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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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54
Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
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@@ -13,19 +13,17 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "SpuSubSimplexConvexCast.h"
#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
const void* convexB,
SpuVoronoiSimplexSolver* simplexSolver)
:m_simplexSolver(simplexSolver), m_convexA(convexA),m_convexB(convexB)
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
SpuVoronoiSimplexSolver* simplexSolver)
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
{
}
@@ -37,27 +35,33 @@ SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
#define MAX_ITERATIONS 32
#endif
bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
SpuCastResult& result)
/* Returns the support point of the minkowski sum:
* MSUM(Pellet, ConvexShape)
*
*/
btVector3 supportPoint (btTransform xform, int shapeType, const void* shape, SpuConvexPolyhedronVertexData* convexVertexData, btVector3 seperatingAxis)
{
//localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);
#if 0
btMinkowskiSumShape combi(m_convexA,m_convexB);
btMinkowskiSumShape* convex = &combi;
btVector3 SupportPellet = btVector3(0.0, 0.0, 0.0);
btVector3 rotatedSeperatingAxis = seperatingAxis * xform.getBasis();
btVector3 SupportShape = xform(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
return SupportPellet + SupportShape;
}
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
const btTransform& toRay,
const btTransform& fromB,
const btTransform& toB,
SpuCastResult& result)
{
btTransform rayFromLocalA;
btTransform rayToLocalA;
rayFromLocalA = fromA.inverse()* fromB;
rayToLocalA = toA.inverse()* toB;
rayFromLocalA = fromRay.inverse()* fromB;
rayToLocalA = toRay.inverse()* toB;
m_simplexSolver->reset();
convex->setTransformB(btTransform(rayFromLocalA.getBasis()));
btTransform bXform = btTransform(rayFromLocalA.getBasis());
//btScalar radius = btScalar(0.01);
@@ -69,8 +73,7 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
btVector3 x = s;
btVector3 v;
btVector3 arbitraryPoint = convex->localGetSupportingVertex(r);
btVector3 arbitraryPoint = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, r);
v = x - arbitraryPoint;
int maxIter = MAX_ITERATIONS;
@@ -82,7 +85,6 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
btScalar lastLambda = lambda;
btScalar dist2 = v.length2();
#ifdef BT_USE_DOUBLE_PRECISION
btScalar epsilon = btScalar(0.0001);
@@ -94,8 +96,8 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
while ( (dist2 > epsilon) && maxIter--)
{
p = convex->localGetSupportingVertex( v);
w = x - p;
p = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, v);
w = x - p;
btScalar VdotW = v.dot(w);
@@ -136,8 +138,6 @@ bool SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
result.m_fraction = lambda;
result.m_normal = n;
#endif
return true;
}