Get the open source Bullet library more in sync with Playstation SPU version

Extras/GIMPACT/include/GIMPACT/gim_box_collision.h

@@ -299,9 +299,9 @@ public:
 
         for(i=0;i<3;i++)
         {
-            for(j=0;j<3;j++ )
+            for(j=0;j<3;j++ )
-            {
+            {
-            	m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]);
+            	m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]);
             }
         }
 	}

Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.cpp

@@ -81,7 +81,7 @@ btConcaveConcaveCollisionAlgorithm::~btConcaveConcaveCollisionAlgorithm()
 void btConcaveConcaveCollisionAlgorithm::clearCache()
 {
     btPersistentManifold* mainfold;
-    for (size_t i=0;i<this->m_mainfoldsPtr.size() ; i++)
+    for (int i=0;i<this->m_mainfoldsPtr.size() ; i++)
     {
     	mainfold = m_mainfoldsPtr[i];
     	m_dispatcher->releaseManifold(mainfold);

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -62,7 +62,7 @@ CONCAVE_SHAPES_END_HERE,
 
 
 ///btBroadphaseProxy
-struct btBroadphaseProxy
+ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
 {
 	
 	///optional filtering to cull potential collisions
@@ -115,7 +115,8 @@ struct btBroadphaseProxy
 		return (proxyType == STATIC_PLANE_PROXYTYPE);
 	}
 	
-};
+}
+;
 
 class btCollisionAlgorithm;
 
@@ -130,14 +131,16 @@ struct btBroadphasePair
 		:
 	m_pProxy0(0),
 		m_pProxy1(0),
-		m_algorithm(0)
+		m_algorithm(0),
+		m_userInfo(0)
 	{
 	}
 
 	btBroadphasePair(const btBroadphasePair& other)
 		:		m_pProxy0(other.m_pProxy0),
 				m_pProxy1(other.m_pProxy1),
-				m_algorithm(other.m_algorithm)
+				m_algorithm(other.m_algorithm),
+				m_userInfo(other.m_userInfo)
 	{
 	}
 	btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
@@ -156,6 +159,7 @@ struct btBroadphasePair
         }
 
 		m_algorithm = 0;
+		m_userInfo = 0;
 
 	}
 	
@@ -163,6 +167,8 @@ struct btBroadphasePair
 	btBroadphaseProxy* m_pProxy1;
 	
 	mutable btCollisionAlgorithm* m_algorithm;
+	mutable void* m_userInfo;
+
 };
 
 /*

src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h

@@ -37,48 +37,61 @@ virtual ~btOverlapCallback()
 ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
 class	btOverlappingPairCache : public btBroadphaseInterface
 {
-protected:
+	protected:
-	//avoid brute-force finding all the time
+		//avoid brute-force finding all the time
-	btAlignedObjectArray<btBroadphasePair>	m_overlappingPairArray;
+		btAlignedObjectArray<btBroadphasePair>	m_overlappingPairArray;
-	
+		
-	//during the dispatch, check that user doesn't destroy/create proxy
+		//during the dispatch, check that user doesn't destroy/create proxy
-	bool		m_blockedForChanges;
+		bool		m_blockedForChanges;
-	
+		
 	public:
+			
+		btOverlappingPairCache();	
+		virtual ~btOverlappingPairCache();
+
+		virtual void	processAllOverlappingPairs(btOverlapCallback*);
+
+		void	removeOverlappingPair(btBroadphasePair& pair);
+
+		void	cleanOverlappingPair(btBroadphasePair& pair);
 		
-	btOverlappingPairCache();	
+		void	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-	virtual ~btOverlappingPairCache();
 
-	virtual void	processAllOverlappingPairs(btOverlapCallback*);
+		btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
+			
-	void	removeOverlappingPair(btBroadphasePair& pair);
-
-	void	cleanOverlappingPair(btBroadphasePair& pair);
-	
-	void	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	btBroadphasePair*	findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 		
-	
+		void	cleanProxyFromPairs(btBroadphaseProxy* proxy);
-	void	cleanProxyFromPairs(btBroadphaseProxy* proxy);
 
-	void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
+		void	removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
 
 
-	inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
+		inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
-	{
+		{
-		bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
+			bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
-		collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+			
+			return collides;
+		}
+			
 		
-		return collides;
+
-	}
+		virtual void	refreshOverlappingPairs() =0;
+
+		btBroadphasePair*	getOverlappingPairArrayPtr()
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		const btBroadphasePair*	getOverlappingPairArrayPtr() const
+		{
+			return &m_overlappingPairArray[0];
+		}
+
+		int	getNumOverlappingPairs() const
+		{
+			return m_overlappingPairArray.size();
+		}
 		
-	
-
-	virtual void	refreshOverlappingPairs() =0;
-
-
-
 
 };
 #endif //OVERLAPPING_PAIR_CACHE_H

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -34,7 +34,7 @@ class	btCollisionShape;
 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
 /// They can be added to the btCollisionWorld.
-class	btCollisionObject
+ATTRIBUTE_ALIGNED16(class)	btCollisionObject
 {
 
 protected:
@@ -320,6 +320,7 @@ public:
 		m_userObjectPointer = userPointer;
 	}
 
-};
+}
+;
 
 #endif //COLLISION_OBJECT_H

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp

@@ -18,6 +18,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
 
+
 ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
 btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
@@ -94,12 +95,14 @@ void	btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
 				nodeSubPart);
 
 			int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
-			
+	
 			const btVector3& meshScaling = m_meshInterface->getScaling();
 			for (int j=2;j>=0;j--)
 			{
 				
 				int graphicsindex = gfxbase[j];
+
+
 #ifdef DEBUG_TRIANGLE_MESH
 				printf("%d ,",graphicsindex);
 #endif //DEBUG_TRIANGLE_MESH

src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h

@@ -21,13 +21,15 @@ subject to the following restrictions:
 
 ///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class btBvhTriangleMeshShape : public btTriangleMeshShape
+ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
 {
 
 	btOptimizedBvh*	m_bvh;
 	bool m_useQuantizedAabbCompression;
 
 public:
+
+	btBvhTriangleMeshShape() :btTriangleMeshShape(0) {};
 	btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression);
 
 	virtual ~btBvhTriangleMeshShape();
@@ -52,8 +54,15 @@ public:
 
 	virtual void	setLocalScaling(const btVector3& scaling);
 	
-
+	btOptimizedBvh*	getOptimizedBvh()
-
+	{
-};
+		return m_bvh;
+	}
+	bool	usesQuantizedAabbCompression() const
+	{
+		return	m_useQuantizedAabbCompression;
+	}
+}
+;
 
 #endif //BVH_TRIANGLE_MESH_SHAPE_H

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -42,12 +42,13 @@ public:
 	///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
 	virtual btScalar	getAngularMotionDisc() const;
 
-	virtual int		getShapeType() const=0;
 
 	///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
 	///result is conservative
 	void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax);
 
+#ifndef __SPU__
+
 	inline bool	isPolyhedral() const
 	{
 		return btBroadphaseProxy::isPolyhedral(getShapeType());
@@ -72,13 +73,16 @@ public:
 		return btBroadphaseProxy::isInfinite(getShapeType());
 	}
 
+	virtual int		getShapeType() const=0;
 	virtual void	setLocalScaling(const btVector3& scaling) =0;
 	virtual const btVector3& getLocalScaling() const =0;
-
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) = 0;
 
+
 //debugging support
 	virtual char*	getName()const =0 ;
+#endif //__SPU__
+
 	const char* getExtraDebugInfo() const { return m_tempDebug;}
 	void  setExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
 	const char * m_tempDebug;

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -15,6 +15,7 @@ subject to the following restrictions:
 
 #include "btConvexShape.h"
 
+
 btConvexShape::btConvexShape()
 : m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
 m_collisionMargin(CONVEX_DISTANCE_MARGIN)
@@ -48,8 +49,11 @@ void	btConvexShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVec
 	}
 };
 
+
 btVector3	btConvexShape::localGetSupportingVertex(const btVector3& vec)const
- {
+{
+#ifndef __SPU__
+
 	 btVector3	supVertex = localGetSupportingVertexWithoutMargin(vec);
 
 	if ( getMargin()!=btScalar(0.) )
@@ -64,6 +68,10 @@ btVector3	btConvexShape::localGetSupportingVertex(const btVector3& vec)const
 	}
 	return supVertex;
 
+#else
+	return btVector3(0,0,0);
+#endif //__SPU__
+
  }
 
 

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -30,9 +30,9 @@ struct btConvexCastResult;
 /// btConvexShape is an abstract shape interface.
 /// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
 /// used in combination with GJK or btConvexCast
-class btConvexShape : public btCollisionShape
+ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
 {
-	
+
 protected:
 
 	//local scaling. collisionMargin is not scaled !
@@ -46,11 +46,19 @@ protected:
 public:
 	btConvexShape();
 
+	virtual ~btConvexShape()
+	{
+
+	}
+
+
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
+#ifndef __SPU__
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
 	
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
+#endif //#ifndef __SPU__
 
 	const btVector3& getImplicitShapeDimensions() const
 	{
@@ -74,6 +82,10 @@ public:
 		return m_localScaling;
 	}
 
+	const btVector3& getLocalScalingNV() const 
+	{
+		return m_localScaling;
+	}
 
 	virtual void	setMargin(btScalar margin)
 	{
@@ -84,6 +96,11 @@ public:
 		return m_collisionMargin;
 	}
 
+	btScalar	getMarginNV() const
+	{
+		return m_collisionMargin;
+	}
+
 	virtual int		getNumPreferredPenetrationDirections() const
 	{
 		return 0;
@@ -96,7 +113,8 @@ public:
 
 
 
-};
+}
+;
 
 
 

src/BulletCollision/CollisionShapes/btCylinderShape.cpp

@@ -16,7 +16,8 @@ subject to the following restrictions:
 #include "LinearMath/btPoint3.h"
 
 btCylinderShape::btCylinderShape (const btVector3& halfExtents)
-:btBoxShape(halfExtents)
+:btBoxShape(halfExtents),
+m_upAxis(1)
 {
 	recalcLocalAabb();
 }
@@ -25,6 +26,7 @@ btCylinderShape::btCylinderShape (const btVector3& halfExtents)
 btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
 :btCylinderShape(halfExtents)
 {
+	m_upAxis = 0;
 	recalcLocalAabb();
 }
 
@@ -32,6 +34,7 @@ btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
 btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
 :btCylinderShape(halfExtents)
 {
+	m_upAxis = 2;
 	recalcLocalAabb();
 }
 

src/BulletCollision/CollisionShapes/btCylinderShape.h

@@ -25,6 +25,10 @@ class btCylinderShape : public btBoxShape
 
 {
 
+protected:
+
+	int	m_upAxis;
+
 public:
 	btCylinderShape (const btVector3& halfExtents);
 	
@@ -63,9 +67,9 @@ public:
 		return CYLINDER_SHAPE_PROXYTYPE;
 	}
 	
-	virtual int	getUpAxis() const
+	int	getUpAxis() const
 	{
-		return 1;
+		return m_upAxis;
 	}
 
 	virtual btScalar getRadius() const
@@ -90,10 +94,7 @@ public:
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
-	virtual int	getUpAxis() const
+	
-	{
-		return 0;
-	}
 		//debugging
 	virtual char*	getName()const
 	{

src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp

@@ -18,8 +18,7 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btIDebugDraw.h"
 
-//Note: currently we have 16 bytes per quantized node
+
-static const int MAX_SUBTREE_SIZE_IN_BYTES = 16384;
 
 btOptimizedBvh::btOptimizedBvh() : m_useQuantization(false), 
 					m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
@@ -178,12 +177,14 @@ void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
 		PHY_ScalarType indicestype;
 		meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
 
-
+		btVector3	triangleVerts[3];
+		btVector3	aabbMin,aabbMax;
+		const btVector3& meshScaling = meshInterface->getScaling();
 		int numNodes = m_curNodeIndex;
 		int i;
 		for (i=numNodes-1;i>=0;i--)
 		{
-			btVector3	triangleVerts[3];
+
 
 			btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
 			if (curNode.isLeafNode())
@@ -194,7 +195,7 @@ void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
 
 				int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
 				
-				const btVector3& meshScaling = meshInterface->getScaling();
+				
 				for (int j=2;j>=0;j--)
 				{
 					
@@ -208,7 +209,7 @@ void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
 				}
 
 
-				btVector3	aabbMin,aabbMax;
+				
 				aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
 				aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)); 
 				aabbMin.setMin(triangleVerts[0]);
@@ -220,9 +221,7 @@ void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
 
 				quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
 				quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
-				int k;
+				
-				k=0;
-
 			} else
 			{
 				//combine aabb from both children
@@ -231,8 +230,7 @@ void	btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
 				
 				btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
 					&m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
-				int k;
+				
-				k=0;
 
 				{
 					for (int i=0;i<3;i++)

src/BulletCollision/CollisionShapes/btOptimizedBvh.h

@@ -26,10 +26,13 @@ subject to the following restrictions:
 
 class btStridingMeshInterface;
 
+//Note: currently we have 16 bytes per quantized node
+#define MAX_SUBTREE_SIZE_IN_BYTES  2048
+
 
 ///btQuantizedBvhNode is a compressed aabb node, 16 bytes.
 ///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
-ATTRIBUTE_ALIGNED16	(struct btQuantizedBvhNode)
+ATTRIBUTE_ALIGNED16	(struct) btQuantizedBvhNode
 {
 	
 	//12 bytes
@@ -53,11 +56,12 @@ ATTRIBUTE_ALIGNED16	(struct btQuantizedBvhNode)
 		btAssert(isLeafNode());
 		return m_escapeIndexOrTriangleIndex;
 	}
-};
+}
+;
 
 /// btOptimizedBvhNode contains both internal and leaf node information.
 /// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
-ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)
+ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
 {
 	//32 bytes
 	btVector3	m_aabbMinOrg;
@@ -74,6 +78,30 @@ ATTRIBUTE_ALIGNED16 (struct btOptimizedBvhNode)
 };
 
 
+///btBvhSubtreeInfo provides info to gather a subtree of limited size
+ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
+{
+public:
+	//12 bytes
+	unsigned short int	m_quantizedAabbMin[3];
+	unsigned short int	m_quantizedAabbMax[3];
+	//4 bytes, points to the root of the subtree
+	int			m_rootNodeIndex;
+	//4 bytes
+	int			m_subtreeSize;
+
+	void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
+	{
+		m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
+		m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
+		m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
+		m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
+		m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
+		m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
+	}
+}
+;
+
 
 class btNodeOverlapCallback
 {
@@ -88,13 +116,14 @@ public:
 
 
 
-
+///for code readability:
 typedef btAlignedObjectArray<btOptimizedBvhNode>	NodeArray;
-
 typedef btAlignedObjectArray<btQuantizedBvhNode>	QuantizedNodeArray;
+typedef btAlignedObjectArray<btBvhSubtreeInfo>		BvhSubtreeInfoArray;
+
 
 ///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
-ATTRIBUTE_ALIGNED16(class btOptimizedBvh)
+ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
 {
 	NodeArray			m_leafNodes;
 	NodeArray			m_contiguousNodes;
@@ -121,30 +150,10 @@ ATTRIBUTE_ALIGNED16(class btOptimizedBvh)
 
 	btTraversalMode	m_traversalMode;
 
-	///btBvhSubtreeInfo provides info to gather a subtree of limited size
+	
-	class btBvhSubtreeInfo
-	{
-	public:
-		//12 bytes
-		unsigned short int	m_quantizedAabbMin[3];
-		unsigned short int	m_quantizedAabbMax[3];
-		//4 bytes, points to the root of the subtree
-		int			m_rootNodeIndex;
-		//4 bytes
-		int			m_subtreeSize;
 
-		void	setAabbFromQuantizeNode(const btQuantizedBvhNode& quantizedNode)
-		{
-			m_quantizedAabbMin[0] = quantizedNode.m_quantizedAabbMin[0];
-			m_quantizedAabbMin[1] = quantizedNode.m_quantizedAabbMin[1];
-			m_quantizedAabbMin[2] = quantizedNode.m_quantizedAabbMin[2];
-			m_quantizedAabbMax[0] = quantizedNode.m_quantizedAabbMax[0];
-			m_quantizedAabbMax[1] = quantizedNode.m_quantizedAabbMax[1];
-			m_quantizedAabbMax[2] = quantizedNode.m_quantizedAabbMax[2];
-		}
-	};
 
-	btAlignedObjectArray<btBvhSubtreeInfo>	m_SubtreeHeaders;
+	BvhSubtreeInfoArray		m_SubtreeHeaders;
 
 
 	///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
@@ -295,7 +304,19 @@ public:
 	}
 
 	void	refit(btStridingMeshInterface* triangles);
-};
+
+	QuantizedNodeArray&	getQuantizedNodeArray()
+	{	
+		return	m_quantizedContiguousNodes;
+	}
+
+	BvhSubtreeInfoArray&	getSubtreeInfoArray()
+	{
+		return m_SubtreeHeaders;
+	}
+
+}
+;
 
 
 #endif //OPTIMIZED_BVH_H

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp

@@ -20,10 +20,10 @@ btTriangleIndexVertexArray::btTriangleIndexVertexArray(int numTriangles,int* tri
 	btIndexedMesh mesh;
 	
 	mesh.m_numTriangles = numTriangles;
-	mesh.m_triangleIndexBase = triangleIndexBase;
+	mesh.m_triangleIndexBase = (const unsigned char *)triangleIndexBase;
 	mesh.m_triangleIndexStride = triangleIndexStride;
 	mesh.m_numVertices = numVertices;
-	mesh.m_vertexBase = vertexBase;
+	mesh.m_vertexBase = (const unsigned char *)vertexBase;
 	mesh.m_vertexStride = vertexStride;
 	
 	addIndexedMesh(mesh);

src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h

@@ -22,29 +22,31 @@ subject to the following restrictions:
 ///IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
 ///instead of the number of indices, we pass the number of triangles
 ///todo: explain with pictures
-struct	btIndexedMesh
+ATTRIBUTE_ALIGNED16( struct)	btIndexedMesh
-	{
+{
-		int			m_numTriangles;
+	int			m_numTriangles;
-		int*		m_triangleIndexBase;
+	const unsigned char *		m_triangleIndexBase;
-		int			m_triangleIndexStride;
+	int			m_triangleIndexStride;
-		int			m_numVertices;
+	int			m_numVertices;
-		btScalar*		m_vertexBase;
+	const unsigned char *		m_vertexBase;
-		int			m_vertexStride;
+	int			m_vertexStride;
-	};
+}
+;
+
+
+typedef btAlignedObjectArray<btIndexedMesh>	IndexedMeshArray;
 
 ///TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays.
 ///Additional meshes can be added using addIndexedMesh
 ///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
 ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
-class btTriangleIndexVertexArray : public btStridingMeshInterface
+ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
 {
-	btAlignedObjectArray<btIndexedMesh>	m_indexedMeshes;
+	IndexedMeshArray	m_indexedMeshes;
 
 		
 public:
 
-	
-
 	btTriangleIndexVertexArray()
 	{
 	}
@@ -73,10 +75,21 @@ public:
 	virtual int		getNumSubParts() const { 
 		return (int)m_indexedMeshes.size();
 	}
-	
+
+	IndexedMeshArray&	getIndexedMeshArray()
+	{
+		return m_indexedMeshes;
+	}
+
+	const IndexedMeshArray&	getIndexedMeshArray() const
+	{
+		return m_indexedMeshes;
+	}
+
 	virtual void	preallocateVertices(int numverts){}
 	virtual void	preallocateIndices(int numindices){}
 
-};
+}
+;
 
 #endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H

src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -58,6 +58,16 @@ public:
 	virtual void	setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
 	
+	btStridingMeshInterface* getMeshInterface()
+	{
+		return m_meshInterface;
+	}
+
+	const btStridingMeshInterface* getMeshInterface() const
+	{
+		return m_meshInterface;
+	}
+
 
 	//debugging
 	virtual char*	getName()const {return "TRIANGLEMESH";}

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -36,7 +36,7 @@ extern ContactDestroyedCallback	gContactDestroyedCallback;
 
 ///btPersistentManifold maintains contact points, and reduces them to 4.
 ///It does contact filtering/contact reduction.
-class btPersistentManifold 
+ATTRIBUTE_ALIGNED16( class) btPersistentManifold 
 {
 
 	btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
@@ -145,7 +145,8 @@ public:
 
 
 
-};
+}
+;
 
 
 

src/BulletDynamics/ConstraintSolver/btSolverBody.h

@@ -23,7 +23,7 @@ class	btRigidBody;
 
 
 
-ATTRIBUTE_ALIGNED16 (struct	btSolverBody)
+ATTRIBUTE_ALIGNED16 (struct)	btSolverBody
 {
 	btVector3		m_centerOfMassPosition;
 	btVector3		m_linearVelocity;

src/BulletDynamics/ConstraintSolver/btSolverConstraint.h

@@ -25,7 +25,7 @@ class	btRigidBody;
 //#define NO_FRICTION_TANGENTIALS 1
 
 ///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED16 (struct	btSolverConstraint)
+ATTRIBUTE_ALIGNED16 (struct)	btSolverConstraint
 {
 	btVector3	m_relpos1CrossNormal;
 	btVector3	m_relpos2CrossNormal;

src/LinearMath/btAlignedAllocator.cpp

@@ -31,6 +31,26 @@ void	btAlignedFree	(void* ptr)
 
 #else
 
+#ifdef __CELLOS_LV2__
+
+#include <stdlib.h>
+
+int numAllocs = 0;
+int numFree = 0;
+
+void*	btAlignedAlloc	(int size, int alignment)
+{
+	numAllocs++;
+	return memalign(alignment, size);
+}
+
+void	btAlignedFree	(void* ptr)
+{
+	numFree++;
+	free(ptr);
+}
+
+#else
 ///todo
 ///will add some multi-platform version that works without _aligned_malloc/_aligned_free
 
@@ -43,6 +63,7 @@ void	btAlignedFree	(void* ptr)
 {
 	delete [] (char*) ptr;
 }
+#endif //
 
 #endif
 

src/LinearMath/btAlignedObjectArray.h

@@ -40,7 +40,7 @@ class btAlignedObjectArray
 		SIMD_FORCE_INLINE	void	copy(int start,int end, T* dest)
 		{
 			int i;
-			for (i=0;i<m_size;++i)
+			for (i=start;i<end;++i)
 				dest[i] = m_data[i];
 		}
 
@@ -53,7 +53,7 @@ class btAlignedObjectArray
 		SIMD_FORCE_INLINE	void	destroy(int first,int last)
 		{
 			int i;
-			for (i=0; i<m_size;i++)
+			for (i=first; i<last;i++)
 			{
 				m_data[i].~T();
 			}

src/LinearMath/btQuadWord.h

@@ -21,7 +21,8 @@ subject to the following restrictions:
 
 
 
-ATTRIBUTE_ALIGNED16 (class	btQuadWord)
+///btQuadWord is base-class for vectors, points
+class	btQuadWord
 {
 	protected:
 		btScalar	m_x;

src/LinearMath/btScalar.h

@@ -43,6 +43,17 @@ subject to the following restrictions:
 		#define btFullAssert(x)
 #else
 	
+#if defined	(__CELLOS_LV2__)
+		#define SIMD_FORCE_INLINE inline
+		#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
+		#ifndef assert
+		#include <assert.h>
+		#endif
+		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert(x)
+#else
+
 	//non-windows systems
 
 		#define SIMD_FORCE_INLINE inline
@@ -53,6 +64,7 @@ subject to the following restrictions:
 		#define btAssert assert
 		//btFullAssert is optional, slows down a lot
 		#define btFullAssert(x)
+#endif	//__CELLOS_LV2__
 #endif
 
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.

src/LinearMath/btVector3.h

@@ -19,11 +19,10 @@ subject to the following restrictions:
 
 #include "btQuadWord.h"
 
-
+///btVector3 can be used to represent 3D points and vectors.
-///btVector3 is 16byte aligned, and has an extra unused component m_w
+///It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
-///this extra component can be used by derived classes (Quaternion?) or by user
+///Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
-class btVector3 : public btQuadWord {
+class	btVector3 : public btQuadWord {
-
 
 public:
 	SIMD_FORCE_INLINE btVector3() {}