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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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40
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -68,7 +68,43 @@ namespace gjkepa2_impl
const btConvexShape* m_shapes[2];
btMatrix3x3 m_toshape1;
btTransform m_toshape0;
#ifdef __SPU__
bool m_enableMargin;
#else
btVector3 (btConvexShape::*Ls)(const btVector3&) const;
#endif//__SPU__
MinkowskiDiff()
{
}
#ifdef __SPU__
void EnableMargin(bool enable)
{
m_enableMargin = enable;
}
inline btVector3 Support0(const btVector3& d) const
{
if (m_enableMargin)
{
return m_shapes[0]->localGetSupportVertexNonVirtual(d);
} else
{
return m_shapes[0]->localGetSupportVertexWithoutMarginNonVirtual(d);
}
}
inline btVector3 Support1(const btVector3& d) const
{
if (m_enableMargin)
{
return m_toshape0*(m_shapes[1]->localGetSupportVertexNonVirtual(m_toshape1*d));
} else
{
return m_toshape0*(m_shapes[1]->localGetSupportVertexWithoutMarginNonVirtual(m_toshape1*d));
}
}
#else
void EnableMargin(bool enable)
{
if(enable)
@@ -84,6 +120,8 @@ namespace gjkepa2_impl
{
return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
}
#endif //__SPU__
inline btVector3 Support(const btVector3& d) const
{
return(Support0(d)-Support1(-d));
@@ -858,6 +896,7 @@ bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0,
return(false);
}
#ifndef __SPU__
//
btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
btScalar margin,
@@ -923,6 +962,7 @@ bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
else
return(true);
}
#endif //__SPU__
/* Symbols cleanup */