From fe26c6a2de1169af5f49866cb5cd17a12f8a831a Mon Sep 17 00:00:00 2001
From: isucan <isucan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Thu, 23 Aug 2012 17:01:23 +0000
Subject: [PATCH] checking for sse
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@167 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/CMakeLists.txt | 33 ++++----
trunk/fcl/CMakeModules/FCLCheckSSE.cmake | 83 +++++++++++++++++++
trunk/fcl/include/fcl/CMakeLists.txt | 2 +
.../include/fcl/{simd/simd.h => config.h.in} | 11 ++-
trunk/fcl/include/fcl/math/vec_3f.h | 16 ++--
trunk/fcl/src/CMakeLists.txt | 50 +++++++++++
6 files changed, 169 insertions(+), 26 deletions(-)
create mode 100644 trunk/fcl/CMakeModules/FCLCheckSSE.cmake
create mode 100644 trunk/fcl/include/fcl/CMakeLists.txt
rename trunk/fcl/include/fcl/{simd/simd.h => config.h.in} (91%)
create mode 100644 trunk/fcl/src/CMakeLists.txt
diff --git a/trunk/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
index 24d288ac..35019d17 100644
--- a/trunk/fcl/CMakeLists.txt
+++ b/trunk/fcl/CMakeLists.txt
@@ -7,19 +7,25 @@ project(fcl CXX C)
# Release : w/o debug symbols, w/ optimization
# RelWithDebInfo : w/ debug symbols, w/ optimization
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-set(CMAKE_BUILD_TYPE Release)
-set(CMAKE_SKIP_BUILD_RPATH FALSE)
-set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
-set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_BUILD_TYPE Release)
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+
+# Check for SSE flags
+set(FCL_HAVE_SSE 0)
+include(FCLCheckSSE)
+fcl_check_for_sse()
+if (SSE_FLAGS)
+ message(STATUS "FCL uses SSE")
+ add_definitions(${SSE_FLAGS})
+ set(FCL_HAVE_SSE 0)
+ # waiting for Jia to fix this; not using sse anyway
+else()
+ message(STATUS "FCL does not use SSE")
+endif()
+# make sure we know what flag we used for SSE
include_directories("include")
find_package(PkgConfig)
@@ -32,16 +38,13 @@ if(OCTOMAP_FOUND)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_directories(${OCTOMAP_LIBRARY_DIRS})
endif()
-add_definitions(-DUSE_SVMLIGHT=0)
-
-add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/BV/OBBRSS.cpp src/BV/kDOP.cpp src/traversal/traversal_node_base.cpp src/traversal/traversal_node_bvhs.cpp src/intersect.cpp src/ccd/motion.cpp src/BVH/BV_fitter.cpp src/BVH/BV_splitter.cpp src/BVH/BVH_model.cpp src/BVH/BVH_utility.cpp src/math/transform.cpp src/traversal/traversal_node_setup.cpp src/shape/geometric_shapes.cpp src/shape/geometric_shapes_utility.cpp src/collision_node.cpp src/traversal/traversal_recurse.cpp src/broadphase/broadphase_bruteforce.cpp src/broadphase/broadphase_spatialhash.cpp src/broadphase/broadphase_SaP.cpp src/broadphase/broadphase_SSaP.cpp src/broadphase/broadphase_interval_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree.cpp src/broadphase/broadphase_dynamic_AABB_tree_array.cpp src/collision.cpp src/collision_func_matrix.cpp src/broadphase/interval_tree.cpp src/ccd/conservative_advancement.cpp src/ccd/interval.cpp src/ccd/interval_vector.cpp src/ccd/interval_matrix.cpp src/ccd/taylor_model.cpp src/ccd/taylor_vector.cpp src/ccd/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp src/narrowphase/gjk.cpp src/narrowphase/gjk_libccd.cpp src/narrowphase/narrowphase.cpp src/broadphase/hierarchy_tree.cpp src/profile.cpp src/collision_data.cpp)
-target_link_libraries(${PROJECT_NAME} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES})
+add_subdirectory(include/fcl)
+add_subdirectory(src)
set(pkg_conf_file "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc")
configure_file("${pkg_conf_file}.in" "${pkg_conf_file}" @ONLY)
-install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib/ LIBRARY DESTINATION lib/)
install(DIRECTORY include/ DESTINATION include FILES_MATCHING PATTERN "*.h")
install(FILES "${pkg_conf_file}" DESTINATION lib/pkgconfig/ COMPONENT pkgconfig)
diff --git a/trunk/fcl/CMakeModules/FCLCheckSSE.cmake b/trunk/fcl/CMakeModules/FCLCheckSSE.cmake
new file mode 100644
index 00000000..f03d5cfd
--- /dev/null
+++ b/trunk/fcl/CMakeModules/FCLCheckSSE.cmake
@@ -0,0 +1,83 @@
+macro(fcl_check_for_sse)
+ # check for SSE extensions
+ include(CheckCXXSourceRuns)
+ if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX )
+ set(SSE_FLAGS)
+
+ set(CMAKE_REQUIRED_FLAGS "-msse3")
+ check_cxx_source_runs("
+ #include <pmmintrin.h>
+
+ int main()
+ {
+ __m128d a, b;
+ double vals[2] = {0};
+ a = _mm_loadu_pd(vals);
+ b = _mm_hadd_pd(a,a);
+ _mm_storeu_pd(vals, b);
+ return 0;
+ }"
+ HAS_SSE3_EXTENSIONS)
+
+ set(CMAKE_REQUIRED_FLAGS "-msse2")
+ check_cxx_source_runs("
+ #include <emmintrin.h>
+
+ int main()
+ {
+ __m128d a, b;
+ double vals[2] = {0};
+ a = _mm_loadu_pd(vals);
+ b = _mm_add_pd(a,a);
+ _mm_storeu_pd(vals,b);
+ return 0;
+ }"
+ HAS_SSE2_EXTENSIONS)
+
+ set(CMAKE_REQUIRED_FLAGS "-msse")
+ check_cxx_source_runs("
+ #include <xmmintrin.h>
+ int main()
+ {
+ __m128 a, b;
+ float vals[4] = {0};
+ a = _mm_loadu_ps(vals);
+ b = a;
+ b = _mm_add_ps(a,b);
+ _mm_storeu_ps(vals,b);
+ return 0;
+ }"
+ HAS_SSE_EXTENSIONS)
+
+ set(CMAKE_REQUIRED_FLAGS)
+
+ if(HAS_SSE3_EXTENSIONS)
+ set(SSE_FLAGS "-msse3 -mfpmath=sse")
+ message(STATUS " Found SSE3 extensions, using flags: ${SSE_FLAGS}")
+ elseif(HAS_SSE2_EXTENSIONS)
+ set(SSE_FLAGS "-msse2 -mfpmath=sse")
+ message(STATUS " Found SSE2 extensions, using flags: ${SSE_FLAGS}")
+ elseif(HAS_SSE_EXTENSIONS)
+ set(SSE_FLAGS "-msse -mfpmath=sse")
+ message(STATUS " Found SSE extensions, using flags: ${SSE_FLAGS}")
+ endif()
+ elseif(MSVC)
+ check_cxx_source_runs("
+ #include <emmintrin.h>
+
+ int main()
+ {
+ __m128d a, b;
+ double vals[2] = {0};
+ a = _mm_loadu_pd(vals);
+ b = _mm_add_pd(a,a);
+ _mm_storeu_pd(vals,b);
+ return 0;
+ }"
+ HAS_SSE2_EXTENSIONS)
+ if( HAS_SSE2_EXTENSIONS )
+ message(STATUS " Found SSE2 extensions")
+ set(SSE_FLAGS "/arch:SSE2 /fp:fast -D__SSE__ -D__SSE2__" )
+ endif()
+ endif()
+endmacro(fcl_check_for_sse)
diff --git a/trunk/fcl/include/fcl/CMakeLists.txt b/trunk/fcl/include/fcl/CMakeLists.txt
new file mode 100644
index 00000000..00022861
--- /dev/null
+++ b/trunk/fcl/include/fcl/CMakeLists.txt
@@ -0,0 +1,2 @@
+file(TO_NATIVE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" VERSION_DIR)
+configure_file("${VERSION_DIR}/config.h.in" "${VERSION_DIR}/config.h")
diff --git a/trunk/fcl/include/fcl/simd/simd.h b/trunk/fcl/include/fcl/config.h.in
similarity index 91%
rename from trunk/fcl/include/fcl/simd/simd.h
rename to trunk/fcl/include/fcl/config.h.in
index f63fd5e3..bc8b3c83 100644
--- a/trunk/fcl/include/fcl/simd/simd.h
+++ b/trunk/fcl/include/fcl/config.h.in
@@ -1,7 +1,7 @@
/*
* Software License Agreement (BSD License)
*
- * Copyright (c) 2011, Willow Garage, Inc.
+ * Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
@@ -32,11 +32,10 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/** \author Jia Pan */
+#ifndef FCL_CONFIG_
+#define FCL_CONFIG_
-#ifndef FCL_SIMD_H
-#define FCL_SIMD_H
-
-#include "fcl/simd/math_simd_details.h"
+#define FCL_VERSION "@FCL_VERSION@"
+#cmakedefine01 FCL_HAVE_SSE
#endif
diff --git a/trunk/fcl/include/fcl/math/vec_3f.h b/trunk/fcl/include/fcl/math/vec_3f.h
index 37e0c596..ba60e0e9 100644
--- a/trunk/fcl/include/fcl/math/vec_3f.h
+++ b/trunk/fcl/include/fcl/math/vec_3f.h
@@ -37,9 +37,14 @@
#ifndef FCL_VEC_3F_H
#define FCL_VEC_3F_H
+#include "fcl/config.h"
#include "fcl/data_types.h"
#include "fcl/math/math_details.h"
-#include "fcl/simd/math_simd_details.h"
+
+#if FCL_HAVE_SSE
+# include "fcl/simd/math_simd_details.h"
+#endif
+
#include <cmath>
#include <iostream>
#include <limits>
@@ -213,10 +218,11 @@ void generateCoordinateSystem(const Vec3fX<T>& w, Vec3fX<T>& u, Vec3fX<T>& v)
}
}
-
-typedef Vec3fX<details::Vec3Data<FCL_REAL> > Vec3f;
-//typedef Vec3fX<details::sse_meta_f4> Vec3f;
-
+#if FCL_HAVE_SSE
+ typedef Vec3fX<details::sse_meta_f4> Vec3f;
+#else
+ typedef Vec3fX<details::Vec3Data<FCL_REAL> > Vec3f;
+#endif
static inline std::ostream& operator << (std::ostream& o, const Vec3f& v)
{
diff --git a/trunk/fcl/src/CMakeLists.txt b/trunk/fcl/src/CMakeLists.txt
new file mode 100644
index 00000000..abe55237
--- /dev/null
+++ b/trunk/fcl/src/CMakeLists.txt
@@ -0,0 +1,50 @@
+add_library(${PROJECT_NAME} SHARED
+ BV/AABB.cpp
+ BV/OBB.cpp
+ BV/RSS.cpp
+ BV/kIOS.cpp
+ BV/OBBRSS.cpp
+ BV/kDOP.cpp
+ traversal/traversal_node_base.cpp
+ traversal/traversal_node_bvhs.cpp
+ intersect.cpp
+ ccd/motion.cpp
+ BVH/BV_fitter.cpp
+ BVH/BV_splitter.cpp
+ BVH/BVH_model.cpp
+ BVH/BVH_utility.cpp
+ math/transform.cpp
+ traversal/traversal_node_setup.cpp
+ shape/geometric_shapes.cpp
+ shape/geometric_shapes_utility.cpp
+ collision_node.cpp
+ traversal/traversal_recurse.cpp
+ broadphase/broadphase_bruteforce.cpp
+ broadphase/broadphase_spatialhash.cpp
+ broadphase/broadphase_SaP.cpp
+ broadphase/broadphase_SSaP.cpp
+ broadphase/broadphase_interval_tree.cpp
+ broadphase/broadphase_dynamic_AABB_tree.cpp
+ broadphase/broadphase_dynamic_AABB_tree_array.cpp
+ collision.cpp
+ collision_func_matrix.cpp
+ broadphase/interval_tree.cpp
+ ccd/conservative_advancement.cpp
+ ccd/interval.cpp
+ ccd/interval_vector.cpp
+ ccd/interval_matrix.cpp
+ ccd/taylor_model.cpp
+ ccd/taylor_vector.cpp
+ ccd/taylor_matrix.cpp
+ distance_func_matrix.cpp
+ distance.cpp
+ narrowphase/gjk.cpp
+ narrowphase/gjk_libccd.cpp
+ narrowphase/narrowphase.cpp
+ broadphase/hierarchy_tree.cpp
+ profile.cpp
+ collision_data.cpp)
+
+target_link_libraries(${PROJECT_NAME} ${CCD_LIBRARIES} ${OCTOMAP_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION lib/ LIBRARY DESTINATION lib/)
--
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