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updated multithreaded version for concave trimeshes

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This commit is contained in:
ejcoumans
2007-06-13 22:25:37 +00:00
parent 68b4f60033
commit 05cbd96972
4 changed files with 18 additions and 13 deletions
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2
Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp
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@@ -31,7 +31,7 @@ void SpuContactManifoldCollisionAlgorithm::processCollision (btCollisionObject*
btAssert(0);
}
float SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
return 1.f;

2
Extras/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
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@@ -36,7 +36,7 @@ public:
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
SpuContactManifoldCollisionAlgorithm();

25
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -32,7 +32,7 @@
#include <stdio.h>
#endif
#define MAX_SHAPE_SIZE 256
//int gNumConvexPoints0=0;
@@ -55,12 +55,11 @@ struct CollisionTask_LocalStoreMemory
btCollisionObject gColObj0;
btCollisionObject gColObj1;
static const int maxShapeSize = 256;//todo: make some compile-time assert that this is value is larger then sizeof(btCollisionShape)
static const int maxShapeSize = MAX_SHAPE_SIZE;//todo: make some compile-time assert that this is value is larger then sizeof(btCollisionShape)
ATTRIBUTE_ALIGNED16(char gCollisionShape0[maxShapeSize]);
ATTRIBUTE_ALIGNED16(char gCollisionShape1[maxShapeSize]);
ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
ATTRIBUTE_ALIGNED16(int spuIndices[16]);
ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
@@ -122,6 +121,7 @@ void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned
if (isLeafNode && aabbOverlap)
{
//printf("overlap with node %d\n",rootNode->getTriangleIndex());
nodeCallback->processNode(0,rootNode->getTriangleIndex());
// spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
}
@@ -211,9 +211,9 @@ public:
///handle un-aligned vertices...
//another DMA for each vertex
small_cache_read(&m_lsMemPtr->spuUnscaledVertex[0],(uint64_t)&graphicsbasePtr[0],sizeof(btScalar));
small_cache_read(&m_lsMemPtr->spuUnscaledVertex[1],(uint64_t)&graphicsbasePtr[1],sizeof(btScalar));
small_cache_read(&m_lsMemPtr->spuUnscaledVertex[2],(uint64_t)&graphicsbasePtr[2],sizeof(btScalar));
small_cache_read(&spuUnscaledVertex[0],(uint64_t)&graphicsbasePtr[0],sizeof(btScalar));
small_cache_read(&spuUnscaledVertex[1],(uint64_t)&graphicsbasePtr[1],sizeof(btScalar));
small_cache_read(&spuUnscaledVertex[2],(uint64_t)&graphicsbasePtr[2],sizeof(btScalar));
spuTriangleVertices[j] = btVector3(
spuUnscaledVertex[0]*meshScaling.getX(),
@@ -254,6 +254,11 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
int sb = sizeof(btBvhTriangleMeshShape);
btAssert(sizeof(btBvhTriangleMeshShape) < MAX_SHAPE_SIZE);
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)wuInput->m_spuCollisionShapes[1];
//need the mesh interface, for access to triangle vertices
@@ -760,13 +765,13 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
{
{
int dmaSize = sizeof(btSphereShape);//lsMem.maxShapeSize;
int dmaSize = lsMem.maxShapeSize;
uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
cellDmaGet(lsMem.gCollisionShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
{
int dmaSize = sizeof(btSphereShape);//lsMem.maxShapeSize;
int dmaSize = lsMem.maxShapeSize;
uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj1.getCollisionShape();
cellDmaGet(lsMem.gCollisionShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(2));
@@ -815,14 +820,14 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
///dma and initialize the convex object
{
int dmaSize = sizeof(btSphereShape);//lsMem.maxShapeSize;
int dmaSize = lsMem.maxShapeSize;
uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj0.getCollisionShape();
cellDmaGet(lsMem.gCollisionShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
///dma and initialize the concave object
{
int dmaSize = sizeof(btBvhTriangleMeshShape);//lsMem.maxShapeSize;
int dmaSize = lsMem.maxShapeSize;//sizeof(btBvhTriangleMeshShape);//lsMem.maxShapeSize;
uint64_t dmaPpuAddress2 = (uint64_t)lsMem.gColObj1.getCollisionShape();
// spu_printf("SPU: trimesh = %llx\n",dmaPpuAddress2);
cellDmaGet(lsMem.gCollisionShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);

2
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h
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@@ -128,7 +128,7 @@ public:
bool closest(btVector3& v);
float maxVertex();
btScalar maxVertex();
bool fullSimplex() const
{