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more work towards cpu pipeline, sharing OpenCL kernel code

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This commit is contained in:
erwin coumans
2013-08-30 16:30:22 -07:00
parent 0ccb6922a8
commit a6d9cf382f
19 changed files with 1247 additions and 130 deletions
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7
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
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@@ -289,12 +289,13 @@ void b3DynamicBvhBroadphase::aabbTest(const b3Vector3& aabbMin,const b3Vector3&
//
void b3DynamicBvhBroadphase::setAabb( b3BroadphaseProxy* absproxy,
void b3DynamicBvhBroadphase::setAabb(int objectId,
const b3Vector3& aabbMin,
const b3Vector3& aabbMax,
b3Dispatcher* /*dispatcher*/)
{
b3DbvtProxy* proxy=(b3DbvtProxy*)absproxy;
b3DbvtProxy* proxy=&m_proxies[objectId];
// b3DbvtProxy* proxy=(b3DbvtProxy*)absproxy;
B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume) aabb=b3DbvtVolume::FromMM(aabbMin,aabbMax);
#if B3_DBVT_BP_PREVENTFALSEUPDATE
if(b3NotEqual(aabb,proxy->leaf->volume))
@@ -440,7 +441,7 @@ void b3DynamicBvhBroadphase::performDeferredRemoval(b3Dispatcher* dispatcher)
int i;
b3BroadphasePair previousPair(-1,-1);
b3BroadphasePair previousPair = b3MakeBroadphasePair(-1,-1);

2
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
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@@ -167,7 +167,7 @@ struct b3DynamicBvhBroadphase
/* b3BroadphaseInterface Implementation */
b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask);
virtual void destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
virtual void setAabb(b3BroadphaseProxy* proxy,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
virtual void setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
virtual void rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));
virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);

41
src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPair.h
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@@ -21,26 +21,33 @@ subject to the following restrictions:
#define B3_NEW_PAIR_MARKER -1
#define B3_REMOVED_PAIR_MARKER -2
//typedef b3Int2 b3BroadphasePair;
struct b3BroadphasePair : public b3Int4
typedef b3Int4 b3BroadphasePair;
inline b3Int4 b3MakeBroadphasePair(int xx,int yy)
{
b3Int4 pair;
if (xx < yy)
{
pair.x = xx;
pair.y = yy;
}
else
{
pair.x = yy;
pair.y = xx;
}
pair.z = B3_NEW_PAIR_MARKER;
pair.w = B3_NEW_PAIR_MARKER;
return pair;
}
/*struct b3BroadphasePair : public b3Int4
{
explicit b3BroadphasePair(){}
b3BroadphasePair(int xx,int yy)
{
if (xx < yy)
{
x = xx;
y = yy;
}
else
{
x = yy;
y = xx;
}
z = B3_NEW_PAIR_MARKER;
w = B3_NEW_PAIR_MARKER;
}
};
*/
class b3BroadphasePairSortPredicate
{

12
src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
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@@ -240,7 +240,7 @@ b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int
}*/
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expandNonInitializing();
pair = &m_overlappingPairArray.expandNonInitializing();
//this is where we add an actual pair, so also call the 'ghost'
// if (m_ghostPairCallback)
@@ -255,7 +255,7 @@ b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int
hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
}
pair = new (mem) b3BroadphasePair(proxy0,proxy1);
*pair = b3MakeBroadphasePair(proxy0,proxy1);
// pair->m_pProxy0 = proxy0;
// pair->m_pProxy1 = proxy1;
@@ -433,7 +433,7 @@ void* b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0,int proxy1,
{
if (!hasDeferredRemoval())
{
b3BroadphasePair findPair(proxy0,proxy1);
b3BroadphasePair findPair = b3MakeBroadphasePair(proxy0,proxy1);
int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
@@ -470,8 +470,8 @@ b3BroadphasePair* b3SortedOverlappingPairCache::addOverlappingPair(int proxy0,in
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
void* mem = &m_overlappingPairArray.expandNonInitializing();
b3BroadphasePair* pair = new (mem) b3BroadphasePair(proxy0,proxy1);
b3BroadphasePair* pair = &m_overlappingPairArray.expandNonInitializing();
*pair = b3MakeBroadphasePair(proxy0,proxy1);
b3g_overlappingPairs++;
@@ -492,7 +492,7 @@ b3BroadphasePair* b3SortedOverlappingPairCache::addOverlappingPair(int proxy0,in
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
b3BroadphasePair tmpPair(proxy0,proxy1);
b3BroadphasePair tmpPair = b3MakeBroadphasePair(proxy0,proxy1);
int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
if (findIndex < m_overlappingPairArray.size())