Project Ne10
An Open Optimized Software Library Project for the ARM Architecture
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
39 extern "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
124 
129 #ifdef __cplusplus
130 }
131 #endif
132 
133 #endif
a 2-tuple of ne10_float32_t values.
Definition: NE10_types.h:87
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
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
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
a 3-tuple of ne10_float32_t values.
Definition: NE10_types.h:96