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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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54
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -28,6 +28,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
@@ -37,13 +38,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "SpuMinkowskiPenetrationDepthSolver.h"
#include "SpuEpaPenetrationDepthSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuVoronoiSimplexSolver.h"
//#include "SpuEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "boxBoxDistance.h"
#include "BulletMultiThreaded/vectormath2bullet.h"
#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#ifdef __SPU__
///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
@@ -351,11 +355,12 @@ public:
//btTriangleShape tmpTriangleShape(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
ATTRIBUTE_ALIGNED16(btTriangleShape) tmpTriangleShape(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
SpuCollisionPairInput triangleConcaveInput(*m_wuInput);
triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
// triangleConcaveInput.m_spuCollisionShapes[1] = &spuTriangleVertices[0];
triangleConcaveInput.m_spuCollisionShapes[1] = &tmpTriangleShape;
triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
m_spuContacts.setShapeIdentifiers(-1,-1,subPart,triangleIndex);
@@ -496,9 +501,17 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
{
//try generic GJK
//SpuConvexPenetrationDepthSolver* penetrationSolver=0;
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver epaPenetrationSolver2;
btConvexPenetrationDepthSolver* penetrationSolver = (btConvexPenetrationDepthSolver*)&epaPenetrationSolver2;
#if 0
SpuVoronoiSimplexSolver vsSolver;
SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
SpuConvexPenetrationDepthSolver* penetrationSolver;
#ifdef ENABLE_EPA
SpuEpaPenetrationDepthSolver epaPenetrationSolver;
if (gUseEpa)
@@ -509,6 +522,7 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
{
penetrationSolver = &minkowskiPenetrationSolver;
}
#endif
///DMA in the vertices for convex shapes
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
@@ -549,21 +563,33 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
lsMemPtr->convexVertexData[1].gSpuConvexShapePtr = wuInput->m_spuCollisionShapes[1];
}
btConvexPointCloudShape cpc0,cpc1;
if ( btLikely( wuInput->m_shapeType0 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
{
cellDmaWaitTagStatusAll(DMA_MASK(2));
lsMemPtr->convexVertexData[0].gConvexPoints = &lsMemPtr->convexVertexData[0].g_convexPointBuffer[0];
btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[0];
const btVector3& localScaling = ch->getLocalScalingNV();
cpc0.setPoints(lsMemPtr->convexVertexData[0].gConvexPoints,lsMemPtr->convexVertexData[0].gNumConvexPoints,false,localScaling);
wuInput->m_spuCollisionShapes[0] = &cpc0;
}
if ( btLikely( wuInput->m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) )
{
cellDmaWaitTagStatusAll(DMA_MASK(2));
lsMemPtr->convexVertexData[1].gConvexPoints = &lsMemPtr->convexVertexData[1].g_convexPointBuffer[0];
btConvexHullShape* ch = (btConvexHullShape*)wuInput->m_spuCollisionShapes[1];
const btVector3& localScaling = ch->getLocalScalingNV();
cpc1.setPoints(lsMemPtr->convexVertexData[1].gConvexPoints,lsMemPtr->convexVertexData[1].gNumConvexPoints,false,localScaling);
wuInput->m_spuCollisionShapes[1] = &cpc1;
}
void* shape0Ptr = wuInput->m_spuCollisionShapes[0];
void* shape1Ptr = wuInput->m_spuCollisionShapes[1];
const btConvexShape* shape0Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[0];
const btConvexShape* shape1Ptr = (const btConvexShape*)wuInput->m_spuCollisionShapes[1];
int shapeType0 = wuInput->m_shapeType0;
int shapeType1 = wuInput->m_shapeType1;
float marginA = wuInput->m_collisionMargin0;
@@ -588,8 +614,8 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
wuInput->m_isSwapped);
{
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);
btGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&simplexSolver,penetrationSolver);//&vsSolver,penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts,0);//,debugDraw);
#ifdef USE_SEPDISTANCE_UTIL
btScalar sepDist = gjk.getCachedSeparatingDistance()+spuManifold->getContactBreakingThreshold();
lsMemPtr->getlocalCollisionAlgorithm()->m_sepDistance.initSeparatingDistance(gjk.getCachedSeparatingAxis(),sepDist,wuInput->m_worldTransform0,wuInput->m_worldTransform1);
@@ -987,8 +1013,9 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#ifdef USE_SEPDISTANCE_UTIL
lsMem.getlocalCollisionAlgorithm()->m_sepDistance.updateSeparatingDistance(collisionPairInput.m_worldTransform0,collisionPairInput.m_worldTransform1);
#endif //USE_SEPDISTANCE_UTIL
#define USE_DEDICATED_BOX_BOX 1
#ifdef USE_DEDICATED_BOX_BOX
bool boxbox = ((lsMem.getlocalCollisionAlgorithm()->getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
(lsMem.getlocalCollisionAlgorithm()->getShapeType1()==BOX_SHAPE_PROXYTYPE));
if (boxbox)
@@ -1118,6 +1145,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
} else
#endif //USE_DEDICATED_BOX_BOX
{
if (
#ifdef USE_SEPDISTANCE_UTIL