Project Ne10
An Open Optimized Software Library Project for the ARM Architecture
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NE10_physics.h
1/*
2 * Copyright 2014-15 ARM Limited and Contributors.
3 * All rights reserved.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of ARM Limited nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY ARM LIMITED AND CONTRIBUTORS "AS IS" AND
17 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL ARM LIMITED AND CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28/*
29 * NE10 Library : inc/NE10_physics.h
30 */
31
32
33#include "NE10_types.h"
34
35#ifndef NE10_PHYSICS_H
36#define NE10_PHYSICS_H
37
38#ifdef __cplusplus
39extern "C" {
40#endif
41
42 ne10_result_t ne10_init_physics (ne10_int32_t is_NEON_available);
43
45// function prototypes:
47
48 /* function pointers*/
49 extern void (*ne10_physics_compute_aabb_vec2f) (ne10_mat2x2f_t *aabb,
50 ne10_vec2f_t *vertices,
51 ne10_mat2x2f_t *xf,
52 ne10_vec2f_t *radius,
53 ne10_uint32_t vertex_count);
54 extern void (*ne10_physics_relative_v_vec2f) (ne10_vec2f_t *dv,
55 ne10_vec3f_t *v_wa,
56 ne10_vec2f_t *ra,
57 ne10_vec3f_t *v_wb,
58 ne10_vec2f_t *rb,
59 ne10_uint32_t count);
60 extern void (*ne10_physics_apply_impulse_vec2f) (ne10_vec3f_t *v_wa,
61 ne10_vec3f_t *v_wb,
62 ne10_vec2f_t *ra,
63 ne10_vec2f_t *rb,
64 ne10_vec2f_t *ima,
65 ne10_vec2f_t *imb,
66 ne10_vec2f_t *p,
67 ne10_uint32_t count);
68
69 /* C version*/
70 extern void ne10_physics_compute_aabb_vec2f_c (ne10_mat2x2f_t *aabb,
71 ne10_vec2f_t *vertices,
72 ne10_mat2x2f_t *xf,
73 ne10_vec2f_t *radius,
74 ne10_uint32_t vertex_count);
76 ne10_vec3f_t *v_wa,
77 ne10_vec2f_t *ra,
78 ne10_vec3f_t *v_wb,
79 ne10_vec2f_t *rb,
80 ne10_uint32_t count);
82 ne10_vec3f_t *v_wb,
83 ne10_vec2f_t *ra,
84 ne10_vec2f_t *rb,
85 ne10_vec2f_t *ima,
86 ne10_vec2f_t *imb,
87 ne10_vec2f_t *p,
88 ne10_uint32_t count);
89
90 /* NEON version*/
95#ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
96 extern void ne10_physics_compute_aabb_vec2f_neon (ne10_mat2x2f_t *aabb,
97 ne10_vec2f_t *vertices,
98 ne10_mat2x2f_t *xf,
99 ne10_vec2f_t *radius,
100 ne10_uint32_t vertex_count);
101#endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
102
103#ifdef ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
104 extern void ne10_physics_relative_v_vec2f_neon (ne10_vec2f_t *dv,
105 ne10_vec3f_t *v_wa,
106 ne10_vec2f_t *ra,
107 ne10_vec3f_t *v_wb,
108 ne10_vec2f_t *rb,
109 ne10_uint32_t count)
110 asm ("ne10_physics_relative_v_vec2f_neon");
111#endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
112
113#ifdef ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
114 extern void ne10_physics_apply_impulse_vec2f_neon (ne10_vec3f_t *v_wa,
115 ne10_vec3f_t *v_wb,
116 ne10_vec2f_t *ra,
117 ne10_vec2f_t *rb,
118 ne10_vec2f_t *ima,
119 ne10_vec2f_t *imb,
120 ne10_vec2f_t *p,
121 ne10_uint32_t count)
122 asm ("ne10_physics_apply_impulse_vec2f_neon");
123#endif // ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
129#ifdef __cplusplus
130}
131#endif
132
133#endif
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.
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.
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.
a 2-tuple of ne10_float32_t values.
Definition NE10_types.h:88
a 3-tuple of ne10_float32_t values.
Definition NE10_types.h:97