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NE10_init_physics.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 <stdio.h>
#include "NE10_physics.h"
ne10_result_t ne10_init_physics (ne10_int32_t is_NEON_available)
{
if (NE10_OK == is_NEON_available)
{
#ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_neon;
#else
ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_c;
#endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
#ifdef ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_neon;
#else
ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_c;
#endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
#ifdef ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_neon;
#else
ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_c;
#endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
}
else
{
ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_c;
ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_c;
ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_c;
}
return NE10_OK;
}
// These are actual definitions of our function pointers that are declared in inc/NE10_physics.h
void (*ne10_physics_compute_aabb_vec2f) (ne10_mat2x2f_t *aabb,
ne10_vec2f_t *vertices,
ne10_mat2x2f_t *xf,
ne10_vec2f_t *radius,
ne10_uint32_t vertex_count);
void (*ne10_physics_relative_v_vec2f) (ne10_vec2f_t *dv,
ne10_vec3f_t *v_wa,
ne10_vec2f_t *ra,
ne10_vec3f_t *v_wb,
ne10_vec2f_t *rb,
ne10_uint32_t count);
void (*ne10_physics_apply_impulse_vec2f) (ne10_vec3f_t *v_wa,
ne10_vec3f_t *v_wb,
ne10_vec2f_t *ra,
ne10_vec2f_t *rb,
ne10_vec2f_t *ima,
ne10_vec2f_t *imb,
ne10_vec2f_t *p,
ne10_uint32_t count);
ne10_physics_compute_aabb_vec2f_c
void ne10_physics_compute_aabb_vec2f_c(ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)
compute AABB for ploygon.
Definition NE10_physics.c:95
ne10_physics_apply_impulse_vec2f_c
void ne10_physics_apply_impulse_vec2f_c(ne10_vec3f_t *v_wa, ne10_vec3f_t *v_wb, ne10_vec2f_t *ra, ne10_vec2f_t *rb, ne10_vec2f_t *ima, ne10_vec2f_t *imb, ne10_vec2f_t *p, ne10_uint32_t count)
apply contact impulse.
Definition NE10_physics.c:176
ne10_physics_relative_v_vec2f_c
void ne10_physics_relative_v_vec2f_c(ne10_vec2f_t *dv, ne10_vec3f_t *v_wa, ne10_vec2f_t *ra, ne10_vec3f_t *v_wb, ne10_vec2f_t *rb, ne10_uint32_t count)
calculate relative velocity at contact.
Definition NE10_physics.c:132
ne10_vec2f_t
a 2-tuple of ne10_float32_t values.
Definition NE10_types.h:88
ne10_vec3f_t
a 3-tuple of ne10_float32_t values.
Definition NE10_types.h:97