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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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8
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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@@ -62,7 +62,6 @@ void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData* gatheredObjec
{
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
/* DMA Collision object wrapper into local store */
dmaSize = sizeof(SpuCollisionObjectWrapper);
dmaPpuAddress2 = objectWrapper;
@@ -92,6 +91,7 @@ void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData* gatheredObjec
} else {
gatheredObjectData->m_primitiveDimensions = btVector3(1.0, 1.0, 1.0);
}
}
void dmaLoadRayOutput (ppu_address_t rayOutputAddr, SpuRaycastTaskWorkUnitOut* rayOutput, uint32_t dmaTag)
@@ -506,6 +506,7 @@ void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)gatheredObjectData->m_spuCollisionShape;
//need the mesh interface, for access to triangle vertices
@@ -620,6 +621,7 @@ void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData
//pre-fetch first tree, then loop and double buffer
}
}
void performRaycastAgainstCompound (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
@@ -677,9 +679,11 @@ void processRaycastTask(void* userPtr, void* lsMemory)
SpuCollisionObjectWrapper* cows = (SpuCollisionObjectWrapper*)taskDesc.spuCollisionObjectsWrappers;
//spu_printf("in processRaycastTask %d\n", taskDesc.numSpuCollisionObjectWrappers);
/* for each object */
for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
{
//spu_printf("%d / %d\n", objectId, taskDesc.numSpuCollisionObjectWrappers);
RaycastGatheredObjectData gatheredObjectData;
/* load initial collision shape */
GatherCollisionObjectAndShapeData (&gatheredObjectData, localMemory, (ppu_address_t)&cows[objectId]);
@@ -777,4 +781,4 @@ void processRaycastTask(void* userPtr, void* lsMemory)
}
}
}
}
}