void read_exif_header(FILE *fp, unsigned char *buffer, bool *is_valid, bool *is_little_endian) { // SOI vread(buffer, 2, fp, is_valid); vcmp(SOI, buffer, 2, is_valid); // APP1 Marker vread(buffer, 2, fp, is_valid); vcmp(APP1_MARKER, buffer, 2, is_valid); // EXIF Identifier Code vseek(fp, 2, SEEK_CUR, is_valid); // Skip (APP1 Length) vread(buffer, 6, fp, is_valid); vcmp(EXIF_IDENT_CODE, buffer, 6, is_valid); // Byte Order vread(buffer, 2, fp, is_valid); if(*is_valid && memcmp(TIFF_LITTLE_ENDIAN, buffer, 2) == 0) *is_little_endian = true; else if(*is_valid && memcmp(TIFF_BIG_ENDIAN, buffer, 2) == 0) *is_little_endian = false; else *is_valid = false; // EXIF Fixed Code vread(buffer, 2, fp, is_valid); vrev(buffer, 2, is_valid, is_little_endian); vcmp(EXIF_FIXED_CODE, buffer, 2, is_valid); // 0th IFD Offset vread(buffer, 4, fp, is_valid); vrev(buffer, 4, is_valid, is_little_endian); // 0th IFD vseek(fp, todecimal(buffer, 4) - 8, SEEK_CUR, is_valid); // 0th IFD Entry Count vread(buffer, 2, fp, is_valid); vrev(buffer, 2, is_valid, is_little_endian); }
static void cpArbiterApplyImpulse_NEON(cpArbiter *arb) { cpBody *a = arb->body_a; cpBody *b = arb->body_b; cpFloatx2_t surface_vr = vld((cpFloat_t *)&arb->surface_vr); cpFloatx2_t n = vld((cpFloat_t *)&arb->n); cpFloat_t friction = arb->u; int numContacts = arb->count; struct cpContact *contacts = arb->contacts; for(int i=0; i<numContacts; i++) { struct cpContact *con = contacts + i; cpFloatx2_t r1 = vld((cpFloat_t *)&con->r1); cpFloatx2_t r2 = vld((cpFloat_t *)&con->r2); cpFloatx2_t perp = vmake(-1.0, 1.0); cpFloatx2_t r1p = vmul(vrev(r1), perp); cpFloatx2_t r2p = vmul(vrev(r2), perp); cpFloatx2_t vBias_a = vld((cpFloat_t *)&a->v_bias); cpFloatx2_t vBias_b = vld((cpFloat_t *)&b->v_bias); cpFloatx2_t wBias = vmake(a->w_bias, b->w_bias); cpFloatx2_t vb1 = vadd(vBias_a, vmul_n(r1p, vget_lane(wBias, 0))); cpFloatx2_t vb2 = vadd(vBias_b, vmul_n(r2p, vget_lane(wBias, 1))); cpFloatx2_t vbr = vsub(vb2, vb1); cpFloatx2_t v_a = vld((cpFloat_t *)&a->v); cpFloatx2_t v_b = vld((cpFloat_t *)&b->v); cpFloatx2_t w = vmake(a->w, b->w); cpFloatx2_t v1 = vadd(v_a, vmul_n(r1p, vget_lane(w, 0))); cpFloatx2_t v2 = vadd(v_b, vmul_n(r2p, vget_lane(w, 1))); cpFloatx2_t vr = vsub(v2, v1); cpFloatx2_t vbn_vrn = vpadd(vmul(vbr, n), vmul(vr, n)); cpFloatx2_t v_offset = vmake(con->bias, -con->bounce); cpFloatx2_t jOld = vmake(con->jBias, con->jnAcc); cpFloatx2_t jbn_jn = vmul_n(vsub(v_offset, vbn_vrn), con->nMass); jbn_jn = vmax(vadd(jOld, jbn_jn), vdup_n(0.0)); cpFloatx2_t jApply = vsub(jbn_jn, jOld); cpFloatx2_t t = vmul(vrev(n), perp); cpFloatx2_t vrt_tmp = vmul(vadd(vr, surface_vr), t); cpFloatx2_t vrt = vpadd(vrt_tmp, vrt_tmp); cpFloatx2_t jtOld = {}; jtOld = vset_lane(con->jtAcc, jtOld, 0); cpFloatx2_t jtMax = vrev(vmul_n(jbn_jn, friction)); cpFloatx2_t jt = vmul_n(vrt, -con->tMass); jt = vmax(vneg(jtMax), vmin(vadd(jtOld, jt), jtMax)); cpFloatx2_t jtApply = vsub(jt, jtOld); cpFloatx2_t i_inv = vmake(-a->i_inv, b->i_inv); cpFloatx2_t nperp = vmake(1.0, -1.0); cpFloatx2_t jBias = vmul_n(n, vget_lane(jApply, 0)); cpFloatx2_t jBiasCross = vmul(vrev(jBias), nperp); cpFloatx2_t biasCrosses = vpadd(vmul(r1, jBiasCross), vmul(r2, jBiasCross)); wBias = vadd(wBias, vmul(i_inv, biasCrosses)); vBias_a = vsub(vBias_a, vmul_n(jBias, a->m_inv)); vBias_b = vadd(vBias_b, vmul_n(jBias, b->m_inv)); cpFloatx2_t j = vadd(vmul_n(n, vget_lane(jApply, 1)), vmul_n(t, vget_lane(jtApply, 0))); cpFloatx2_t jCross = vmul(vrev(j), nperp); cpFloatx2_t crosses = vpadd(vmul(r1, jCross), vmul(r2, jCross)); w = vadd(w, vmul(i_inv, crosses)); v_a = vsub(v_a, vmul_n(j, a->m_inv)); v_b = vadd(v_b, vmul_n(j, b->m_inv)); // TODO would moving these earlier help pipeline them better? vst((cpFloat_t *)&a->v_bias, vBias_a); vst((cpFloat_t *)&b->v_bias, vBias_b); vst_lane((cpFloat_t *)&a->w_bias, wBias, 0); vst_lane((cpFloat_t *)&b->w_bias, wBias, 1); vst((cpFloat_t *)&a->v, v_a); vst((cpFloat_t *)&b->v, v_b); vst_lane((cpFloat_t *)&a->w, w, 0); vst_lane((cpFloat_t *)&b->w, w, 1); vst_lane((cpFloat_t *)&con->jBias, jbn_jn, 0); vst_lane((cpFloat_t *)&con->jnAcc, jbn_jn, 1); vst_lane((cpFloat_t *)&con->jtAcc, jt, 0); } }