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
@@ -1,125 +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/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#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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#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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#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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#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
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{
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void* gSpuConvexShapePtr;
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btVector3* gConvexPoints;
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int gNumConvexPoints;
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ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
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};
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#define MAX_SHAPE_SIZE 256
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struct CollisionShape_LocalStoreMemory
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{
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ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
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};
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struct CompoundShape_LocalStoreMemory
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{
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// Compound data
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#define MAX_SPU_COMPOUND_SUBSHAPES 16
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ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
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ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
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};
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struct bvhMeshShape_LocalStoreMemory
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{
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//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
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ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
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btOptimizedBvh* getOptimizedBvh()
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{
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return (btOptimizedBvh*) gOptimizedBvh;
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}
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ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
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btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
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///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
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ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
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#define MAX_SPU_SUBTREE_HEADERS 32
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//1024
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ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
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ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
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};
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btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
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void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
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void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
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void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
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void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
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void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
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int getShapeTypeSize(int shapeType);
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void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
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void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
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void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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#define USE_BRANCHFREE_TEST 1
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#ifdef USE_BRANCHFREE_TEST
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SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
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{
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#if defined(__CELLOS_LV2__) && defined (__SPU__)
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vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
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vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
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vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
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return spu_extract(spu_gather(isGt),0)==0;
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#else
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return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
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& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
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& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
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1, 0);
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#endif
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}
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#else
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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)
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{
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unsigned int overlap = 1;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
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return overlap;
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}
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#endif
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void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
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#endif
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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/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#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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#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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#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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#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
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{
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void* gSpuConvexShapePtr;
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btVector3* gConvexPoints;
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int gNumConvexPoints;
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ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
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};
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#define MAX_SHAPE_SIZE 256
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struct CollisionShape_LocalStoreMemory
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{
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ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
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};
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struct CompoundShape_LocalStoreMemory
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{
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// Compound data
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#define MAX_SPU_COMPOUND_SUBSHAPES 16
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ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
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ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
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};
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struct bvhMeshShape_LocalStoreMemory
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{
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//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
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ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
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btOptimizedBvh* getOptimizedBvh()
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{
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return (btOptimizedBvh*) gOptimizedBvh;
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}
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ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
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btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
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///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
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ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
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#define MAX_SPU_SUBTREE_HEADERS 32
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//1024
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ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
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ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
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};
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btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
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void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
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void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
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void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
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void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
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void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
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int getShapeTypeSize(int shapeType);
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void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
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void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
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void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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#define USE_BRANCHFREE_TEST 1
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#ifdef USE_BRANCHFREE_TEST
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SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
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{
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#if defined(__CELLOS_LV2__) && defined (__SPU__)
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vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
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vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
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vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
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return spu_extract(spu_gather(isGt),0)==0;
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#else
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return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
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& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
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& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
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1, 0);
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#endif
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}
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#else
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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)
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{
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unsigned int overlap = 1;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
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return overlap;
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}
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#endif
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void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
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#endif
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