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reactphysics3d
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Agnostified CMakeList to deduce whether to inject KOS's GCC flags; support for using float16/bfloat16 vertices for triangle mesh

master
mrq 2023-10-27 03:29:30 +07:00
parent 0ccc7813fc
commit 1332aa7990
8 changed files with 170 additions and 16 deletions
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7
CMakeLists.txt
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@ -27,7 +27,12 @@ set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules)
# Enable testing
enable_testing()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Os ${KOS_CPPFLAGS} ${KOS_INC_PATHS} ${KOS_LIB_PATHS} -std=c++17")
if(DEFINED ENV{KOS_CPPFLAGS})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Os ${KOS_CPPFLAGS} ${KOS_INC_PATHS} ${KOS_LIB_PATHS} -DRP3D_NO_EXCEPTIONS -std=c++17 -w -Os -g -ffunction-sections -fdata-sections -Wl,--gc-sections -fstrict-aliasing -ffast-math -fno-unroll-all-loops -fno-optimize-sibling-calls -fschedule-insns2 -fomit-frame-pointer -DUF_NO_EXCEPTIONS -fno-exceptions")
else()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++2b")
endif()
# Options
option(RP3D_COMPILE_TESTBED "Select this if you want to build the testbed application with demos" OFF)

2
README.md
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@ -1,4 +1,4 @@
This fork fixes some inconsistencies to get it to compile on 32-bit systems.
This fork fixes some inconsistencies to get it to compile on 32-bit systems (such as the Sega Dreamcast), and support for float16/bfloat16 triangle meshes (using C++23's standardized types).
---

24
include/reactphysics3d/collision/TriangleVertexArray.h
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@ -49,10 +49,30 @@ class TriangleVertexArray {
public:
/// Data type for the vertices in the array
enum class VertexDataType {VERTEX_FLOAT_TYPE, VERTEX_DOUBLE_TYPE};
enum class VertexDataType {
VERTEX_SHORT_TYPE,
VERTEX_FLOAT_TYPE,
VERTEX_DOUBLE_TYPE,
#if __STDCPP_FLOAT16_T__
VERTEX_FLOAT16_TYPE,
#endif
#if __STDCPP_BFLOAT16_T__
VERTEX_BFLOAT16_TYPE,
#endif
};
/// Data type for the vertex normals in the array
enum class NormalDataType {NORMAL_FLOAT_TYPE, NORMAL_DOUBLE_TYPE};
enum class NormalDataType {
NORMAL_SHORT_TYPE,
NORMAL_FLOAT_TYPE,
NORMAL_DOUBLE_TYPE,
#if __STDCPP_FLOAT16_T__
NORMAL_FLOAT16_TYPE,
#endif
#if __STDCPP_BFLOAT16_T__
NORMAL_BFLOAT16_TYPE,
#endif
};
/// Data type for the indices in the array
enum class IndexDataType {INDEX_INTEGER_TYPE, INDEX_SHORT_TYPE};

23
include/reactphysics3d/configuration.h
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@ -24,11 +24,12 @@
********************************************************************************/
#ifndef REACTPHYSICS3D_CONFIGURATION_H
#define REACTPHYSICS3D_CONFIGURATION_H
#define REACTPHYSICS3D_CONFIGURATION_H
// Libraries
#include <limits>
#include <cfloat>
#include <cstdint>
#include <utility>
#include <sstream>
#include <string>
@ -55,13 +56,21 @@
#define RP3D_FORCE_INLINE inline
#endif
namespace std {
template < typename T > std::string to_string( const T& n ) {
std::ostringstream stm ;
stm << n ;
return stm.str() ;
#if defined(RP3D_DEFINE_TOSTRING)
namespace std {
template < typename T > std::string to_string( const T& n ) {
std::ostringstream stm ;
stm << n ;
return stm.str() ;
}
}
}
#endif
#if defined(RP3D_NO_EXCEPTIONS)
#define THROW(...) abort()
#else
#define THROW(...) throw(__VA_ARGS__)
#endif
/// Namespace reactphysics3d
namespace reactphysics3d {

6
include/reactphysics3d/containers/Map.h
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@ -383,7 +383,7 @@ class Map {
}
else {
assert(false);
throw std::runtime_error("The key and value pair already exists in the map");
THROW(std::runtime_error("The key and value pair already exists in the map"));
}
}
}
@ -569,7 +569,7 @@ class Map {
if (entry == INVALID_INDEX) {
assert(false);
throw std::runtime_error("No item with given key has been found in the map");
THROW(std::runtime_error("No item with given key has been found in the map"));
}
return mEntries[entry].second;
@ -582,7 +582,7 @@ class Map {
if (entry == INVALID_INDEX) {
assert(false);
throw std::runtime_error("No item with given key has been found in the map");
THROW(std::runtime_error("No item with given key has been found in the map"));
}
return mEntries[entry].second;

2
include/reactphysics3d/utils/DefaultLogger.h
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@ -361,7 +361,7 @@ class DefaultLogger : public Logger {
mFileStream(filePath, std::ios::binary) {
if(!mFileStream.is_open()) {
throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath));
THROW(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath));
}
// Write the header

2
include/reactphysics3d/utils/Profiler.h
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@ -230,7 +230,7 @@ class Profiler {
mFileStream(filePath, std::ios::binary) {
if(!mFileStream.is_open()) {
throw(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath));
THROW(std::runtime_error("ReactPhysics3D Logger: Unable to open an output stream to file " + mFilePath));
}
}

120
src/collision/TriangleVertexArray.cpp
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@ -28,6 +28,38 @@
#include <reactphysics3d/mathematics/Vector3.h>
#include <cassert>
#if __STDCPP_BFLOAT16_T__ || __STDCPP_FLOAT16_T__
#include <stdfloat>
#endif
namespace {
uint16_t quantize( float v ) {
union { float f; uint32_t ui; } u = {v};
uint32_t ui = u.ui;
int s = (ui >> 16) & 0x8000;
int em = ui & 0x7fffffff;
int h = (em - (112 << 23) + (1 << 12)) >> 13;
h = (em < (113 << 23)) ? 0 : h;
h = (em >= (143 << 23)) ? 0x7c00 : h;
h = (em > (255 << 23)) ? 0x7e00 : h;
return (uint16_t)(s | h);
}
float dequantize( uint16_t h ) {
uint32_t s = unsigned(h & 0x8000) << 16;
int em = h & 0x7fff;
int r = (em + (112 << 10)) << 13;
r = (em < (1 << 10)) ? 0 : r;
r += (em >= (31 << 10)) ? (112 << 23) : 0;
union { float f; uint32_t ui; } u;
u.ui = s | r;
return u.f;
}
}
using namespace reactphysics3d;
// Constructor without vertices normals
@ -253,6 +285,28 @@ void TriangleVertexArray::getTriangleVertices(uint32 triangleIndex, Vector3* out
outTriangleVertices[k][1] = decimal(vertices[1]);
outTriangleVertices[k][2] = decimal(vertices[2]);
}
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_SHORT_TYPE) {
const uint16_t* vertices = static_cast<const uint16_t*>(vertexPointer);
outTriangleVertices[k][0] = decimal(::dequantize(vertices[0]));
outTriangleVertices[k][1] = decimal(::dequantize(vertices[1]));
outTriangleVertices[k][2] = decimal(::dequantize(vertices[2]));
}
#if __STDCPP_FLOAT16_T__
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_FLOAT16_TYPE) {
const std::float16_t* vertices = static_cast<const std::float16_t*>(vertexPointer);
outTriangleVertices[k][0] = decimal(vertices[0]);
outTriangleVertices[k][1] = decimal(vertices[1]);
outTriangleVertices[k][2] = decimal(vertices[2]);
}
#endif
#if __STDCPP_BFLOAT16_T__
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_BFLOAT16_TYPE) {
const std::bfloat16_t* vertices = static_cast<const std::bfloat16_t*>(vertexPointer);
outTriangleVertices[k][0] = decimal(vertices[0]);
outTriangleVertices[k][1] = decimal(vertices[1]);
outTriangleVertices[k][2] = decimal(vertices[2]);
}
#endif
else {
assert(false);
}
@ -291,6 +345,28 @@ void TriangleVertexArray::getTriangleVerticesNormals(uint32 triangleIndex, Vecto
outTriangleVerticesNormals[k][1] = decimal(normal[1]);
outTriangleVerticesNormals[k][2] = decimal(normal[2]);
}
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_SHORT_TYPE) {
const uint16_t* normal = static_cast<const uint16_t*>(vertexNormalPointer);
outTriangleVerticesNormals[k][0] = decimal(dequantize(normal[0]));
outTriangleVerticesNormals[k][1] = decimal(dequantize(normal[1]));
outTriangleVerticesNormals[k][2] = decimal(dequantize(normal[2]));
}
#if __STDCPP_FLOAT16_T__
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_FLOAT16_TYPE) {
const std::float16_t* normal = static_cast<const std::float16_t*>(vertexNormalPointer);
outTriangleVerticesNormals[k][0] = decimal(normal[0]);
outTriangleVerticesNormals[k][1] = decimal(normal[1]);
outTriangleVerticesNormals[k][2] = decimal(normal[2]);
}
#endif
#if __STDCPP_BFLOAT16_T__
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_BFLOAT16_TYPE) {
const std::bfloat16_t* normal = static_cast<const std::bfloat16_t*>(vertexNormalPointer);
outTriangleVerticesNormals[k][0] = decimal(normal[0]);
outTriangleVerticesNormals[k][1] = decimal(normal[1]);
outTriangleVerticesNormals[k][2] = decimal(normal[2]);
}
#endif
else {
assert(false);
}
@ -322,6 +398,28 @@ void TriangleVertexArray::getVertex(uint32 vertexIndex, Vector3* outVertex) {
(*outVertex)[1] = decimal(vertices[1]);
(*outVertex)[2] = decimal(vertices[2]);
}
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_SHORT_TYPE) {
const uint16_t* vertices = static_cast<const uint16_t*>(vertexPointer);
(*outVertex)[0] = decimal(dequantize(vertices[0]));
(*outVertex)[1] = decimal(dequantize(vertices[1]));
(*outVertex)[2] = decimal(dequantize(vertices[2]));
}
#if __STDCPP_FLOAT16_T__
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_FLOAT16_TYPE) {
const std::float16_t* vertices = static_cast<const std::float16_t*>(vertexPointer);
(*outVertex)[0] = decimal(vertices[0]);
(*outVertex)[1] = decimal(vertices[1]);
(*outVertex)[2] = decimal(vertices[2]);
}
#endif
#if __STDCPP_BFLOAT16_T__
else if (mVertexDataType == TriangleVertexArray::VertexDataType::VERTEX_BFLOAT16_TYPE) {
const std::bfloat16_t* vertices = static_cast<const std::bfloat16_t*>(vertexPointer);
(*outVertex)[0] = decimal(vertices[0]);
(*outVertex)[1] = decimal(vertices[1]);
(*outVertex)[2] = decimal(vertices[2]);
}
#endif
else {
assert(false);
}
@ -352,6 +450,28 @@ void TriangleVertexArray::getNormal(uint32 vertexIndex, Vector3* outNormal) {
(*outNormal)[1] = decimal(normal[1]);
(*outNormal)[2] = decimal(normal[2]);
}
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_SHORT_TYPE) {
const uint16_t* normal = static_cast<const uint16_t*>(vertexNormalPointer);
(*outNormal)[0] = decimal(dequantize(normal[0]));
(*outNormal)[1] = decimal(dequantize(normal[1]));
(*outNormal)[2] = decimal(dequantize(normal[2]));
}
#if __STDCPP_FLOAT16_T__
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_FLOAT16_TYPE) {
const std::float16_t* normal = static_cast<const std::float16_t*>(vertexNormalPointer);
(*outNormal)[0] = decimal(normal[0]);
(*outNormal)[1] = decimal(normal[1]);
(*outNormal)[2] = decimal(normal[2]);
}
#endif
#if __STDCPP_BFLOAT16_T__
else if (mVertexNormaldDataType == TriangleVertexArray::NormalDataType::NORMAL_BFLOAT16_TYPE) {
const std::bfloat16_t* normal = static_cast<const std::bfloat16_t*>(vertexNormalPointer);
(*outNormal)[0] = decimal(normal[0]);
(*outNormal)[1] = decimal(normal[1]);
(*outNormal)[2] = decimal(normal[2]);
}
#endif
else {
assert(false);
}