minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,164 +1,164 @@
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/*
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||||
Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
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||||
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#ifndef __BOX_H__
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#define __BOX_H__
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#ifndef PE_REF
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#define PE_REF(a) a&
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#endif
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#include <math.h>
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#include <vectormath_aos.h>
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using namespace Vectormath::Aos;
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enum FeatureType { F, E, V };
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//----------------------------------------------------------------------------
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// Box
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//----------------------------------------------------------------------------
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///The Box is an internal class used by the boxBoxDistance calculation.
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class Box
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{
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public:
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Vector3 half;
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inline Box()
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{}
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inline Box(PE_REF(Vector3) half_);
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inline Box(float hx, float hy, float hz);
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inline void Set(PE_REF(Vector3) half_);
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inline void Set(float hx, float hy, float hz);
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inline Vector3 GetAABB(const Matrix3& rotation) const;
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};
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inline
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Box::Box(PE_REF(Vector3) half_)
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{
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Set(half_);
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}
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inline
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Box::Box(float hx, float hy, float hz)
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{
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Set(hx, hy, hz);
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}
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inline
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void
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Box::Set(PE_REF(Vector3) half_)
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{
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half = half_;
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}
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inline
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void
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Box::Set(float hx, float hy, float hz)
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{
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half = Vector3(hx, hy, hz);
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}
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inline
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Vector3
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Box::GetAABB(const Matrix3& rotation) const
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{
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return absPerElem(rotation) * half;
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}
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//-------------------------------------------------------------------------------------------------
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// BoxPoint
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//-------------------------------------------------------------------------------------------------
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///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
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class BoxPoint
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{
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public:
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BoxPoint() : localPoint(0.0f) {}
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Point3 localPoint;
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FeatureType featureType;
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int featureIdx;
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inline void setVertexFeature(int plusX, int plusY, int plusZ);
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inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
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inline void setFaceFeature(int dim, int plus);
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inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
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inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
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inline void getFaceFeature(int & dim, int & plus) const;
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};
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inline
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void
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BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
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{
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featureType = V;
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featureIdx = plusX << 2 | plusY << 1 | plusZ;
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}
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inline
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void
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BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
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{
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featureType = E;
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if (dim0 > dim1) {
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featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
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} else {
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featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
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}
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}
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inline
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void
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BoxPoint::setFaceFeature(int dim, int plus)
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{
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featureType = F;
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featureIdx = plus << 2 | dim;
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}
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inline
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void
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BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
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{
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plusX = featureIdx >> 2;
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plusY = featureIdx >> 1 & 1;
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plusZ = featureIdx & 1;
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}
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inline
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void
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BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
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{
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plus0 = featureIdx >> 5;
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dim0 = featureIdx >> 3 & 3;
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plus1 = featureIdx >> 2 & 1;
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dim1 = featureIdx & 3;
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}
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inline
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void
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BoxPoint::getFaceFeature(int & dim, int & plus) const
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{
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plus = featureIdx >> 2;
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dim = featureIdx & 3;
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}
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#endif /* __BOX_H__ */
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/*
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||||
Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
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All rights reserved.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
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#ifndef __BOX_H__
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#define __BOX_H__
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#ifndef PE_REF
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#define PE_REF(a) a&
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#endif
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#include <math.h>
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#include <vectormath_aos.h>
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using namespace Vectormath::Aos;
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enum FeatureType { F, E, V };
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//----------------------------------------------------------------------------
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// Box
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//----------------------------------------------------------------------------
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///The Box is an internal class used by the boxBoxDistance calculation.
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class Box
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{
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public:
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Vector3 half;
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inline Box()
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{}
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inline Box(PE_REF(Vector3) half_);
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inline Box(float hx, float hy, float hz);
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inline void Set(PE_REF(Vector3) half_);
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inline void Set(float hx, float hy, float hz);
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inline Vector3 GetAABB(const Matrix3& rotation) const;
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};
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inline
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Box::Box(PE_REF(Vector3) half_)
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{
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Set(half_);
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}
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inline
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Box::Box(float hx, float hy, float hz)
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{
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Set(hx, hy, hz);
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}
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inline
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void
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Box::Set(PE_REF(Vector3) half_)
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{
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half = half_;
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}
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inline
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void
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Box::Set(float hx, float hy, float hz)
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{
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half = Vector3(hx, hy, hz);
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}
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inline
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Vector3
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Box::GetAABB(const Matrix3& rotation) const
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{
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return absPerElem(rotation) * half;
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}
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//-------------------------------------------------------------------------------------------------
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// BoxPoint
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//-------------------------------------------------------------------------------------------------
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///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
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class BoxPoint
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{
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public:
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BoxPoint() : localPoint(0.0f) {}
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Point3 localPoint;
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FeatureType featureType;
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int featureIdx;
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inline void setVertexFeature(int plusX, int plusY, int plusZ);
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inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
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inline void setFaceFeature(int dim, int plus);
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inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
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inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
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inline void getFaceFeature(int & dim, int & plus) const;
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};
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inline
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void
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BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
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{
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featureType = V;
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featureIdx = plusX << 2 | plusY << 1 | plusZ;
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}
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inline
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void
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BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
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{
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featureType = E;
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if (dim0 > dim1) {
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featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
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} else {
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featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
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}
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}
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inline
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void
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BoxPoint::setFaceFeature(int dim, int plus)
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{
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featureType = F;
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featureIdx = plus << 2 | dim;
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}
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inline
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void
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BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
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{
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plusX = featureIdx >> 2;
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plusY = featureIdx >> 1 & 1;
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plusZ = featureIdx & 1;
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}
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inline
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void
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BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
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{
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plus0 = featureIdx >> 5;
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dim0 = featureIdx >> 3 & 3;
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plus1 = featureIdx >> 2 & 1;
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dim1 = featureIdx & 3;
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}
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inline
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void
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BoxPoint::getFaceFeature(int & dim, int & plus) const
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{
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plus = featureIdx >> 2;
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dim = featureIdx & 3;
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}
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#endif /* __BOX_H__ */
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File diff suppressed because it is too large
Load Diff
@@ -1,125 +1,125 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef __SPU_COLLISION_SHAPES_H
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||||
#define __SPU_COLLISION_SHAPES_H
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#include "../SpuDoubleBuffer.h"
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|
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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||||
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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||||
|
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
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||||
|
||||
struct SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr;
|
||||
btVector3* gConvexPoints;
|
||||
int gNumConvexPoints;
|
||||
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
};
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
struct CollisionShape_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct CompoundShape_LocalStoreMemory
|
||||
{
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct bvhMeshShape_LocalStoreMemory
|
||||
{
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
};
|
||||
|
||||
|
||||
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
|
||||
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
|
||||
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
|
||||
|
||||
int getShapeTypeSize(int shapeType);
|
||||
void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
|
||||
void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
#if defined(__CELLOS_LV2__) && defined (__SPU__)
|
||||
vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
|
||||
vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
|
||||
vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
|
||||
return spu_extract(spu_gather(isGt),0)==0;
|
||||
|
||||
#else
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef __SPU_COLLISION_SHAPES_H
|
||||
#define __SPU_COLLISION_SHAPES_H
|
||||
|
||||
#include "../SpuDoubleBuffer.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
|
||||
|
||||
struct SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr;
|
||||
btVector3* gConvexPoints;
|
||||
int gNumConvexPoints;
|
||||
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
};
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
struct CollisionShape_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct CompoundShape_LocalStoreMemory
|
||||
{
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
struct bvhMeshShape_LocalStoreMemory
|
||||
{
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
};
|
||||
|
||||
|
||||
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
|
||||
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
|
||||
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
|
||||
|
||||
int getShapeTypeSize(int shapeType);
|
||||
void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
|
||||
void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
#if defined(__CELLOS_LV2__) && defined (__SPU__)
|
||||
vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
|
||||
vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
|
||||
vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
|
||||
return spu_extract(spu_gather(isGt),0)==0;
|
||||
|
||||
#else
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,231 +1,231 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
btScalar friction = friction0*friction1;
|
||||
|
||||
const btScalar MAX_FRICTION = btScalar(10.);
|
||||
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
|
||||
///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
ppu_address_t mmAddr = (ppu_address_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
#endif
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
btScalar friction = friction0*friction1;
|
||||
|
||||
const btScalar MAX_FRICTION = btScalar(10.);
|
||||
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
|
||||
///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
ppu_address_t mmAddr = (ppu_address_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
#endif
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,66 +1,66 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
|
||||
|
||||
|
||||
#ifndef __BOXBOXDISTANCE_H__
|
||||
#define __BOXBOXDISTANCE_H__
|
||||
|
||||
|
||||
#include "Box.h"
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// boxBoxDistance:
|
||||
//
|
||||
// description:
|
||||
// this computes info that can be used for the collision response of two boxes. when the boxes
|
||||
// do not overlap, the points are set to the closest points of the boxes, and a positive
|
||||
// distance between them is returned. if the boxes do overlap, a negative distance is returned
|
||||
// and the points are set to two points that would touch after the boxes are translated apart.
|
||||
// the contact normal gives the direction to repel or separate the boxes when they touch or
|
||||
// overlap (it's being approximated here as one of the 15 "separating axis" directions).
|
||||
//
|
||||
// returns:
|
||||
// positive or negative distance between two boxes.
|
||||
//
|
||||
// args:
|
||||
// Vector3& normal: set to a unit contact normal pointing from box A to box B.
|
||||
//
|
||||
// BoxPoint& boxPointA, BoxPoint& boxPointB:
|
||||
// set to a closest point or point of penetration on each box.
|
||||
//
|
||||
// Box boxA, Box boxB:
|
||||
// boxes, represented as 3 half-widths
|
||||
//
|
||||
// const Transform3& transformA, const Transform3& transformB:
|
||||
// box transformations, in world coordinates
|
||||
//
|
||||
// float distanceThreshold:
|
||||
// the algorithm will exit early if it finds that the boxes are more distant than this
|
||||
// threshold, and not compute a contact normal or points. if this distance returned
|
||||
// exceeds the threshold, all the other output data may not have been computed. by
|
||||
// default, this is set to MAX_FLOAT so it will have no effect.
|
||||
//
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
float
|
||||
boxBoxDistance(Vector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const Transform3 & transformA, PE_REF(Box) boxB,
|
||||
const Transform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
/*
|
||||
Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
|
||||
|
||||
|
||||
#ifndef __BOXBOXDISTANCE_H__
|
||||
#define __BOXBOXDISTANCE_H__
|
||||
|
||||
|
||||
#include "Box.h"
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// boxBoxDistance:
|
||||
//
|
||||
// description:
|
||||
// this computes info that can be used for the collision response of two boxes. when the boxes
|
||||
// do not overlap, the points are set to the closest points of the boxes, and a positive
|
||||
// distance between them is returned. if the boxes do overlap, a negative distance is returned
|
||||
// and the points are set to two points that would touch after the boxes are translated apart.
|
||||
// the contact normal gives the direction to repel or separate the boxes when they touch or
|
||||
// overlap (it's being approximated here as one of the 15 "separating axis" directions).
|
||||
//
|
||||
// returns:
|
||||
// positive or negative distance between two boxes.
|
||||
//
|
||||
// args:
|
||||
// Vector3& normal: set to a unit contact normal pointing from box A to box B.
|
||||
//
|
||||
// BoxPoint& boxPointA, BoxPoint& boxPointB:
|
||||
// set to a closest point or point of penetration on each box.
|
||||
//
|
||||
// Box boxA, Box boxB:
|
||||
// boxes, represented as 3 half-widths
|
||||
//
|
||||
// const Transform3& transformA, const Transform3& transformB:
|
||||
// box transformations, in world coordinates
|
||||
//
|
||||
// float distanceThreshold:
|
||||
// the algorithm will exit early if it finds that the boxes are more distant than this
|
||||
// threshold, and not compute a contact normal or points. if this distance returned
|
||||
// exceeds the threshold, all the other output data may not have been computed. by
|
||||
// default, this is set to MAX_FLOAT so it will have no effect.
|
||||
//
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
float
|
||||
boxBoxDistance(Vector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const Transform3 & transformA, PE_REF(Box) boxB,
|
||||
const Transform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
|
||||
@@ -1 +1 @@
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
Empty placeholder for future Libspe2 SPU task
|
||||
|
||||
Reference in New Issue
Block a user