Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add EPA penetration depth solver support to bullet multithreaded.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

30
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -23,6 +23,7 @@
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "SpuMinkowskiPenetrationDepthSolver.h"
#include "SpuEpaPenetrationDepthSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuVoronoiSimplexSolver.h"
@@ -82,6 +83,7 @@ int g_CacheHits=0;
#endif // USE_SOFTWARE_CACHE
bool gUseEpa = false;
#ifdef USE_SN_TUNER
#include <LibSN_SPU.h>
@@ -196,18 +198,30 @@ SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
char* localStore0 = (char*)ls0;
uint32_t last4BitsOffset = ea0 & 0x0f;
char* tmpTarget0 = tmpBuffer0 + last4BitsOffset;
#ifdef __SPU__
cellDmaSmallGet(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
#else
tmpTarget0 = (char*)cellDmaSmallGetReadOnly(tmpTarget0,ea0,size,DMA_TAG(1),0,0);
#endif
char* localStore1 = (char*)ls1;
last4BitsOffset = ea1 & 0x0f;
char* tmpTarget1 = tmpBuffer1 + last4BitsOffset;
#ifdef __SPU__
cellDmaSmallGet(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
#else
tmpTarget1 = (char*)cellDmaSmallGetReadOnly(tmpTarget1,ea1,size,DMA_TAG(1),0,0);
#endif
char* localStore2 = (char*)ls2;
last4BitsOffset = ea2 & 0x0f;
char* tmpTarget2 = tmpBuffer2 + last4BitsOffset;
#ifdef __SPU__
cellDmaSmallGet(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
#else
tmpTarget2 = (char*)cellDmaSmallGetReadOnly(tmpTarget2,ea2,size,DMA_TAG(1),0,0);
#endif
cellDmaWaitTagStatusAll( DMA_MASK(1) );
@@ -458,7 +472,17 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
//try generic GJK
SpuVoronoiSimplexSolver vsSolver;
SpuMinkowskiPenetrationDepthSolver penetrationSolver;
SpuEpaPenetrationDepthSolver epaPenetrationSolver;
SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
SpuConvexPenetrationDepthSolver* penetrationSolver;
if (gUseEpa)
{
penetrationSolver = &epaPenetrationSolver;
} else {
penetrationSolver = &minkowskiPenetrationSolver;
}
///DMA in the vertices for convex shapes
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
@@ -537,7 +561,7 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
wuInput->m_isSwapped);
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,&penetrationSolver);
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
}
@@ -785,6 +809,8 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr;
CollisionTask_LocalStoreMemory& lsMem = *(colMemPtr);
gUseEpa = taskDesc.m_useEpa;
// spu_printf("taskDescPtr=%llx\n",taskDescPtr);
SpuContactResult spuContacts;