== SoC Bullet - Bullet Upgrade to 2.76 ==
[blender.git] / extern / bullet2 / BulletDynamics / ConstraintSolver / btSolverBody.h
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_SOLVER_BODY_H
17 #define BT_SOLVER_BODY_H
18
19 class   btRigidBody;
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btMatrix3x3.h"
22 #include "BulletDynamics/Dynamics/btRigidBody.h"
23 #include "LinearMath/btAlignedAllocator.h"
24 #include "LinearMath/btTransformUtil.h"
25
26 ///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
27 #ifdef BT_USE_SSE
28 #define USE_SIMD 1
29 #endif //
30
31
32 #ifdef USE_SIMD
33
34 struct  btSimdScalar
35 {
36         SIMD_FORCE_INLINE       btSimdScalar()
37         {
38
39         }
40
41         SIMD_FORCE_INLINE       btSimdScalar(float      fl)
42         :m_vec128 (_mm_set1_ps(fl))
43         {
44         }
45
46         SIMD_FORCE_INLINE       btSimdScalar(__m128 v128)
47                 :m_vec128(v128)
48         {
49         }
50         union
51         {
52                 __m128          m_vec128;
53                 float           m_floats[4];
54                 int                     m_ints[4];
55                 btScalar        m_unusedPadding;
56         };
57         SIMD_FORCE_INLINE       __m128  get128()
58         {
59                 return m_vec128;
60         }
61
62         SIMD_FORCE_INLINE       const __m128    get128() const
63         {
64                 return m_vec128;
65         }
66
67         SIMD_FORCE_INLINE       void    set128(__m128 v128)
68         {
69                 m_vec128 = v128;
70         }
71
72         SIMD_FORCE_INLINE       operator       __m128()       
73         { 
74                 return m_vec128; 
75         }
76         SIMD_FORCE_INLINE       operator const __m128() const 
77         { 
78                 return m_vec128; 
79         }
80         
81         SIMD_FORCE_INLINE       operator float() const 
82         { 
83                 return m_floats[0]; 
84         }
85
86 };
87
88 ///@brief Return the elementwise product of two btSimdScalar
89 SIMD_FORCE_INLINE btSimdScalar 
90 operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
91 {
92         return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
93 }
94
95 ///@brief Return the elementwise product of two btSimdScalar
96 SIMD_FORCE_INLINE btSimdScalar 
97 operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
98 {
99         return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
100 }
101
102
103 #else
104 #define btSimdScalar btScalar
105 #endif
106
107 ///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
108 ATTRIBUTE_ALIGNED64 (struct)    btSolverBodyObsolete
109 {
110         BT_DECLARE_ALIGNED_ALLOCATOR();
111         btVector3               m_deltaLinearVelocity;
112         btVector3               m_deltaAngularVelocity;
113         btVector3               m_angularFactor;
114         btVector3               m_invMass;
115         btRigidBody*    m_originalBody;
116         btVector3               m_pushVelocity;
117         btVector3               m_turnVelocity;
118
119         
120         SIMD_FORCE_INLINE void  getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
121         {
122                 if (m_originalBody)
123                         velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
124                 else
125                         velocity.setValue(0,0,0);
126         }
127
128         SIMD_FORCE_INLINE void  getAngularVelocity(btVector3& angVel) const
129         {
130                 if (m_originalBody)
131                         angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
132                 else
133                         angVel.setValue(0,0,0);
134         }
135
136
137         //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
138         SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
139         {
140                 //if (m_invMass)
141                 {
142                         m_deltaLinearVelocity += linearComponent*impulseMagnitude;
143                         m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
144                 }
145         }
146
147         SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
148         {
149                 if (m_originalBody)
150                 {
151                         m_pushVelocity += linearComponent*impulseMagnitude;
152                         m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
153                 }
154         }
155         
156         void    writebackVelocity()
157         {
158                 if (m_originalBody)
159                 {
160                         m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
161                         m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
162                         
163                         //m_originalBody->setCompanionId(-1);
164                 }
165         }
166
167
168         void    writebackVelocity(btScalar timeStep)
169         {
170         (void) timeStep;
171                 if (m_originalBody)
172                 {
173                         m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
174                         m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
175                         
176                         //correct the position/orientation based on push/turn recovery
177                         btTransform newTransform;
178                         btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
179                         m_originalBody->setWorldTransform(newTransform);
180                         
181                         //m_originalBody->setCompanionId(-1);
182                 }
183         }
184         
185
186
187 };
188
189 #endif //BT_SOLVER_BODY_H
190
191