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test 1
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@erincatto
erincatto committed Aug 28, 2024
1 parent 6f6f899 commit 96142bc
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8 changes: 4 additions & 4 deletions benchmark/tumbler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,13 @@ b2WorldId Tumbler( b2WorldDef* worldDef )
shapeDef.density = 50.0f;

b2Polygon polygon;
polygon = b2MakeOffsetBox( 0.5f, 10.0f, ( b2Vec2 ){ 10.0f, 0.0f }, 0.0 );
polygon = b2MakeOffsetBox( 0.5f, 10.0f, ( b2Vec2 ){ 10.0f, 0.0f }, b2Rot_identity );
b2CreatePolygonShape( bodyId, &shapeDef, &polygon );
polygon = b2MakeOffsetBox( 0.5f, 10.0f, ( b2Vec2 ){ -10.0f, 0.0f }, 0.0 );
polygon = b2MakeOffsetBox( 0.5f, 10.0f, ( b2Vec2 ){ -10.0f, 0.0f }, b2Rot_identity );
b2CreatePolygonShape( bodyId, &shapeDef, &polygon );
polygon = b2MakeOffsetBox( 10.0f, 0.5f, ( b2Vec2 ){ 0.0f, 10.0f }, 0.0 );
polygon = b2MakeOffsetBox( 10.0f, 0.5f, ( b2Vec2 ){ 0.0f, 10.0f }, b2Rot_identity );
b2CreatePolygonShape( bodyId, &shapeDef, &polygon );
polygon = b2MakeOffsetBox( 10.0f, 0.5f, ( b2Vec2 ){ 0.0f, -10.0f }, 0.0 );
polygon = b2MakeOffsetBox( 10.0f, 0.5f, ( b2Vec2 ){ 0.0f, -10.0f }, b2Rot_identity );
b2CreatePolygonShape( bodyId, &shapeDef, &polygon );

float motorSpeed = 25.0f;
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46 changes: 42 additions & 4 deletions include/box2d/base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,23 +5,24 @@

#include <stdint.h>

// clang-format off
//
// Shared library macros
#if defined( _MSC_VER ) && defined( box2d_EXPORTS )
// build the Windows DLL
#define BOX2D_EXPORT __declspec( dllexport )
#elif defined( _MSC_VER ) && defined( BOX2D_DLL )
// using the Windows DLL
// using the Windows DLL
#define BOX2D_EXPORT __declspec( dllimport )
#elif defined( box2d_EXPORTS )
// building or using the Box2D shared library
// building or using the Box2D shared library
#define BOX2D_EXPORT __attribute__( ( visibility( "default" ) ) )
#else
// static library
// static library
#define BOX2D_EXPORT
#endif

// C++ macros
// clang-format off
#ifdef __cplusplus
#define B2_API extern "C" BOX2D_EXPORT
#define B2_INLINE inline
Expand All @@ -34,6 +35,43 @@
#define B2_LITERAL(T) (T)
#define B2_ZERO_INIT {0}
#endif

// Define CPU
#if defined( __x86_64__ ) || defined( _M_X64 )
#define B2_CPU_X64
#elif defined( __aarch64__ ) || defined( _M_ARM64 )
#define B2_CPU_ARM
#elif defined( __EMSCRIPTEN__ )
#define B2_CPU_WASM
#else
#error Unsupported CPU
#endif

// Define SIMD
#if defined( BOX2D_ENABLE_SIMD )
#if defined( B2_CPU_X64 )
#if defined( BOX2D_AVX2 )
#define B2_SIMD_AVX2
#define B2_SIMD_WIDTH 8
#else
#define B2_SIMD_SSE2
#define B2_SIMD_WIDTH 4
#endif
#elif defined( B2_CPU_ARM )
#define B2_SIMD_NEON
#define B2_SIMD_WIDTH 4
#elif defined( B2_CPU_WASM )
#define B2_SIMD_SSE2
#define B2_SIMD_WIDTH 4
#else
#define B2_SIMD_NONE
#define B2_SIMD_WIDTH 4
#endif
#else
#define B2_SIMD_NONE
#define B2_SIMD_WIDTH 4
#endif

// clang-format on

/**
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139 changes: 119 additions & 20 deletions include/box2d/math_functions.h
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Expand Up @@ -5,9 +5,16 @@

#include "base.h"

#include <float.h>
#include <math.h>
#include <stdbool.h>

#if defined( B2_SIMD_AVX2 ) || defined( B2_SIMD_SSE2 )
#include <emmintrin.h>
#elif defined( B2_SIMD_NEON )
#include <arm_neon.h>
#endif

/**
* @defgroup math Math
* @brief Vector math types and functions
Expand Down Expand Up @@ -239,20 +246,129 @@ B2_INLINE b2Vec2 b2Clamp( b2Vec2 v, b2Vec2 a, b2Vec2 b )
return c;
}

#if 1
B2_INLINE float b2Sqrt( float x )
{
//return sqrtf( x );

#if defined( B2_SIMD_AVX2 ) || defined( B2_SIMD_SSE2 )
return _mm_cvtss_f32( _mm_sqrt_ss( _mm_set1_ps( x ) ) );
#elif defined( B2_SIMD_NEON )
float32x4_t v = vdupq_n_f32( x );
return vgetq_lane_f32( vsqrtq_f32( v ), 0 );
#else
return sqrtf( x );
#endif
}

B2_INLINE float b2Length( b2Vec2 v )
{
return b2Sqrt( v.x * v.x + v.y * v.y );
}

B2_INLINE float b2Distance( b2Vec2 a, b2Vec2 b )
{
float dx = b.x - a.x;
float dy = b.y - a.y;
return b2Sqrt( dx * dx + dy * dy );
}

B2_INLINE b2Vec2 b2Normalize( b2Vec2 v )
{
float length = b2Sqrt( v.x * v.x + v.y * v.y );
if ( length < FLT_EPSILON )
{
return b2Vec2_zero;
}

float invLength = 1.0f / length;
b2Vec2 n = { invLength * v.x, invLength * v.y };
return n;
}

B2_INLINE b2Vec2 b2NormalizeChecked( b2Vec2 v )
{
float length = b2Length( v );
if ( length < FLT_EPSILON )
{
return b2Vec2_zero;
}

float invLength = 1.0f / length;
b2Vec2 n = { invLength * v.x, invLength * v.y };
return n;
}

B2_INLINE b2Vec2 b2GetLengthAndNormalize( float* length, b2Vec2 v )
{
*length = b2Length( v );
if ( *length < FLT_EPSILON )
{
return b2Vec2_zero;
}

float invLength = 1.0f / *length;
b2Vec2 n = { invLength * v.x, invLength * v.y };
return n;
}

B2_INLINE b2Rot b2NormalizeRot( b2Rot q )
{
float mag = b2Sqrt( q.s * q.s + q.c * q.c );
float invMag = mag > 0.0 ? 1.0f / mag : 0.0f;
b2Rot qn = { q.c * invMag, q.s * invMag };
return qn;
}

B2_INLINE b2Rot b2IntegrateRotation( b2Rot q1, float deltaAngle )
{
// dc/dt = -omega * sin(t)
// ds/dt = omega * cos(t)
// c2 = c1 - omega * h * s1
// s2 = s1 + omega * h * c1
b2Rot q2 = { q1.c - deltaAngle * q1.s, q1.s + deltaAngle * q1.c };
float mag = b2Sqrt( q2.s * q2.s + q2.c * q2.c );
float invMag = mag > 0.0 ? 1.0f / mag : 0.0f;
b2Rot qn = { q2.c * invMag, q2.s * invMag };
return qn;
}

#else

B2_API float b2Sqrt( float x );

/// Convert a vector into a unit vector if possible, otherwise returns the zero vector.
B2_API b2Vec2 b2Normalize( b2Vec2 v );

/// Convert a vector into a unit vector if possible, otherwise asserts.
B2_API b2Vec2 b2NormalizeChecked( b2Vec2 v );

/// Convert a vector into a unit vector if possible, otherwise returns the zero vector. Also
/// outputs the length.
B2_API b2Vec2 b2GetLengthAndNormalize( float* length, b2Vec2 v );

/// Get the length of this vector (the norm)
B2_API float b2Length( b2Vec2 v );

/// Get the distance between two points
B2_API float b2Distance( b2Vec2 a, b2Vec2 b );

/// Integration rotation from angular velocity
/// @param q1 initial rotation
/// @param deltaAngle the angular displacement in radians
B2_API b2Rot b2IntegrateRotation( b2Rot q1, float deltaAngle );

/// Normalize rotation
B2_API b2Rot b2NormalizeRot( b2Rot q );

#endif

/// Get the length squared of this vector
B2_INLINE float b2LengthSquared( b2Vec2 v )
{
return v.x * v.x + v.y * v.y;
}

/// Get the distance between two points
B2_API float b2Distance( b2Vec2 a, b2Vec2 b );

/// Get the distance squared between points
B2_INLINE float b2DistanceSquared( b2Vec2 a, b2Vec2 b )
{
Expand All @@ -263,9 +379,6 @@ B2_INLINE float b2DistanceSquared( b2Vec2 a, b2Vec2 b )
/// Make a rotation using an angle in radians
B2_API b2Rot b2MakeRot( float angle );

/// Normalize rotation
B2_API b2Rot b2NormalizeRot( b2Rot q );

/// Is this rotation normalized?
B2_INLINE bool b2IsNormalized( b2Rot q )
{
Expand All @@ -287,10 +400,6 @@ B2_INLINE b2Rot b2NLerp( b2Rot q1, b2Rot q2, float t )
return b2NormalizeRot( q );
}

/// Integration rotation from angular velocity
/// @param q1 initial rotation
/// @param deltaAngle the angular displacement in radians
B2_API b2Rot b2IntegrateRotation( b2Rot q1, float deltaAngle );

/// Compute the angular velocity necessary to rotate between two rotations over a give time
/// @param q1 initial rotation
Expand Down Expand Up @@ -537,16 +646,6 @@ B2_API bool b2Rot_IsValid( b2Rot q );
/// Is this a valid bounding box? Not Nan or infinity. Upper bound greater than or equal to lower bound.
B2_API bool b2AABB_IsValid( b2AABB aabb );

/// Convert a vector into a unit vector if possible, otherwise returns the zero vector.
B2_API b2Vec2 b2Normalize( b2Vec2 v );

/// Convert a vector into a unit vector if possible, otherwise asserts.
B2_API b2Vec2 b2NormalizeChecked( b2Vec2 v );

/// Convert a vector into a unit vector if possible, otherwise returns the zero vector. Also
/// outputs the length.
B2_API b2Vec2 b2GetLengthAndNormalize( float* length, b2Vec2 v );

/// Box2D bases all length units on meters, but you may need different units for your game.
/// You can set this value to use different units. This should be done at application startup
/// and only modified once. Default value is 1.
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3 changes: 2 additions & 1 deletion samples/sample_determinism.cpp
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Expand Up @@ -81,7 +81,8 @@ class FallingHinges : public Sample
b2BodyDef bodyDef = b2DefaultBodyDef();
bodyDef.type = b2_dynamicBody;

bodyDef.position = { x + offset * i, h + 2.0f * h * i };
bodyDef.position.x = x + offset * i;
bodyDef.position.y = h + 2.0f * h * i;

// this tests the deterministic cosine and sine functions
bodyDef.rotation = b2MakeRot( 0.01f * i - 0.1f );
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49 changes: 0 additions & 49 deletions src/core.h
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Expand Up @@ -39,55 +39,6 @@
#error Unsupported platform
#endif

// Define CPU
#if defined( __x86_64__ ) || defined( _M_X64 )
#define B2_CPU_X64
#elif defined( __aarch64__ ) || defined( _M_ARM64 )
#define B2_CPU_ARM
#elif defined( __EMSCRIPTEN__ )
#define B2_CPU_WASM
#else
#error Unsupported CPU
#endif

// Define SIMD
#if defined( BOX2D_ENABLE_SIMD )

#if defined( B2_CPU_X64 )

#if defined( BOX2D_AVX2 )
#define B2_SIMD_AVX2
#define B2_SIMD_WIDTH 8
#else
#define B2_SIMD_SSE2
#define B2_SIMD_WIDTH 4
#endif

#elif defined( B2_CPU_ARM )

#define B2_SIMD_NEON
#define B2_SIMD_WIDTH 4

#elif defined( __EMSCRIPTEN__ )

#define B2_CPU_WASM
#define B2_SIMD_SSE2
#define B2_SIMD_WIDTH 4

#else

#define B2_SIMD_NONE
#define B2_SIMD_WIDTH 4

#endif

#else

#define B2_SIMD_NONE
#define B2_SIMD_WIDTH 4

#endif

// Define compiler
#if defined( __clang__ )
#define B2_COMPILER_CLANG
Expand Down
31 changes: 19 additions & 12 deletions src/math_functions.c
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Expand Up @@ -7,11 +7,11 @@

#include <float.h>

#if defined( B2_CPU_X64 ) || defined( B2_CPU_WASM )
#include <emmintrin.h>
#else
#include <arm_neon.h>
#endif
//#if defined( B2_CPU_X64 ) || defined( B2_CPU_WASM )
//#include <emmintrin.h>
//#else
//#include <arm_neon.h>
//#endif

bool b2IsValid( float a )
{
Expand Down Expand Up @@ -58,16 +58,21 @@ bool b2Rot_IsValid( b2Rot q )
return b2IsNormalized( q );
}

#if 0
float b2Sqrt(float x)
{
#if 1
return sqrtf( x );

//#if defined( B2_CPU_X64 ) || defined( B2_CPU_WASM )
// return _mm_cvtss_f32(_mm_sqrt_ss( _mm_set1_ps(x) ));
//#else
// float32x4_t v = vdupq_n_f32( x );
// return vgetq_lane_f32( vsqrtq_f32( v ), 0 );
//#endif
#else
#if defined( B2_SIMD_AVX2 ) || defined( B2_SIMD_SSE2 )
return _mm_cvtss_f32(_mm_sqrt_ss( _mm_set1_ps(x) ));
#elif defined( B2_SIMD_NEON )
float32x4_t v = vdupq_n_f32( x );
return vgetq_lane_f32( vsqrtq_f32( v ), 0 );
#else
return sqrtf( x );
#endif
#endif
}

float b2Length( b2Vec2 v )
Expand Down Expand Up @@ -142,6 +147,8 @@ b2Rot b2IntegrateRotation( b2Rot q1, float deltaAngle )
b2Rot qn = { q2.c * invMag, q2.s * invMag };
return qn;
}
#endif


#if 0
// From
Expand Down
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