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some more changes on ubode; remove some math hacks, outdated by fpus

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UbitUmarov
2022-07-25 22:33:43 +01:00
parent d5747ce18e
commit eb296e6f17
6 changed files with 39 additions and 137 deletions
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trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IceAABB.h
+13 -13
View File
@@ -377,9 +377,9 @@
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
inline_ BOOL Intersect(const AABB& a) const
{
float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(AIR(tx) > IR(ex)) return FALSE;
float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(AIR(ty) > IR(ey)) return FALSE;
float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(AIR(tz) > IR(ez)) return FALSE;
float tx = mCenter.x - a.mCenter.x; float ex = a.mExtents.x + mExtents.x; if(fabsf(tx) > ex) return FALSE;
float ty = mCenter.y - a.mCenter.y; float ey = a.mExtents.y + mExtents.y; if(fabsf(ty) > ey) return FALSE;
float tz = mCenter.z - a.mCenter.z; float ez = a.mExtents.z + mExtents.z; if(fabsf(tz) > ez) return FALSE;
return TRUE;
}
@@ -410,7 +410,7 @@
{
float t = mCenter[axis] - a.mCenter[axis];
float e = a.mExtents[axis] + mExtents[axis];
if(AIR(t) > IR(e)) return FALSE;
if(fabsf(t) > e) return FALSE;
return TRUE;
}
@@ -429,21 +429,21 @@
// Compute new extents. FPU code & CPU code have been interleaved for improved performance.
Point Ex(mtx.m[0][0] * mExtents.x, mtx.m[0][1] * mExtents.x, mtx.m[0][2] * mExtents.x);
//IR(Ex.x)&=0x7fffffff; IR(Ex.y)&=0x7fffffff; IR(Ex.z)&=0x7fffffff;
Ex.x = FR( AIR(Ex.x) );
Ex.y = FR( AIR(Ex.y) );
Ex.z = FR( AIR(Ex.z) );
Ex.x = fabsf(Ex.x);
Ex.y = fabsf(Ex.y);
Ex.z = fabsf(Ex.z);
Point Ey(mtx.m[1][0] * mExtents.y, mtx.m[1][1] * mExtents.y, mtx.m[1][2] * mExtents.y);
//IR(Ey.x)&=0x7fffffff; IR(Ey.y)&=0x7fffffff; IR(Ey.z)&=0x7fffffff;
Ey.x = FR( AIR(Ey.x) );
Ey.y = FR( AIR(Ey.y) );
Ey.z = FR( AIR(Ey.z) );
Ey.x = fabsf(Ey.x);
Ey.y = fabsf(Ey.y);
Ey.z = fabsf(Ey.z);
Point Ez(mtx.m[2][0] * mExtents.z, mtx.m[2][1] * mExtents.z, mtx.m[2][2] * mExtents.z);
//IR(Ez.x)&=0x7fffffff; IR(Ez.y)&=0x7fffffff; IR(Ez.z)&=0x7fffffff;
Ez.x = FR( AIR(Ez.x) );
Ez.y = FR( AIR(Ez.y) );
Ez.z = FR( AIR(Ez.z) );
Ez.x = fabsf(Ez.x);
Ez.y = fabsf(Ez.y);
Ez.z = fabsf(Ez.z);
aabb.mExtents.x = Ex.x + Ey.x + Ez.x;
aabb.mExtents.y = Ex.y + Ey.y + Ez.y;
trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IceFPU.h
+2 -77
View File
@@ -28,12 +28,9 @@
//#define SIR(x) ((sdword&)(x))
static inline sdword SIR(float x) { float_sdword fs; fs.f = x; return fs.s; }
//! Absolute integer representation of a floating-point value
#define AIR(x) (IR(x)&0x7fffffff)
//! Floating-point representation of an integer value.
//#define FR(x) ((float&)(x))
static inline float FR(unsigned x) { float_udword fu; fu.u = x; return fu.f; }
//static inline float FR(unsigned x) { float_udword fu; fu.u = x; return fu.f; }
//! Integer-based comparison of a floating point value.
//! Don't use it blindly, it can be faster or slower than the FPU comparison, depends on the context.
@@ -44,8 +41,7 @@
//! Don't use it blindy, it can be faster or slower than the FPU comparison, depends on the context.
inline_ float FastFabs(float x)
{
udword FloatBits = IR(x)&0x7fffffff;
return FR(FloatBits);
return fabsf(x);
}
//! Fast square root for floating-point values.
@@ -54,70 +50,6 @@
return (float)sqrt(square);
}
//! Saturates positive to zero.
inline_ float fsat(float f)
{
udword y = IR(f) & ~(SIR(f) >>31);
return FR(y);
}
//! Computes 1.0f / sqrtf(x).
inline_ float frsqrt(float f)
{
float x = f * 0.5f;
udword y = 0x5f3759df - (IR(f) >> 1);
// Iteration...
const float fy = FR(y);
const float result = fy * ( 1.5f - ( x * fy * fy ) );
// Result
return result;
}
//! Computes 1.0f / sqrtf(x). Comes from NVIDIA.
inline_ float InvSqrt(const float& x)
{
const udword tmp = (udword(IEEE_1_0 << 1) + IEEE_1_0 - IR(x)) >> 1;
const float y = FR(tmp);
return y * (1.47f - 0.47f * x * y * y);
}
//! Computes 1.0f / sqrtf(x). Comes from Quake3. Looks like the first one I had above.
//! See http://www.magic-software.com/3DGEDInvSqrt.html
inline_ float RSqrt(float number)
{
int i;
float x2, y;
const float threehalfs = 1.5f;
x2 = number * 0.5f;
y = number;
i = IR(y);
i = 0x5f3759df - (i >> 1);
y = FR(i);
y = y * (threehalfs - (x2 * y * y));
return y;
}
//! TO BE DOCUMENTED
inline_ float fsqrt(float f)
{
udword y = ( ( SIR(f) - 0x3f800000 ) >> 1 ) + 0x3f800000;
// Iteration...?
// (float&)y = (3.0f - ((float&)y * (float&)y) / f) * (float&)y * 0.5f;
// Result
return FR(y);
}
//! Returns the float ranged espilon value.
inline_ float fepsilon(float f)
{
udword b = IR(f) & 0xff800000;
udword a = b | 0x00000001;
// Result
return FR(a) - FR(b);
}
//! Is the float valid ?
inline_ bool IsNAN(float value) { return (IR(value)&0x7f800000) == 0x7f800000; }
inline_ bool IsIndeterminate(float value) { return IR(value) == 0xffc00000; }
@@ -166,13 +98,6 @@
}
}
*/
//! This function computes the slowest possible floating-point value (you can also directly use FLT_EPSILON)
inline_ float ComputeFloatEpsilon()
{
const float f = FR( IR(1.0f) ^ 1 );
return f - 1.0f; // You can check it's the same as FLT_EPSILON
}
inline_ bool IsFloatZero(float x, float epsilon=1e-6f)
{
return x*x < epsilon;
trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.cpp
-14
View File
@@ -125,20 +125,6 @@ void Point::ProjectToScreen(float halfrenderwidth, float halfrenderheight, const
projected.y *= -halfrenderheight; projected.y += halfrenderheight;
}
void Point::SetNotUsed()
{
// We use a particular integer pattern : 0xffffffff everywhere. This is a NAN.
x = y = z = FR(0xffffffff);
}
BOOL Point::IsNotUsed() const
{
if(IR(x)!=0xffffffff) return FALSE;
if(IR(y)!=0xffffffff) return FALSE;
if(IR(z)!=0xffffffff) return FALSE;
return TRUE;
}
#if defined(__AVX__)
Point& Point::Mult(const Matrix3x3& mat, const Point& a)
{
trunk/unmanaged/ubODE-OpenSim/OPCODE/Ice/IcePoint.h
+8 -33
View File
@@ -453,9 +453,12 @@ inline_ void iceStore3f(float *res, __m128 ma)
//! Clamps each element
inline_ Point& Clamp(float min, float max)
{
if(x<min) x=min; if(x>max) x=max;
if(y<min) y=min; if(y>max) y=max;
if(z<min) z=min; if(z>max) z=max;
if(x<min) x=min;
if(x>max) x=max;
if(y<min) y=min;
if(y>max) y=max;
if(z<min) z=min;
if(z>max) z=max;
return *this;
}
@@ -508,34 +511,6 @@ inline_ void iceStore3f(float *res, __m128 ma)
return TRUE;
}
//! Slighty moves the point
void Tweak(udword coord_mask, udword tweak_mask)
{
if(coord_mask&1) { udword Dummy = IR(x); Dummy^=tweak_mask; x = FR(Dummy); }
if(coord_mask&2) { udword Dummy = IR(y); Dummy^=tweak_mask; y = FR(Dummy); }
if(coord_mask&4) { udword Dummy = IR(z); Dummy^=tweak_mask; z = FR(Dummy); }
}
#define TWEAKMASK 0x3fffff
#define TWEAKNOTMASK ~TWEAKMASK
//! Slighty moves the point out
inline_ void TweakBigger()
{
udword Dummy;
Dummy = (IR(x)&TWEAKNOTMASK); if (x >= 0) Dummy += TWEAKMASK + 1; x = FR(Dummy);
Dummy = (IR(y)&TWEAKNOTMASK); if (y >= 0) Dummy+=TWEAKMASK+1; y = FR(Dummy);
Dummy = (IR(z)&TWEAKNOTMASK); if (z >= 0) Dummy+=TWEAKMASK+1; z = FR(Dummy);
}
//! Slighty moves the point in
inline_ void TweakSmaller()
{
udword Dummy;
Dummy = (IR(x)&TWEAKNOTMASK); if (x < 0) Dummy += TWEAKMASK + 1; x = FR(Dummy);
Dummy = (IR(y)&TWEAKNOTMASK); if (y < 0) Dummy+=TWEAKMASK+1; y = FR(Dummy);
Dummy = (IR(z)&TWEAKNOTMASK); if (z < 0) Dummy+=TWEAKMASK+1; z = FR(Dummy);
}
//! Normalizes the vector
#if defined(__AVX__)
inline_ Point& Normalize()
@@ -704,8 +679,8 @@ inline_ void iceStore3f(float *res, __m128 ma)
{
const float* Vals = &x;
PointComponent m = X;
if(AIR(Vals[Y]) > AIR(Vals[m])) m = Y;
if(AIR(Vals[Z]) > AIR(Vals[m])) m = Z;
if(fabsf(Vals[Y]) > fabsf(Vals[m])) m = Y;
if(fabsf(Vals[Z]) > fabsf(Vals[m])) m = Z;
return m;
}
trunk/unmanaged/ubODE-OpenSim/include/ode/odemath.h
+15
View File
@@ -114,6 +114,21 @@ ODE_PURE_INLINE void dZeroVector3(dReal *res)
}
#endif
#if defined(__AVX__)
ODE_PURE_INLINE void dZeroVector4(dReal *res)
{
__m128 ma = _mm_setzero_ps();
_mm_storeu_ps(res, ma); (res, ma);
}
#else
ODE_PURE_INLINE void dZeroVector4(dReal *res)
{
res[0] = 0;
res[1] = 0;
res[2] = 0;
res[4] = 0;
}
#endif
#if defined(__AVX__)
ODE_PURE_INLINE void dZeroVector3r4(dReal *res)
{
trunk/unmanaged/ubODE-OpenSim/ode/src/joints/slider.cpp
+1
View File
@@ -170,6 +170,7 @@ dxJointSlider::getInfo2 ( dReal worldFPS, dReal worldERP, const Info2Descr *info
{
pos2 = 0;
R2 = 0;
dZeroVector4(c);
}
// 3 rows to make body rotations equal