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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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19
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -30,12 +30,15 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
class btCollisionShape;
struct SpuCollisionPairInput
{
ppu_address_t m_collisionShapes[2];
void* m_spuCollisionShapes[2];
btCollisionShape* m_spuCollisionShapes[2];
ppu_address_t m_persistentManifoldPtr;
btVector3 m_primitiveDimensions0;
@@ -53,24 +56,14 @@ struct SpuCollisionPairInput
};
struct SpuClosestPointInput
struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
{
SpuClosestPointInput()
:m_maximumDistanceSquared(float(BT_LARGE_FLOAT)),
m_stackAlloc(0)
{
}
btTransform m_transformA;
btTransform m_transformB;
float m_maximumDistanceSquared;
class btStackAlloc* m_stackAlloc;
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
};
///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
///So when an existing contact point is duplicated, no transfer/refresh is performed.
class SpuContactResult
class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
{
btTransform m_rootWorldTransform0;
btTransform m_rootWorldTransform1;