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+ repaired SpuParallellSolverTask: support for warmstarting and added btAssert for constraint sizes that exceed CONSTRAINT_MAX_SIZE

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+ Share some more code between SpuParallelSolver and btSequentialImpulseConstraintSolver (both use btSolverBody now)
Lack of warmstarting reported here: http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2858
+ allow btBoxBoxDetector to execute on SPU.
This commit is contained in:
erwin.coumans
2008-11-16 05:48:42 +00:00
parent dcf3f96869
commit 686accab16
7 changed files with 494 additions and 279 deletions
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110
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -1,4 +1,3 @@
#include "SpuGatheringCollisionTask.h"
//#define DEBUG_SPU_COLLISION_DETECTION 1
@@ -29,6 +28,7 @@
#include "boxBoxDistance.h"
#include "BulletMultiThreaded/vectormath2bullet.h"
#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#ifdef __SPU__
///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
@@ -959,15 +959,8 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
bool boxbox = ((lsMem.getlocalCollisionAlgorithm()->getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
(lsMem.getlocalCollisionAlgorithm()->getShapeType1()==BOX_SHAPE_PROXYTYPE));
if (boxbox)// && !gUseEpa)//for now use gUseEpa for this toggle
if (boxbox)
{
//getVmVector3
//getBtVector3
//getVmQuat
//getBtQuat
//getVmMatrix3
//spu_printf("boxbox dist = %f\n",distance);
btPersistentManifold* spuManifold=&lsMem.gPersistentManifold;
btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
@@ -988,41 +981,88 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif
)
{
#ifdef USE_PE_BOX_BOX
//getCollisionMargin0
btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
//getCollisionMargin0
btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Transform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
float distanceThreshold = FLT_MAX;//0.0f;//FLT_MAX;//use epsilon?
Transform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
float distanceThreshold = FLT_MAX;//0.0f;//FLT_MAX;//use epsilon?
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
btVector3 normalInB = -getBtVector3(resultNormal);
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
btVector3 normalInB = -getBtVector3(resultNormal);
if(distance < spuManifold->getContactBreakingThreshold())
if(distance < spuManifold->getContactBreakingThreshold())
{
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
}
}
#else
{
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
btScalar margin0 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin0();
btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
btBoxShape box0(shapeDim0);
btBoxShape box1(shapeDim1);
struct SpuBridgeContactCollector : public btDiscreteCollisionDetectorInterface::Result
{
SpuContactResult& m_spuContacts;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_spuContacts.setShapeIdentifiers(partId0,index0,partId1,index1);
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
m_spuContacts.addContactPoint(normalOnBInWorld,pointInWorld,depth);
}
SpuBridgeContactCollector(SpuContactResult& spuContacts)
:m_spuContacts(spuContacts)
{
}
};
SpuBridgeContactCollector bridgeOutput(spuContacts);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = collisionPairInput.m_worldTransform0;
input.m_transformB = collisionPairInput.m_worldTransform1;
btBoxBoxDetector detector(&box0,&box1);
detector.getClosestPoints(input,bridgeOutput,0);
}
#endif //USE_PE_BOX_BOX
lsMem.needsDmaPutContactManifoldAlgo = true;
#ifdef USE_SEPDISTANCE_UTIL