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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

12
src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.cpp
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@@ -48,7 +48,7 @@ static char* ComputeBoundsHLSLString =
#include "HLSL/ComputeBounds.hlsl"
static char* SolveCollisionsAndUpdateVelocitiesHLSLString =
#include "HLSL/SolveCollisionsAndUpdateVelocities.hlsl"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSoftBodyLinkDataDX11::btSoftBodyLinkDataDX11( ID3D11Device *d3dDevice, ID3D11DeviceContext *d3dDeviceContext ) :
m_dx11Links( d3dDevice, d3dDeviceContext, &m_links, false ),
@@ -2162,14 +2162,14 @@ void btDX11SoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
}
// Add the collision object to the set to deal with for a particular soft body
void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
{
int softBodyIndex = findSoftBodyIndex( softBody );
if( softBodyIndex >= 0 )
{
btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getFriction();
const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getCollisionObject()->getFriction();
int shapeType = collisionShape->getShapeType();
if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
{
@@ -2179,12 +2179,12 @@ void btDX11SoftBodySolver::processCollision( btSoftBody *softBody, btCollisionOb
newCollisionShapeDescription.collisionShapeType = shapeType;
// TODO: May need to transpose this matrix either here or in HLSL
newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
btCapsuleShape *capsule = static_cast<btCapsuleShape*>( collisionShape );
const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
newCollisionShapeDescription.radius = capsule->getRadius();
newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
newCollisionShapeDescription.margin = capsule->getMargin();
newCollisionShapeDescription.friction = friction;
btRigidBody* body = static_cast< btRigidBody* >( collisionObject );
const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
m_collisionObjectDetails.push_back( newCollisionShapeDescription );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h
View File

@@ -614,7 +614,7 @@ public:
virtual void predictMotion( float solverdt );
virtual void processCollision( btSoftBody *, btCollisionObject* );
virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
virtual void processCollision( btSoftBody*, btSoftBody* );

14
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.cpp
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btQuickprof.h"
#include <limits.h>
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define BT_SUPPRESS_OPENCL_ASSERTS
@@ -770,7 +770,7 @@ void btOpenCLSoftBodySolver::optimize( btAlignedObjectArray< btSoftBody * > &sof
desc.setInverseMass(vertexInverseMass);
getVertexData().setVertexAt( desc, firstVertex + vertex );
m_anchorIndex.push_back(-1.0);
m_anchorIndex.push_back(-1);
}
// Copy triangles similarly
@@ -1707,14 +1707,14 @@ void btOpenCLSoftBodySolver::processCollision( btSoftBody*, btSoftBody* )
}
// Add the collision object to the set to deal with for a particular soft body
void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, btCollisionObject* collisionObject )
void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, const btCollisionObjectWrapper* collisionObject )
{
int softBodyIndex = findSoftBodyIndex( softBody );
if( softBodyIndex >= 0 )
{
btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getFriction();
const btCollisionShape *collisionShape = collisionObject->getCollisionShape();
float friction = collisionObject->getCollisionObject()->getFriction();
int shapeType = collisionShape->getShapeType();
if( shapeType == CAPSULE_SHAPE_PROXYTYPE )
{
@@ -1724,13 +1724,13 @@ void btOpenCLSoftBodySolver::processCollision( btSoftBody *softBody, btCollision
newCollisionShapeDescription.collisionShapeType = shapeType;
// TODO: May need to transpose this matrix either here or in HLSL
newCollisionShapeDescription.shapeTransform = toTransform3(collisionObject->getWorldTransform());
btCapsuleShape *capsule = static_cast<btCapsuleShape*>( collisionShape );
const btCapsuleShape *capsule = static_cast<const btCapsuleShape*>( collisionShape );
newCollisionShapeDescription.radius = capsule->getRadius();
newCollisionShapeDescription.halfHeight = capsule->getHalfHeight();
newCollisionShapeDescription.margin = capsule->getMargin();
newCollisionShapeDescription.upAxis = capsule->getUpAxis();
newCollisionShapeDescription.friction = friction;
btRigidBody* body = static_cast< btRigidBody* >( collisionObject );
const btRigidBody* body = static_cast< const btRigidBody* >( collisionObject->getCollisionObject() );
newCollisionShapeDescription.linearVelocity = toVector3(body->getLinearVelocity());
newCollisionShapeDescription.angularVelocity = toVector3(body->getAngularVelocity());
m_collisionObjectDetails.push_back( newCollisionShapeDescription );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h
View File

@@ -481,7 +481,7 @@ public:
virtual void predictMotion( float solverdt );
virtual void processCollision( btSoftBody *, btCollisionObject* );
virtual void processCollision( btSoftBody *, const btCollisionObjectWrapper* );
virtual void processCollision( btSoftBody*, btSoftBody* );

2
src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.cpp
View File

@@ -251,7 +251,7 @@ void btOpenCLSoftBodySolverSIMDAware::optimize( btAlignedObjectArray< btSoftBody
desc.setInverseMass(vertexInverseMass);
getVertexData().setVertexAt( desc, firstVertex + vertex );
m_anchorIndex.push_back(-1.0);
m_anchorIndex.push_back(-1);
}
for( int vertex = numVertices; vertex < maxVertices; ++vertex )
{