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

support compound versus compound collision shape acceleration on GPU, using aabb tree versus aabb tree.

Browse Source 
Remove constructor from b3Vector3,  to make it a POD type, so it can go into a union (and more compatible with OpenCL float4)
Use b3MakeVector3 instead of constructor
Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
Improve PairBench a bit, show timings and #overlapping pairs.
Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
This commit is contained in:
erwincoumans
2013-08-20 03:19:59 -07:00
parent 41ba48b10d
commit 677722bba3
62 changed files with 1827 additions and 564 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/Bullet3Common/b3Matrix3x3.h
View File

@@ -128,7 +128,7 @@ public:
* @param i Column number 0 indexed */
B3_FORCE_INLINE b3Vector3 getColumn(int i) const
{
return b3Vector3(m_el[0][i],m_el[1][i],m_el[2][i]);
return b3MakeVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
}
@@ -1019,7 +1019,7 @@ b3Matrix3x3::adjoint() const
B3_FORCE_INLINE b3Matrix3x3
b3Matrix3x3::inverse() const
{
b3Vector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
b3Vector3 co = b3MakeVector3(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
b3Scalar det = (*this)[0].dot(co);
b3FullAssert(det != b3Scalar(0.0));
b3Scalar s = b3Scalar(1.0) / det;
@@ -1143,7 +1143,7 @@ operator*(const b3Matrix3x3& m, const b3Vector3& v)
#if (defined (B3_USE_SSE_IN_API) && defined (B3_USE_SSE))|| defined (B3_USE_NEON)
return v.dot3(m[0], m[1], m[2]);
#else
return b3Vector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
return b3MakeVector3(m[0].dot(v), m[1].dot(v), m[2].dot(v));
#endif
}
@@ -1184,7 +1184,7 @@ operator*(const b3Vector3& v, const b3Matrix3x3& m)
return b3Vector3(c0);
#else
return b3Vector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
return b3MakeVector3(m.tdotx(v), m.tdoty(v), m.tdotz(v));
#endif
}