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Add btStaticPlaneShape support for SpuGatheringCollisionDispatcher.

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See Issue 312, thanks to davidsream for the report
This commit is contained in:
erwin.coumans
2010-02-12 22:02:19 +00:00
parent 66135a2082
commit 088d843f8c
4 changed files with 178 additions and 9 deletions
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176
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -372,6 +372,148 @@ public:
};
void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts)
{
btConvexShape* convexShape = (btConvexShape*) wuInput->m_spuCollisionShapes[0];
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) wuInput->m_spuCollisionShapes[1];
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = wuInput->m_worldTransform0;
btTransform convexInPlaneTrans;
convexInPlaneTrans= wuInput->m_worldTransform1.inverse() * convexWorldTransform;
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * wuInput->m_worldTransform1;
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = wuInput->m_worldTransform1 * vtxInPlaneProjected;
hasCollision = distance < lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold();
//resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB =wuInput->m_worldTransform1.getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
spuContacts.addContactPoint(normalOnSurfaceB,pOnB,distance);
}
}
void ProcessConvexPlaneSpuCollision(SpuCollisionPairInput* wuInput, CollisionTask_LocalStoreMemory* lsMemPtr, SpuContactResult& spuContacts)
{
register int dmaSize = 0;
register ppu_address_t dmaPpuAddress2;
btPersistentManifold* manifold = (btPersistentManifold*)wuInput->m_persistentManifoldPtr;
///DMA in the vertices for convex shapes
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
if ( btLikely( wuInput->m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
// spu_printf("SPU: DMA btConvexHullShape\n");
dmaSize = sizeof(btConvexHullShape);
dmaPpuAddress2 = wuInput->m_collisionShapes[0];
cellDmaGet(&convexHullShape0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
//cellDmaWaitTagStatusAll(DMA_MASK(1));
}
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
// spu_printf("SPU: DMA btConvexHullShape\n");
dmaSize = sizeof(btConvexHullShape);
dmaPpuAddress2 = wuInput->m_collisionShapes[1];
cellDmaGet(&convexHullShape1, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
//cellDmaWaitTagStatusAll(DMA_MASK(1));
}
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
cellDmaWaitTagStatusAll(DMA_MASK(1));
dmaConvexVertexData (&lsMemPtr->convexVertexData[0], (btConvexHullShape*)&convexHullShape0);
lsMemPtr->convexVertexData[0].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[0];
}
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
cellDmaWaitTagStatusAll(DMA_MASK(1));
dmaConvexVertexData (&lsMemPtr->convexVertexData[1], (btConvexHullShape*)&convexHullShape1);
lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1];
}
btConvexPointCloudShape cpc0,cpc1;
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
cellDmaWaitTagStatusAll(DMA_MASK(2));
lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0];
btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0];
const btVector3& localScaling = ch->getLocalScalingNV();
cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling);
wuInput->m_spuCollisionShapes[0] = &cpc0;
}
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
cellDmaWaitTagStatusAll(DMA_MASK(2));
lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1];
const btVector3& localScaling = ch->getLocalScalingNV();
cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling);
wuInput->m_spuCollisionShapes[1] = &cpc1;
}
const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0];
const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1];
int shapeType0 = wuInput->m_shapeType0;
int shapeType1 = wuInput->m_shapeType1;
float marginA = wuInput->m_collisionMargin0;
float marginB = wuInput->m_collisionMargin1;
SpuClosestPointInput cpInput;
cpInput.m_convexVertexData[0] = &lsMemPtr->convexVertexData[0];
cpInput.m_convexVertexData[1] = &lsMemPtr->convexVertexData[1];
cpInput.m_transformA = wuInput->m_worldTransform0;
cpInput.m_transformB = wuInput->m_worldTransform1;
float sumMargin = (marginA+marginB+lsMemPtr->getContactManifoldPtr()->getContactBreakingThreshold());
cpInput.m_maximumDistanceSquared = sumMargin * sumMargin;
ppu_address_t manifoldAddress = (ppu_address_t)manifold;
btPersistentManifold* spuManifold=lsMemPtr->getContactManifoldPtr();
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
lsMemPtr->getColObj1()->getWorldTransform(),
lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
wuInput->m_isSwapped);
btConvexPlaneCollideSingleContact(wuInput,lsMemPtr,spuContacts);
}
////////////////////////
/// Convex versus Concave triangle mesh collision detection (handles concave triangle mesh versus sphere, box, cylinder, triangle, cone, convex polyhedron etc)
///////////////////
@@ -845,17 +987,33 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
}
btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)collisionShape1Loc;
if (collisionPairInput.m_shapeType1 == STATIC_PLANE_PROXYTYPE)
{
btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
btStaticPlaneShape* planeShape= (btStaticPlaneShape*)collisionShape1Loc;
btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
collisionPairInput.m_primitiveDimensions0 = dim0;
collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
collisionPairInput.m_spuCollisionShapes[1] = trimeshShape;
btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
collisionPairInput.m_primitiveDimensions0 = dim0;
collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
collisionPairInput.m_spuCollisionShapes[1] = planeShape;
ProcessConvexConcaveSpuCollision(&collisionPairInput,&lsMem,spuContacts);
ProcessConvexPlaneSpuCollision(&collisionPairInput,&lsMem,spuContacts);
} else
{
btConvexInternalShape* spuConvexShape0 = (btConvexInternalShape*)collisionShape0Loc;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)collisionShape1Loc;
btVector3 dim0 = spuConvexShape0->getImplicitShapeDimensions();
collisionPairInput.m_primitiveDimensions0 = dim0;
collisionPairInput.m_collisionShapes[0] = collisionShape0Ptr;
collisionPairInput.m_collisionShapes[1] = collisionShape1Ptr;
collisionPairInput.m_spuCollisionShapes[0] = spuConvexShape0;
collisionPairInput.m_spuCollisionShapes[1] = trimeshShape;
ProcessConvexConcaveSpuCollision(&collisionPairInput,&lsMem,spuContacts);
}
}
}