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Add EPA penetration depth solver support to bullet multithreaded.

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Update SubSimplexConvexCast algorithm used in bullet multithreaded.
This commit is contained in:
john.mccutchan
2008-05-06 00:44:18 +00:00
parent 25c5d0d57a
commit 3268cab6d7
15 changed files with 1079 additions and 51 deletions
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13
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "SpuCollisionShapes.h"
btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
{
switch (shapeType)
{
@@ -250,6 +250,12 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
//add the radius to y-axis to get full height
btScalar radius = halfExtents[0];
halfExtents[1] += radius;
#if 0
int capsuleUpAxis = convexShape->getUpAxis();
btScalar halfHeight = convexShape->getHalfHeight();
btScalar radius = convexShape->getRadius();
halfExtents[capsuleUpAxis] = radius + halfHeight;
#endif
btTransform& t = xform;
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
@@ -298,7 +304,12 @@ void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangle
dmaSize = sizeof(btTriangleIndexVertexArray);
dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getMeshInterface());
// spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
#ifdef __SPU__
cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage;
#else
bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
#endif
//cellDmaWaitTagStatusAll(DMA_MASK(1));