Project Ne10
An Open Optimized Software Library Project for the ARM Architecture
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NE10_physics.c
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 : physics/NE10_physics.c
30 */
31
32#include "NE10_types.h"
33
47static inline ne10_vec2f_t ne10_mul_matvec_float (ne10_mat2x2f_t T, ne10_vec2f_t v)
48{
49 ne10_vec2f_t tmp;
50 ne10_float32_t x = (T.c2.r2 * v.x - T.c2.r1 * v.y) + T.c1.r1;
51 ne10_float32_t y = (T.c2.r1 * v.x + T.c2.r2 * v.y) + T.c1.r2;
52 tmp.x = x;
53 tmp.y = y;
54 return tmp;
55}
56
57static inline ne10_float32_t min (float a, ne10_float32_t b)
58{
59 return a < b ? a : b;
60}
61
62static inline ne10_vec2f_t min_2f (ne10_vec2f_t a, ne10_vec2f_t b)
63{
64 ne10_vec2f_t tmp = {min (a.x, b.x), min (a.y, b.y) };
65 return tmp;
66}
67
68static inline ne10_float32_t max (float a, ne10_float32_t b)
69{
70 return a > b ? a : b;
71}
72
73static inline ne10_vec2f_t max_2f (ne10_vec2f_t a, ne10_vec2f_t b)
74{
75 ne10_vec2f_t tmp = {max (a.x, b.x), max (a.y, b.y) };
76 return tmp;
77}
78
95void ne10_physics_compute_aabb_vec2f_c (ne10_mat2x2f_t *aabb,
96 ne10_vec2f_t *vertices,
97 ne10_mat2x2f_t *xf,
98 ne10_vec2f_t *radius,
99 ne10_uint32_t vertex_count)
100{
101 ne10_vec2f_t lower = ne10_mul_matvec_float (*xf, vertices[0]);
102 ne10_vec2f_t upper = lower;
103 ne10_vec2f_t v;
104 ne10_int32_t i;
105
106 for (i = 1; i < vertex_count; ++i)
107 {
108 v = ne10_mul_matvec_float (*xf, vertices[i]);
109 lower = min_2f (lower, v);
110 upper = max_2f (upper, v);
111 }
112
113 aabb->c1.r1 = lower.x - radius->x;
114 aabb->c1.r2 = lower.y - radius->y;
115 aabb->c2.r1 = upper.x + radius->x;
116 aabb->c2.r2 = upper.y + radius->y;
117
118}
119
133 ne10_vec3f_t *v_wa,
134 ne10_vec2f_t *ra,
135 ne10_vec3f_t *v_wb,
136 ne10_vec2f_t *rb,
137 ne10_uint32_t count)
138{
139 ne10_int32_t i;
140 ne10_vec2f_t va;
141 ne10_vec2f_t vb;
142
143 for (i = 0; i < count; i++)
144 {
145 va.x = v_wa->x - v_wa->z * ra->y;
146 va.y = v_wa->y + v_wa->z * ra->x;
147 vb.x = v_wb->x - v_wb->z * rb->y;
148 vb.y = v_wb->y + v_wb->z * rb->x;
149
150 dv->x = vb.x - va.x;
151 dv->y = vb.y - va.y;
152
153 v_wa++;
154 v_wb++;
155 ra++;
156 rb++;
157 dv++;
158
159 }
160}
161
177 ne10_vec3f_t *v_wb,
178 ne10_vec2f_t *ra,
179 ne10_vec2f_t *rb,
180 ne10_vec2f_t *ima,
181 ne10_vec2f_t *imb,
182 ne10_vec2f_t *p,
183 ne10_uint32_t count)
184{
185 ne10_int32_t i;
186
187 for (i = 0; i < count; i++)
188 {
189 v_wa->x -= ima->x * p->x;
190 v_wa->y -= ima->x * p->y;
191 v_wa->z -= ima->y * (ra->x * p->y - ra->y * p->x);
192
193 v_wb->x += imb->x * p->x;
194 v_wb->y += imb->x * p->y;
195 v_wb->z += imb->y * (rb->x * p->y - rb->y * p->x);
196
197 v_wa++;
198 v_wb++;
199 ra++;
200 rb++;
201 ima++;
202 imb++;
203 p++;
204 }
205}
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