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Added libspe2 parallel Cell SPE support contribution by IBM Germany 'Extreme Blue' project:

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Thanks to Benjamin Hoeferlin, Minh Cuong Tran,Martina Huellmann,Frederick Roth.
This commit is contained in:
ejcoumans
2007-09-26 23:43:51 +00:00
parent 5ebab3e59b
commit 29dd9681f4
15 changed files with 4046 additions and 3507 deletions
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186
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h
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@@ -1,93 +1,93 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPU_GJK_PAIR_DETECTOR_H
#define SPU_GJK_PAIR_DETECTOR_H
#include "SpuContactResult.h"
#include "SpuVoronoiSimplexSolver.h"
class SpuConvexPenetrationDepthSolver;
/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
class SpuGjkPairDetector
{
btVector3 m_cachedSeparatingAxis;
const SpuConvexPenetrationDepthSolver* m_penetrationDepthSolver;
SpuVoronoiSimplexSolver* m_simplexSolver;
void* m_minkowskiA;
void* m_minkowskiB;
int m_shapeTypeA;
int m_shapeTypeB;
float m_marginA;
float m_marginB;
bool m_ignoreMargin;
public:
//some debugging to fix degeneracy problems
int m_lastUsedMethod;
int m_curIter;
int m_degenerateSimplex;
int m_catchDegeneracies;
SpuGjkPairDetector(void* objectA,void* objectB,int m_shapeTypeA, int m_shapeTypeB, float marginA, float marginB, SpuVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~SpuGjkPairDetector() {};
virtual void getClosestPoints(const SpuClosestPointInput& input,SpuContactResult& output);
void setMinkowskiA(void* minkA)
{
m_minkowskiA = minkA;
}
void setMinkowskiB(void* minkB)
{
m_minkowskiB = minkB;
}
void setCachedSeperatingAxis(const btVector3& seperatingAxis)
{
m_cachedSeparatingAxis = seperatingAxis;
}
void setPenetrationDepthSolver(SpuConvexPenetrationDepthSolver* penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
///don't use setIgnoreMargin, it's for Bullet's internal use
void setIgnoreMargin(bool ignoreMargin)
{
m_ignoreMargin = ignoreMargin;
}
};
#endif //SPU_GJK_PAIR_DETECTOR_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPU_GJK_PAIR_DETECTOR_H
#define SPU_GJK_PAIR_DETECTOR_H
#include "SpuContactResult.h"
#include "SpuVoronoiSimplexSolver.h"
class SpuConvexPenetrationDepthSolver;
/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
class SpuGjkPairDetector
{
btVector3 m_cachedSeparatingAxis;
const SpuConvexPenetrationDepthSolver* m_penetrationDepthSolver;
SpuVoronoiSimplexSolver* m_simplexSolver;
void* m_minkowskiA;
void* m_minkowskiB;
int m_shapeTypeA;
int m_shapeTypeB;
float m_marginA;
float m_marginB;
bool m_ignoreMargin;
public:
//some debugging to fix degeneracy problems
int m_lastUsedMethod;
int m_curIter;
int m_degenerateSimplex;
int m_catchDegeneracies;
SpuGjkPairDetector(void* objectA,void* objectB,int m_shapeTypeA, int m_shapeTypeB, float marginA, float marginB, SpuVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~SpuGjkPairDetector() {};
virtual void getClosestPoints(const SpuClosestPointInput& input,SpuContactResult& output);
void setMinkowskiA(void* minkA)
{
m_minkowskiA = minkA;
}
void setMinkowskiB(void* minkB)
{
m_minkowskiB = minkB;
}
void setCachedSeperatingAxis(const btVector3& seperatingAxis)
{
m_cachedSeparatingAxis = seperatingAxis;
}
void setPenetrationDepthSolver(SpuConvexPenetrationDepthSolver* penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
///don't use setIgnoreMargin, it's for Bullet's internal use
void setIgnoreMargin(bool ignoreMargin)
{
m_ignoreMargin = ignoreMargin;
}
};
#endif //SPU_GJK_PAIR_DETECTOR_H