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

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

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

6
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h
View File

@@ -23,8 +23,10 @@ subject to the following restrictions:
#endif
#include <math.h>
#include "BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h"
//<vectormath_aos.h>
//#include "BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h"
#include <vectormath_aos.h>
using namespace Vectormath::Aos;

9
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
View File

@@ -34,22 +34,23 @@ subject to the following restrictions:
#define MAX_NUM_SPU_CONVEX_POINTS 128
struct SpuConvexPolyhedronVertexData
ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData
{
void* gSpuConvexShapePtr;
btVector3* gConvexPoints;
int gNumConvexPoints;
int unused;
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
};
#define MAX_SHAPE_SIZE 256
struct CollisionShape_LocalStoreMemory
ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory
{
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
};
struct CompoundShape_LocalStoreMemory
ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory
{
// Compound data
#define MAX_SPU_COMPOUND_SUBSHAPES 16
@@ -57,7 +58,7 @@ struct CompoundShape_LocalStoreMemory
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
};
struct bvhMeshShape_LocalStoreMemory
ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory
{
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);

4
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
View File

@@ -22,13 +22,13 @@ subject to the following restrictions:
class btStackAlloc;
class btIDebugDraw;
class SpuVoronoiSimplexSolver;
#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
#include <LinearMath/btTransform.h>
///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
class SpuConvexPenetrationDepthSolver
class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{
public:

42
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -273,11 +273,13 @@ SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
class spuNodeCallback : public btNodeOverlapCallback
{
SpuCollisionPairInput* m_wuInput;
SpuContactResult& m_spuContacts;
CollisionTask_LocalStoreMemory* m_lsMemPtr;
ATTRIBUTE_ALIGNED16(btTriangleShape) m_tmpTriangleShape;
ATTRIBUTE_ALIGNED16(btVector3 spuTriangleVertices[3]);
ATTRIBUTE_ALIGNED16(btScalar spuUnscaledVertex[4]);
@@ -345,8 +347,7 @@ public:
&spuUnscaledVertex[2],(ppu_address_t)&graphicsbasePtr[2],
sizeof(btScalar));
spuTriangleVertices[j] = btVector3(
spuUnscaledVertex[0]*meshScaling.getX(),
m_tmpTriangleShape.getVertexPtr(j).setValue(spuUnscaledVertex[0]*meshScaling.getX(),
spuUnscaledVertex[1]*meshScaling.getY(),
spuUnscaledVertex[2]*meshScaling.getZ());
@@ -354,13 +355,9 @@ public:
}
ATTRIBUTE_ALIGNED16(btTriangleShape) tmpTriangleShape(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
SpuCollisionPairInput triangleConcaveInput(*m_wuInput);
// triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
triangleConcaveInput.m_spuCollisionShapes[1] = &tmpTriangleShape;
triangleConcaveInput.m_spuCollisionShapes[1] = &m_tmpTriangleShape;
triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
m_spuContacts.setShapeIdentifiersB(subPart,triangleIndex);
@@ -479,6 +476,9 @@ void ProcessConvexConcaveSpuCollision(SpuCollisionPairInput* wuInput, CollisionT
}
int stats[11]={0,0,0,0,0,0,0,0,0,0,0};
int degenerateStats[11]={0,0,0,0,0,0,0,0,0,0,0};
////////////////////////
/// Convex versus Convex collision detection (handles collision between sphere, box, cylinder, triangle, cone, convex polyhedron etc)
@@ -507,22 +507,19 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver epaPenetrationSolver2;
btConvexPenetrationDepthSolver* penetrationSolver = (btConvexPenetrationDepthSolver*)&epaPenetrationSolver2;
#if 0
SpuVoronoiSimplexSolver vsSolver;
SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
btConvexPenetrationDepthSolver* penetrationSolver = &epaPenetrationSolver2;
//SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
#ifdef ENABLE_EPA
SpuEpaPenetrationDepthSolver epaPenetrationSolver;
if (gUseEpa)
{
penetrationSolver = &epaPenetrationSolver;
penetrationSolver = &epaPenetrationSolver2;
} else
#endif
{
penetrationSolver = &minkowskiPenetrationSolver;
//penetrationSolver = &minkowskiPenetrationSolver;
}
#endif
///DMA in the vertices for convex shapes
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
@@ -616,6 +613,10 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
{
btGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&simplexSolver,penetrationSolver);//&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts,0);//,debugDraw);
stats[gjk.m_lastUsedMethod]++;
degenerateStats[gjk.m_degenerateSimplex]++;
#ifdef USE_SEPDISTANCE_UTIL
btScalar sepDist = gjk.getCachedSeparatingDistance()+spuManifold->getContactBreakingThreshold();
lsMemPtr->getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(gjk.getCachedSeparatingAxis(),sepDist,wuInput->m_worldTransform0,wuInput->m_worldTransform1);
@@ -880,7 +881,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
////////////////////
ppu_address_t dmaInPtr = taskDesc.inPtr;
ppu_address_t dmaInPtr = taskDesc.m_inPairPtr;
unsigned int numPages = taskDesc.numPages;
unsigned int numOnLastPage = taskDesc.numOnLastPage;
@@ -1036,7 +1037,6 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
btVector3 normalInB;
if (//!gUseEpa &&
#ifdef USE_SEPDISTANCE_UTIL
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.getConservativeSeparatingDistance()<=0.f
@@ -1045,7 +1045,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif
)
{
#define USE_PE_BOX_BOX 1
//#define USE_PE_BOX_BOX 1
#ifdef USE_PE_BOX_BOX
{
@@ -1163,9 +1163,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif //USE_SEPDISTANCE_UTIL
)
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
handleCollisionPair(collisionPairInput, lsMem, spuContacts, (ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape, (ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
} else
{
//spu_printf("boxbox dist = %f\n",distance);

2
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
///Task Description for SPU collision detection
struct SpuGatherAndProcessPairsTaskDesc
{
ppu_address_t inPtr;//m_pairArrayPtr;
ppu_address_t m_inPairPtr;//m_pairArrayPtr;
//mutex variable
uint32_t m_someMutexVariableInMainMemory;

18
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
View File

@@ -67,16 +67,14 @@ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB
) const
{
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
{
#if 0
(void)stackAlloc;
(void)v;
@@ -342,6 +340,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
//btAssert (false);
}
return res.m_hasResult;
#endif
return false;
}

20
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h
View File

@@ -18,7 +18,7 @@ subject to the following restrictions:
#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
#include "SpuConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
class btStackAlloc;
class btIDebugDraw;
@@ -27,18 +27,18 @@ class btConvexShape;
///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
class SpuMinkowskiPenetrationDepthSolver : public SpuConvexPenetrationDepthSolver
class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{
public:
SpuMinkowskiPenetrationDepthSolver() {}
virtual ~SpuMinkowskiPenetrationDepthSolver() {};
virtual bool calcPenDepth( btVoronoiSimplexSolver& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB
) const;
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
);
};