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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

4
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
View File

@@ -50,7 +50,7 @@ enum btConeTwistFlags
};
///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
class btConeTwistConstraint : public btTypedConstraint
ATTRIBUTE_ALIGNED16(class) btConeTwistConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
@@ -126,6 +126,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);

4
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -268,7 +268,7 @@ This brings support for limit parameters and motors. </li>
</ul>
*/
class btGeneric6DofConstraint : public btTypedConstraint
ATTRIBUTE_ALIGNED16(class) btGeneric6DofConstraint : public btTypedConstraint
{
protected:
@@ -346,6 +346,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useSolveConstraintObsolete;

5
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
View File

@@ -32,7 +32,7 @@ subject to the following restrictions:
/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
{
protected:
bool m_springEnabled[6];
@@ -42,6 +42,9 @@ protected:
void init();
void internalUpdateSprings(btConstraintInfo2* info);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
void enableSpring(int index, bool onOff);

4
src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
View File

@@ -29,13 +29,15 @@ subject to the following restrictions:
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
// 1 translational (along axis Z) with suspension spring
class btHinge2Constraint : public btGeneric6DofSpringConstraint
ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint
{
protected:
btVector3 m_anchor;
btVector3 m_axis1;
btVector3 m_axis2;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2

2
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View File

@@ -100,6 +100,8 @@ public:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);

2
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
View File

@@ -67,6 +67,8 @@ public:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useSolveConstraintObsolete;

16
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -800,7 +800,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
int totalNumRows = 0;
int i;
m_tmpConstraintSizesPool.resize(numConstraints);
m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
//calculate the total number of contraint rows
for (i=0;i<numConstraints;i++)
{
@@ -815,7 +815,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
totalNumRows += info1.m_numConstraintRows;
}
m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
///setup the btSolverConstraints
@@ -966,9 +966,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
m_orderNonContactConstraintPool.resize(numNonContactPool);
m_orderTmpConstraintPool.resize(numConstraintPool);
m_orderFrictionConstraintPool.resize(numFrictionPool);
m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
{
int i;
for (i=0;i<numNonContactPool;i++)
@@ -1228,9 +1228,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
}
m_tmpSolverContactConstraintPool.resize(0);
m_tmpSolverNonContactConstraintPool.resize(0);
m_tmpSolverContactFrictionConstraintPool.resize(0);
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
return 0.f;
}

3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -25,7 +25,7 @@ class btIDebugDraw;
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
class btSequentialImpulseConstraintSolver : public btConstraintSolver
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
@@ -95,6 +95,7 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();

4
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
View File

@@ -60,7 +60,7 @@ enum btSliderFlags
};
class btSliderConstraint : public btTypedConstraint
ATTRIBUTE_ALIGNED16(class) btSliderConstraint : public btTypedConstraint
{
protected:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
@@ -155,6 +155,8 @@ protected:
//------------------------
void initParams();
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
// constructors
btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);

4
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View File

@@ -52,7 +52,7 @@ enum btConstraintParams
///TypedConstraint is the baseclass for Bullet constraints and vehicles
class btTypedConstraint : public btTypedObject
ATTRIBUTE_ALIGNED16(class) btTypedConstraint : public btTypedObject
{
int m_userConstraintType;
@@ -87,6 +87,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btTypedConstraint() {};
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);

5
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
View File

@@ -31,13 +31,16 @@ subject to the following restrictions:
/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
class btUniversalConstraint : public btGeneric6DofConstraint
ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint
{
protected:
btVector3 m_anchor;
btVector3 m_axis1;
btVector3 m_axis2;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -947,7 +947,8 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
//response between two dynamic objects without friction, assuming 0 penetration depth
btScalar appliedImpulse = 0.f;
btScalar depth = 0.f;
appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth);
#endif

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -34,7 +34,7 @@ struct InplaceSolverIslandCallback;
///btDiscreteDynamicsWorld provides discrete rigid body simulation
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
class btDiscreteDynamicsWorld : public btDynamicsWorld
ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorld : public btDynamicsWorld
{
protected:
@@ -87,6 +87,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);

6
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -300,15 +300,15 @@ void btRigidBody::setCenterOfMassTransform(const btTransform& xform)
}
bool btRigidBody::checkCollideWithOverride(btCollisionObject* co)
bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
{
btRigidBody* otherRb = btRigidBody::upcast(co);
const btRigidBody* otherRb = btRigidBody::upcast(co);
if (!otherRb)
return true;
for (int i = 0; i < m_constraintRefs.size(); ++i)
{
btTypedConstraint* c = m_constraintRefs[i];
const btTypedConstraint* c = m_constraintRefs[i];
if (c->isEnabled())
if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb)
return false;

2
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -494,7 +494,7 @@ public:
return (getBroadphaseProxy() != 0);
}
virtual bool checkCollideWithOverride(btCollisionObject* co);
virtual bool checkCollideWithOverride(const btCollisionObject* co) const;
void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);

4
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -756,14 +756,14 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3&
if (rayCallback.hasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
const btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body && body->hasContactResponse())
{
result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
result.m_hitNormalInWorld.normalize();
result.m_distFraction = rayCallback.m_closestHitFraction;
return body;
return (void*)body;
}
}
return 0;