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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

52
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -52,7 +52,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///////////
@@ -191,8 +191,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
@@ -205,8 +205,8 @@ m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngu
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
}
@@ -289,13 +289,13 @@ extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -304,8 +304,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
@@ -321,7 +321,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
body0->getWorldTransform(),body1->getWorldTransform(),threshold);
body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
if (dist<threshold)
{
@@ -374,8 +374,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
@@ -429,8 +429,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
} else
{
@@ -460,8 +460,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
}
if (m_ownManifold)
@@ -478,9 +478,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[2]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
@@ -496,8 +496,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
@@ -525,7 +525,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
}
@@ -599,15 +599,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
input.m_transformB = body1Wrap->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif