Project Ne10
An Open Optimized Software Library Project for the ARM Architecture
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NE10_init_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 <stdio.h>
33
34#include "NE10_physics.h"
35
36ne10_result_t ne10_init_physics (ne10_int32_t is_NEON_available)
37{
38 if (NE10_OK == is_NEON_available)
39 {
40#ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
41 ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_neon;
42#else
43 ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_c;
44#endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
45
46#ifdef ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
47 ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_neon;
48#else
49 ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_c;
50#endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
51
52#ifdef ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
53 ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_neon;
54#else
55 ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_c;
56#endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
57 }
58 else
59 {
60 ne10_physics_compute_aabb_vec2f = ne10_physics_compute_aabb_vec2f_c;
61 ne10_physics_relative_v_vec2f = ne10_physics_relative_v_vec2f_c;
62 ne10_physics_apply_impulse_vec2f = ne10_physics_apply_impulse_vec2f_c;
63 }
64 return NE10_OK;
65}
66
67// These are actual definitions of our function pointers that are declared in inc/NE10_physics.h
68void (*ne10_physics_compute_aabb_vec2f) (ne10_mat2x2f_t *aabb,
69 ne10_vec2f_t *vertices,
70 ne10_mat2x2f_t *xf,
71 ne10_vec2f_t *radius,
72 ne10_uint32_t vertex_count);
73void (*ne10_physics_relative_v_vec2f) (ne10_vec2f_t *dv,
74 ne10_vec3f_t *v_wa,
75 ne10_vec2f_t *ra,
76 ne10_vec3f_t *v_wb,
77 ne10_vec2f_t *rb,
78 ne10_uint32_t count);
79void (*ne10_physics_apply_impulse_vec2f) (ne10_vec3f_t *v_wa,
80 ne10_vec3f_t *v_wb,
81 ne10_vec2f_t *ra,
82 ne10_vec2f_t *rb,
83 ne10_vec2f_t *ima,
84 ne10_vec2f_t *imb,
85 ne10_vec2f_t *p,
86 ne10_uint32_t count);
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