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Override btCollisionWorld::addCollisionObject with flags more appropriate for btDynamicsWorld (StaticFilter)

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Minor fixes (#ifndef SPU_COLLISION_OBJECT_WRAPPER_H block etc)
Only update 'setNumTasks' when necessary
Revert vectormath.h include (can't resolve conflicts with PS3 SDK, need additional #include path)
This commit is contained in:
erwin.coumans
2009-09-09 22:49:43 +00:00
parent df550730da
commit 659b215a69
17 changed files with 159 additions and 114 deletions
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97
src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "SpuContactManifoldCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "LinearMath/btQuickprof.h"
@@ -152,69 +153,81 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
{
m_maxNumOutstandingTasks = m_threadInterface->getNumTasks();
if (!m_spuCollisionTaskProcess)
m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
// printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
{
btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
BT_PROFILE("processAllOverlappingPairs");
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
if (!m_spuCollisionTaskProcess)
m_spuCollisionTaskProcess = new SpuCollisionTaskProcess(m_threadInterface,m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->setNumTasks(m_maxNumOutstandingTasks);
// printf("m_maxNumOutstandingTasks =%d\n",m_maxNumOutstandingTasks);
m_spuCollisionTaskProcess->initialize2(dispatchInfo.m_useEpa);
///modified version of btCollisionDispatcher::dispatchAllCollisionPairs:
{
btSpuCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
}
}
//send one big batch
int numTotalPairs = pairCache->getNumOverlappingPairs();
btBroadphasePair* pairPtr = pairCache->getOverlappingPairArrayPtr();
int i;
for (i=0;i<numTotalPairs;)
{
//Performance Hint: tweak this number during benchmarking
static const int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
i = endIndex;
BT_PROFILE("addWorkToTask");
for (i=0;i<numTotalPairs;)
{
//Performance Hint: tweak this number during benchmarking
static const int pairRange = SPU_BATCHSIZE_BROADPHASE_PAIRS;
int endIndex = (i+pairRange) < numTotalPairs ? i+pairRange : numTotalPairs;
m_spuCollisionTaskProcess->addWorkToTask(pairPtr,i,endIndex);
i = endIndex;
}
}
//handle PPU fallback pairs
for (i=0;i<numTotalPairs;i++)
{
btBroadphasePair& collisionPair = pairPtr[i];
if (collisionPair.m_internalTmpValue == 3)
BT_PROFILE("PPU fallback");
//handle PPU fallback pairs
for (i=0;i<numTotalPairs;i++)
{
if (collisionPair.m_algorithm)
btBroadphasePair& collisionPair = pairPtr[i];
if (collisionPair.m_internalTmpValue == 3)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher->needsCollision(colObj0,colObj1))
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher->needsCollision(colObj0,colObj1))
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
}
}
//make sure all SPU work is done
m_spuCollisionTaskProcess->flush2();
{
BT_PROFILE("flush2");
//make sure all SPU work is done
m_spuCollisionTaskProcess->flush2();
}
} else
{