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+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

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+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
This commit is contained in:
erwin.coumans
2009-07-15 16:47:48 +00:00
parent a27b349dd0
commit 40c73f327c
35 changed files with 343 additions and 222 deletions
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2
src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h
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@@ -24,7 +24,7 @@ subject to the following restrictions:
class btPersistentManifold;
//#define USE_SEPDISTANCE_UTIL 1
#define USE_SEPDISTANCE_UTIL 1
/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU.
ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm

33
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -52,6 +52,9 @@ subject to the following restrictions:
#endif
#endif //__SPU__
int gSkippedCol = 0;
int gProcessedCol = 0;
////////////////////////////////////////////////
/// software caching
#if USE_SOFTWARE_CACHE
@@ -624,8 +627,11 @@ SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collis
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
collisionPairInput.m_worldTransform0 = lsMem.getColObj0()->getWorldTransform();
collisionPairInput.m_worldTransform1 = lsMem.getColObj1()->getWorldTransform();
btCollisionObject* ob0 = lsMem.getColObj0();
btCollisionObject* ob1 = lsMem.getColObj1();
collisionPairInput.m_worldTransform0 = ob0->getWorldTransform();
collisionPairInput.m_worldTransform1 = ob1->getWorldTransform();
}
@@ -998,6 +1004,11 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
collisionPairInput.m_isSwapped);
float distance=0.f;
btVector3 normalInB;
if (//!gUseEpa &&
#ifdef USE_SEPDISTANCE_UTIL
@@ -1007,7 +1018,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif
)
{
//#define USE_PE_BOX_BOX 1
#define USE_PE_BOX_BOX 1
#ifdef USE_PE_BOX_BOX
{
@@ -1032,9 +1043,9 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
float distanceThreshold = FLT_MAX;//0.0f;//FLT_MAX;//use epsilon?
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
btVector3 normalInB = -getBtVector3(resultNormal);
normalInB = -getBtVector3(resultNormal);
if(distance < spuManifold->getContactBreakingThreshold())
{
@@ -1094,9 +1105,13 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
lsMem.needsDmaPutContactManifoldAlgo = true;
#ifdef USE_SEPDISTANCE_UTIL
btScalar sepDist = distance+spuManifold->getContactBreakingThreshold();
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(normalInB,sepDist,collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
btScalar sepDist2 = distance+spuManifold->getContactBreakingThreshold();
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(normalInB,sepDist2,collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
#endif //USE_SEPDISTANCE_UTIL
gProcessedCol++;
} else
{
gSkippedCol++;
}
spuContacts.flush();
@@ -1138,13 +1153,15 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
}
#ifdef USE_SEPDISTANCE_UTIL
#if defined (__SPU__) || defined (USE_LIBSPE2)
if (lsMem.needsDmaPutContactManifoldAlgo)
{
dmaSize = sizeof(SpuContactManifoldCollisionAlgorithm);
dmaPpuAddress2 = (ppu_address_t)pair.m_algorithm;
cellDmaLargePut(&lsMem.gSpuContactManifoldAlgo, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaLargePut(&lsMem.gSpuContactManifoldAlgoBuffer, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
#endif
#endif //#ifdef USE_SEPDISTANCE_UTIL
}

44
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkEpa2.cpp
View File

@@ -201,7 +201,7 @@ eStatus::_ Evaluate(const tShape& shapearg,const btVector3& guess)
lastw[clastw=(clastw+1)&3]=w;
}
/* Check for termination */
const btScalar omega=dot(m_ray,w)/rl;
const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
{/* Return old simplex */
@@ -287,9 +287,9 @@ bool EncloseOrigin()
{
btVector3 axis=btVector3(0,0,0);
axis[i]=1;
if(btFabs(dot(axis,d))>0)
if(btFabs(btDot(axis,d))>0)
{
const btVector3 p=cross(d,axis);
const btVector3 p=btCross(d,axis);
appendvertice(*m_simplex, p);
if(EncloseOrigin()) return(true);
removevertice(*m_simplex);
@@ -302,7 +302,7 @@ bool EncloseOrigin()
break;
case 3:
{
const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
const btVector3 n=btCross(m_simplex->c[1]->w-m_simplex->c[0]->w,
m_simplex->c[2]->w-m_simplex->c[0]->w);
const btScalar l=n.length();
if(l>0)
@@ -357,7 +357,7 @@ static btScalar projectorigin( const btVector3& a,
const btScalar l=d.length2();
if(l>GJK_SIMPLEX2_EPS)
{
const btScalar t(l>0?-dot(a,d)/l:0);
const btScalar t(l>0?-btDot(a,d)/l:0);
if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
@@ -372,7 +372,7 @@ static btScalar projectorigin( const btVector3& a,
static const U imd3[]={1,2,0};
const btVector3* vt[]={&a,&b,&c};
const btVector3 dl[]={a-b,b-c,c-a};
const btVector3 n=cross(dl[0],dl[1]);
const btVector3 n=btCross(dl[0],dl[1]);
const btScalar l=n.length2();
if(l>GJK_SIMPLEX3_EPS)
{
@@ -381,7 +381,7 @@ static btScalar projectorigin( const btVector3& a,
U subm;
for(U i=0;i<3;++i)
{
if(dot(*vt[i],cross(dl[i],n))>0)
if(btDot(*vt[i],btCross(dl[i],n))>0)
{
const U j=imd3[i];
const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
@@ -397,13 +397,13 @@ static btScalar projectorigin( const btVector3& a,
}
if(mindist<0)
{
const btScalar d=dot(a,n);
const btScalar d=btDot(a,n);
const btScalar s=btSqrt(l);
const btVector3 p=n*(d/l);
mindist = p.length2();
m = 7;
w[0] = (cross(dl[1],b-p)).length()/s;
w[1] = (cross(dl[2],c-p)).length()/s;
w[0] = (btCross(dl[1],b-p)).length()/s;
w[1] = (btCross(dl[2],c-p)).length()/s;
w[2] = 1-(w[0]+w[1]);
}
return(mindist);
@@ -420,7 +420,7 @@ static btScalar projectorigin( const btVector3& a,
const btVector3* vt[]={&a,&b,&c,&d};
const btVector3 dl[]={a-d,b-d,c-d};
const btScalar vl=det(dl[0],dl[1],dl[2]);
const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
const bool ng=(vl*btDot(a,btCross(b-c,a-b)))<=0;
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
@@ -429,7 +429,7 @@ static btScalar projectorigin( const btVector3& a,
for(U i=0;i<3;++i)
{
const U j=imd3[i];
const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
const btScalar s=vl*btDot(d,btCross(dl[i],dl[j]));
if(s>0)
{
const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
@@ -577,7 +577,7 @@ eStatus::_ Evaluate(GJK& gjk,const btVector3& guess)
bool valid=true;
best->pass = (U1)(++pass);
gjk.getsupport(best->n,*w);
const btScalar wdist=dot(best->n,w->w)-best->d;
const btScalar wdist=btDot(best->n,w->w)-best->d;
if(wdist>EPA_ACCURACY)
{
for(U j=0;(j<3)&&valid;++j)
@@ -604,11 +604,11 @@ eStatus::_ Evaluate(GJK& gjk,const btVector3& guess)
m_result.c[0] = outer.c[0];
m_result.c[1] = outer.c[1];
m_result.c[2] = outer.c[2];
m_result.p[0] = cross( outer.c[1]->w-projection,
m_result.p[0] = btCross( outer.c[1]->w-projection,
outer.c[2]->w-projection).length();
m_result.p[1] = cross( outer.c[2]->w-projection,
m_result.p[1] = btCross( outer.c[2]->w-projection,
outer.c[0]->w-projection).length();
m_result.p[2] = cross( outer.c[0]->w-projection,
m_result.p[2] = btCross( outer.c[0]->w-projection,
outer.c[1]->w-projection).length();
const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
m_result.p[0] /= sum;
@@ -642,18 +642,18 @@ sFace* newface(sSV* a,sSV* b,sSV* c,bool forced)
face->c[0] = a;
face->c[1] = b;
face->c[2] = c;
face->n = cross(b->w-a->w,c->w-a->w);
face->n = btCross(b->w-a->w,c->w-a->w);
const btScalar l=face->n.length();
const bool v=l>EPA_ACCURACY;
face->p = btMin(btMin(
dot(a->w,cross(face->n,a->w-b->w)),
dot(b->w,cross(face->n,b->w-c->w))),
dot(c->w,cross(face->n,c->w-a->w))) /
btDot(a->w,btCross(face->n,a->w-b->w)),
btDot(b->w,btCross(face->n,b->w-c->w))),
btDot(c->w,btCross(face->n,c->w-a->w))) /
(v?l:1);
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
if(v)
{
face->d = dot(a->w,face->n)/l;
face->d = btDot(a->w,face->n)/l;
face->n /= l;
if(forced||(face->d>=-EPA_PLANE_EPS))
{
@@ -691,7 +691,7 @@ bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
if(f->pass!=pass)
{
const U e1=i1m3[e];
if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
if((btDot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
{
sFace* nf=newface(f->c[e1],f->c[e],w,false);
if(nf)