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Added multi-threaded collision detection. Original code is written for Cell SPU, but wrappers are provided to run on multi-core using Win32 Threads.

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SpuLibspe2Support is on the todo list, so it can run on Cell Blade & PS3 Linux.
This commit is contained in:
ejcoumans
2007-06-13 01:04:43 +00:00
parent a0c6adf5d6
commit 6f26aa1591
34 changed files with 5508 additions and 0 deletions
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236
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h Normal file
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/* [SCE CONFIDENTIAL DOCUMENT]
* PLAYSTATION(R)3 SPU Optimized Bullet Physics Library (http://bulletphysics.com)
* Copyright (C) 2007 Sony Computer Entertainment Inc.
* All Rights Reserved.
*/
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
struct SpuConvexPolyhedronVertexData
{
void* gSpuConvexShapePtr0;
void* gSpuConvexShapePtr1;
btPoint3* gConvexPoints0;
btPoint3* gConvexPoints1;
int gNumConvexPoints0;
int gNumConvexPoints1;
};
inline btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3 localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
{
switch (shapeType)
{
case SPHERE_SHAPE_PROXYTYPE:
{
return btPoint3(0,0,0);
}
case BOX_SHAPE_PROXYTYPE:
{
// spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n");
btConvexShape* convexShape = (btConvexShape*)shape;
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
float margin = convexShape->getMarginNV();
halfExtents -= btVector3(margin,margin,margin);
return btPoint3(
localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
}
case TRIANGLE_SHAPE_PROXYTYPE:
{
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3* vertices = (btVector3*)shape;
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
btVector3 sup = vertices[dots.maxAxis()];
return btPoint3(sup.getX(),sup.getY(),sup.getZ());
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShape* cylShape = (btCylinderShape*)shape;
//mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
int cylinderUpAxis = cylShape->getUpAxis();
int XX(1),YY(0),ZZ(2);
switch (cylinderUpAxis)
{
case 0:
{
XX = 1;
YY = 0;
ZZ = 2;
break;
}
case 1:
{
XX = 0;
YY = 1;
ZZ = 2;
break;
}
case 2:
{
XX = 0;
YY = 2;
ZZ = 1;
break;
}
default:
btAssert(0);
//printf("SPU:localGetSupportingVertexWithoutMargin unknown Cylinder up-axis\n");
};
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return btPoint3(tmp.getX(),tmp.getY(),tmp.getZ());
}
}
case CAPSULE_SHAPE_PROXYTYPE:
{
//spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n");
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btConvexShape* cnvxShape = (btConvexShape*)shape;
btVector3 halfExtents = cnvxShape->getImplicitShapeDimensions();
btScalar halfHeight = halfExtents.getY();
btScalar radius = halfExtents.getX();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0,halfHeight,0);
vtx = pos +vec*(radius);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
{
btVector3 pos(0,-halfHeight,0);
vtx = pos +vec*(radius);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
break;
};
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
//spu_printf("SPU: todo: getSupport CONVEX_HULL_SHAPE_PROXYTYPE\n");
btPoint3* points = 0;
int numPoints = 0;
if (shape==convexVertexData->gSpuConvexShapePtr0)
{
points = convexVertexData->gConvexPoints0;
numPoints = convexVertexData->gNumConvexPoints0;
}
if (shape == convexVertexData->gSpuConvexShapePtr1)
{
points = convexVertexData->gConvexPoints1;
numPoints = convexVertexData->gNumConvexPoints1;
}
// spu_printf("numPoints = %d\n",numPoints);
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
for (int i=0;i<numPoints;i++)
{
btPoint3 vtx = points[i];// * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return btPoint3(supVec.getX(),supVec.getY(),supVec.getZ());
break;
};
default:
//spu_printf("SPU:(type %i) missing support function\n",shapeType);
#if __ASSERT
spu_printf("localGetSupportingVertexWithoutMargin() - Unsupported bound type: %d.\n", shapeType);
#endif // __ASSERT
return btPoint3(0.f, 0.f, 0.f);
}
}