Collision Detection

Functions
void	ne10_physics_relative_v_vec2f_neon (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) asm("ne10_physics_relative_v_vec2f_neon")
	Specific implementation of ne10_physics_relative_v_vec2f using NEON SIMD capabilities. More...
void	ne10_physics_apply_impulse_vec2f_neon (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) asm("ne10_physics_apply_impulse_vec2f_neon")
	Specific implementation of ne10_physics_apply_impulse_vec2f using NEON SIMD capabilities. More...
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)
	Specific implementation of ne10_physics_compute_aabb_vec2f using plain C. More...
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)
	Specific implementation of ne10_physics_relative_v_vec2f using plain C. More...
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)
	Specific implementation of ne10_physics_apply_impulse_vec2f using plain C. More...
void	ne10_physics_compute_aabb_vec2f_neon (ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)
	Specific implementation of ne10_physics_compute_aabb_vec2f using NEON SIMD capabilities. More...

Variables
void(*	ne10_physics_compute_aabb_vec2f )(ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)
	Compute the AABB for a polygon. More...
void(*	ne10_physics_relative_v_vec2f )(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. More...
void(*	ne10_physics_apply_impulse_vec2f )(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. More...

Detailed Description

Collision detection typically refers to the computational problem of detecting the intersection of two or more objects.

This set of functions are used for collision detection algorithm for 32-bit float data types. Currently compute AABB, caculate relative velocity and apply contact impulse were implemented.

Function Documentation

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
	)

Specific implementation of ne10_physics_apply_impulse_vec2f using plain C.

Definition at line 146 of file NE10_physics.c.

void ne10_physics_apply_impulse_vec2f_neon	(	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
	)

Specific implementation of ne10_physics_apply_impulse_vec2f using NEON SIMD capabilities.

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
	)

Specific implementation of ne10_physics_compute_aabb_vec2f using plain C.

Definition at line 83 of file NE10_physics.c.

void ne10_physics_compute_aabb_vec2f_neon	(	ne10_mat2x2f_t *	aabb,
		ne10_vec2f_t *	vertices,
		ne10_mat2x2f_t *	xf,
		ne10_vec2f_t *	radius,
		ne10_uint32_t	vertex_count
	)

Specific implementation of ne10_physics_compute_aabb_vec2f using NEON SIMD capabilities.

To improve performance, four vertices are processed per loop iteration. As such, vertex_count must be a multiple of four.

Definition at line 82 of file NE10_physics.neon.c.

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
	)

Specific implementation of ne10_physics_relative_v_vec2f using plain C.

Definition at line 112 of file NE10_physics.c.

void ne10_physics_relative_v_vec2f_neon	(	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
	)

Specific implementation of ne10_physics_relative_v_vec2f using NEON SIMD capabilities.

Variable Documentation

void(* ne10_physics_apply_impulse_vec2f) (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.

Parameters

[in,out]	*v_wa	return velocity and angular velocity of body a
[in,out]	*v_wb	return velocity and angular velocity of body b
[in]	*ra	distance vector from center of mass of body a to contact point
[in]	*rb	distance vector from center of mass of body b to contact point
[in]	*ima	constant of body a
[in]	*imb	constant of body b
[in]	*p	constant
[in]	count	the number of items

To improve performance, two items are processed in one loop. Points to ne10_physics_apply_impulse_vec2f_c or ne10_physics_apply_impulse_vec2f_neon.

Definition at line 79 of file NE10_init_physics.c.

void(* ne10_physics_compute_aabb_vec2f) (ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)

Compute the AABB for a polygon.

Parameters

[out]	*aabb	return axis aligned box
[in]	*vertices	a convex polygon
[in]	*xf	the position and orientation of rigid
[in]	radius	the aligned bounding
[in]	vertex_count	vertices count of convex ploygen

The function computes the AABB for a polygon. Points to ne10_physics_compute_aabb_vec2f_c or ne10_physics_compute_aabb_vec2f_neon, the latter of which requires that vertex_count is a multiple of 4.

Definition at line 68 of file NE10_init_physics.c.

void(* ne10_physics_relative_v_vec2f) (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.

Parameters

[out]	*dv	return relative velocity
[in]	*v_wa	velocity and angular velocity of body a
[in]	*ra	distance vector from center of mass of body a to contact point
[in]	*v_wb	velocity and angular velocity of body b
[in]	*rb	distance vector from center of mass of body b to contact point
[in]	count	the number of items

To improve performance, two items are processed in one loop. Points to ne10_physics_relative_v_vec2f_c or ne10_physics_relative_v_vec2f_neon.

Definition at line 73 of file NE10_init_physics.c.