Fix Issue 712, related to NVIDIA CUDA check in CMakeLists.txt

Enable btGImpact raycast optimization, thanks to C0DEFACE, see Issue 664
Cull triangle/AABB for concave/heightfield shapes, thanks to Danny Chapman
fix btGetCpuCapabilities, thanks to Ian Ollman! See https://code.google.com/p/bullet/issues/detail?id=738

Demos/RaytestDemo/RaytestDemo.cpp

@@ -20,6 +20,7 @@ subject to the following restrictions:
 ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
 #include "btBulletDynamicsCommon.h"
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
+#include "BulletCollision/Gimpact/btGImpactShape.h"
 
 #include <stdio.h> //printf debugging
 #include "GLDebugDrawer.h"
@@ -220,7 +221,10 @@ void	RaytestDemo::initPhysics()
 		mesh->addTriangle(quad[0],quad[1],quad[2],true);
 		mesh->addTriangle(quad[0],quad[2],quad[3],true);
 
-		btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh,true,true);
+		//btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh,true,true);
+		btGImpactMeshShape * trimesh = new btGImpactMeshShape(mesh);
+		trimesh->updateBound();
+		
 
 #define NUM_SHAPES 6
 			btCollisionShape* colShapes[NUM_SHAPES] = {

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -34,7 +34,7 @@ subject to the following restrictions:
 #include "LinearMath/btSerializer.h"
 #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
+#include "BulletCollision/Gimpact/btGImpactShape.h"
 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 
 
@@ -325,26 +325,18 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 	} else {
 		if (collisionShape->isConcave())
 		{
-			//			BT_PROFILE("rayTestConcave");
-			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
-			{
-				///optimized version for btBvhTriangleMeshShape
-				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
-				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
 
 			//ConvexCast::CastResult
 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
 				{
 					btCollisionWorld::RayResultCallback* m_resultCallback;
 					const btCollisionObject*	m_collisionObject;
-					btTriangleMeshShape*	m_triangleMesh;
+					const btConcaveShape*	m_triangleMesh;
 
 					btTransform m_colObjWorldTransform;
 
 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
-						btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):
+					btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape*	triangleMesh,const btTransform& colObjWorldTransform):
 						//@BP Mod
 						btTriangleRaycastCallback(from,to, resultCallback->m_flags),
 							m_resultCallback(resultCallback),
@@ -375,9 +367,27 @@ void	btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
 
 				};
 
+			btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+			btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
+			btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
+
+			//			BT_PROFILE("rayTestConcave");
+			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
+			{
+				///optimized version for btBvhTriangleMeshShape
+				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
+				
 				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
+			}
+			else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
+			{
+				btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape;
+
+				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
+				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
+				concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal);
 			}else
 			{
 				//generic (slower) case

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -80,6 +80,11 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
 partId, int triangleIndex)
 {
 
+	if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
+	{
+		return;
+	}
+
         //just for debugging purposes
         //printf("triangle %d",m_triangleCount++);
 
@@ -91,6 +96,8 @@ partId, int triangleIndex)
 	//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
 
 	
+
+
 #if 0	
 	///debug drawing of the overlapping triangles
 	if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))

src/LinearMath/btVector3.cpp

@@ -835,39 +835,48 @@ static long _mindot_large_sel( const float *vv, const float *vec, unsigned long
 long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel;
 long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel;
 
-//Apple doesn't allow to use this internal API and rejects Apps.
+
-//thanks Apple for rejecting your own contribution :-)
+static inline uint32_t btGetCpuCapabilities( void )
-//Let's always use version 'v1'
+{
-//See https://code.google.com/p/bullet/issues/detail?id=738
+    static uint32_t capabilities = 0;
-#ifdef USE_DEVICE_CAPABILITIES
+    static bool testedCapabilities = false;
-extern "C" {int  _get_cpu_capabilities( void );}
+
-#endif //USE_DEVICE_CAPABILITIES
+    if( 0 == testedCapabilities)
+    {
+        uint32_t hasFeature = 0;
+        size_t featureSize = sizeof( hasFeature );
+        int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 );
+
+        if( 0 == err && hasFeature)
+            capabilities |= 0x2000;
+
+		testedCapabilities = true;
+    }
+    
+    return capabilities;
+}
+
+
 
 
 static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
 {
-#ifdef USE_DEVICE_CAPABILITIES
+
-    if( _get_cpu_capabilities() & 0x2000 )
+    if( btGetCpuCapabilities() & 0x2000 )
         _maxdot_large = _maxdot_large_v1;
     else
         _maxdot_large = _maxdot_large_v0;
-#else
-	_maxdot_large = _maxdot_large_v1;
-#endif
     
     return _maxdot_large(vv, vec, count, dotResult);
 }
 
 static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult )
 {
-#ifdef USE_DEVICE_CAPABILITIES
+
-    if( _get_cpu_capabilities() & 0x2000 )
+    if( btGetCpuCapabilities() & 0x2000 )
         _mindot_large = _mindot_large_v1;
     else
         _mindot_large = _mindot_large_v0;
-#else
-	_mindot_large = _mindot_large_v1;
-#endif
     
     return _mindot_large(vv, vec, count, dotResult);
 }