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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

38
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
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@@ -6,7 +6,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#define DEBUG_INTERNAL_EDGE
@@ -450,18 +450,18 @@ bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = 0;
if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
else
trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
@@ -476,7 +476,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
@@ -505,7 +505,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
// Get closest edge
@@ -613,12 +613,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal. (what about cp.m_distance1?)
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
@@ -694,19 +694,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
else
{
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
@@ -779,19 +779,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
// printf("hitting convex edge\n");
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
@@ -820,7 +820,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
{
tri_normal *= -1;
}
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
} else
{
btVector3 newNormal = tri_normal *frontFacing;
@@ -831,12 +831,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
return;
}
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
}
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}