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+ Fix btSubsimplexConvexCast

Browse Source 
Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
This commit is contained in:
erwin.coumans
2008-07-31 19:44:28 +00:00
parent 9cd83c004b
commit af4520801b
22 changed files with 332 additions and 273 deletions
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28
Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
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@@ -181,19 +181,23 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
if (dispatcher->needsCollision(colObj0,colObj1))
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}

17
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View File

@@ -270,20 +270,20 @@ public:
// ugly solution to support both 16bit and 32bit indices
if (m_lsMemPtr->bvhShapeData.gIndexMesh.m_indexType == PHY_SHORT)
{
short int* indexBasePtr = (short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
ATTRIBUTE_ALIGNED16(short int tmpIndices[3]);
unsigned short int* indexBasePtr = (unsigned short int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
ATTRIBUTE_ALIGNED16(unsigned short int tmpIndices[3]);
small_cache_read_triple(&tmpIndices[0],(ppu_address_t)&indexBasePtr[0],
&tmpIndices[1],(ppu_address_t)&indexBasePtr[1],
&tmpIndices[2],(ppu_address_t)&indexBasePtr[2],
sizeof(short int));
sizeof(unsigned short int));
m_lsMemPtr->spuIndices[0] = int(tmpIndices[0]);
m_lsMemPtr->spuIndices[1] = int(tmpIndices[1]);
m_lsMemPtr->spuIndices[2] = int(tmpIndices[2]);
} else
{
int* indexBasePtr = (int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
unsigned int* indexBasePtr = (unsigned int*)(m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexBase+triangleIndex*m_lsMemPtr->bvhShapeData.gIndexMesh.m_triangleIndexStride);
small_cache_read_triple(&m_lsMemPtr->spuIndices[0],(ppu_address_t)&indexBasePtr[0],
&m_lsMemPtr->spuIndices[1],(ppu_address_t)&indexBasePtr[1],
@@ -978,9 +978,12 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
// Get the collision objects
dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
}
}
}

16
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
View File

@@ -404,9 +404,9 @@ void spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
#define RAYAABB2
#ifdef RAYAABB2
unsigned int sign[numWorkUnits][3];
btVector3 rayInvDirection[numWorkUnits];
btScalar lambda_max[numWorkUnits];
unsigned int sign[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
btVector3 rayInvDirection[SPU_RAYCAST_WORK_UNITS_PER_TASK];
btScalar lambda_max[SPU_RAYCAST_WORK_UNITS_PER_TASK];
for (int i = 0; i < numWorkUnits; i++)
{
btVector3 rayDirection = (rayTo[i]-rayFrom[i]);
@@ -512,10 +512,10 @@ void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData
//need the mesh interface, for access to triangle vertices
dmaBvhShapeData (&(lsMemPtr->bvhShapeData), trimeshShape);
unsigned short int quantizedQueryAabbMin[numWorkUnits][3];
unsigned short int quantizedQueryAabbMax[numWorkUnits][3];
btVector3 rayFromInTriangleSpace[numWorkUnits];
btVector3 rayToInTriangleSpace[numWorkUnits];
unsigned short int quantizedQueryAabbMin[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
unsigned short int quantizedQueryAabbMax[SPU_RAYCAST_WORK_UNITS_PER_TASK][3];
btVector3 rayFromInTriangleSpace[SPU_RAYCAST_WORK_UNITS_PER_TASK];
btVector3 rayToInTriangleSpace[SPU_RAYCAST_WORK_UNITS_PER_TASK];
/* Calculate the AABB for the ray in the triangle mesh shape */
btTransform rayInTriangleSpace;
@@ -781,4 +781,4 @@ void processRaycastTask(void* userPtr, void* lsMemory)
}
}
}
}
}