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

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

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

33
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -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
}