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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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15
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -14,12 +14,10 @@ subject to the following restrictions:
*/
#include "SpuMinkowskiPenetrationDepthSolver.h"
#include "SpuVoronoiSimplexSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuContactResult.h"
#include "SpuPreferredPenetrationDirections.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "SpuCollisionShapes.h"
#define NUM_UNITSPHERE_POINTS 42
@@ -69,8 +67,8 @@ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
@@ -292,8 +290,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
#endif //DEBUG_DRAW
SpuGjkPairDetector gjkdet(convexA,convexB,shapeTypeA,shapeTypeB,marginA,marginB,&simplexSolver,0);
btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
btScalar offsetDist = minProj;
btVector3 offset = minNorm * offsetDist;
@@ -312,7 +309,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
gjkdet.getClosestPoints(input,res);
gjkdet.getClosestPoints(input,res,0);
btScalar correctedMinNorm = minProj - res.m_depth;