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NE10_physics.neon.c
/*
* Copyright 2014-15 ARM Limited and Contributors.
* 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 ARM Limited 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 ARM LIMITED 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 ARM LIMITED AND 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.
*/
/*
* NE10 Library : physics/NE10_physics.c
*/
#include "NE10_types.h"
#ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
extern void ne10_physics_compute_aabb_vertex4_vec2f_neon (ne10_mat2x2f_t *aabb,
ne10_vec2f_t *vertices,
ne10_mat2x2f_t *xf,
ne10_vec2f_t *radius,
ne10_uint32_t vertex_count)
asm ("ne10_physics_compute_aabb_vertex4_vec2f_neon");
#endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
static inline ne10_vec2f_t ne10_mul_matvec_float (ne10_mat2x2f_t T, ne10_vec2f_t v)
{
ne10_vec2f_t tmp;
ne10_float32_t x = (T.c2.r2 * v.x - T.c2.r1 * v.y) + T.c1.r1;
ne10_float32_t y = (T.c2.r1 * v.x + T.c2.r2 * v.y) + T.c1.r2;
tmp.x = x;
tmp.y = y;
return tmp;
}
static inline ne10_float32_t min (float a, ne10_float32_t b)
{
return a < b ? a : b;
}
static inline ne10_vec2f_t min_2f (ne10_vec2f_t a, ne10_vec2f_t b)
{
ne10_vec2f_t tmp = {min (a.x, b.x), min (a.y, b.y) };
return tmp;
}
static inline ne10_float32_t max (float a, ne10_float32_t b)
{
return a > b ? a : b;
}
static inline ne10_vec2f_t max_2f (ne10_vec2f_t a, ne10_vec2f_t b)
{
ne10_vec2f_t tmp = {max (a.x, b.x), max (a.y, b.y) };
return tmp;
}
#ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
void ne10_physics_compute_aabb_vec2f_neon (ne10_mat2x2f_t *aabb,
ne10_vec2f_t *vertices,
ne10_mat2x2f_t *xf,
ne10_vec2f_t *radius,
ne10_uint32_t vertex_count)
{
ne10_int32_t residual_loops = (vertex_count & 0x3);
ne10_int32_t main_loops = vertex_count - residual_loops;
if (main_loops > 0)
{
ne10_physics_compute_aabb_vertex4_vec2f_neon (aabb, vertices, xf, radius, main_loops);
}
if (residual_loops > 0)
{
ne10_vec2f_t lower;
ne10_vec2f_t upper;
ne10_vec2f_t lower2;
ne10_vec2f_t upper2;
ne10_vec2f_t v;
ne10_int32_t i;
if (main_loops == 0)
{
lower = ne10_mul_matvec_float (*xf, vertices[main_loops]);
upper = lower;
}
else
{
lower2.x = aabb->c1.r1 + radius->x;
lower2.y = aabb->c1.r2 + radius->y;
upper2.x = aabb->c2.r1 - radius->x;
upper2.y = aabb->c2.r2 - radius->y;
lower = ne10_mul_matvec_float (*xf, vertices[main_loops]);
upper = lower;
lower = min_2f (lower, lower2);
upper = max_2f (upper, upper2);
}
for (i = main_loops + 1; i < vertex_count; ++i)
{
v = ne10_mul_matvec_float (*xf, vertices[i]);
lower = min_2f (lower, v);
upper = max_2f (upper, v);
}
aabb->c1.r1 = lower.x - radius->x;
aabb->c1.r2 = lower.y - radius->y;
aabb->c2.r1 = upper.x + radius->x;
aabb->c2.r2 = upper.y + radius->y;
}
}
#endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
ne10_vec2f_t
a 2-tuple of ne10_float32_t values.
Definition NE10_types.h:88