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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

37
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -18,20 +18,21 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -48,25 +49,25 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
btScalar dist = getSphereDistance(boxObjWrap,pOnBox,pOnSphere,sphereCenter,radius);
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -102,19 +103,19 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
{
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->getWorldTransform();
const btTransform& m44T = boxObjWrap->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
@@ -194,7 +195,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
//////////////////////////////////////////////////
// Deep penetration case
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
fPenetration = getSpherePenetration( boxObjWrap,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
@@ -205,7 +206,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
@@ -227,7 +228,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
const btTransform& m44T = boxObjWrap->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);