Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.
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
@@ -25,11 +25,12 @@ subject to the following restrictions:
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
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: btActivatingCollisionAlgorithm(ci,body0,body1),
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btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
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: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
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m_isSwapped(isSwapped),
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m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
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m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
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{
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}
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@@ -46,17 +47,17 @@ void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
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}
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btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
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btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
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m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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{
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m_convexBody = isSwapped? body1:body0;
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m_triBody = isSwapped? body0:body1;
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m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
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m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
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//
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// create the manifold from the dispatcher 'manifold pool'
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//
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m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
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m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
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clearCache();
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}
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@@ -88,7 +89,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = m_dispatcher;
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btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
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//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
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#if 0
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@@ -103,46 +104,63 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
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}
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#endif
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if (m_convexBody->getCollisionShape()->isConvex())
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if (m_convexBodyWrap->getCollisionShape()->isConvex())
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{
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btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
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tm.setMargin(m_collisionMarginTriangle);
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btCollisionShape* tmpShape = ob->getCollisionShape();
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ob->internalSetTemporaryCollisionShape( &tm );
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btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform());//correct transform?
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
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const btCollisionObjectWrapper* tmpWrap = 0;
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if (m_resultOut->getBody0Internal() == m_triBody)
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if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
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{
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tmpWrap = m_resultOut->getBody0Wrap();
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m_resultOut->setBody0Wrap(&triObWrap);
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m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
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}
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else
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{
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tmpWrap = m_resultOut->getBody1Wrap();
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m_resultOut->setBody1Wrap(&triObWrap);
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m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
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}
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colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
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if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
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{
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m_resultOut->setBody0Wrap(tmpWrap);
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} else
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{
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m_resultOut->setBody1Wrap(tmpWrap);
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}
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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ob->internalSetTemporaryCollisionShape( tmpShape);
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}
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}
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void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
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{
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m_convexBodyWrap = convexBodyWrap;
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m_triBodyWrap = triBodyWrap;
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m_dispatchInfoPtr = &dispatchInfo;
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m_collisionMarginTriangle = collisionMarginTriangle;
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m_resultOut = resultOut;
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//recalc aabbs
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btTransform convexInTriangleSpace;
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convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
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btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
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convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
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const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
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//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
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convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
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btScalar extraMargin = collisionMarginTriangle;
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@@ -159,35 +177,34 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
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}
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void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
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btCollisionObject* triBody = m_isSwapped ? body0 : body1;
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const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
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const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
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if (triBody->getCollisionShape()->isConcave())
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if (triBodyWrap->getCollisionShape()->isConcave())
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{
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btCollisionObject* triOb = triBody;
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btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
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if (convexBody->getCollisionShape()->isConvex())
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const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
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if (convexBodyWrap->getCollisionShape()->isConvex())
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{
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btScalar collisionMarginTriangle = concaveShape->getMargin();
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resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
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m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
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m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
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//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
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//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
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m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
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m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
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concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
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resultOut->refreshContactPoints();
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m_btConvexTriangleCallback.clearWrapperData();
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}
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