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Refactored SpuGatheringCollisionTask to use code in SpuCollisionShapes.

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More work on SpuBatchRaycaster. It is working now on the PS3 and Windows.
This commit is contained in:
johnmccutchan
2008-01-14 23:44:07 +00:00
parent 6ba6805b43
commit be0beaf7bd
20 changed files with 1190 additions and 1474 deletions
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12
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "SpuPreferredPenetrationDirections.h"
#include "SpuLocalSupport.h"
#include "SpuCollisionShapes.h"
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
@@ -74,7 +74,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
struct SpuConvexPolyhedronVertexData* convexVertexData
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB
) const
{
@@ -241,8 +242,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexData);//, NULL);
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexData);//, NULL);
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexDataA);//, NULL);
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexDataB);//, NULL);
// pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
// qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
@@ -299,7 +300,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
SpuClosestPointInput input;
input.m_convexVertexData = convexVertexData;
input.m_convexVertexData[0] = convexVertexDataA;
input.m_convexVertexData[1] = convexVertexDataB;
btVector3 newOrg = transA.getOrigin() + offset;
btTransform displacedTrans = transA;