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

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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
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6
src/Bullet3Common/b3Quaternion.h
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@@ -407,9 +407,9 @@ public:
b3Scalar s_squared = 1.f-m_floats[3]*m_floats[3];
if (s_squared < b3Scalar(10.) * B3_EPSILON) //Check for divide by zero
return b3Vector3(1.0, 0.0, 0.0); // Arbitrary
return b3MakeVector3(1.0, 0.0, 0.0); // Arbitrary
b3Scalar s = 1.f/b3Sqrt(s_squared);
return b3Vector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
return b3MakeVector3(m_floats[0] * s, m_floats[1] * s, m_floats[2] * s);
}
/**@brief Return the inverse of this quaternion */
@@ -848,7 +848,7 @@ b3QuatRotate(const b3Quaternion& rotation, const b3Vector3& v)
#elif defined(B3_USE_NEON)
return b3Vector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), b3vFFF0Mask));
#else
return b3Vector3(q.getX(),q.getY(),q.getZ());
return b3MakeVector3(q.getX(),q.getY(),q.getZ());
#endif
}