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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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30
Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h
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@@ -14,43 +14,47 @@ subject to the following restrictions:
*/
#ifndef SPU_SUBSIMPLEX_CONVEX_CAST_H
#define SPU_SUBSIMPLEX_CONVEX_CAST_H
#ifndef SPU_SUBSIMPLEX_RAY_CAST_H
#define SPU_SUBSIMPLEX_RAY_CAST_H
#include "SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "SpuRaycastTask.h"
class btConvexShape;
struct SpuCastResult
{
float m_fraction;
btVector3 m_normal;
};
/// btSubsimplexConvexCast implements Gino van den Bergens' paper
///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection"
/// GJK based Ray Cast, optimized version
/// Objects should not start in overlap, otherwise results are not defined.
class SpuSubsimplexConvexCast
class SpuSubsimplexRayCast
{
SpuVoronoiSimplexSolver* m_simplexSolver;
const void* m_convexA;
const void* m_convexB;
RaycastGatheredObjectData* m_dataB;
public:
void* m_shapeB;
SpuConvexPolyhedronVertexData* m_convexDataB;
int m_shapeTypeB;
float m_marginB;
SpuSubsimplexConvexCast (const void* shapeA,
const void* shapeB,
SpuVoronoiSimplexSolver* simplexSolver);
public:
SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
SpuVoronoiSimplexSolver* simplexSolver);
//virtual ~btSubsimplexConvexCast();
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.
///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.
bool calcTimeOfImpact(const btTransform& fromA,
const btTransform& toA,
bool calcTimeOfImpact(const btTransform& fromRay,
const btTransform& toRay,
const btTransform& fromB,
const btTransform& toB,
SpuCastResult& result);
};
#endif //SUBSIMPLEX_CONVEX_CAST_H
#endif //SUBSIMPLEX_RAY_CAST_H