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Share btGjkPairDetector, btGjkEpa2, btVoronoiSimplexSolver with SPU/Multithreaded implementation (remove duplicate code)

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Make btTypedConstraint and btPersistentManifold both derive from btTypedObject to make SPU-side generic constraint solver easier.

Note: all build systems need to be updated: remove SpuVoronoiSimplexSolver.cpp, SpuGjkPairDetector.cpp, SpuEpaPenetrationDepthSolver.cpp, SpuGjkEpa2.cpp
This commit is contained in:
erwin.coumans
2009-08-07 08:57:56 +00:00
parent 5d2cf447e4
commit aef97d6015
30 changed files with 283 additions and 2505 deletions
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82
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -21,6 +21,18 @@ subject to the following restrictions:
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
///not supported on IBM SDK, until we fix the alignment of btVector3
#if defined (__CELLOS_LV2__) && defined (__SPU__)
#include <spu_intrinsics.h>
static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
{
vec_float4 result;
result = spu_mul( vec0, vec1 );
result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
}
#endif //__SPU__
btConvexShape::btConvexShape ()
{
}
@@ -32,35 +44,71 @@ btConvexShape::~btConvexShape()
static btVector3 convexHullSupport (const btVector3& localDir, const btVector3* points, int numPoints, const btVector3& localScaling)
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else {
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
btVector3 vec = localDirOrg * localScaling;
#if defined (__CELLOS_LV2__) && defined (__SPU__)
btVector3 localDir = vec;
vec_float4 v_distMax = {-FLT_MAX,0,0,0};
vec_int4 v_idxMax = {-999,0,0,0};
int v=0;
int numverts = numPoints;
for(;v<(int)numverts-4;v+=4) {
vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
const vec_int4 i0 = {v ,0,0,0};
const vec_int4 i1 = {v+1,0,0,0};
const vec_int4 i2 = {v+2,0,0,0};
const vec_int4 i3 = {v+3,0,0,0};
vec_uint4 retGt01 = spu_cmpgt(p0,p1);
vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
vec_int4 imax01 = spu_sel(i1,i0,retGt01);
vec_uint4 retGt23 = spu_cmpgt(p2,p3);
vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
vec_int4 imax23 = spu_sel(i3,i2,retGt23);
vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
}
for(;v<(int)numverts;v++) {
vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
const vec_int4 i = {v,0,0,0};
vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
v_distMax = spu_sel(p,v_distMax,retGtMax);
v_idxMax = spu_sel(i,v_idxMax,retGtMax);
}
int ptIndex = spu_extract(v_idxMax,0);
const btVector3& supVec= points[ptIndex] * localScaling;
return supVec;
#else
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
int ptIndex = -1;
for (int i=0;i<numPoints;i++)
{
btVector3 vtx = points[i] * localScaling;
newDot = vec.dot(vtx);
newDot = vec.dot(points[i]);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
ptIndex = i;
}
}
return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
btAssert(ptIndex >= 0);
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
#endif //__SPU__
}
btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const