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fixes to allow btStaticPlaneShape to be processed on SPU (alignment, non-virtual calls)

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erwin.coumans
2010-02-12 22:49:40 +00:00
parent 088d843f8c
commit 70a6073b52
2 changed files with 9 additions and 1 deletions
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3
src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#define SPU_BATCHSIZE_BROADPHASE_PAIRS 64 #define SPU_BATCHSIZE_BROADPHASE_PAIRS 64
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128 //#define SPU_BATCHSIZE_BROADPHASE_PAIRS 128
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256 //#define SPU_BATCHSIZE_BROADPHASE_PAIRS 256
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 512
//#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024 //#define SPU_BATCHSIZE_BROADPHASE_PAIRS 1024
@@ -67,3 +68,5 @@ public:
#endif //SPU_GATHERING_COLLISION__DISPATCHER_H #endif //SPU_GATHERING_COLLISION__DISPATCHER_H

7
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -375,6 +375,7 @@ public:
void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts) void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,CollisionTask_LocalStoreMemory* lsMemPtr,SpuContactResult& spuContacts)
{ {
btConvexShape* convexShape = (btConvexShape*) wuInput->m_spuCollisionShapes[0]; btConvexShape* convexShape = (btConvexShape*) wuInput->m_spuCollisionShapes[0];
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) wuInput->m_spuCollisionShapes[1]; btStaticPlaneShape* planeShape = (btStaticPlaneShape*) wuInput->m_spuCollisionShapes[1];
@@ -382,13 +383,15 @@ void btConvexPlaneCollideSingleContact (SpuCollisionPairInput* wuInput,Collision
const btVector3& planeNormal = planeShape->getPlaneNormal(); const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant(); const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = wuInput->m_worldTransform0; btTransform convexWorldTransform = wuInput->m_worldTransform0;
btTransform convexInPlaneTrans; btTransform convexInPlaneTrans;
convexInPlaneTrans= wuInput->m_worldTransform1.inverse() * convexWorldTransform; convexInPlaneTrans= wuInput->m_worldTransform1.inverse() * convexWorldTransform;
btTransform planeInConvex; btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * wuInput->m_worldTransform1; planeInConvex= convexWorldTransform.inverse() * wuInput->m_worldTransform1;
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); //btVector3 vtx = convexShape->localGetSupportVertexWithoutMarginNonVirtual(planeInConvex.getBasis()*-planeNormal);
btVector3 vtx = convexShape->localGetSupportVertexNonVirtual(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx); btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
@@ -1369,3 +1372,5 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
return; return;
} }