text: /*
   *  Copyright 2014-16 ARM Limited and Contributors.
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions are met:
   *    * Redistributions of source code must retain the above copyright
   *      notice, this list of conditions and the following disclaimer.
   *    * Redistributions in binary form must reproduce the above copyright
   *      notice, this list of conditions and the following disclaimer in the
   *      documentation and/or other materials provided with the distribution.
   *    * Neither the name of ARM Limited nor the
   *      names of its contributors may be used to endorse or promote products
   *      derived from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY ARM LIMITED AND CONTRIBUTORS "AS IS" AND
   *  ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   *  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *  DISCLAIMED. IN NO EVENT SHALL ARM LIMITED AND CONTRIBUTORS BE LIABLE FOR ANY
   *  DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   *  (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   *  ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   *  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  
  /*
   * NE10 Library : inc/NE10_physics.h
   */
  
  
  #include "NE10_types.h"
  
  #ifndef NE10_PHYSICS_H
  #define NE10_PHYSICS_H
  
  #ifdef __cplusplus
  extern "C" {
  #endif
      ne10_result_t ne10_init_physics (ne10_int32_t is_NEON_available);
  
      /**
       * @ingroup COLLISION_DETECT
       * @brief Compute the AABB for a polygon.
       *
       * @param[out] *aabb               return axis aligned box
       * @param[in]  *vertices           a convex polygon
       * @param[in]  *xf                 the position and orientation of rigid
       * @param[in]  radius              the aligned bounding
       * @param[in]  vertex_count        vertices count of convex ploygen
       *
       * The function computes the AABB for a polygon. Points to @ref ne10_physics_compute_aabb_vec2f_c
       * or @ref ne10_physics_compute_aabb_vec2f_neon, the latter of which requires that vertex_count
       * is a multiple of 4.
       */
      extern 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);
      extern 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);
  #ifdef ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
      extern 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);
  #endif // ENABLE_NE10_PHYSICS_COMPUTE_AABB_VEC2F_NEON
  
      /**
       * @ingroup COLLISION_DETECT
       * @brief Calculate relative velocity at contact.
       *
       * @param[out] *dv               return relative velocity
       * @param[in]  *v_wa             velocity and angular velocity of body a
       * @param[in]  *ra               distance vector from center of mass of body a to contact point
       * @param[in]  *v_wb             velocity and angular velocity of body b
       * @param[in]  *rb               distance vector from center of mass of body b to contact point
       * @param[in]  count             the number of items
       *
       * To improve performance, two items are processed in one loop.
       * Points to @ref ne10_physics_relative_v_vec2f_c or @ref ne10_physics_relative_v_vec2f_neon.
       */
      extern 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);
      extern 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);
  #ifdef ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
      /**
       * @ingroup COLLISION_DETECT
       * Specific implementation of @ref ne10_physics_relative_v_vec2f using NEON SIMD capabilities.
       */
      extern 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");
  #endif // ENABLE_NE10_PHYSICS_RELATIVE_V_VEC2F_NEON
  
      /**
       * @ingroup COLLISION_DETECT
       * @brief Apply contact impulse.
       *
       * @param[in,out] *v_wa          return velocity and angular velocity of body a
       * @param[in,out] *v_wb          return velocity and angular velocity of body b
       * @param[in]  *ra               distance vector from center of mass of body a to contact point
       * @param[in]  *rb               distance vector from center of mass of body b to contact point
       * @param[in]  *ima              constant of body a
       * @param[in]  *imb              constant of body b
       * @param[in]  *p                constant
       * @param[in]  count             the number of items
       *
       * To improve performance, two items are processed in one loop.
       * Points to @ref ne10_physics_apply_impulse_vec2f_c or @ref ne10_physics_apply_impulse_vec2f_neon.
       */
      extern 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);
      extern 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);
  #ifdef ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
      /**
       * @ingroup COLLISION_DETECT
       * Specific implementation of @ref ne10_physics_apply_impulse_vec2f using NEON SIMD capabilities.
       */
      extern 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");
  #endif // ENABLE_NE10_PHYSICS_APPLY_IMPULSE_VEC2F_NEON
  
  #ifdef __cplusplus
  }
  #endif
  
  #endif
  