char(1),char(80),char(0),char(57),char(1),char(81),char(0),char(58),char(1),char(84),char(0),char(59),char(1), +char(85),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1), +char(4),char(0),char(64),char(1),char(4),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(82),char(0),char(68),char(1), +}; +int sBulletDNAlen= sizeof(sBulletDNAstr); + +char sBulletDNAstr64[]= { +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), +char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), +char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), +char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(115),char(0),char(42),char(102),char(105),char(114),char(115),char(116),char(0),char(42),char(108),char(97),char(115), +char(116),char(0),char(109),char(95),char(102),char(108),char(111),char(97),char(116),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(108),char(91),char(51), +char(93),char(0),char(109),char(95),char(98),char(97),char(115),char(105),char(115),char(0),char(109),char(95),char(111),char(114),char(105),char(103),char(105),char(110),char(0),char(109), +char(95),char(114),char(111),char(111),char(116),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98), +char(116),char(114),char(101),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100), +char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(91),char(51),char(93),char(0),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105),char(122), +char(101),char(100),char(65),char(97),char(98),char(98),char(77),char(97),char(120),char(91),char(51),char(93),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77), +char(105),char(110),char(79),char(114),char(103),char(0),char(109),char(95),char(97),char(97),char(98),char(98),char(77),char(97),char(120),char(79),char(114),char(103),char(0),char(109), +char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(115),char(117),char(98),char(80),char(97), +char(114),char(116),char(0),char(109),char(95),char(116),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109), +char(95),char(112),char(97),char(100),char(91),char(52),char(93),char(0),char(109),char(95),char(101),char(115),char(99),char(97),char(112),char(101),char(73),char(110),char(100),char(101), +char(120),char(79),char(114),char(84),char(114),char(105),char(97),char(110),char(103),char(108),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(98), +char(118),char(104),char(65),char(97),char(98),char(98),char(77),char(105),char(110),char(0),char(109),char(95),char(98),char(118),char(104),char(65),char(97),char(98),char(98),char(77), +char(97),char(120),char(0),char(109),char(95),char(98),char(118),char(104),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110), +char(0),char(109),char(95),char(99),char(117),char(114),char(78),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(117),char(115), +char(101),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(110),char(117),char(109),char(67), +char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(76),char(101),char(97),char(102),char(78),char(111),char(100),char(101),char(115),char(0),char(109), +char(95),char(110),char(117),char(109),char(81),char(117),char(97),char(110),char(116),char(105),char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117), +char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(0),char(42),char(109),char(95),char(99),char(111),char(110),char(116),char(105),char(103),char(117),char(111), +char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(113),char(117),char(97),char(110),char(116),char(105), +char(122),char(101),char(100),char(67),char(111),char(110),char(116),char(105),char(103),char(117),char(111),char(117),char(115),char(78),char(111),char(100),char(101),char(115),char(80),char(116), +char(114),char(0),char(42),char(109),char(95),char(115),char(117),char(98),char(84),char(114),char(101),char(101),char(73),char(110),char(102),char(111),char(80),char(116),char(114),char(0), +char(109),char(95),char(116),char(114),char(97),char(118),char(101),char(114),char(115),char(97),char(108),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(110),char(117), +char(109),char(83),char(117),char(98),char(116),char(114),char(101),char(101),char(72),char(101),char(97),char(100),char(101),char(114),char(115),char(0),char(42),char(109),char(95),char(110), 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+char(86),char(0),char(19),char(0),char(48),char(0),char(126),char(0),char(83),char(0),char(52),char(1),char(76),char(0),char(53),char(1),char(77),char(0),char(54),char(1), +char(78),char(0),char(55),char(1),char(79),char(0),char(56),char(1),char(80),char(0),char(57),char(1),char(81),char(0),char(58),char(1),char(84),char(0),char(59),char(1), +char(85),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1), +char(4),char(0),char(64),char(1),char(4),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(82),char(0),char(68),char(1), +}; +int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/Code/Physics/src/LinearMath/btSerializer.h b/Code/Physics/src/LinearMath/btSerializer.h new file mode 100644 index 00000000..ff1dc574 --- /dev/null +++ b/Code/Physics/src/LinearMath/btSerializer.h @@ -0,0 +1,639 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://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 BT_SERIALIZER_H +#define BT_SERIALIZER_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE +#include "btHashMap.h" + +#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) +#include +#endif +#include + + + +///only the 32bit versions for now +extern char sBulletDNAstr[]; +extern int sBulletDNAlen; +extern char sBulletDNAstr64[]; +extern int sBulletDNAlen64; + +SIMD_FORCE_INLINE int btStrLen(const char* str) +{ + if (!str) + return(0); + int len = 0; + + while (*str != 0) + { + str++; + len++; + } + + return len; +} + + +class btChunk +{ +public: + int m_chunkCode; + int m_length; + void *m_oldPtr; + int m_dna_nr; + int m_number; +}; + +enum btSerializationFlags +{ + BT_SERIALIZE_NO_BVH = 1, + BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2, + BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4 +}; + +class btSerializer +{ + +public: + + virtual ~btSerializer() {} + + virtual const unsigned char* getBufferPointer() const = 0; + + virtual int getCurrentBufferSize() const = 0; + + virtual btChunk* allocate(size_t size, int numElements) = 0; + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0; + + virtual void* findPointer(void* oldPtr) = 0; + + virtual void* getUniquePointer(void*oldPtr) = 0; + + virtual void startSerialization() = 0; + + virtual void finishSerialization() = 0; + + virtual const char* findNameForPointer(const void* ptr) const = 0; + + virtual void registerNameForPointer(const void* ptr, const char* name) = 0; + + virtual void serializeName(const char* ptr) = 0; + + virtual int getSerializationFlags() const = 0; + + virtual void setSerializationFlags(int flags) = 0; + + +}; + + + +#define BT_HEADER_LENGTH 12 +#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__) +# define BT_MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) ) +#else +# define BT_MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) ) +#endif + +#define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y') +#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J') +#define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y') +#define BT_CONSTRAINT_CODE BT_MAKE_ID('C','O','N','S') +#define BT_BOXSHAPE_CODE BT_MAKE_ID('B','O','X','S') +#define BT_QUANTIZED_BVH_CODE BT_MAKE_ID('Q','B','V','H') +#define BT_TRIANLGE_INFO_MAP BT_MAKE_ID('T','M','A','P') +#define BT_SHAPE_CODE BT_MAKE_ID('S','H','A','P') +#define BT_ARRAY_CODE BT_MAKE_ID('A','R','A','Y') +#define BT_SBMATERIAL_CODE BT_MAKE_ID('S','B','M','T') +#define BT_SBNODE_CODE BT_MAKE_ID('S','B','N','D') +#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D','W','L','D') +#define BT_DNA_CODE BT_MAKE_ID('D','N','A','1') + + +struct btPointerUid +{ + union + { + void* m_ptr; + int m_uniqueIds[2]; + }; +}; + +///The btDefaultSerializer is the main Bullet serialization class. +///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero. +class btDefaultSerializer : public btSerializer +{ + + + btAlignedObjectArray mTypes; + btAlignedObjectArray mStructs; + btAlignedObjectArray mTlens; + btHashMap mStructReverse; + btHashMap mTypeLookup; + + + btHashMap m_chunkP; + + btHashMap m_nameMap; + + btHashMap m_uniquePointers; + int m_uniqueIdGenerator; + + int m_totalSize; + unsigned char* m_buffer; + int m_currentSize; + void* m_dna; + int m_dnaLength; + + int m_serializationFlags; + + + btAlignedObjectArray m_chunkPtrs; + +protected: + + virtual void* findPointer(void* oldPtr) + { + void** ptr = m_chunkP.find(oldPtr); + if (ptr && *ptr) + return *ptr; + return 0; + } + + + + + + void writeDNA() + { + btChunk* dnaChunk = allocate(m_dnaLength,1); + memcpy(dnaChunk->m_oldPtr,m_dna,m_dnaLength); + finalizeChunk(dnaChunk,"DNA1",BT_DNA_CODE, m_dna); + } + + int getReverseType(const char *type) const + { + + btHashString key(type); + const int* valuePtr = mTypeLookup.find(key); + if (valuePtr) + return *valuePtr; + + return -1; + } + + void initDNA(const char* bdnaOrg,int dnalen) + { + ///was already initialized + if (m_dna) + return; + + int littleEndian= 1; + littleEndian= ((char*)&littleEndian)[0]; + + + m_dna = btAlignedAlloc(dnalen,16); + memcpy(m_dna,bdnaOrg,dnalen); + m_dnaLength = dnalen; + + int *intPtr=0; + short *shtPtr=0; + char *cp = 0;int dataLen =0; + intPtr = (int*)m_dna; + + /* + SDNA (4 bytes) (magic number) + NAME (4 bytes) + (4 bytes) amount of names (int) + + + */ + + if (strncmp((const char*)m_dna, "SDNA", 4)==0) + { + // skip ++ NAME + intPtr++; intPtr++; + } + + // Parse names + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + + intPtr++; + + cp = (char*)intPtr; + int i; + for ( i=0; i amount of types (int) + + + */ + + intPtr = (int*)cp; + btAssert(strncmp(cp, "TYPE", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + + dataLen = *intPtr; + intPtr++; + + + cp = (char*)intPtr; + for (i=0; i (short) the lengths of types + + */ + + // Parse type lens + intPtr = (int*)cp; + btAssert(strncmp(cp, "TLEN", 4)==0); intPtr++; + + dataLen = (int)mTypes.size(); + + shtPtr = (short*)intPtr; + for (i=0; i amount of structs (int) + + + + + + + */ + + intPtr = (int*)shtPtr; + cp = (char*)intPtr; + btAssert(strncmp(cp, "STRC", 4)==0); intPtr++; + + if (!littleEndian) + *intPtr = btSwapEndian(*intPtr); + dataLen = *intPtr ; + intPtr++; + + + shtPtr = (short*)intPtr; + for (i=0; im_length; + memcpy(currentPtr,m_chunkPtrs[i], curLength); + btAlignedFree(m_chunkPtrs[i]); + currentPtr+=curLength; + mysize+=curLength; + } + } + + mTypes.clear(); + mStructs.clear(); + mTlens.clear(); + mStructReverse.clear(); + mTypeLookup.clear(); + m_chunkP.clear(); + m_nameMap.clear(); + m_uniquePointers.clear(); + m_chunkPtrs.clear(); + } + + virtual void* getUniquePointer(void*oldPtr) + { + if (!oldPtr) + return 0; + + btPointerUid* uptr = (btPointerUid*)m_uniquePointers.find(oldPtr); + if (uptr) + { + return uptr->m_ptr; + } + m_uniqueIdGenerator++; + + btPointerUid uid; + uid.m_uniqueIds[0] = m_uniqueIdGenerator; + uid.m_uniqueIds[1] = m_uniqueIdGenerator; + m_uniquePointers.insert(oldPtr,uid); + return uid.m_ptr; + + } + + virtual const unsigned char* getBufferPointer() const + { + return m_buffer; + } + + virtual int getCurrentBufferSize() const + { + return m_currentSize; + } + + virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) + { + if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT)) + { + btAssert(!findPointer(oldPtr)); + } + + chunk->m_dna_nr = getReverseType(structType); + + chunk->m_chunkCode = chunkCode; + + void* uniquePtr = getUniquePointer(oldPtr); + + m_chunkP.insert(oldPtr,uniquePtr);//chunk->m_oldPtr); + chunk->m_oldPtr = uniquePtr;//oldPtr; + + } + + + virtual unsigned char* internalAlloc(size_t size) + { + unsigned char* ptr = 0; + + if (m_totalSize) + { + ptr = m_buffer+m_currentSize; + m_currentSize += int(size); + btAssert(m_currentSizem_chunkCode = 0; + chunk->m_oldPtr = data; + chunk->m_length = int(size)*numElements; + chunk->m_number = numElements; + + m_chunkPtrs.push_back(chunk); + + + return chunk; + } + + virtual const char* findNameForPointer(const void* ptr) const + { + const char*const * namePtr = m_nameMap.find(ptr); + if (namePtr && *namePtr) + return *namePtr; + return 0; + + } + + virtual void registerNameForPointer(const void* ptr, const char* name) + { + m_nameMap.insert(ptr,name); + } + + virtual void serializeName(const char* name) + { + if (name) + { + //don't serialize name twice + if (findPointer((void*)name)) + return; + + int len = btStrLen(name); + if (len) + { + + int newLen = len+1; + int padding = ((newLen+3)&~3)-newLen; + newLen += padding; + + //serialize name string now + btChunk* chunk = allocate(sizeof(char),newLen); + char* destinationName = (char*)chunk->m_oldPtr; + for (int i=0;i(totalsize - usedsize); + } + + unsigned char* allocate(unsigned int size) + { + const unsigned int nus(usedsize+size); + if(nusprevious = current; + pb->address = data+usedsize; + current = pb; + return(pb); + } + SIMD_FORCE_INLINE void endBlock(btBlock* block) + { + btAssert(block==current); + //Raise(L"Unmatched blocks"); + if(block==current) + { + current = block->previous; + usedsize = (unsigned int)((block->address-data)-sizeof(btBlock)); + } + } + +private: + void ctor() + { + data = 0; + totalsize = 0; + usedsize = 0; + current = 0; + ischild = false; + } + unsigned char* data; + unsigned int totalsize; + unsigned int usedsize; + btBlock* current; + bool ischild; +}; + +#endif //BT_STACK_ALLOC diff --git a/Code/Physics/src/LinearMath/btTransform.h b/Code/Physics/src/LinearMath/btTransform.h new file mode 100644 index 00000000..90762737 --- /dev/null +++ b/Code/Physics/src/LinearMath/btTransform.h @@ -0,0 +1,305 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_TRANSFORM_H +#define BT_TRANSFORM_H + + +#include "btMatrix3x3.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btTransformData btTransformDoubleData +#else +#define btTransformData btTransformFloatData +#endif + + + + +/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. + *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */ +ATTRIBUTE_ALIGNED16(class) btTransform { + + ///Storage for the rotation + btMatrix3x3 m_basis; + ///Storage for the translation + btVector3 m_origin; + +public: + + /**@brief No initialization constructor */ + btTransform() {} + /**@brief Constructor from btQuaternion (optional btVector3 ) + * @param q Rotation from quaternion + * @param c Translation from Vector (default 0,0,0) */ + explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(q), + m_origin(c) + {} + + /**@brief Constructor from btMatrix3x3 (optional btVector3) + * @param b Rotation from Matrix + * @param c Translation from Vector default (0,0,0)*/ + explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, + const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) + : m_basis(b), + m_origin(c) + {} + /**@brief Copy constructor */ + SIMD_FORCE_INLINE btTransform (const btTransform& other) + : m_basis(other.m_basis), + m_origin(other.m_origin) + { + } + /**@brief Assignment Operator */ + SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other) + { + m_basis = other.m_basis; + m_origin = other.m_origin; + return *this; + } + + + /**@brief Set the current transform as the value of the product of two transforms + * @param t1 Transform 1 + * @param t2 Transform 2 + * This = Transform1 * Transform2 */ + SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) { + m_basis = t1.m_basis * t2.m_basis; + m_origin = t1(t2.m_origin); + } + +/* void multInverseLeft(const btTransform& t1, const btTransform& t2) { + btVector3 v = t2.m_origin - t1.m_origin; + m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis); + m_origin = v * t1.m_basis; + } + */ + +/**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const + { + return x.dot3(m_basis[0], m_basis[1], m_basis[2]) + m_origin; + } + + /**@brief Return the transform of the vector */ + SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const + { + return (*this)(x); + } + + /**@brief Return the transform of the btQuaternion */ + SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const + { + return getRotation() * q; + } + + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; } + /**@brief Return the basis matrix for the rotation */ + SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; } + + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; } + /**@brief Return the origin vector translation */ + SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; } + + /**@brief Return a quaternion representing the rotation */ + btQuaternion getRotation() const { + btQuaternion q; + m_basis.getRotation(q); + return q; + } + + + /**@brief Set from an array + * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + void setFromOpenGLMatrix(const btScalar *m) + { + m_basis.setFromOpenGLSubMatrix(m); + m_origin.setValue(m[12],m[13],m[14]); + } + + /**@brief Fill an array representation + * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */ + void getOpenGLMatrix(btScalar *m) const + { + m_basis.getOpenGLSubMatrix(m); + m[12] = m_origin.x(); + m[13] = m_origin.y(); + m[14] = m_origin.z(); + m[15] = btScalar(1.0); + } + + /**@brief Set the translational element + * @param origin The vector to set the translation to */ + SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) + { + m_origin = origin; + } + + SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const; + + + /**@brief Set the rotational element by btMatrix3x3 */ + SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis) + { + m_basis = basis; + } + + /**@brief Set the rotational element by btQuaternion */ + SIMD_FORCE_INLINE void setRotation(const btQuaternion& q) + { + m_basis.setRotation(q); + } + + + /**@brief Set this transformation to the identity */ + void setIdentity() + { + m_basis.setIdentity(); + m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0)); + } + + /**@brief Multiply this Transform by another(this = this * another) + * @param t The other transform */ + btTransform& operator*=(const btTransform& t) + { + m_origin += m_basis * t.m_origin; + m_basis *= t.m_basis; + return *this; + } + + /**@brief Return the inverse of this transform */ + btTransform inverse() const + { + btMatrix3x3 inv = m_basis.transpose(); + return btTransform(inv, inv * -m_origin); + } + + /**@brief Return the inverse of this transform times the other transform + * @param t The other transform + * return this.inverse() * the other */ + btTransform inverseTimes(const btTransform& t) const; + + /**@brief Return the product of this transform and the other */ + btTransform operator*(const btTransform& t) const; + + /**@brief Return an identity transform */ + static const btTransform& getIdentity() + { + static const btTransform identityTransform(btMatrix3x3::getIdentity()); + return identityTransform; + } + + void serialize(struct btTransformData& dataOut) const; + + void serializeFloat(struct btTransformFloatData& dataOut) const; + + void deSerialize(const struct btTransformData& dataIn); + + void deSerializeDouble(const struct btTransformDoubleData& dataIn); + + void deSerializeFloat(const struct btTransformFloatData& dataIn); + +}; + + +SIMD_FORCE_INLINE btVector3 +btTransform::invXform(const btVector3& inVec) const +{ + btVector3 v = inVec - m_origin; + return (m_basis.transpose() * v); +} + +SIMD_FORCE_INLINE btTransform +btTransform::inverseTimes(const btTransform& t) const +{ + btVector3 v = t.getOrigin() - m_origin; + return btTransform(m_basis.transposeTimes(t.m_basis), + v * m_basis); +} + +SIMD_FORCE_INLINE btTransform +btTransform::operator*(const btTransform& t) const +{ + return btTransform(m_basis * t.m_basis, + (*this)(t.m_origin)); +} + +/**@brief Test if two transforms have all elements equal */ +SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2) +{ + return ( t1.getBasis() == t2.getBasis() && + t1.getOrigin() == t2.getOrigin() ); +} + + +///for serialization +struct btTransformFloatData +{ + btMatrix3x3FloatData m_basis; + btVector3FloatData m_origin; +}; + +struct btTransformDoubleData +{ + btMatrix3x3DoubleData m_basis; + btVector3DoubleData m_origin; +}; + + + +SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const +{ + m_basis.serialize(dataOut.m_basis); + m_origin.serialize(dataOut.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const +{ + m_basis.serializeFloat(dataOut.m_basis); + m_origin.serializeFloat(dataOut.m_origin); +} + + +SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn) +{ + m_basis.deSerialize(dataIn.m_basis); + m_origin.deSerialize(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn) +{ + m_basis.deSerializeFloat(dataIn.m_basis); + m_origin.deSerializeFloat(dataIn.m_origin); +} + +SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn) +{ + m_basis.deSerializeDouble(dataIn.m_basis); + m_origin.deSerializeDouble(dataIn.m_origin); +} + + +#endif //BT_TRANSFORM_H + + + + + + diff --git a/Code/Physics/src/LinearMath/btTransformUtil.h b/Code/Physics/src/LinearMath/btTransformUtil.h new file mode 100644 index 00000000..2303c274 --- /dev/null +++ b/Code/Physics/src/LinearMath/btTransformUtil.h @@ -0,0 +1,228 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_TRANSFORM_UTIL_H +#define BT_TRANSFORM_UTIL_H + +#include "btTransform.h" +#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI + + + + +SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir) +{ + return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(), + supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(), + supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); +} + + + + + + +/// Utils related to temporal transforms +class btTransformUtil +{ + +public: + + static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform) + { + predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep); +// #define QUATERNION_DERIVATIVE + #ifdef QUATERNION_DERIVATIVE + btQuaternion predictedOrn = curTrans.getRotation(); + predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5)); + predictedOrn.normalize(); + #else + //Exponential map + //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia + + btVector3 axis; + btScalar fAngle = angvel.length(); + //limit the angular motion + if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD) + { + fAngle = ANGULAR_MOTION_THRESHOLD / timeStep; + } + + if ( fAngle < btScalar(0.001) ) + { + // use Taylor's expansions of sync function + axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle ); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle ); + } + btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) )); + btQuaternion orn0 = curTrans.getRotation(); + + btQuaternion predictedOrn = dorn * orn0; + predictedOrn.normalize(); + #endif + predictedTransform.setRotation(predictedOrn); + } + + static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (pos1 - pos0) / timeStep; + btVector3 axis; + btScalar angle; + if (orn0 != orn1) + { + calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle); + angVel = axis * angle / timeStep; + } else + { + angVel.setValue(0,0,0); + } + } + + static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle) + { + btQuaternion orn1 = orn0.nearest(orn1a); + btQuaternion dorn = orn1 * orn0.inverse(); + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + + static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel) + { + linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep; + btVector3 axis; + btScalar angle; + calculateDiffAxisAngle(transform0,transform1,axis,angle); + angVel = axis * angle / timeStep; + } + + static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle) + { + btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse(); + btQuaternion dorn; + dmat.getRotation(dorn); + + ///floating point inaccuracy can lead to w component > 1..., which breaks + dorn.normalize(); + + angle = dorn.getAngle(); + axis = btVector3(dorn.x(),dorn.y(),dorn.z()); + axis[3] = btScalar(0.); + //check for axis length + btScalar len = axis.length2(); + if (len < SIMD_EPSILON*SIMD_EPSILON) + axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.)); + else + axis /= btSqrt(len); + } + +}; + + +///The btConvexSeparatingDistanceUtil can help speed up convex collision detection +///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance +class btConvexSeparatingDistanceUtil +{ + btQuaternion m_ornA; + btQuaternion m_ornB; + btVector3 m_posA; + btVector3 m_posB; + + btVector3 m_separatingNormal; + + btScalar m_boundingRadiusA; + btScalar m_boundingRadiusB; + btScalar m_separatingDistance; + +public: + + btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB) + :m_boundingRadiusA(boundingRadiusA), + m_boundingRadiusB(boundingRadiusB), + m_separatingDistance(0.f) + { + } + + btScalar getConservativeSeparatingDistance() + { + return m_separatingDistance; + } + + void updateSeparatingDistance(const btTransform& transA,const btTransform& transB) + { + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + + if (m_separatingDistance>0.f) + { + + + btVector3 linVelA,angVelA,linVelB,angVelB; + btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA); + btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB); + btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal); + if (relLinVelocLength<0.f) + { + relLinVelocLength = 0.f; + } + + btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength; + m_separatingDistance -= projectedMotion; + } + + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + + void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB) + { + m_separatingDistance = separatingDistance; + + if (m_separatingDistance>0.f) + { + m_separatingNormal = separatingVector; + + const btVector3& toPosA = transA.getOrigin(); + const btVector3& toPosB = transB.getOrigin(); + btQuaternion toOrnA = transA.getRotation(); + btQuaternion toOrnB = transB.getRotation(); + m_posA = toPosA; + m_posB = toPosB; + m_ornA = toOrnA; + m_ornB = toOrnB; + } + } + +}; + + +#endif //BT_TRANSFORM_UTIL_H + diff --git a/Code/Physics/src/LinearMath/btVector3.cpp b/Code/Physics/src/LinearMath/btVector3.cpp new file mode 100644 index 00000000..9389a25c --- /dev/null +++ b/Code/Physics/src/LinearMath/btVector3.cpp @@ -0,0 +1,1664 @@ +/* + Copyright (c) 2011 Apple Inc. + http://continuousphysics.com/Bullet/ + + 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. + + This source version has been altered. + */ + +#if defined (_WIN32) || defined (__i386__) +#define BT_USE_SSE_IN_API +#endif + + +#include "btVector3.h" + + + +#if defined BT_USE_SIMD_VECTOR3 + +#if DEBUG +#include //for memset +#endif + + +#ifdef __APPLE__ +#include +typedef float float4 __attribute__ ((vector_size(16))); +#else +#define float4 __m128 +#endif +//typedef uint32_t uint4 __attribute__ ((vector_size(16))); + + +#if defined BT_USE_SSE || defined _WIN32 + +#define LOG2_ARRAY_SIZE 6 +#define STACK_ARRAY_COUNT (1UL << LOG2_ARRAY_SIZE) + +#include + +long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ); +long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + const float4 *vertices = (const float4*) vv; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + float4 dotMax = btAssign128( -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY ); + float4 vvec = _mm_loadu_ps( vec ); + float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz + float4 vLo = _mm_movelh_ps( vvec, vvec ); /// xyxy + + long maxIndex = -1L; + + size_t segment = 0; + float4 stack_array[ STACK_ARRAY_COUNT ]; + +#if DEBUG + memset( stack_array, -1, STACK_ARRAY_COUNT * sizeof(stack_array[0]) ); +#endif + + size_t index; + float4 max; + // Faster loop without cleanup code for full tiles + for ( segment = 0; segment + STACK_ARRAY_COUNT*4 <= count; segment += STACK_ARRAY_COUNT*4 ) + { + max = dotMax; + + for( index = 0; index < STACK_ARRAY_COUNT; index+= 4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. + } + + // If we found a new max + if( 0xf != _mm_movemask_ps( (float4) _mm_cmpeq_ps(max, dotMax))) + { + // copy the new max across all lanes of our max accumulator + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0x4e)); + max = _mm_max_ps(max, (float4) _mm_shuffle_ps( max, max, 0xb1)); + + dotMax = max; + + // find first occurrence of that max + size_t test; + for( index = 0; 0 == (test=_mm_movemask_ps( _mm_cmpeq_ps( stack_array[index], max))); index++ ) // local_count must be a multiple of 4 + {} + // record where it is. + maxIndex = 4*index + segment + indexTable[test]; + } + } + + // account for work we've already done + count -= segment; + + // Deal with the last < STACK_ARRAY_COUNT vectors + max = dotMax; + index = 0; + + + if( btUnlikely( count > 16) ) + { + for( ; index + 4 <= count / 4; index+=4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + max = _mm_max_ps( x, max ); // control the order here so that max is never NaN even if x is nan + + // It is too costly to keep the index of the max here. We will look for it again later. We save a lot of work this way. + } + } + + size_t localCount = (count & -4L) - 4*index; + if( localCount ) + { +#ifdef __APPLE__ + float4 t0, t1, t2, t3, t4; + float4 * sap = &stack_array[index + localCount / 4]; + vertices += localCount; // counter the offset + size_t byteIndex = -(localCount) * sizeof(float); + //AT&T Code style assembly + asm volatile + ( ".align 4 \n\ + 0: movaps %[max], %[t2] // move max out of the way to avoid propagating NaNs in max \n\ + movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ + movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ + movaps %[t0], %[max] // vertices[0] \n\ + movlhps %[t1], %[max] // x0y0x1y1 \n\ + movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ + movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ + mulps %[vLo], %[max] // x0y0x1y1 * vLo \n\ + movhlps %[t0], %[t1] // z0w0z1w1 \n\ + movaps %[t3], %[t0] // vertices[2] \n\ + movlhps %[t4], %[t0] // x2y2x3y3 \n\ + mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ + movhlps %[t3], %[t4] // z2w2z3w3 \n\ + shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ + mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ + movaps %[max], %[t3] // x0y0x1y1 * vLo \n\ + shufps $0x88, %[t0], %[max] // x0x1x2x3 * vLo.x \n\ + shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ + addps %[t3], %[max] // x + y \n\ + addps %[t1], %[max] // x + y + z \n\ + movaps %[max], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ + maxps %[t2], %[max] // record max, restore max \n\ + add $16, %[byteIndex] // advance loop counter\n\ + jnz 0b \n\ + " + : [max] "+x" (max), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex) + : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap) + : "memory", "cc" + ); + index += localCount/4; +#else + { + for( unsigned int i=0; i 16) ) + { + for( ; index + 4 <= count / 4; index+=4 ) + { // do four dot products at a time. Carefully avoid touching the w element. + float4 v0 = vertices[0]; + float4 v1 = vertices[1]; + float4 v2 = vertices[2]; + float4 v3 = vertices[3]; vertices += 4; + + float4 lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + float4 hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + float4 lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + float4 hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + float4 z = _mm_shuffle_ps(hi0, hi1, 0x88); + float4 x = _mm_shuffle_ps(lo0, lo1, 0x88); + float4 y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+1] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+2] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + v0 = vertices[0]; + v1 = vertices[1]; + v2 = vertices[2]; + v3 = vertices[3]; vertices += 4; + + lo0 = _mm_movelh_ps( v0, v1); // x0y0x1y1 + hi0 = _mm_movehl_ps( v1, v0); // z0?0z1?1 + lo1 = _mm_movelh_ps( v2, v3); // x2y2x3y3 + hi1 = _mm_movehl_ps( v3, v2); // z2?2z3?3 + + lo0 = lo0*vLo; + lo1 = lo1*vLo; + z = _mm_shuffle_ps(hi0, hi1, 0x88); + x = _mm_shuffle_ps(lo0, lo1, 0x88); + y = _mm_shuffle_ps(lo0, lo1, 0xdd); + z = z*vHi; + x = x+y; + x = x+z; + stack_array[index+3] = x; + min = _mm_min_ps( x, min ); // control the order here so that min is never NaN even if x is nan + + // It is too costly to keep the index of the min here. We will look for it again later. We save a lot of work this way. + } + } + + size_t localCount = (count & -4L) - 4*index; + if( localCount ) + { + + +#ifdef __APPLE__ + vertices += localCount; // counter the offset + float4 t0, t1, t2, t3, t4; + size_t byteIndex = -(localCount) * sizeof(float); + float4 * sap = &stack_array[index + localCount / 4]; + + asm volatile + ( ".align 4 \n\ + 0: movaps %[min], %[t2] // move min out of the way to avoid propagating NaNs in min \n\ + movaps (%[vertices], %[byteIndex], 4), %[t0] // vertices[0] \n\ + movaps 16(%[vertices], %[byteIndex], 4), %[t1] // vertices[1] \n\ + movaps %[t0], %[min] // vertices[0] \n\ + movlhps %[t1], %[min] // x0y0x1y1 \n\ + movaps 32(%[vertices], %[byteIndex], 4), %[t3] // vertices[2] \n\ + movaps 48(%[vertices], %[byteIndex], 4), %[t4] // vertices[3] \n\ + mulps %[vLo], %[min] // x0y0x1y1 * vLo \n\ + movhlps %[t0], %[t1] // z0w0z1w1 \n\ + movaps %[t3], %[t0] // vertices[2] \n\ + movlhps %[t4], %[t0] // x2y2x3y3 \n\ + movhlps %[t3], %[t4] // z2w2z3w3 \n\ + mulps %[vLo], %[t0] // x2y2x3y3 * vLo \n\ + shufps $0x88, %[t4], %[t1] // z0z1z2z3 \n\ + mulps %[vHi], %[t1] // z0z1z2z3 * vHi \n\ + movaps %[min], %[t3] // x0y0x1y1 * vLo \n\ + shufps $0x88, %[t0], %[min] // x0x1x2x3 * vLo.x \n\ + shufps $0xdd, %[t0], %[t3] // y0y1y2y3 * vLo.y \n\ + addps %[t3], %[min] // x + y \n\ + addps %[t1], %[min] // x + y + z \n\ + movaps %[min], (%[sap], %[byteIndex]) // record result for later scrutiny \n\ + minps %[t2], %[min] // record min, restore min \n\ + add $16, %[byteIndex] // advance loop counter\n\ + jnz 0b \n\ + " + : [min] "+x" (min), [t0] "=&x" (t0), [t1] "=&x" (t1), [t2] "=&x" (t2), [t3] "=&x" (t3), [t4] "=&x" (t4), [byteIndex] "+r" (byteIndex) + : [vLo] "x" (vLo), [vHi] "x" (vHi), [vertices] "r" (vertices), [sap] "r" (sap) + : "memory", "cc" + ); + index += localCount/4; +#else + { + for( unsigned int i=0; i +#include +#include //for sysctlbyname + +static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); +static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ); + +long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel; +long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel; + + +static inline uint32_t btGetCpuCapabilities( void ) +{ + static uint32_t capabilities = 0; + static bool testedCapabilities = false; + + if( 0 == testedCapabilities) + { + uint32_t hasFeature = 0; + size_t featureSize = sizeof( hasFeature ); + int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 ); + + if( 0 == err && hasFeature) + capabilities |= 0x2000; + + testedCapabilities = true; + } + + return capabilities; +} + + + + +static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + + if( btGetCpuCapabilities() & 0x2000 ) + _maxdot_large = _maxdot_large_v1; + else + _maxdot_large = _maxdot_large_v0; + + return _maxdot_large(vv, vec, count, dotResult); +} + +static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + + if( btGetCpuCapabilities() & 0x2000 ) + _mindot_large = _mindot_large_v1; + else + _mindot_large = _mindot_large_v0; + + return _mindot_large(vv, vec, count, dotResult); +} + + + +#define vld1q_f32_aligned_postincrement( _ptr ) ({ float32x4_t _r; asm( "vld1.f32 {%0}, [%1, :128]!\n" : "=w" (_r), "+r" (_ptr) ); /*return*/ _r; }) + + +long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + unsigned long i = 0; + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x2_t vLo = vget_low_f32(vvec); + float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); + float32x2_t dotMaxLo = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; + float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; + uint32x2_t indexLo = (uint32x2_t) {0, 1}; + uint32x2_t indexHi = (uint32x2_t) {2, 3}; + uint32x2_t iLo = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + const uint32x2_t four = (uint32x2_t) {4,4}; + + for( ; i+8 <= count; i+= 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + xy0 = vmul_f32( vget_low_f32(v0), vLo); + xy1 = vmul_f32( vget_low_f32(v1), vLo); + xy2 = vmul_f32( vget_low_f32(v2), vLo); + xy3 = vmul_f32( vget_low_f32(v3), vLo); + + z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + zLo = vmul_f32( z0.val[0], vHi); + zHi = vmul_f32( z1.val[0], vHi); + + rLo = vpadd_f32( xy0, xy1); + rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + maskLo = vcgt_f32( rLo, dotMaxLo ); + maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + for( ; i+4 <= count; i+= 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + switch( count & 3 ) + { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy2); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + uint32x2_t maskHi = vcgt_f32( rHi, dotMaxHi ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + dotMaxHi = vbsl_f32( maskHi, rHi, dotMaxHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + } + break; + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + rLo = vadd_f32(rLo, zLo); + + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); + float32x2_t zLo = vmul_f32( z0, vHi); + float32x2_t rLo = vpadd_f32( xy0, xy0); + rLo = vadd_f32(rLo, zLo); + uint32x2_t maskLo = vcgt_f32( rLo, dotMaxLo ); + dotMaxLo = vbsl_f32( maskLo, rLo, dotMaxLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + + default: + break; + } + + // select best answer between hi and lo results + uint32x2_t mask = vcgt_f32( dotMaxHi, dotMaxLo ); + dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); + iLo = vbsl_u32(mask, iHi, iLo); + + // select best answer between even and odd results + dotMaxHi = vdup_lane_f32(dotMaxLo, 1); + iHi = vdup_lane_u32(iLo, 1); + mask = vcgt_f32( dotMaxHi, dotMaxLo ); + dotMaxLo = vbsl_f32(mask, dotMaxHi, dotMaxLo); + iLo = vbsl_u32(mask, iHi, iLo); + + *dotResult = vget_lane_f32( dotMaxLo, 0); + return vget_lane_u32(iLo, 0); +} + + +long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); + float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); + const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; + uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; + uint32x4_t index = (uint32x4_t) { static_cast(-1), static_cast(-1), static_cast(-1), static_cast(-1) }; + float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY }; + + unsigned long i = 0; + for( ; i + 8 <= count; i += 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + zb = vuzpq_f32( z0, z1); + z = vmulq_f32( zb.val[0], vHi); + xy = vuzpq_f32( xy0, xy1); + x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + for( ; i + 4 <= count; i += 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + switch (count & 3) { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + + xy0 = vmulq_f32(xy0, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z0); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); + + xy0 = vmulq_f32(xy0, vLo); + + z = vmulq_f32( z, vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcgtq_f32(x, maxDot); + maxDot = vbslq_f32( mask, x, maxDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + default: + break; + } + + + // select best answer between hi and lo results + uint32x2_t mask = vcgt_f32( vget_high_f32(maxDot), vget_low_f32(maxDot)); + float32x2_t maxDot2 = vbsl_f32(mask, vget_high_f32(maxDot), vget_low_f32(maxDot)); + uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); + + // select best answer between even and odd results + float32x2_t maxDotO = vdup_lane_f32(maxDot2, 1); + uint32x2_t indexHi = vdup_lane_u32(index2, 1); + mask = vcgt_f32( maxDotO, maxDot2 ); + maxDot2 = vbsl_f32(mask, maxDotO, maxDot2); + index2 = vbsl_u32(mask, indexHi, index2); + + *dotResult = vget_lane_f32( maxDot2, 0); + return vget_lane_u32(index2, 0); + +} + +long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + unsigned long i = 0; + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x2_t vLo = vget_low_f32(vvec); + float32x2_t vHi = vdup_lane_f32(vget_high_f32(vvec), 0); + float32x2_t dotMinLo = (float32x2_t) { BT_INFINITY, BT_INFINITY }; + float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY }; + uint32x2_t indexLo = (uint32x2_t) {0, 1}; + uint32x2_t indexHi = (uint32x2_t) {2, 3}; + uint32x2_t iLo = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + const uint32x2_t four = (uint32x2_t) {4,4}; + + for( ; i+8 <= count; i+= 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + xy0 = vmul_f32( vget_low_f32(v0), vLo); + xy1 = vmul_f32( vget_low_f32(v1), vLo); + xy2 = vmul_f32( vget_low_f32(v2), vLo); + xy3 = vmul_f32( vget_low_f32(v3), vLo); + + z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + zLo = vmul_f32( z0.val[0], vHi); + zHi = vmul_f32( z1.val[0], vHi); + + rLo = vpadd_f32( xy0, xy1); + rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + maskLo = vclt_f32( rLo, dotMinLo ); + maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + + for( ; i+4 <= count; i+= 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + float32x2_t xy3 = vmul_f32( vget_low_f32(v3), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2x2_t z1 = vtrn_f32( vget_high_f32(v2), vget_high_f32(v3)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( z1.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy3); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + indexLo = vadd_u32(indexLo, four); + indexHi = vadd_u32(indexHi, four); + } + switch( count & 3 ) + { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + float32x2_t xy2 = vmul_f32( vget_low_f32(v2), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + float32x2_t zHi = vmul_f32( vdup_lane_f32(vget_high_f32(v2), 0), vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + float32x2_t rHi = vpadd_f32( xy2, xy2); + rLo = vadd_f32(rLo, zLo); + rHi = vadd_f32(rHi, zHi); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + uint32x2_t maskHi = vclt_f32( rHi, dotMinHi ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + dotMinHi = vbsl_f32( maskHi, rHi, dotMinHi); + iLo = vbsl_u32(maskLo, indexLo, iLo); + iHi = vbsl_u32(maskHi, indexHi, iHi); + } + break; + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t xy1 = vmul_f32( vget_low_f32(v1), vLo); + + float32x2x2_t z0 = vtrn_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x2_t zLo = vmul_f32( z0.val[0], vHi); + + float32x2_t rLo = vpadd_f32( xy0, xy1); + rLo = vadd_f32(rLo, zLo); + + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x2_t xy0 = vmul_f32( vget_low_f32(v0), vLo); + float32x2_t z0 = vdup_lane_f32(vget_high_f32(v0), 0); + float32x2_t zLo = vmul_f32( z0, vHi); + float32x2_t rLo = vpadd_f32( xy0, xy0); + rLo = vadd_f32(rLo, zLo); + uint32x2_t maskLo = vclt_f32( rLo, dotMinLo ); + dotMinLo = vbsl_f32( maskLo, rLo, dotMinLo); + iLo = vbsl_u32(maskLo, indexLo, iLo); + } + break; + + default: + break; + } + + // select best answer between hi and lo results + uint32x2_t mask = vclt_f32( dotMinHi, dotMinLo ); + dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); + iLo = vbsl_u32(mask, iHi, iLo); + + // select best answer between even and odd results + dotMinHi = vdup_lane_f32(dotMinLo, 1); + iHi = vdup_lane_u32(iLo, 1); + mask = vclt_f32( dotMinHi, dotMinLo ); + dotMinLo = vbsl_f32(mask, dotMinHi, dotMinLo); + iLo = vbsl_u32(mask, iHi, iLo); + + *dotResult = vget_lane_f32( dotMinLo, 0); + return vget_lane_u32(iLo, 0); +} + +long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ) +{ + float32x4_t vvec = vld1q_f32_aligned_postincrement( vec ); + float32x4_t vLo = vcombine_f32(vget_low_f32(vvec), vget_low_f32(vvec)); + float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); + const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; + uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; + uint32x4_t index = (uint32x4_t) { static_cast(-1), static_cast(-1), static_cast(-1), static_cast(-1) }; + float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY }; + + unsigned long i = 0; + for( ; i + 8 <= count; i += 8 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + + v0 = vld1q_f32_aligned_postincrement( vv ); + v1 = vld1q_f32_aligned_postincrement( vv ); + v2 = vld1q_f32_aligned_postincrement( vv ); + v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + zb = vuzpq_f32( z0, z1); + z = vmulq_f32( zb.val[0], vHi); + xy = vuzpq_f32( xy0, xy1); + x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + for( ; i + 4 <= count; i += 4 ) + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v3 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v3)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v3)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + + switch (count & 3) { + case 3: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v2 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + float32x4_t xy1 = vcombine_f32( vget_low_f32(v2), vget_low_f32(v2)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + float32x4_t z1 = vcombine_f32( vget_high_f32(v2), vget_high_f32(v2)); + + xy0 = vmulq_f32(xy0, vLo); + xy1 = vmulq_f32(xy1, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z1); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy1); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 2: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + float32x4_t v1 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v1)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z0 = vcombine_f32( vget_high_f32(v0), vget_high_f32(v1)); + + xy0 = vmulq_f32(xy0, vLo); + + float32x4x2_t zb = vuzpq_f32( z0, z0); + float32x4_t z = vmulq_f32( zb.val[0], vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + case 1: + { + float32x4_t v0 = vld1q_f32_aligned_postincrement( vv ); + + // the next two lines should resolve to a single vswp d, d + float32x4_t xy0 = vcombine_f32( vget_low_f32(v0), vget_low_f32(v0)); + // the next two lines should resolve to a single vswp d, d + float32x4_t z = vdupq_lane_f32(vget_high_f32(v0), 0); + + xy0 = vmulq_f32(xy0, vLo); + + z = vmulq_f32( z, vHi); + float32x4x2_t xy = vuzpq_f32( xy0, xy0); + float32x4_t x = vaddq_f32(xy.val[0], xy.val[1]); + x = vaddq_f32(x, z); + + uint32x4_t mask = vcltq_f32(x, minDot); + minDot = vbslq_f32( mask, x, minDot); + index = vbslq_u32(mask, local_index, index); + local_index = vaddq_u32(local_index, four); + } + break; + + default: + break; + } + + + // select best answer between hi and lo results + uint32x2_t mask = vclt_f32( vget_high_f32(minDot), vget_low_f32(minDot)); + float32x2_t minDot2 = vbsl_f32(mask, vget_high_f32(minDot), vget_low_f32(minDot)); + uint32x2_t index2 = vbsl_u32(mask, vget_high_u32(index), vget_low_u32(index)); + + // select best answer between even and odd results + float32x2_t minDotO = vdup_lane_f32(minDot2, 1); + uint32x2_t indexHi = vdup_lane_u32(index2, 1); + mask = vclt_f32( minDotO, minDot2 ); + minDot2 = vbsl_f32(mask, minDotO, minDot2); + index2 = vbsl_u32(mask, indexHi, index2); + + *dotResult = vget_lane_f32( minDot2, 0); + return vget_lane_u32(index2, 0); + +} + +#else + #error Unhandled __APPLE__ arch +#endif + +#endif /* __APPLE__ */ + + diff --git a/Code/Physics/src/LinearMath/btVector3.h b/Code/Physics/src/LinearMath/btVector3.h new file mode 100644 index 00000000..89685929 --- /dev/null +++ b/Code/Physics/src/LinearMath/btVector3.h @@ -0,0 +1,1352 @@ +/* +Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BT_VECTOR3_H +#define BT_VECTOR3_H + +//#include +#include "btScalar.h" +#include "btMinMax.h" +#include "btAlignedAllocator.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btVector3Data btVector3DoubleData +#define btVector3DataName "btVector3DoubleData" +#else +#define btVector3Data btVector3FloatData +#define btVector3DataName "btVector3FloatData" +#endif //BT_USE_DOUBLE_PRECISION + +#if defined BT_USE_SSE + +//typedef uint32_t __m128i __attribute__ ((vector_size(16))); + +#ifdef _MSC_VER +#pragma warning(disable: 4556) // value of intrinsic immediate argument '4294967239' is out of range '0 - 255' +#endif + + +#define BT_SHUFFLE(x,y,z,w) ((w)<<6 | (z)<<4 | (y)<<2 | (x)) +//#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) ) +#define bt_pshufd_ps( _a, _mask ) _mm_shuffle_ps((_a), (_a), (_mask) ) +#define bt_splat3_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i, 3) ) +#define bt_splat_ps( _a, _i ) bt_pshufd_ps((_a), BT_SHUFFLE(_i,_i,_i,_i) ) + +#define btv3AbsiMask (_mm_set_epi32(0x00000000, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvAbsMask (_mm_set_epi32( 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF)) +#define btvFFF0Mask (_mm_set_epi32(0x00000000, 0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF)) +#define btv3AbsfMask btCastiTo128f(btv3AbsiMask) +#define btvFFF0fMask btCastiTo128f(btvFFF0Mask) +#define btvxyzMaskf btvFFF0fMask +#define btvAbsfMask btCastiTo128f(btvAbsMask) + +//there is an issue with XCode 3.2 (LCx errors) +#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f)) +#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f)) +#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f)) +#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f)) + +//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; + +#endif + +#ifdef BT_USE_NEON + +const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast(0xFFFFFFFF), + static_cast(0xFFFFFFFF), static_cast(0xFFFFFFFF), 0x0}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; +const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; + +#endif + +/**@brief btVector3 can be used to represent 3D points and vectors. + * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user + * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers + */ +ATTRIBUTE_ALIGNED16(class) btVector3 +{ +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + +#if defined (__SPU__) && defined (__CELLOS_LV2__) + btScalar m_floats[4]; +public: + SIMD_FORCE_INLINE const vec_float4& get128() const + { + return *((const vec_float4*)&m_floats[0]); + } +public: +#else //__CELLOS_LV2__ __SPU__ + #if defined (BT_USE_SSE) || defined(BT_USE_NEON) // _WIN32 || ARM + union { + btSimdFloat4 mVec128; + btScalar m_floats[4]; + }; + SIMD_FORCE_INLINE btSimdFloat4 get128() const + { + return mVec128; + } + SIMD_FORCE_INLINE void set128(btSimdFloat4 v128) + { + mVec128 = v128; + } + #else + btScalar m_floats[4]; + #endif +#endif //__CELLOS_LV2__ __SPU__ + + public: + + /**@brief No initialization constructor */ + SIMD_FORCE_INLINE btVector3() + { + + } + + + + /**@brief Constructor from scalars + * @param x X value + * @param y Y value + * @param z Z value + */ + SIMD_FORCE_INLINE btVector3(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0] = _x; + m_floats[1] = _y; + m_floats[2] = _z; + m_floats[3] = btScalar(0.f); + } + +#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) )|| defined (BT_USE_NEON) + // Set Vector + SIMD_FORCE_INLINE btVector3( btSimdFloat4 v) + { + mVec128 = v; + } + + // Copy constructor + SIMD_FORCE_INLINE btVector3(const btVector3& rhs) + { + mVec128 = rhs.mVec128; + } + + // Assignment Operator + SIMD_FORCE_INLINE btVector3& + operator=(const btVector3& v) + { + mVec128 = v.mVec128; + + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + +/**@brief Add a vector to this one + * @param The vector to add to this one */ + SIMD_FORCE_INLINE btVector3& operator+=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_add_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vaddq_f32(mVec128, v.mVec128); +#else + m_floats[0] += v.m_floats[0]; + m_floats[1] += v.m_floats[1]; + m_floats[2] += v.m_floats[2]; +#endif + return *this; + } + + + /**@brief Subtract a vector from this one + * @param The vector to subtract */ + SIMD_FORCE_INLINE btVector3& operator-=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_sub_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vsubq_f32(mVec128, v.mVec128); +#else + m_floats[0] -= v.m_floats[0]; + m_floats[1] -= v.m_floats[1]; + m_floats[2] -= v.m_floats[2]; +#endif + return *this; + } + + /**@brief Scale the vector + * @param s Scale factor */ + SIMD_FORCE_INLINE btVector3& operator*=(const btScalar& s) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + mVec128 = _mm_mul_ps(mVec128, vs); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_n_f32(mVec128, s); +#else + m_floats[0] *= s; + m_floats[1] *= s; + m_floats[2] *= s; +#endif + return *this; + } + + /**@brief Inversely scale the vector + * @param s Scale factor to divide by */ + SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) + { + btFullAssert(s != btScalar(0.0)); + +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + mVec128 = _mm_mul_ps(mVec128, vs); + + return *this; +#else + return *this *= btScalar(1.0) / s; +#endif + } + + /**@brief Return the dot product + * @param v The other vector in the dot product */ + SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vd = _mm_mul_ps(mVec128, v.mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + return _mm_cvtss_f32(vd); +#elif defined(BT_USE_NEON) + float32x4_t vd = vmulq_f32(mVec128, v.mVec128); + float32x2_t x = vpadd_f32(vget_low_f32(vd), vget_low_f32(vd)); + x = vadd_f32(x, vget_high_f32(vd)); + return vget_lane_f32(x, 0); +#else + return m_floats[0] * v.m_floats[0] + + m_floats[1] * v.m_floats[1] + + m_floats[2] * v.m_floats[2]; +#endif + } + + /**@brief Return the length of the vector squared */ + SIMD_FORCE_INLINE btScalar length2() const + { + return dot(*this); + } + + /**@brief Return the length of the vector */ + SIMD_FORCE_INLINE btScalar length() const + { + return btSqrt(length2()); + } + + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar norm() const + { + return length(); + } + + /**@brief Return the distance squared between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; + + /**@brief Return the distance between the ends of this and another vector + * This is symantically treating the vector like a point */ + SIMD_FORCE_INLINE btScalar distance(const btVector3& v) const; + + SIMD_FORCE_INLINE btVector3& safeNormalize() + { + btVector3 absVec = this->absolute(); + int maxIndex = absVec.maxAxis(); + if (absVec[maxIndex]>0) + { + *this /= absVec[maxIndex]; + return *this /= length(); + } + setValue(1,0,0); + return *this; + } + + /**@brief Normalize this vector + * x^2 + y^2 + z^2 = 1 */ + SIMD_FORCE_INLINE btVector3& normalize() + { + + btAssert(length() != btScalar(0)); + +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // dot product first + __m128 vd = _mm_mul_ps(mVec128, mVec128); + __m128 z = _mm_movehl_ps(vd, vd); + __m128 y = _mm_shuffle_ps(vd, vd, 0x55); + vd = _mm_add_ss(vd, y); + vd = _mm_add_ss(vd, z); + + #if 0 + vd = _mm_sqrt_ss(vd); + vd = _mm_div_ss(v1110, vd); + vd = bt_splat_ps(vd, 0x80); + mVec128 = _mm_mul_ps(mVec128, vd); + #else + + // NR step 1/sqrt(x) - vd is x, y is output + y = _mm_rsqrt_ss(vd); // estimate + + // one step NR + z = v1_5; + vd = _mm_mul_ss(vd, vHalf); // vd * 0.5 + //x2 = vd; + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 + vd = _mm_mul_ss(vd, y); // vd * 0.5 * y0 * y0 + z = _mm_sub_ss(z, vd); // 1.5 - vd * 0.5 * y0 * y0 + + y = _mm_mul_ss(y, z); // y0 * (1.5 - vd * 0.5 * y0 * y0) + + y = bt_splat_ps(y, 0x80); + mVec128 = _mm_mul_ps(mVec128, y); + + #endif + + + return *this; +#else + return *this /= length(); +#endif + } + + /**@brief Return a normalized version of this vector */ + SIMD_FORCE_INLINE btVector3 normalized() const; + + /**@brief Return a rotated version of this vector + * @param wAxis The axis to rotate about + * @param angle The angle to rotate by */ + SIMD_FORCE_INLINE btVector3 rotate( const btVector3& wAxis, const btScalar angle ) const; + + /**@brief Return the angle between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const + { + btScalar s = btSqrt(length2() * v.length2()); + btFullAssert(s != btScalar(0.0)); + return btAcos(dot(v) / s); + } + + /**@brief Return a vector will the absolute values of each element */ + SIMD_FORCE_INLINE btVector3 absolute() const + { + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_and_ps(mVec128, btv3AbsfMask)); +#elif defined(BT_USE_NEON) + return btVector3(vabsq_f32(mVec128)); +#else + return btVector3( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2])); +#endif + } + + /**@brief Return the cross product between this and another vector + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3 cross(const btVector3& v) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 T, V; + + T = bt_pshufd_ps(mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + V = bt_pshufd_ps(v.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, mVec128); + T = _mm_mul_ps(T, v.mVec128); + V = _mm_sub_ps(V, T); + + V = bt_pshufd_ps(V, BT_SHUFFLE(1, 2, 0, 3)); + return btVector3(V); +#elif defined(BT_USE_NEON) + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(mVec128); + float32x2_t Vlow = vget_low_f32(v.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v.mVec128), 1), Vlow); + + V = vmulq_f32(V, mVec128); + T = vmulq_f32(T, v.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + V = (float32x4_t)vandq_s32((int32x4_t)V, btvFFF0Mask); + + return btVector3(V); +#else + return btVector3( + m_floats[1] * v.m_floats[2] - m_floats[2] * v.m_floats[1], + m_floats[2] * v.m_floats[0] - m_floats[0] * v.m_floats[2], + m_floats[0] * v.m_floats[1] - m_floats[1] * v.m_floats[0]); +#endif + } + + SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + // cross: + __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) + + V = _mm_mul_ps(V, v1.mVec128); + T = _mm_mul_ps(T, v2.mVec128); + V = _mm_sub_ps(V, T); + + V = _mm_shuffle_ps(V, V, BT_SHUFFLE(1, 2, 0, 3)); + + // dot: + V = _mm_mul_ps(V, mVec128); + __m128 z = _mm_movehl_ps(V, V); + __m128 y = _mm_shuffle_ps(V, V, 0x55); + V = _mm_add_ss(V, y); + V = _mm_add_ss(V, z); + return _mm_cvtss_f32(V); + +#elif defined(BT_USE_NEON) + // cross: + float32x4_t T, V; + // form (Y, Z, X, _) of mVec128 and v.mVec128 + float32x2_t Tlow = vget_low_f32(v1.mVec128); + float32x2_t Vlow = vget_low_f32(v2.mVec128); + T = vcombine_f32(vext_f32(Tlow, vget_high_f32(v1.mVec128), 1), Tlow); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(v2.mVec128), 1), Vlow); + + V = vmulq_f32(V, v1.mVec128); + T = vmulq_f32(T, v2.mVec128); + V = vsubq_f32(V, T); + Vlow = vget_low_f32(V); + // form (Y, Z, X, _); + V = vcombine_f32(vext_f32(Vlow, vget_high_f32(V), 1), Vlow); + + // dot: + V = vmulq_f32(mVec128, V); + float32x2_t x = vpadd_f32(vget_low_f32(V), vget_low_f32(V)); + x = vadd_f32(x, vget_high_f32(V)); + return vget_lane_f32(x, 0); +#else + return + m_floats[0] * (v1.m_floats[1] * v2.m_floats[2] - v1.m_floats[2] * v2.m_floats[1]) + + m_floats[1] * (v1.m_floats[2] * v2.m_floats[0] - v1.m_floats[0] * v2.m_floats[2]) + + m_floats[2] * (v1.m_floats[0] * v2.m_floats[1] - v1.m_floats[1] * v2.m_floats[0]); +#endif + } + + /**@brief Return the axis with the smallest value + * Note return values are 0,1,2 for x, y, or z */ + SIMD_FORCE_INLINE int minAxis() const + { + return m_floats[0] < m_floats[1] ? (m_floats[0] return this, t=1 => return other) */ + SIMD_FORCE_INLINE btVector3 lerp(const btVector3& v, const btScalar& t) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vt = _mm_load_ss(&t); // (t 0 0 0) + vt = bt_pshufd_ps(vt, 0x80); // (rt rt rt 0.0) + __m128 vl = _mm_sub_ps(v.mVec128, mVec128); + vl = _mm_mul_ps(vl, vt); + vl = _mm_add_ps(vl, mVec128); + + return btVector3(vl); +#elif defined(BT_USE_NEON) + float32x4_t vl = vsubq_f32(v.mVec128, mVec128); + vl = vmulq_n_f32(vl, t); + vl = vaddq_f32(vl, mVec128); + + return btVector3(vl); +#else + return + btVector3( m_floats[0] + (v.m_floats[0] - m_floats[0]) * t, + m_floats[1] + (v.m_floats[1] - m_floats[1]) * t, + m_floats[2] + (v.m_floats[2] - m_floats[2]) * t); +#endif + } + + /**@brief Elementwise multiply this vector by the other + * @param v The other vector */ + SIMD_FORCE_INLINE btVector3& operator*=(const btVector3& v) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_mul_ps(mVec128, v.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmulq_f32(mVec128, v.mVec128); +#else + m_floats[0] *= v.m_floats[0]; + m_floats[1] *= v.m_floats[1]; + m_floats[2] *= v.m_floats[2]; +#endif + return *this; + } + + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& getX() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& getY() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& getZ() const { return m_floats[2]; } + /**@brief Set the x value */ + SIMD_FORCE_INLINE void setX(btScalar _x) { m_floats[0] = _x;}; + /**@brief Set the y value */ + SIMD_FORCE_INLINE void setY(btScalar _y) { m_floats[1] = _y;}; + /**@brief Set the z value */ + SIMD_FORCE_INLINE void setZ(btScalar _z) { m_floats[2] = _z;}; + /**@brief Set the w value */ + SIMD_FORCE_INLINE void setW(btScalar _w) { m_floats[3] = _w;}; + /**@brief Return the x value */ + SIMD_FORCE_INLINE const btScalar& x() const { return m_floats[0]; } + /**@brief Return the y value */ + SIMD_FORCE_INLINE const btScalar& y() const { return m_floats[1]; } + /**@brief Return the z value */ + SIMD_FORCE_INLINE const btScalar& z() const { return m_floats[2]; } + /**@brief Return the w value */ + SIMD_FORCE_INLINE const btScalar& w() const { return m_floats[3]; } + + //SIMD_FORCE_INLINE btScalar& operator[](int i) { return (&m_floats[0])[i]; } + //SIMD_FORCE_INLINE const btScalar& operator[](int i) const { return (&m_floats[0])[i]; } + ///operator btScalar*() replaces operator[], using implicit conversion. We added operator != and operator == to avoid pointer comparisons. + SIMD_FORCE_INLINE operator btScalar *() { return &m_floats[0]; } + SIMD_FORCE_INLINE operator const btScalar *() const { return &m_floats[0]; } + + SIMD_FORCE_INLINE bool operator==(const btVector3& other) const + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return (0xf == _mm_movemask_ps((__m128)_mm_cmpeq_ps(mVec128, other.mVec128))); +#else + return ((m_floats[3]==other.m_floats[3]) && + (m_floats[2]==other.m_floats[2]) && + (m_floats[1]==other.m_floats[1]) && + (m_floats[0]==other.m_floats[0])); +#endif + } + + SIMD_FORCE_INLINE bool operator!=(const btVector3& other) const + { + return !(*this == other); + } + + /**@brief Set each element to the max of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMax(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_max_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vmaxq_f32(mVec128, other.mVec128); +#else + btSetMax(m_floats[0], other.m_floats[0]); + btSetMax(m_floats[1], other.m_floats[1]); + btSetMax(m_floats[2], other.m_floats[2]); + btSetMax(m_floats[3], other.w()); +#endif + } + + /**@brief Set each element to the min of the current values and the values of another btVector3 + * @param other The other btVector3 to compare with + */ + SIMD_FORCE_INLINE void setMin(const btVector3& other) + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = _mm_min_ps(mVec128, other.mVec128); +#elif defined(BT_USE_NEON) + mVec128 = vminq_f32(mVec128, other.mVec128); +#else + btSetMin(m_floats[0], other.m_floats[0]); + btSetMin(m_floats[1], other.m_floats[1]); + btSetMin(m_floats[2], other.m_floats[2]); + btSetMin(m_floats[3], other.w()); +#endif + } + + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3] = btScalar(0.f); + } + + void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 V = _mm_and_ps(mVec128, btvFFF0fMask); + __m128 V0 = _mm_xor_ps(btvMzeroMask, V); + __m128 V2 = _mm_movelh_ps(V0, V); + + __m128 V1 = _mm_shuffle_ps(V, V0, 0xCE); + + V0 = _mm_shuffle_ps(V0, V, 0xDB); + V2 = _mm_shuffle_ps(V2, V, 0xF9); + + v0->mVec128 = V0; + v1->mVec128 = V1; + v2->mVec128 = V2; +#else + v0->setValue(0. ,-z() ,y()); + v1->setValue(z() ,0. ,-x()); + v2->setValue(-y() ,x() ,0.); +#endif + } + + void setZero() + { +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + mVec128 = (__m128)_mm_xor_ps(mVec128, mVec128); +#elif defined(BT_USE_NEON) + int32x4_t vi = vdupq_n_s32(0); + mVec128 = vreinterpretq_f32_s32(vi); +#else + setValue(btScalar(0.),btScalar(0.),btScalar(0.)); +#endif + } + + SIMD_FORCE_INLINE bool isZero() const + { + return m_floats[0] == btScalar(0) && m_floats[1] == btScalar(0) && m_floats[2] == btScalar(0); + } + + SIMD_FORCE_INLINE bool fuzzyZero() const + { + return length2() < SIMD_EPSILON; + } + + SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + + SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn); + + SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const; + + SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn); + + /**@brief returns index of maximum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The maximum dot product */ + SIMD_FORCE_INLINE long maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /**@brief returns index of minimum dot product between this and vectors in array[] + * @param array The other vectors + * @param array_count The number of other vectors + * @param dotOut The minimum dot product */ + SIMD_FORCE_INLINE long minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const; + + /* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */ + SIMD_FORCE_INLINE btVector3 dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const + { +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 ); + __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 ); + __m128 a2 = _mm_mul_ps( v2.mVec128, this->mVec128 ); + __m128 b0 = _mm_unpacklo_ps( a0, a1 ); + __m128 b1 = _mm_unpackhi_ps( a0, a1 ); + __m128 b2 = _mm_unpacklo_ps( a2, _mm_setzero_ps() ); + __m128 r = _mm_movelh_ps( b0, b2 ); + r = _mm_add_ps( r, _mm_movehl_ps( b2, b0 )); + a2 = _mm_and_ps( a2, btvxyzMaskf); + r = _mm_add_ps( r, btCastdTo128f (_mm_move_sd( btCastfTo128d(a2), btCastfTo128d(b1) ))); + return btVector3(r); + +#elif defined(BT_USE_NEON) + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast(-1), static_cast(-1), static_cast(-1), 0 }; + float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128); + float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128); + float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128); + float32x2x2_t zLo = vtrn_f32( vget_high_f32(a0), vget_high_f32(a1)); + a2 = (float32x4_t) vandq_u32((uint32x4_t) a2, xyzMask ); + float32x2_t b0 = vadd_f32( vpadd_f32( vget_low_f32(a0), vget_low_f32(a1)), zLo.val[0] ); + float32x2_t b1 = vpadd_f32( vpadd_f32( vget_low_f32(a2), vget_high_f32(a2)), vdup_n_f32(0.0f)); + return btVector3( vcombine_f32(b0, b1) ); +#else + return btVector3( dot(v0), dot(v1), dot(v2)); +#endif + } +}; + +/**@brief Return the sum of two vectors (Point symantics)*/ +SIMD_FORCE_INLINE btVector3 +operator+(const btVector3& v1, const btVector3& v2) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_add_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vaddq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] + v2.m_floats[0], + v1.m_floats[1] + v2.m_floats[1], + v1.m_floats[2] + v2.m_floats[2]); +#endif +} + +/**@brief Return the elementwise product of two vectors */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v1, const btVector3& v2) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector3(_mm_mul_ps(v1.mVec128, v2.mVec128)); +#elif defined(BT_USE_NEON) + return btVector3(vmulq_f32(v1.mVec128, v2.mVec128)); +#else + return btVector3( + v1.m_floats[0] * v2.m_floats[0], + v1.m_floats[1] * v2.m_floats[1], + v1.m_floats[2] * v2.m_floats[2]); +#endif +} + +/**@brief Return the difference between two vectors */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v1, const btVector3& v2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) + + // without _mm_and_ps this code causes slowdown in Concave moving + __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + float32x4_t r = vsubq_f32(v1.mVec128, v2.mVec128); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else + return btVector3( + v1.m_floats[0] - v2.m_floats[0], + v1.m_floats[1] - v2.m_floats[1], + v1.m_floats[2] - v2.m_floats[2]); +#endif +} + +/**@brief Return the negative of the vector */ +SIMD_FORCE_INLINE btVector3 +operator-(const btVector3& v) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) + __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask); + return btVector3(_mm_and_ps(r, btvFFF0fMask)); +#elif defined(BT_USE_NEON) + return btVector3((btSimdFloat4)veorq_s32((int32x4_t)v.mVec128, (int32x4_t)btvMzeroMask)); +#else + return btVector3(-v.m_floats[0], -v.m_floats[1], -v.m_floats[2]); +#endif +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btVector3& v, const btScalar& s) +{ +#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + __m128 vs = _mm_load_ss(&s); // (S 0 0 0) + vs = bt_pshufd_ps(vs, 0x80); // (S S S 0.0) + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#elif defined(BT_USE_NEON) + float32x4_t r = vmulq_n_f32(v.mVec128, s); + return btVector3((float32x4_t)vandq_s32((int32x4_t)r, btvFFF0Mask)); +#else + return btVector3(v.m_floats[0] * s, v.m_floats[1] * s, v.m_floats[2] * s); +#endif +} + +/**@brief Return the vector scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator*(const btScalar& s, const btVector3& v) +{ + return v * s; +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v, const btScalar& s) +{ + btFullAssert(s != btScalar(0.0)); +#if 0 //defined(BT_USE_SSE_IN_API) +// this code is not faster ! + __m128 vs = _mm_load_ss(&s); + vs = _mm_div_ss(v1110, vs); + vs = bt_pshufd_ps(vs, 0x00); // (S S S S) + + return btVector3(_mm_mul_ps(v.mVec128, vs)); +#else + return v * (btScalar(1.0) / s); +#endif +} + +/**@brief Return the vector inversely scaled by s */ +SIMD_FORCE_INLINE btVector3 +operator/(const btVector3& v1, const btVector3& v2) +{ +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) + __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); + vec = _mm_and_ps(vec, btvFFF0fMask); + return btVector3(vec); +#elif defined(BT_USE_NEON) + float32x4_t x, y, v, m; + + x = v1.mVec128; + y = v2.mVec128; + + v = vrecpeq_f32(y); // v ~ 1/y + m = vrecpsq_f32(y, v); // m = (2-v*y) + v = vmulq_f32(v, m); // vv = v*m ~~ 1/y + m = vrecpsq_f32(y, v); // mm = (2-vv*y) + v = vmulq_f32(v, x); // x*vv + v = vmulq_f32(v, m); // (x*vv)*(2-vv*y) = x*(vv(2-vv*y)) ~~~ x/y + + return btVector3(v); +#else + return btVector3( + v1.m_floats[0] / v2.m_floats[0], + v1.m_floats[1] / v2.m_floats[1], + v1.m_floats[2] / v2.m_floats[2]); +#endif +} + +/**@brief Return the dot product between two vectors */ +SIMD_FORCE_INLINE btScalar +btDot(const btVector3& v1, const btVector3& v2) +{ + return v1.dot(v2); +} + + +/**@brief Return the distance squared between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance2(const btVector3& v1, const btVector3& v2) +{ + return v1.distance2(v2); +} + + +/**@brief Return the distance between two vectors */ +SIMD_FORCE_INLINE btScalar +btDistance(const btVector3& v1, const btVector3& v2) +{ + return v1.distance(v2); +} + +/**@brief Return the angle between two vectors */ +SIMD_FORCE_INLINE btScalar +btAngle(const btVector3& v1, const btVector3& v2) +{ + return v1.angle(v2); +} + +/**@brief Return the cross product of two vectors */ +SIMD_FORCE_INLINE btVector3 +btCross(const btVector3& v1, const btVector3& v2) +{ + return v1.cross(v2); +} + +SIMD_FORCE_INLINE btScalar +btTriple(const btVector3& v1, const btVector3& v2, const btVector3& v3) +{ + return v1.triple(v2, v3); +} + +/**@brief Return the linear interpolation between two vectors + * @param v1 One vector + * @param v2 The other vector + * @param t The ration of this to v (t = 0 => return v1, t=1 => return v2) */ +SIMD_FORCE_INLINE btVector3 +lerp(const btVector3& v1, const btVector3& v2, const btScalar& t) +{ + return v1.lerp(v2, t); +} + + + +SIMD_FORCE_INLINE btScalar btVector3::distance2(const btVector3& v) const +{ + return (v - *this).length2(); +} + +SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const +{ + return (v - *this).length(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::normalized() const +{ + btVector3 norm = *this; + + return norm.normalize(); +} + +SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const +{ + // wAxis must be a unit lenght vector + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + + __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); + btScalar ssin = btSin( _angle ); + __m128 C = wAxis.cross( mVec128 ).mVec128; + O = _mm_and_ps(O, btvFFF0fMask); + btScalar scos = btCos( _angle ); + + __m128 vsin = _mm_load_ss(&ssin); // (S 0 0 0) + __m128 vcos = _mm_load_ss(&scos); // (S 0 0 0) + + __m128 Y = bt_pshufd_ps(O, 0xC9); // (Y Z X 0) + __m128 Z = bt_pshufd_ps(O, 0xD2); // (Z X Y 0) + O = _mm_add_ps(O, Y); + vsin = bt_pshufd_ps(vsin, 0x80); // (S S S 0) + O = _mm_add_ps(O, Z); + vcos = bt_pshufd_ps(vcos, 0x80); // (S S S 0) + + vsin = vsin * C; + O = O * wAxis.mVec128; + __m128 X = mVec128 - O; + + O = O + vsin; + vcos = vcos * X; + O = O + vcos; + + return btVector3(O); +#else + btVector3 o = wAxis * wAxis.dot( *this ); + btVector3 _x = *this - o; + btVector3 _y; + + _y = wAxis.cross( *this ); + + return ( o + _x * btCos( _angle ) + _y * btSin( _angle ) ); +#endif +} + +SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined _WIN32 || defined (BT_USE_SSE) + const long scalar_cutoff = 10; + long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #endif + if( array_count < scalar_cutoff ) +#endif + { + btScalar maxDot = -SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot > maxDot ) + { + maxDot = dot; + ptIndex = i; + } + } + + dotOut = maxDot; + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif +} + +SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const +{ +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + #if defined BT_USE_SSE + const long scalar_cutoff = 10; + long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #elif defined BT_USE_NEON + const long scalar_cutoff = 4; + extern long (*_mindot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); + #else + #error unhandled arch! + #endif + + if( array_count < scalar_cutoff ) +#endif + { + btScalar minDot = SIMD_INFINITY; + int i = 0; + int ptIndex = -1; + + for( i = 0; i < array_count; i++ ) + { + btScalar dot = array[i].dot(*this); + + if( dot < minDot ) + { + minDot = dot; + ptIndex = i; + } + } + + dotOut = minDot; + + return ptIndex; + } +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); +#endif//BT_USE_SIMD_VECTOR3 +} + + +class btVector4 : public btVector3 +{ +public: + + SIMD_FORCE_INLINE btVector4() {} + + + SIMD_FORCE_INLINE btVector4(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + : btVector3(_x,_y,_z) + { + m_floats[3] = _w; + } + +#if (defined (BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) || defined (BT_USE_NEON) + SIMD_FORCE_INLINE btVector4(const btSimdFloat4 vec) + { + mVec128 = vec; + } + + SIMD_FORCE_INLINE btVector4(const btVector3& rhs) + { + mVec128 = rhs.mVec128; + } + + SIMD_FORCE_INLINE btVector4& + operator=(const btVector4& v) + { + mVec128 = v.mVec128; + return *this; + } +#endif // #if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON) + + SIMD_FORCE_INLINE btVector4 absolute4() const + { +#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + return btVector4(_mm_and_ps(mVec128, btvAbsfMask)); +#elif defined(BT_USE_NEON) + return btVector4(vabsq_f32(mVec128)); +#else + return btVector4( + btFabs(m_floats[0]), + btFabs(m_floats[1]), + btFabs(m_floats[2]), + btFabs(m_floats[3])); +#endif + } + + + btScalar getW() const { return m_floats[3];} + + + SIMD_FORCE_INLINE int maxAxis4() const + { + int maxIndex = -1; + btScalar maxVal = btScalar(-BT_LARGE_FLOAT); + if (m_floats[0] > maxVal) + { + maxIndex = 0; + maxVal = m_floats[0]; + } + if (m_floats[1] > maxVal) + { + maxIndex = 1; + maxVal = m_floats[1]; + } + if (m_floats[2] > maxVal) + { + maxIndex = 2; + maxVal =m_floats[2]; + } + if (m_floats[3] > maxVal) + { + maxIndex = 3; + maxVal = m_floats[3]; + } + + return maxIndex; + } + + + SIMD_FORCE_INLINE int minAxis4() const + { + int minIndex = -1; + btScalar minVal = btScalar(BT_LARGE_FLOAT); + if (m_floats[0] < minVal) + { + minIndex = 0; + minVal = m_floats[0]; + } + if (m_floats[1] < minVal) + { + minIndex = 1; + minVal = m_floats[1]; + } + if (m_floats[2] < minVal) + { + minIndex = 2; + minVal =m_floats[2]; + } + if (m_floats[3] < minVal) + { + minIndex = 3; + minVal = m_floats[3]; + } + + return minIndex; + } + + + SIMD_FORCE_INLINE int closestAxis4() const + { + return absolute4().maxAxis4(); + } + + + + + /**@brief Set x,y,z and zero w + * @param x Value of x + * @param y Value of y + * @param z Value of z + */ + + +/* void getValue(btScalar *m) const + { + m[0] = m_floats[0]; + m[1] = m_floats[1]; + m[2] =m_floats[2]; + } +*/ +/**@brief Set the values + * @param x Value of x + * @param y Value of y + * @param z Value of z + * @param w Value of w + */ + SIMD_FORCE_INLINE void setValue(const btScalar& _x, const btScalar& _y, const btScalar& _z,const btScalar& _w) + { + m_floats[0]=_x; + m_floats[1]=_y; + m_floats[2]=_z; + m_floats[3]=_w; + } + + +}; + + +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) +{ + #ifdef BT_USE_DOUBLE_PRECISION + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[7]; + dest[1] = src[6]; + dest[2] = src[5]; + dest[3] = src[4]; + dest[4] = src[3]; + dest[5] = src[2]; + dest[6] = src[1]; + dest[7] = src[0]; +#else + unsigned char* dest = (unsigned char*) &destVal; + unsigned char* src = (unsigned char*) &sourceVal; + dest[0] = src[3]; + dest[1] = src[2]; + dest[2] = src[1]; + dest[3] = src[0]; +#endif //BT_USE_DOUBLE_PRECISION +} +///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btSwapVector3Endian(const btVector3& sourceVec, btVector3& destVec) +{ + for (int i=0;i<4;i++) + { + btSwapScalarEndian(sourceVec[i],destVec[i]); + } + +} + +///btUnSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization +SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector) +{ + + btVector3 swappedVec; + for (int i=0;i<4;i++) + { + btSwapScalarEndian(vector[i],swappedVec[i]); + } + vector = swappedVec; +} + +template +SIMD_FORCE_INLINE void btPlaneSpace1 (const T& n, T& p, T& q) +{ + if (btFabs(n[2]) > SIMDSQRT12) { + // choose p in y-z plane + btScalar a = n[1]*n[1] + n[2]*n[2]; + btScalar k = btRecipSqrt (a); + p[0] = 0; + p[1] = -n[2]*k; + p[2] = n[1]*k; + // set q = n x p + q[0] = a*k; + q[1] = -n[0]*p[2]; + q[2] = n[0]*p[1]; + } + else { + // choose p in x-y plane + btScalar a = n[0]*n[0] + n[1]*n[1]; + btScalar k = btRecipSqrt (a); + p[0] = -n[1]*k; + p[1] = n[0]*k; + p[2] = 0; + // set q = n x p + q[0] = -n[2]*p[1]; + q[1] = n[2]*p[0]; + q[2] = a*k; + } +} + + +struct btVector3FloatData +{ + float m_floats[4]; +}; + +struct btVector3DoubleData +{ + double m_floats[4]; + +}; + +SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = float(m_floats[i]); +} + +SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = double(m_floats[i]); +} + +SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = btScalar(dataIn.m_floats[i]); +} + + +SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const +{ + ///could also do a memcpy, check if it is worth it + for (int i=0;i<4;i++) + dataOut.m_floats[i] = m_floats[i]; +} + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn) +{ + for (int i=0;i<4;i++) + m_floats[i] = dataIn.m_floats[i]; +} + +#endif //BT_VECTOR3_H diff --git a/Code/Physics/src/LinearMath/premake4.lua b/Code/Physics/src/LinearMath/premake4.lua new file mode 100644 index 00000000..0f0a88a4 --- /dev/null +++ b/Code/Physics/src/LinearMath/premake4.lua @@ -0,0 +1,11 @@ + project "LinearMath" + + kind "StaticLib" + targetdir "../../lib" + includedirs { + "..", + } + files { + "**.cpp", + "**.h" + } \ No newline at end of file diff --git a/Code/Physics/src/Makefile.am b/Code/Physics/src/Makefile.am new file mode 100644 index 00000000..0ecb5c9f --- /dev/null +++ b/Code/Physics/src/Makefile.am @@ -0,0 +1,612 @@ +bullet_includedir = $(includedir)/bullet +nobase_bullet_include_HEADERS = \ + btBulletDynamicsCommon.h \ + Bullet-C-Api.h \ + btBulletCollisionCommon.h + +if CONDITIONAL_BUILD_MULTITHREADED +nobase_bullet_include_HEADERS += \ + BulletMultiThreaded/PosixThreadSupport.h \ + BulletMultiThreaded/vectormath/scalar/cpp/mat_aos.h \ + BulletMultiThreaded/vectormath/scalar/cpp/vec_aos.h \ + BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h \ + BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h \ + BulletMultiThreaded/PpuAddressSpace.h \ + BulletMultiThreaded/SpuCollisionTaskProcess.h \ + BulletMultiThreaded/PlatformDefinitions.h \ + BulletMultiThreaded/vectormath2bullet.h \ + BulletMultiThreaded/SpuGatheringCollisionDispatcher.h \ + BulletMultiThreaded/SpuCollisionObjectWrapper.h \ + BulletMultiThreaded/SpuSampleTaskProcess.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h \ + BulletMultiThreaded/SpuSync.h \ + BulletMultiThreaded/btThreadSupportInterface.h \ + BulletMultiThreaded/SpuLibspe2Support.h \ + BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h \ + BulletMultiThreaded/SpuFakeDma.h \ + BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h \ + BulletMultiThreaded/SpuDoubleBuffer.h \ + BulletMultiThreaded/Win32ThreadSupport.h \ + BulletMultiThreaded/SequentialThreadSupport.h + +lib_LTLIBRARIES = libLinearMath.la libBulletCollision.la libBulletDynamics.la libBulletSoftBody.la libBulletMultiThreaded.la + +libBulletMultiThreaded_la_CXXFLAGS = ${CXXFLAGS} -I./BulletMultiThreaded/vectormath/scalar/cpp +libBulletMultiThreaded_la_SOURCES =\ + BulletMultiThreaded/SpuCollisionObjectWrapper.cpp \ + BulletMultiThreaded/SpuSampleTask/SpuSampleTask.cpp \ + BulletMultiThreaded/SpuLibspe2Support.cpp \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp \ + BulletMultiThreaded/btThreadSupportInterface.cpp \ + BulletMultiThreaded/SequentialThreadSupport.cpp \ + BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp \ + BulletMultiThreaded/Win32ThreadSupport.cpp \ + BulletMultiThreaded/SpuFakeDma.cpp \ + BulletMultiThreaded/PosixThreadSupport.cpp \ + BulletMultiThreaded/SpuCollisionTaskProcess.cpp \ + BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp \ + BulletMultiThreaded/SpuSampleTaskProcess.cpp \ + BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h \ + BulletMultiThreaded/PpuAddressSpace.h \ + BulletMultiThreaded/SpuSampleTaskProcess.h \ + BulletMultiThreaded/SequentialThreadSupport.h \ + BulletMultiThreaded/PlatformDefinitions.h \ + BulletMultiThreaded/Win32ThreadSupport.h \ + BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h \ + BulletMultiThreaded/btThreadSupportInterface.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h \ + BulletMultiThreaded/SpuGatheringCollisionDispatcher.h \ + BulletMultiThreaded/SpuFakeDma.h \ + BulletMultiThreaded/SpuSync.h \ + BulletMultiThreaded/SpuCollisionObjectWrapper.h \ + BulletMultiThreaded/SpuDoubleBuffer.h \ + BulletMultiThreaded/SpuCollisionTaskProcess.h \ + BulletMultiThreaded/PosixThreadSupport.h \ + BulletMultiThreaded/SpuLibspe2Support.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h \ + BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h + +else +lib_LTLIBRARIES = libLinearMath.la libBulletCollision.la libBulletDynamics.la libBulletSoftBody.la +endif + + +libLinearMath_la_SOURCES = \ + LinearMath/btQuickprof.cpp \ + LinearMath/btGeometryUtil.cpp \ + LinearMath/btAlignedAllocator.cpp \ + LinearMath/btSerializer.cpp \ + LinearMath/btConvexHull.cpp \ + LinearMath/btPolarDecomposition.cpp \ + LinearMath/btVector3.cpp \ + LinearMath/btConvexHullComputer.cpp \ + LinearMath/btHashMap.h \ + LinearMath/btConvexHull.h \ + LinearMath/btAabbUtil2.h \ + LinearMath/btGeometryUtil.h \ + LinearMath/btQuadWord.h \ + LinearMath/btPoolAllocator.h \ + LinearMath/btPolarDecomposition.h \ + LinearMath/btScalar.h \ + LinearMath/btMinMax.h \ + LinearMath/btVector3.h \ + LinearMath/btList.h \ + LinearMath/btStackAlloc.h \ + LinearMath/btMatrix3x3.h \ + LinearMath/btMotionState.h \ + LinearMath/btAlignedAllocator.h \ + LinearMath/btQuaternion.h \ + LinearMath/btAlignedObjectArray.h \ + LinearMath/btQuickprof.h \ + LinearMath/btSerializer.h \ + LinearMath/btTransformUtil.h \ + LinearMath/btTransform.h \ + LinearMath/btDefaultMotionState.h \ + LinearMath/btIDebugDraw.h \ + LinearMath/btRandom.h + + +libBulletCollision_la_SOURCES = \ + BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp \ + BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp \ + BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp \ + BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp \ + BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp \ + BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp \ + BulletCollision/NarrowPhaseCollision/btConvexCast.cpp \ + BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp \ + BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp \ + BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp \ + BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp \ + BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp \ + BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btCollisionObject.cpp \ + BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btGhostObject.cpp \ + BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp \ + BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp \ + BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp \ + BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp \ + BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp \ + BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp \ + BulletCollision/CollisionDispatch/btManifoldResult.cpp \ + BulletCollision/CollisionDispatch/btCollisionWorld.cpp \ + BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btUnionFind.cpp \ + BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp \ + BulletCollision/CollisionShapes/btTetrahedronShape.cpp \ + BulletCollision/CollisionShapes/btShapeHull.cpp \ + BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp \ + BulletCollision/CollisionShapes/btCompoundShape.cpp \ + BulletCollision/CollisionShapes/btConeShape.cpp \ + BulletCollision/CollisionShapes/btConvexPolyhedron.cpp \ + BulletCollision/CollisionShapes/btMultiSphereShape.cpp \ + BulletCollision/CollisionShapes/btUniformScalingShape.cpp \ + BulletCollision/CollisionShapes/btSphereShape.cpp \ + BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp \ + BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp \ + BulletCollision/CollisionShapes/btTriangleMeshShape.cpp \ + BulletCollision/CollisionShapes/btTriangleBuffer.cpp \ + BulletCollision/CollisionShapes/btStaticPlaneShape.cpp \ + BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp \ + BulletCollision/CollisionShapes/btEmptyShape.cpp \ + BulletCollision/CollisionShapes/btCollisionShape.cpp \ + BulletCollision/CollisionShapes/btConvexShape.cpp \ + BulletCollision/CollisionShapes/btConvex2dShape.cpp \ + BulletCollision/CollisionShapes/btConvexInternalShape.cpp \ + BulletCollision/CollisionShapes/btConvexHullShape.cpp \ + BulletCollision/CollisionShapes/btTriangleCallback.cpp \ + BulletCollision/CollisionShapes/btCapsuleShape.cpp \ + BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp \ + BulletCollision/CollisionShapes/btConcaveShape.cpp \ + BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp \ + BulletCollision/CollisionShapes/btBoxShape.cpp \ + BulletCollision/CollisionShapes/btBox2dShape.cpp \ + BulletCollision/CollisionShapes/btOptimizedBvh.cpp \ + BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp \ + BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp \ + BulletCollision/CollisionShapes/btCylinderShape.cpp \ + BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp \ + BulletCollision/CollisionShapes/btStridingMeshInterface.cpp \ + BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp \ + BulletCollision/CollisionShapes/btTriangleMesh.cpp \ + BulletCollision/BroadphaseCollision/btAxisSweep3.cpp \ + BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp \ + BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp \ + BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp \ + BulletCollision/BroadphaseCollision/btDispatcher.cpp \ + BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp \ + BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp \ + BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp \ + BulletCollision/BroadphaseCollision/btDbvt.cpp \ + BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp \ + BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h \ + BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h \ + BulletCollision/NarrowPhaseCollision/btConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btGjkEpa2.h \ + BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h \ + BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h \ + BulletCollision/NarrowPhaseCollision/btPointCollector.h \ + BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h \ + BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \ + BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \ + BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \ + BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \ + BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \ + BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \ + BulletCollision/CollisionDispatch/btCollisionObject.h \ + BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \ + BulletCollision/CollisionDispatch/btGhostObject.h \ + BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \ + BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h \ + BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h \ + BulletCollision/CollisionDispatch/btBoxBoxDetector.h \ + BulletCollision/CollisionDispatch/btCollisionDispatcher.h \ + BulletCollision/CollisionDispatch/SphereTriangleDetector.h \ + BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btUnionFind.h \ + BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.h \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btSimulationIslandManager.h \ + BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \ + BulletCollision/CollisionDispatch/btCollisionWorld.h \ + BulletCollision/CollisionDispatch/btInternalEdgeUtility.h \ + BulletCollision/CollisionDispatch/btManifoldResult.h \ + BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btCollisionConfiguration.h \ + BulletCollision/CollisionShapes/btConvexShape.h \ + BulletCollision/CollisionShapes/btConvex2dShape.h \ + BulletCollision/CollisionShapes/btTriangleCallback.h \ + BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \ + BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btCompoundShape.h \ + BulletCollision/CollisionShapes/btBoxShape.h \ + BulletCollision/CollisionShapes/btBox2dShape.h \ + BulletCollision/CollisionShapes/btMultiSphereShape.h \ + BulletCollision/CollisionShapes/btCollisionMargin.h \ + BulletCollision/CollisionShapes/btConcaveShape.h \ + BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btEmptyShape.h \ + BulletCollision/CollisionShapes/btUniformScalingShape.h \ + BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btMaterial.h \ + BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \ + BulletCollision/CollisionShapes/btTriangleInfoMap.h \ + BulletCollision/CollisionShapes/btSphereShape.h \ + BulletCollision/CollisionShapes/btConvexPointCloudShape.h \ + BulletCollision/CollisionShapes/btCapsuleShape.h \ + BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h \ + BulletCollision/CollisionShapes/btCollisionShape.h \ + BulletCollision/CollisionShapes/btStaticPlaneShape.h \ + BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btStridingMeshInterface.h \ + BulletCollision/CollisionShapes/btTriangleMesh.h \ + BulletCollision/CollisionShapes/btTriangleBuffer.h \ + BulletCollision/CollisionShapes/btShapeHull.h \ + BulletCollision/CollisionShapes/btMinkowskiSumShape.h \ + BulletCollision/CollisionShapes/btOptimizedBvh.h \ + BulletCollision/CollisionShapes/btTriangleShape.h \ + BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h \ + BulletCollision/CollisionShapes/btCylinderShape.h \ + BulletCollision/CollisionShapes/btTetrahedronShape.h \ + BulletCollision/CollisionShapes/btConvexInternalShape.h \ + BulletCollision/CollisionShapes/btConeShape.h \ + BulletCollision/CollisionShapes/btConvexHullShape.h \ + BulletCollision/BroadphaseCollision/btAxisSweep3.h \ + BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \ + BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \ + BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \ + BulletCollision/BroadphaseCollision/btDbvt.h \ + BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \ + BulletCollision/BroadphaseCollision/btDispatcher.h \ + BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \ + BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \ + BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \ + BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \ + BulletCollision/BroadphaseCollision/btQuantizedBvh.h \ + BulletCollision/Gimpact/btGImpactBvh.cpp\ + BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp\ + BulletCollision/Gimpact/btTriangleShapeEx.cpp\ + BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp\ + BulletCollision/Gimpact/btGImpactShape.cpp\ + BulletCollision/Gimpact/gim_box_set.cpp\ + BulletCollision/Gimpact/gim_contact.cpp\ + BulletCollision/Gimpact/gim_memory.cpp\ + BulletCollision/Gimpact/gim_tri_collision.cpp + +libBulletDynamics_la_SOURCES = \ + BulletDynamics/Dynamics/btRigidBody.cpp \ + BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp \ + BulletDynamics/Dynamics/Bullet-C-API.cpp \ + BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp \ + BulletDynamics/ConstraintSolver/btFixedConstraint.cpp \ + BulletDynamics/ConstraintSolver/btGearConstraint.cpp \ + BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp \ + BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp \ + BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp \ + BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp \ + BulletDynamics/ConstraintSolver/btTypedConstraint.cpp \ + BulletDynamics/ConstraintSolver/btContactConstraint.cpp \ + BulletDynamics/ConstraintSolver/btSliderConstraint.cpp \ + BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp \ + BulletDynamics/ConstraintSolver/btHingeConstraint.cpp \ + BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp \ + BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp \ + BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp \ + BulletDynamics/Vehicle/btWheelInfo.cpp \ + BulletDynamics/Vehicle/btRaycastVehicle.cpp \ + BulletDynamics/Character/btKinematicCharacterController.cpp \ + BulletDynamics/Character/btKinematicCharacterController.h \ + BulletDynamics/Character/btCharacterControllerInterface.h \ + BulletDynamics/Dynamics/btActionInterface.h \ + BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \ + BulletDynamics/Dynamics/btRigidBody.h \ + BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \ + BulletDynamics/Dynamics/btDynamicsWorld.h \ + BulletDynamics/ConstraintSolver/btSolverBody.h \ + BulletDynamics/ConstraintSolver/btConstraintSolver.h \ + BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \ + BulletDynamics/ConstraintSolver/btTypedConstraint.h \ + BulletDynamics/ConstraintSolver/btContactSolverInfo.h \ + BulletDynamics/ConstraintSolver/btContactConstraint.h \ + BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \ + BulletDynamics/ConstraintSolver/btJacobianEntry.h \ + BulletDynamics/ConstraintSolver/btSolverConstraint.h \ + BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \ + BulletDynamics/ConstraintSolver/btGearConstraint.h \ + BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \ + BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \ + BulletDynamics/ConstraintSolver/btSliderConstraint.h \ + BulletDynamics/ConstraintSolver/btHingeConstraint.h \ + BulletDynamics/ConstraintSolver/btHinge2Constraint.h \ + BulletDynamics/ConstraintSolver/btUniversalConstraint.h \ + BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \ + BulletDynamics/Vehicle/btVehicleRaycaster.h \ + BulletDynamics/Vehicle/btRaycastVehicle.h \ + BulletDynamics/Vehicle/btWheelInfo.h \ + BulletDynamics/Featherstone/btMultiBody.cpp \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointMotor.h \ + BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h \ + BulletDynamics/Featherstone/btMultiBody.h \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h \ + BulletDynamics/Featherstone/btMultiBodyLink.h \ + BulletDynamics/Featherstone/btMultiBodyLinkCollider.h \ + BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.cpp \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp \ + BulletDynamics/MLCPSolvers/btDantzigLCP.cpp \ + BulletDynamics/MLCPSolvers/btMLCPSolver.cpp \ + BulletDynamics/MLCPSolvers/btDantzigLCP.h \ + BulletDynamics/MLCPSolvers/btDantzigSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \ + BulletDynamics/MLCPSolvers/btPATHSolver.h \ + BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h + + + + +libBulletSoftBody_la_SOURCES = \ + BulletSoftBody/btDefaultSoftBodySolver.cpp \ + BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp \ + BulletSoftBody/btSoftBody.cpp \ + BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp \ + BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp \ + BulletSoftBody/btSoftRigidDynamicsWorld.cpp \ + BulletSoftBody/btSoftBodyHelpers.cpp \ + BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp \ + BulletSoftBody/btSparseSDF.h \ + BulletSoftBody/btSoftRigidCollisionAlgorithm.h \ + BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h \ + BulletSoftBody/btSoftBody.h \ + BulletSoftBody/btSoftSoftCollisionAlgorithm.h \ + BulletSoftBody/btSoftBodyInternals.h \ + BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h \ + BulletSoftBody/btSoftRigidDynamicsWorld.h \ + BulletSoftBody/btSoftBodyHelpers.h + + + +nobase_bullet_include_HEADERS += \ + BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h \ + BulletSoftBody/btSoftBodyInternals.h \ + BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h \ + BulletSoftBody/btSoftSoftCollisionAlgorithm.h \ + BulletSoftBody/btSoftBody.h \ + BulletSoftBody/btSoftBodyHelpers.h \ + BulletSoftBody/btSparseSDF.h \ + BulletSoftBody/btSoftRigidCollisionAlgorithm.h \ + BulletSoftBody/btSoftRigidDynamicsWorld.h \ + BulletDynamics/Vehicle/btRaycastVehicle.h \ + BulletDynamics/Vehicle/btWheelInfo.h \ + BulletDynamics/Vehicle/btVehicleRaycaster.h \ + BulletDynamics/Dynamics/btActionInterface.h \ + BulletDynamics/Dynamics/btRigidBody.h \ + BulletDynamics/Dynamics/btDynamicsWorld.h \ + BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \ + BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \ + BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \ + BulletDynamics/ConstraintSolver/btSolverConstraint.h \ + BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \ + BulletDynamics/ConstraintSolver/btTypedConstraint.h \ + BulletDynamics/ConstraintSolver/btSliderConstraint.h \ + BulletDynamics/ConstraintSolver/btConstraintSolver.h \ + BulletDynamics/ConstraintSolver/btContactConstraint.h \ + BulletDynamics/ConstraintSolver/btContactSolverInfo.h \ + BulletDynamics/ConstraintSolver/btGearConstraint.h \ + BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \ + BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \ + BulletDynamics/ConstraintSolver/btJacobianEntry.h \ + BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \ + BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \ + BulletDynamics/ConstraintSolver/btHingeConstraint.h \ + BulletDynamics/ConstraintSolver/btHinge2Constraint.h \ + BulletDynamics/ConstraintSolver/btUniversalConstraint.h \ + BulletDynamics/ConstraintSolver/btSolverBody.h \ + BulletDynamics/Character/btCharacterControllerInterface.h \ + BulletDynamics/Character/btKinematicCharacterController.h \ + BulletDynamics/Featherstone/btMultiBody.h \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h \ + BulletDynamics/Featherstone/btMultiBodyLink.h \ + BulletDynamics/Featherstone/btMultiBodyLinkCollider.h \ + BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \ + BulletDynamics/MLCPSolvers/btDantzigLCP.h \ + BulletDynamics/MLCPSolvers/btDantzigSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \ + BulletDynamics/MLCPSolvers/btPATHSolver.h \ + BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h \ + BulletCollision/CollisionShapes/btShapeHull.h \ + BulletCollision/CollisionShapes/btConcaveShape.h \ + BulletCollision/CollisionShapes/btCollisionMargin.h \ + BulletCollision/CollisionShapes/btCompoundShape.h \ + BulletCollision/CollisionShapes/btConvexHullShape.h \ + BulletCollision/CollisionShapes/btCylinderShape.h \ + BulletCollision/CollisionShapes/btTriangleMesh.h \ + BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h \ + BulletCollision/CollisionShapes/btUniformScalingShape.h \ + BulletCollision/CollisionShapes/btConvexPointCloudShape.h \ + BulletCollision/CollisionShapes/btTetrahedronShape.h \ + BulletCollision/CollisionShapes/btCapsuleShape.h \ + BulletCollision/CollisionShapes/btSphereShape.h \ + BulletCollision/CollisionShapes/btMultiSphereShape.h \ + BulletCollision/CollisionShapes/btConvexInternalShape.h \ + BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btStridingMeshInterface.h \ + BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btEmptyShape.h \ + BulletCollision/CollisionShapes/btOptimizedBvh.h \ + BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btTriangleCallback.h \ + BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h \ + BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \ + BulletCollision/CollisionShapes/btTriangleInfoMap.h \ + BulletCollision/CollisionShapes/btTriangleBuffer.h \ + BulletCollision/CollisionShapes/btConvexShape.h \ + BulletCollision/CollisionShapes/btConvex2dShape.h \ + BulletCollision/CollisionShapes/btStaticPlaneShape.h \ + BulletCollision/CollisionShapes/btConeShape.h \ + BulletCollision/CollisionShapes/btCollisionShape.h \ + BulletCollision/CollisionShapes/btTriangleShape.h \ + BulletCollision/CollisionShapes/btBoxShape.h \ + BulletCollision/CollisionShapes/btBox2dShape.h \ + BulletCollision/CollisionShapes/btMinkowskiSumShape.h \ + BulletCollision/CollisionShapes/btTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btMaterial.h \ + BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h \ + BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \ + BulletCollision/NarrowPhaseCollision/btConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btGjkEpa2.h \ + BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \ + BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \ + BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h \ + BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \ + BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h \ + BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \ + BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \ + BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h \ + BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h \ + BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \ + BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \ + BulletCollision/NarrowPhaseCollision/btPointCollector.h \ + BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h \ + BulletCollision/BroadphaseCollision/btDbvt.h \ + BulletCollision/BroadphaseCollision/btDispatcher.h \ + BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \ + BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \ + BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \ + BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \ + BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \ + BulletCollision/BroadphaseCollision/btQuantizedBvh.h \ + BulletCollision/BroadphaseCollision/btAxisSweep3.h \ + BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \ + BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \ + BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \ + BulletCollision/CollisionDispatch/btUnionFind.h \ + BulletCollision/CollisionDispatch/btCollisionConfiguration.h \ + BulletCollision/CollisionDispatch/btCollisionDispatcher.h \ + BulletCollision/CollisionDispatch/SphereTriangleDetector.h \ + BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btCollisionWorld.h \ + BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \ + BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h \ + BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h \ + BulletCollision/CollisionDispatch/btCollisionObject.h \ + BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \ + BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \ + BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.h \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btGhostObject.h \ + BulletCollision/CollisionDispatch/btSimulationIslandManager.h \ + BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btBoxBoxDetector.h \ + BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btInternalEdgeUtility.h \ + BulletCollision/CollisionDispatch/btManifoldResult.h \ + BulletCollision/Gimpact/gim_memory.h \ + BulletCollision/Gimpact/gim_clip_polygon.h \ + BulletCollision/Gimpact/gim_bitset.h \ + BulletCollision/Gimpact/gim_linear_math.h \ + BulletCollision/Gimpact/btGeometryOperations.h \ + BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h \ + BulletCollision/Gimpact/btGImpactBvh.h \ + BulletCollision/Gimpact/gim_box_set.h \ + BulletCollision/Gimpact/gim_array.h \ + BulletCollision/Gimpact/btGImpactShape.h \ + BulletCollision/Gimpact/btTriangleShapeEx.h \ + BulletCollision/Gimpact/btClipPolygon.h \ + BulletCollision/Gimpact/gim_box_collision.h \ + BulletCollision/Gimpact/gim_tri_collision.h \ + BulletCollision/Gimpact/gim_geometry.h \ + BulletCollision/Gimpact/gim_math.h \ + BulletCollision/Gimpact/btQuantization.h \ + BulletCollision/Gimpact/btGImpactQuantizedBvh.h \ + BulletCollision/Gimpact/gim_geom_types.h \ + BulletCollision/Gimpact/gim_basic_geometry_operations.h \ + BulletCollision/Gimpact/gim_contact.h \ + BulletCollision/Gimpact/gim_hash_table.h \ + BulletCollision/Gimpact/gim_radixsort.h \ + BulletCollision/Gimpact/btGImpactMassUtil.h \ + BulletCollision/Gimpact/btGenericPoolAllocator.h \ + BulletCollision/Gimpact/btBoxCollision.h \ + BulletCollision/Gimpact/btContactProcessing.h \ + LinearMath/btGeometryUtil.h \ + LinearMath/btConvexHull.h \ + LinearMath/btList.h \ + LinearMath/btMatrix3x3.h \ + LinearMath/btVector3.h \ + LinearMath/btPoolAllocator.h \ + LinearMath/btPolarDecomposition.h \ + LinearMath/btScalar.h \ + LinearMath/btDefaultMotionState.h \ + LinearMath/btTransform.h \ + LinearMath/btQuadWord.h \ + LinearMath/btAabbUtil2.h \ + LinearMath/btTransformUtil.h \ + LinearMath/btRandom.h \ + LinearMath/btQuaternion.h \ + LinearMath/btMinMax.h \ + LinearMath/btMotionState.h \ + LinearMath/btIDebugDraw.h \ + LinearMath/btAlignedAllocator.h \ + LinearMath/btStackAlloc.h \ + LinearMath/btAlignedObjectArray.h \ + LinearMath/btHashMap.h \ + LinearMath/btQuickprof.h\ + LinearMath/btSerializer.h diff --git a/Code/Physics/src/MiniCL/CMakeLists.txt b/Code/Physics/src/MiniCL/CMakeLists.txt new file mode 100644 index 00000000..f351b1ce --- /dev/null +++ b/Code/Physics/src/MiniCL/CMakeLists.txt @@ -0,0 +1,69 @@ +#MiniCL provides a small subset of OpenCL + +INCLUDE_DIRECTORIES( + ${BULLET_PHYSICS_SOURCE_DIR}/src + ${VECTOR_MATH_INCLUDE} +) + +SET(MiniCL_SRCS + MiniCL.cpp + MiniCLTaskScheduler.cpp + MiniCLTask/MiniCLTask.cpp +) + +SET(Root_HDRS + MiniCLTaskScheduler.h + cl.h + cl_gl.h + cl_platform.h + cl_MiniCL_Defs.h +) + +SET(MiniCLTask_HDRS + MiniCLTask/MiniCLTask.h +) + +SET(MiniCL_HDRS + ${Root_HDRS} + ${MiniCLTask_HDRS} +) + +ADD_LIBRARY(MiniCL ${MiniCL_SRCS} ${MiniCL_HDRS} ) +SET_TARGET_PROPERTIES(MiniCL PROPERTIES VERSION ${BULLET_VERSION}) +SET_TARGET_PROPERTIES(MiniCL PROPERTIES SOVERSION ${BULLET_VERSION}) + + +IF (BUILD_SHARED_LIBS) + TARGET_LINK_LIBRARIES(MiniCL BulletMultiThreaded BulletDynamics BulletCollision) +ENDIF (BUILD_SHARED_LIBS) + +IF (INSTALL_LIBS) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + #INSTALL of other files requires CMake 2.6 + IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) +# IF(INSTALL_EXTRA_LIBS) + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS MiniCL DESTINATION .) + ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + INSTALL(TARGETS MiniCL + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${LIB_SUFFIX} + ARCHIVE DESTINATION lib${LIB_SUFFIX}) + INSTALL(DIRECTORY +${CMAKE_CURRENT_SOURCE_DIR} DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING +PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) +# ENDIF (INSTALL_EXTRA_LIBS) + ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) + + IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + SET_TARGET_PROPERTIES(MiniCL PROPERTIES FRAMEWORK true) + + SET_TARGET_PROPERTIES(MiniCL PROPERTIES PUBLIC_HEADER "${Root_HDRS}") + # Have to list out sub-directories manually: + SET_PROPERTY(SOURCE ${MiniCLTask_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MiniCLTask) + + ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) +ENDIF (INSTALL_LIBS) + diff --git a/Code/Physics/src/MiniCL/MiniCL.cpp b/Code/Physics/src/MiniCL/MiniCL.cpp new file mode 100644 index 00000000..ba0865aa --- /dev/null +++ b/Code/Physics/src/MiniCL/MiniCL.cpp @@ -0,0 +1,788 @@ +/* + Copyright (C) 2010 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +*/ + + +#include "MiniCL/cl.h" +#define __PHYSICS_COMMON_H__ 1 +#ifdef _WIN32 +#include "BulletMultiThreaded/Win32ThreadSupport.h" +#endif + +#include "BulletMultiThreaded/PlatformDefinitions.h" +#ifdef USE_PTHREADS +#include "BulletMultiThreaded/PosixThreadSupport.h" +#endif + + +#include "BulletMultiThreaded/SequentialThreadSupport.h" +#include "MiniCLTaskScheduler.h" +#include "MiniCLTask/MiniCLTask.h" +#include "LinearMath/btMinMax.h" +#include +#include + +//#define DEBUG_MINICL_KERNELS 1 + +static const char* spPlatformID = "MiniCL, SCEA"; +static const char* spDriverVersion= "1.0"; + +CL_API_ENTRY cl_int CL_API_CALL clGetPlatformIDs( + cl_uint num_entries, + cl_platform_id * platforms, + cl_uint * num_platforms ) CL_API_SUFFIX__VERSION_1_0 +{ + if(platforms != NULL) + { + if(num_entries <= 0) + { + return CL_INVALID_VALUE; + } + *((const char**)platforms) = spPlatformID; + } + if(num_platforms != NULL) + { + *num_platforms = 1; + } + return CL_SUCCESS; +} + + +CL_API_ENTRY cl_int CL_API_CALL clGetPlatformInfo( + cl_platform_id platform, + cl_platform_info param_name, + size_t param_value_size, + void * param_value, + size_t * param_value_size_ret) CL_API_SUFFIX__VERSION_1_0 +{ + char* pId = (char*)platform; + if(strcmp(pId, spPlatformID)) + { + return CL_INVALID_PLATFORM; + } + switch(param_name) + { + case CL_PLATFORM_VERSION: + { + if(param_value_size < (strlen(spDriverVersion) + 1)) + { + return CL_INVALID_VALUE; + } + strcpy((char*)param_value, spDriverVersion); + if(param_value_size_ret != NULL) + { + *param_value_size_ret = strlen(spDriverVersion) + 1; + } + break; + } + case CL_PLATFORM_NAME: + case CL_PLATFORM_VENDOR : + if(param_value_size < (strlen(spPlatformID) + 1)) + { + return CL_INVALID_VALUE; + } + strcpy((char*)param_value, spPlatformID); + if(param_value_size_ret != NULL) + { + *param_value_size_ret = strlen(spPlatformID) + 1; + } + break; + default : + return CL_INVALID_VALUE; + } + return CL_SUCCESS; +} + + + + +CL_API_ENTRY cl_int CL_API_CALL clGetDeviceInfo( + cl_device_id device , + cl_device_info param_name , + size_t param_value_size , + void * param_value , + size_t * param_value_size_ret) CL_API_SUFFIX__VERSION_1_0 +{ + + switch (param_name) + { + case CL_DEVICE_NAME: + { + char deviceName[] = "MiniCL CPU"; + unsigned int nameLen = (unsigned int)strlen(deviceName)+1; + btAssert(param_value_size>strlen(deviceName)); + if (nameLen < param_value_size) + { + const char* cpuName = "MiniCL CPU"; + sprintf((char*)param_value,"%s",cpuName); + } else + { + printf("error: param_value_size should be at least %d, but it is %zu\n",nameLen,param_value_size); + return CL_INVALID_VALUE; + } + break; + } + case CL_DEVICE_TYPE: + { + if (param_value_size>=sizeof(cl_device_type)) + { + cl_device_type* deviceType = (cl_device_type*)param_value; + *deviceType = CL_DEVICE_TYPE_CPU; + } else + { + printf("error: param_value_size should be at least %zu\n",sizeof(cl_device_type)); + return CL_INVALID_VALUE; + } + break; + } + case CL_DEVICE_MAX_COMPUTE_UNITS: + { + if (param_value_size>=sizeof(cl_uint)) + { + cl_uint* numUnits = (cl_uint*)param_value; + *numUnits= 4; + } else + { + printf("error: param_value_size should be at least %zu\n",sizeof(cl_uint)); + return CL_INVALID_VALUE; + } + + break; + } + case CL_DEVICE_MAX_WORK_ITEM_SIZES: + { + size_t workitem_size[3]; + + if (param_value_size>=sizeof(workitem_size)) + { + size_t* workItemSize = (size_t*)param_value; + workItemSize[0] = 64; + workItemSize[1] = 24; + workItemSize[2] = 16; + } else + { + printf("error: param_value_size should be at least %zu\n",sizeof(cl_uint)); + return CL_INVALID_VALUE; + } + break; + } + case CL_DEVICE_MAX_CLOCK_FREQUENCY: + { + cl_uint* clock_frequency = (cl_uint*)param_value; + *clock_frequency = 3*1024; + break; + } + + case CL_DEVICE_VENDOR : + { + if(param_value_size < (strlen(spPlatformID) + 1)) + { + return CL_INVALID_VALUE; + } + strcpy((char*)param_value, spPlatformID); + if(param_value_size_ret != NULL) + { + *param_value_size_ret = strlen(spPlatformID) + 1; + } + break; + } + case CL_DRIVER_VERSION: + { + if(param_value_size < (strlen(spDriverVersion) + 1)) + { + return CL_INVALID_VALUE; + } + strcpy((char*)param_value, spDriverVersion); + if(param_value_size_ret != NULL) + { + *param_value_size_ret = strlen(spDriverVersion) + 1; + } + + break; + } + case CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS: + { + cl_uint* maxDimensions = (cl_uint*)param_value; + *maxDimensions = 1; + break; + } + case CL_DEVICE_MAX_WORK_GROUP_SIZE: + { + cl_uint* maxWorkGroupSize = (cl_uint*)param_value; + *maxWorkGroupSize = 128;//1; + break; + } + case CL_DEVICE_ADDRESS_BITS: + { + cl_uint* addressBits = (cl_uint*)param_value; + *addressBits= 32; //@todo: should this be 64 for 64bit builds? + break; + } + case CL_DEVICE_MAX_MEM_ALLOC_SIZE: + { + cl_ulong* maxMemAlloc = (cl_ulong*)param_value; + *maxMemAlloc= 512*1024*1024; //this "should be enough for everyone" ? + break; + } + case CL_DEVICE_GLOBAL_MEM_SIZE: + { + cl_ulong* maxMemAlloc = (cl_ulong*)param_value; + *maxMemAlloc= 1024*1024*1024; //this "should be enough for everyone" ? + break; + } + + case CL_DEVICE_ERROR_CORRECTION_SUPPORT: + { + cl_bool* error_correction_support = (cl_bool*)param_value; + *error_correction_support = CL_FALSE; + break; + } + + case CL_DEVICE_LOCAL_MEM_TYPE: + { + cl_device_local_mem_type* local_mem_type = (cl_device_local_mem_type*)param_value; + *local_mem_type = CL_GLOBAL; + break; + } + case CL_DEVICE_LOCAL_MEM_SIZE: + { + cl_ulong* localmem = (cl_ulong*) param_value; + *localmem = 32*1024; + break; + } + + case CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE: + { + cl_ulong* localmem = (cl_ulong*) param_value; + *localmem = 64*1024; + break; + } + case CL_DEVICE_QUEUE_PROPERTIES: + { + cl_command_queue_properties* queueProp = (cl_command_queue_properties*) param_value; + memset(queueProp,0,param_value_size); + + break; + } + case CL_DEVICE_IMAGE_SUPPORT: + { + cl_bool* imageSupport = (cl_bool*) param_value; + *imageSupport = CL_FALSE; + break; + } + + case CL_DEVICE_MAX_WRITE_IMAGE_ARGS: + case CL_DEVICE_MAX_READ_IMAGE_ARGS: + { + cl_uint* imageArgs = (cl_uint*) param_value; + *imageArgs = 0; + break; + } + case CL_DEVICE_IMAGE3D_MAX_DEPTH: + case CL_DEVICE_IMAGE3D_MAX_HEIGHT: + case CL_DEVICE_IMAGE2D_MAX_HEIGHT: + case CL_DEVICE_IMAGE3D_MAX_WIDTH: + case CL_DEVICE_IMAGE2D_MAX_WIDTH: + { + size_t* maxSize = (size_t*) param_value; + *maxSize = 0; + break; + } + + case CL_DEVICE_EXTENSIONS: + { + char* extensions = (char*) param_value; + *extensions = 0; + break; + } + + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE: + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT: + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG: + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT: + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT: + case CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR: + { + cl_uint* width = (cl_uint*) param_value; + *width = 1; + break; + } + + default: + { + printf("error: unsupported param_name:%d\n",param_name); + } + } + + + return 0; +} + +CL_API_ENTRY cl_int CL_API_CALL clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + + + +CL_API_ENTRY cl_int CL_API_CALL clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + +CL_API_ENTRY cl_int CL_API_CALL clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + +CL_API_ENTRY cl_int CL_API_CALL clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + + +// Enqueued Commands APIs +CL_API_ENTRY cl_int CL_API_CALL clEnqueueReadBuffer(cl_command_queue command_queue , + cl_mem buffer , + cl_bool /* blocking_read */, + size_t offset , + size_t cb , + void * ptr , + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0 +{ + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue; + + ///wait for all work items to be completed + scheduler->flush(); + + memcpy(ptr,(char*)buffer + offset,cb); + return 0; +} + + +CL_API_ENTRY cl_int clGetProgramBuildInfo(cl_program /* program */, + cl_device_id /* device */, + cl_program_build_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0 +{ + + return 0; +} + + +// Program Object APIs +CL_API_ENTRY cl_program +clCreateProgramWithSource(cl_context context , + cl_uint /* count */, + const char ** /* strings */, + const size_t * /* lengths */, + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + *errcode_ret = CL_SUCCESS; + return (cl_program)context; +} + +CL_API_ENTRY cl_int CL_API_CALL clEnqueueWriteBuffer(cl_command_queue command_queue , + cl_mem buffer , + cl_bool /* blocking_read */, + size_t offset, + size_t cb , + const void * ptr , + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0 +{ + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue; + + ///wait for all work items to be completed + scheduler->flush(); + + memcpy((char*)buffer + offset, ptr,cb); + return 0; +} + +CL_API_ENTRY cl_int CL_API_CALL clFlush(cl_command_queue command_queue) +{ + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue; + ///wait for all work items to be completed + scheduler->flush(); + return 0; +} + + +CL_API_ENTRY cl_int CL_API_CALL clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, + cl_kernel clKernel , + cl_uint work_dim , + const size_t * /* global_work_offset */, + const size_t * global_work_size , + const size_t * /* local_work_size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0 +{ + + + MiniCLKernel* kernel = (MiniCLKernel*) clKernel; + for (unsigned int ii=0;iim_scheduler->getMaxNumOutstandingTasks(); + int numWorkItems = global_work_size[ii]; + +// //at minimum 64 work items per task +// int numWorkItemsPerTask = btMax(64,numWorkItems / maxTask); + int numWorkItemsPerTask = numWorkItems / maxTask; + if (!numWorkItemsPerTask) numWorkItemsPerTask = 1; + + for (int t=0;tm_scheduler->issueTask(t, endIndex, kernel); + t = endIndex; + } + } +/* + + void* bla = 0; + + scheduler->issueTask(bla,2,3); + scheduler->flush(); + + */ + + return 0; +} + +#define LOCAL_BUF_SIZE 32768 +static int sLocalMemBuf[LOCAL_BUF_SIZE * 4 + 16]; +static int* spLocalBufCurr = NULL; +static int sLocalBufUsed = LOCAL_BUF_SIZE; // so it will be reset at the first call +static void* localBufMalloc(int size) +{ + int size16 = (size + 15) >> 4; // in 16-byte units + if((sLocalBufUsed + size16) > LOCAL_BUF_SIZE) + { // reset + spLocalBufCurr = sLocalMemBuf; + while((size_t)spLocalBufCurr & 0x0F) spLocalBufCurr++; // align to 16 bytes + sLocalBufUsed = 0; + } + void* ret = spLocalBufCurr; + spLocalBufCurr += size16 * 4; + sLocalBufUsed += size; + return ret; +} + + + +CL_API_ENTRY cl_int CL_API_CALL clSetKernelArg(cl_kernel clKernel , + cl_uint arg_index , + size_t arg_size , + const void * arg_value ) CL_API_SUFFIX__VERSION_1_0 +{ + MiniCLKernel* kernel = (MiniCLKernel* ) clKernel; + btAssert(arg_size <= MINICL_MAX_ARGLENGTH); + if (arg_index>MINI_CL_MAX_ARG) + { + printf("error: clSetKernelArg arg_index (%u) exceeds %u\n",arg_index,MINI_CL_MAX_ARG); + } else + { + if (arg_size>MINICL_MAX_ARGLENGTH) + //if (arg_size != MINICL_MAX_ARGLENGTH) + { + printf("error: clSetKernelArg argdata too large: %zu (maximum is %zu)\n",arg_size,MINICL_MAX_ARGLENGTH); + } + else + { + if(arg_value == NULL) + { // this is only for __local memory qualifier + void* ptr = localBufMalloc(arg_size); + kernel->m_argData[arg_index] = ptr; + } + else + { + memcpy(&(kernel->m_argData[arg_index]), arg_value, arg_size); + } + kernel->m_argSizes[arg_index] = arg_size; + if(arg_index >= kernel->m_numArgs) + { + kernel->m_numArgs = arg_index + 1; + kernel->updateLauncher(); + } + } + } + return 0; +} + +// Kernel Object APIs +CL_API_ENTRY cl_kernel CL_API_CALL clCreateKernel(cl_program program , + const char * kernel_name , + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) program; + int nameLen = strlen(kernel_name); + if(nameLen >= MINI_CL_MAX_KERNEL_NAME) + { + *errcode_ret = CL_INVALID_KERNEL_NAME; + return NULL; + } + + MiniCLKernel* kernel = new MiniCLKernel(); + + strcpy(kernel->m_name, kernel_name); + kernel->m_numArgs = 0; + + //kernel->m_kernelProgramCommandId = scheduler->findProgramCommandIdByName(kernel_name); + //if (kernel->m_kernelProgramCommandId>=0) + //{ + // *errcode_ret = CL_SUCCESS; + //} else + //{ + // *errcode_ret = CL_INVALID_KERNEL_NAME; + //} + kernel->m_scheduler = scheduler; + if(kernel->registerSelf() == NULL) + { + *errcode_ret = CL_INVALID_KERNEL_NAME; + delete kernel; + return NULL; + } + else + { + *errcode_ret = CL_SUCCESS; + } + + return (cl_kernel)kernel; + +} + + +CL_API_ENTRY cl_int CL_API_CALL clBuildProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + void (*pfn_notify)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_0 +{ + return CL_SUCCESS; +} + +CL_API_ENTRY cl_program CL_API_CALL clCreateProgramWithBinary(cl_context context , + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const size_t * /* lengths */, + const unsigned char ** /* binaries */, + cl_int * /* binary_status */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0 +{ + return (cl_program)context; +} + + +// Memory Object APIs +CL_API_ENTRY cl_mem CL_API_CALL clCreateBuffer(cl_context /* context */, + cl_mem_flags flags , + size_t size, + void * host_ptr , + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + cl_mem buf = (cl_mem)malloc(size); + if ((flags&CL_MEM_COPY_HOST_PTR) && host_ptr) + { + memcpy(buf,host_ptr,size); + } + *errcode_ret = 0; + return buf; +} + +// Command Queue APIs +CL_API_ENTRY cl_command_queue CL_API_CALL clCreateCommandQueue(cl_context context , + cl_device_id /* device */, + cl_command_queue_properties /* properties */, + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + *errcode_ret = 0; + return (cl_command_queue) context; +} + +extern CL_API_ENTRY cl_int CL_API_CALL clGetContextInfo(cl_context /* context */, + cl_context_info param_name , + size_t param_value_size , + void * param_value, + size_t * param_value_size_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + + switch (param_name) + { + case CL_CONTEXT_DEVICES: + { + if (!param_value_size) + { + *param_value_size_ret = 13; + } else + { + const char* testName = "MiniCL_Test."; + sprintf((char*)param_value,"%s",testName); + } + break; + }; + default: + { + printf("unsupported\n"); + } + } + + return 0; +} + + + +CL_API_ENTRY cl_context CL_API_CALL clCreateContextFromType(const cl_context_properties * /* properties */, + cl_device_type device_type , + void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */, + void * /* user_data */, + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + int maxNumOutstandingTasks = 4; +// int maxNumOutstandingTasks = 2; +// int maxNumOutstandingTasks = 1; + gMiniCLNumOutstandingTasks = maxNumOutstandingTasks; + const int maxNumOfThreadSupports = 8; + static int sUniqueThreadSupportIndex = 0; + static const char* sUniqueThreadSupportName[maxNumOfThreadSupports] = + { + "MiniCL_0", "MiniCL_1", "MiniCL_2", "MiniCL_3", "MiniCL_4", "MiniCL_5", "MiniCL_6", "MiniCL_7" + }; + + btThreadSupportInterface* threadSupport = 0; + + if (device_type==CL_DEVICE_TYPE_DEBUG) + { + SequentialThreadSupport::SequentialThreadConstructionInfo stc("MiniCL",processMiniCLTask,createMiniCLLocalStoreMemory); + threadSupport = new SequentialThreadSupport(stc); + } else + { + +#if _WIN32 + btAssert(sUniqueThreadSupportIndex < maxNumOfThreadSupports); + const char* bla = "MiniCL"; + threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo( +// bla, + sUniqueThreadSupportName[sUniqueThreadSupportIndex++], + processMiniCLTask, //processCollisionTask, + createMiniCLLocalStoreMemory,//createCollisionLocalStoreMemory, + maxNumOutstandingTasks)); +#else + +#ifdef USE_PTHREADS + PosixThreadSupport::ThreadConstructionInfo constructionInfo("PosixThreads", + processMiniCLTask, + createMiniCLLocalStoreMemory, + maxNumOutstandingTasks); + threadSupport = new PosixThreadSupport(constructionInfo); + +#else + ///todo: add posix thread support for other platforms + SequentialThreadSupport::SequentialThreadConstructionInfo stc("MiniCL",processMiniCLTask,createMiniCLLocalStoreMemory); + threadSupport = new SequentialThreadSupport(stc); +#endif //USE_PTHREADS +#endif + + } + + + MiniCLTaskScheduler* scheduler = new MiniCLTaskScheduler(threadSupport,maxNumOutstandingTasks); + + *errcode_ret = 0; + return (cl_context)scheduler; +} + +CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceIDs(cl_platform_id /* platform */, + cl_device_type /* device_type */, + cl_uint /* num_entries */, + cl_device_id * /* devices */, + cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + +CL_API_ENTRY cl_context CL_API_CALL +clCreateContext(const cl_context_properties * properties , + cl_uint num_devices , + const cl_device_id * devices , + void (*pfn_notify)(const char *, const void *, size_t, void *), + void * user_data , + cl_int * errcode_ret ) CL_API_SUFFIX__VERSION_1_0 +{ + + return clCreateContextFromType(properties,CL_DEVICE_TYPE_ALL,pfn_notify,user_data,errcode_ret); +} + +CL_API_ENTRY cl_int CL_API_CALL clReleaseContext(cl_context context ) CL_API_SUFFIX__VERSION_1_0 +{ + + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) context; + + btThreadSupportInterface* threadSupport = scheduler->getThreadSupportInterface(); + delete scheduler; + delete threadSupport; + + return 0; +} +extern CL_API_ENTRY cl_int CL_API_CALL +clFinish(cl_command_queue command_queue ) CL_API_SUFFIX__VERSION_1_0 +{ + MiniCLTaskScheduler* scheduler = (MiniCLTaskScheduler*) command_queue; + ///wait for all work items to be completed + scheduler->flush(); + return CL_SUCCESS; +} + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramInfo(cl_program /* program */, + cl_program_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0 +{ + return 0; +} + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelWorkGroupInfo(cl_kernel kernel , + cl_device_id /* device */, + cl_kernel_work_group_info wgi/* param_name */, + size_t sz /* param_value_size */, + void * ptr /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0 +{ + if((wgi == CL_KERNEL_WORK_GROUP_SIZE) + &&(sz == sizeof(size_t)) + &&(ptr != NULL)) + { + MiniCLKernel* miniCLKernel = (MiniCLKernel*)kernel; + MiniCLTaskScheduler* scheduler = miniCLKernel->m_scheduler; + *((size_t*)ptr) = scheduler->getMaxNumOutstandingTasks(); + return CL_SUCCESS; + } + else + { + return CL_INVALID_VALUE; + } +} diff --git a/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.cpp b/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.cpp new file mode 100644 index 00000000..a56e96a0 --- /dev/null +++ b/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.cpp @@ -0,0 +1,74 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + + +#include "MiniCLTask.h" +#include "BulletMultiThreaded/PlatformDefinitions.h" +#include "BulletMultiThreaded/SpuFakeDma.h" +#include "LinearMath/btMinMax.h" +#include "MiniCLTask.h" +#include "MiniCL/MiniCLTaskScheduler.h" + + +#ifdef __SPU__ +#include +#else +#include +#define spu_printf printf +#endif + +int gMiniCLNumOutstandingTasks = 0; + +struct MiniCLTask_LocalStoreMemory +{ + +}; + + +//-- MAIN METHOD +void processMiniCLTask(void* userPtr, void* lsMemory) +{ + // BT_PROFILE("processSampleTask"); + + MiniCLTask_LocalStoreMemory* localMemory = (MiniCLTask_LocalStoreMemory*)lsMemory; + + MiniCLTaskDesc* taskDescPtr = (MiniCLTaskDesc*)userPtr; + MiniCLTaskDesc& taskDesc = *taskDescPtr; + + for (unsigned int i=taskDesc.m_firstWorkUnit;im_launcher(&taskDesc, i); + } + +// printf("Compute Unit[%d] executed kernel %d work items [%d..%d)\n",taskDesc.m_taskId,taskDesc.m_kernelProgramId,taskDesc.m_firstWorkUnit,taskDesc.m_lastWorkUnit); + +} + + +#if defined(__CELLOS_LV2__) || defined (LIBSPE2) + +ATTRIBUTE_ALIGNED16(MiniCLTask_LocalStoreMemory gLocalStoreMemory); + +void* createMiniCLLocalStoreMemory() +{ + return &gLocalStoreMemory; +} +#else +void* createMiniCLLocalStoreMemory() +{ + return new MiniCLTask_LocalStoreMemory; +}; + +#endif diff --git a/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.h b/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.h new file mode 100644 index 00000000..7e78be08 --- /dev/null +++ b/Code/Physics/src/MiniCL/MiniCLTask/MiniCLTask.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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 MINICL__TASK_H +#define MINICL__TASK_H + +#include "BulletMultiThreaded/PlatformDefinitions.h" +#include "LinearMath/btScalar.h" + +#include "LinearMath/btAlignedAllocator.h" + + +#define MINICL_MAX_ARGLENGTH (sizeof(void*)) +#define MINI_CL_MAX_ARG 16 +#define MINI_CL_MAX_KERNEL_NAME 256 + +struct MiniCLKernel; + +ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc +{ + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MiniCLTaskDesc() + { + for (int i=0;i + +#ifdef __SPU__ + + + +void SampleThreadFunc(void* userPtr,void* lsMemory) +{ + //do nothing + printf("hello world\n"); +} + + +void* SamplelsMemoryFunc() +{ + //don't create local store memory, just return 0 + return 0; +} + + +#else + + +#include "BulletMultiThreaded/btThreadSupportInterface.h" + +//# include "SPUAssert.h" +#include + +#include "MiniCL/cl_platform.h" + +extern "C" { + extern char SPU_SAMPLE_ELF_SYMBOL[]; +} + + +MiniCLTaskScheduler::MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks) +:m_threadInterface(threadInterface), +m_maxNumOutstandingTasks(maxNumOutstandingTasks) +{ + + m_taskBusy.resize(m_maxNumOutstandingTasks); + m_spuSampleTaskDesc.resize(m_maxNumOutstandingTasks); + + m_kernels.resize(0); + + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + m_taskBusy[i] = false; + } + m_numBusyTasks = 0; + m_currentTask = 0; + + m_initialized = false; + + m_threadInterface->startSPU(); + + +} + +MiniCLTaskScheduler::~MiniCLTaskScheduler() +{ + m_threadInterface->stopSPU(); + +} + + + +void MiniCLTaskScheduler::initialize() +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("MiniCLTaskScheduler::initialize()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + m_taskBusy[i] = false; + } + m_numBusyTasks = 0; + m_currentTask = 0; + m_initialized = true; + +} + + +void MiniCLTaskScheduler::issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel) +{ + +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("MiniCLTaskScheduler::issueTask (m_currentTask= %d\)n", m_currentTask); +#endif //DEBUG_SPU_TASK_SCHEDULING + + m_taskBusy[m_currentTask] = true; + m_numBusyTasks++; + + MiniCLTaskDesc& taskDesc = m_spuSampleTaskDesc[m_currentTask]; + { + // send task description in event message + taskDesc.m_firstWorkUnit = firstWorkUnit; + taskDesc.m_lastWorkUnit = lastWorkUnit; + taskDesc.m_kernel = kernel; + //some bookkeeping to recognize finished tasks + taskDesc.m_taskId = m_currentTask; + +// for (int i=0;im_numArgs; i++) + { + taskDesc.m_argSizes[i] = kernel->m_argSizes[i]; + if (taskDesc.m_argSizes[i]) + { + taskDesc.m_argData[i] = kernel->m_argData[i]; +// memcpy(&taskDesc.m_argData[i],&argData[MINICL_MAX_ARGLENGTH*i],taskDesc.m_argSizes[i]); + } + } + } + + + m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc, m_currentTask); + + // if all tasks busy, wait for spu event to clear the task. + + if (m_numBusyTasks >= m_maxNumOutstandingTasks) + { + unsigned int taskId; + unsigned int outputSize; + + for (int i=0;iwaitForResponse(&taskId, &outputSize); + + //printf("PPU: after issue, received event: %u %d\n", taskId, outputSize); + + postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + + // find new task buffer + for (int i = 0; i < m_maxNumOutstandingTasks; i++) + { + if (!m_taskBusy[i]) + { + m_currentTask = i; + break; + } + } +} + + +///Optional PPU-size post processing for each task +void MiniCLTaskScheduler::postProcess(int taskId, int outputSize) +{ + +} + + +void MiniCLTaskScheduler::flush() +{ +#ifdef DEBUG_SPU_TASK_SCHEDULING + printf("\nSpuCollisionTaskProcess::flush()\n"); +#endif //DEBUG_SPU_TASK_SCHEDULING + + + // all tasks are issued, wait for all tasks to be complete + while(m_numBusyTasks > 0) + { +// Consolidating SPU code + unsigned int taskId; + unsigned int outputSize; + + for (int i=0;iwaitForResponse(&taskId, &outputSize); + } + + //printf("PPU: flushing, received event: %u %d\n", taskId, outputSize); + + postProcess(taskId, outputSize); + + m_taskBusy[taskId] = false; + + m_numBusyTasks--; + } + + +} + + + +typedef void (*MiniCLKernelLauncher0)(int); +typedef void (*MiniCLKernelLauncher1)(void*, int); +typedef void (*MiniCLKernelLauncher2)(void*, void*, int); +typedef void (*MiniCLKernelLauncher3)(void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher4)(void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher5)(void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher6)(void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher7)(void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher8)(void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher9)(void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher10)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher11)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher12)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher13)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher14)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher15)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); +typedef void (*MiniCLKernelLauncher16)(void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, void*, int); + + +static void kernelLauncher0(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher0)(taskDesc->m_kernel->m_launcher))(guid); +} +static void kernelLauncher1(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher1)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + guid); +} +static void kernelLauncher2(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher2)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + guid); +} +static void kernelLauncher3(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher3)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + guid); +} +static void kernelLauncher4(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher4)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + guid); +} +static void kernelLauncher5(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher5)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + guid); +} +static void kernelLauncher6(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher6)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + guid); +} +static void kernelLauncher7(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher7)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + guid); +} +static void kernelLauncher8(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher8)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + guid); +} +static void kernelLauncher9(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher9)(taskDesc->m_kernel->m_pCode))( taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + guid); +} +static void kernelLauncher10(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher10)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + guid); +} +static void kernelLauncher11(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher11)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + guid); +} +static void kernelLauncher12(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher12)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + taskDesc->m_argData[11], + guid); +} +static void kernelLauncher13(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher13)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + taskDesc->m_argData[11], + taskDesc->m_argData[12], + guid); +} +static void kernelLauncher14(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher14)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + taskDesc->m_argData[11], + taskDesc->m_argData[12], + taskDesc->m_argData[13], + guid); +} +static void kernelLauncher15(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher15)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + taskDesc->m_argData[11], + taskDesc->m_argData[12], + taskDesc->m_argData[13], + taskDesc->m_argData[14], + guid); +} +static void kernelLauncher16(MiniCLTaskDesc* taskDesc, int guid) +{ + ((MiniCLKernelLauncher16)(taskDesc->m_kernel->m_pCode))(taskDesc->m_argData[0], + taskDesc->m_argData[1], + taskDesc->m_argData[2], + taskDesc->m_argData[3], + taskDesc->m_argData[4], + taskDesc->m_argData[5], + taskDesc->m_argData[6], + taskDesc->m_argData[7], + taskDesc->m_argData[8], + taskDesc->m_argData[9], + taskDesc->m_argData[10], + taskDesc->m_argData[11], + taskDesc->m_argData[12], + taskDesc->m_argData[13], + taskDesc->m_argData[14], + taskDesc->m_argData[15], + guid); +} + +static kernelLauncherCB spLauncherList[MINI_CL_MAX_ARG+1] = +{ + kernelLauncher0, + kernelLauncher1, + kernelLauncher2, + kernelLauncher3, + kernelLauncher4, + kernelLauncher5, + kernelLauncher6, + kernelLauncher7, + kernelLauncher8, + kernelLauncher9, + kernelLauncher10, + kernelLauncher11, + kernelLauncher12, + kernelLauncher13, + kernelLauncher14, + kernelLauncher15, + kernelLauncher16 +}; + +void MiniCLKernel::updateLauncher() +{ + m_launcher = spLauncherList[m_numArgs]; +} + +struct MiniCLKernelDescEntry +{ + void* pCode; + const char* pName; +}; +static MiniCLKernelDescEntry spKernelDesc[256]; +static int sNumKernelDesc = 0; + +MiniCLKernelDesc::MiniCLKernelDesc(void* pCode, const char* pName) +{ + for(int i = 0; i < sNumKernelDesc; i++) + { + if(!strcmp(pName, spKernelDesc[i].pName)) + { // already registered + btAssert(spKernelDesc[i].pCode == pCode); + return; + } + } + spKernelDesc[sNumKernelDesc].pCode = pCode; + spKernelDesc[sNumKernelDesc].pName = pName; + sNumKernelDesc++; +} + + +MiniCLKernel* MiniCLKernel::registerSelf() +{ + m_scheduler->registerKernel(this); + for(int i = 0; i < sNumKernelDesc; i++) + { + if(!strcmp(m_name, spKernelDesc[i].pName)) + { + m_pCode = spKernelDesc[i].pCode; + return this; + } + } + return NULL; +} + +#endif + + +#endif //USE_SAMPLE_PROCESS diff --git a/Code/Physics/src/MiniCL/MiniCLTaskScheduler.h b/Code/Physics/src/MiniCL/MiniCLTaskScheduler.h new file mode 100644 index 00000000..3061a713 --- /dev/null +++ b/Code/Physics/src/MiniCL/MiniCLTaskScheduler.h @@ -0,0 +1,194 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com + +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 MINICL_TASK_SCHEDULER_H +#define MINICL_TASK_SCHEDULER_H + +#include + + +#include "BulletMultiThreaded/PlatformDefinitions.h" + +#include + +#include "LinearMath/btAlignedObjectArray.h" + + +#include "MiniCLTask/MiniCLTask.h" + +//just add your commands here, try to keep them globally unique for debugging purposes +#define CMD_SAMPLE_TASK_COMMAND 10 + +struct MiniCLKernel; + +/// MiniCLTaskScheduler handles SPU processing of collision pairs. +/// When PPU issues a task, it will look for completed task buffers +/// PPU will do postprocessing, dependent on workunit output (not likely) +class MiniCLTaskScheduler +{ + // track task buffers that are being used, and total busy tasks + btAlignedObjectArray m_taskBusy; + btAlignedObjectArray m_spuSampleTaskDesc; + + + btAlignedObjectArray m_kernels; + + + int m_numBusyTasks; + + // the current task and the current entry to insert a new work unit + int m_currentTask; + + bool m_initialized; + + void postProcess(int taskId, int outputSize); + + class btThreadSupportInterface* m_threadInterface; + + int m_maxNumOutstandingTasks; + + + +public: + MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks); + + ~MiniCLTaskScheduler(); + + ///call initialize in the beginning of the frame, before addCollisionPairToTask + void initialize(); + + void issueTask(int firstWorkUnit, int lastWorkUnit, MiniCLKernel* kernel); + + ///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished + void flush(); + + class btThreadSupportInterface* getThreadSupportInterface() + { + return m_threadInterface; + } + + int findProgramCommandIdByName(const char* programName) const; + + int getMaxNumOutstandingTasks() const + { + return m_maxNumOutstandingTasks; + } + + void registerKernel(MiniCLKernel* kernel) + { + m_kernels.push_back(kernel); + } +}; + +typedef void (*kernelLauncherCB)(MiniCLTaskDesc* taskDesc, int guid); + +struct MiniCLKernel +{ + MiniCLTaskScheduler* m_scheduler; + +// int m_kernelProgramCommandId; + + char m_name[MINI_CL_MAX_KERNEL_NAME]; + unsigned int m_numArgs; + kernelLauncherCB m_launcher; + void* m_pCode; + void updateLauncher(); + MiniCLKernel* registerSelf(); + + void* m_argData[MINI_CL_MAX_ARG]; + int m_argSizes[MINI_CL_MAX_ARG]; +}; + + +#if defined(USE_LIBSPE2) && defined(__SPU__) +////////////////////MAIN///////////////////////////// +#include "../SpuLibspe2Support.h" +#include +#include +#include + +void * SamplelsMemoryFunc(); +void SampleThreadFunc(void* userPtr,void* lsMemory); + +//#define DEBUG_LIBSPE2_MAINLOOP + +int main(unsigned long long speid, addr64 argp, addr64 envp) +{ + printf("SPU is up \n"); + + ATTRIBUTE_ALIGNED128(btSpuStatus status); + ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ; + unsigned int received_message = Spu_Mailbox_Event_Nothing; + bool shutdown = false; + + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + status.m_status = Spu_Status_Free; + status.m_lsMemory.p = SamplelsMemoryFunc(); + + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + while (!shutdown) + { + received_message = spu_read_in_mbox(); + + + + switch(received_message) + { + case Spu_Mailbox_Event_Shutdown: + shutdown = true; + break; + case Spu_Mailbox_Event_Task: + // refresh the status +#ifdef DEBUG_LIBSPE2_MAINLOOP + printf("SPU recieved Task \n"); +#endif //DEBUG_LIBSPE2_MAINLOOP + cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + btAssert(status.m_status==Spu_Status_Occupied); + + cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + SampleThreadFunc((void*)&taskDesc, reinterpret_cast (taskDesc.m_mainMemoryPtr) ); + break; + case Spu_Mailbox_Event_Nothing: + default: + break; + } + + // set to status free and wait for next task + status.m_status = Spu_Status_Free; + cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0); + cellDmaWaitTagStatusAll(DMA_MASK(3)); + + + } + return 0; +} +////////////////////////////////////////////////////// +#endif + + + +#endif // MINICL_TASK_SCHEDULER_H + diff --git a/Code/Physics/src/MiniCL/cl.h b/Code/Physics/src/MiniCL/cl.h new file mode 100644 index 00000000..35282988 --- /dev/null +++ b/Code/Physics/src/MiniCL/cl.h @@ -0,0 +1,867 @@ +/******************************************************************************* + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_H +#define __OPENCL_CL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ + +typedef struct _cl_platform_id * cl_platform_id; +typedef struct _cl_device_id * cl_device_id; +typedef struct _cl_context * cl_context; +typedef struct _cl_command_queue * cl_command_queue; +typedef struct _cl_mem * cl_mem; +typedef struct _cl_program * cl_program; +typedef struct _cl_kernel * cl_kernel; +typedef struct _cl_event * cl_event; +typedef struct _cl_sampler * cl_sampler; + +typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ +typedef cl_ulong cl_bitfield; +typedef cl_bitfield cl_device_type; +typedef cl_uint cl_platform_info; +typedef cl_uint cl_device_info; +typedef cl_bitfield cl_device_address_info; +typedef cl_bitfield cl_device_fp_config; +typedef cl_uint cl_device_mem_cache_type; +typedef cl_uint cl_device_local_mem_type; +typedef cl_bitfield cl_device_exec_capabilities; +typedef cl_bitfield cl_command_queue_properties; + +typedef intptr_t cl_context_properties; +typedef cl_uint cl_context_info; +typedef cl_uint cl_command_queue_info; +typedef cl_uint cl_channel_order; +typedef cl_uint cl_channel_type; +typedef cl_bitfield cl_mem_flags; +typedef cl_uint cl_mem_object_type; +typedef cl_uint cl_mem_info; +typedef cl_uint cl_image_info; +typedef cl_uint cl_addressing_mode; +typedef cl_uint cl_filter_mode; +typedef cl_uint cl_sampler_info; +typedef cl_bitfield cl_map_flags; +typedef cl_uint cl_program_info; +typedef cl_uint cl_program_build_info; +typedef cl_int cl_build_status; +typedef cl_uint cl_kernel_info; +typedef cl_uint cl_kernel_work_group_info; +typedef cl_uint cl_event_info; +typedef cl_uint cl_command_type; +typedef cl_uint cl_profiling_info; + +typedef struct _cl_image_format { + cl_channel_order image_channel_order; + cl_channel_type image_channel_data_type; +} cl_image_format; + +/******************************************************************************/ + +// Error Codes +#define CL_SUCCESS 0 +#define CL_DEVICE_NOT_FOUND -1 +#define CL_DEVICE_NOT_AVAILABLE -2 +#define CL_DEVICE_COMPILER_NOT_AVAILABLE -3 +#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 +#define CL_OUT_OF_RESOURCES -5 +#define CL_OUT_OF_HOST_MEMORY -6 +#define CL_PROFILING_INFO_NOT_AVAILABLE -7 +#define CL_MEM_COPY_OVERLAP -8 +#define CL_IMAGE_FORMAT_MISMATCH -9 +#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 +#define CL_BUILD_PROGRAM_FAILURE -11 +#define CL_MAP_FAILURE -12 + +#define CL_INVALID_VALUE -30 +#define CL_INVALID_DEVICE_TYPE -31 +#define CL_INVALID_PLATFORM -32 +#define CL_INVALID_DEVICE -33 +#define CL_INVALID_CONTEXT -34 +#define CL_INVALID_QUEUE_PROPERTIES -35 +#define CL_INVALID_COMMAND_QUEUE -36 +#define CL_INVALID_HOST_PTR -37 +#define CL_INVALID_MEM_OBJECT -38 +#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 +#define CL_INVALID_IMAGE_SIZE -40 +#define CL_INVALID_SAMPLER -41 +#define CL_INVALID_BINARY -42 +#define CL_INVALID_BUILD_OPTIONS -43 +#define CL_INVALID_PROGRAM -44 +#define CL_INVALID_PROGRAM_EXECUTABLE -45 +#define CL_INVALID_KERNEL_NAME -46 +#define CL_INVALID_KERNEL_DEFINITION -47 +#define CL_INVALID_KERNEL -48 +#define CL_INVALID_ARG_INDEX -49 +#define CL_INVALID_ARG_VALUE -50 +#define CL_INVALID_ARG_SIZE -51 +#define CL_INVALID_KERNEL_ARGS -52 +#define CL_INVALID_WORK_DIMENSION -53 +#define CL_INVALID_WORK_GROUP_SIZE -54 +#define CL_INVALID_WORK_ITEM_SIZE -55 +#define CL_INVALID_GLOBAL_OFFSET -56 +#define CL_INVALID_EVENT_WAIT_LIST -57 +#define CL_INVALID_EVENT -58 +#define CL_INVALID_OPERATION -59 +#define CL_INVALID_GL_OBJECT -60 +#define CL_INVALID_BUFFER_SIZE -61 +#define CL_INVALID_MIP_LEVEL -62 + +// OpenCL Version +#define CL_VERSION_1_0 1 + +// cl_bool +#define CL_FALSE 0 +#define CL_TRUE 1 + +// cl_platform_info +#define CL_PLATFORM_PROFILE 0x0900 +#define CL_PLATFORM_VERSION 0x0901 +#define CL_PLATFORM_NAME 0x0902 +#define CL_PLATFORM_VENDOR 0x0903 +#define CL_PLATFORM_EXTENSIONS 0x0904 + +// cl_device_type - bitfield +#define CL_DEVICE_TYPE_DEFAULT (1 << 0) +#define CL_DEVICE_TYPE_CPU (1 << 1) +#define CL_DEVICE_TYPE_GPU (1 << 2) +#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) +#define CL_DEVICE_TYPE_DEBUG (1 << 4) +#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF + + +// cl_device_info +#define CL_DEVICE_TYPE 0x1000 +#define CL_DEVICE_VENDOR_ID 0x1001 +#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 +#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 +#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 +#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B +#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C +#define CL_DEVICE_ADDRESS_BITS 0x100D +#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E +#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F +#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 +#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 +#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 +#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 +#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 +#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 +#define CL_DEVICE_IMAGE_SUPPORT 0x1016 +#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 +#define CL_DEVICE_MAX_SAMPLERS 0x1018 +#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 +#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A +#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B +#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C +#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D +#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E +#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F +#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 +#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 +#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 +#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 +#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 +#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 +#define CL_DEVICE_ENDIAN_LITTLE 0x1026 +#define CL_DEVICE_AVAILABLE 0x1027 +#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 +#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 +#define CL_DEVICE_QUEUE_PROPERTIES 0x102A +#define CL_DEVICE_NAME 0x102B +#define CL_DEVICE_VENDOR 0x102C +#define CL_DRIVER_VERSION 0x102D +#define CL_DEVICE_PROFILE 0x102E +#define CL_DEVICE_VERSION 0x102F +#define CL_DEVICE_EXTENSIONS 0x1030 +#define CL_DEVICE_PLATFORM 0x1031 + +// cl_device_address_info - bitfield +#define CL_DEVICE_ADDRESS_32_BITS (1 << 0) +#define CL_DEVICE_ADDRESS_64_BITS (1 << 1) + +// cl_device_fp_config - bitfield +#define CL_FP_DENORM (1 << 0) +#define CL_FP_INF_NAN (1 << 1) +#define CL_FP_ROUND_TO_NEAREST (1 << 2) +#define CL_FP_ROUND_TO_ZERO (1 << 3) +#define CL_FP_ROUND_TO_INF (1 << 4) +#define CL_FP_FMA (1 << 5) + +// cl_device_mem_cache_type +#define CL_NONE 0x0 +#define CL_READ_ONLY_CACHE 0x1 +#define CL_READ_WRITE_CACHE 0x2 + +// cl_device_local_mem_type +#define CL_LOCAL 0x1 +#define CL_GLOBAL 0x2 + +// cl_device_exec_capabilities - bitfield +#define CL_EXEC_KERNEL (1 << 0) +#define CL_EXEC_NATIVE_KERNEL (1 << 1) + +// cl_command_queue_properties - bitfield +#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) +#define CL_QUEUE_PROFILING_ENABLE (1 << 1) + +// cl_context_info +#define CL_CONTEXT_REFERENCE_COUNT 0x1080 +#define CL_CONTEXT_NUM_DEVICES 0x1081 +#define CL_CONTEXT_DEVICES 0x1082 +#define CL_CONTEXT_PROPERTIES 0x1083 +#define CL_CONTEXT_PLATFORM 0x1084 + +// cl_command_queue_info +#define CL_QUEUE_CONTEXT 0x1090 +#define CL_QUEUE_DEVICE 0x1091 +#define CL_QUEUE_REFERENCE_COUNT 0x1092 +#define CL_QUEUE_PROPERTIES 0x1093 + +// cl_mem_flags - bitfield +#define CL_MEM_READ_WRITE (1 << 0) +#define CL_MEM_WRITE_ONLY (1 << 1) +#define CL_MEM_READ_ONLY (1 << 2) +#define CL_MEM_USE_HOST_PTR (1 << 3) +#define CL_MEM_ALLOC_HOST_PTR (1 << 4) +#define CL_MEM_COPY_HOST_PTR (1 << 5) + +// cl_channel_order +#define CL_R 0x10B0 +#define CL_A 0x10B1 +#define CL_RG 0x10B2 +#define CL_RA 0x10B3 +#define CL_RGB 0x10B4 +#define CL_RGBA 0x10B5 +#define CL_BGRA 0x10B6 +#define CL_ARGB 0x10B7 +#define CL_INTENSITY 0x10B8 +#define CL_LUMINANCE 0x10B9 + +// cl_channel_type +#define CL_SNORM_INT8 0x10D0 +#define CL_SNORM_INT16 0x10D1 +#define CL_UNORM_INT8 0x10D2 +#define CL_UNORM_INT16 0x10D3 +#define CL_UNORM_SHORT_565 0x10D4 +#define CL_UNORM_SHORT_555 0x10D5 +#define CL_UNORM_INT_101010 0x10D6 +#define CL_SIGNED_INT8 0x10D7 +#define CL_SIGNED_INT16 0x10D8 +#define CL_SIGNED_INT32 0x10D9 +#define CL_UNSIGNED_INT8 0x10DA +#define CL_UNSIGNED_INT16 0x10DB +#define CL_UNSIGNED_INT32 0x10DC +#define CL_HALF_FLOAT 0x10DD +#define CL_FLOAT 0x10DE + +// cl_mem_object_type +#define CL_MEM_OBJECT_BUFFER 0x10F0 +#define CL_MEM_OBJECT_IMAGE2D 0x10F1 +#define CL_MEM_OBJECT_IMAGE3D 0x10F2 + +// cl_mem_info +#define CL_MEM_TYPE 0x1100 +#define CL_MEM_FLAGS 0x1101 +#define CL_MEM_SIZE 0x1102 +#define CL_MEM_HOST_PTR 0x1103 +#define CL_MEM_MAP_COUNT 0x1104 +#define CL_MEM_REFERENCE_COUNT 0x1105 +#define CL_MEM_CONTEXT 0x1106 + +// cl_image_info +#define CL_IMAGE_FORMAT 0x1110 +#define CL_IMAGE_ELEMENT_SIZE 0x1111 +#define CL_IMAGE_ROW_PITCH 0x1112 +#define CL_IMAGE_SLICE_PITCH 0x1113 +#define CL_IMAGE_WIDTH 0x1114 +#define CL_IMAGE_HEIGHT 0x1115 +#define CL_IMAGE_DEPTH 0x1116 + +// cl_addressing_mode +#define CL_ADDRESS_NONE 0x1130 +#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 +#define CL_ADDRESS_CLAMP 0x1132 +#define CL_ADDRESS_REPEAT 0x1133 + +// cl_filter_mode +#define CL_FILTER_NEAREST 0x1140 +#define CL_FILTER_LINEAR 0x1141 + +// cl_sampler_info +#define CL_SAMPLER_REFERENCE_COUNT 0x1150 +#define CL_SAMPLER_CONTEXT 0x1151 +#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 +#define CL_SAMPLER_ADDRESSING_MODE 0x1153 +#define CL_SAMPLER_FILTER_MODE 0x1154 + +// cl_map_flags - bitfield +#define CL_MAP_READ (1 << 0) +#define CL_MAP_WRITE (1 << 1) + +// cl_program_info +#define CL_PROGRAM_REFERENCE_COUNT 0x1160 +#define CL_PROGRAM_CONTEXT 0x1161 +#define CL_PROGRAM_NUM_DEVICES 0x1162 +#define CL_PROGRAM_DEVICES 0x1163 +#define CL_PROGRAM_SOURCE 0x1164 +#define CL_PROGRAM_BINARY_SIZES 0x1165 +#define CL_PROGRAM_BINARIES 0x1166 + +// cl_program_build_info +#define CL_PROGRAM_BUILD_STATUS 0x1181 +#define CL_PROGRAM_BUILD_OPTIONS 0x1182 +#define CL_PROGRAM_BUILD_LOG 0x1183 + +// cl_build_status +#define CL_BUILD_SUCCESS 0 +#define CL_BUILD_NONE -1 +#define CL_BUILD_ERROR -2 +#define CL_BUILD_IN_PROGRESS -3 + +// cl_kernel_info +#define CL_KERNEL_FUNCTION_NAME 0x1190 +#define CL_KERNEL_NUM_ARGS 0x1191 +#define CL_KERNEL_REFERENCE_COUNT 0x1192 +#define CL_KERNEL_CONTEXT 0x1193 +#define CL_KERNEL_PROGRAM 0x1194 + +// cl_kernel_work_group_info +#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 +#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 +#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 + +// cl_event_info +#define CL_EVENT_COMMAND_QUEUE 0x11D0 +#define CL_EVENT_COMMAND_TYPE 0x11D1 +#define CL_EVENT_REFERENCE_COUNT 0x11D2 +#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 + +// cl_command_type +#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 +#define CL_COMMAND_TASK 0x11F1 +#define CL_COMMAND_NATIVE_KERNEL 0x11F2 +#define CL_COMMAND_READ_BUFFER 0x11F3 +#define CL_COMMAND_WRITE_BUFFER 0x11F4 +#define CL_COMMAND_COPY_BUFFER 0x11F5 +#define CL_COMMAND_READ_IMAGE 0x11F6 +#define CL_COMMAND_WRITE_IMAGE 0x11F7 +#define CL_COMMAND_COPY_IMAGE 0x11F8 +#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 +#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA +#define CL_COMMAND_MAP_BUFFER 0x11FB +#define CL_COMMAND_MAP_IMAGE 0x11FC +#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD +#define CL_COMMAND_MARKER 0x11FE +#define CL_COMMAND_WAIT_FOR_EVENTS 0x11FF +#define CL_COMMAND_BARRIER 0x1200 +#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x1201 +#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1202 + +// command execution status +#define CL_COMPLETE 0x0 +#define CL_RUNNING 0x1 +#define CL_SUBMITTED 0x2 +#define CL_QUEUED 0x3 + +// cl_profiling_info +#define CL_PROFILING_COMMAND_QUEUED 0x1280 +#define CL_PROFILING_COMMAND_SUBMIT 0x1281 +#define CL_PROFILING_COMMAND_START 0x1282 +#define CL_PROFILING_COMMAND_END 0x1283 + +/********************************************************************************************************/ + +// Platform API +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformIDs(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformInfo(cl_platform_id /* platform */, + cl_platform_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Device APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceIDs(cl_platform_id /* platform */, + cl_device_type /* device_type */, + cl_uint /* num_entries */, + cl_device_id * /* devices */, + cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceInfo(cl_device_id /* device */, + cl_device_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Context APIs +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContext(const cl_context_properties * /* properties */, + cl_uint /* num_devices */, + const cl_device_id * /* devices */, + void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */, + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContextFromType(const cl_context_properties * /* properties */, + cl_device_type /* device_type */, + void (*pfn_notify)(const char *, const void *, size_t, void *) /* pfn_notify */, + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetContextInfo(cl_context /* context */, + cl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Command Queue APIs +extern CL_API_ENTRY cl_command_queue CL_API_CALL +clCreateCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue_properties /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetCommandQueueInfo(cl_command_queue /* command_queue */, + cl_command_queue_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetCommandQueueProperty(cl_command_queue /* command_queue */, + cl_command_queue_properties /* properties */, + cl_bool /* enable */, + cl_command_queue_properties * /* old_properties */) CL_API_SUFFIX__VERSION_1_0; + +// Memory Object APIs +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + size_t /* size */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage2D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_row_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage3D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_depth */, + size_t /* image_row_pitch */, + size_t /* image_slice_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSupportedImageFormats(cl_context /* context */, + cl_mem_flags /* flags */, + cl_mem_object_type /* image_type */, + cl_uint /* num_entries */, + cl_image_format * /* image_formats */, + cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetMemObjectInfo(cl_mem /* memobj */, + cl_mem_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetImageInfo(cl_mem /* image */, + cl_image_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Sampler APIs +extern CL_API_ENTRY cl_sampler CL_API_CALL +clCreateSampler(cl_context /* context */, + cl_bool /* normalized_coords */, + cl_addressing_mode /* addressing_mode */, + cl_filter_mode /* filter_mode */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSamplerInfo(cl_sampler /* sampler */, + cl_sampler_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Program Object APIs +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithSource(cl_context /* context */, + cl_uint /* count */, + const char ** /* strings */, + const size_t * /* lengths */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBinary(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const size_t * /* lengths */, + const unsigned char ** /* binaries */, + cl_int * /* binary_status */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clBuildProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + void (*pfn_notify)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clUnloadCompiler(void) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramInfo(cl_program /* program */, + cl_program_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramBuildInfo(cl_program /* program */, + cl_device_id /* device */, + cl_program_build_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Kernel Object APIs +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCreateKernel(cl_program /* program */, + const char * /* kernel_name */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateKernelsInProgram(cl_program /* program */, + cl_uint /* num_kernels */, + cl_kernel * /* kernels */, + cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArg(cl_kernel /* kernel */, + cl_uint /* arg_index */, + size_t /* arg_size */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelInfo(cl_kernel /* kernel */, + cl_kernel_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelWorkGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_work_group_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Event Object APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clWaitForEvents(cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventInfo(cl_event /* event */, + cl_event_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +// Profiling APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventProfilingInfo(cl_event /* event */, + cl_profiling_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +// Flush and Finish APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +// Enqueued Commands APIs +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + size_t /* offset */, + size_t /* cb */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + size_t /* offset */, + size_t /* cb */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + size_t /* src_offset */, + size_t /* dst_offset */, + size_t /* cb */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_read */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* row_pitch */, + size_t /* slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_write */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* input_row_pitch */, + size_t /* input_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImage(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_image */, + const size_t * /* src_origin[3] */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin[3] */, + const size_t * /* region[3] */, + size_t /* dst_offset */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_image */, + size_t /* src_offset */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + size_t /* offset */, + size_t /* cb */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t * /* image_row_pitch */, + size_t * /* image_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, + cl_mem /* memobj */, + void * /* mapped_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* work_dim */, + const size_t * /* global_work_offset */, + const size_t * /* global_work_size */, + const size_t * /* local_work_size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueTask(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNativeKernel(cl_command_queue /* command_queue */, + void (*user_func)(void *), + void * /* args */, + size_t /* cb_args */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_list */, + const void ** /* args_mem_loc */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMarker(cl_command_queue /* command_queue */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWaitForEvents(cl_command_queue /* command_queue */, + cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueBarrier(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif // __OPENCL_CL_H + diff --git a/Code/Physics/src/MiniCL/cl_MiniCL_Defs.h b/Code/Physics/src/MiniCL/cl_MiniCL_Defs.h new file mode 100644 index 00000000..0773c857 --- /dev/null +++ b/Code/Physics/src/MiniCL/cl_MiniCL_Defs.h @@ -0,0 +1,439 @@ +/* +Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans + +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. + +*/ + +#include +#include +#include "LinearMath/btScalar.h" + +#include "MiniCL/cl.h" + + +#define __kernel +#define __global +#define __local +#define get_global_id(a) __guid_arg +#define get_local_id(a) ((__guid_arg) % gMiniCLNumOutstandingTasks) +#define get_local_size(a) (gMiniCLNumOutstandingTasks) +#define get_group_id(a) ((__guid_arg) / gMiniCLNumOutstandingTasks) + +//static unsigned int as_uint(float val) { return *((unsigned int*)&val); } + + +#define CLK_LOCAL_MEM_FENCE 0x01 +#define CLK_GLOBAL_MEM_FENCE 0x02 + +static void barrier(unsigned int a) +{ + // TODO : implement +} + +//ATTRIBUTE_ALIGNED16(struct) float8 +struct float8 +{ + float s0; + float s1; + float s2; + float s3; + float s4; + float s5; + float s6; + float s7; + + float8(float scalar) + { + s0=s1=s2=s3=s4=s5=s6=s7=scalar; + } +}; + + +float select( float arg0, float arg1, bool select) +{ + if (select) + return arg0; + return arg1; +} + +#define __constant + + +struct float3 +{ + float x,y,z; + + float3& operator+=(const float3& other) + { + x += other.x; + y += other.y; + z += other.z; + return *this; + } + + float3& operator-=(const float3& other) + { + x -= other.x; + y -= other.y; + z -= other.z; + return *this; + } + +}; + +static float dot(const float3&a ,const float3& b) +{ + float3 tmp; + tmp.x = a.x*b.x; + tmp.y = a.y*b.y; + tmp.z = a.z*b.z; + return tmp.x+tmp.y+tmp.z; +} + +static float3 operator-(const float3& a,const float3& b) +{ + float3 tmp; + tmp.x = a.x - b.x; + tmp.y = a.y - b.y; + tmp.z = a.z - b.z; + return tmp; +} + +static float3 operator*(const float& scalar,const float3& b) +{ + float3 tmp; + tmp.x = scalar * b.x; + tmp.y = scalar * b.y; + tmp.z = scalar * b.z; + return tmp; +} + +static float3 operator*(const float3& a,const float& scalar) +{ + float3 tmp; + tmp.x = a.x * scalar; + tmp.y = a.y * scalar; + tmp.z = a.z * scalar; + return tmp; +} + + +static float3 operator*(const float3& a,const float3& b) +{ + float3 tmp; + tmp.x = a.x * b.x; + tmp.y = a.y * b.y; + tmp.z = a.z * b.z; + return tmp; +} + + +//ATTRIBUTE_ALIGNED16(struct) float4 +struct float4 +{ + union + { + struct { + float x; + float y; + float z; + }; + float3 xyz; + }; + float w; + + float4() {} + + float4(float v0, float v1, float v2, float v3) + { + x=v0; + y=v1; + z=v2; + w=v3; + + } + float4(float3 xyz, float scalarW) + { + x = xyz.x; + y = xyz.y; + z = xyz.z; + w = scalarW; + } + + float4(float v) + { + x = y = z = w = v; + } + float4 operator*(const float4& other) + { + float4 tmp; + tmp.x = x*other.x; + tmp.y = y*other.y; + tmp.z = z*other.z; + tmp.w = w*other.w; + return tmp; + } + + + + float4 operator*(const float& other) + { + float4 tmp; + tmp.x = x*other; + tmp.y = y*other; + tmp.z = z*other; + tmp.w = w*other; + return tmp; + } + + + + float4& operator+=(const float4& other) + { + x += other.x; + y += other.y; + z += other.z; + w += other.w; + return *this; + } + + float4& operator-=(const float4& other) + { + x -= other.x; + y -= other.y; + z -= other.z; + w -= other.w; + return *this; + } + + float4& operator *=(float scalar) + { + x *= scalar; + y *= scalar; + z *= scalar; + w *= scalar; + return (*this); + } + + + + + +}; + +static float4 fabs(const float4& a) +{ + float4 tmp; + tmp.x = a.x < 0.f ? 0.f : a.x; + tmp.y = a.y < 0.f ? 0.f : a.y; + tmp.z = a.z < 0.f ? 0.f : a.z; + tmp.w = a.w < 0.f ? 0.f : a.w; + return tmp; +} +static float4 operator+(const float4& a,const float4& b) +{ + float4 tmp; + tmp.x = a.x + b.x; + tmp.y = a.y + b.y; + tmp.z = a.z + b.z; + tmp.w = a.w + b.w; + return tmp; +} + + +static float8 operator+(const float8& a,const float8& b) +{ + float8 tmp(0); + tmp.s0 = a.s0 + b.s0; + tmp.s1 = a.s1 + b.s1; + tmp.s2 = a.s2 + b.s2; + tmp.s3 = a.s3 + b.s3; + tmp.s4 = a.s4 + b.s4; + tmp.s5 = a.s5 + b.s5; + tmp.s6 = a.s6 + b.s6; + tmp.s7 = a.s7 + b.s7; + return tmp; +} + + +static float4 operator-(const float4& a,const float4& b) +{ + float4 tmp; + tmp.x = a.x - b.x; + tmp.y = a.y - b.y; + tmp.z = a.z - b.z; + tmp.w = a.w - b.w; + return tmp; +} + +static float8 operator-(const float8& a,const float8& b) +{ + float8 tmp(0); + tmp.s0 = a.s0 - b.s0; + tmp.s1 = a.s1 - b.s1; + tmp.s2 = a.s2 - b.s2; + tmp.s3 = a.s3 - b.s3; + tmp.s4 = a.s4 - b.s4; + tmp.s5 = a.s5 - b.s5; + tmp.s6 = a.s6 - b.s6; + tmp.s7 = a.s7 - b.s7; + return tmp; +} + +static float4 operator*(float a,const float4& b) +{ + float4 tmp; + tmp.x = a * b.x; + tmp.y = a * b.y; + tmp.z = a * b.z; + tmp.w = a * b.w; + return tmp; +} + +static float4 operator/(const float4& b,float a) +{ + float4 tmp; + tmp.x = b.x/a; + tmp.y = b.y/a; + tmp.z = b.z/a; + tmp.w = b.w/a; + return tmp; +} + + + + + +static float dot(const float4&a ,const float4& b) +{ + float4 tmp; + tmp.x = a.x*b.x; + tmp.y = a.y*b.y; + tmp.z = a.z*b.z; + tmp.w = a.w*b.w; + return tmp.x+tmp.y+tmp.z+tmp.w; +} + +static float length(const float4&a) +{ + float l = sqrtf(a.x*a.x+a.y*a.y+a.z*a.z); + return l; +} + +static float4 normalize(const float4&a) +{ + float4 tmp; + float l = length(a); + tmp = 1.f/l*a; + return tmp; +} + + + +static float4 cross(const float4&a ,const float4& b) +{ + float4 tmp; + tmp.x = a.y*b.z - a.z*b.y; + tmp.y = -a.x*b.z + a.z*b.x; + tmp.z = a.x*b.y - a.y*b.x; + tmp.w = 0.f; + return tmp; +} + +static float max(float a, float b) +{ + return (a >= b) ? a : b; +} + + +static float min(float a, float b) +{ + return (a <= b) ? a : b; +} + +static float fmax(float a, float b) +{ + return (a >= b) ? a : b; +} + +static float fmin(float a, float b) +{ + return (a <= b) ? a : b; +} + +struct int2 +{ + int x,y; +}; + +struct uint2 +{ + unsigned int x,y; +}; + +//typedef int2 uint2; + +typedef unsigned int uint; + +struct int4 +{ + int x,y,z,w; +}; + +struct uint4 +{ + unsigned int x,y,z,w; + uint4() {} + uint4(uint val) { x = y = z = w = val; } + uint4& operator+=(const uint4& other) + { + x += other.x; + y += other.y; + z += other.z; + w += other.w; + return *this; + } +}; +static uint4 operator+(const uint4& a,const uint4& b) +{ + uint4 tmp; + tmp.x = a.x + b.x; + tmp.y = a.y + b.y; + tmp.z = a.z + b.z; + tmp.w = a.w + b.w; + return tmp; +} +static uint4 operator-(const uint4& a,const uint4& b) +{ + uint4 tmp; + tmp.x = a.x - b.x; + tmp.y = a.y - b.y; + tmp.z = a.z - b.z; + tmp.w = a.w - b.w; + return tmp; +} + +#define native_sqrt sqrtf +#define native_sin sinf +#define native_cos cosf +#define native_powr powf + +#define GUID_ARG ,int __guid_arg +#define GUID_ARG_VAL ,__guid_arg + + +#define as_int(a) (*((int*)&(a))) + +extern "C" int gMiniCLNumOutstandingTasks; +// extern "C" void __kernel_func(); + + diff --git a/Code/Physics/src/MiniCL/cl_gl.h b/Code/Physics/src/MiniCL/cl_gl.h new file mode 100644 index 00000000..0a69d6ec --- /dev/null +++ b/Code/Physics/src/MiniCL/cl_gl.h @@ -0,0 +1,113 @@ +/********************************************************************************** + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __OPENCL_CL_GL_H +#define __OPENCL_CL_GL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +// NOTE: Make sure that appropriate GL header file is included separately + +typedef cl_uint cl_gl_object_type; +typedef cl_uint cl_gl_texture_info; +typedef cl_uint cl_gl_platform_info; + +// cl_gl_object_type +#define CL_GL_OBJECT_BUFFER 0x2000 +#define CL_GL_OBJECT_TEXTURE2D 0x2001 +#define CL_GL_OBJECT_TEXTURE3D 0x2002 +#define CL_GL_OBJECT_RENDERBUFFER 0x2003 + +// cl_gl_texture_info +#define CL_GL_TEXTURE_TARGET 0x2004 +#define CL_GL_MIPMAP_LEVEL 0x2005 + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + GLuint /* bufobj */, + int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture2D(cl_context /* context */, + cl_mem_flags /* flags */, + GLenum /* target */, + GLint /* miplevel */, + GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture3D(cl_context /* context */, + cl_mem_flags /* flags */, + GLenum /* target */, + GLint /* miplevel */, + GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLRenderbuffer(cl_context /* context */, + cl_mem_flags /* flags */, + GLuint /* renderbuffer */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLObjectInfo(cl_mem /* memobj */, + cl_gl_object_type * /* gl_object_type */, + GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLTextureInfo(cl_mem /* memobj */, + cl_gl_texture_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif // __OPENCL_CL_GL_H diff --git a/Code/Physics/src/MiniCL/cl_platform.h b/Code/Physics/src/MiniCL/cl_platform.h new file mode 100644 index 00000000..43219e14 --- /dev/null +++ b/Code/Physics/src/MiniCL/cl_platform.h @@ -0,0 +1,254 @@ +/********************************************************************************** + * Copyright (c) 2008-2009 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __CL_PLATFORM_H +#define __CL_PLATFORM_H + +#define CL_PLATFORM_MINI_CL 0x12345 + +struct MiniCLKernelDesc +{ + MiniCLKernelDesc(void* pCode, const char* pName); +}; + +#define MINICL_REGISTER(__kernel_func) static MiniCLKernelDesc __kernel_func##Desc((void*)__kernel_func, #__kernel_func); + + +#ifdef __APPLE__ + /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ + #include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#define CL_API_ENTRY +#define CL_API_CALL +#ifdef __APPLE__ +#define CL_API_SUFFIX__VERSION_1_0 // AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER +#define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) +#else +#define CL_API_SUFFIX__VERSION_1_0 +#define CL_EXTENSION_WEAK_LINK +#endif + +#if defined (_WIN32) && ! defined (__MINGW32__) +typedef signed __int8 int8_t; +typedef unsigned __int8 uint8_t; +typedef signed __int16 int16_t; +typedef unsigned __int16 uint16_t; +typedef signed __int32 int32_t; +typedef unsigned __int32 uint32_t; +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; + +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short ; +typedef uint16_t cl_ushort ; +typedef int32_t cl_int ; +typedef uint32_t cl_uint ; +typedef int64_t cl_long ; +typedef uint64_t cl_ulong ; + +typedef uint16_t cl_half ; +typedef float cl_float ; +typedef double cl_double ; + + +typedef int8_t cl_char2[2] ; +typedef int8_t cl_char4[4] ; +typedef int8_t cl_char8[8] ; +typedef int8_t cl_char16[16] ; +typedef uint8_t cl_uchar2[2] ; +typedef uint8_t cl_uchar4[4] ; +typedef uint8_t cl_uchar8[8] ; +typedef uint8_t cl_uchar16[16] ; + +typedef int16_t cl_short2[2] ; +typedef int16_t cl_short4[4] ; +typedef int16_t cl_short8[8] ; +typedef int16_t cl_short16[16] ; +typedef uint16_t cl_ushort2[2] ; +typedef uint16_t cl_ushort4[4] ; +typedef uint16_t cl_ushort8[8] ; +typedef uint16_t cl_ushort16[16] ; + +typedef int32_t cl_int2[2] ; +typedef int32_t cl_int4[4] ; +typedef int32_t cl_int8[8] ; +typedef int32_t cl_int16[16] ; +typedef uint32_t cl_uint2[2] ; +typedef uint32_t cl_uint4[4] ; +typedef uint32_t cl_uint8[8] ; +typedef uint32_t cl_uint16[16] ; + +typedef int64_t cl_long2[2] ; +typedef int64_t cl_long4[4] ; +typedef int64_t cl_long8[8] ; +typedef int64_t cl_long16[16] ; +typedef uint64_t cl_ulong2[2] ; +typedef uint64_t cl_ulong4[4] ; +typedef uint64_t cl_ulong8[8] ; +typedef uint64_t cl_ulong16[16] ; + +typedef float cl_float2[2] ; +typedef float cl_float4[4] ; +typedef float cl_float8[8] ; +typedef float cl_float16[16] ; + +typedef double cl_double2[2] ; +typedef double cl_double4[4] ; +typedef double cl_double8[8] ; +typedef double cl_double16[16] ; + + +#else +#include + +/* scalar types */ +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short __attribute__((aligned(2))); +typedef uint16_t cl_ushort __attribute__((aligned(2))); +typedef int32_t cl_int __attribute__((aligned(4))); +typedef uint32_t cl_uint __attribute__((aligned(4))); +typedef int64_t cl_long __attribute__((aligned(8))); +typedef uint64_t cl_ulong __attribute__((aligned(8))); + +typedef uint16_t cl_half __attribute__((aligned(2))); +typedef float cl_float __attribute__((aligned(4))); +typedef double cl_double __attribute__((aligned(8))); + + +/* + * Vector types + * + * Note: OpenCL requires that all types be naturally aligned. + * This means that vector types must be naturally aligned. + * For example, a vector of four floats must be aligned to + * a 16 byte boundary (calculated as 4 * the natural 4-byte + * alignment of the float). The alignment qualifiers here + * will only function properly if your compiler supports them + * and if you don't actively work to defeat them. For example, + * in order for a cl_float4 to be 16 byte aligned in a struct, + * the start of the struct must itself be 16-byte aligned. + * + * Maintaining proper alignment is the user's responsibility. + */ +typedef int8_t cl_char2[2] __attribute__((aligned(2))); +typedef int8_t cl_char4[4] __attribute__((aligned(4))); +typedef int8_t cl_char8[8] __attribute__((aligned(8))); +typedef int8_t cl_char16[16] __attribute__((aligned(16))); +typedef uint8_t cl_uchar2[2] __attribute__((aligned(2))); +typedef uint8_t cl_uchar4[4] __attribute__((aligned(4))); +typedef uint8_t cl_uchar8[8] __attribute__((aligned(8))); +typedef uint8_t cl_uchar16[16] __attribute__((aligned(16))); + +typedef int16_t cl_short2[2] __attribute__((aligned(4))); +typedef int16_t cl_short4[4] __attribute__((aligned(8))); +typedef int16_t cl_short8[8] __attribute__((aligned(16))); +typedef int16_t cl_short16[16] __attribute__((aligned(32))); +typedef uint16_t cl_ushort2[2] __attribute__((aligned(4))); +typedef uint16_t cl_ushort4[4] __attribute__((aligned(8))); +typedef uint16_t cl_ushort8[8] __attribute__((aligned(16))); +typedef uint16_t cl_ushort16[16] __attribute__((aligned(32))); + +typedef int32_t cl_int2[2] __attribute__((aligned(8))); +typedef int32_t cl_int4[4] __attribute__((aligned(16))); +typedef int32_t cl_int8[8] __attribute__((aligned(32))); +typedef int32_t cl_int16[16] __attribute__((aligned(64))); +typedef uint32_t cl_uint2[2] __attribute__((aligned(8))); +typedef uint32_t cl_uint4[4] __attribute__((aligned(16))); +typedef uint32_t cl_uint8[8] __attribute__((aligned(32))); +typedef uint32_t cl_uint16[16] __attribute__((aligned(64))); + +typedef int64_t cl_long2[2] __attribute__((aligned(16))); +typedef int64_t cl_long4[4] __attribute__((aligned(32))); +typedef int64_t cl_long8[8] __attribute__((aligned(64))); +typedef int64_t cl_long16[16] __attribute__((aligned(128))); +typedef uint64_t cl_ulong2[2] __attribute__((aligned(16))); +typedef uint64_t cl_ulong4[4] __attribute__((aligned(32))); +typedef uint64_t cl_ulong8[8] __attribute__((aligned(64))); +typedef uint64_t cl_ulong16[16] __attribute__((aligned(128))); + +typedef float cl_float2[2] __attribute__((aligned(8))); +typedef float cl_float4[4] __attribute__((aligned(16))); +typedef float cl_float8[8] __attribute__((aligned(32))); +typedef float cl_float16[16] __attribute__((aligned(64))); + +typedef double cl_double2[2] __attribute__((aligned(16))); +typedef double cl_double4[4] __attribute__((aligned(32))); +typedef double cl_double8[8] __attribute__((aligned(64))); +typedef double cl_double16[16] __attribute__((aligned(128))); +#endif + +#include + +/* and a few goodies to go with them */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 0x1.fffffep127f +#define CL_FLT_MIN 0x1.0p-126f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 0x1.fffffffffffffp1023 +#define CL_DBL_MIN 0x1.0p-1022 +#define CL_DBL_EPSILON 0x1.0p-52 + +/* There are no vector types for half */ + +#ifdef __cplusplus +} +#endif + +#endif // __CL_PLATFORM_H diff --git a/Code/Physics/src/btBulletCollisionCommon.h b/Code/Physics/src/btBulletCollisionCommon.h new file mode 100644 index 00000000..af981b5d --- /dev/null +++ b/Code/Physics/src/btBulletCollisionCommon.h @@ -0,0 +1,68 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BULLET_COLLISION_COMMON_H +#define BULLET_COLLISION_COMMON_H + +///Common headerfile includes for Bullet Collision Detection + +///Bullet's btCollisionWorld and btCollisionObject definitions +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +///Collision Shapes +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionShapes/btCapsuleShape.h" +#include "BulletCollision/CollisionShapes/btCylinderShape.h" +#include "BulletCollision/CollisionShapes/btConeShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionShapes/btConvexHullShape.h" +#include "BulletCollision/CollisionShapes/btTriangleMesh.h" +#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h" +#include "BulletCollision/CollisionShapes/btCompoundShape.h" +#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" +#include "BulletCollision/CollisionShapes/btEmptyShape.h" +#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" +#include "BulletCollision/CollisionShapes/btUniformScalingShape.h" + +///Narrowphase Collision Detector +#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" + +//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" + +///Dispatching and generation of collision pairs (broadphase) +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" +#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h" + +///Math library & Utils +#include "LinearMath/btQuaternion.h" +#include "LinearMath/btTransform.h" +#include "LinearMath/btDefaultMotionState.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btSerializer.h" + + +#endif //BULLET_COLLISION_COMMON_H + diff --git a/Code/Physics/src/btBulletDynamicsCommon.h b/Code/Physics/src/btBulletDynamicsCommon.h new file mode 100644 index 00000000..50282bf2 --- /dev/null +++ b/Code/Physics/src/btBulletDynamicsCommon.h @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 BULLET_DYNAMICS_COMMON_H +#define BULLET_DYNAMICS_COMMON_H + +///Common headerfile includes for Bullet Dynamics, including Collision Detection +#include "btBulletCollisionCommon.h" + +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h" + +#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h" +#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h" +#include "BulletDynamics/ConstraintSolver/btGearConstraint.h" +#include "BulletDynamics/ConstraintSolver/btFixedConstraint.h" + + +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + + +///Vehicle simulation, with wheel contact simulated by raycasts +#include "BulletDynamics/Vehicle/btRaycastVehicle.h" + + + + + + +#endif //BULLET_DYNAMICS_COMMON_H + diff --git a/Code/Physics/src/vectormath/neon/boolInVec.h b/Code/Physics/src/vectormath/neon/boolInVec.h new file mode 100644 index 00000000..ba16838c --- /dev/null +++ b/Code/Physics/src/vectormath/neon/boolInVec.h @@ -0,0 +1,226 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _BOOLINVEC_H +#define _BOOLINVEC_H + +#include +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ +private: + unsigned int mData; + +public: + // Default constructor; does no initialization + // + inline boolInVec( ) { }; + + // Construct from a value converted from float + // + inline boolInVec(floatInVec vec); + + // Explicit cast from bool + // + explicit inline boolInVec(bool scalar); + + // Explicit cast to bool + // + inline bool getAsBool() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to bool + // + inline operator bool() const; +#endif + + // Boolean negation operator + // + inline const boolInVec operator ! () const; + + // Assignment operator + // + inline boolInVec& operator = (boolInVec vec); + + // Boolean and assignment operator + // + inline boolInVec& operator &= (boolInVec vec); + + // Boolean exclusive or assignment operator + // + inline boolInVec& operator ^= (boolInVec vec); + + // Boolean or assignment operator + // + inline boolInVec& operator |= (boolInVec vec); + +}; + +// Equal operator +// +inline const boolInVec operator == (boolInVec vec0, boolInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (boolInVec vec0, boolInVec vec1); + +// And operator +// +inline const boolInVec operator & (boolInVec vec0, boolInVec vec1); + +// Exclusive or operator +// +inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1); + +// Or operator +// +inline const boolInVec operator | (boolInVec vec0, boolInVec vec1); + +// Conditionally select between two values +// +inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(floatInVec vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + mData = -(int)scalar; +} + +inline +bool +boolInVec::getAsBool() const +{ + return (mData > 0); +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +boolInVec::operator bool() const +{ + return getAsBool(); +} +#endif + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(!mData); +} + +inline +boolInVec& +boolInVec::operator = (boolInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (boolInVec vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (boolInVec vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (boolInVec vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() == vec1.getAsBool()); +} + +inline +const boolInVec +operator != (boolInVec vec0, boolInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const boolInVec +operator & (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() & vec1.getAsBool()); +} + +inline +const boolInVec +operator | (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() | vec1.getAsBool()); +} + +inline +const boolInVec +operator ^ (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() ^ vec1.getAsBool()); +} + +inline +const boolInVec +select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // boolInVec_h + diff --git a/Code/Physics/src/vectormath/neon/floatInVec.h b/Code/Physics/src/vectormath/neon/floatInVec.h new file mode 100644 index 00000000..26147d22 --- /dev/null +++ b/Code/Physics/src/vectormath/neon/floatInVec.h @@ -0,0 +1,344 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +// A class representing a scalar float value contained in a vector register +// This class does not support fastmath +class floatInVec +{ +private: + float mData; + +public: + // Default constructor; does no initialization + // + inline floatInVec( ) { }; + + // Construct from a value converted from bool + // + inline floatInVec(boolInVec vec); + + // Explicit cast from float + // + explicit inline floatInVec(float scalar); + + // Explicit cast to float + // + inline float getAsFloat() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to float + // + inline operator float() const; +#endif + + // Post increment (add 1.0f) + // + inline const floatInVec operator ++ (int); + + // Post decrement (subtract 1.0f) + // + inline const floatInVec operator -- (int); + + // Pre increment (add 1.0f) + // + inline floatInVec& operator ++ (); + + // Pre decrement (subtract 1.0f) + // + inline floatInVec& operator -- (); + + // Negation operator + // + inline const floatInVec operator - () const; + + // Assignment operator + // + inline floatInVec& operator = (floatInVec vec); + + // Multiplication assignment operator + // + inline floatInVec& operator *= (floatInVec vec); + + // Division assignment operator + // + inline floatInVec& operator /= (floatInVec vec); + + // Addition assignment operator + // + inline floatInVec& operator += (floatInVec vec); + + // Subtraction assignment operator + // + inline floatInVec& operator -= (floatInVec vec); + +}; + +// Multiplication operator +// +inline const floatInVec operator * (floatInVec vec0, floatInVec vec1); + +// Division operator +// +inline const floatInVec operator / (floatInVec vec0, floatInVec vec1); + +// Addition operator +// +inline const floatInVec operator + (floatInVec vec0, floatInVec vec1); + +// Subtraction operator +// +inline const floatInVec operator - (floatInVec vec0, floatInVec vec1); + +// Less than operator +// +inline const boolInVec operator < (floatInVec vec0, floatInVec vec1); + +// Less than or equal operator +// +inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1); + +// Greater than operator +// +inline const boolInVec operator > (floatInVec vec0, floatInVec vec1); + +// Greater than or equal operator +// +inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1); + +// Equal operator +// +inline const boolInVec operator == (floatInVec vec0, floatInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (floatInVec vec0, floatInVec vec1); + +// Conditionally select between two values +// +inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(boolInVec vec) +{ + mData = float(vec.getAsBool()); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = scalar; +} + +inline +float +floatInVec::getAsFloat() const +{ + return mData; +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +floatInVec::operator float() const +{ + return getAsFloat(); +} +#endif + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + float olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + float olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(1.0f); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(1.0f); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(-mData); +} + +inline +floatInVec& +floatInVec::operator = (floatInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (floatInVec vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (floatInVec vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (floatInVec vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (floatInVec vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() * vec1.getAsFloat()); +} + +inline +const floatInVec +operator / (floatInVec num, floatInVec den) +{ + return floatInVec(num.getAsFloat() / den.getAsFloat()); +} + +inline +const floatInVec +operator + (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() + vec1.getAsFloat()); +} + +inline +const floatInVec +operator - (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() - vec1.getAsFloat()); +} + +inline +const boolInVec +operator < (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() < vec1.getAsFloat()); +} + +inline +const boolInVec +operator <= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 > vec1); +} + +inline +const boolInVec +operator > (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() > vec1.getAsFloat()); +} + +inline +const boolInVec +operator >= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 < vec1); +} + +inline +const boolInVec +operator == (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() == vec1.getAsFloat()); +} + +inline +const boolInVec +operator != (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const floatInVec +select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // floatInVec_h + diff --git a/Code/Physics/src/vectormath/neon/mat_aos.h b/Code/Physics/src/vectormath/neon/mat_aos.h new file mode 100644 index 00000000..e61f601c --- /dev/null +++ b/Code/Physics/src/vectormath/neon/mat_aos.h @@ -0,0 +1,1631 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + float detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ), + Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ), + Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix3( + Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ), + Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ), + Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) ); + res1.setX( ( mI * tmp1 ) ); + res1.setY( ( mM * tmp0 ) ); + res1.setZ( ( mA * tmp1 ) ); + res1.setW( ( mE * tmp0 ) ); + res3.setX( ( mI * tmp3 ) ); + res3.setY( ( mM * tmp2 ) ); + res3.setZ( ( mA * tmp3 ) ); + res3.setW( ( mE * tmp2 ) ); + res2.setX( ( mI * tmp5 ) ); + res2.setY( ( mM * tmp4 ) ); + res2.setZ( ( mA * tmp5 ) ); + res2.setW( ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) ); + res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) ); + res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) ); + res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) ); + res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) ); + res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) ); + res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) ); + res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) ); + res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) ); + res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) ); + res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) ); + res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ), + ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ), + ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ), + ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ), + ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ), + ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4::xAxis( ), + Vector4( 0.0f, c, s, 0.0f ), + Vector4( 0.0f, -s, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, 0.0f, -s, 0.0f ), + Vector4::yAxis( ), + Vector4( s, 0.0f, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, s, 0.0f, 0.0f ), + Vector4( -s, c, 0.0f, 0.0f ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix4( + Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ), + Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ), + Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix4( + Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ), + Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ), + Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, f, 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + return Matrix4( + Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ), + Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ), + Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + float detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ); + inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ); + inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Transform3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + mXYZW[0] = qx; + mXYZW[1] = qy; + mXYZW[2] = qz; + mXYZW[3] = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ), + ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ), + ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( 0.0f, vec.getZ(), -vec.getY() ), + Vector3( -vec.getZ(), 0.0f, vec.getX() ), + Vector3( vec.getY(), -vec.getX(), 0.0f ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Code/Physics/src/vectormath/neon/quat_aos.h b/Code/Physics/src/vectormath/neon/quat_aos.h new file mode 100644 index 00000000..d0618460 --- /dev/null +++ b/Code/Physics/src/vectormath/neon/quat_aos.h @@ -0,0 +1,413 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + + inline Quat::Quat( const Quat & quat ) + { + vXYZW = quat.vXYZW; + } + + inline Quat::Quat( float _x, float _y, float _z, float _w ) + { + mXYZW[0] = _x; + mXYZW[1] = _y; + mXYZW[2] = _z; + mXYZW[3] = _w; + } + + inline Quat::Quat( float32x4_t fXYZW ) + { + vXYZW = fXYZW; + } + + inline Quat::Quat( const Vector3 & xyz, float _w ) + { + this->setXYZ( xyz ); + this->setW( _w ); + } + + inline Quat::Quat( const Vector4 & vec ) + { + mXYZW[0] = vec.getX(); + mXYZW[1] = vec.getY(); + mXYZW[2] = vec.getZ(); + mXYZW[3] = vec.getW(); + } + + inline Quat::Quat( float scalar ) + { + vXYZW = vdupq_n_f32(scalar); + } + + inline const Quat Quat::identity( ) + { + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); + } + + inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) + { + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); + } + + inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) + { + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); + } + + inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ) + { + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); + } + + inline void loadXYZW( Quat & quat, const float * fptr ) + { + quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] ); + } + + inline void storeXYZW( const Quat & quat, float * fptr ) + { + vst1q_f32(fptr, quat.getvXYZW()); + } + + inline Quat & Quat::operator =( const Quat & quat ) + { + vXYZW = quat.getvXYZW(); + return *this; + } + + inline Quat & Quat::setXYZ( const Vector3 & vec ) + { + mXYZW[0] = vec.getX(); + mXYZW[1] = vec.getY(); + mXYZW[2] = vec.getZ(); + return *this; + } + + inline const Vector3 Quat::getXYZ( ) const + { + return Vector3( mXYZW[0], mXYZW[1], mXYZW[2] ); + } + + inline float32x4_t Quat::getvXYZW( ) const + { + return vXYZW; + } + + inline Quat & Quat::setX( float _x ) + { + mXYZW[0] = _x; + return *this; + } + + inline float Quat::getX( ) const + { + return mXYZW[0]; + } + + inline Quat & Quat::setY( float _y ) + { + mXYZW[1] = _y; + return *this; + } + + inline float Quat::getY( ) const + { + return mXYZW[1]; + } + + inline Quat & Quat::setZ( float _z ) + { + mXYZW[2] = _z; + return *this; + } + + inline float Quat::getZ( ) const + { + return mXYZW[2]; + } + + inline Quat & Quat::setW( float _w ) + { + mXYZW[3] = _w; + return *this; + } + + inline float Quat::getW( ) const + { + return mXYZW[3]; + } + + inline Quat & Quat::setElem( int idx, float value ) + { + *(&mXYZW[0] + idx) = value; + return *this; + } + + inline float Quat::getElem( int idx ) const + { + return *(&mXYZW[0] + idx); + } + + inline float & Quat::operator []( int idx ) + { + return *(&mXYZW[0] + idx); + } + + inline float Quat::operator []( int idx ) const + { + return *(&mXYZW[0] + idx); + } + + inline const Quat Quat::operator +( const Quat & quat ) const + { + return Quat( vaddq_f32(vXYZW, quat.vXYZW) ); + } + + inline const Quat Quat::operator -( const Quat & quat ) const + { + return Quat( vsubq_f32(vXYZW, quat.vXYZW) ); + } + + inline const Quat Quat::operator *( float scalar ) const + { + float32x4_t v_scalar = vdupq_n_f32(scalar); + return Quat( vmulq_f32(vXYZW, v_scalar) ); + } + + inline Quat & Quat::operator +=( const Quat & quat ) + { + *this = *this + quat; + return *this; + } + + inline Quat & Quat::operator -=( const Quat & quat ) + { + *this = *this - quat; + return *this; + } + + inline Quat & Quat::operator *=( float scalar ) + { + *this = *this * scalar; + return *this; + } + + inline const Quat Quat::operator /( float scalar ) const + { + return Quat( + ( mXYZW[0] / scalar ), + ( mXYZW[1] / scalar ), + ( mXYZW[2] / scalar ), + ( mXYZW[3] / scalar ) + ); + } + + inline Quat & Quat::operator /=( float scalar ) + { + *this = *this / scalar; + return *this; + } + + inline const Quat Quat::operator -( ) const + { + return Quat( vnegq_f32(vXYZW) ); + } + + inline const Quat operator *( float scalar, const Quat & quat ) + { + return quat * scalar; + } + + inline float dot( const Quat & quat0, const Quat & quat1 ) + { + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; + } + + inline float norm( const Quat & quat ) + { + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; + } + + inline float length( const Quat & quat ) + { + return ::sqrtf( norm( quat ) ); + } + + inline const Quat normalize( const Quat & quat ) + { + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); + } + + inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) + { + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); + } + + inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); + } + + inline const Quat Quat::rotationX( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); + } + + inline const Quat Quat::rotationY( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); + } + + inline const Quat Quat::rotationZ( float radians ) + { + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); + } + + inline const Quat Quat::operator *( const Quat & quat ) const + { + return Quat( + ( ( ( ( mXYZW[3] * quat.mXYZW[0] ) + ( mXYZW[0] * quat.mXYZW[3] ) ) + ( mXYZW[1] * quat.mXYZW[2] ) ) - ( mXYZW[2] * quat.mXYZW[1] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[1] ) + ( mXYZW[1] * quat.mXYZW[3] ) ) + ( mXYZW[2] * quat.mXYZW[0] ) ) - ( mXYZW[0] * quat.mXYZW[2] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[2] ) + ( mXYZW[2] * quat.mXYZW[3] ) ) + ( mXYZW[0] * quat.mXYZW[1] ) ) - ( mXYZW[1] * quat.mXYZW[0] ) ), + ( ( ( ( mXYZW[3] * quat.mXYZW[3] ) - ( mXYZW[0] * quat.mXYZW[0] ) ) - ( mXYZW[1] * quat.mXYZW[1] ) ) - ( mXYZW[2] * quat.mXYZW[2] ) ) + ); + } + + inline Quat & Quat::operator *=( const Quat & quat ) + { + *this = *this * quat; + return *this; + } + + inline const Vector3 rotate( const Quat & quat, const Vector3 & vec ) + { + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); + } + + inline const Quat conj( const Quat & quat ) + { + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); + } + + inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) + { + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); + } + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Code/Physics/src/vectormath/neon/vec_aos.h b/Code/Physics/src/vectormath/neon/vec_aos.h new file mode 100644 index 00000000..7bcf8dbe --- /dev/null +++ b/Code/Physics/src/vectormath/neon/vec_aos.h @@ -0,0 +1,1427 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( 1.0f, 0.0f, 0.0f ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( 0.0f, 1.0f, 0.0f ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( 0.0f, 0.0f, 1.0f ); +} + +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZ( Vector3 & vec, const float * fptr ) +{ + vec = Vector3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Vector3 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + ( mX + pnt.getX() ), + ( mY + pnt.getY() ), + ( mZ + pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + -mX, + -mY, + -mZ + ); +} + +inline const Vector3 operator *( float scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float maxElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float minElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + return result; +} + +inline float sum( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + return result; +} + +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + return result; +} + +inline float lengthSqr( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + return result; +} + +inline float length( const Vector3 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector3( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( ( vec0.getY() * vec1.getZ() ) - ( vec0.getZ() * vec1.getY() ) ), + ( ( vec0.getZ() * vec1.getX() ) - ( vec0.getX() * vec1.getZ() ) ), + ( ( vec0.getX() * vec1.getY() ) - ( vec0.getY() * vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ) +{ + return Vector3( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + printf( "( %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ() ); +} + +inline void print( const Vector3 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ() ); +} + +#endif + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = 0.0f; +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = 1.0f; +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( 1.0f, 0.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( 0.0f, 1.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( 0.0f, 0.0f, 1.0f, 0.0f ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZW( Vector4 & vec, const float * fptr ) +{ + vec = Vector4( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Vector4 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); + fptr[3] = vec.getW(); +} + +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ), + ( mW + vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ), + ( mW - vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Vector4 operator *( float scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ), + ( vec0.getW() * vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ), + ( vec0.getW() / vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ), + ( 1.0f / vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ), + sqrtf( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ), + ( 1.0f / sqrtf( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ), + fabsf( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ), + ( vec1.getW() < 0.0f )? -fabsf( vec0.getW() ) : fabsf( vec0.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() > vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float maxElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + result = (vec.getW() > result)? vec.getW() : result; + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() < vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float minElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + result = (vec.getW() < result)? vec.getW() : result; + return result; +} + +inline float sum( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + result = ( result + vec.getW() ); + return result; +} + +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + result = ( result + ( vec0.getW() * vec1.getW() ) ); + return result; +} + +inline float lengthSqr( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + result = ( result + ( vec.getW() * vec.getW() ) ); + return result; +} + +inline float length( const Vector4 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector4( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ), + ( vec.getW() * lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ) +{ + return Vector4( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ(), + ( select1 )? vec1.getW() : vec0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + printf( "( %f %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +inline void print( const Vector4 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +#endif + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void loadXYZ( Point3 & pnt, const float * fptr ) +{ + pnt = Point3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Point3 & pnt, float * fptr ) +{ + fptr[0] = pnt.getX(); + fptr[1] = pnt.getY(); + fptr[2] = pnt.getZ(); +} + +inline void loadHalfFloats( Point3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Point3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + ( mX - pnt.mX ), + ( mY - pnt.mY ), + ( mZ - pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + ( mX + vec.getX() ), + ( mY + vec.getY() ), + ( mZ + vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + ( mX - vec.getX() ), + ( mY - vec.getY() ), + ( mZ - vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() * pnt1.getX() ), + ( pnt0.getY() * pnt1.getY() ), + ( pnt0.getZ() * pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() / pnt1.getX() ), + ( pnt0.getY() / pnt1.getY() ), + ( pnt0.getZ() / pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / pnt.getX() ), + ( 1.0f / pnt.getY() ), + ( 1.0f / pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf( pnt.getX() ), + sqrtf( pnt.getY() ), + sqrtf( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / sqrtf( pnt.getX() ) ), + ( 1.0f / sqrtf( pnt.getY() ) ), + ( 1.0f / sqrtf( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf( pnt.getX() ), + fabsf( pnt.getY() ), + fabsf( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt1.getX() < 0.0f )? -fabsf( pnt0.getX() ) : fabsf( pnt0.getX() ), + ( pnt1.getY() < 0.0f )? -fabsf( pnt0.getY() ) : fabsf( pnt0.getY() ), + ( pnt1.getZ() < 0.0f )? -fabsf( pnt0.getZ() ) : fabsf( pnt0.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() > pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() > pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() > pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float maxElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() > pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() > result)? pnt.getZ() : result; + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() < pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() < pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() < pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float minElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() < pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() < result)? pnt.getZ() : result; + return result; +} + +inline float sum( const Point3 & pnt ) +{ + float result; + result = ( pnt.getX() + pnt.getY() ); + result = ( result + pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + float result; + result = ( pnt.getX() * unitVec.getX() ); + result = ( result + ( pnt.getY() * unitVec.getY() ) ); + result = ( result + ( pnt.getZ() * unitVec.getZ() ) ); + return result; +} + +inline float distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ) +{ + return Point3( + ( select1 )? pnt1.getX() : pnt0.getX(), + ( select1 )? pnt1.getY() : pnt0.getY(), + ( select1 )? pnt1.getZ() : pnt0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + printf( "( %f %f %f )\n", pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +inline void print( const Point3 & pnt, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif + diff --git a/Code/Physics/src/vectormath/neon/vectormath_aos.h b/Code/Physics/src/vectormath/neon/vectormath_aos.h new file mode 100644 index 00000000..97bdc278 --- /dev/null +++ b/Code/Physics/src/vectormath/neon/vectormath_aos.h @@ -0,0 +1,1890 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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. + +This source version has been altered. + +*/ + +#ifndef _VECTORMATH_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Vector3 & vec, const float * fptr ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Vector3 & vec, float * fptr ); + +// Load three-half-floats as a 3-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ); + +// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Vector4 & vec, const float * fptr ); + +// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Vector4 & vec, float * fptr ); + +// Load four-half-floats as a 4-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ); + +// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Point3 & pnt, const float * fptr ); + +// Store x, y, and z elements of a 3-D point in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Point3 & pnt, float * fptr ); + +// Load three-half-floats as a 3-D point +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr ); + +// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ +#if defined( __APPLE__ ) && defined( BT_USE_NEON ) + union{ + float32x4_t vXYZW; + float mXYZW[4]; + }; +#else + float mX; + float mY; + float mZ; + float mW; +#endif + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from vector of x, y, z, and w elements + // + inline Quat( float32x4_t fXYZW ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + +#if defined( __APPLE__ ) && defined( BT_USE_NEON ) + inline float32x4_t getvXYZW( ) const; +#endif + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline float dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline float length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Quat & quat, const float * fptr ); + +// Store x, y, z, and w elements of a quaternion in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Quat & quat, float * fptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif + diff --git a/Code/Physics/src/vectormath/scalar/boolInVec.h b/Code/Physics/src/vectormath/scalar/boolInVec.h new file mode 100644 index 00000000..c5eeeebd --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/boolInVec.h @@ -0,0 +1,225 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _BOOLINVEC_H +#define _BOOLINVEC_H + +#include +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ +private: + unsigned int mData; + +public: + // Default constructor; does no initialization + // + inline boolInVec( ) { }; + + // Construct from a value converted from float + // + inline boolInVec(floatInVec vec); + + // Explicit cast from bool + // + explicit inline boolInVec(bool scalar); + + // Explicit cast to bool + // + inline bool getAsBool() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to bool + // + inline operator bool() const; +#endif + + // Boolean negation operator + // + inline const boolInVec operator ! () const; + + // Assignment operator + // + inline boolInVec& operator = (boolInVec vec); + + // Boolean and assignment operator + // + inline boolInVec& operator &= (boolInVec vec); + + // Boolean exclusive or assignment operator + // + inline boolInVec& operator ^= (boolInVec vec); + + // Boolean or assignment operator + // + inline boolInVec& operator |= (boolInVec vec); + +}; + +// Equal operator +// +inline const boolInVec operator == (boolInVec vec0, boolInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (boolInVec vec0, boolInVec vec1); + +// And operator +// +inline const boolInVec operator & (boolInVec vec0, boolInVec vec1); + +// Exclusive or operator +// +inline const boolInVec operator ^ (boolInVec vec0, boolInVec vec1); + +// Or operator +// +inline const boolInVec operator | (boolInVec vec0, boolInVec vec1); + +// Conditionally select between two values +// +inline const boolInVec select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(floatInVec vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + mData = -(int)scalar; +} + +inline +bool +boolInVec::getAsBool() const +{ + return (mData > 0); +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +boolInVec::operator bool() const +{ + return getAsBool(); +} +#endif + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(!mData); +} + +inline +boolInVec& +boolInVec::operator = (boolInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (boolInVec vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (boolInVec vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (boolInVec vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() == vec1.getAsBool()); +} + +inline +const boolInVec +operator != (boolInVec vec0, boolInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const boolInVec +operator & (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() & vec1.getAsBool()); +} + +inline +const boolInVec +operator | (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() | vec1.getAsBool()); +} + +inline +const boolInVec +operator ^ (boolInVec vec0, boolInVec vec1) +{ + return boolInVec(vec0.getAsBool() ^ vec1.getAsBool()); +} + +inline +const boolInVec +select(boolInVec vec0, boolInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // boolInVec_h diff --git a/Code/Physics/src/vectormath/scalar/floatInVec.h b/Code/Physics/src/vectormath/scalar/floatInVec.h new file mode 100644 index 00000000..12d89e43 --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/floatInVec.h @@ -0,0 +1,343 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +// A class representing a scalar float value contained in a vector register +// This class does not support fastmath +class floatInVec +{ +private: + float mData; + +public: + // Default constructor; does no initialization + // + inline floatInVec( ) { }; + + // Construct from a value converted from bool + // + inline floatInVec(boolInVec vec); + + // Explicit cast from float + // + explicit inline floatInVec(float scalar); + + // Explicit cast to float + // + inline float getAsFloat() const; + +#ifndef _VECTORMATH_NO_SCALAR_CAST + // Implicit cast to float + // + inline operator float() const; +#endif + + // Post increment (add 1.0f) + // + inline const floatInVec operator ++ (int); + + // Post decrement (subtract 1.0f) + // + inline const floatInVec operator -- (int); + + // Pre increment (add 1.0f) + // + inline floatInVec& operator ++ (); + + // Pre decrement (subtract 1.0f) + // + inline floatInVec& operator -- (); + + // Negation operator + // + inline const floatInVec operator - () const; + + // Assignment operator + // + inline floatInVec& operator = (floatInVec vec); + + // Multiplication assignment operator + // + inline floatInVec& operator *= (floatInVec vec); + + // Division assignment operator + // + inline floatInVec& operator /= (floatInVec vec); + + // Addition assignment operator + // + inline floatInVec& operator += (floatInVec vec); + + // Subtraction assignment operator + // + inline floatInVec& operator -= (floatInVec vec); + +}; + +// Multiplication operator +// +inline const floatInVec operator * (floatInVec vec0, floatInVec vec1); + +// Division operator +// +inline const floatInVec operator / (floatInVec vec0, floatInVec vec1); + +// Addition operator +// +inline const floatInVec operator + (floatInVec vec0, floatInVec vec1); + +// Subtraction operator +// +inline const floatInVec operator - (floatInVec vec0, floatInVec vec1); + +// Less than operator +// +inline const boolInVec operator < (floatInVec vec0, floatInVec vec1); + +// Less than or equal operator +// +inline const boolInVec operator <= (floatInVec vec0, floatInVec vec1); + +// Greater than operator +// +inline const boolInVec operator > (floatInVec vec0, floatInVec vec1); + +// Greater than or equal operator +// +inline const boolInVec operator >= (floatInVec vec0, floatInVec vec1); + +// Equal operator +// +inline const boolInVec operator == (floatInVec vec0, floatInVec vec1); + +// Not equal operator +// +inline const boolInVec operator != (floatInVec vec0, floatInVec vec1); + +// Conditionally select between two values +// +inline const floatInVec select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1); + + +} // namespace Vectormath + + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(boolInVec vec) +{ + mData = float(vec.getAsBool()); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = scalar; +} + +inline +float +floatInVec::getAsFloat() const +{ + return mData; +} + +#ifndef _VECTORMATH_NO_SCALAR_CAST +inline +floatInVec::operator float() const +{ + return getAsFloat(); +} +#endif + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + float olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + float olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(1.0f); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(1.0f); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(-mData); +} + +inline +floatInVec& +floatInVec::operator = (floatInVec vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (floatInVec vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (floatInVec vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (floatInVec vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (floatInVec vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() * vec1.getAsFloat()); +} + +inline +const floatInVec +operator / (floatInVec num, floatInVec den) +{ + return floatInVec(num.getAsFloat() / den.getAsFloat()); +} + +inline +const floatInVec +operator + (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() + vec1.getAsFloat()); +} + +inline +const floatInVec +operator - (floatInVec vec0, floatInVec vec1) +{ + return floatInVec(vec0.getAsFloat() - vec1.getAsFloat()); +} + +inline +const boolInVec +operator < (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() < vec1.getAsFloat()); +} + +inline +const boolInVec +operator <= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 > vec1); +} + +inline +const boolInVec +operator > (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() > vec1.getAsFloat()); +} + +inline +const boolInVec +operator >= (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 < vec1); +} + +inline +const boolInVec +operator == (floatInVec vec0, floatInVec vec1) +{ + return boolInVec(vec0.getAsFloat() == vec1.getAsFloat()); +} + +inline +const boolInVec +operator != (floatInVec vec0, floatInVec vec1) +{ + return !(vec0 == vec1); +} + +inline +const floatInVec +select(floatInVec vec0, floatInVec vec1, boolInVec select_vec1) +{ + return (select_vec1.getAsBool() == 0) ? vec0 : vec1; +} + +} // namespace Vectormath + +#endif // floatInVec_h diff --git a/Code/Physics/src/vectormath/scalar/mat_aos.h b/Code/Physics/src/vectormath/scalar/mat_aos.h new file mode 100644 index 00000000..e103243d --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/mat_aos.h @@ -0,0 +1,1630 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +inline Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +inline Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +inline Matrix3::Matrix3( const Quat & unitQuat ) +{ + float qx, qy, qz, qw, qx2, qy2, qz2, qxqx2, qyqy2, qzqz2, qxqy2, qyqz2, qzqw2, qxqz2, qyqw2, qxqw2; + qx = unitQuat.getX(); + qy = unitQuat.getY(); + qz = unitQuat.getZ(); + qw = unitQuat.getW(); + qx2 = ( qx + qx ); + qy2 = ( qy + qy ); + qz2 = ( qz + qz ); + qxqx2 = ( qx * qx2 ); + qxqy2 = ( qx * qy2 ); + qxqz2 = ( qx * qz2 ); + qxqw2 = ( qw * qx2 ); + qyqy2 = ( qy * qy2 ); + qyqz2 = ( qy * qz2 ); + qyqw2 = ( qw * qy2 ); + qzqz2 = ( qz * qz2 ); + qzqw2 = ( qw * qz2 ); + mCol0 = Vector3( ( ( 1.0f - qyqy2 ) - qzqz2 ), ( qxqy2 + qzqw2 ), ( qxqz2 - qyqw2 ) ); + mCol1 = Vector3( ( qxqy2 - qzqw2 ), ( ( 1.0f - qxqx2 ) - qzqz2 ), ( qyqz2 + qxqw2 ) ); + mCol2 = Vector3( ( qxqz2 + qyqw2 ), ( qyqz2 - qxqw2 ), ( ( 1.0f - qxqx2 ) - qyqy2 ) ); +} + +inline Matrix3::Matrix3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +inline Matrix3 & Matrix3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix3 & Matrix3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix3 & Matrix3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix3 & Matrix3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix3 & Matrix3::setRow( int row, const Vector3 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +inline Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +inline Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +inline const Matrix3 transpose( const Matrix3 & mat ) +{ + return Matrix3( + Vector3( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX() ), + Vector3( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY() ), + Vector3( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ() ) + ); +} + +inline const Matrix3 inverse( const Matrix3 & mat ) +{ + Vector3 tmp0, tmp1, tmp2; + float detinv; + tmp0 = cross( mat.getCol1(), mat.getCol2() ); + tmp1 = cross( mat.getCol2(), mat.getCol0() ); + tmp2 = cross( mat.getCol0(), mat.getCol1() ); + detinv = ( 1.0f / dot( mat.getCol2(), tmp2 ) ); + return Matrix3( + Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ), + Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ), + Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ) + ); +} + +inline float determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +inline const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +inline const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +inline const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::operator *( float scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +inline Matrix3 & Matrix3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +inline const Vector3 Matrix3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +inline Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +inline const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ) + ); +} + +inline const Matrix3 Matrix3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ) + ); +} + +inline const Matrix3 Matrix3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ) + ); +} + +inline const Matrix3 Matrix3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix3( + Vector3( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ) ), + Vector3( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ) ), + Vector3( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ) ) + ); +} + +inline const Matrix3 Matrix3::rotation( const Quat & unitQuat ) +{ + return Matrix3( unitQuat ); +} + +inline const Matrix3 Matrix3::scale( const Vector3 & scaleVec ) +{ + return Matrix3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ) + ); +} + +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +inline void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +inline Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +inline Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +inline Matrix4::Matrix4( const Vector4 & _col0, const Vector4 & _col1, const Vector4 & _col2, const Vector4 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Matrix4::Matrix4( const Matrix3 & mat, const Vector3 & translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4::Matrix4( const Quat & unitQuat, const Vector3 & translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +inline Matrix4 & Matrix4::setCol0( const Vector4 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Matrix4 & Matrix4::setCol1( const Vector4 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Matrix4 & Matrix4::setCol2( const Vector4 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Matrix4 & Matrix4::setCol3( const Vector4 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Matrix4 & Matrix4::setCol( int col, const Vector4 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Matrix4 & Matrix4::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +inline const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +inline const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +inline const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +inline const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +inline const Matrix4 transpose( const Matrix4 & mat ) +{ + return Matrix4( + Vector4( mat.getCol0().getX(), mat.getCol1().getX(), mat.getCol2().getX(), mat.getCol3().getX() ), + Vector4( mat.getCol0().getY(), mat.getCol1().getY(), mat.getCol2().getY(), mat.getCol3().getY() ), + Vector4( mat.getCol0().getZ(), mat.getCol1().getZ(), mat.getCol2().getZ(), mat.getCol3().getZ() ), + Vector4( mat.getCol0().getW(), mat.getCol1().getW(), mat.getCol2().getW(), mat.getCol3().getW() ) + ); +} + +inline const Matrix4 inverse( const Matrix4 & mat ) +{ + Vector4 res0, res1, res2, res3; + float mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5, detInv; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + res0.setX( ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ) ); + res0.setY( ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ) ); + res0.setZ( ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ) ); + res0.setW( ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ) ); + detInv = ( 1.0f / ( ( ( ( mA * res0.getX() ) + ( mE * res0.getY() ) ) + ( mI * res0.getZ() ) ) + ( mM * res0.getW() ) ) ); + res1.setX( ( mI * tmp1 ) ); + res1.setY( ( mM * tmp0 ) ); + res1.setZ( ( mA * tmp1 ) ); + res1.setW( ( mE * tmp0 ) ); + res3.setX( ( mI * tmp3 ) ); + res3.setY( ( mM * tmp2 ) ); + res3.setZ( ( mA * tmp3 ) ); + res3.setW( ( mE * tmp2 ) ); + res2.setX( ( mI * tmp5 ) ); + res2.setY( ( mM * tmp4 ) ); + res2.setZ( ( mA * tmp5 ) ); + res2.setW( ( mE * tmp4 ) ); + tmp0 = ( ( mI * mB ) - ( mA * mJ ) ); + tmp1 = ( ( mM * mF ) - ( mE * mN ) ); + tmp2 = ( ( mI * mD ) - ( mA * mL ) ); + tmp3 = ( ( mM * mH ) - ( mE * mP ) ); + tmp4 = ( ( mI * mC ) - ( mA * mK ) ); + tmp5 = ( ( mM * mG ) - ( mE * mO ) ); + res2.setX( ( ( ( mL * tmp1 ) - ( mJ * tmp3 ) ) + res2.getX() ) ); + res2.setY( ( ( ( mP * tmp0 ) - ( mN * tmp2 ) ) + res2.getY() ) ); + res2.setZ( ( ( ( mB * tmp3 ) - ( mD * tmp1 ) ) - res2.getZ() ) ); + res2.setW( ( ( ( mF * tmp2 ) - ( mH * tmp0 ) ) - res2.getW() ) ); + res3.setX( ( ( ( mJ * tmp5 ) - ( mK * tmp1 ) ) + res3.getX() ) ); + res3.setY( ( ( ( mN * tmp4 ) - ( mO * tmp0 ) ) + res3.getY() ) ); + res3.setZ( ( ( ( mC * tmp1 ) - ( mB * tmp5 ) ) - res3.getZ() ) ); + res3.setW( ( ( ( mG * tmp0 ) - ( mF * tmp4 ) ) - res3.getW() ) ); + res1.setX( ( ( ( mK * tmp3 ) - ( mL * tmp5 ) ) - res1.getX() ) ); + res1.setY( ( ( ( mO * tmp2 ) - ( mP * tmp4 ) ) - res1.getY() ) ); + res1.setZ( ( ( ( mD * tmp5 ) - ( mC * tmp3 ) ) + res1.getZ() ) ); + res1.setW( ( ( ( mH * tmp4 ) - ( mG * tmp2 ) ) + res1.getW() ) ); + return Matrix4( + ( res0 * detInv ), + ( res1 * detInv ), + ( res2 * detInv ), + ( res3 * detInv ) + ); +} + +inline const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +inline const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +inline float determinant( const Matrix4 & mat ) +{ + float dx, dy, dz, dw, mA, mB, mC, mD, mE, mF, mG, mH, mI, mJ, mK, mL, mM, mN, mO, mP, tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + mA = mat.getCol0().getX(); + mB = mat.getCol0().getY(); + mC = mat.getCol0().getZ(); + mD = mat.getCol0().getW(); + mE = mat.getCol1().getX(); + mF = mat.getCol1().getY(); + mG = mat.getCol1().getZ(); + mH = mat.getCol1().getW(); + mI = mat.getCol2().getX(); + mJ = mat.getCol2().getY(); + mK = mat.getCol2().getZ(); + mL = mat.getCol2().getW(); + mM = mat.getCol3().getX(); + mN = mat.getCol3().getY(); + mO = mat.getCol3().getZ(); + mP = mat.getCol3().getW(); + tmp0 = ( ( mK * mD ) - ( mC * mL ) ); + tmp1 = ( ( mO * mH ) - ( mG * mP ) ); + tmp2 = ( ( mB * mK ) - ( mJ * mC ) ); + tmp3 = ( ( mF * mO ) - ( mN * mG ) ); + tmp4 = ( ( mJ * mD ) - ( mB * mL ) ); + tmp5 = ( ( mN * mH ) - ( mF * mP ) ); + dx = ( ( ( mJ * tmp1 ) - ( mL * tmp3 ) ) - ( mK * tmp5 ) ); + dy = ( ( ( mN * tmp0 ) - ( mP * tmp2 ) ) - ( mO * tmp4 ) ); + dz = ( ( ( mD * tmp3 ) + ( mC * tmp5 ) ) - ( mB * tmp1 ) ); + dw = ( ( ( mH * tmp2 ) + ( mG * tmp4 ) ) - ( mF * tmp0 ) ); + return ( ( ( ( mA * dx ) + ( mE * dy ) ) + ( mI * dz ) ) + ( mM * dw ) ); +} + +inline const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +inline const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +inline Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +inline const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +inline const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::operator *( float scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +inline Matrix4 & Matrix4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +inline const Vector4 Matrix4::operator *( const Vector4 & vec ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ) + ( mCol3.getX() * vec.getW() ) ), + ( ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ) + ( mCol3.getY() * vec.getW() ) ), + ( ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ( mCol3.getZ() * vec.getW() ) ), + ( ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ( mCol3.getW() * vec.getW() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Vector3 & vec ) const +{ + return Vector4( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ), + ( ( ( mCol0.getW() * vec.getX() ) + ( mCol1.getW() * vec.getY() ) ) + ( mCol2.getW() * vec.getZ() ) ) + ); +} + +inline const Vector4 Matrix4::operator *( const Point3 & pnt ) const +{ + return Vector4( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ), + ( ( ( ( mCol0.getW() * pnt.getX() ) + ( mCol1.getW() * pnt.getY() ) ) + ( mCol2.getW() * pnt.getZ() ) ) + mCol3.getW() ) + ); +} + +inline const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +inline const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +inline Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +inline const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +inline const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +inline Matrix4 & Matrix4::setTranslation( const Vector3 & translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +inline const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +inline const Matrix4 Matrix4::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4::xAxis( ), + Vector4( 0.0f, c, s, 0.0f ), + Vector4( 0.0f, -s, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, 0.0f, -s, 0.0f ), + Vector4::yAxis( ), + Vector4( s, 0.0f, c, 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Matrix4( + Vector4( c, s, 0.0f, 0.0f ), + Vector4( -s, c, 0.0f, 0.0f ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Matrix4( + Vector4( ( cZ * cY ), ( sZ * cY ), -sY, 0.0f ), + Vector4( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ), 0.0f ), + Vector4( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( float radians, const Vector3 & unitVec ) +{ + float x, y, z, s, c, oneMinusC, xy, yz, zx; + s = sinf( radians ); + c = cosf( radians ); + x = unitVec.getX(); + y = unitVec.getY(); + z = unitVec.getZ(); + xy = ( x * y ); + yz = ( y * z ); + zx = ( z * x ); + oneMinusC = ( 1.0f - c ); + return Matrix4( + Vector4( ( ( ( x * x ) * oneMinusC ) + c ), ( ( xy * oneMinusC ) + ( z * s ) ), ( ( zx * oneMinusC ) - ( y * s ) ), 0.0f ), + Vector4( ( ( xy * oneMinusC ) - ( z * s ) ), ( ( ( y * y ) * oneMinusC ) + c ), ( ( yz * oneMinusC ) + ( x * s ) ), 0.0f ), + Vector4( ( ( zx * oneMinusC ) + ( y * s ) ), ( ( yz * oneMinusC ) - ( x * s ) ), ( ( ( z * z ) * oneMinusC ) + c ), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 Matrix4::rotation( const Quat & unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +inline const Matrix4 Matrix4::scale( const Vector3 & scaleVec ) +{ + return Matrix4( + Vector4( scaleVec.getX(), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, scaleVec.getY(), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, scaleVec.getZ(), 0.0f ), + Vector4::wAxis( ) + ); +} + +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +inline const Matrix4 Matrix4::translation( const Vector3 & translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +inline const Matrix4 Matrix4::lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +inline const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + f = tanf( ( (float)( _VECTORMATH_PI_OVER_2 ) - ( 0.5f * fovyRadians ) ) ); + rangeInv = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( f / aspect ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, f, 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( ( zNear + zFar ) * rangeInv ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( ( zNear * zFar ) * rangeInv ) * 2.0f ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf, n2; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + n2 = ( zNear + zNear ); + return Matrix4( + Vector4( ( n2 * inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( n2 * inv_tb ), 0.0f, 0.0f ), + Vector4( ( sum_rl * inv_rl ), ( sum_tb * inv_tb ), ( sum_nf * inv_nf ), -1.0f ), + Vector4( 0.0f, 0.0f, ( ( n2 * inv_nf ) * zFar ), 0.0f ) + ); +} + +inline const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + float sum_rl, sum_tb, sum_nf, inv_rl, inv_tb, inv_nf; + sum_rl = ( right + left ); + sum_tb = ( top + bottom ); + sum_nf = ( zNear + zFar ); + inv_rl = ( 1.0f / ( right - left ) ); + inv_tb = ( 1.0f / ( top - bottom ) ); + inv_nf = ( 1.0f / ( zNear - zFar ) ); + return Matrix4( + Vector4( ( inv_rl + inv_rl ), 0.0f, 0.0f, 0.0f ), + Vector4( 0.0f, ( inv_tb + inv_tb ), 0.0f, 0.0f ), + Vector4( 0.0f, 0.0f, ( inv_nf + inv_nf ), 0.0f ), + Vector4( ( -sum_rl * inv_rl ), ( -sum_tb * inv_tb ), ( sum_nf * inv_nf ), 1.0f ) + ); +} + +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +inline void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +inline Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +inline Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +inline Transform3::Transform3( const Vector3 & _col0, const Vector3 & _col1, const Vector3 & _col2, const Vector3 & _col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +inline Transform3::Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +inline Transform3::Transform3( const Quat & unitQuat, const Vector3 & translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +inline Transform3 & Transform3::setCol0( const Vector3 & _col0 ) +{ + mCol0 = _col0; + return *this; +} + +inline Transform3 & Transform3::setCol1( const Vector3 & _col1 ) +{ + mCol1 = _col1; + return *this; +} + +inline Transform3 & Transform3::setCol2( const Vector3 & _col2 ) +{ + mCol2 = _col2; + return *this; +} + +inline Transform3 & Transform3::setCol3( const Vector3 & _col3 ) +{ + mCol3 = _col3; + return *this; +} + +inline Transform3 & Transform3::setCol( int col, const Vector3 & vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +inline Transform3 & Transform3::setRow( int row, const Vector4 & vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +inline Transform3 & Transform3::setElem( int col, int row, float val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +inline float Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +inline const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +inline const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +inline const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +inline const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +inline const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +inline const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +inline Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +inline const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +inline Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +inline const Transform3 inverse( const Transform3 & tfrm ) +{ + Vector3 tmp0, tmp1, tmp2, inv0, inv1, inv2; + float detinv; + tmp0 = cross( tfrm.getCol1(), tfrm.getCol2() ); + tmp1 = cross( tfrm.getCol2(), tfrm.getCol0() ); + tmp2 = cross( tfrm.getCol0(), tfrm.getCol1() ); + detinv = ( 1.0f / dot( tfrm.getCol2(), tmp2 ) ); + inv0 = Vector3( ( tmp0.getX() * detinv ), ( tmp1.getX() * detinv ), ( tmp2.getX() * detinv ) ); + inv1 = Vector3( ( tmp0.getY() * detinv ), ( tmp1.getY() * detinv ), ( tmp2.getY() * detinv ) ); + inv2 = Vector3( ( tmp0.getZ() * detinv ), ( tmp1.getZ() * detinv ), ( tmp2.getZ() * detinv ) ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + Vector3 inv0, inv1, inv2; + inv0 = Vector3( tfrm.getCol0().getX(), tfrm.getCol1().getX(), tfrm.getCol2().getX() ); + inv1 = Vector3( tfrm.getCol0().getY(), tfrm.getCol1().getY(), tfrm.getCol2().getY() ); + inv2 = Vector3( tfrm.getCol0().getZ(), tfrm.getCol1().getZ(), tfrm.getCol2().getZ() ); + return Transform3( + inv0, + inv1, + inv2, + Vector3( ( -( ( inv0 * tfrm.getCol3().getX() ) + ( ( inv1 * tfrm.getCol3().getY() ) + ( inv2 * tfrm.getCol3().getZ() ) ) ) ) ) + ); +} + +inline const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +inline const Vector3 Transform3::operator *( const Vector3 & vec ) const +{ + return Vector3( + ( ( ( mCol0.getX() * vec.getX() ) + ( mCol1.getX() * vec.getY() ) ) + ( mCol2.getX() * vec.getZ() ) ), + ( ( ( mCol0.getY() * vec.getX() ) + ( mCol1.getY() * vec.getY() ) ) + ( mCol2.getY() * vec.getZ() ) ), + ( ( ( mCol0.getZ() * vec.getX() ) + ( mCol1.getZ() * vec.getY() ) ) + ( mCol2.getZ() * vec.getZ() ) ) + ); +} + +inline const Point3 Transform3::operator *( const Point3 & pnt ) const +{ + return Point3( + ( ( ( ( mCol0.getX() * pnt.getX() ) + ( mCol1.getX() * pnt.getY() ) ) + ( mCol2.getX() * pnt.getZ() ) ) + mCol3.getX() ), + ( ( ( ( mCol0.getY() * pnt.getX() ) + ( mCol1.getY() * pnt.getY() ) ) + ( mCol2.getY() * pnt.getZ() ) ) + mCol3.getY() ), + ( ( ( ( mCol0.getZ() * pnt.getX() ) + ( mCol1.getZ() * pnt.getY() ) ) + ( mCol2.getZ() * pnt.getZ() ) ) + mCol3.getZ() ) + ); +} + +inline const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +inline Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +inline const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +inline const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +inline Transform3 & Transform3::setTranslation( const Vector3 & translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +inline const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +inline const Transform3 Transform3::rotationX( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3::xAxis( ), + Vector3( 0.0f, c, s ), + Vector3( 0.0f, -s, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationY( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, 0.0f, -s ), + Vector3::yAxis( ), + Vector3( s, 0.0f, c ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZ( float radians ) +{ + float s, c; + s = sinf( radians ); + c = cosf( radians ); + return Transform3( + Vector3( c, s, 0.0f ), + Vector3( -s, c, 0.0f ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotationZYX( const Vector3 & radiansXYZ ) +{ + float sX, cX, sY, cY, sZ, cZ, tmp0, tmp1; + sX = sinf( radiansXYZ.getX() ); + cX = cosf( radiansXYZ.getX() ); + sY = sinf( radiansXYZ.getY() ); + cY = cosf( radiansXYZ.getY() ); + sZ = sinf( radiansXYZ.getZ() ); + cZ = cosf( radiansXYZ.getZ() ); + tmp0 = ( cZ * sY ); + tmp1 = ( sZ * sY ); + return Transform3( + Vector3( ( cZ * cY ), ( sZ * cY ), -sY ), + Vector3( ( ( tmp0 * sX ) - ( sZ * cX ) ), ( ( tmp1 * sX ) + ( cZ * cX ) ), ( cY * sX ) ), + Vector3( ( ( tmp0 * cX ) + ( sZ * sX ) ), ( ( tmp1 * cX ) - ( cZ * sX ) ), ( cY * cX ) ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 Transform3::rotation( float radians, const Vector3 & unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::rotation( const Quat & unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +inline const Transform3 Transform3::scale( const Vector3 & scaleVec ) +{ + return Transform3( + Vector3( scaleVec.getX(), 0.0f, 0.0f ), + Vector3( 0.0f, scaleVec.getY(), 0.0f ), + Vector3( 0.0f, 0.0f, scaleVec.getZ() ), + Vector3( 0.0f ) + ); +} + +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +inline const Transform3 Transform3::translation( const Vector3 & translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +inline void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +inline Quat::Quat( const Matrix3 & tfrm ) +{ + float trace, radicand, scale, xx, yx, zx, xy, yy, zy, xz, yz, zz, tmpx, tmpy, tmpz, tmpw, qx, qy, qz, qw; + int negTrace, ZgtX, ZgtY, YgtX; + int largestXorY, largestYorZ, largestZorX; + + xx = tfrm.getCol0().getX(); + yx = tfrm.getCol0().getY(); + zx = tfrm.getCol0().getZ(); + xy = tfrm.getCol1().getX(); + yy = tfrm.getCol1().getY(); + zy = tfrm.getCol1().getZ(); + xz = tfrm.getCol2().getX(); + yz = tfrm.getCol2().getY(); + zz = tfrm.getCol2().getZ(); + + trace = ( ( xx + yy ) + zz ); + + negTrace = ( trace < 0.0f ); + ZgtX = zz > xx; + ZgtY = zz > yy; + YgtX = yy > xx; + largestXorY = ( !ZgtX || !ZgtY ) && negTrace; + largestYorZ = ( YgtX || ZgtX ) && negTrace; + largestZorX = ( ZgtY || !YgtX ) && negTrace; + + if ( largestXorY ) + { + zz = -zz; + xy = -xy; + } + if ( largestYorZ ) + { + xx = -xx; + yz = -yz; + } + if ( largestZorX ) + { + yy = -yy; + zx = -zx; + } + + radicand = ( ( ( xx + yy ) + zz ) + 1.0f ); + scale = ( 0.5f * ( 1.0f / sqrtf( radicand ) ) ); + + tmpx = ( ( zy - yz ) * scale ); + tmpy = ( ( xz - zx ) * scale ); + tmpz = ( ( yx - xy ) * scale ); + tmpw = ( radicand * scale ); + qx = tmpx; + qy = tmpy; + qz = tmpz; + qw = tmpw; + + if ( largestXorY ) + { + qx = tmpw; + qy = tmpz; + qz = tmpy; + qw = tmpx; + } + if ( largestYorZ ) + { + tmpx = qx; + tmpz = qz; + qx = qy; + qy = tmpx; + qz = qw; + qw = tmpz; + } + + mX = qx; + mY = qy; + mZ = qz; + mW = qw; +} + +inline const Matrix3 outer( const Vector3 & tfrm0, const Vector3 & tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +inline const Matrix4 outer( const Vector4 & tfrm0, const Vector4 & tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Vector3( + ( ( ( vec.getX() * mat.getCol0().getX() ) + ( vec.getY() * mat.getCol0().getY() ) ) + ( vec.getZ() * mat.getCol0().getZ() ) ), + ( ( ( vec.getX() * mat.getCol1().getX() ) + ( vec.getY() * mat.getCol1().getY() ) ) + ( vec.getZ() * mat.getCol1().getZ() ) ), + ( ( ( vec.getX() * mat.getCol2().getX() ) + ( vec.getY() * mat.getCol2().getY() ) ) + ( vec.getZ() * mat.getCol2().getZ() ) ) + ); +} + +inline const Matrix3 crossMatrix( const Vector3 & vec ) +{ + return Matrix3( + Vector3( 0.0f, vec.getZ(), -vec.getY() ), + Vector3( -vec.getZ(), 0.0f, vec.getX() ), + Vector3( vec.getY(), -vec.getX(), 0.0f ) + ); +} + +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/scalar/quat_aos.h b/Code/Physics/src/vectormath/scalar/quat_aos.h new file mode 100644 index 00000000..764e0170 --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/quat_aos.h @@ -0,0 +1,433 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Quat::Quat( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; +} + +inline Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Quat::Quat( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Quat::Quat( const Vector4 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = vec.getW(); +} + +inline Quat::Quat( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Quat Quat::identity( ) +{ + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) +{ + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); +} + +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ) +{ + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); +} + +inline void loadXYZW( Quat & quat, const float * fptr ) +{ + quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Quat & quat, float * fptr ) +{ + fptr[0] = quat.getX(); + fptr[1] = quat.getY(); + fptr[2] = quat.getZ(); + fptr[3] = quat.getW(); +} + +inline Quat & Quat::operator =( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; + return *this; +} + +inline Quat & Quat::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Quat & Quat::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Quat::getX( ) const +{ + return mX; +} + +inline Quat & Quat::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Quat::getY( ) const +{ + return mY; +} + +inline Quat & Quat::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Quat::getZ( ) const +{ + return mZ; +} + +inline Quat & Quat::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Quat::getW( ) const +{ + return mW; +} + +inline Quat & Quat::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Quat::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Quat::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Quat::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Quat Quat::operator +( const Quat & quat ) const +{ + return Quat( + ( mX + quat.mX ), + ( mY + quat.mY ), + ( mZ + quat.mZ ), + ( mW + quat.mW ) + ); +} + +inline const Quat Quat::operator -( const Quat & quat ) const +{ + return Quat( + ( mX - quat.mX ), + ( mY - quat.mY ), + ( mZ - quat.mZ ), + ( mW - quat.mW ) + ); +} + +inline const Quat Quat::operator *( float scalar ) const +{ + return Quat( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Quat & Quat::operator +=( const Quat & quat ) +{ + *this = *this + quat; + return *this; +} + +inline Quat & Quat::operator -=( const Quat & quat ) +{ + *this = *this - quat; + return *this; +} + +inline Quat & Quat::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Quat Quat::operator /( float scalar ) const +{ + return Quat( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Quat Quat::operator -( ) const +{ + return Quat( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Quat operator *( float scalar, const Quat & quat ) +{ + return quat * scalar; +} + +inline float dot( const Quat & quat0, const Quat & quat1 ) +{ + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; +} + +inline float norm( const Quat & quat ) +{ + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; +} + +inline float length( const Quat & quat ) +{ + return ::sqrtf( norm( quat ) ); +} + +inline const Quat normalize( const Quat & quat ) +{ + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); +} + +inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); +} + +inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); +} + +inline const Quat Quat::rotationX( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); +} + +inline const Quat Quat::rotationY( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); +} + +inline const Quat Quat::rotationZ( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); +} + +inline const Quat Quat::operator *( const Quat & quat ) const +{ + return Quat( + ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ), + ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ), + ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ), + ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) ) + ); +} + +inline Quat & Quat::operator *=( const Quat & quat ) +{ + *this = *this * quat; + return *this; +} + +inline const Vector3 rotate( const Quat & quat, const Vector3 & vec ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); +} + +inline const Quat conj( const Quat & quat ) +{ + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); +} + +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) +{ + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/scalar/vec_aos.h b/Code/Physics/src/vectormath/scalar/vec_aos.h new file mode 100644 index 00000000..46d4d6b3 --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/vec_aos.h @@ -0,0 +1,1426 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants + +#define _VECTORMATH_SLERP_TOL 0.999f + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Vector3::Vector3( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; +} + +inline Vector3::Vector3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Vector3::Vector3( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); +} + +inline Vector3::Vector3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Vector3 Vector3::xAxis( ) +{ + return Vector3( 1.0f, 0.0f, 0.0f ); +} + +inline const Vector3 Vector3::yAxis( ) +{ + return Vector3( 0.0f, 1.0f, 0.0f ); +} + +inline const Vector3 Vector3::zAxis( ) +{ + return Vector3( 0.0f, 0.0f, 1.0f ); +} + +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZ( Vector3 & vec, const float * fptr ) +{ + vec = Vector3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Vector3 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector3 & Vector3::operator =( const Vector3 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + return *this; +} + +inline Vector3 & Vector3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector3::getX( ) const +{ + return mX; +} + +inline Vector3 & Vector3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector3::getY( ) const +{ + return mY; +} + +inline Vector3 & Vector3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector3::getZ( ) const +{ + return mZ; +} + +inline Vector3 & Vector3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Vector3::operator +( const Vector3 & vec ) const +{ + return Vector3( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ) + ); +} + +inline const Vector3 Vector3::operator -( const Vector3 & vec ) const +{ + return Vector3( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ) + ); +} + +inline const Point3 Vector3::operator +( const Point3 & pnt ) const +{ + return Point3( + ( mX + pnt.getX() ), + ( mY + pnt.getY() ), + ( mZ + pnt.getZ() ) + ); +} + +inline const Vector3 Vector3::operator *( float scalar ) const +{ + return Vector3( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ) + ); +} + +inline Vector3 & Vector3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector3 & Vector3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector3 Vector3::operator /( float scalar ) const +{ + return Vector3( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ) + ); +} + +inline Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector3 Vector3::operator -( ) const +{ + return Vector3( + -mX, + -mY, + -mZ + ); +} + +inline const Vector3 operator *( float scalar, const Vector3 & vec ) +{ + return vec * scalar; +} + +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ) + ); +} + +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ) + ); +} + +inline const Vector3 recipPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ) + ); +} + +inline const Vector3 sqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ) + ); +} + +inline const Vector3 rsqrtPerElem( const Vector3 & vec ) +{ + return Vector3( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ) + ); +} + +inline const Vector3 absPerElem( const Vector3 & vec ) +{ + return Vector3( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ) + ); +} + +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ) + ); +} + +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float maxElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + return result; +} + +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ() + ); +} + +inline float minElem( const Vector3 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + return result; +} + +inline float sum( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + return result; +} + +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + return result; +} + +inline float lengthSqr( const Vector3 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + return result; +} + +inline float length( const Vector3 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector3 normalize( const Vector3 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector3( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ) + ); +} + +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ) +{ + return Vector3( + ( ( vec0.getY() * vec1.getZ() ) - ( vec0.getZ() * vec1.getY() ) ), + ( ( vec0.getZ() * vec1.getX() ) - ( vec0.getX() * vec1.getZ() ) ), + ( ( vec0.getX() * vec1.getY() ) - ( vec0.getY() * vec1.getX() ) ) + ); +} + +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ) +{ + return Vector3( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector3 & vec ) +{ + printf( "( %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ() ); +} + +inline void print( const Vector3 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ() ); +} + +#endif + +inline Vector4::Vector4( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; +} + +inline Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Vector4::Vector4( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Vector4::Vector4( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = 0.0f; +} + +inline Vector4::Vector4( const Point3 & pnt ) +{ + mX = pnt.getX(); + mY = pnt.getY(); + mZ = pnt.getZ(); + mW = 1.0f; +} + +inline Vector4::Vector4( const Quat & quat ) +{ + mX = quat.getX(); + mY = quat.getY(); + mZ = quat.getZ(); + mW = quat.getW(); +} + +inline Vector4::Vector4( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Vector4 Vector4::xAxis( ) +{ + return Vector4( 1.0f, 0.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::yAxis( ) +{ + return Vector4( 0.0f, 1.0f, 0.0f, 0.0f ); +} + +inline const Vector4 Vector4::zAxis( ) +{ + return Vector4( 0.0f, 0.0f, 1.0f, 0.0f ); +} + +inline const Vector4 Vector4::wAxis( ) +{ + return Vector4( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ) +{ + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitVec0, unitVec1 ); + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( unitVec0 * scale0 ) + ( unitVec1 * scale1 ) ); +} + +inline void loadXYZW( Vector4 & vec, const float * fptr ) +{ + vec = Vector4( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Vector4 & vec, float * fptr ) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); + fptr[3] = vec.getW(); +} + +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 4; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Vector4 & Vector4::operator =( const Vector4 & vec ) +{ + mX = vec.mX; + mY = vec.mY; + mZ = vec.mZ; + mW = vec.mW; + return *this; +} + +inline Vector4 & Vector4::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Vector4 & Vector4::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Vector4::getX( ) const +{ + return mX; +} + +inline Vector4 & Vector4::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Vector4::getY( ) const +{ + return mY; +} + +inline Vector4 & Vector4::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Vector4::getZ( ) const +{ + return mZ; +} + +inline Vector4 & Vector4::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Vector4::getW( ) const +{ + return mW; +} + +inline Vector4 & Vector4::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Vector4::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Vector4::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Vector4::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector4 Vector4::operator +( const Vector4 & vec ) const +{ + return Vector4( + ( mX + vec.mX ), + ( mY + vec.mY ), + ( mZ + vec.mZ ), + ( mW + vec.mW ) + ); +} + +inline const Vector4 Vector4::operator -( const Vector4 & vec ) const +{ + return Vector4( + ( mX - vec.mX ), + ( mY - vec.mY ), + ( mZ - vec.mZ ), + ( mW - vec.mW ) + ); +} + +inline const Vector4 Vector4::operator *( float scalar ) const +{ + return Vector4( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Vector4 & Vector4::operator +=( const Vector4 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Vector4 & Vector4::operator -=( const Vector4 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Vector4 Vector4::operator /( float scalar ) const +{ + return Vector4( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Vector4 Vector4::operator -( ) const +{ + return Vector4( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Vector4 operator *( float scalar, const Vector4 & vec ) +{ + return vec * scalar; +} + +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() * vec1.getX() ), + ( vec0.getY() * vec1.getY() ), + ( vec0.getZ() * vec1.getZ() ), + ( vec0.getW() * vec1.getW() ) + ); +} + +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec0.getX() / vec1.getX() ), + ( vec0.getY() / vec1.getY() ), + ( vec0.getZ() / vec1.getZ() ), + ( vec0.getW() / vec1.getW() ) + ); +} + +inline const Vector4 recipPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / vec.getX() ), + ( 1.0f / vec.getY() ), + ( 1.0f / vec.getZ() ), + ( 1.0f / vec.getW() ) + ); +} + +inline const Vector4 sqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + sqrtf( vec.getX() ), + sqrtf( vec.getY() ), + sqrtf( vec.getZ() ), + sqrtf( vec.getW() ) + ); +} + +inline const Vector4 rsqrtPerElem( const Vector4 & vec ) +{ + return Vector4( + ( 1.0f / sqrtf( vec.getX() ) ), + ( 1.0f / sqrtf( vec.getY() ) ), + ( 1.0f / sqrtf( vec.getZ() ) ), + ( 1.0f / sqrtf( vec.getW() ) ) + ); +} + +inline const Vector4 absPerElem( const Vector4 & vec ) +{ + return Vector4( + fabsf( vec.getX() ), + fabsf( vec.getY() ), + fabsf( vec.getZ() ), + fabsf( vec.getW() ) + ); +} + +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + ( vec1.getX() < 0.0f )? -fabsf( vec0.getX() ) : fabsf( vec0.getX() ), + ( vec1.getY() < 0.0f )? -fabsf( vec0.getY() ) : fabsf( vec0.getY() ), + ( vec1.getZ() < 0.0f )? -fabsf( vec0.getZ() ) : fabsf( vec0.getZ() ), + ( vec1.getW() < 0.0f )? -fabsf( vec0.getW() ) : fabsf( vec0.getW() ) + ); +} + +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() > vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() > vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() > vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() > vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float maxElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() > vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() > result)? vec.getZ() : result; + result = (vec.getW() > result)? vec.getW() : result; + return result; +} + +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ) +{ + return Vector4( + (vec0.getX() < vec1.getX())? vec0.getX() : vec1.getX(), + (vec0.getY() < vec1.getY())? vec0.getY() : vec1.getY(), + (vec0.getZ() < vec1.getZ())? vec0.getZ() : vec1.getZ(), + (vec0.getW() < vec1.getW())? vec0.getW() : vec1.getW() + ); +} + +inline float minElem( const Vector4 & vec ) +{ + float result; + result = (vec.getX() < vec.getY())? vec.getX() : vec.getY(); + result = (vec.getZ() < result)? vec.getZ() : result; + result = (vec.getW() < result)? vec.getW() : result; + return result; +} + +inline float sum( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() + vec.getY() ); + result = ( result + vec.getZ() ); + result = ( result + vec.getW() ); + return result; +} + +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ) +{ + float result; + result = ( vec0.getX() * vec1.getX() ); + result = ( result + ( vec0.getY() * vec1.getY() ) ); + result = ( result + ( vec0.getZ() * vec1.getZ() ) ); + result = ( result + ( vec0.getW() * vec1.getW() ) ); + return result; +} + +inline float lengthSqr( const Vector4 & vec ) +{ + float result; + result = ( vec.getX() * vec.getX() ); + result = ( result + ( vec.getY() * vec.getY() ) ); + result = ( result + ( vec.getZ() * vec.getZ() ) ); + result = ( result + ( vec.getW() * vec.getW() ) ); + return result; +} + +inline float length( const Vector4 & vec ) +{ + return ::sqrtf( lengthSqr( vec ) ); +} + +inline const Vector4 normalize( const Vector4 & vec ) +{ + float lenSqr, lenInv; + lenSqr = lengthSqr( vec ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Vector4( + ( vec.getX() * lenInv ), + ( vec.getY() * lenInv ), + ( vec.getZ() * lenInv ), + ( vec.getW() * lenInv ) + ); +} + +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ) +{ + return Vector4( + ( select1 )? vec1.getX() : vec0.getX(), + ( select1 )? vec1.getY() : vec0.getY(), + ( select1 )? vec1.getZ() : vec0.getZ(), + ( select1 )? vec1.getW() : vec0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Vector4 & vec ) +{ + printf( "( %f %f %f %f )\n", vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +inline void print( const Vector4 & vec, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, vec.getX(), vec.getY(), vec.getZ(), vec.getW() ); +} + +#endif + +inline Point3::Point3( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; +} + +inline Point3::Point3( float _x, float _y, float _z ) +{ + mX = _x; + mY = _y; + mZ = _z; +} + +inline Point3::Point3( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); +} + +inline Point3::Point3( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; +} + +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +inline void loadXYZ( Point3 & pnt, const float * fptr ) +{ + pnt = Point3( fptr[0], fptr[1], fptr[2] ); +} + +inline void storeXYZ( const Point3 & pnt, float * fptr ) +{ + fptr[0] = pnt.getX(); + fptr[1] = pnt.getY(); + fptr[2] = pnt.getZ(); +} + +inline void loadHalfFloats( Point3 & vec, const unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + unsigned short fp16 = hfptr[i]; + unsigned int sign = fp16 >> 15; + unsigned int exponent = (fp16 >> 10) & ((1 << 5) - 1); + unsigned int mantissa = fp16 & ((1 << 10) - 1); + + if (exponent == 0) { + // zero + mantissa = 0; + + } else if (exponent == 31) { + // infinity or nan -> infinity + exponent = 255; + mantissa = 0; + + } else { + exponent += 127 - 15; + mantissa <<= 13; + } + + Data32 d; + d.u32 = (sign << 31) | (exponent << 23) | mantissa; + vec[i] = d.f32; + } +} + +inline void storeHalfFloats( const Point3 & vec, unsigned short * hfptr ) +{ + union Data32 { + unsigned int u32; + float f32; + }; + + for (int i = 0; i < 3; i++) { + Data32 d; + d.f32 = vec[i]; + + unsigned int sign = d.u32 >> 31; + unsigned int exponent = (d.u32 >> 23) & ((1 << 8) - 1); + unsigned int mantissa = d.u32 & ((1 << 23) - 1);; + + if (exponent == 0) { + // zero or denorm -> zero + mantissa = 0; + + } else if (exponent == 255 && mantissa != 0) { + // nan -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent >= 127 - 15 + 31) { + // overflow or infinity -> infinity + exponent = 31; + mantissa = 0; + + } else if (exponent <= 127 - 15) { + // underflow -> zero + exponent = 0; + mantissa = 0; + + } else { + exponent -= 127 - 15; + mantissa >>= 13; + } + + hfptr[i] = (unsigned short)((sign << 15) | (exponent << 10) | mantissa); + } +} + +inline Point3 & Point3::operator =( const Point3 & pnt ) +{ + mX = pnt.mX; + mY = pnt.mY; + mZ = pnt.mZ; + return *this; +} + +inline Point3 & Point3::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Point3::getX( ) const +{ + return mX; +} + +inline Point3 & Point3::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Point3::getY( ) const +{ + return mY; +} + +inline Point3 & Point3::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Point3::getZ( ) const +{ + return mZ; +} + +inline Point3 & Point3::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Point3::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Point3::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Point3::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Vector3 Point3::operator -( const Point3 & pnt ) const +{ + return Vector3( + ( mX - pnt.mX ), + ( mY - pnt.mY ), + ( mZ - pnt.mZ ) + ); +} + +inline const Point3 Point3::operator +( const Vector3 & vec ) const +{ + return Point3( + ( mX + vec.getX() ), + ( mY + vec.getY() ), + ( mZ + vec.getZ() ) + ); +} + +inline const Point3 Point3::operator -( const Vector3 & vec ) const +{ + return Point3( + ( mX - vec.getX() ), + ( mY - vec.getY() ), + ( mZ - vec.getZ() ) + ); +} + +inline Point3 & Point3::operator +=( const Vector3 & vec ) +{ + *this = *this + vec; + return *this; +} + +inline Point3 & Point3::operator -=( const Vector3 & vec ) +{ + *this = *this - vec; + return *this; +} + +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() * pnt1.getX() ), + ( pnt0.getY() * pnt1.getY() ), + ( pnt0.getZ() * pnt1.getZ() ) + ); +} + +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt0.getX() / pnt1.getX() ), + ( pnt0.getY() / pnt1.getY() ), + ( pnt0.getZ() / pnt1.getZ() ) + ); +} + +inline const Point3 recipPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / pnt.getX() ), + ( 1.0f / pnt.getY() ), + ( 1.0f / pnt.getZ() ) + ); +} + +inline const Point3 sqrtPerElem( const Point3 & pnt ) +{ + return Point3( + sqrtf( pnt.getX() ), + sqrtf( pnt.getY() ), + sqrtf( pnt.getZ() ) + ); +} + +inline const Point3 rsqrtPerElem( const Point3 & pnt ) +{ + return Point3( + ( 1.0f / sqrtf( pnt.getX() ) ), + ( 1.0f / sqrtf( pnt.getY() ) ), + ( 1.0f / sqrtf( pnt.getZ() ) ) + ); +} + +inline const Point3 absPerElem( const Point3 & pnt ) +{ + return Point3( + fabsf( pnt.getX() ), + fabsf( pnt.getY() ), + fabsf( pnt.getZ() ) + ); +} + +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + ( pnt1.getX() < 0.0f )? -fabsf( pnt0.getX() ) : fabsf( pnt0.getX() ), + ( pnt1.getY() < 0.0f )? -fabsf( pnt0.getY() ) : fabsf( pnt0.getY() ), + ( pnt1.getZ() < 0.0f )? -fabsf( pnt0.getZ() ) : fabsf( pnt0.getZ() ) + ); +} + +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() > pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() > pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() > pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float maxElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() > pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() > result)? pnt.getZ() : result; + return result; +} + +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return Point3( + (pnt0.getX() < pnt1.getX())? pnt0.getX() : pnt1.getX(), + (pnt0.getY() < pnt1.getY())? pnt0.getY() : pnt1.getY(), + (pnt0.getZ() < pnt1.getZ())? pnt0.getZ() : pnt1.getZ() + ); +} + +inline float minElem( const Point3 & pnt ) +{ + float result; + result = (pnt.getX() < pnt.getY())? pnt.getX() : pnt.getY(); + result = (pnt.getZ() < result)? pnt.getZ() : result; + return result; +} + +inline float sum( const Point3 & pnt ) +{ + float result; + result = ( pnt.getX() + pnt.getY() ); + result = ( result + pnt.getZ() ); + return result; +} + +inline const Point3 scale( const Point3 & pnt, float scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +inline float projection( const Point3 & pnt, const Vector3 & unitVec ) +{ + float result; + result = ( pnt.getX() * unitVec.getX() ); + result = ( result + ( pnt.getY() * unitVec.getY() ) ); + result = ( result + ( pnt.getZ() * unitVec.getZ() ) ); + return result; +} + +inline float distSqrFromOrigin( const Point3 & pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +inline float distFromOrigin( const Point3 & pnt ) +{ + return length( Vector3( pnt ) ); +} + +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ) +{ + return Point3( + ( select1 )? pnt1.getX() : pnt0.getX(), + ( select1 )? pnt1.getY() : pnt0.getY(), + ( select1 )? pnt1.getZ() : pnt0.getZ() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Point3 & pnt ) +{ + printf( "( %f %f %f )\n", pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +inline void print( const Point3 & pnt, const char * name ) +{ + printf( "%s: ( %f %f %f )\n", name, pnt.getX(), pnt.getY(), pnt.getZ() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/scalar/vectormath_aos.h b/Code/Physics/src/vectormath/scalar/vectormath_aos.h new file mode 100644 index 00000000..d00456df --- /dev/null +++ b/Code/Physics/src/vectormath/scalar/vectormath_aos.h @@ -0,0 +1,1872 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +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 _VECTORMATH_AOS_CPP_H +#define _VECTORMATH_AOS_CPP_H + +#include + +#ifdef _VECTORMATH_DEBUG +#include +#endif + +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Vector3( ) { }; + + // Copy a 3-D vector + // + inline Vector3( const Vector3 & vec ); + + // Construct a 3-D vector from x, y, and z elements + // + inline Vector3( float x, float y, float z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit inline Vector3( const Point3 & pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit inline Vector3( float scalar ); + + // Assign one 3-D vector to another + // + inline Vector3 & operator =( const Vector3 & vec ); + + // Set the x element of a 3-D vector + // + inline Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + inline Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + inline Vector3 & setZ( float z ); + + // Get the x element of a 3-D vector + // + inline float getX( ) const; + + // Get the y element of a 3-D vector + // + inline float getY( ) const; + + // Get the z element of a 3-D vector + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + inline Vector3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 3-D vectors + // + inline const Vector3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + inline const Vector3 operator -( const Vector3 & vec ) const; + + // Add a 3-D vector to a 3-D point + // + inline const Point3 operator +( const Point3 & pnt ) const; + + // Multiply a 3-D vector by a scalar + // + inline const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + inline const Vector3 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Vector3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Vector3 & operator -=( const Vector3 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector3 & operator /=( float scalar ); + + // Negate all elements of a 3-D vector + // + inline const Vector3 operator -( ) const; + + // Construct x axis + // + static inline const Vector3 xAxis( ); + + // Construct y axis + // + static inline const Vector3 yAxis( ); + + // Construct z axis + // + static inline const Vector3 zAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 3-D vector by a scalar +// +inline const Vector3 operator *( float scalar, const Vector3 & vec ); + +// Multiply two 3-D vectors per element +// +inline const Vector3 mulPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector3 divPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector3 recipPerElem( const Vector3 & vec ); + +// Compute the square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector3 sqrtPerElem( const Vector3 & vec ); + +// Compute the reciprocal square root of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector3 rsqrtPerElem( const Vector3 & vec ); + +// Compute the absolute value of a 3-D vector per element +// +inline const Vector3 absPerElem( const Vector3 & vec ); + +// Copy sign from one 3-D vector to another, per element +// +inline const Vector3 copySignPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum of two 3-D vectors per element +// +inline const Vector3 maxPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Minimum of two 3-D vectors per element +// +inline const Vector3 minPerElem( const Vector3 & vec0, const Vector3 & vec1 ); + +// Maximum element of a 3-D vector +// +inline float maxElem( const Vector3 & vec ); + +// Minimum element of a 3-D vector +// +inline float minElem( const Vector3 & vec ); + +// Compute the sum of all elements of a 3-D vector +// +inline float sum( const Vector3 & vec ); + +// Compute the dot product of two 3-D vectors +// +inline float dot( const Vector3 & vec0, const Vector3 & vec1 ); + +// Compute the square of the length of a 3-D vector +// +inline float lengthSqr( const Vector3 & vec ); + +// Compute the length of a 3-D vector +// +inline float length( const Vector3 & vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector3 normalize( const Vector3 & vec ); + +// Compute cross product of two 3-D vectors +// +inline const Vector3 cross( const Vector3 & vec0, const Vector3 & vec1 ); + +// Outer product of two 3-D vectors +// +inline const Matrix3 outer( const Vector3 & vec0, const Vector3 & vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// +inline const Vector3 rowMul( const Vector3 & vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +inline const Matrix3 crossMatrix( const Vector3 & vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +inline const Matrix3 crossMatrixMul( const Vector3 & vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector3 lerp( float t, const Vector3 & vec0, const Vector3 & vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector3 slerp( float t, const Vector3 & unitVec0, const Vector3 & unitVec1 ); + +// Conditionally select between two 3-D vectors +// +inline const Vector3 select( const Vector3 & vec0, const Vector3 & vec1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Vector3 & vec, const float * fptr ); + +// Store x, y, and z elements of a 3-D vector in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Vector3 & vec, float * fptr ); + +// Load three-half-floats as a 3-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector3 & vec, const unsigned short * hfptr ); + +// Store a 3-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector3 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector3 & vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Vector4( ) { }; + + // Copy a 4-D vector + // + inline Vector4( const Vector4 & vec ); + + // Construct a 4-D vector from x, y, z, and w elements + // + inline Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + inline Vector4( const Vector3 & xyz, float w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit inline Vector4( const Vector3 & vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit inline Vector4( const Point3 & pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit inline Vector4( const Quat & quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit inline Vector4( float scalar ); + + // Assign one 4-D vector to another + // + inline Vector4 & operator =( const Vector4 & vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + inline Vector4 & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a 4-D vector + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + inline Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + inline Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + inline Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + inline Vector4 & setW( float w ); + + // Get the x element of a 4-D vector + // + inline float getX( ) const; + + // Get the y element of a 4-D vector + // + inline float getY( ) const; + + // Get the z element of a 4-D vector + // + inline float getZ( ) const; + + // Get the w element of a 4-D vector + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + inline Vector4 & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two 4-D vectors + // + inline const Vector4 operator +( const Vector4 & vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + inline const Vector4 operator -( const Vector4 & vec ) const; + + // Multiply a 4-D vector by a scalar + // + inline const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + inline const Vector4 operator /( float scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + inline Vector4 & operator +=( const Vector4 & vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + inline Vector4 & operator -=( const Vector4 & vec ); + + // Perform compound assignment and multiplication by a scalar + // + inline Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Vector4 & operator /=( float scalar ); + + // Negate all elements of a 4-D vector + // + inline const Vector4 operator -( ) const; + + // Construct x axis + // + static inline const Vector4 xAxis( ); + + // Construct y axis + // + static inline const Vector4 yAxis( ); + + // Construct z axis + // + static inline const Vector4 zAxis( ); + + // Construct w axis + // + static inline const Vector4 wAxis( ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a 4-D vector by a scalar +// +inline const Vector4 operator *( float scalar, const Vector4 & vec ); + +// Multiply two 4-D vectors per element +// +inline const Vector4 mulPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Vector4 divPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Vector4 recipPerElem( const Vector4 & vec ); + +// Compute the square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Vector4 sqrtPerElem( const Vector4 & vec ); + +// Compute the reciprocal square root of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Vector4 rsqrtPerElem( const Vector4 & vec ); + +// Compute the absolute value of a 4-D vector per element +// +inline const Vector4 absPerElem( const Vector4 & vec ); + +// Copy sign from one 4-D vector to another, per element +// +inline const Vector4 copySignPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum of two 4-D vectors per element +// +inline const Vector4 maxPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Minimum of two 4-D vectors per element +// +inline const Vector4 minPerElem( const Vector4 & vec0, const Vector4 & vec1 ); + +// Maximum element of a 4-D vector +// +inline float maxElem( const Vector4 & vec ); + +// Minimum element of a 4-D vector +// +inline float minElem( const Vector4 & vec ); + +// Compute the sum of all elements of a 4-D vector +// +inline float sum( const Vector4 & vec ); + +// Compute the dot product of two 4-D vectors +// +inline float dot( const Vector4 & vec0, const Vector4 & vec1 ); + +// Compute the square of the length of a 4-D vector +// +inline float lengthSqr( const Vector4 & vec ); + +// Compute the length of a 4-D vector +// +inline float length( const Vector4 & vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +inline const Vector4 normalize( const Vector4 & vec ); + +// Outer product of two 4-D vectors +// +inline const Matrix4 outer( const Vector4 & vec0, const Vector4 & vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Vector4 lerp( float t, const Vector4 & vec0, const Vector4 & vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +inline const Vector4 slerp( float t, const Vector4 & unitVec0, const Vector4 & unitVec1 ); + +// Conditionally select between two 4-D vectors +// +inline const Vector4 select( const Vector4 & vec0, const Vector4 & vec1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Vector4 & vec, const float * fptr ); + +// Store x, y, z, and w elements of a 4-D vector in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Vector4 & vec, float * fptr ); + +// Load four-half-floats as a 4-D vector +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Vector4 & vec, const unsigned short * hfptr ); + +// Store a 4-D vector as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Vector4 & vec, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Vector4 & vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + float mX; + float mY; + float mZ; +#ifndef __GNUC__ + float d; +#endif + +public: + // Default constructor; does no initialization + // + inline Point3( ) { }; + + // Copy a 3-D point + // + inline Point3( const Point3 & pnt ); + + // Construct a 3-D point from x, y, and z elements + // + inline Point3( float x, float y, float z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit inline Point3( const Vector3 & vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit inline Point3( float scalar ); + + // Assign one 3-D point to another + // + inline Point3 & operator =( const Point3 & pnt ); + + // Set the x element of a 3-D point + // + inline Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + inline Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + inline Point3 & setZ( float z ); + + // Get the x element of a 3-D point + // + inline float getX( ) const; + + // Get the y element of a 3-D point + // + inline float getY( ) const; + + // Get the z element of a 3-D point + // + inline float getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + inline Point3 & setElem( int idx, float value ); + + // Get an x, y, or z element of a 3-D point by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + inline const Vector3 operator -( const Point3 & pnt ) const; + + // Add a 3-D point to a 3-D vector + // + inline const Point3 operator +( const Vector3 & vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + inline const Point3 operator -( const Vector3 & vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + inline Point3 & operator +=( const Vector3 & vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + inline Point3 & operator -=( const Vector3 & vec ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply two 3-D points per element +// +inline const Point3 mulPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +inline const Point3 divPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +inline const Point3 recipPerElem( const Point3 & pnt ); + +// Compute the square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function sqrtf4. +// +inline const Point3 sqrtPerElem( const Point3 & pnt ); + +// Compute the reciprocal square root of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function rsqrtf4. +// +inline const Point3 rsqrtPerElem( const Point3 & pnt ); + +// Compute the absolute value of a 3-D point per element +// +inline const Point3 absPerElem( const Point3 & pnt ); + +// Copy sign from one 3-D point to another, per element +// +inline const Point3 copySignPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum of two 3-D points per element +// +inline const Point3 maxPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Minimum of two 3-D points per element +// +inline const Point3 minPerElem( const Point3 & pnt0, const Point3 & pnt1 ); + +// Maximum element of a 3-D point +// +inline float maxElem( const Point3 & pnt ); + +// Minimum element of a 3-D point +// +inline float minElem( const Point3 & pnt ); + +// Compute the sum of all elements of a 3-D point +// +inline float sum( const Point3 & pnt ); + +// Apply uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, float scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +inline const Point3 scale( const Point3 & pnt, const Vector3 & scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +inline float projection( const Point3 & pnt, const Vector3 & unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +inline float distSqrFromOrigin( const Point3 & pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +inline float distFromOrigin( const Point3 & pnt ); + +// Compute the square of the distance between two 3-D points +// +inline float distSqr( const Point3 & pnt0, const Point3 & pnt1 ); + +// Compute the distance between two 3-D points +// +inline float dist( const Point3 & pnt0, const Point3 & pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Point3 lerp( float t, const Point3 & pnt0, const Point3 & pnt1 ); + +// Conditionally select between two 3-D points +// +inline const Point3 select( const Point3 & pnt0, const Point3 & pnt1, bool select1 ); + +// Load x, y, and z elements from the first three words of a float array. +// +// +inline void loadXYZ( Point3 & pnt, const float * fptr ); + +// Store x, y, and z elements of a 3-D point in the first three words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZ( const Point3 & pnt, float * fptr ); + +// Load three-half-floats as a 3-D point +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. +// +inline void loadHalfFloats( Point3 & pnt, const unsigned short * hfptr ); + +// Store a 3-D point as half-floats. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// NOTE: +// This transformation does not support either denormalized numbers or NaNs. Memory area of previous 16 bytes and next 32 bytes from hfptr might be accessed. +// +inline void storeHalfFloats( const Point3 & pnt, unsigned short * hfptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Point3 & pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + float mX; + float mY; + float mZ; + float mW; + +public: + // Default constructor; does no initialization + // + inline Quat( ) { }; + + // Copy a quaternion + // + inline Quat( const Quat & quat ); + + // Construct a quaternion from x, y, z, and w elements + // + inline Quat( float x, float y, float z, float w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + inline Quat( const Vector3 & xyz, float w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit inline Quat( const Vector4 & vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit inline Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit inline Quat( float scalar ); + + // Assign one quaternion to another + // + inline Quat & operator =( const Quat & quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + inline Quat & setXYZ( const Vector3 & vec ); + + // Get the x, y, and z elements of a quaternion + // + inline const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + inline Quat & setX( float x ); + + // Set the y element of a quaternion + // + inline Quat & setY( float y ); + + // Set the z element of a quaternion + // + inline Quat & setZ( float z ); + + // Set the w element of a quaternion + // + inline Quat & setW( float w ); + + // Get the x element of a quaternion + // + inline float getX( ) const; + + // Get the y element of a quaternion + // + inline float getY( ) const; + + // Get the z element of a quaternion + // + inline float getZ( ) const; + + // Get the w element of a quaternion + // + inline float getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + inline Quat & setElem( int idx, float value ); + + // Get an x, y, z, or w element of a quaternion by index + // + inline float getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + inline float & operator []( int idx ); + + // Subscripting operator to get an element + // + inline float operator []( int idx ) const; + + // Add two quaternions + // + inline const Quat operator +( const Quat & quat ) const; + + // Subtract a quaternion from another quaternion + // + inline const Quat operator -( const Quat & quat ) const; + + // Multiply two quaternions + // + inline const Quat operator *( const Quat & quat ) const; + + // Multiply a quaternion by a scalar + // + inline const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + inline const Quat operator /( float scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + inline Quat & operator +=( const Quat & quat ); + + // Perform compound assignment and subtraction by a quaternion + // + inline Quat & operator -=( const Quat & quat ); + + // Perform compound assignment and multiplication by a quaternion + // + inline Quat & operator *=( const Quat & quat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + inline Quat & operator /=( float scalar ); + + // Negate all elements of a quaternion + // + inline const Quat operator -( ) const; + + // Construct an identity quaternion + // + static inline const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static inline const Quat rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static inline const Quat rotation( float radians, const Vector3 & unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static inline const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static inline const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static inline const Quat rotationZ( float radians ); + +} +#ifdef __GNUC__ +__attribute__ ((aligned(16))) +#endif +; + +// Multiply a quaternion by a scalar +// +inline const Quat operator *( float scalar, const Quat & quat ); + +// Compute the conjugate of a quaternion +// +inline const Quat conj( const Quat & quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +inline const Vector3 rotate( const Quat & unitQuat, const Vector3 & vec ); + +// Compute the dot product of two quaternions +// +inline float dot( const Quat & quat0, const Quat & quat1 ); + +// Compute the norm of a quaternion +// +inline float norm( const Quat & quat ); + +// Compute the length of a quaternion +// +inline float length( const Quat & quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +inline const Quat normalize( const Quat & quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ); + +// Spherical quadrangle interpolation +// +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ); + +// Conditionally select between two quaternions +// +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ); + +// Load x, y, z, and w elements from the first four words of a float array. +// +// +inline void loadXYZW( Quat & quat, const float * fptr ); + +// Store x, y, z, and w elements of a quaternion in the first four words of a float array. +// Memory area of previous 16 bytes and next 32 bytes from fptr might be accessed +// +inline void storeXYZW( const Quat & quat, float * fptr ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Quat & quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + inline Matrix3( ) { }; + + // Copy a 3x3 matrix + // + inline Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + inline Matrix3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit inline Matrix3( const Quat & unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit inline Matrix3( float scalar ); + + // Assign one 3x3 matrix to another + // + inline Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + inline Matrix3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x3 matrix + // + inline Matrix3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x3 matrix + // + inline Matrix3 & setCol2( const Vector3 & col2 ); + + // Get column 0 of a 3x3 matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + inline const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + inline Matrix3 & setRow( int row, const Vector3 & vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + inline const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + inline Matrix3 & setElem( int col, int row, float val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + inline const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + inline const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + inline const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + inline const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply two 3x3 matrices + // + inline const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + inline Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + inline Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + inline Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static inline const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static inline const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static inline const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static inline const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static inline const Matrix3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix3 rotation( const Quat & unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static inline const Matrix3 scale( const Vector3 & scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +inline const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 appendScale( const Matrix3 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix3 prependScale( const Vector3 & scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +inline const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +inline const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +inline const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +inline float determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// +inline const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + inline Matrix4( ) { }; + + // Copy a 4x4 matrix + // + inline Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + inline Matrix4( const Vector4 & col0, const Vector4 & col1, const Vector4 & col2, const Vector4 & col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit inline Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + inline Matrix4( const Matrix3 & mat, const Vector3 & translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + inline Matrix4( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit inline Matrix4( float scalar ); + + // Assign one 4x4 matrix to another + // + inline Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + inline Matrix4 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 4x4 matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + inline Matrix4 & setCol0( const Vector4 & col0 ); + + // Set column 1 of a 4x4 matrix + // + inline Matrix4 & setCol1( const Vector4 & col1 ); + + // Set column 2 of a 4x4 matrix + // + inline Matrix4 & setCol2( const Vector4 & col2 ); + + // Set column 3 of a 4x4 matrix + // + inline Matrix4 & setCol3( const Vector4 & col3 ); + + // Get column 0 of a 4x4 matrix + // + inline const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + inline const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + inline const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + inline const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setCol( int col, const Vector4 & vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + inline Matrix4 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + inline Matrix4 & setElem( int col, int row, float val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + inline const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + inline const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + inline const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + inline const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + inline const Vector4 operator *( const Vector4 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + inline const Vector4 operator *( const Vector3 & vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + inline const Vector4 operator *( const Point3 & pnt ) const; + + // Multiply two 4x4 matrices + // + inline const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + inline const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + inline Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + inline Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + inline Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + inline Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static inline const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static inline const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static inline const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static inline const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static inline const Matrix4 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static inline const Matrix4 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Matrix4 rotation( const Quat & unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static inline const Matrix4 scale( const Vector3 & scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static inline const Matrix4 translation( const Vector3 & translateVec ); + + // Construct viewing matrix based on eye position, position looked at, and up direction + // + static inline const Matrix4 lookAt( const Point3 & eyePos, const Point3 & lookAtPos, const Vector3 & upVec ); + + // Construct a perspective projection matrix + // + static inline const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static inline const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static inline const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +inline const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 appendScale( const Matrix4 & mat, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Matrix4 prependScale( const Vector3 & scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +inline const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +inline const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +inline const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +inline const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +inline const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +inline float determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// +inline const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + inline Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + inline Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + inline Transform3( const Vector3 & col0, const Vector3 & col1, const Vector3 & col2, const Vector3 & col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + inline Transform3( const Matrix3 & tfrm, const Vector3 & translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + inline Transform3( const Quat & unitQuat, const Vector3 & translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit inline Transform3( float scalar ); + + // Assign one 3x4 transformation matrix to another + // + inline Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + inline Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + inline const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + inline Transform3 & setTranslation( const Vector3 & translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + inline const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + inline Transform3 & setCol0( const Vector3 & col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + inline Transform3 & setCol1( const Vector3 & col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + inline Transform3 & setCol2( const Vector3 & col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + inline Transform3 & setCol3( const Vector3 & col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + inline const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + inline const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + inline const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + inline const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setCol( int col, const Vector3 & vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + inline Transform3 & setRow( int row, const Vector4 & vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + inline const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + inline Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + inline const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + inline Transform3 & setElem( int col, int row, float val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + inline float getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + inline const Vector3 operator *( const Vector3 & vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + inline const Point3 operator *( const Point3 & pnt ) const; + + // Multiply two 3x4 transformation matrices + // + inline const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + inline Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static inline const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static inline const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static inline const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static inline const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static inline const Transform3 rotationZYX( const Vector3 & radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static inline const Transform3 rotation( float radians, const Vector3 & unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static inline const Transform3 rotation( const Quat & unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static inline const Transform3 scale( const Vector3 & scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static inline const Transform3 translation( const Vector3 & translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 appendScale( const Transform3 & tfrm, const Vector3 & scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +inline const Transform3 prependScale( const Vector3 & scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +inline const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +inline const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +inline const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +inline const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// +inline const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +inline void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Code/Physics/src/vectormath/sse/boolInVec.h b/Code/Physics/src/vectormath/sse/boolInVec.h new file mode 100644 index 00000000..d21d25cb --- /dev/null +++ b/Code/Physics/src/vectormath/sse/boolInVec.h @@ -0,0 +1,247 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _BOOLINVEC_H +#define _BOOLINVEC_H + +#include + +namespace Vectormath { + +class floatInVec; + +//-------------------------------------------------------------------------------------------------- +// boolInVec class +// + +class boolInVec +{ + private: + __m128 mData; + + inline boolInVec(__m128 vec); + public: + inline boolInVec() {} + + // matches standard type conversions + // + inline boolInVec(const floatInVec &vec); + + // explicit cast from bool + // + explicit inline boolInVec(bool scalar); + +#ifdef _VECTORMATH_NO_SCALAR_CAST + // explicit cast to bool + // + inline bool getAsBool() const; +#else + // implicit cast to bool + // + inline operator bool() const; +#endif + + // get vector data + // bool value is splatted across all word slots of vector as 0 (false) or -1 (true) + // + inline __m128 get128() const; + + // operators + // + inline const boolInVec operator ! () const; + inline boolInVec& operator = (const boolInVec &vec); + inline boolInVec& operator &= (const boolInVec &vec); + inline boolInVec& operator ^= (const boolInVec &vec); + inline boolInVec& operator |= (const boolInVec &vec); + + // friend functions + // + friend inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1); + friend inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1); + friend inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1); +}; + +//-------------------------------------------------------------------------------------------------- +// boolInVec functions +// + +// operators +// +inline const boolInVec operator == (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator != (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator & (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator ^ (const boolInVec &vec0, const boolInVec &vec1); +inline const boolInVec operator | (const boolInVec &vec0, const boolInVec &vec1); + +// select between vec0 and vec1 using boolInVec. +// false selects vec0, true selects vec1 +// +inline const boolInVec select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1); + +} // namespace Vectormath + +//-------------------------------------------------------------------------------------------------- +// boolInVec implementation +// + +#include "floatInVec.h" + +namespace Vectormath { + +inline +boolInVec::boolInVec(__m128 vec) +{ + mData = vec; +} + +inline +boolInVec::boolInVec(const floatInVec &vec) +{ + *this = (vec != floatInVec(0.0f)); +} + +inline +boolInVec::boolInVec(bool scalar) +{ + unsigned int mask = -(int)scalar; + mData = _mm_set1_ps(*(float *)&mask); // TODO: Union +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +bool +boolInVec::getAsBool() const +#else +inline +boolInVec::operator bool() const +#endif +{ + return *(bool *)&mData; +} + +inline +__m128 +boolInVec::get128() const +{ + return mData; +} + +inline +const boolInVec +boolInVec::operator ! () const +{ + return boolInVec(_mm_andnot_ps(mData, _mm_cmpneq_ps(_mm_setzero_ps(),_mm_setzero_ps()))); +} + +inline +boolInVec& +boolInVec::operator = (const boolInVec &vec) +{ + mData = vec.mData; + return *this; +} + +inline +boolInVec& +boolInVec::operator &= (const boolInVec &vec) +{ + *this = *this & vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator ^= (const boolInVec &vec) +{ + *this = *this ^ vec; + return *this; +} + +inline +boolInVec& +boolInVec::operator |= (const boolInVec &vec) +{ + *this = *this | vec; + return *this; +} + +inline +const boolInVec +operator == (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator != (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator & (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_and_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator | (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_or_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator ^ (const boolInVec &vec0, const boolInVec &vec1) +{ + return boolInVec(_mm_xor_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +select(const boolInVec &vec0, const boolInVec &vec1, const boolInVec &select_vec1) +{ + return boolInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // boolInVec_h diff --git a/Code/Physics/src/vectormath/sse/floatInVec.h b/Code/Physics/src/vectormath/sse/floatInVec.h new file mode 100644 index 00000000..e8ac5959 --- /dev/null +++ b/Code/Physics/src/vectormath/sse/floatInVec.h @@ -0,0 +1,340 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _FLOATINVEC_H +#define _FLOATINVEC_H + +#include +#include + +namespace Vectormath { + +class boolInVec; + +//-------------------------------------------------------------------------------------------------- +// floatInVec class +// + +class floatInVec +{ + private: + __m128 mData; + + public: + inline floatInVec(__m128 vec); + + inline floatInVec() {} + + // matches standard type conversions + // + inline floatInVec(const boolInVec &vec); + + // construct from a slot of __m128 + // + inline floatInVec(__m128 vec, int slot); + + // explicit cast from float + // + explicit inline floatInVec(float scalar); + +#ifdef _VECTORMATH_NO_SCALAR_CAST + // explicit cast to float + // + inline float getAsFloat() const; +#else + // implicit cast to float + // + inline operator float() const; +#endif + + // get vector data + // float value is splatted across all word slots of vector + // + inline __m128 get128() const; + + // operators + // + inline const floatInVec operator ++ (int); + inline const floatInVec operator -- (int); + inline floatInVec& operator ++ (); + inline floatInVec& operator -- (); + inline const floatInVec operator - () const; + inline floatInVec& operator = (const floatInVec &vec); + inline floatInVec& operator *= (const floatInVec &vec); + inline floatInVec& operator /= (const floatInVec &vec); + inline floatInVec& operator += (const floatInVec &vec); + inline floatInVec& operator -= (const floatInVec &vec); + + // friend functions + // + friend inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1); + friend inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, boolInVec select_vec1); +}; + +//-------------------------------------------------------------------------------------------------- +// floatInVec functions +// + +// operators +// +inline const floatInVec operator * (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator / (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator + (const floatInVec &vec0, const floatInVec &vec1); +inline const floatInVec operator - (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator < (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator <= (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator > (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator >= (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator == (const floatInVec &vec0, const floatInVec &vec1); +inline const boolInVec operator != (const floatInVec &vec0, const floatInVec &vec1); + +// select between vec0 and vec1 using boolInVec. +// false selects vec0, true selects vec1 +// +inline const floatInVec select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1); + +} // namespace Vectormath + +//-------------------------------------------------------------------------------------------------- +// floatInVec implementation +// + +#include "boolInVec.h" + +namespace Vectormath { + +inline +floatInVec::floatInVec(__m128 vec) +{ + mData = vec; +} + +inline +floatInVec::floatInVec(const boolInVec &vec) +{ + mData = vec_sel(_mm_setzero_ps(), _mm_set1_ps(1.0f), vec.get128()); +} + +inline +floatInVec::floatInVec(__m128 vec, int slot) +{ + SSEFloat v; + v.m128 = vec; + mData = _mm_set1_ps(v.f[slot]); +} + +inline +floatInVec::floatInVec(float scalar) +{ + mData = _mm_set1_ps(scalar); +} + +#ifdef _VECTORMATH_NO_SCALAR_CAST +inline +float +floatInVec::getAsFloat() const +#else +inline +floatInVec::operator float() const +#endif +{ + return *((float *)&mData); +} + +inline +__m128 +floatInVec::get128() const +{ + return mData; +} + +inline +const floatInVec +floatInVec::operator ++ (int) +{ + __m128 olddata = mData; + operator ++(); + return floatInVec(olddata); +} + +inline +const floatInVec +floatInVec::operator -- (int) +{ + __m128 olddata = mData; + operator --(); + return floatInVec(olddata); +} + +inline +floatInVec& +floatInVec::operator ++ () +{ + *this += floatInVec(_mm_set1_ps(1.0f)); + return *this; +} + +inline +floatInVec& +floatInVec::operator -- () +{ + *this -= floatInVec(_mm_set1_ps(1.0f)); + return *this; +} + +inline +const floatInVec +floatInVec::operator - () const +{ + return floatInVec(_mm_sub_ps(_mm_setzero_ps(), mData)); +} + +inline +floatInVec& +floatInVec::operator = (const floatInVec &vec) +{ + mData = vec.mData; + return *this; +} + +inline +floatInVec& +floatInVec::operator *= (const floatInVec &vec) +{ + *this = *this * vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator /= (const floatInVec &vec) +{ + *this = *this / vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator += (const floatInVec &vec) +{ + *this = *this + vec; + return *this; +} + +inline +floatInVec& +floatInVec::operator -= (const floatInVec &vec) +{ + *this = *this - vec; + return *this; +} + +inline +const floatInVec +operator * (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_mul_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +operator / (const floatInVec &num, const floatInVec &den) +{ + return floatInVec(_mm_div_ps(num.get128(), den.get128())); +} + +inline +const floatInVec +operator + (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_add_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +operator - (const floatInVec &vec0, const floatInVec &vec1) +{ + return floatInVec(_mm_sub_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator < (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpgt_ps(vec1.get128(), vec0.get128())); +} + +inline +const boolInVec +operator <= (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpge_ps(vec1.get128(), vec0.get128())); +} + +inline +const boolInVec +operator > (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpgt_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator >= (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpge_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator == (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpeq_ps(vec0.get128(), vec1.get128())); +} + +inline +const boolInVec +operator != (const floatInVec &vec0, const floatInVec &vec1) +{ + return boolInVec(_mm_cmpneq_ps(vec0.get128(), vec1.get128())); +} + +inline +const floatInVec +select(const floatInVec &vec0, const floatInVec &vec1, const boolInVec &select_vec1) +{ + return floatInVec(vec_sel(vec0.get128(), vec1.get128(), select_vec1.get128())); +} + +} // namespace Vectormath + +#endif // floatInVec_h diff --git a/Code/Physics/src/vectormath/sse/mat_aos.h b/Code/Physics/src/vectormath/sse/mat_aos.h new file mode 100644 index 00000000..a2c66cc5 --- /dev/null +++ b/Code/Physics/src/vectormath/sse/mat_aos.h @@ -0,0 +1,2190 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_MAT_AOS_CPP_H +#define _VECTORMATH_MAT_AOS_CPP_H + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// Constants +// for shuffles, words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_ZBWX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XCYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_C, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XYAB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_ZWCD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W, _VECTORMATH_PERM_C, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XZBX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_B, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_CXXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YAXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XAZC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_YXWZ ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W, _VECTORMATH_PERM_Z }) +#define _VECTORMATH_PERM_YBWD ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_B, _VECTORMATH_PERM_W, _VECTORMATH_PERM_D }) +#define _VECTORMATH_PERM_XYCX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_YCXY ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y }) +#define _VECTORMATH_PERM_CXYC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_C, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_ZAYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_BZXX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PERM_XZYA ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A }) +#define _VECTORMATH_PERM_ZXXB ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_B }) +#define _VECTORMATH_PERM_YXXC ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X, _VECTORMATH_PERM_X, _VECTORMATH_PERM_C }) +#define _VECTORMATH_PERM_BBYX ((vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_B, _VECTORMATH_PERM_B, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_X }) +#define _VECTORMATH_PI_OVER_2 1.570796327f + +//----------------------------------------------------------------------------- +// Definitions + +VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; +} + +VECTORMATH_FORCE_INLINE Matrix3::Matrix3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const floatInVec &scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); +} + +VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Quat &unitQuat ) +{ + __m128 xyzw_2, wwww, yzxw, zxyw, yzxw_2, zxyw_2; + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, tmp5; + VM_ATTRIBUTE_ALIGN16 unsigned int sx[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int sz[4] = {0, 0, 0xffffffff, 0}; + __m128 select_x = _mm_load_ps((float *)sx); + __m128 select_z = _mm_load_ps((float *)sz); + + xyzw_2 = _mm_add_ps( unitQuat.get128(), unitQuat.get128() ); + wwww = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,3,3,3) ); + yzxw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,0,2,1) ); + zxyw = _mm_shuffle_ps( unitQuat.get128(), unitQuat.get128(), _MM_SHUFFLE(3,1,0,2) ); + yzxw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,0,2,1) ); + zxyw_2 = _mm_shuffle_ps( xyzw_2, xyzw_2, _MM_SHUFFLE(3,1,0,2) ); + + tmp0 = _mm_mul_ps( yzxw_2, wwww ); // tmp0 = 2yw, 2zw, 2xw, 2w2 + tmp1 = _mm_sub_ps( _mm_set1_ps(1.0f), _mm_mul_ps(yzxw, yzxw_2) ); // tmp1 = 1 - 2y2, 1 - 2z2, 1 - 2x2, 1 - 2w2 + tmp2 = _mm_mul_ps( yzxw, xyzw_2 ); // tmp2 = 2xy, 2yz, 2xz, 2w2 + tmp0 = _mm_add_ps( _mm_mul_ps(zxyw, xyzw_2), tmp0 ); // tmp0 = 2yw + 2zx, 2zw + 2xy, 2xw + 2yz, 2w2 + 2w2 + tmp1 = _mm_sub_ps( tmp1, _mm_mul_ps(zxyw, zxyw_2) ); // tmp1 = 1 - 2y2 - 2z2, 1 - 2z2 - 2x2, 1 - 2x2 - 2y2, 1 - 2w2 - 2w2 + tmp2 = _mm_sub_ps( tmp2, _mm_mul_ps(zxyw_2, wwww) ); // tmp2 = 2xy - 2zw, 2yz - 2xw, 2xz - 2yw, 2w2 -2w2 + + tmp3 = vec_sel( tmp0, tmp1, select_x ); + tmp4 = vec_sel( tmp1, tmp2, select_x ); + tmp5 = vec_sel( tmp2, tmp0, select_x ); + mCol0 = Vector3( vec_sel( tmp3, tmp2, select_z ) ); + mCol1 = Vector3( vec_sel( tmp4, tmp0, select_z ) ); + mCol2 = Vector3( vec_sel( tmp5, tmp1, select_z ) ); +} + +VECTORMATH_FORCE_INLINE Matrix3::Matrix3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol0( const Vector3 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol1( const Vector3 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol2( const Vector3 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setCol( int col, const Vector3 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setRow( int row, const Vector3 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::setElem( int col, int row, const floatInVec &val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Matrix3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol0( ) const +{ + return mCol0; +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol1( ) const +{ + return mCol1; +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol2( ) const +{ + return mCol2; +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::getRow( int row ) const +{ + return Vector3( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ) ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Matrix3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator =( const Matrix3 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 transpose( const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, res0, res1, res2; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + res0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + //res1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + res1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + res1 = vec_sel(res1, mat.getCol1().get128(), select_y); + //res2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + res2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + res2 = vec_sel(res2, vec_splat(mat.getCol1().get128(), 2), select_y); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 inverse( const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet, inv0, inv1, inv2; + tmp2 = _vmathVfCross( mat.getCol0().get128(), mat.getCol1().get128() ); + tmp0 = _vmathVfCross( mat.getCol1().get128(), mat.getCol2().get128() ); + tmp1 = _vmathVfCross( mat.getCol2().get128(), mat.getCol0().get128() ); + dot = _vmathVfDot3( tmp2, mat.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + //inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tmp1, select_y); + //inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y); + inv0 = vec_mul( inv0, invdet ); + inv1 = vec_mul( inv1, invdet ); + inv2 = vec_mul( inv2, invdet ); + return Matrix3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ) + ); +} + +VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix3 & mat ) +{ + return dot( mat.getCol2(), cross( mat.getCol0(), mat.getCol1() ) ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator +( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator -( const Matrix3 & mat ) const +{ + return Matrix3( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator +=( const Matrix3 & mat ) +{ + *this = *this + mat; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator -=( const Matrix3 & mat ) +{ + *this = *this - mat; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator -( ) const +{ + return Matrix3( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 absPerElem( const Matrix3 & mat ) +{ + return Matrix3( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( const floatInVec &scalar ) const +{ + return Matrix3( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar, const Matrix3 & mat ) +{ + return floatInVec(scalar) * mat; +} + +VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat ) +{ + return mat * scalar; +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix3::operator *( const Vector3 &vec ) const +{ + __m128 res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_mul( mCol0.get128(), xxxx ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::operator *( const Matrix3 & mat ) const +{ + return Matrix3( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix3 & Matrix3::operator *=( const Matrix3 & mat ) +{ + *this = *this * mat; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ) +{ + return Matrix3( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::identity( ) +{ + return Matrix3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Matrix3( + Vector3( vec_mul( Z0, Y0 ) ), + Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( _mm_set1_ps(1.0f), c ); + axisS = vec_mul( axis, s ); + negAxisS = negatef4( axisS ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) ); + tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z); + //tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x ); + //tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) ); + tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y); + tmp0 = vec_sel( tmp0, c, select_x ); + tmp1 = vec_sel( tmp1, c, select_y ); + tmp2 = vec_sel( tmp2, c, select_z ); + return Matrix3( + Vector3( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector3( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector3( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::rotation( const Quat &unitQuat ) +{ + return Matrix3( unitQuat ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix3::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Matrix3( + Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_z ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec ) +{ + return Matrix3( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat ) +{ + return Matrix3( + mulPerElem( mat.getCol0(), scaleVec ), + mulPerElem( mat.getCol1(), scaleVec ), + mulPerElem( mat.getCol2(), scaleVec ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 ) +{ + return Matrix3( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); +} + +VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( float scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const floatInVec &scalar ) +{ + mCol0 = Vector4( scalar ); + mCol1 = Vector4( scalar ); + mCol2 = Vector4( scalar ); + mCol3 = Vector4( scalar ); +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Transform3 & mat ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( mat.getCol3(), 1.0f ); +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Vector4 &_col0, const Vector4 &_col1, const Vector4 &_col2, const Vector4 &_col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Matrix3 & mat, const Vector3 &translateVec ) +{ + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +VECTORMATH_FORCE_INLINE Matrix4::Matrix4( const Quat &unitQuat, const Vector3 &translateVec ) +{ + Matrix3 mat; + mat = Matrix3( unitQuat ); + mCol0 = Vector4( mat.getCol0(), 0.0f ); + mCol1 = Vector4( mat.getCol1(), 0.0f ); + mCol2 = Vector4( mat.getCol2(), 0.0f ); + mCol3 = Vector4( translateVec, 1.0f ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol0( const Vector4 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol1( const Vector4 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol2( const Vector4 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol3( const Vector4 &_col3 ) +{ + mCol3 = _col3; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setCol( int col, const Vector4 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setRow( int row, const Vector4 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setElem( int col, int row, const floatInVec &val ) +{ + Vector4 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Matrix4::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol0( ) const +{ + return mCol0; +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol1( ) const +{ + return mCol1; +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol2( ) const +{ + return mCol2; +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol3( ) const +{ + return mCol3; +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Matrix4::operator []( int col ) +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator =( const Matrix4 & mat ) +{ + mCol0 = mat.mCol0; + mCol1 = mat.mCol1; + mCol2 = mat.mCol2; + mCol3 = mat.mCol3; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix4 transpose( const Matrix4 & mat ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, res0, res1, res2, res3; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergeh( mat.getCol1().get128(), mat.getCol3().get128() ); + tmp2 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp3 = vec_mergel( mat.getCol1().get128(), mat.getCol3().get128() ); + res0 = vec_mergeh( tmp0, tmp1 ); + res1 = vec_mergel( tmp0, tmp1 ); + res2 = vec_mergeh( tmp2, tmp3 ); + res3 = vec_mergel( tmp2, tmp3 ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4( res2 ), + Vector4( res3 ) + ); +} + +// TODO: Tidy +static VM_ATTRIBUTE_ALIGN16 const unsigned int _vmathPNPN[4] = {0x00000000, 0x80000000, 0x00000000, 0x80000000}; +static VM_ATTRIBUTE_ALIGN16 const unsigned int _vmathNPNP[4] = {0x80000000, 0x00000000, 0x80000000, 0x00000000}; +static VM_ATTRIBUTE_ALIGN16 const float _vmathZERONE[4] = {1.0f, 0.0f, 0.0f, 1.0f}; + +VECTORMATH_FORCE_INLINE const Matrix4 inverse( const Matrix4 & mat ) +{ + __m128 Va,Vb,Vc; + __m128 r1,r2,r3,tt,tt2; + __m128 sum,Det,RDet; + __m128 trns0,trns1,trns2,trns3; + + __m128 _L1 = mat.getCol0().get128(); + __m128 _L2 = mat.getCol1().get128(); + __m128 _L3 = mat.getCol2().get128(); + __m128 _L4 = mat.getCol3().get128(); + // Calculating the minterms for the first line. + + // _mm_ror_ps is just a macro using _mm_shuffle_ps(). + tt = _L4; tt2 = _mm_ror_ps(_L3,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3'dot V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3'dot V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3' dot V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3" dot V4^ - V3^ dot V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^ dot V4' - V3' dot V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3' dot V4" - V3" dot V4' + + tt = _L2; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,_L1); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + const __m128 Sign_PNPN = _mm_load_ps((float *)_vmathPNPN); + const __m128 Sign_NPNP = _mm_load_ps((float *)_vmathNPNP); + + __m128 mtL1 = _mm_xor_ps(sum,Sign_PNPN); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL2 = _mm_xor_ps(sum,Sign_NPNP); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + + // Calculating the minterms of the third line. + tt = _mm_ror_ps(_L1,1); + Va = _mm_mul_ps(tt,Vb); // V1' dot V2" + Vb = _mm_mul_ps(tt,Vc); // V1' dot V2^ + Vc = _mm_mul_ps(tt,_L2); // V1' dot V2 + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V1" dot V2^ - V1^ dot V2" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V1^ dot V2' - V1' dot V2^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V1' dot V2" - V1" dot V2' + + tt = _mm_ror_ps(_L4,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL3 = _mm_xor_ps(sum,Sign_PNPN); + + // Dividing is FASTER than rcp_nr! (Because rcp_nr causes many register-memory RWs). + RDet = _mm_div_ss(_mm_load_ss((float *)&_vmathZERONE), Det); // TODO: just 1.0f? + RDet = _mm_shuffle_ps(RDet,RDet,0x00); + + // Devide the first 12 minterms with the determinant. + mtL1 = _mm_mul_ps(mtL1, RDet); + mtL2 = _mm_mul_ps(mtL2, RDet); + mtL3 = _mm_mul_ps(mtL3, RDet); + + // Calculate the minterms of the forth line and devide by the determinant. + tt = _mm_ror_ps(_L3,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + __m128 mtL4 = _mm_xor_ps(sum,Sign_NPNP); + mtL4 = _mm_mul_ps(mtL4, RDet); + + // Now we just have to transpose the minterms matrix. + trns0 = _mm_unpacklo_ps(mtL1,mtL2); + trns1 = _mm_unpacklo_ps(mtL3,mtL4); + trns2 = _mm_unpackhi_ps(mtL1,mtL2); + trns3 = _mm_unpackhi_ps(mtL3,mtL4); + _L1 = _mm_movelh_ps(trns0,trns1); + _L2 = _mm_movehl_ps(trns1,trns0); + _L3 = _mm_movelh_ps(trns2,trns3); + _L4 = _mm_movehl_ps(trns3,trns2); + + return Matrix4( + Vector4( _L1 ), + Vector4( _L2 ), + Vector4( _L3 ), + Vector4( _L4 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 affineInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( inverse( affineMat ) ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 orthoInverse( const Matrix4 & mat ) +{ + Transform3 affineMat; + affineMat.setCol0( mat.getCol0().getXYZ( ) ); + affineMat.setCol1( mat.getCol1().getXYZ( ) ); + affineMat.setCol2( mat.getCol2().getXYZ( ) ); + affineMat.setCol3( mat.getCol3().getXYZ( ) ); + return Matrix4( orthoInverse( affineMat ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix4 & mat ) +{ + __m128 Va,Vb,Vc; + __m128 r1,r2,r3,tt,tt2; + __m128 sum,Det; + + __m128 _L1 = mat.getCol0().get128(); + __m128 _L2 = mat.getCol1().get128(); + __m128 _L3 = mat.getCol2().get128(); + __m128 _L4 = mat.getCol3().get128(); + // Calculating the minterms for the first line. + + // _mm_ror_ps is just a macro using _mm_shuffle_ps(). + tt = _L4; tt2 = _mm_ror_ps(_L3,1); + Vc = _mm_mul_ps(tt2,_mm_ror_ps(tt,0)); // V3' dot V4 + Va = _mm_mul_ps(tt2,_mm_ror_ps(tt,2)); // V3' dot V4" + Vb = _mm_mul_ps(tt2,_mm_ror_ps(tt,3)); // V3' dot V4^ + + r1 = _mm_sub_ps(_mm_ror_ps(Va,1),_mm_ror_ps(Vc,2)); // V3" dot V4^ - V3^ dot V4" + r2 = _mm_sub_ps(_mm_ror_ps(Vb,2),_mm_ror_ps(Vb,0)); // V3^ dot V4' - V3' dot V4^ + r3 = _mm_sub_ps(_mm_ror_ps(Va,0),_mm_ror_ps(Vc,1)); // V3' dot V4" - V3" dot V4' + + tt = _L2; + Va = _mm_ror_ps(tt,1); sum = _mm_mul_ps(Va,r1); + Vb = _mm_ror_ps(tt,2); sum = _mm_add_ps(sum,_mm_mul_ps(Vb,r2)); + Vc = _mm_ror_ps(tt,3); sum = _mm_add_ps(sum,_mm_mul_ps(Vc,r3)); + + // Calculating the determinant. + Det = _mm_mul_ps(sum,_L1); + Det = _mm_add_ps(Det,_mm_movehl_ps(Det,Det)); + + // Calculating the minterms of the second line (using previous results). + tt = _mm_ror_ps(_L1,1); sum = _mm_mul_ps(tt,r1); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r2)); + tt = _mm_ror_ps(tt,1); sum = _mm_add_ps(sum,_mm_mul_ps(tt,r3)); + + // Testing the determinant. + Det = _mm_sub_ss(Det,_mm_shuffle_ps(Det,Det,1)); + return floatInVec(Det, 0); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator +( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 + mat.mCol0 ), + ( mCol1 + mat.mCol1 ), + ( mCol2 + mat.mCol2 ), + ( mCol3 + mat.mCol3 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator -( const Matrix4 & mat ) const +{ + return Matrix4( + ( mCol0 - mat.mCol0 ), + ( mCol1 - mat.mCol1 ), + ( mCol2 - mat.mCol2 ), + ( mCol3 - mat.mCol3 ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator +=( const Matrix4 & mat ) +{ + *this = *this + mat; + return *this; +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator -=( const Matrix4 & mat ) +{ + *this = *this - mat; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator -( ) const +{ + return Matrix4( + ( -mCol0 ), + ( -mCol1 ), + ( -mCol2 ), + ( -mCol3 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 absPerElem( const Matrix4 & mat ) +{ + return Matrix4( + absPerElem( mat.getCol0() ), + absPerElem( mat.getCol1() ), + absPerElem( mat.getCol2() ), + absPerElem( mat.getCol3() ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const floatInVec &scalar ) const +{ + return Matrix4( + ( mCol0 * scalar ), + ( mCol1 * scalar ), + ( mCol2 * scalar ), + ( mCol3 * scalar ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar, const Matrix4 & mat ) +{ + return floatInVec(scalar) * mat; +} + +VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat ) +{ + return mat * scalar; +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Vector4 &vec ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2))), _mm_mul_ps(mCol3.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(3,3,3,3))))) + ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Vector3 &vec ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(vec.get128(), vec.get128(), _MM_SHUFFLE(2,2,2,2)))) + ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Matrix4::operator *( const Point3 &pnt ) const +{ + return Vector4( + _mm_add_ps( + _mm_add_ps(_mm_mul_ps(mCol0.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(0,0,0,0))), _mm_mul_ps(mCol1.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(1,1,1,1)))), + _mm_add_ps(_mm_mul_ps(mCol2.get128(), _mm_shuffle_ps(pnt.get128(), pnt.get128(), _MM_SHUFFLE(2,2,2,2))), mCol3.get128())) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const Matrix4 & mat ) const +{ + return Matrix4( + ( *this * mat.mCol0 ), + ( *this * mat.mCol1 ), + ( *this * mat.mCol2 ), + ( *this * mat.mCol3 ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const Matrix4 & mat ) +{ + *this = *this * mat; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::operator *( const Transform3 & tfrm ) const +{ + return Matrix4( + ( *this * tfrm.getCol0() ), + ( *this * tfrm.getCol1() ), + ( *this * tfrm.getCol2() ), + ( *this * Point3( tfrm.getCol3() ) ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ) +{ + return Matrix4( + mulPerElem( mat0.getCol0(), mat1.getCol0() ), + mulPerElem( mat0.getCol1(), mat1.getCol1() ), + mulPerElem( mat0.getCol2(), mat1.getCol2() ), + mulPerElem( mat0.getCol3(), mat1.getCol3() ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::identity( ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setUpper3x3( const Matrix3 & mat3 ) +{ + mCol0.setXYZ( mat3.getCol0() ); + mCol1.setXYZ( mat3.getCol1() ); + mCol2.setXYZ( mat3.getCol2() ); + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 Matrix4::getUpper3x3( ) const +{ + return Matrix3( + mCol0.getXYZ( ), + mCol1.getXYZ( ), + mCol2.getXYZ( ) + ); +} + +VECTORMATH_FORCE_INLINE Matrix4 & Matrix4::setTranslation( const Vector3 &translateVec ) +{ + mCol3.setXYZ( translateVec ); + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Matrix4::getTranslation( ) const +{ + return mCol3.getXYZ( ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4::xAxis( ), + Vector4( res1 ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Matrix4( + Vector4( res0 ), + Vector4::yAxis( ), + Vector4( res2 ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Matrix4( + Vector4( res0 ), + Vector4( res1 ), + Vector4::zAxis( ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Matrix4( + Vector4( vec_mul( Z0, Y0 ) ), + Vector4( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector4( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 axis, s, c, oneMinusC, axisS, negAxisS, xxxx, yyyy, zzzz, tmp0, tmp1, tmp2; + axis = unitVec.get128(); + sincosf4( radians.get128(), &s, &c ); + xxxx = vec_splat( axis, 0 ); + yyyy = vec_splat( axis, 1 ); + zzzz = vec_splat( axis, 2 ); + oneMinusC = vec_sub( _mm_set1_ps(1.0f), c ); + axisS = vec_mul( axis, s ); + negAxisS = negatef4( axisS ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //tmp0 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_XZBX ); + tmp0 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,2,0) ); + tmp0 = vec_sel(tmp0, vec_splat(negAxisS, 1), select_z); + //tmp1 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_CXXX ); + tmp1 = vec_sel( vec_splat(axisS, 0), vec_splat(negAxisS, 2), select_x ); + //tmp2 = vec_perm( axisS, negAxisS, _VECTORMATH_PERM_YAXX ); + tmp2 = _mm_shuffle_ps( axisS, axisS, _MM_SHUFFLE(0,0,0,1) ); + tmp2 = vec_sel(tmp2, vec_splat(negAxisS, 0), select_y); + tmp0 = vec_sel( tmp0, c, select_x ); + tmp1 = vec_sel( tmp1, c, select_y ); + tmp2 = vec_sel( tmp2, c, select_z ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + axis = vec_and( axis, _mm_load_ps( (float *)select_xyz ) ); + tmp0 = vec_and( tmp0, _mm_load_ps( (float *)select_xyz ) ); + tmp1 = vec_and( tmp1, _mm_load_ps( (float *)select_xyz ) ); + tmp2 = vec_and( tmp2, _mm_load_ps( (float *)select_xyz ) ); + return Matrix4( + Vector4( vec_madd( vec_mul( axis, xxxx ), oneMinusC, tmp0 ) ), + Vector4( vec_madd( vec_mul( axis, yyyy ), oneMinusC, tmp1 ) ), + Vector4( vec_madd( vec_mul( axis, zzzz ), oneMinusC, tmp2 ) ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::rotation( const Quat &unitQuat ) +{ + return Matrix4( Transform3::rotation( unitQuat ) ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Matrix4( + Vector4( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector4( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector4( vec_sel( zero, scaleVec.get128(), select_z ) ), + Vector4::wAxis( ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec ) +{ + return Matrix4( + ( mat.getCol0() * scaleVec.getX( ) ), + ( mat.getCol1() * scaleVec.getY( ) ), + ( mat.getCol2() * scaleVec.getZ( ) ), + mat.getCol3() + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat ) +{ + Vector4 scale4; + scale4 = Vector4( scaleVec, 1.0f ); + return Matrix4( + mulPerElem( mat.getCol0(), scale4 ), + mulPerElem( mat.getCol1(), scale4 ), + mulPerElem( mat.getCol2(), scale4 ), + mulPerElem( mat.getCol3(), scale4 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::translation( const Vector3 &translateVec ) +{ + return Matrix4( + Vector4::xAxis( ), + Vector4::yAxis( ), + Vector4::zAxis( ), + Vector4( translateVec, 1.0f ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec ) +{ + Matrix4 m4EyeFrame; + Vector3 v3X, v3Y, v3Z; + v3Y = normalize( upVec ); + v3Z = normalize( ( eyePos - lookAtPos ) ); + v3X = normalize( cross( v3Y, v3Z ) ); + v3Y = cross( v3Z, v3X ); + m4EyeFrame = Matrix4( Vector4( v3X ), Vector4( v3Y ), Vector4( v3Z ), Vector4( eyePos ) ); + return orthoInverse( m4EyeFrame ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::perspective( float fovyRadians, float aspect, float zNear, float zFar ) +{ + float f, rangeInv; + __m128 zero, col0, col1, col2, col3; + union { __m128 v; float s[4]; } tmp; + f = tanf( _VECTORMATH_PI_OVER_2 - fovyRadians * 0.5f ); + rangeInv = 1.0f / ( zNear - zFar ); + zero = _mm_setzero_ps(); + tmp.v = zero; + tmp.s[0] = f / aspect; + col0 = tmp.v; + tmp.v = zero; + tmp.s[1] = f; + col1 = tmp.v; + tmp.v = zero; + tmp.s[2] = ( zNear + zFar ) * rangeInv; + tmp.s[3] = -1.0f; + col2 = tmp.v; + tmp.v = zero; + tmp.s[2] = zNear * zFar * rangeInv * 2.0f; + col3 = tmp.v; + return Matrix4( + Vector4( col0 ), + Vector4( col1 ), + Vector4( col2 ), + Vector4( col3 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::frustum( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + __m128 lbf, rtn; + __m128 diff, sum, inv_diff; + __m128 diagonal, column, near2; + __m128 zero = _mm_setzero_ps(); + union { __m128 v; float s[4]; } l, f, r, n, b, t; // TODO: Union? + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + near2 = vec_splat( n.v, 0 ); + near2 = vec_add( near2, near2 ); + diagonal = vec_mul( near2, inv_diff ); + column = vec_mul( sum, inv_diff ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + return Matrix4( + Vector4( vec_sel( zero, diagonal, select_x ) ), + Vector4( vec_sel( zero, diagonal, select_y ) ), + Vector4( vec_sel( column, _mm_set1_ps(-1.0f), select_w ) ), + Vector4( vec_sel( zero, vec_mul( diagonal, vec_splat( f.v, 0 ) ), select_z ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 Matrix4::orthographic( float left, float right, float bottom, float top, float zNear, float zFar ) +{ + /* function implementation based on code from STIDC SDK: */ + /* -------------------------------------------------------------- */ + /* PLEASE DO NOT MODIFY THIS SECTION */ + /* This prolog section is automatically generated. */ + /* */ + /* (C)Copyright */ + /* Sony Computer Entertainment, Inc., */ + /* Toshiba Corporation, */ + /* International Business Machines Corporation, */ + /* 2001,2002. */ + /* S/T/I Confidential Information */ + /* -------------------------------------------------------------- */ + __m128 lbf, rtn; + __m128 diff, sum, inv_diff, neg_inv_diff; + __m128 diagonal, column; + __m128 zero = _mm_setzero_ps(); + union { __m128 v; float s[4]; } l, f, r, n, b, t; + l.s[0] = left; + f.s[0] = zFar; + r.s[0] = right; + n.s[0] = zNear; + b.s[0] = bottom; + t.s[0] = top; + lbf = vec_mergeh( l.v, f.v ); + rtn = vec_mergeh( r.v, n.v ); + lbf = vec_mergeh( lbf, b.v ); + rtn = vec_mergeh( rtn, t.v ); + diff = vec_sub( rtn, lbf ); + sum = vec_add( rtn, lbf ); + inv_diff = recipf4( diff ); + neg_inv_diff = negatef4( inv_diff ); + diagonal = vec_add( inv_diff, inv_diff ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + column = vec_mul( sum, vec_sel( neg_inv_diff, inv_diff, select_z ) ); // TODO: no madds with zero + return Matrix4( + Vector4( vec_sel( zero, diagonal, select_x ) ), + Vector4( vec_sel( zero, diagonal, select_y ) ), + Vector4( vec_sel( zero, diagonal, select_z ) ), + Vector4( vec_sel( column, _mm_set1_ps(1.0f), select_w ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 ) +{ + return Matrix4( + select( mat0.getCol0(), mat1.getCol0(), select1 ), + select( mat0.getCol1(), mat1.getCol1(), select1 ), + select( mat0.getCol2(), mat1.getCol2(), select1 ), + select( mat0.getCol3(), mat1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat ) +{ + print( mat.getRow( 0 ) ); + print( mat.getRow( 1 ) ); + print( mat.getRow( 2 ) ); + print( mat.getRow( 3 ) ); +} + +VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat, const char * name ) +{ + printf("%s:\n", name); + print( mat ); +} + +#endif + +VECTORMATH_FORCE_INLINE Transform3::Transform3( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; +} + +VECTORMATH_FORCE_INLINE Transform3::Transform3( float scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +VECTORMATH_FORCE_INLINE Transform3::Transform3( const floatInVec &scalar ) +{ + mCol0 = Vector3( scalar ); + mCol1 = Vector3( scalar ); + mCol2 = Vector3( scalar ); + mCol3 = Vector3( scalar ); +} + +VECTORMATH_FORCE_INLINE Transform3::Transform3( const Vector3 &_col0, const Vector3 &_col1, const Vector3 &_col2, const Vector3 &_col3 ) +{ + mCol0 = _col0; + mCol1 = _col1; + mCol2 = _col2; + mCol3 = _col3; +} + +VECTORMATH_FORCE_INLINE Transform3::Transform3( const Matrix3 & tfrm, const Vector3 &translateVec ) +{ + this->setUpper3x3( tfrm ); + this->setTranslation( translateVec ); +} + +VECTORMATH_FORCE_INLINE Transform3::Transform3( const Quat &unitQuat, const Vector3 &translateVec ) +{ + this->setUpper3x3( Matrix3( unitQuat ) ); + this->setTranslation( translateVec ); +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol0( const Vector3 &_col0 ) +{ + mCol0 = _col0; + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol1( const Vector3 &_col1 ) +{ + mCol1 = _col1; + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol2( const Vector3 &_col2 ) +{ + mCol2 = _col2; + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol3( const Vector3 &_col3 ) +{ + mCol3 = _col3; + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setCol( int col, const Vector3 &vec ) +{ + *(&mCol0 + col) = vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setRow( int row, const Vector4 &vec ) +{ + mCol0.setElem( row, vec.getElem( 0 ) ); + mCol1.setElem( row, vec.getElem( 1 ) ); + mCol2.setElem( row, vec.getElem( 2 ) ); + mCol3.setElem( row, vec.getElem( 3 ) ); + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setElem( int col, int row, float val ) +{ + (*this)[col].setElem(row, val); + return *this; +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setElem( int col, int row, const floatInVec &val ) +{ + Vector3 tmpV3_0; + tmpV3_0 = this->getCol( col ); + tmpV3_0.setElem( row, val ); + this->setCol( col, tmpV3_0 ); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Transform3::getElem( int col, int row ) const +{ + return this->getCol( col ).getElem( row ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol0( ) const +{ + return mCol0; +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol1( ) const +{ + return mCol1; +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol2( ) const +{ + return mCol2; +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol3( ) const +{ + return mCol3; +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getCol( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector4 Transform3::getRow( int row ) const +{ + return Vector4( mCol0.getElem( row ), mCol1.getElem( row ), mCol2.getElem( row ), mCol3.getElem( row ) ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Transform3::operator []( int col ) +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::operator []( int col ) const +{ + return *(&mCol0 + col); +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::operator =( const Transform3 & tfrm ) +{ + mCol0 = tfrm.mCol0; + mCol1 = tfrm.mCol1; + mCol2 = tfrm.mCol2; + mCol3 = tfrm.mCol3; + return *this; +} + +VECTORMATH_FORCE_INLINE const Transform3 inverse( const Transform3 & tfrm ) +{ + __m128 inv0, inv1, inv2, inv3; + __m128 tmp0, tmp1, tmp2, tmp3, tmp4, dot, invdet; + __m128 xxxx, yyyy, zzzz; + tmp2 = _vmathVfCross( tfrm.getCol0().get128(), tfrm.getCol1().get128() ); + tmp0 = _vmathVfCross( tfrm.getCol1().get128(), tfrm.getCol2().get128() ); + tmp1 = _vmathVfCross( tfrm.getCol2().get128(), tfrm.getCol0().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + dot = _vmathVfDot3( tmp2, tfrm.getCol2().get128() ); + dot = vec_splat( dot, 0 ); + invdet = recipf4( dot ); + tmp3 = vec_mergeh( tmp0, tmp2 ); + tmp4 = vec_mergel( tmp0, tmp2 ); + inv0 = vec_mergeh( tmp3, tmp1 ); + xxxx = vec_splat( inv3, 0 ); + //inv1 = vec_perm( tmp3, tmp1, _VECTORMATH_PERM_ZBWX ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp3, tmp3, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tmp1, select_y); + //inv2 = vec_perm( tmp4, tmp1, _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp4, tmp4, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tmp1, 2), select_y); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_mul( inv0, xxxx ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + inv0 = vec_mul( inv0, invdet ); + inv1 = vec_mul( inv1, invdet ); + inv2 = vec_mul( inv2, invdet ); + inv3 = vec_mul( inv3, invdet ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 orthoInverse( const Transform3 & tfrm ) +{ + __m128 inv0, inv1, inv2, inv3; + __m128 tmp0, tmp1; + __m128 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + tmp1 = vec_mergel( tfrm.getCol0().get128(), tfrm.getCol2().get128() ); + inv3 = negatef4( tfrm.getCol3().get128() ); + inv0 = vec_mergeh( tmp0, tfrm.getCol1().get128() ); + xxxx = vec_splat( inv3, 0 ); + //inv1 = vec_perm( tmp0, tfrm.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + inv1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + inv1 = vec_sel(inv1, tfrm.getCol1().get128(), select_y); + //inv2 = vec_perm( tmp1, tfrm.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + inv2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + inv2 = vec_sel(inv2, vec_splat(tfrm.getCol1().get128(), 2), select_y); + yyyy = vec_splat( inv3, 1 ); + zzzz = vec_splat( inv3, 2 ); + inv3 = vec_mul( inv0, xxxx ); + inv3 = vec_madd( inv1, yyyy, inv3 ); + inv3 = vec_madd( inv2, zzzz, inv3 ); + return Transform3( + Vector3( inv0 ), + Vector3( inv1 ), + Vector3( inv2 ), + Vector3( inv3 ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 absPerElem( const Transform3 & tfrm ) +{ + return Transform3( + absPerElem( tfrm.getCol0() ), + absPerElem( tfrm.getCol1() ), + absPerElem( tfrm.getCol2() ), + absPerElem( tfrm.getCol3() ) + ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::operator *( const Vector3 &vec ) const +{ + __m128 res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( vec.get128(), 0 ); + yyyy = vec_splat( vec.get128(), 1 ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_mul( mCol0.get128(), xxxx ); + res = vec_madd( mCol1.get128(), yyyy, res ); + res = vec_madd( mCol2.get128(), zzzz, res ); + return Vector3( res ); +} + +VECTORMATH_FORCE_INLINE const Point3 Transform3::operator *( const Point3 &pnt ) const +{ + __m128 tmp0, tmp1, res; + __m128 xxxx, yyyy, zzzz; + xxxx = vec_splat( pnt.get128(), 0 ); + yyyy = vec_splat( pnt.get128(), 1 ); + zzzz = vec_splat( pnt.get128(), 2 ); + tmp0 = vec_mul( mCol0.get128(), xxxx ); + tmp1 = vec_mul( mCol1.get128(), yyyy ); + tmp0 = vec_madd( mCol2.get128(), zzzz, tmp0 ); + tmp1 = vec_add( mCol3.get128(), tmp1 ); + res = vec_add( tmp0, tmp1 ); + return Point3( res ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::operator *( const Transform3 & tfrm ) const +{ + return Transform3( + ( *this * tfrm.mCol0 ), + ( *this * tfrm.mCol1 ), + ( *this * tfrm.mCol2 ), + Vector3( ( *this * Point3( tfrm.mCol3 ) ) ) + ); +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::operator *=( const Transform3 & tfrm ) +{ + *this = *this * tfrm; + return *this; +} + +VECTORMATH_FORCE_INLINE const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ) +{ + return Transform3( + mulPerElem( tfrm0.getCol0(), tfrm1.getCol0() ), + mulPerElem( tfrm0.getCol1(), tfrm1.getCol1() ), + mulPerElem( tfrm0.getCol2(), tfrm1.getCol2() ), + mulPerElem( tfrm0.getCol3(), tfrm1.getCol3() ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::identity( ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setUpper3x3( const Matrix3 & tfrm ) +{ + mCol0 = tfrm.getCol0(); + mCol1 = tfrm.getCol1(); + mCol2 = tfrm.getCol2(); + return *this; +} + +VECTORMATH_FORCE_INLINE const Matrix3 Transform3::getUpper3x3( ) const +{ + return Matrix3( mCol0, mCol1, mCol2 ); +} + +VECTORMATH_FORCE_INLINE Transform3 & Transform3::setTranslation( const Vector3 &translateVec ) +{ + mCol3 = translateVec; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Transform3::getTranslation( ) const +{ + return mCol3; +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationX( const floatInVec &radians ) +{ + __m128 s, c, res1, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res1 = vec_sel( zero, c, select_y ); + res1 = vec_sel( res1, s, select_z ); + res2 = vec_sel( zero, negatef4(s), select_y ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3::xAxis( ), + Vector3( res1 ), + Vector3( res2 ), + Vector3( _mm_setzero_ps() ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationY( const floatInVec &radians ) +{ + __m128 s, c, res0, res2; + __m128 zero; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, negatef4(s), select_z ); + res2 = vec_sel( zero, s, select_x ); + res2 = vec_sel( res2, c, select_z ); + return Transform3( + Vector3( res0 ), + Vector3::yAxis( ), + Vector3( res2 ), + Vector3( 0.0f ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, res0, res1; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + __m128 zero = _mm_setzero_ps(); + sincosf4( radians.get128(), &s, &c ); + res0 = vec_sel( zero, c, select_x ); + res0 = vec_sel( res0, s, select_y ); + res1 = vec_sel( zero, negatef4(s), select_x ); + res1 = vec_sel( res1, c, select_y ); + return Transform3( + Vector3( res0 ), + Vector3( res1 ), + Vector3::zAxis( ), + Vector3( 0.0f ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotationZYX( const Vector3 &radiansXYZ ) +{ + __m128 angles, s, negS, c, X0, X1, Y0, Y1, Z0, Z1, tmp; + angles = Vector4( radiansXYZ, 0.0f ).get128(); + sincosf4( angles, &s, &c ); + negS = negatef4( s ); + Z0 = vec_mergel( c, s ); + Z1 = vec_mergel( negS, c ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_xyz[4] = {0xffffffff, 0xffffffff, 0xffffffff, 0}; + Z1 = vec_and( Z1, _mm_load_ps( (float *)select_xyz ) ); + Y0 = _mm_shuffle_ps( c, negS, _MM_SHUFFLE(0,1,1,1) ); + Y1 = _mm_shuffle_ps( s, c, _MM_SHUFFLE(0,1,1,1) ); + X0 = vec_splat( s, 0 ); + X1 = vec_splat( c, 0 ); + tmp = vec_mul( Z0, Y1 ); + return Transform3( + Vector3( vec_mul( Z0, Y0 ) ), + Vector3( vec_madd( Z1, X1, vec_mul( tmp, X0 ) ) ), + Vector3( vec_nmsub( Z1, X0, vec_mul( tmp, X1 ) ) ), + Vector3( 0.0f ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + return Transform3( Matrix3::rotation( radians, unitVec ), Vector3( 0.0f ) ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::rotation( const Quat &unitQuat ) +{ + return Transform3( Matrix3( unitQuat ), Vector3( 0.0f ) ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::scale( const Vector3 &scaleVec ) +{ + __m128 zero = _mm_setzero_ps(); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + return Transform3( + Vector3( vec_sel( zero, scaleVec.get128(), select_x ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_y ) ), + Vector3( vec_sel( zero, scaleVec.get128(), select_z ) ), + Vector3( 0.0f ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec ) +{ + return Transform3( + ( tfrm.getCol0() * scaleVec.getX( ) ), + ( tfrm.getCol1() * scaleVec.getY( ) ), + ( tfrm.getCol2() * scaleVec.getZ( ) ), + tfrm.getCol3() + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm ) +{ + return Transform3( + mulPerElem( tfrm.getCol0(), scaleVec ), + mulPerElem( tfrm.getCol1(), scaleVec ), + mulPerElem( tfrm.getCol2(), scaleVec ), + mulPerElem( tfrm.getCol3(), scaleVec ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 Transform3::translation( const Vector3 &translateVec ) +{ + return Transform3( + Vector3::xAxis( ), + Vector3::yAxis( ), + Vector3::zAxis( ), + translateVec + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 ) +{ + return Transform3( + select( tfrm0.getCol0(), tfrm1.getCol0(), select1 ), + select( tfrm0.getCol1(), tfrm1.getCol1(), select1 ), + select( tfrm0.getCol2(), tfrm1.getCol2(), select1 ), + select( tfrm0.getCol3(), tfrm1.getCol3(), select1 ) + ); +} + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm ) +{ + print( tfrm.getRow( 0 ) ); + print( tfrm.getRow( 1 ) ); + print( tfrm.getRow( 2 ) ); +} + +VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm, const char * name ) +{ + printf("%s:\n", name); + print( tfrm ); +} + +#endif + +VECTORMATH_FORCE_INLINE Quat::Quat( const Matrix3 & tfrm ) +{ + __m128 res; + __m128 col0, col1, col2; + __m128 xx_yy, xx_yy_zz_xx, yy_zz_xx_yy, zz_xx_yy_zz, diagSum, diagDiff; + __m128 zy_xz_yx, yz_zx_xy, sum, diff; + __m128 radicand, invSqrt, scale; + __m128 res0, res1, res2, res3; + __m128 xx, yy, zz; + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_w[4] = {0, 0, 0, 0xffffffff}; + + col0 = tfrm.getCol0().get128(); + col1 = tfrm.getCol1().get128(); + col2 = tfrm.getCol2().get128(); + + /* four cases: */ + /* trace > 0 */ + /* else */ + /* xx largest diagonal element */ + /* yy largest diagonal element */ + /* zz largest diagonal element */ + + /* compute quaternion for each case */ + + xx_yy = vec_sel( col0, col1, select_y ); + //xx_yy_zz_xx = vec_perm( xx_yy, col2, _VECTORMATH_PERM_XYCX ); + //yy_zz_xx_yy = vec_perm( xx_yy, col2, _VECTORMATH_PERM_YCXY ); + //zz_xx_yy_zz = vec_perm( xx_yy, col2, _VECTORMATH_PERM_CXYC ); + xx_yy_zz_xx = _mm_shuffle_ps( xx_yy, xx_yy, _MM_SHUFFLE(0,0,1,0) ); + xx_yy_zz_xx = vec_sel( xx_yy_zz_xx, col2, select_z ); // TODO: Ck + yy_zz_xx_yy = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(1,0,2,1) ); + zz_xx_yy_zz = _mm_shuffle_ps( xx_yy_zz_xx, xx_yy_zz_xx, _MM_SHUFFLE(2,1,0,2) ); + + diagSum = vec_add( vec_add( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + diagDiff = vec_sub( vec_sub( xx_yy_zz_xx, yy_zz_xx_yy ), zz_xx_yy_zz ); + radicand = vec_add( vec_sel( diagDiff, diagSum, select_w ), _mm_set1_ps(1.0f) ); + // invSqrt = rsqrtf4( radicand ); + invSqrt = newtonrapson_rsqrt4( radicand ); + + + + zy_xz_yx = vec_sel( col0, col1, select_z ); // zy_xz_yx = 00 01 12 03 + //zy_xz_yx = vec_perm( zy_xz_yx, col2, _VECTORMATH_PERM_ZAYX ); + zy_xz_yx = _mm_shuffle_ps( zy_xz_yx, zy_xz_yx, _MM_SHUFFLE(0,1,2,2) ); // zy_xz_yx = 12 12 01 00 + zy_xz_yx = vec_sel( zy_xz_yx, vec_splat(col2, 0), select_y ); // zy_xz_yx = 12 20 01 00 + yz_zx_xy = vec_sel( col0, col1, select_x ); // yz_zx_xy = 10 01 02 03 + //yz_zx_xy = vec_perm( yz_zx_xy, col2, _VECTORMATH_PERM_BZXX ); + yz_zx_xy = _mm_shuffle_ps( yz_zx_xy, yz_zx_xy, _MM_SHUFFLE(0,0,2,0) ); // yz_zx_xy = 10 02 10 10 + yz_zx_xy = vec_sel( yz_zx_xy, vec_splat(col2, 1), select_x ); // yz_zx_xy = 21 02 10 10 + + sum = vec_add( zy_xz_yx, yz_zx_xy ); + diff = vec_sub( zy_xz_yx, yz_zx_xy ); + + scale = vec_mul( invSqrt, _mm_set1_ps(0.5f) ); + + //res0 = vec_perm( sum, diff, _VECTORMATH_PERM_XZYA ); + res0 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,1,2,0) ); + res0 = vec_sel( res0, vec_splat(diff, 0), select_w ); // TODO: Ck + //res1 = vec_perm( sum, diff, _VECTORMATH_PERM_ZXXB ); + res1 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,2) ); + res1 = vec_sel( res1, vec_splat(diff, 1), select_w ); // TODO: Ck + //res2 = vec_perm( sum, diff, _VECTORMATH_PERM_YXXC ); + res2 = _mm_shuffle_ps( sum, sum, _MM_SHUFFLE(0,0,0,1) ); + res2 = vec_sel( res2, vec_splat(diff, 2), select_w ); // TODO: Ck + res3 = diff; + res0 = vec_sel( res0, radicand, select_x ); + res1 = vec_sel( res1, radicand, select_y ); + res2 = vec_sel( res2, radicand, select_z ); + res3 = vec_sel( res3, radicand, select_w ); + res0 = vec_mul( res0, vec_splat( scale, 0 ) ); + res1 = vec_mul( res1, vec_splat( scale, 1 ) ); + res2 = vec_mul( res2, vec_splat( scale, 2 ) ); + res3 = vec_mul( res3, vec_splat( scale, 3 ) ); + + /* determine case and select answer */ + + xx = vec_splat( col0, 0 ); + yy = vec_splat( col1, 1 ); + zz = vec_splat( col2, 2 ); + res = vec_sel( res0, res1, vec_cmpgt( yy, xx ) ); + res = vec_sel( res, res2, vec_and( vec_cmpgt( zz, xx ), vec_cmpgt( zz, yy ) ) ); + res = vec_sel( res, res3, vec_cmpgt( vec_splat( diagSum, 0 ), _mm_setzero_ps() ) ); + mVec128 = res; +} + +VECTORMATH_FORCE_INLINE const Matrix3 outer( const Vector3 &tfrm0, const Vector3 &tfrm1 ) +{ + return Matrix3( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix4 outer( const Vector4 &tfrm0, const Vector4 &tfrm1 ) +{ + return Matrix4( + ( tfrm0 * tfrm1.getX( ) ), + ( tfrm0 * tfrm1.getY( ) ), + ( tfrm0 * tfrm1.getZ( ) ), + ( tfrm0 * tfrm1.getW( ) ) + ); +} + +VECTORMATH_FORCE_INLINE const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat ) +{ + __m128 tmp0, tmp1, mcol0, mcol1, mcol2, res; + __m128 xxxx, yyyy, zzzz; + tmp0 = vec_mergeh( mat.getCol0().get128(), mat.getCol2().get128() ); + tmp1 = vec_mergel( mat.getCol0().get128(), mat.getCol2().get128() ); + xxxx = vec_splat( vec.get128(), 0 ); + mcol0 = vec_mergeh( tmp0, mat.getCol1().get128() ); + //mcol1 = vec_perm( tmp0, mat.getCol1().get128(), _VECTORMATH_PERM_ZBWX ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + mcol1 = _mm_shuffle_ps( tmp0, tmp0, _MM_SHUFFLE(0,3,2,2)); + mcol1 = vec_sel(mcol1, mat.getCol1().get128(), select_y); + //mcol2 = vec_perm( tmp1, mat.getCol1().get128(), _VECTORMATH_PERM_XCYX ); + mcol2 = _mm_shuffle_ps( tmp1, tmp1, _MM_SHUFFLE(0,1,1,0)); + mcol2 = vec_sel(mcol2, vec_splat(mat.getCol1().get128(), 2), select_y); + yyyy = vec_splat( vec.get128(), 1 ); + res = vec_mul( mcol0, xxxx ); + zzzz = vec_splat( vec.get128(), 2 ); + res = vec_madd( mcol1, yyyy, res ); + res = vec_madd( mcol2, zzzz, res ); + return Vector3( res ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 crossMatrix( const Vector3 &vec ) +{ + __m128 neg, res0, res1, res2; + neg = negatef4( vec.get128() ); + VM_ATTRIBUTE_ALIGN16 unsigned int select_x[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_y[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int select_z[4] = {0, 0, 0xffffffff, 0}; + //res0 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_XZBX ); + res0 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,2,2,0) ); + res0 = vec_sel(res0, vec_splat(neg, 1), select_z); + //res1 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_CXXX ); + res1 = vec_sel(vec_splat(vec.get128(), 0), vec_splat(neg, 2), select_x); + //res2 = vec_perm( vec.get128(), neg, _VECTORMATH_PERM_YAXX ); + res2 = _mm_shuffle_ps( vec.get128(), vec.get128(), _MM_SHUFFLE(0,0,1,1) ); + res2 = vec_sel(res2, vec_splat(neg, 0), select_y); + VM_ATTRIBUTE_ALIGN16 unsigned int filter_x[4] = {0, 0xffffffff, 0xffffffff, 0xffffffff}; + VM_ATTRIBUTE_ALIGN16 unsigned int filter_y[4] = {0xffffffff, 0, 0xffffffff, 0xffffffff}; + VM_ATTRIBUTE_ALIGN16 unsigned int filter_z[4] = {0xffffffff, 0xffffffff, 0, 0xffffffff}; + res0 = vec_and( res0, _mm_load_ps((float *)filter_x ) ); + res1 = vec_and( res1, _mm_load_ps((float *)filter_y ) ); + res2 = vec_and( res2, _mm_load_ps((float *)filter_z ) ); // TODO: Use selects? + return Matrix3( + Vector3( res0 ), + Vector3( res1 ), + Vector3( res2 ) + ); +} + +VECTORMATH_FORCE_INLINE const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat ) +{ + return Matrix3( cross( vec, mat.getCol0() ), cross( vec, mat.getCol1() ), cross( vec, mat.getCol2() ) ); +} + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/sse/quat_aos.h b/Code/Physics/src/vectormath/sse/quat_aos.h new file mode 100644 index 00000000..7eac59fe --- /dev/null +++ b/Code/Physics/src/vectormath/sse/quat_aos.h @@ -0,0 +1,579 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +VECTORMATH_FORCE_INLINE void Quat::set128(vec_float4 vec) +{ + mVec128 = vec; +} + +VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w ) +{ + mVec128 = _mm_unpacklo_ps( + _mm_unpacklo_ps( _x.get128(), _z.get128() ), + _mm_unpacklo_ps( _y.get128(), _w.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + + + +VECTORMATH_FORCE_INLINE Quat::Quat(const Quat& quat) +{ + mVec128 = quat.get128(); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, _w); +} + + + + + +VECTORMATH_FORCE_INLINE Quat::Quat( const Vector3 &xyz, const floatInVec &_w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( const Vector4 &vec ) +{ + mVec128 = vec.get128(); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +VECTORMATH_FORCE_INLINE Quat::Quat( __m128 vf4 ) +{ + mVec128 = vf4; +} + +VECTORMATH_FORCE_INLINE const Quat Quat::identity( ) +{ + return Quat( _VECTORMATH_UNIT_0001 ); +} + +VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 ) +{ + return lerp( floatInVec(t), quat0, quat1 ); +} + +VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 ) +{ + return slerp( floatInVec(t), unitQuat0, unitQuat1 ); +} + +VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 ) +{ + Quat start; + vec_float4 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + __m128 selectMask; + cosAngle = _vmathVfDot4( unitQuat0.get128(), unitQuat1.get128() ); + selectMask = (__m128)vec_cmpgt( _mm_setzero_ps(), cosAngle ); + cosAngle = vec_sel( cosAngle, negatef4( cosAngle ), selectMask ); + start = Quat( vec_sel( unitQuat0.get128(), negatef4( unitQuat0.get128() ), selectMask ) ); + selectMask = (__m128)vec_cmpgt( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = vec_sub( _mm_set1_ps(1.0f), tttt ); + angles = vec_mergeh( _mm_set1_ps(1.0f), tttt ); + angles = vec_mergeh( angles, oneMinusT ); + angles = vec_madd( angles, angle, _mm_setzero_ps() ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Quat( vec_madd( start.get128(), scale0, vec_mul( unitQuat1.get128(), scale1 ) ) ); +} + +VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ) +{ + return squad( floatInVec(t), unitQuat0, unitQuat1, unitQuat2, unitQuat3 ); +} + +VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ) +{ + return slerp( ( ( floatInVec(2.0f) * t ) * ( floatInVec(1.0f) - t ) ), slerp( t, unitQuat0, unitQuat3 ), slerp( t, unitQuat1, unitQuat2 ) ); +} + +VECTORMATH_FORCE_INLINE __m128 Quat::get128( ) const +{ + return mVec128; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator =( const Quat &quat ) +{ + mVec128 = quat.mVec128; + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setXYZ( const Vector3 &vec ) +{ + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + mVec128 = vec_sel( vec.get128(), mVec128, sw ); + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setW( const floatInVec &_w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE VecIdx Quat::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const floatInVec Quat::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator +( const Quat &quat ) const +{ + return Quat( _mm_add_ps( mVec128, quat.mVec128 ) ); +} + + +VECTORMATH_FORCE_INLINE const Quat Quat::operator -( const Quat &quat ) const +{ + return Quat( _mm_sub_ps( mVec128, quat.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const floatInVec &scalar ) const +{ + return Quat( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator +=( const Quat &quat ) +{ + *this = *this + quat; + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator -=( const Quat &quat ) +{ + *this = *this - quat; + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator /( const floatInVec &scalar ) const +{ + return Quat( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator -( ) const +{ + return Quat(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat ) +{ + return floatInVec(scalar) * quat; +} + +VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat ) +{ + return quat * scalar; +} + +VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 ) +{ + return floatInVec( _vmathVfDot4( quat0.get128(), quat1.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat ) +{ + return floatInVec( _vmathVfDot4( quat.get128(), quat.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot4( quat.get128(), quat.get128() )), 0 ); +} + +VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat ) +{ + vec_float4 dot =_vmathVfDot4( quat.get128(), quat.get128()); + return Quat( _mm_mul_ps( quat.get128(), newtonrapson_rsqrt4( dot ) ) ); +} + + +VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + Vector3 crossVec; + __m128 cosAngle, cosAngleX2Plus2, recipCosHalfAngleX2, cosHalfAngleX2, res; + cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + cosAngleX2Plus2 = vec_madd( cosAngle, _mm_set1_ps(2.0f), _mm_set1_ps(2.0f) ); + recipCosHalfAngleX2 = _mm_rsqrt_ps( cosAngleX2Plus2 ); + cosHalfAngleX2 = vec_mul( recipCosHalfAngleX2, cosAngleX2Plus2 ); + crossVec = cross( unitVec0, unitVec1 ); + res = vec_mul( crossVec.get128(), recipCosHalfAngleX2 ); + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( res, vec_mul( cosHalfAngleX2, _mm_set1_ps(0.5f) ), sw ); + return Quat( res ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotation( float radians, const Vector3 &unitVec ) +{ + return rotation( floatInVec(radians), unitVec ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotation( const floatInVec &radians, const Vector3 &unitVec ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( vec_mul( unitVec.get128(), s ), c, sw ); + return Quat( res ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( float radians ) +{ + return rotationX( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationX( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0xffffffff, 0, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, xsw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( float radians ) +{ + return rotationY( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationY( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + VM_ATTRIBUTE_ALIGN16 unsigned int ysw[4] = {0, 0xffffffff, 0, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, ysw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( float radians ) +{ + return rotationZ( floatInVec(radians) ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::rotationZ( const floatInVec &radians ) +{ + __m128 s, c, angle, res; + angle = vec_mul( radians.get128(), _mm_set1_ps(0.5f) ); + sincosf4( angle, &s, &c ); + VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0, 0, 0xffffffff, 0}; + VM_ATTRIBUTE_ALIGN16 unsigned int wsw[4] = {0, 0, 0, 0xffffffff}; + res = vec_sel( _mm_setzero_ps(), s, zsw ); + res = vec_sel( res, c, wsw ); + return Quat( res ); +} + +VECTORMATH_FORCE_INLINE const Quat Quat::operator *( const Quat &quat ) const +{ + __m128 ldata, rdata, qv, tmp0, tmp1, tmp2, tmp3; + __m128 product, l_wxyz, r_wxyz, xy, qw; + ldata = mVec128; + rdata = quat.mVec128; + tmp0 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( ldata, ldata, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( rdata, rdata, _MM_SHUFFLE(3,0,2,1) ); + qv = vec_mul( vec_splat( ldata, 3 ), rdata ); + qv = vec_madd( vec_splat( rdata, 3 ), ldata, qv ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_mul( ldata, rdata ); + l_wxyz = vec_sld( ldata, ldata, 12 ); + r_wxyz = vec_sld( rdata, rdata, 12 ); + qw = vec_nmsub( l_wxyz, r_wxyz, product ); + xy = vec_madd( l_wxyz, r_wxyz, product ); + qw = vec_sub( qw, vec_sld( xy, xy, 8 ) ); + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + return Quat( vec_sel( qv, qw, sw ) ); +} + +VECTORMATH_FORCE_INLINE Quat & Quat::operator *=( const Quat &quat ) +{ + *this = *this * quat; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &quat, const Vector3 &vec ) +{ __m128 qdata, vdata, product, tmp0, tmp1, tmp2, tmp3, wwww, qv, qw, res; + qdata = quat.get128(); + vdata = vec.get128(); + tmp0 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( qdata, qdata, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( vdata, vdata, _MM_SHUFFLE(3,0,2,1) ); + wwww = vec_splat( qdata, 3 ); + qv = vec_mul( wwww, vdata ); + qv = vec_madd( tmp0, tmp1, qv ); + qv = vec_nmsub( tmp2, tmp3, qv ); + product = vec_mul( qdata, vdata ); + qw = vec_madd( vec_sld( qdata, qdata, 4 ), vec_sld( vdata, vdata, 4 ), product ); + qw = vec_add( vec_sld( product, product, 8 ), qw ); + tmp1 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( qv, qv, _MM_SHUFFLE(3,0,2,1) ); + res = vec_mul( vec_splat( qw, 0 ), qdata ); + res = vec_madd( wwww, qv, res ); + res = vec_madd( tmp0, tmp1, res ); + res = vec_nmsub( tmp2, tmp3, res ); + return Vector3( res ); +} + +VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat ) +{ + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0x80000000,0x80000000,0x80000000,0}; + return Quat( vec_xor( quat.get128(), _mm_load_ps((float *)sw) ) ); +} + +VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 ) +{ + return select( quat0, quat1, boolInVec(select1) ); +} + +//VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 ) +//{ +// return Quat( vec_sel( quat0.get128(), quat1.get128(), select1.get128() ) ); +//} + +VECTORMATH_FORCE_INLINE void loadXYZW(Quat& quat, const float* fptr) +{ +#ifdef USE_SSE3_LDDQU + quat = Quat( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 ); +#else + SSEFloat fl; + fl.f[0] = fptr[0]; + fl.f[1] = fptr[1]; + fl.f[2] = fptr[2]; + fl.f[3] = fptr[3]; + quat = Quat( fl.m128); +#endif + + +} + +VECTORMATH_FORCE_INLINE void storeXYZW(const Quat& quat, float* fptr) +{ + fptr[0] = quat.getX(); + fptr[1] = quat.getY(); + fptr[2] = quat.getZ(); + fptr[3] = quat.getW(); +// _mm_storeu_ps((float*)quat.get128(),fptr); +} + + + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Quat &quat ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = quat.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = quat.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/sse/vec_aos.h b/Code/Physics/src/vectormath/sse/vec_aos.h new file mode 100644 index 00000000..35aeeaf1 --- /dev/null +++ b/Code/Physics/src/vectormath/sse/vec_aos.h @@ -0,0 +1,1455 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _VECTORMATH_VEC_AOS_CPP_H +#define _VECTORMATH_VEC_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Constants +// for permutes words are labeled [x,y,z,w] [a,b,c,d] + +#define _VECTORMATH_PERM_X 0x00010203 +#define _VECTORMATH_PERM_Y 0x04050607 +#define _VECTORMATH_PERM_Z 0x08090a0b +#define _VECTORMATH_PERM_W 0x0c0d0e0f +#define _VECTORMATH_PERM_A 0x10111213 +#define _VECTORMATH_PERM_B 0x14151617 +#define _VECTORMATH_PERM_C 0x18191a1b +#define _VECTORMATH_PERM_D 0x1c1d1e1f +#define _VECTORMATH_PERM_XYZA (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A } +#define _VECTORMATH_PERM_ZXYW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZXW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_X, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_YZAB (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Y, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B } +#define _VECTORMATH_PERM_ZABC (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_Z, _VECTORMATH_PERM_A, _VECTORMATH_PERM_B, _VECTORMATH_PERM_C } +#define _VECTORMATH_PERM_XYAW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_Y, _VECTORMATH_PERM_A, _VECTORMATH_PERM_W } +#define _VECTORMATH_PERM_XAZW (vec_uchar16)(vec_uint4){ _VECTORMATH_PERM_X, _VECTORMATH_PERM_A, _VECTORMATH_PERM_Z, _VECTORMATH_PERM_W } +#define _VECTORMATH_MASK_0xF000 (vec_uint4){ 0xffffffff, 0, 0, 0 } +#define _VECTORMATH_MASK_0x0F00 (vec_uint4){ 0, 0xffffffff, 0, 0 } +#define _VECTORMATH_MASK_0x00F0 (vec_uint4){ 0, 0, 0xffffffff, 0 } +#define _VECTORMATH_MASK_0x000F (vec_uint4){ 0, 0, 0, 0xffffffff } +#define _VECTORMATH_UNIT_1000 _mm_setr_ps(1.0f,0.0f,0.0f,0.0f) // (__m128){ 1.0f, 0.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0100 _mm_setr_ps(0.0f,1.0f,0.0f,0.0f) // (__m128){ 0.0f, 1.0f, 0.0f, 0.0f } +#define _VECTORMATH_UNIT_0010 _mm_setr_ps(0.0f,0.0f,1.0f,0.0f) // (__m128){ 0.0f, 0.0f, 1.0f, 0.0f } +#define _VECTORMATH_UNIT_0001 _mm_setr_ps(0.0f,0.0f,0.0f,1.0f) // (__m128){ 0.0f, 0.0f, 0.0f, 1.0f } +#define _VECTORMATH_SLERP_TOL 0.999f +//_VECTORMATH_SLERP_TOLF + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#define _vmath_shufps(a, b, immx, immy, immz, immw) _mm_shuffle_ps(a, b, _MM_SHUFFLE(immw, immz, immy, immx)) +static VECTORMATH_FORCE_INLINE __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 ) +{ + __m128 result = _mm_mul_ps( vec0, vec1); + return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) ); +} + +static VECTORMATH_FORCE_INLINE __m128 _vmathVfDot4( __m128 vec0, __m128 vec1 ) +{ + __m128 result = _mm_mul_ps(vec0, vec1); + return _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(0,0,0,0)), + _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(1,1,1,1)), + _mm_add_ps(_mm_shuffle_ps(result, result, _MM_SHUFFLE(2,2,2,2)), _mm_shuffle_ps(result, result, _MM_SHUFFLE(3,3,3,3))))); +} + +static VECTORMATH_FORCE_INLINE __m128 _vmathVfCross( __m128 vec0, __m128 vec1 ) +{ + __m128 tmp0, tmp1, tmp2, tmp3, result; + tmp0 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,0,2,1) ); + tmp1 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,1,0,2) ); + tmp2 = _mm_shuffle_ps( vec0, vec0, _MM_SHUFFLE(3,1,0,2) ); + tmp3 = _mm_shuffle_ps( vec1, vec1, _MM_SHUFFLE(3,0,2,1) ); + result = vec_mul( tmp0, tmp1 ); + result = vec_nmsub( tmp2, tmp3, result ); + return result; +} +/* +static VECTORMATH_FORCE_INLINE vec_uint4 _vmathVfToHalfFloatsUnpacked(__m128 v) +{ +#if 0 + vec_int4 bexp; + vec_uint4 mant, sign, hfloat; + vec_uint4 notZero, isInf; + const vec_uint4 hfloatInf = (vec_uint4)(0x00007c00u); + const vec_uint4 mergeMant = (vec_uint4)(0x000003ffu); + const vec_uint4 mergeSign = (vec_uint4)(0x00008000u); + + sign = vec_sr((vec_uint4)v, (vec_uint4)16); + mant = vec_sr((vec_uint4)v, (vec_uint4)13); + bexp = vec_and(vec_sr((vec_int4)v, (vec_uint4)23), (vec_int4)0xff); + + notZero = (vec_uint4)vec_cmpgt(bexp, (vec_int4)112); + isInf = (vec_uint4)vec_cmpgt(bexp, (vec_int4)142); + + bexp = _mm_add_ps(bexp, (vec_int4)-112); + bexp = vec_sl(bexp, (vec_uint4)10); + + hfloat = vec_sel((vec_uint4)bexp, mant, mergeMant); + hfloat = vec_sel((vec_uint4)(0), hfloat, notZero); + hfloat = vec_sel(hfloat, hfloatInf, isInf); + hfloat = vec_sel(hfloat, sign, mergeSign); + + return hfloat; +#else + assert(0); + return _mm_setzero_ps(); +#endif +} + +static VECTORMATH_FORCE_INLINE vec_ushort8 _vmath2VfToHalfFloats(__m128 u, __m128 v) +{ +#if 0 + vec_uint4 hfloat_u, hfloat_v; + const vec_uchar16 pack = (vec_uchar16){2,3,6,7,10,11,14,15,18,19,22,23,26,27,30,31}; + hfloat_u = _vmathVfToHalfFloatsUnpacked(u); + hfloat_v = _vmathVfToHalfFloatsUnpacked(v); + return (vec_ushort8)vec_perm(hfloat_u, hfloat_v, pack); +#else + assert(0); + return _mm_setzero_si128(); +#endif +} +*/ + +static VECTORMATH_FORCE_INLINE __m128 _vmathVfInsert(__m128 dst, __m128 src, int slot) +{ + SSEFloat s; + s.m128 = src; + SSEFloat d; + d.m128 = dst; + d.f[slot] = s.f[slot]; + return d.m128; +} + +#define _vmathVfSetElement(vec, scalar, slot) ((float *)&(vec))[slot] = scalar + +static VECTORMATH_FORCE_INLINE __m128 _vmathVfSplatScalar(float scalar) +{ + return _mm_set1_ps(scalar); +} + +#endif + +namespace Vectormath { +namespace Aos { + + +#ifdef _VECTORMATH_NO_SCALAR_CAST +VECTORMATH_FORCE_INLINE VecIdx::operator floatInVec() const +{ + return floatInVec(ref, i); +} + +VECTORMATH_FORCE_INLINE float VecIdx::getAsFloat() const +#else +VECTORMATH_FORCE_INLINE VecIdx::operator float() const +#endif +{ + return ((float *)&ref)[i]; +} + +VECTORMATH_FORCE_INLINE float VecIdx::operator =( float scalar ) +{ + _vmathVfSetElement(ref, scalar, i); + return scalar; +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator =( const floatInVec &scalar ) +{ + ref = _vmathVfInsert(ref, scalar.get128(), i); + return scalar; +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator =( const VecIdx& scalar ) +{ + return *this = floatInVec(scalar.ref, scalar.i); +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator *=( float scalar ) +{ + return *this *= floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator *=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) * scalar; +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator /=( float scalar ) +{ + return *this /= floatInVec(scalar); +} + +inline floatInVec VecIdx::operator /=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) / scalar; +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator +=( float scalar ) +{ + return *this += floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator +=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) + scalar; +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator -=( float scalar ) +{ + return *this -= floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE floatInVec VecIdx::operator -=( const floatInVec &scalar ) +{ + return *this = floatInVec(ref, i) - scalar; +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3(const Vector3& vec) +{ + set128(vec.get128()); +} + +VECTORMATH_FORCE_INLINE void Vector3::set128(vec_float4 vec) +{ + mVec128 = vec; +} + + +VECTORMATH_FORCE_INLINE Vector3::Vector3( float _x, float _y, float _z ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f); +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z ) +{ + __m128 xz = _mm_unpacklo_ps( _x.get128(), _z.get128() ); + mVec128 = _mm_unpacklo_ps( xz, _y.get128() ); +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3( const Point3 &pnt ) +{ + mVec128 = pnt.get128(); +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +VECTORMATH_FORCE_INLINE Vector3::Vector3( __m128 vf4 ) +{ + mVec128 = vf4; +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::xAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_1000 ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::yAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0100 ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::zAxis( ) +{ + return Vector3( _VECTORMATH_UNIT_0010 ); +} + +VECTORMATH_FORCE_INLINE const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +VECTORMATH_FORCE_INLINE const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +VECTORMATH_FORCE_INLINE const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 ) +{ + __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + cosAngle = _vmathVfDot3( unitVec0.get128(), unitVec1.get128() ); + __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt ); + angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t + angles = _mm_unpacklo_ps( angles, oneMinusT ); // angles = 1, 1-t, t, 1-t + angles = _mm_mul_ps( angles, angle ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector3( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) ); +} + +VECTORMATH_FORCE_INLINE __m128 Vector3::get128( ) const +{ + return mVec128; +} + +VECTORMATH_FORCE_INLINE void loadXYZ(Point3& vec, const float* fptr) +{ +#ifdef USE_SSE3_LDDQU + vec = Point3( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 ); +#else + SSEFloat fl; + fl.f[0] = fptr[0]; + fl.f[1] = fptr[1]; + fl.f[2] = fptr[2]; + fl.f[3] = fptr[3]; + vec = Point3( fl.m128); +#endif //USE_SSE3_LDDQU + +} + + + +VECTORMATH_FORCE_INLINE void loadXYZ(Vector3& vec, const float* fptr) +{ +#ifdef USE_SSE3_LDDQU + vec = Vector3( SSEFloat(_mm_lddqu_si128((const __m128i*)((float*)(fptr)))).m128 ); +#else + SSEFloat fl; + fl.f[0] = fptr[0]; + fl.f[1] = fptr[1]; + fl.f[2] = fptr[2]; + fl.f[3] = fptr[3]; + vec = Vector3( fl.m128); +#endif //USE_SSE3_LDDQU + +} + +VECTORMATH_FORCE_INLINE void storeXYZ( const Vector3 &vec, __m128 * quad ) +{ + __m128 dstVec = *quad; + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize + dstVec = vec_sel(vec.get128(), dstVec, sw); + *quad = dstVec; +} + +VECTORMATH_FORCE_INLINE void storeXYZ(const Point3& vec, float* fptr) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + +VECTORMATH_FORCE_INLINE void storeXYZ(const Vector3& vec, float* fptr) +{ + fptr[0] = vec.getX(); + fptr[1] = vec.getY(); + fptr[2] = vec.getZ(); +} + + +VECTORMATH_FORCE_INLINE void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads ) +{ + const float *quads = (float *)threeQuads; + vec0 = Vector3( _mm_load_ps(quads) ); + vec1 = Vector3( _mm_loadu_ps(quads + 3) ); + vec2 = Vector3( _mm_loadu_ps(quads + 6) ); + vec3 = Vector3( _mm_loadu_ps(quads + 9) ); +} + +VECTORMATH_FORCE_INLINE void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads ) +{ + __m128 xxxx = _mm_shuffle_ps( vec1.get128(), vec1.get128(), _MM_SHUFFLE(0, 0, 0, 0) ); + __m128 zzzz = _mm_shuffle_ps( vec2.get128(), vec2.get128(), _MM_SHUFFLE(2, 2, 2, 2) ); + VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0, 0, 0, 0xffffffff}; + VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0xffffffff, 0, 0, 0}; + threeQuads[0] = vec_sel( vec0.get128(), xxxx, xsw ); + threeQuads[1] = _mm_shuffle_ps( vec1.get128(), vec2.get128(), _MM_SHUFFLE(1, 0, 2, 1) ); + threeQuads[2] = vec_sel( _mm_shuffle_ps( vec3.get128(), vec3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw ); +} +/* +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads ) +{ + assert(0); +#if 0 + __m128 xyz0[3]; + __m128 xyz1[3]; + storeXYZArray( vec0, vec1, vec2, vec3, xyz0 ); + storeXYZArray( vec4, vec5, vec6, vec7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +#endif +} +*/ +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator =( const Vector3 &vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE VecIdx Vector3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator +( const Vector3 &vec ) const +{ + return Vector3( _mm_add_ps( mVec128, vec.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator -( const Vector3 &vec ) const +{ + return Vector3( _mm_sub_ps( mVec128, vec.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 Vector3::operator +( const Point3 &pnt ) const +{ + return Point3( _mm_add_ps( mVec128, pnt.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator *( const floatInVec &scalar ) const +{ + return Vector3( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator +=( const Vector3 &vec ) +{ + *this = *this + vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator -=( const Vector3 &vec ) +{ + *this = *this - vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator /( const floatInVec &scalar ) const +{ + return Vector3( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector3 & Vector3::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector3::operator -( ) const +{ + //return Vector3(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); + + VM_ATTRIBUTE_ALIGN16 static const int array[] = {0x80000000, 0x80000000, 0x80000000, 0x80000000}; + __m128 NEG_MASK = SSEFloat(*(const vec_float4*)array).vf; + return Vector3(_mm_xor_ps(get128(),NEG_MASK)); +} + +VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar, const Vector3 &vec ) +{ + return floatInVec(scalar) * vec; +} + +VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec ) +{ + return vec * scalar; +} + +VECTORMATH_FORCE_INLINE const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_mul_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_div_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 recipPerElem( const Vector3 &vec ) +{ + return Vector3( _mm_rcp_ps( vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 absPerElem( const Vector3 &vec ) +{ + return Vector3( fabsf4( vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Vector3( _mm_or_ps( + _mm_and_ps ( vmask, vec0.get128() ), // Value + _mm_andnot_ps( vmask, vec1.get128() ) ) ); // Signs +} + +VECTORMATH_FORCE_INLINE const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_max_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector3 &vec ) +{ + return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _mm_min_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector3 &vec ) +{ + return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector3 &vec ) +{ + return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), vec_splat( vec.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return floatInVec( _vmathVfDot3( vec0.get128(), vec1.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector3 &vec ) +{ + return floatInVec( _vmathVfDot3( vec.get128(), vec.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec length( const Vector3 &vec ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot3( vec.get128(), vec.get128() )), 0 ); +} + + +VECTORMATH_FORCE_INLINE const Vector3 normalizeApprox( const Vector3 &vec ) +{ + return Vector3( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 normalize( const Vector3 &vec ) +{ + return Vector3( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot3( vec.get128(), vec.get128() ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 ) +{ + return Vector3( _vmathVfCross( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + + +VECTORMATH_FORCE_INLINE const Vector4 select(const Vector4& vec0, const Vector4& vec1, const boolInVec& select1) +{ + return Vector4(vec_sel(vec0.get128(), vec1.get128(), select1.get128())); +} + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Vector3 &vec ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +VECTORMATH_FORCE_INLINE void print( const Vector3 &vec, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +VECTORMATH_FORCE_INLINE Vector4::Vector4( float _x, float _y, float _z, float _w ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, _w); + } + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z, const floatInVec &_w ) +{ + mVec128 = _mm_unpacklo_ps( + _mm_unpacklo_ps( _x.get128(), _z.get128() ), + _mm_unpacklo_ps( _y.get128(), _w.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &xyz, float _w ) +{ + mVec128 = xyz.get128(); + _vmathVfSetElement(mVec128, _w, 3); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &xyz, const floatInVec &_w ) +{ + mVec128 = xyz.get128(); + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const Vector3 &vec ) +{ + mVec128 = vec.get128(); + mVec128 = _vmathVfInsert(mVec128, _mm_setzero_ps(), 3); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const Point3 &pnt ) +{ + mVec128 = pnt.get128(); + mVec128 = _vmathVfInsert(mVec128, _mm_set1_ps(1.0f), 3); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const Quat &quat ) +{ + mVec128 = quat.get128(); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +VECTORMATH_FORCE_INLINE Vector4::Vector4( __m128 vf4 ) +{ + mVec128 = vf4; +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::xAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_1000 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::yAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0100 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::zAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0010 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::wAxis( ) +{ + return Vector4( _VECTORMATH_UNIT_0001 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 ) +{ + return lerp( floatInVec(t), vec0, vec1 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 ) +{ + return ( vec0 + ( ( vec1 - vec0 ) * t ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 ) +{ + return slerp( floatInVec(t), unitVec0, unitVec1 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 ) +{ + __m128 scales, scale0, scale1, cosAngle, angle, tttt, oneMinusT, angles, sines; + cosAngle = _vmathVfDot4( unitVec0.get128(), unitVec1.get128() ); + __m128 selectMask = _mm_cmpgt_ps( _mm_set1_ps(_VECTORMATH_SLERP_TOL), cosAngle ); + angle = acosf4( cosAngle ); + tttt = t.get128(); + oneMinusT = _mm_sub_ps( _mm_set1_ps(1.0f), tttt ); + angles = _mm_unpacklo_ps( _mm_set1_ps(1.0f), tttt ); // angles = 1, t, 1, t + angles = _mm_unpacklo_ps( angles, oneMinusT ); // angles = 1, 1-t, t, 1-t + angles = _mm_mul_ps( angles, angle ); + sines = sinf4( angles ); + scales = _mm_div_ps( sines, vec_splat( sines, 0 ) ); + scale0 = vec_sel( oneMinusT, vec_splat( scales, 1 ), selectMask ); + scale1 = vec_sel( tttt, vec_splat( scales, 2 ), selectMask ); + return Vector4( vec_madd( unitVec0.get128(), scale0, _mm_mul_ps( unitVec1.get128(), scale1 ) ) ); +} + +VECTORMATH_FORCE_INLINE __m128 Vector4::get128( ) const +{ + return mVec128; +} +/* +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads ) +{ + twoQuads[0] = _vmath2VfToHalfFloats(vec0.get128(), vec1.get128()); + twoQuads[1] = _vmath2VfToHalfFloats(vec2.get128(), vec3.get128()); +} +*/ +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator =( const Vector4 &vec ) +{ + mVec128 = vec.mVec128; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setXYZ( const Vector3 &vec ) +{ + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; + mVec128 = vec_sel( vec.get128(), mVec128, sw ); + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector3 Vector4::getXYZ( ) const +{ + return Vector3( mVec128 ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setW( float _w ) +{ + _vmathVfSetElement(mVec128, _w, 3); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setW( const floatInVec &_w ) +{ + mVec128 = _vmathVfInsert(mVec128, _w.get128(), 3); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::getW( ) const +{ + return floatInVec( mVec128, 3 ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE VecIdx Vector4::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const floatInVec Vector4::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator +( const Vector4 &vec ) const +{ + return Vector4( _mm_add_ps( mVec128, vec.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator -( const Vector4 &vec ) const +{ + return Vector4( _mm_sub_ps( mVec128, vec.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator *( float scalar ) const +{ + return *this * floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator *( const floatInVec &scalar ) const +{ + return Vector4( _mm_mul_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator +=( const Vector4 &vec ) +{ + *this = *this + vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator -=( const Vector4 &vec ) +{ + *this = *this - vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator *=( const floatInVec &scalar ) +{ + *this = *this * scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator /( float scalar ) const +{ + return *this / floatInVec(scalar); +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator /( const floatInVec &scalar ) const +{ + return Vector4( _mm_div_ps( mVec128, scalar.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE Vector4 & Vector4::operator /=( const floatInVec &scalar ) +{ + *this = *this / scalar; + return *this; +} + +VECTORMATH_FORCE_INLINE const Vector4 Vector4::operator -( ) const +{ + return Vector4(_mm_sub_ps( _mm_setzero_ps(), mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar, const Vector4 &vec ) +{ + return floatInVec(scalar) * vec; +} + +VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec ) +{ + return vec * scalar; +} + +VECTORMATH_FORCE_INLINE const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_mul_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_div_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 recipPerElem( const Vector4 &vec ) +{ + return Vector4( _mm_rcp_ps( vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 absPerElem( const Vector4 &vec ) +{ + return Vector4( fabsf4( vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Vector4( _mm_or_ps( + _mm_and_ps ( vmask, vec0.get128() ), // Value + _mm_andnot_ps( vmask, vec1.get128() ) ) ); // Signs +} + +VECTORMATH_FORCE_INLINE const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_max_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector4 &vec ) +{ + return floatInVec( _mm_max_ps( + _mm_max_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_max_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return Vector4( _mm_min_ps( vec0.get128(), vec1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector4 &vec ) +{ + return floatInVec( _mm_min_ps( + _mm_min_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_min_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector4 &vec ) +{ + return floatInVec( _mm_add_ps( + _mm_add_ps( vec_splat( vec.get128(), 0 ), vec_splat( vec.get128(), 1 ) ), + _mm_add_ps( vec_splat( vec.get128(), 2 ), vec_splat( vec.get128(), 3 ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 ) +{ + return floatInVec( _vmathVfDot4( vec0.get128(), vec1.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector4 &vec ) +{ + return floatInVec( _vmathVfDot4( vec.get128(), vec.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec length( const Vector4 &vec ) +{ + return floatInVec( _mm_sqrt_ps(_vmathVfDot4( vec.get128(), vec.get128() )), 0 ); +} + +VECTORMATH_FORCE_INLINE const Vector4 normalizeApprox( const Vector4 &vec ) +{ + return Vector4( _mm_mul_ps( vec.get128(), _mm_rsqrt_ps( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 normalize( const Vector4 &vec ) +{ + return Vector4( _mm_mul_ps( vec.get128(), newtonrapson_rsqrt4( _vmathVfDot4( vec.get128(), vec.get128() ) ) ) ); +} + +VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 ) +{ + return select( vec0, vec1, boolInVec(select1) ); +} + + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Vector4 &vec ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "( %f %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +VECTORMATH_FORCE_INLINE void print( const Vector4 &vec, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = vec.get128(); + printf( "%s: ( %f %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2], tmp.s[3] ); +} + +#endif + +VECTORMATH_FORCE_INLINE Point3::Point3( float _x, float _y, float _z ) +{ + mVec128 = _mm_setr_ps(_x, _y, _z, 0.0f); +} + +VECTORMATH_FORCE_INLINE Point3::Point3( const floatInVec &_x, const floatInVec &_y, const floatInVec &_z ) +{ + mVec128 = _mm_unpacklo_ps( _mm_unpacklo_ps( _x.get128(), _z.get128() ), _y.get128() ); +} + +VECTORMATH_FORCE_INLINE Point3::Point3( const Vector3 &vec ) +{ + mVec128 = vec.get128(); +} + +VECTORMATH_FORCE_INLINE Point3::Point3( float scalar ) +{ + mVec128 = floatInVec(scalar).get128(); +} + +VECTORMATH_FORCE_INLINE Point3::Point3( const floatInVec &scalar ) +{ + mVec128 = scalar.get128(); +} + +VECTORMATH_FORCE_INLINE Point3::Point3( __m128 vf4 ) +{ + mVec128 = vf4; +} + +VECTORMATH_FORCE_INLINE const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 ) +{ + return lerp( floatInVec(t), pnt0, pnt1 ); +} + +VECTORMATH_FORCE_INLINE const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 ) +{ + return ( pnt0 + ( ( pnt1 - pnt0 ) * t ) ); +} + +VECTORMATH_FORCE_INLINE __m128 Point3::get128( ) const +{ + return mVec128; +} + +VECTORMATH_FORCE_INLINE void storeXYZ( const Point3 &pnt, __m128 * quad ) +{ + __m128 dstVec = *quad; + VM_ATTRIBUTE_ALIGN16 unsigned int sw[4] = {0, 0, 0, 0xffffffff}; // TODO: Centralize + dstVec = vec_sel(pnt.get128(), dstVec, sw); + *quad = dstVec; +} + +VECTORMATH_FORCE_INLINE void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads ) +{ + const float *quads = (float *)threeQuads; + pnt0 = Point3( _mm_load_ps(quads) ); + pnt1 = Point3( _mm_loadu_ps(quads + 3) ); + pnt2 = Point3( _mm_loadu_ps(quads + 6) ); + pnt3 = Point3( _mm_loadu_ps(quads + 9) ); +} + +VECTORMATH_FORCE_INLINE void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads ) +{ + __m128 xxxx = _mm_shuffle_ps( pnt1.get128(), pnt1.get128(), _MM_SHUFFLE(0, 0, 0, 0) ); + __m128 zzzz = _mm_shuffle_ps( pnt2.get128(), pnt2.get128(), _MM_SHUFFLE(2, 2, 2, 2) ); + VM_ATTRIBUTE_ALIGN16 unsigned int xsw[4] = {0, 0, 0, 0xffffffff}; + VM_ATTRIBUTE_ALIGN16 unsigned int zsw[4] = {0xffffffff, 0, 0, 0}; + threeQuads[0] = vec_sel( pnt0.get128(), xxxx, xsw ); + threeQuads[1] = _mm_shuffle_ps( pnt1.get128(), pnt2.get128(), _MM_SHUFFLE(1, 0, 2, 1) ); + threeQuads[2] = vec_sel( _mm_shuffle_ps( pnt3.get128(), pnt3.get128(), _MM_SHUFFLE(2, 1, 0, 3) ), zzzz, zsw ); +} +/* +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads ) +{ +#if 0 + __m128 xyz0[3]; + __m128 xyz1[3]; + storeXYZArray( pnt0, pnt1, pnt2, pnt3, xyz0 ); + storeXYZArray( pnt4, pnt5, pnt6, pnt7, xyz1 ); + threeQuads[0] = _vmath2VfToHalfFloats(xyz0[0], xyz0[1]); + threeQuads[1] = _vmath2VfToHalfFloats(xyz0[2], xyz1[0]); + threeQuads[2] = _vmath2VfToHalfFloats(xyz1[1], xyz1[2]); +#else + assert(0); +#endif +} +*/ +VECTORMATH_FORCE_INLINE Point3 & Point3::operator =( const Point3 &pnt ) +{ + mVec128 = pnt.mVec128; + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setX( float _x ) +{ + _vmathVfSetElement(mVec128, _x, 0); + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setX( const floatInVec &_x ) +{ + mVec128 = _vmathVfInsert(mVec128, _x.get128(), 0); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Point3::getX( ) const +{ + return floatInVec( mVec128, 0 ); +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setY( float _y ) +{ + _vmathVfSetElement(mVec128, _y, 1); + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setY( const floatInVec &_y ) +{ + mVec128 = _vmathVfInsert(mVec128, _y.get128(), 1); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Point3::getY( ) const +{ + return floatInVec( mVec128, 1 ); +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setZ( float _z ) +{ + _vmathVfSetElement(mVec128, _z, 2); + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setZ( const floatInVec &_z ) +{ + mVec128 = _vmathVfInsert(mVec128, _z.get128(), 2); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Point3::getZ( ) const +{ + return floatInVec( mVec128, 2 ); +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setElem( int idx, float value ) +{ + _vmathVfSetElement(mVec128, value, idx); + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::setElem( int idx, const floatInVec &value ) +{ + mVec128 = _vmathVfInsert(mVec128, value.get128(), idx); + return *this; +} + +VECTORMATH_FORCE_INLINE const floatInVec Point3::getElem( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE VecIdx Point3::operator []( int idx ) +{ + return VecIdx( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const floatInVec Point3::operator []( int idx ) const +{ + return floatInVec( mVec128, idx ); +} + +VECTORMATH_FORCE_INLINE const Vector3 Point3::operator -( const Point3 &pnt ) const +{ + return Vector3( _mm_sub_ps( mVec128, pnt.mVec128 ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 Point3::operator +( const Vector3 &vec ) const +{ + return Point3( _mm_add_ps( mVec128, vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 Point3::operator -( const Vector3 &vec ) const +{ + return Point3( _mm_sub_ps( mVec128, vec.get128() ) ); +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::operator +=( const Vector3 &vec ) +{ + *this = *this + vec; + return *this; +} + +VECTORMATH_FORCE_INLINE Point3 & Point3::operator -=( const Vector3 &vec ) +{ + *this = *this - vec; + return *this; +} + +VECTORMATH_FORCE_INLINE const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_mul_ps( pnt0.get128(), pnt1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_div_ps( pnt0.get128(), pnt1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 recipPerElem( const Point3 &pnt ) +{ + return Point3( _mm_rcp_ps( pnt.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 absPerElem( const Point3 &pnt ) +{ + return Point3( fabsf4( pnt.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + __m128 vmask = toM128(0x7fffffff); + return Point3( _mm_or_ps( + _mm_and_ps ( vmask, pnt0.get128() ), // Value + _mm_andnot_ps( vmask, pnt1.get128() ) ) ); // Signs +} + +VECTORMATH_FORCE_INLINE const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_max_ps( pnt0.get128(), pnt1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Point3 &pnt ) +{ + return floatInVec( _mm_max_ps( _mm_max_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return Point3( _mm_min_ps( pnt0.get128(), pnt1.get128() ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Point3 &pnt ) +{ + return floatInVec( _mm_min_ps( _mm_min_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec sum( const Point3 &pnt ) +{ + return floatInVec( _mm_add_ps( _mm_add_ps( vec_splat( pnt.get128(), 0 ), vec_splat( pnt.get128(), 1 ) ), vec_splat( pnt.get128(), 2 ) ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, float scaleVal ) +{ + return scale( pnt, floatInVec( scaleVal ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal ) +{ + return mulPerElem( pnt, Point3( scaleVal ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec ) +{ + return mulPerElem( pnt, Point3( scaleVec ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec ) +{ + return floatInVec( _vmathVfDot3( pnt.get128(), unitVec.get128() ), 0 ); +} + +VECTORMATH_FORCE_INLINE const floatInVec distSqrFromOrigin( const Point3 &pnt ) +{ + return lengthSqr( Vector3( pnt ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec distFromOrigin( const Point3 &pnt ) +{ + return length( Vector3( pnt ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return lengthSqr( ( pnt1 - pnt0 ) ); +} + +VECTORMATH_FORCE_INLINE const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 ) +{ + return length( ( pnt1 - pnt0 ) ); +} + +VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 ) +{ + return select( pnt0, pnt1, boolInVec(select1) ); +} + +VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 ) +{ + return Point3( vec_sel( pnt0.get128(), pnt1.get128(), select1.get128() ) ); +} + + + +#ifdef _VECTORMATH_DEBUG + +VECTORMATH_FORCE_INLINE void print( const Point3 &pnt ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "( %f %f %f )\n", tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +VECTORMATH_FORCE_INLINE void print( const Point3 &pnt, const char * name ) +{ + union { __m128 v; float s[4]; } tmp; + tmp.v = pnt.get128(); + printf( "%s: ( %f %f %f )\n", name, tmp.s[0], tmp.s[1], tmp.s[2] ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/sse/vecidx_aos.h b/Code/Physics/src/vectormath/sse/vecidx_aos.h new file mode 100644 index 00000000..8ba4b1d7 --- /dev/null +++ b/Code/Physics/src/vectormath/sse/vecidx_aos.h @@ -0,0 +1,80 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef _VECTORMATH_VECIDX_AOS_H +#define _VECTORMATH_VECIDX_AOS_H + + +#include "floatInVec.h" + +namespace Vectormath { +namespace Aos { + +//----------------------------------------------------------------------------- +// VecIdx +// Used in setting elements of Vector3, Vector4, Point3, or Quat with the +// subscripting operator. +// + +VM_ATTRIBUTE_ALIGNED_CLASS16 (class) VecIdx +{ +private: + __m128 &ref; + int i; +public: + inline VecIdx( __m128& vec, int idx ): ref(vec) { i = idx; } + + // implicitly casts to float unless _VECTORMATH_NO_SCALAR_CAST defined + // in which case, implicitly casts to floatInVec, and one must call + // getAsFloat to convert to float. + // +#ifdef _VECTORMATH_NO_SCALAR_CAST + inline operator floatInVec() const; + inline float getAsFloat() const; +#else + inline operator float() const; +#endif + + inline float operator =( float scalar ); + inline floatInVec operator =( const floatInVec &scalar ); + inline floatInVec operator =( const VecIdx& scalar ); + inline floatInVec operator *=( float scalar ); + inline floatInVec operator *=( const floatInVec &scalar ); + inline floatInVec operator /=( float scalar ); + inline floatInVec operator /=( const floatInVec &scalar ); + inline floatInVec operator +=( float scalar ); + inline floatInVec operator +=( const floatInVec &scalar ); + inline floatInVec operator -=( float scalar ); + inline floatInVec operator -=( const floatInVec &scalar ); +}; + +} // namespace Aos +} // namespace Vectormath + +#endif diff --git a/Code/Physics/src/vectormath/sse/vectormath_aos.h b/Code/Physics/src/vectormath/sse/vectormath_aos.h new file mode 100644 index 00000000..be5ae8c6 --- /dev/null +++ b/Code/Physics/src/vectormath/sse/vectormath_aos.h @@ -0,0 +1,2547 @@ +/* + Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. + All rights reserved. + + Redistribution and use in source and binary forms, + with or without modification, are permitted provided that the + following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the Sony Computer Entertainment Inc nor the names + of its contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VECTORMATH_AOS_CPP_SSE_H +#define _VECTORMATH_AOS_CPP_SSE_H + +#include +#include +#include +#include + +#define Vector3Ref Vector3& +#define QuatRef Quat& +#define Matrix3Ref Matrix3& + +#if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) + #define USE_SSE3_LDDQU + + #define VM_ATTRIBUTE_ALIGNED_CLASS16(a) __declspec(align(16)) a + #define VM_ATTRIBUTE_ALIGN16 __declspec(align(16)) + #define VECTORMATH_FORCE_INLINE __forceinline +#else + #define VM_ATTRIBUTE_ALIGNED_CLASS16(a) a __attribute__ ((aligned (16))) + #define VM_ATTRIBUTE_ALIGN16 __attribute__ ((aligned (16))) + #define VECTORMATH_FORCE_INLINE inline __attribute__ ((always_inline)) + #ifdef __SSE3__ + #define USE_SSE3_LDDQU + #endif //__SSE3__ +#endif//_WIN32 + + +#ifdef USE_SSE3_LDDQU +#include //_mm_lddqu_si128 +#endif //USE_SSE3_LDDQU + + +// TODO: Tidy +typedef __m128 vec_float4; +typedef __m128 vec_uint4; +typedef __m128 vec_int4; +typedef __m128i vec_uchar16; +typedef __m128i vec_ushort8; + +#define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) + +#define _mm_ror_ps(vec,i) \ + (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(i+3)%4,(unsigned char)(i+2)%4,(unsigned char)(i+1)%4,(unsigned char)(i+0)%4))) : (vec)) +#define _mm_rol_ps(vec,i) \ + (((i)%4) ? (_mm_shuffle_ps(vec,vec, _MM_SHUFFLE((unsigned char)(7-i)%4,(unsigned char)(6-i)%4,(unsigned char)(5-i)%4,(unsigned char)(4-i)%4))) : (vec)) + +#define vec_sld(vec,vec2,x) _mm_ror_ps(vec, ((x)/4)) + +#define _mm_abs_ps(vec) _mm_andnot_ps(_MASKSIGN_,vec) +#define _mm_neg_ps(vec) _mm_xor_ps(_MASKSIGN_,vec) + +#define vec_madd(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b) ) + +union SSEFloat +{ + __m128i vi; + __m128 m128; + __m128 vf; + unsigned int ui[4]; + unsigned short s[8]; + float f[4]; + SSEFloat(__m128 v) : m128(v) {} + SSEFloat(__m128i v) : vi(v) {} + SSEFloat() {}//uninitialized +}; + +static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, __m128 mask) +{ + return _mm_or_ps(_mm_and_ps(mask, b), _mm_andnot_ps(mask, a)); +} +static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, const unsigned int *_mask) +{ + return vec_sel(a, b, _mm_load_ps((float *)_mask)); +} +static VECTORMATH_FORCE_INLINE __m128 vec_sel(__m128 a, __m128 b, unsigned int _mask) +{ + return vec_sel(a, b, _mm_set1_ps(*(float *)&_mask)); +} + +static VECTORMATH_FORCE_INLINE __m128 toM128(unsigned int x) +{ + return _mm_set1_ps( *(float *)&x ); +} + +static VECTORMATH_FORCE_INLINE __m128 fabsf4(__m128 x) +{ + return _mm_and_ps( x, toM128( 0x7fffffff ) ); +} +/* +union SSE64 +{ + __m128 m128; + struct + { + __m64 m01; + __m64 m23; + } m64; +}; + +static VECTORMATH_FORCE_INLINE __m128 vec_cts(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + SSE64 sse64; + sse64.m64.m01 = _mm_cvttps_pi32(x); + sse64.m64.m23 = _mm_cvttps_pi32(_mm_ror_ps(x,2)); + _mm_empty(); + return sse64.m128; +} + +static VECTORMATH_FORCE_INLINE __m128 vec_ctf(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + SSE64 sse64; + sse64.m128 = x; + __m128 result =_mm_movelh_ps( + _mm_cvt_pi2ps(_mm_setzero_ps(), sse64.m64.m01), + _mm_cvt_pi2ps(_mm_setzero_ps(), sse64.m64.m23)); + _mm_empty(); + return result; +} +*/ +static VECTORMATH_FORCE_INLINE __m128 vec_cts(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + __m128i result = _mm_cvtps_epi32(x); + return (__m128 &)result; +} + +static VECTORMATH_FORCE_INLINE __m128 vec_ctf(__m128 x, int a) +{ + assert(a == 0); // Only 2^0 supported + (void)a; + return _mm_cvtepi32_ps((__m128i &)x); +} + +#define vec_nmsub(a,b,c) _mm_sub_ps( c, _mm_mul_ps( a, b ) ) +#define vec_sub(a,b) _mm_sub_ps( a, b ) +#define vec_add(a,b) _mm_add_ps( a, b ) +#define vec_mul(a,b) _mm_mul_ps( a, b ) +#define vec_xor(a,b) _mm_xor_ps( a, b ) +#define vec_and(a,b) _mm_and_ps( a, b ) +#define vec_cmpeq(a,b) _mm_cmpeq_ps( a, b ) +#define vec_cmpgt(a,b) _mm_cmpgt_ps( a, b ) + +#define vec_mergeh(a,b) _mm_unpacklo_ps( a, b ) +#define vec_mergel(a,b) _mm_unpackhi_ps( a, b ) + +#define vec_andc(a,b) _mm_andnot_ps( b, a ) + +#define sqrtf4(x) _mm_sqrt_ps( x ) +#define rsqrtf4(x) _mm_rsqrt_ps( x ) +#define recipf4(x) _mm_rcp_ps( x ) +#define negatef4(x) _mm_sub_ps( _mm_setzero_ps(), x ) + +static VECTORMATH_FORCE_INLINE __m128 newtonrapson_rsqrt4( const __m128 v ) +{ +#define _half4 _mm_setr_ps(.5f,.5f,.5f,.5f) +#define _three _mm_setr_ps(3.f,3.f,3.f,3.f) +const __m128 approx = _mm_rsqrt_ps( v ); +const __m128 muls = _mm_mul_ps(_mm_mul_ps(v, approx), approx); +return _mm_mul_ps(_mm_mul_ps(_half4, approx), _mm_sub_ps(_three, muls) ); +} + +static VECTORMATH_FORCE_INLINE __m128 acosf4(__m128 x) +{ + __m128 xabs = fabsf4(x); + __m128 select = _mm_cmplt_ps( x, _mm_setzero_ps() ); + __m128 t1 = sqrtf4(vec_sub(_mm_set1_ps(1.0f), xabs)); + + /* Instruction counts can be reduced if the polynomial was + * computed entirely from nested (dependent) fma's. However, + * to reduce the number of pipeline stalls, the polygon is evaluated + * in two halves (hi amd lo). + */ + __m128 xabs2 = _mm_mul_ps(xabs, xabs); + __m128 xabs4 = _mm_mul_ps(xabs2, xabs2); + __m128 hi = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0012624911f), + xabs, _mm_set1_ps(0.0066700901f)), + xabs, _mm_set1_ps(-0.0170881256f)), + xabs, _mm_set1_ps( 0.0308918810f)); + __m128 lo = vec_madd(vec_madd(vec_madd(_mm_set1_ps(-0.0501743046f), + xabs, _mm_set1_ps(0.0889789874f)), + xabs, _mm_set1_ps(-0.2145988016f)), + xabs, _mm_set1_ps( 1.5707963050f)); + + __m128 result = vec_madd(hi, xabs4, lo); + + // Adjust the result if x is negactive. + return vec_sel( + vec_mul(t1, result), // Positive + vec_nmsub(t1, result, _mm_set1_ps(3.1415926535898f)), // Negative + select); +} + +static VECTORMATH_FORCE_INLINE __m128 sinf4(vec_float4 x) +{ + +// +// Common constants used to evaluate sinf4/cosf4/tanf4 +// +#define _SINCOS_CC0 -0.0013602249f +#define _SINCOS_CC1 0.0416566950f +#define _SINCOS_CC2 -0.4999990225f +#define _SINCOS_SC0 -0.0001950727f +#define _SINCOS_SC1 0.0083320758f +#define _SINCOS_SC2 -0.1666665247f + +#define _SINCOS_KC1 1.57079625129f +#define _SINCOS_KC2 7.54978995489e-8f + + vec_float4 xl,xl2,xl3,res; + + // Range reduction using : xl = angle * TwoOverPi; + // + xl = vec_mul(x, _mm_set1_ps(0.63661977236f)); + + // Find the quadrant the angle falls in + // using: q = (int) (ceil(abs(xl))*sign(xl)) + // + vec_int4 q = vec_cts(xl,0); + + // Compute an offset based on the quadrant that the angle falls in + // + vec_int4 offset = _mm_and_ps(q,toM128(0x3)); + + // Remainder in range [-pi/4..pi/4] + // + vec_float4 qf = vec_ctf(q,0); + xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x)); + + // Compute x^2 and x^3 + // + xl2 = vec_mul(xl,xl); + xl3 = vec_mul(xl2,xl); + + // Compute both the sin and cos of the angles + // using a polynomial expression: + // cx = 1.0f + xl2 * ((C0 * xl2 + C1) * xl2 + C2), and + // sx = xl + xl3 * ((S0 * xl2 + S1) * xl2 + S2) + // + + vec_float4 cx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f)); + vec_float4 sx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl); + + // Use the cosine when the offset is odd and the sin + // when the offset is even + // + res = vec_sel(cx,sx,vec_cmpeq(vec_and(offset, + toM128(0x1)), + _mm_setzero_ps())); + + // Flip the sign of the result when (offset mod 4) = 1 or 2 + // + return vec_sel( + vec_xor(toM128(0x80000000U), res), // Negative + res, // Positive + vec_cmpeq(vec_and(offset,toM128(0x2)),_mm_setzero_ps())); +} + +static VECTORMATH_FORCE_INLINE void sincosf4(vec_float4 x, vec_float4* s, vec_float4* c) +{ + vec_float4 xl,xl2,xl3; + vec_int4 offsetSin, offsetCos; + + // Range reduction using : xl = angle * TwoOverPi; + // + xl = vec_mul(x, _mm_set1_ps(0.63661977236f)); + + // Find the quadrant the angle falls in + // using: q = (int) (ceil(abs(xl))*sign(xl)) + // + //vec_int4 q = vec_cts(vec_add(xl,vec_sel(_mm_set1_ps(0.5f),xl,(0x80000000))),0); + vec_int4 q = vec_cts(xl,0); + + // Compute the offset based on the quadrant that the angle falls in. + // Add 1 to the offset for the cosine. + // + offsetSin = vec_and(q,toM128((int)0x3)); + __m128i temp = _mm_add_epi32(_mm_set1_epi32(1),(__m128i &)offsetSin); + offsetCos = (__m128 &)temp; + + // Remainder in range [-pi/4..pi/4] + // + vec_float4 qf = vec_ctf(q,0); + xl = vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC2),vec_nmsub(qf,_mm_set1_ps(_SINCOS_KC1),x)); + + // Compute x^2 and x^3 + // + xl2 = vec_mul(xl,xl); + xl3 = vec_mul(xl2,xl); + + // Compute both the sin and cos of the angles + // using a polynomial expression: + // cx = 1.0f + xl2 * ((C0 * xl2 + C1) * xl2 + C2), and + // sx = xl + xl3 * ((S0 * xl2 + S1) * xl2 + S2) + // + vec_float4 cx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_CC0),xl2,_mm_set1_ps(_SINCOS_CC1)),xl2,_mm_set1_ps(_SINCOS_CC2)),xl2,_mm_set1_ps(1.0f)); + vec_float4 sx = + vec_madd( + vec_madd( + vec_madd(_mm_set1_ps(_SINCOS_SC0),xl2,_mm_set1_ps(_SINCOS_SC1)),xl2,_mm_set1_ps(_SINCOS_SC2)),xl3,xl); + + // Use the cosine when the offset is odd and the sin + // when the offset is even + // + vec_uint4 sinMask = (vec_uint4)vec_cmpeq(vec_and(offsetSin,toM128(0x1)),_mm_setzero_ps()); + vec_uint4 cosMask = (vec_uint4)vec_cmpeq(vec_and(offsetCos,toM128(0x1)),_mm_setzero_ps()); + *s = vec_sel(cx,sx,sinMask); + *c = vec_sel(cx,sx,cosMask); + + // Flip the sign of the result when (offset mod 4) = 1 or 2 + // + sinMask = vec_cmpeq(vec_and(offsetSin,toM128(0x2)),_mm_setzero_ps()); + cosMask = vec_cmpeq(vec_and(offsetCos,toM128(0x2)),_mm_setzero_ps()); + + *s = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*s),*s,sinMask); + *c = vec_sel((vec_float4)vec_xor(toM128(0x80000000),(vec_uint4)*c),*c,cosMask); +} + +#include "vecidx_aos.h" +#include "floatInVec.h" +#include "boolInVec.h" + +#ifdef _VECTORMATH_DEBUG +#include +#endif +namespace Vectormath { + +namespace Aos { + +//----------------------------------------------------------------------------- +// Forward Declarations +// + +class Vector3; +class Vector4; +class Point3; +class Quat; +class Matrix3; +class Matrix4; +class Transform3; + +// A 3-D vector in array-of-structures format +// +class Vector3 +{ + __m128 mVec128; + + VECTORMATH_FORCE_INLINE void set128(vec_float4 vec); + + VECTORMATH_FORCE_INLINE vec_float4& get128Ref(); + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Vector3( ) { }; + + // Default copy constructor + // + VECTORMATH_FORCE_INLINE Vector3(const Vector3& vec); + + // Construct a 3-D vector from x, y, and z elements + // + VECTORMATH_FORCE_INLINE Vector3( float x, float y, float z ); + + // Construct a 3-D vector from x, y, and z elements (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3( const floatInVec &x, const floatInVec &y, const floatInVec &z ); + + // Copy elements from a 3-D point into a 3-D vector + // + explicit VECTORMATH_FORCE_INLINE Vector3( const Point3 &pnt ); + + // Set all elements of a 3-D vector to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Vector3( float scalar ); + + // Set all elements of a 3-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Vector3( const floatInVec &scalar ); + + // Set vector float data in a 3-D vector + // + explicit VECTORMATH_FORCE_INLINE Vector3( __m128 vf4 ); + + // Get vector float data from a 3-D vector + // + VECTORMATH_FORCE_INLINE __m128 get128( ) const; + + // Assign one 3-D vector to another + // + VECTORMATH_FORCE_INLINE Vector3 & operator =( const Vector3 &vec ); + + // Set the x element of a 3-D vector + // + VECTORMATH_FORCE_INLINE Vector3 & setX( float x ); + + // Set the y element of a 3-D vector + // + VECTORMATH_FORCE_INLINE Vector3 & setY( float y ); + + // Set the z element of a 3-D vector + // + VECTORMATH_FORCE_INLINE Vector3 & setZ( float z ); + + // Set the x element of a 3-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & setX( const floatInVec &x ); + + // Set the y element of a 3-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & setY( const floatInVec &y ); + + // Set the z element of a 3-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & setZ( const floatInVec &z ); + + // Get the x element of a 3-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getX( ) const; + + // Get the y element of a 3-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getY( ) const; + + // Get the z element of a 3-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D vector by index + // + VECTORMATH_FORCE_INLINE Vector3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D vector by index (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, or z element of a 3-D vector by index + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + VECTORMATH_FORCE_INLINE VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const; + + // Add two 3-D vectors + // + VECTORMATH_FORCE_INLINE const Vector3 operator +( const Vector3 &vec ) const; + + // Subtract a 3-D vector from another 3-D vector + // + VECTORMATH_FORCE_INLINE const Vector3 operator -( const Vector3 &vec ) const; + + // Add a 3-D vector to a 3-D point + // + VECTORMATH_FORCE_INLINE const Point3 operator +( const Point3 &pnt ) const; + + // Multiply a 3-D vector by a scalar + // + VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar ) const; + + // Divide a 3-D vector by a scalar + // + VECTORMATH_FORCE_INLINE const Vector3 operator /( float scalar ) const; + + // Multiply a 3-D vector by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar ) const; + + // Divide a 3-D vector by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Vector3 operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a 3-D vector + // + VECTORMATH_FORCE_INLINE Vector3 & operator +=( const Vector3 &vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + VECTORMATH_FORCE_INLINE Vector3 & operator -=( const Vector3 &vec ); + + // Perform compound assignment and multiplication by a scalar + // + VECTORMATH_FORCE_INLINE Vector3 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + VECTORMATH_FORCE_INLINE Vector3 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector3 & operator /=( const floatInVec &scalar ); + + // Negate all elements of a 3-D vector + // + VECTORMATH_FORCE_INLINE const Vector3 operator -( ) const; + + // Construct x axis + // + static VECTORMATH_FORCE_INLINE const Vector3 xAxis( ); + + // Construct y axis + // + static VECTORMATH_FORCE_INLINE const Vector3 yAxis( ); + + // Construct z axis + // + static VECTORMATH_FORCE_INLINE const Vector3 zAxis( ); + +}; + +// Multiply a 3-D vector by a scalar +// +VECTORMATH_FORCE_INLINE const Vector3 operator *( float scalar, const Vector3 &vec ); + +// Multiply a 3-D vector by a scalar (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Vector3 operator *( const floatInVec &scalar, const Vector3 &vec ); + +// Multiply two 3-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector3 mulPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Divide two 3-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +VECTORMATH_FORCE_INLINE const Vector3 divPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Compute the reciprocal of a 3-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +VECTORMATH_FORCE_INLINE const Vector3 recipPerElem( const Vector3 &vec ); + +// Compute the absolute value of a 3-D vector per element +// +VECTORMATH_FORCE_INLINE const Vector3 absPerElem( const Vector3 &vec ); + +// Copy sign from one 3-D vector to another, per element +// +VECTORMATH_FORCE_INLINE const Vector3 copySignPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Maximum of two 3-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector3 maxPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Minimum of two 3-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector3 minPerElem( const Vector3 &vec0, const Vector3 &vec1 ); + +// Maximum element of a 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector3 &vec ); + +// Minimum element of a 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector3 &vec ); + +// Compute the sum of all elements of a 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector3 &vec ); + +// Compute the dot product of two 3-D vectors +// +VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector3 &vec0, const Vector3 &vec1 ); + +// Compute the square of the length of a 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector3 &vec ); + +// Compute the length of a 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec length( const Vector3 &vec ); + +// Normalize a 3-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +VECTORMATH_FORCE_INLINE const Vector3 normalize( const Vector3 &vec ); + +// Compute cross product of two 3-D vectors +// +VECTORMATH_FORCE_INLINE const Vector3 cross( const Vector3 &vec0, const Vector3 &vec1 ); + +// Outer product of two 3-D vectors +// +VECTORMATH_FORCE_INLINE const Matrix3 outer( const Vector3 &vec0, const Vector3 &vec1 ); + +// Pre-multiply a row vector by a 3x3 matrix +// NOTE: +// Slower than column post-multiply. +// +VECTORMATH_FORCE_INLINE const Vector3 rowMul( const Vector3 &vec, const Matrix3 & mat ); + +// Cross-product matrix of a 3-D vector +// +VECTORMATH_FORCE_INLINE const Matrix3 crossMatrix( const Vector3 &vec ); + +// Create cross-product matrix and multiply +// NOTE: +// Faster than separately creating a cross-product matrix and multiplying. +// +VECTORMATH_FORCE_INLINE const Matrix3 crossMatrixMul( const Vector3 &vec, const Matrix3 & mat ); + +// Linear interpolation between two 3-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector3 lerp( float t, const Vector3 &vec0, const Vector3 &vec1 ); + +// Linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector3 lerp( const floatInVec &t, const Vector3 &vec0, const Vector3 &vec1 ); + +// Spherical linear interpolation between two 3-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector3 slerp( float t, const Vector3 &unitVec0, const Vector3 &unitVec1 ); + +// Spherical linear interpolation between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector3 slerp( const floatInVec &t, const Vector3 &unitVec0, const Vector3 &unitVec1 ); + +// Conditionally select between two 3-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, bool select1 ); + +// Conditionally select between two 3-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Vector3 select( const Vector3 &vec0, const Vector3 &vec1, const boolInVec &select1 ); + +// Store x, y, and z elements of 3-D vector in first three words of a quadword, preserving fourth word +// +VECTORMATH_FORCE_INLINE void storeXYZ( const Vector3 &vec, __m128 * quad ); + +// Load four three-float 3-D vectors, stored in three quadwords +// +VECTORMATH_FORCE_INLINE void loadXYZArray( Vector3 & vec0, Vector3 & vec1, Vector3 & vec2, Vector3 & vec3, const __m128 * threeQuads ); + +// Store four 3-D vectors in three quadwords +// +VECTORMATH_FORCE_INLINE void storeXYZArray( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, __m128 * threeQuads ); + +// Store eight 3-D vectors as half-floats +// +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector3 &vec0, const Vector3 &vec1, const Vector3 &vec2, const Vector3 &vec3, const Vector3 &vec4, const Vector3 &vec5, const Vector3 &vec6, const Vector3 &vec7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Vector3 &vec ); + +// Print a 3-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Vector3 &vec, const char * name ); + +#endif + +// A 4-D vector in array-of-structures format +// +class Vector4 +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Vector4( ) { }; + + // Construct a 4-D vector from x, y, z, and w elements + // + VECTORMATH_FORCE_INLINE Vector4( float x, float y, float z, float w ); + + // Construct a 4-D vector from x, y, z, and w elements (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w ); + + // Construct a 4-D vector from a 3-D vector and a scalar + // + VECTORMATH_FORCE_INLINE Vector4( const Vector3 &xyz, float w ); + + // Construct a 4-D vector from a 3-D vector and a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4( const Vector3 &xyz, const floatInVec &w ); + + // Copy x, y, and z from a 3-D vector into a 4-D vector, and set w to 0 + // + explicit VECTORMATH_FORCE_INLINE Vector4( const Vector3 &vec ); + + // Copy x, y, and z from a 3-D point into a 4-D vector, and set w to 1 + // + explicit VECTORMATH_FORCE_INLINE Vector4( const Point3 &pnt ); + + // Copy elements from a quaternion into a 4-D vector + // + explicit VECTORMATH_FORCE_INLINE Vector4( const Quat &quat ); + + // Set all elements of a 4-D vector to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Vector4( float scalar ); + + // Set all elements of a 4-D vector to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Vector4( const floatInVec &scalar ); + + // Set vector float data in a 4-D vector + // + explicit VECTORMATH_FORCE_INLINE Vector4( __m128 vf4 ); + + // Get vector float data from a 4-D vector + // + VECTORMATH_FORCE_INLINE __m128 get128( ) const; + + // Assign one 4-D vector to another + // + VECTORMATH_FORCE_INLINE Vector4 & operator =( const Vector4 &vec ); + + // Set the x, y, and z elements of a 4-D vector + // NOTE: + // This function does not change the w element. + // + VECTORMATH_FORCE_INLINE Vector4 & setXYZ( const Vector3 &vec ); + + // Get the x, y, and z elements of a 4-D vector + // + VECTORMATH_FORCE_INLINE const Vector3 getXYZ( ) const; + + // Set the x element of a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & setX( float x ); + + // Set the y element of a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & setY( float y ); + + // Set the z element of a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & setZ( float z ); + + // Set the w element of a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & setW( float w ); + + // Set the x element of a 4-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & setX( const floatInVec &x ); + + // Set the y element of a 4-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & setY( const floatInVec &y ); + + // Set the z element of a 4-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & setZ( const floatInVec &z ); + + // Set the w element of a 4-D vector (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & setW( const floatInVec &w ); + + // Get the x element of a 4-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getX( ) const; + + // Get the y element of a 4-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getY( ) const; + + // Get the z element of a 4-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const; + + // Get the w element of a 4-D vector + // + VECTORMATH_FORCE_INLINE const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a 4-D vector by index + // + VECTORMATH_FORCE_INLINE Vector4 & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a 4-D vector by index (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, z, or w element of a 4-D vector by index + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + VECTORMATH_FORCE_INLINE VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const; + + // Add two 4-D vectors + // + VECTORMATH_FORCE_INLINE const Vector4 operator +( const Vector4 &vec ) const; + + // Subtract a 4-D vector from another 4-D vector + // + VECTORMATH_FORCE_INLINE const Vector4 operator -( const Vector4 &vec ) const; + + // Multiply a 4-D vector by a scalar + // + VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar ) const; + + // Divide a 4-D vector by a scalar + // + VECTORMATH_FORCE_INLINE const Vector4 operator /( float scalar ) const; + + // Multiply a 4-D vector by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar ) const; + + // Divide a 4-D vector by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Vector4 operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & operator +=( const Vector4 &vec ); + + // Perform compound assignment and subtraction by a 4-D vector + // + VECTORMATH_FORCE_INLINE Vector4 & operator -=( const Vector4 &vec ); + + // Perform compound assignment and multiplication by a scalar + // + VECTORMATH_FORCE_INLINE Vector4 & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + VECTORMATH_FORCE_INLINE Vector4 & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Vector4 & operator /=( const floatInVec &scalar ); + + // Negate all elements of a 4-D vector + // + VECTORMATH_FORCE_INLINE const Vector4 operator -( ) const; + + // Construct x axis + // + static VECTORMATH_FORCE_INLINE const Vector4 xAxis( ); + + // Construct y axis + // + static VECTORMATH_FORCE_INLINE const Vector4 yAxis( ); + + // Construct z axis + // + static VECTORMATH_FORCE_INLINE const Vector4 zAxis( ); + + // Construct w axis + // + static VECTORMATH_FORCE_INLINE const Vector4 wAxis( ); + +}; + +// Multiply a 4-D vector by a scalar +// +VECTORMATH_FORCE_INLINE const Vector4 operator *( float scalar, const Vector4 &vec ); + +// Multiply a 4-D vector by a scalar (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Vector4 operator *( const floatInVec &scalar, const Vector4 &vec ); + +// Multiply two 4-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector4 mulPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Divide two 4-D vectors per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +VECTORMATH_FORCE_INLINE const Vector4 divPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Compute the reciprocal of a 4-D vector per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +VECTORMATH_FORCE_INLINE const Vector4 recipPerElem( const Vector4 &vec ); + +// Compute the absolute value of a 4-D vector per element +// +VECTORMATH_FORCE_INLINE const Vector4 absPerElem( const Vector4 &vec ); + +// Copy sign from one 4-D vector to another, per element +// +VECTORMATH_FORCE_INLINE const Vector4 copySignPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Maximum of two 4-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector4 maxPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Minimum of two 4-D vectors per element +// +VECTORMATH_FORCE_INLINE const Vector4 minPerElem( const Vector4 &vec0, const Vector4 &vec1 ); + +// Maximum element of a 4-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Vector4 &vec ); + +// Minimum element of a 4-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Vector4 &vec ); + +// Compute the sum of all elements of a 4-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec sum( const Vector4 &vec ); + +// Compute the dot product of two 4-D vectors +// +VECTORMATH_FORCE_INLINE const floatInVec dot( const Vector4 &vec0, const Vector4 &vec1 ); + +// Compute the square of the length of a 4-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec lengthSqr( const Vector4 &vec ); + +// Compute the length of a 4-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec length( const Vector4 &vec ); + +// Normalize a 4-D vector +// NOTE: +// The result is unpredictable when all elements of vec are at or near zero. +// +VECTORMATH_FORCE_INLINE const Vector4 normalize( const Vector4 &vec ); + +// Outer product of two 4-D vectors +// +VECTORMATH_FORCE_INLINE const Matrix4 outer( const Vector4 &vec0, const Vector4 &vec1 ); + +// Linear interpolation between two 4-D vectors +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector4 lerp( float t, const Vector4 &vec0, const Vector4 &vec1 ); + +// Linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector4 lerp( const floatInVec &t, const Vector4 &vec0, const Vector4 &vec1 ); + +// Spherical linear interpolation between two 4-D vectors +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector4 slerp( float t, const Vector4 &unitVec0, const Vector4 &unitVec1 ); + +// Spherical linear interpolation between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// The result is unpredictable if the vectors point in opposite directions. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Vector4 slerp( const floatInVec &t, const Vector4 &unitVec0, const Vector4 &unitVec1 ); + +// Conditionally select between two 4-D vectors +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, bool select1 ); + +// Conditionally select between two 4-D vectors (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Vector4 select( const Vector4 &vec0, const Vector4 &vec1, const boolInVec &select1 ); + +// Store four 4-D vectors as half-floats +// +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Vector4 &vec0, const Vector4 &vec1, const Vector4 &vec2, const Vector4 &vec3, vec_ushort8 * twoQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4-D vector +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Vector4 &vec ); + +// Print a 4-D vector and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Vector4 &vec, const char * name ); + +#endif + +// A 3-D point in array-of-structures format +// +class Point3 +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Point3( ) { }; + + // Construct a 3-D point from x, y, and z elements + // + VECTORMATH_FORCE_INLINE Point3( float x, float y, float z ); + + // Construct a 3-D point from x, y, and z elements (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Point3( const floatInVec &x, const floatInVec &y, const floatInVec &z ); + + // Copy elements from a 3-D vector into a 3-D point + // + explicit VECTORMATH_FORCE_INLINE Point3( const Vector3 &vec ); + + // Set all elements of a 3-D point to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Point3( float scalar ); + + // Set all elements of a 3-D point to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Point3( const floatInVec &scalar ); + + // Set vector float data in a 3-D point + // + explicit VECTORMATH_FORCE_INLINE Point3( __m128 vf4 ); + + // Get vector float data from a 3-D point + // + VECTORMATH_FORCE_INLINE __m128 get128( ) const; + + // Assign one 3-D point to another + // + VECTORMATH_FORCE_INLINE Point3 & operator =( const Point3 &pnt ); + + // Set the x element of a 3-D point + // + VECTORMATH_FORCE_INLINE Point3 & setX( float x ); + + // Set the y element of a 3-D point + // + VECTORMATH_FORCE_INLINE Point3 & setY( float y ); + + // Set the z element of a 3-D point + // + VECTORMATH_FORCE_INLINE Point3 & setZ( float z ); + + // Set the x element of a 3-D point (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Point3 & setX( const floatInVec &x ); + + // Set the y element of a 3-D point (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Point3 & setY( const floatInVec &y ); + + // Set the z element of a 3-D point (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Point3 & setZ( const floatInVec &z ); + + // Get the x element of a 3-D point + // + VECTORMATH_FORCE_INLINE const floatInVec getX( ) const; + + // Get the y element of a 3-D point + // + VECTORMATH_FORCE_INLINE const floatInVec getY( ) const; + + // Get the z element of a 3-D point + // + VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const; + + // Set an x, y, or z element of a 3-D point by index + // + VECTORMATH_FORCE_INLINE Point3 & setElem( int idx, float value ); + + // Set an x, y, or z element of a 3-D point by index (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Point3 & setElem( int idx, const floatInVec &value ); + + // Get an x, y, or z element of a 3-D point by index + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + VECTORMATH_FORCE_INLINE VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const; + + // Subtract a 3-D point from another 3-D point + // + VECTORMATH_FORCE_INLINE const Vector3 operator -( const Point3 &pnt ) const; + + // Add a 3-D point to a 3-D vector + // + VECTORMATH_FORCE_INLINE const Point3 operator +( const Vector3 &vec ) const; + + // Subtract a 3-D vector from a 3-D point + // + VECTORMATH_FORCE_INLINE const Point3 operator -( const Vector3 &vec ) const; + + // Perform compound assignment and addition with a 3-D vector + // + VECTORMATH_FORCE_INLINE Point3 & operator +=( const Vector3 &vec ); + + // Perform compound assignment and subtraction by a 3-D vector + // + VECTORMATH_FORCE_INLINE Point3 & operator -=( const Vector3 &vec ); + +}; + +// Multiply two 3-D points per element +// +VECTORMATH_FORCE_INLINE const Point3 mulPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Divide two 3-D points per element +// NOTE: +// Floating-point behavior matches standard library function divf4. +// +VECTORMATH_FORCE_INLINE const Point3 divPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Compute the reciprocal of a 3-D point per element +// NOTE: +// Floating-point behavior matches standard library function recipf4. +// +VECTORMATH_FORCE_INLINE const Point3 recipPerElem( const Point3 &pnt ); + +// Compute the absolute value of a 3-D point per element +// +VECTORMATH_FORCE_INLINE const Point3 absPerElem( const Point3 &pnt ); + +// Copy sign from one 3-D point to another, per element +// +VECTORMATH_FORCE_INLINE const Point3 copySignPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Maximum of two 3-D points per element +// +VECTORMATH_FORCE_INLINE const Point3 maxPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Minimum of two 3-D points per element +// +VECTORMATH_FORCE_INLINE const Point3 minPerElem( const Point3 &pnt0, const Point3 &pnt1 ); + +// Maximum element of a 3-D point +// +VECTORMATH_FORCE_INLINE const floatInVec maxElem( const Point3 &pnt ); + +// Minimum element of a 3-D point +// +VECTORMATH_FORCE_INLINE const floatInVec minElem( const Point3 &pnt ); + +// Compute the sum of all elements of a 3-D point +// +VECTORMATH_FORCE_INLINE const floatInVec sum( const Point3 &pnt ); + +// Apply uniform scale to a 3-D point +// +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, float scaleVal ); + +// Apply uniform scale to a 3-D point (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const floatInVec &scaleVal ); + +// Apply non-uniform scale to a 3-D point +// +VECTORMATH_FORCE_INLINE const Point3 scale( const Point3 &pnt, const Vector3 &scaleVec ); + +// Scalar projection of a 3-D point on a unit-length 3-D vector +// +VECTORMATH_FORCE_INLINE const floatInVec projection( const Point3 &pnt, const Vector3 &unitVec ); + +// Compute the square of the distance of a 3-D point from the coordinate-system origin +// +VECTORMATH_FORCE_INLINE const floatInVec distSqrFromOrigin( const Point3 &pnt ); + +// Compute the distance of a 3-D point from the coordinate-system origin +// +VECTORMATH_FORCE_INLINE const floatInVec distFromOrigin( const Point3 &pnt ); + +// Compute the square of the distance between two 3-D points +// +VECTORMATH_FORCE_INLINE const floatInVec distSqr( const Point3 &pnt0, const Point3 &pnt1 ); + +// Compute the distance between two 3-D points +// +VECTORMATH_FORCE_INLINE const floatInVec dist( const Point3 &pnt0, const Point3 &pnt1 ); + +// Linear interpolation between two 3-D points +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Point3 lerp( float t, const Point3 &pnt0, const Point3 &pnt1 ); + +// Linear interpolation between two 3-D points (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Point3 lerp( const floatInVec &t, const Point3 &pnt0, const Point3 &pnt1 ); + +// Conditionally select between two 3-D points +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, bool select1 ); + +// Conditionally select between two 3-D points (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Point3 select( const Point3 &pnt0, const Point3 &pnt1, const boolInVec &select1 ); + +// Store x, y, and z elements of 3-D point in first three words of a quadword, preserving fourth word +// +VECTORMATH_FORCE_INLINE void storeXYZ( const Point3 &pnt, __m128 * quad ); + +// Load four three-float 3-D points, stored in three quadwords +// +VECTORMATH_FORCE_INLINE void loadXYZArray( Point3 & pnt0, Point3 & pnt1, Point3 & pnt2, Point3 & pnt3, const __m128 * threeQuads ); + +// Store four 3-D points in three quadwords +// +VECTORMATH_FORCE_INLINE void storeXYZArray( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, __m128 * threeQuads ); + +// Store eight 3-D points as half-floats +// +VECTORMATH_FORCE_INLINE void storeHalfFloats( const Point3 &pnt0, const Point3 &pnt1, const Point3 &pnt2, const Point3 &pnt3, const Point3 &pnt4, const Point3 &pnt5, const Point3 &pnt6, const Point3 &pnt7, vec_ushort8 * threeQuads ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3-D point +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Point3 &pnt ); + +// Print a 3-D point and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Point3 &pnt, const char * name ); + +#endif + +// A quaternion in array-of-structures format +// +class Quat +{ + __m128 mVec128; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Quat( ) { }; + + VECTORMATH_FORCE_INLINE Quat(const Quat& quat); + + // Construct a quaternion from x, y, z, and w elements + // + VECTORMATH_FORCE_INLINE Quat( float x, float y, float z, float w ); + + // Construct a quaternion from x, y, z, and w elements (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat( const floatInVec &x, const floatInVec &y, const floatInVec &z, const floatInVec &w ); + + // Construct a quaternion from a 3-D vector and a scalar + // + VECTORMATH_FORCE_INLINE Quat( const Vector3 &xyz, float w ); + + // Construct a quaternion from a 3-D vector and a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat( const Vector3 &xyz, const floatInVec &w ); + + // Copy elements from a 4-D vector into a quaternion + // + explicit VECTORMATH_FORCE_INLINE Quat( const Vector4 &vec ); + + // Convert a rotation matrix to a unit-length quaternion + // + explicit VECTORMATH_FORCE_INLINE Quat( const Matrix3 & rotMat ); + + // Set all elements of a quaternion to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Quat( float scalar ); + + // Set all elements of a quaternion to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Quat( const floatInVec &scalar ); + + // Set vector float data in a quaternion + // + explicit VECTORMATH_FORCE_INLINE Quat( __m128 vf4 ); + + // Get vector float data from a quaternion + // + VECTORMATH_FORCE_INLINE __m128 get128( ) const; + + // Set a quaterion from vector float data + // + VECTORMATH_FORCE_INLINE void set128(vec_float4 vec); + + // Assign one quaternion to another + // + VECTORMATH_FORCE_INLINE Quat & operator =( const Quat &quat ); + + // Set the x, y, and z elements of a quaternion + // NOTE: + // This function does not change the w element. + // + VECTORMATH_FORCE_INLINE Quat & setXYZ( const Vector3 &vec ); + + // Get the x, y, and z elements of a quaternion + // + VECTORMATH_FORCE_INLINE const Vector3 getXYZ( ) const; + + // Set the x element of a quaternion + // + VECTORMATH_FORCE_INLINE Quat & setX( float x ); + + // Set the y element of a quaternion + // + VECTORMATH_FORCE_INLINE Quat & setY( float y ); + + // Set the z element of a quaternion + // + VECTORMATH_FORCE_INLINE Quat & setZ( float z ); + + // Set the w element of a quaternion + // + VECTORMATH_FORCE_INLINE Quat & setW( float w ); + + // Set the x element of a quaternion (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & setX( const floatInVec &x ); + + // Set the y element of a quaternion (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & setY( const floatInVec &y ); + + // Set the z element of a quaternion (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & setZ( const floatInVec &z ); + + // Set the w element of a quaternion (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & setW( const floatInVec &w ); + + // Get the x element of a quaternion + // + VECTORMATH_FORCE_INLINE const floatInVec getX( ) const; + + // Get the y element of a quaternion + // + VECTORMATH_FORCE_INLINE const floatInVec getY( ) const; + + // Get the z element of a quaternion + // + VECTORMATH_FORCE_INLINE const floatInVec getZ( ) const; + + // Get the w element of a quaternion + // + VECTORMATH_FORCE_INLINE const floatInVec getW( ) const; + + // Set an x, y, z, or w element of a quaternion by index + // + VECTORMATH_FORCE_INLINE Quat & setElem( int idx, float value ); + + // Set an x, y, z, or w element of a quaternion by index (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & setElem( int idx, const floatInVec &value ); + + // Get an x, y, z, or w element of a quaternion by index + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int idx ) const; + + // Subscripting operator to set or get an element + // + VECTORMATH_FORCE_INLINE VecIdx operator []( int idx ); + + // Subscripting operator to get an element + // + VECTORMATH_FORCE_INLINE const floatInVec operator []( int idx ) const; + + // Add two quaternions + // + VECTORMATH_FORCE_INLINE const Quat operator +( const Quat &quat ) const; + + // Subtract a quaternion from another quaternion + // + VECTORMATH_FORCE_INLINE const Quat operator -( const Quat &quat ) const; + + // Multiply two quaternions + // + VECTORMATH_FORCE_INLINE const Quat operator *( const Quat &quat ) const; + + // Multiply a quaternion by a scalar + // + VECTORMATH_FORCE_INLINE const Quat operator *( float scalar ) const; + + // Divide a quaternion by a scalar + // + VECTORMATH_FORCE_INLINE const Quat operator /( float scalar ) const; + + // Multiply a quaternion by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar ) const; + + // Divide a quaternion by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Quat operator /( const floatInVec &scalar ) const; + + // Perform compound assignment and addition with a quaternion + // + VECTORMATH_FORCE_INLINE Quat & operator +=( const Quat &quat ); + + // Perform compound assignment and subtraction by a quaternion + // + VECTORMATH_FORCE_INLINE Quat & operator -=( const Quat &quat ); + + // Perform compound assignment and multiplication by a quaternion + // + VECTORMATH_FORCE_INLINE Quat & operator *=( const Quat &quat ); + + // Perform compound assignment and multiplication by a scalar + // + VECTORMATH_FORCE_INLINE Quat & operator *=( float scalar ); + + // Perform compound assignment and division by a scalar + // + VECTORMATH_FORCE_INLINE Quat & operator /=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and division by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Quat & operator /=( const floatInVec &scalar ); + + // Negate all elements of a quaternion + // + VECTORMATH_FORCE_INLINE const Quat operator -( ) const; + + // Construct an identity quaternion + // + static VECTORMATH_FORCE_INLINE const Quat identity( ); + + // Construct a quaternion to rotate between two unit-length 3-D vectors + // NOTE: + // The result is unpredictable if unitVec0 and unitVec1 point in opposite directions. + // + static VECTORMATH_FORCE_INLINE const Quat rotation( const Vector3 &unitVec0, const Vector3 &unitVec1 ); + + // Construct a quaternion to rotate around a unit-length 3-D vector + // + static VECTORMATH_FORCE_INLINE const Quat rotation( float radians, const Vector3 &unitVec ); + + // Construct a quaternion to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Quat rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a quaternion to rotate around the x axis + // + static VECTORMATH_FORCE_INLINE const Quat rotationX( float radians ); + + // Construct a quaternion to rotate around the y axis + // + static VECTORMATH_FORCE_INLINE const Quat rotationY( float radians ); + + // Construct a quaternion to rotate around the z axis + // + static VECTORMATH_FORCE_INLINE const Quat rotationZ( float radians ); + + // Construct a quaternion to rotate around the x axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Quat rotationX( const floatInVec &radians ); + + // Construct a quaternion to rotate around the y axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Quat rotationY( const floatInVec &radians ); + + // Construct a quaternion to rotate around the z axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Quat rotationZ( const floatInVec &radians ); + +}; + +// Multiply a quaternion by a scalar +// +VECTORMATH_FORCE_INLINE const Quat operator *( float scalar, const Quat &quat ); + +// Multiply a quaternion by a scalar (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Quat operator *( const floatInVec &scalar, const Quat &quat ); + +// Compute the conjugate of a quaternion +// +VECTORMATH_FORCE_INLINE const Quat conj( const Quat &quat ); + +// Use a unit-length quaternion to rotate a 3-D vector +// +VECTORMATH_FORCE_INLINE const Vector3 rotate( const Quat &unitQuat, const Vector3 &vec ); + +// Compute the dot product of two quaternions +// +VECTORMATH_FORCE_INLINE const floatInVec dot( const Quat &quat0, const Quat &quat1 ); + +// Compute the norm of a quaternion +// +VECTORMATH_FORCE_INLINE const floatInVec norm( const Quat &quat ); + +// Compute the length of a quaternion +// +VECTORMATH_FORCE_INLINE const floatInVec length( const Quat &quat ); + +// Normalize a quaternion +// NOTE: +// The result is unpredictable when all elements of quat are at or near zero. +// +VECTORMATH_FORCE_INLINE const Quat normalize( const Quat &quat ); + +// Linear interpolation between two quaternions +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Quat lerp( float t, const Quat &quat0, const Quat &quat1 ); + +// Linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Quat lerp( const floatInVec &t, const Quat &quat0, const Quat &quat1 ); + +// Spherical linear interpolation between two quaternions +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Quat slerp( float t, const Quat &unitQuat0, const Quat &unitQuat1 ); + +// Spherical linear interpolation between two quaternions (scalar data contained in vector data type) +// NOTE: +// Interpolates along the shortest path between orientations. +// Does not clamp t between 0 and 1. +// +VECTORMATH_FORCE_INLINE const Quat slerp( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1 ); + +// Spherical quadrangle interpolation +// +VECTORMATH_FORCE_INLINE const Quat squad( float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ); + +// Spherical quadrangle interpolation (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Quat squad( const floatInVec &t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3 ); + +// Conditionally select between two quaternions +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, bool select1 ); + +// Conditionally select between two quaternions (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Quat select( const Quat &quat0, const Quat &quat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a quaternion +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Quat &quat ); + +// Print a quaternion and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Quat &quat, const char * name ); + +#endif + +// A 3x3 matrix in array-of-structures format +// +class Matrix3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Matrix3( ) { }; + + // Copy a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3( const Matrix3 & mat ); + + // Construct a 3x3 matrix containing the specified columns + // + VECTORMATH_FORCE_INLINE Matrix3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2 ); + + // Construct a 3x3 rotation matrix from a unit-length quaternion + // + explicit VECTORMATH_FORCE_INLINE Matrix3( const Quat &unitQuat ); + + // Set all elements of a 3x3 matrix to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Matrix3( float scalar ); + + // Set all elements of a 3x3 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Matrix3( const floatInVec &scalar ); + + // Assign one 3x3 matrix to another + // + VECTORMATH_FORCE_INLINE Matrix3 & operator =( const Matrix3 & mat ); + + // Set column 0 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & setCol0( const Vector3 &col0 ); + + // Set column 1 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & setCol1( const Vector3 &col1 ); + + // Set column 2 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & setCol2( const Vector3 &col2 ); + + // Get column 0 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol0( ) const; + + // Get column 1 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol1( ) const; + + // Get column 2 of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol2( ) const; + + // Set the column of a 3x3 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Matrix3 & setCol( int col, const Vector3 &vec ); + + // Set the row of a 3x3 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Matrix3 & setRow( int row, const Vector3 &vec ); + + // Get the column of a 3x3 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector3 getCol( int col ) const; + + // Get the row of a 3x3 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector3 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + VECTORMATH_FORCE_INLINE Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + VECTORMATH_FORCE_INLINE const Vector3 operator []( int col ) const; + + // Set the element of a 3x3 matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE Matrix3 & setElem( int col, int row, float val ); + + // Set the element of a 3x3 matrix referred to by column and row indices (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Matrix3 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 3x3 matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const; + + // Add two 3x3 matrices + // + VECTORMATH_FORCE_INLINE const Matrix3 operator +( const Matrix3 & mat ) const; + + // Subtract a 3x3 matrix from another 3x3 matrix + // + VECTORMATH_FORCE_INLINE const Matrix3 operator -( const Matrix3 & mat ) const; + + // Negate all elements of a 3x3 matrix + // + VECTORMATH_FORCE_INLINE const Matrix3 operator -( ) const; + + // Multiply a 3x3 matrix by a scalar + // + VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar ) const; + + // Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar ) const; + + // Multiply a 3x3 matrix by a 3-D vector + // + VECTORMATH_FORCE_INLINE const Vector3 operator *( const Vector3 &vec ) const; + + // Multiply two 3x3 matrices + // + VECTORMATH_FORCE_INLINE const Matrix3 operator *( const Matrix3 & mat ) const; + + // Perform compound assignment and addition with a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & operator +=( const Matrix3 & mat ); + + // Perform compound assignment and subtraction by a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & operator -=( const Matrix3 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + VECTORMATH_FORCE_INLINE Matrix3 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Matrix3 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and multiplication by a 3x3 matrix + // + VECTORMATH_FORCE_INLINE Matrix3 & operator *=( const Matrix3 & mat ); + + // Construct an identity 3x3 matrix + // + static VECTORMATH_FORCE_INLINE const Matrix3 identity( ); + + // Construct a 3x3 matrix to rotate around the x axis + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationX( float radians ); + + // Construct a 3x3 matrix to rotate around the y axis + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationY( float radians ); + + // Construct a 3x3 matrix to rotate around the z axis + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationZ( float radians ); + + // Construct a 3x3 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationX( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationY( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationZ( const floatInVec &radians ); + + // Construct a 3x3 matrix to rotate around the x, y, and z axes + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 3x3 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static VECTORMATH_FORCE_INLINE const Matrix3 rotation( const Quat &unitQuat ); + + // Construct a 3x3 matrix to perform scaling + // + static VECTORMATH_FORCE_INLINE const Matrix3 scale( const Vector3 &scaleVec ); + +}; +// Multiply a 3x3 matrix by a scalar +// +VECTORMATH_FORCE_INLINE const Matrix3 operator *( float scalar, const Matrix3 & mat ); + +// Multiply a 3x3 matrix by a scalar (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Matrix3 operator *( const floatInVec &scalar, const Matrix3 & mat ); + +// Append (post-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Matrix3 appendScale( const Matrix3 & mat, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x3 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Matrix3 prependScale( const Vector3 &scaleVec, const Matrix3 & mat ); + +// Multiply two 3x3 matrices per element +// +VECTORMATH_FORCE_INLINE const Matrix3 mulPerElem( const Matrix3 & mat0, const Matrix3 & mat1 ); + +// Compute the absolute value of a 3x3 matrix per element +// +VECTORMATH_FORCE_INLINE const Matrix3 absPerElem( const Matrix3 & mat ); + +// Transpose of a 3x3 matrix +// +VECTORMATH_FORCE_INLINE const Matrix3 transpose( const Matrix3 & mat ); + +// Compute the inverse of a 3x3 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +VECTORMATH_FORCE_INLINE const Matrix3 inverse( const Matrix3 & mat ); + +// Determinant of a 3x3 matrix +// +VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix3 & mat ); + +// Conditionally select between two 3x3 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, bool select1 ); + +// Conditionally select between two 3x3 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Matrix3 select( const Matrix3 & mat0, const Matrix3 & mat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x3 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat ); + +// Print a 3x3 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Matrix3 & mat, const char * name ); + +#endif + +// A 4x4 matrix in array-of-structures format +// +class Matrix4 +{ + Vector4 mCol0; + Vector4 mCol1; + Vector4 mCol2; + Vector4 mCol3; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Matrix4( ) { }; + + // Copy a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4( const Matrix4 & mat ); + + // Construct a 4x4 matrix containing the specified columns + // + VECTORMATH_FORCE_INLINE Matrix4( const Vector4 &col0, const Vector4 &col1, const Vector4 &col2, const Vector4 &col3 ); + + // Construct a 4x4 matrix from a 3x4 transformation matrix + // + explicit VECTORMATH_FORCE_INLINE Matrix4( const Transform3 & mat ); + + // Construct a 4x4 matrix from a 3x3 matrix and a 3-D vector + // + VECTORMATH_FORCE_INLINE Matrix4( const Matrix3 & mat, const Vector3 &translateVec ); + + // Construct a 4x4 matrix from a unit-length quaternion and a 3-D vector + // + VECTORMATH_FORCE_INLINE Matrix4( const Quat &unitQuat, const Vector3 &translateVec ); + + // Set all elements of a 4x4 matrix to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Matrix4( float scalar ); + + // Set all elements of a 4x4 matrix to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Matrix4( const floatInVec &scalar ); + + // Assign one 4x4 matrix to another + // + VECTORMATH_FORCE_INLINE Matrix4 & operator =( const Matrix4 & mat ); + + // Set the upper-left 3x3 submatrix + // NOTE: + // This function does not change the bottom row elements. + // + VECTORMATH_FORCE_INLINE Matrix4 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Matrix3 getUpper3x3( ) const; + + // Set translation component + // NOTE: + // This function does not change the bottom row elements. + // + VECTORMATH_FORCE_INLINE Matrix4 & setTranslation( const Vector3 &translateVec ); + + // Get the translation component of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getTranslation( ) const; + + // Set column 0 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & setCol0( const Vector4 &col0 ); + + // Set column 1 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & setCol1( const Vector4 &col1 ); + + // Set column 2 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & setCol2( const Vector4 &col2 ); + + // Set column 3 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & setCol3( const Vector4 &col3 ); + + // Get column 0 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Vector4 getCol0( ) const; + + // Get column 1 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Vector4 getCol1( ) const; + + // Get column 2 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Vector4 getCol2( ) const; + + // Get column 3 of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Vector4 getCol3( ) const; + + // Set the column of a 4x4 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Matrix4 & setCol( int col, const Vector4 &vec ); + + // Set the row of a 4x4 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Matrix4 & setRow( int row, const Vector4 &vec ); + + // Get the column of a 4x4 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector4 getCol( int col ) const; + + // Get the row of a 4x4 matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + VECTORMATH_FORCE_INLINE Vector4 & operator []( int col ); + + // Subscripting operator to get a column + // + VECTORMATH_FORCE_INLINE const Vector4 operator []( int col ) const; + + // Set the element of a 4x4 matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE Matrix4 & setElem( int col, int row, float val ); + + // Set the element of a 4x4 matrix referred to by column and row indices (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Matrix4 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 4x4 matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const; + + // Add two 4x4 matrices + // + VECTORMATH_FORCE_INLINE const Matrix4 operator +( const Matrix4 & mat ) const; + + // Subtract a 4x4 matrix from another 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Matrix4 operator -( const Matrix4 & mat ) const; + + // Negate all elements of a 4x4 matrix + // + VECTORMATH_FORCE_INLINE const Matrix4 operator -( ) const; + + // Multiply a 4x4 matrix by a scalar + // + VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar ) const; + + // Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar ) const; + + // Multiply a 4x4 matrix by a 4-D vector + // + VECTORMATH_FORCE_INLINE const Vector4 operator *( const Vector4 &vec ) const; + + // Multiply a 4x4 matrix by a 3-D vector + // + VECTORMATH_FORCE_INLINE const Vector4 operator *( const Vector3 &vec ) const; + + // Multiply a 4x4 matrix by a 3-D point + // + VECTORMATH_FORCE_INLINE const Vector4 operator *( const Point3 &pnt ) const; + + // Multiply two 4x4 matrices + // + VECTORMATH_FORCE_INLINE const Matrix4 operator *( const Matrix4 & mat ) const; + + // Multiply a 4x4 matrix by a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Matrix4 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and addition with a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & operator +=( const Matrix4 & mat ); + + // Perform compound assignment and subtraction by a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & operator -=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a scalar + // + VECTORMATH_FORCE_INLINE Matrix4 & operator *=( float scalar ); + + // Perform compound assignment and multiplication by a scalar (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const floatInVec &scalar ); + + // Perform compound assignment and multiplication by a 4x4 matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const Matrix4 & mat ); + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Matrix4 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 4x4 matrix + // + static VECTORMATH_FORCE_INLINE const Matrix4 identity( ); + + // Construct a 4x4 matrix to rotate around the x axis + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationX( float radians ); + + // Construct a 4x4 matrix to rotate around the y axis + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationY( float radians ); + + // Construct a 4x4 matrix to rotate around the z axis + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationZ( float radians ); + + // Construct a 4x4 matrix to rotate around the x axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationX( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the y axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationY( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the z axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationZ( const floatInVec &radians ); + + // Construct a 4x4 matrix to rotate around the x, y, and z axes + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 4x4 matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static VECTORMATH_FORCE_INLINE const Matrix4 rotation( const Quat &unitQuat ); + + // Construct a 4x4 matrix to perform scaling + // + static VECTORMATH_FORCE_INLINE const Matrix4 scale( const Vector3 &scaleVec ); + + // Construct a 4x4 matrix to perform translation + // + static VECTORMATH_FORCE_INLINE const Matrix4 translation( const Vector3 &translateVec ); + + // Construct viewing matrix based on eye, position looked at, and up direction + // + static VECTORMATH_FORCE_INLINE const Matrix4 lookAt( const Point3 &eyePos, const Point3 &lookAtPos, const Vector3 &upVec ); + + // Construct a perspective projection matrix + // + static VECTORMATH_FORCE_INLINE const Matrix4 perspective( float fovyRadians, float aspect, float zNear, float zFar ); + + // Construct a perspective projection matrix based on frustum + // + static VECTORMATH_FORCE_INLINE const Matrix4 frustum( float left, float right, float bottom, float top, float zNear, float zFar ); + + // Construct an orthographic projection matrix + // + static VECTORMATH_FORCE_INLINE const Matrix4 orthographic( float left, float right, float bottom, float top, float zNear, float zFar ); + +}; +// Multiply a 4x4 matrix by a scalar +// +VECTORMATH_FORCE_INLINE const Matrix4 operator *( float scalar, const Matrix4 & mat ); + +// Multiply a 4x4 matrix by a scalar (scalar data contained in vector data type) +// +VECTORMATH_FORCE_INLINE const Matrix4 operator *( const floatInVec &scalar, const Matrix4 & mat ); + +// Append (post-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Matrix4 appendScale( const Matrix4 & mat, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 4x4 matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Matrix4 prependScale( const Vector3 &scaleVec, const Matrix4 & mat ); + +// Multiply two 4x4 matrices per element +// +VECTORMATH_FORCE_INLINE const Matrix4 mulPerElem( const Matrix4 & mat0, const Matrix4 & mat1 ); + +// Compute the absolute value of a 4x4 matrix per element +// +VECTORMATH_FORCE_INLINE const Matrix4 absPerElem( const Matrix4 & mat ); + +// Transpose of a 4x4 matrix +// +VECTORMATH_FORCE_INLINE const Matrix4 transpose( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix +// NOTE: +// Result is unpredictable when the determinant of mat is equal to or near 0. +// +VECTORMATH_FORCE_INLINE const Matrix4 inverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. The result is unpredictable when the determinant of mat is equal to or near 0. +// +VECTORMATH_FORCE_INLINE const Matrix4 affineInverse( const Matrix4 & mat ); + +// Compute the inverse of a 4x4 matrix, which is expected to be an affine matrix with an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 4x4 matrix meets the given restrictions. +// +VECTORMATH_FORCE_INLINE const Matrix4 orthoInverse( const Matrix4 & mat ); + +// Determinant of a 4x4 matrix +// +VECTORMATH_FORCE_INLINE const floatInVec determinant( const Matrix4 & mat ); + +// Conditionally select between two 4x4 matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, bool select1 ); + +// Conditionally select between two 4x4 matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Matrix4 select( const Matrix4 & mat0, const Matrix4 & mat1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 4x4 matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat ); + +// Print a 4x4 matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Matrix4 & mat, const char * name ); + +#endif + +// A 3x4 transformation matrix in array-of-structures format +// +class Transform3 +{ + Vector3 mCol0; + Vector3 mCol1; + Vector3 mCol2; + Vector3 mCol3; + +public: + // Default constructor; does no initialization + // + VECTORMATH_FORCE_INLINE Transform3( ) { }; + + // Copy a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3( const Transform3 & tfrm ); + + // Construct a 3x4 transformation matrix containing the specified columns + // + VECTORMATH_FORCE_INLINE Transform3( const Vector3 &col0, const Vector3 &col1, const Vector3 &col2, const Vector3 &col3 ); + + // Construct a 3x4 transformation matrix from a 3x3 matrix and a 3-D vector + // + VECTORMATH_FORCE_INLINE Transform3( const Matrix3 & tfrm, const Vector3 &translateVec ); + + // Construct a 3x4 transformation matrix from a unit-length quaternion and a 3-D vector + // + VECTORMATH_FORCE_INLINE Transform3( const Quat &unitQuat, const Vector3 &translateVec ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value + // + explicit VECTORMATH_FORCE_INLINE Transform3( float scalar ); + + // Set all elements of a 3x4 transformation matrix to the same scalar value (scalar data contained in vector data type) + // + explicit VECTORMATH_FORCE_INLINE Transform3( const floatInVec &scalar ); + + // Assign one 3x4 transformation matrix to another + // + VECTORMATH_FORCE_INLINE Transform3 & operator =( const Transform3 & tfrm ); + + // Set the upper-left 3x3 submatrix + // + VECTORMATH_FORCE_INLINE Transform3 & setUpper3x3( const Matrix3 & mat3 ); + + // Get the upper-left 3x3 submatrix of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Matrix3 getUpper3x3( ) const; + + // Set translation component + // + VECTORMATH_FORCE_INLINE Transform3 & setTranslation( const Vector3 &translateVec ); + + // Get the translation component of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getTranslation( ) const; + + // Set column 0 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3 & setCol0( const Vector3 &col0 ); + + // Set column 1 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3 & setCol1( const Vector3 &col1 ); + + // Set column 2 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3 & setCol2( const Vector3 &col2 ); + + // Set column 3 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3 & setCol3( const Vector3 &col3 ); + + // Get column 0 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol0( ) const; + + // Get column 1 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol1( ) const; + + // Get column 2 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol2( ) const; + + // Get column 3 of a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE const Vector3 getCol3( ) const; + + // Set the column of a 3x4 transformation matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Transform3 & setCol( int col, const Vector3 &vec ); + + // Set the row of a 3x4 transformation matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE Transform3 & setRow( int row, const Vector4 &vec ); + + // Get the column of a 3x4 transformation matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector3 getCol( int col ) const; + + // Get the row of a 3x4 transformation matrix referred to by the specified index + // + VECTORMATH_FORCE_INLINE const Vector4 getRow( int row ) const; + + // Subscripting operator to set or get a column + // + VECTORMATH_FORCE_INLINE Vector3 & operator []( int col ); + + // Subscripting operator to get a column + // + VECTORMATH_FORCE_INLINE const Vector3 operator []( int col ) const; + + // Set the element of a 3x4 transformation matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE Transform3 & setElem( int col, int row, float val ); + + // Set the element of a 3x4 transformation matrix referred to by column and row indices (scalar data contained in vector data type) + // + VECTORMATH_FORCE_INLINE Transform3 & setElem( int col, int row, const floatInVec &val ); + + // Get the element of a 3x4 transformation matrix referred to by column and row indices + // + VECTORMATH_FORCE_INLINE const floatInVec getElem( int col, int row ) const; + + // Multiply a 3x4 transformation matrix by a 3-D vector + // + VECTORMATH_FORCE_INLINE const Vector3 operator *( const Vector3 &vec ) const; + + // Multiply a 3x4 transformation matrix by a 3-D point + // + VECTORMATH_FORCE_INLINE const Point3 operator *( const Point3 &pnt ) const; + + // Multiply two 3x4 transformation matrices + // + VECTORMATH_FORCE_INLINE const Transform3 operator *( const Transform3 & tfrm ) const; + + // Perform compound assignment and multiplication by a 3x4 transformation matrix + // + VECTORMATH_FORCE_INLINE Transform3 & operator *=( const Transform3 & tfrm ); + + // Construct an identity 3x4 transformation matrix + // + static VECTORMATH_FORCE_INLINE const Transform3 identity( ); + + // Construct a 3x4 transformation matrix to rotate around the x axis + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationX( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationY( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationZ( float radians ); + + // Construct a 3x4 transformation matrix to rotate around the x axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationX( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the y axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationY( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the z axis (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationZ( const floatInVec &radians ); + + // Construct a 3x4 transformation matrix to rotate around the x, y, and z axes + // + static VECTORMATH_FORCE_INLINE const Transform3 rotationZYX( const Vector3 &radiansXYZ ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector + // + static VECTORMATH_FORCE_INLINE const Transform3 rotation( float radians, const Vector3 &unitVec ); + + // Construct a 3x4 transformation matrix to rotate around a unit-length 3-D vector (scalar data contained in vector data type) + // + static VECTORMATH_FORCE_INLINE const Transform3 rotation( const floatInVec &radians, const Vector3 &unitVec ); + + // Construct a rotation matrix from a unit-length quaternion + // + static VECTORMATH_FORCE_INLINE const Transform3 rotation( const Quat &unitQuat ); + + // Construct a 3x4 transformation matrix to perform scaling + // + static VECTORMATH_FORCE_INLINE const Transform3 scale( const Vector3 &scaleVec ); + + // Construct a 3x4 transformation matrix to perform translation + // + static VECTORMATH_FORCE_INLINE const Transform3 translation( const Vector3 &translateVec ); + +}; +// Append (post-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Transform3 appendScale( const Transform3 & tfrm, const Vector3 &scaleVec ); + +// Prepend (pre-multiply) a scale transformation to a 3x4 transformation matrix +// NOTE: +// Faster than creating and multiplying a scale transformation matrix. +// +VECTORMATH_FORCE_INLINE const Transform3 prependScale( const Vector3 &scaleVec, const Transform3 & tfrm ); + +// Multiply two 3x4 transformation matrices per element +// +VECTORMATH_FORCE_INLINE const Transform3 mulPerElem( const Transform3 & tfrm0, const Transform3 & tfrm1 ); + +// Compute the absolute value of a 3x4 transformation matrix per element +// +VECTORMATH_FORCE_INLINE const Transform3 absPerElem( const Transform3 & tfrm ); + +// Inverse of a 3x4 transformation matrix +// NOTE: +// Result is unpredictable when the determinant of the left 3x3 submatrix is equal to or near 0. +// +VECTORMATH_FORCE_INLINE const Transform3 inverse( const Transform3 & tfrm ); + +// Compute the inverse of a 3x4 transformation matrix, expected to have an orthogonal upper-left 3x3 submatrix +// NOTE: +// This can be used to achieve better performance than a general inverse when the specified 3x4 transformation matrix meets the given restrictions. +// +VECTORMATH_FORCE_INLINE const Transform3 orthoInverse( const Transform3 & tfrm ); + +// Conditionally select between two 3x4 transformation matrices +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// However, the transfer of select1 to a VMX register may use more processing time than a branch. +// Use the boolInVec version for better performance. +// +VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, bool select1 ); + +// Conditionally select between two 3x4 transformation matrices (scalar data contained in vector data type) +// NOTE: +// This function uses a conditional select instruction to avoid a branch. +// +VECTORMATH_FORCE_INLINE const Transform3 select( const Transform3 & tfrm0, const Transform3 & tfrm1, const boolInVec &select1 ); + +#ifdef _VECTORMATH_DEBUG + +// Print a 3x4 transformation matrix +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm ); + +// Print a 3x4 transformation matrix and an associated string identifier +// NOTE: +// Function is only defined when _VECTORMATH_DEBUG is defined. +// +VECTORMATH_FORCE_INLINE void print( const Transform3 & tfrm, const char * name ); + +#endif + +} // namespace Aos +} // namespace Vectormath + +#include "vec_aos.h" +#include "quat_aos.h" +#include "mat_aos.h" + +#endif diff --git a/Code/Physics/src/vectormath/vmInclude.h b/Code/Physics/src/vectormath/vmInclude.h new file mode 100644 index 00000000..656514e4 --- /dev/null +++ b/Code/Physics/src/vectormath/vmInclude.h @@ -0,0 +1,31 @@ + +#ifndef __VM_INCLUDE_H +#define __VM_INCLUDE_H + +#include "LinearMath/btScalar.h" + +#if defined (USE_SYSTEM_VECTORMATH) || defined (__CELLOS_LV2__) + #include +#else //(USE_SYSTEM_VECTORMATH) + #if defined (BT_USE_SSE) + #include "sse/vectormath_aos.h" + #else //all other platforms + #if defined (BT_USE_NEON) + #include "neon/vectormath_aos.h" + #else + #include "scalar/vectormath_aos.h" + #endif + #endif //(BT_USE_SSE) && defined (_WIN32) +#endif //(USE_SYSTEM_VECTORMATH) + + + +typedef Vectormath::Aos::Vector3 vmVector3; +typedef Vectormath::Aos::Quat vmQuat; +typedef Vectormath::Aos::Matrix3 vmMatrix3; +typedef Vectormath::Aos::Transform3 vmTransform3; +typedef Vectormath::Aos::Point3 vmPoint3; + +#endif //__VM_INCLUDE_H + +