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Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

Browse Source 
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
This commit is contained in:
erwin.coumans
2012-06-07 00:56:30 +00:00
parent 777b92a2ad
commit 73b217fb07
323 changed files with 30730 additions and 13635 deletions
Download Patch File Download Diff File Expand all files Collapse all files

42
Demos/HeightFieldFluidDemo/BulletHfFluid/btHfFluidRigidCollisionAlgorithm.cpp
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@@ -25,54 +25,69 @@ Experimental Buoyancy fluid demo written by John McCutchan
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "btHfFluid.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btHfFluidRigidCollisionAlgorithm::~btHfFluidRigidCollisionAlgorithm()
{
}
btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
btHfFluidRigidCollisionAlgorithm::btHfFluidRigidCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
: btCollisionAlgorithm(ci), m_isSwapped(isSwapped),
m_convexTrianglecallback(ci.m_dispatcher1, col0, col1, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
m_convexTrianglecallback(ci.m_dispatcher1, col0Wrap, col1Wrap, !isSwapped) // we flip the isSwapped because we are hf fluid vs. convex and callback expects convex vs. concave
{
m_manifoldPtr = m_convexTrianglecallback.m_manifoldPtr;
if (m_isSwapped)
{
m_hfFluid = static_cast<btHfFluid*>(col1);
m_rigidCollisionObject = static_cast<btCollisionObject*>(col0);
m_hfFluid = static_cast<const btHfFluid*>(col1Wrap->getCollisionObject());
m_rigidCollisionObject = static_cast<const btCollisionObject*>(col0Wrap->getCollisionObject());
m_manifoldPtr->setBodies(m_hfFluid,m_rigidCollisionObject);
} else {
m_hfFluid = static_cast<btHfFluid*>(col0);
m_rigidCollisionObject = static_cast<btCollisionObject*>(col1);
m_hfFluid = static_cast<const btHfFluid*>(col0Wrap->getCollisionObject());
m_rigidCollisionObject = static_cast<const btCollisionObject*>(col1Wrap->getCollisionObject());
m_manifoldPtr->setBodies(m_rigidCollisionObject,m_hfFluid);
}
}
void btHfFluidRigidCollisionAlgorithm::processGround (const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btScalar triangleMargin = m_rigidCollisionObject->getCollisionShape()->getMargin();
resultOut->setPersistentManifold(m_manifoldPtr);
// to perform the convex shape vs. ground terrain:
// we pull the convex shape out of the buoyant shape and replace it temporarily
btHfFluidBuoyantConvexShape* tmpShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
btConvexShape* convexShape = ((btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
m_rigidCollisionObject->setCollisionShape (convexShape);
const btConvexShape* convexShape = ((const btHfFluidBuoyantConvexShape*)tmpShape)->getConvexShape();
//m_rigidCollisionObject->setCollisionShape (convexShape);
m_convexTrianglecallback.setTimeStepAndCounters (triangleMargin, dispatchInfo, resultOut);
m_hfFluid->foreachGroundTriangle (&m_convexTrianglecallback, m_convexTrianglecallback.getAabbMin(),m_convexTrianglecallback.getAabbMax());
resultOut->refreshContactPoints();
#endif
// restore the buoyant shape
m_rigidCollisionObject->setCollisionShape (tmpShape);
//m_rigidCollisionObject->setCollisionShape (tmpShape);
}
btScalar btHfFluidRigidCollisionAlgorithm::processFluid (const btDispatcherInfo& dispatchInfo, btScalar density, btScalar floatyness)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
btHfFluidColumnRigidBodyCallback columnCallback (rb, dispatchInfo.m_debugDraw, density, floatyness);
m_hfFluid->foreachFluidColumn (&columnCallback, m_convexTrianglecallback.getAabbMin(), m_convexTrianglecallback.getAabbMax());
return columnCallback.getVolume ();
#endif
return 0.f;
}
void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar submerged_percentage)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
btScalar dt = btScalar(1.0f/60.0f);
@@ -103,10 +118,15 @@ void btHfFluidRigidCollisionAlgorithm::applyFluidFriction (btScalar mu, btScalar
rb->applyCentralImpulse (dt * scaled_mu * -rb->getLinearVelocity());
rb->applyTorqueImpulse (dt * scaled_mu * -rb->getAngularVelocity());
#endif
#endif
}
void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btHfFluidRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs fixing after btCollisionObjectWrapper introduction
#if 0
processGround (dispatchInfo, resultOut);
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
@@ -125,6 +145,8 @@ void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body
applyFluidFriction (mu, submerged_percentage);
}
}
#endif
}
btScalar btHfFluidRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)