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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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4
src/BulletMultiThreaded/SpuFakeDma.cpp
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@@ -66,7 +66,7 @@ int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size)
ATTRIBUTE_ALIGNED16(char tmpBuffer[32]);
char* mainMem = (char*)ea;
char* localStore = (char*)ls;
uint32_t i;
@@ -126,8 +126,10 @@ int stallingUnalignedDmaSmallGet(void *ls, uint64_t ea, uint32_t size)
#endif//FORCE_cellDmaUnalignedGet
#else
char* mainMem = (char*)ea;
//copy into final destination
#ifdef USE_MEMCPY
memcpy(tmpTarget,mainMem,size);
#else
for ( i=0;i<size;i++)

1
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h
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@@ -77,7 +77,6 @@ struct bvhMeshShape_LocalStoreMemory
};
btVector3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, const btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData);//, int *featureIndex)
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);

11
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@@ -65,11 +65,16 @@ inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar rest
m_isSwapped = isSwapped;
}
void SpuContactResult::setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
void SpuContactResult::setShapeIdentifiersA(int partId0,int index0)
{
}
void SpuContactResult::setShapeIdentifiersB(int partId1,int index1)
{
}
///return true if it requires a dma transfer back
@@ -84,7 +89,7 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
bool isSwapped)
{
float contactTreshold = manifoldPtr->getContactBreakingThreshold();
// float contactTreshold = manifoldPtr->getContactBreakingThreshold();
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
@@ -174,7 +179,7 @@ void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManif
#endif
}
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);

5
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -87,14 +87,15 @@ class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
return m_spuManifold;
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1);
virtual void setShapeIdentifiersA(int partId0,int index0);
virtual void setShapeIdentifiersB(int partId1,int index1);
void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth);
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
void flush();
};

10
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -363,7 +363,7 @@ public:
triangleConcaveInput.m_spuCollisionShapes[1] = &tmpTriangleShape;
triangleConcaveInput.m_shapeType1 = TRIANGLE_SHAPE_PROXYTYPE;
m_spuContacts.setShapeIdentifiers(-1,-1,subPart,triangleIndex);
m_spuContacts.setShapeIdentifiersB(subPart,triangleIndex);
// m_spuContacts.flush();
@@ -1100,9 +1100,13 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
{
SpuContactResult& m_spuContacts;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
m_spuContacts.setShapeIdentifiers(partId0,index0,partId1,index1);
m_spuContacts.setShapeIdentifiersA(partId0,index0);
}
virtual void setShapeIdentifiersB(int partId1,int index1)
{
m_spuContacts.setShapeIdentifiersB(partId1,index1);
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{

12
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -93,10 +93,14 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
btScalar m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
}
virtual void setShapeIdentifiersB(int partId1,int index1)
{
(void)partId1;
(void)index1;
}
@@ -111,7 +115,7 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
//just take fixed number of orientation, and sample the penetration depth in that direction
btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm;
btVector3 minNorm(0.f,0.f,0.f);
btVector3 minVertex;
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@@ -240,8 +244,8 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btVoronoiSimplexSolver& s
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = localGetSupportingVertexWithoutMargin(shapeTypeA, convexA, seperatingAxisInA,convexVertexDataA);//, NULL);
qInB = localGetSupportingVertexWithoutMargin(shapeTypeB, convexB, seperatingAxisInB,convexVertexDataB);//, NULL);
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL);
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL);
// pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
// qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);

26
src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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@@ -6,6 +6,7 @@
#include "../SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "SpuSubSimplexConvexCast.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
/* Future optimization strategies:
@@ -79,7 +80,7 @@ void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData* gatheredObjec
gatheredObjectData->m_collisionMargin = lsMemPtr->getCollisionObjectWrapper()->getCollisionMargin ();
gatheredObjectData->m_shapeType = lsMemPtr->getCollisionObjectWrapper()->getShapeType ();
gatheredObjectData->m_collisionShape = (ppu_address_t)lsMemPtr->getColObj()->getCollisionShape();
gatheredObjectData->m_spuCollisionShape = (void*)&lsMemPtr->gCollisionShape.collisionShape;
gatheredObjectData->m_spuCollisionShape = (btConvexShape*)&lsMemPtr->gCollisionShape.collisionShape;
/* DMA shape data */
dmaCollisionShape (gatheredObjectData->m_spuCollisionShape, gatheredObjectData->m_collisionShape, 1, gatheredObjectData->m_shapeType);
@@ -254,7 +255,8 @@ public:
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
btTriangleShape triangle(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
triangleGatheredObjectData.m_spuCollisionShape = &triangle;
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
@@ -361,7 +363,8 @@ public:
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
btTriangleShape triangle(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
triangleGatheredObjectData.m_spuCollisionShape = &triangle;
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
@@ -395,7 +398,7 @@ void spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
{
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
//int subTreeSize = endNodeIndex - startNodeIndex;
int escapeIndex;
@@ -503,8 +506,8 @@ void spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit* workUnits, SpuRaycastTaskWorkUnitOut* workUnitsOut, int numWorkUnits, RaycastTask_LocalStoreMemory* lsMemPtr)
{
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
// register int dmaSize;
// register ppu_address_t dmaPpuAddress2;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)gatheredObjectData->m_spuCollisionShape;
@@ -632,7 +635,7 @@ void performRaycastAgainstCompound (RaycastGatheredObjectData* gatheredObjectDat
void
performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
{
SpuVoronoiSimplexSolver simplexSolver;
btVoronoiSimplexSolver simplexSolver;
btTransform rayFromTrans, rayToTrans;
rayFromTrans.setIdentity ();
@@ -660,7 +663,7 @@ performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, cons
}
/* performRaycast */
SpuSubsimplexRayCast caster (gatheredObjectData->m_spuCollisionShape, &lsMemPtr->convexVertexData, gatheredObjectData->m_shapeType, gatheredObjectData->m_collisionMargin, &simplexSolver);
SpuSubsimplexRayCast caster ((btConvexShape*)gatheredObjectData->m_spuCollisionShape, &lsMemPtr->convexVertexData, gatheredObjectData->m_shapeType, gatheredObjectData->m_collisionMargin, &simplexSolver);
bool r = caster.calcTimeOfImpact (rayFromTrans, rayToTrans, gatheredObjectData->m_worldTransform, gatheredObjectData->m_worldTransform,result);
if (r)
@@ -682,7 +685,7 @@ void processRaycastTask(void* userPtr, void* lsMemory)
//spu_printf("in processRaycastTask %d\n", taskDesc.numSpuCollisionObjectWrappers);
/* for each object */
RaycastGatheredObjectData gatheredObjectData;
for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
for (unsigned int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
{
//spu_printf("%d / %d\n", objectId, taskDesc.numSpuCollisionObjectWrappers);
@@ -692,14 +695,15 @@ void processRaycastTask(void* userPtr, void* lsMemory)
if (btBroadphaseProxy::isConcave (gatheredObjectData.m_shapeType))
{
SpuRaycastTaskWorkUnitOut tWorkUnitsOut[SPU_RAYCAST_WORK_UNITS_PER_TASK];
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
unsigned int rayId ;
for (rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
tWorkUnitsOut[rayId].hitFraction = 1.0;
}
performRaycastAgainstConcave (&gatheredObjectData, &taskDesc.workUnits[0], &tWorkUnitsOut[0], taskDesc.numWorkUnits, localMemory);
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
for (rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
const SpuRaycastTaskWorkUnit& workUnit = taskDesc.workUnits[rayId];
if (tWorkUnitsOut[rayId].hitFraction == 1.0)

2
src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.h
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@@ -9,7 +9,7 @@
ATTRIBUTE_ALIGNED16(struct) RaycastGatheredObjectData
{
ppu_address_t m_collisionShape;
void* m_spuCollisionShape;
btCollisionShape* m_spuCollisionShape;
btVector3 m_primitiveDimensions;
int m_shapeType;
float m_collisionMargin;

13
src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
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@@ -21,8 +21,8 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
SpuVoronoiSimplexSolver* simplexSolver)
SpuSubsimplexRayCast::SpuSubsimplexRayCast (btConvexShape* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
btVoronoiSimplexSolver* simplexSolver)
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
{
}
@@ -42,8 +42,7 @@ SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVer
void supportPoints (const btTransform& xformRay,
const btTransform& xformB,
const int shapeType,
const void* shape,
SpuConvexPolyhedronVertexData* convexVertexData,
const btConvexShape* shape,
const btScalar marginB,
const btVector3& seperatingAxis,
btVector3& w,
@@ -54,7 +53,7 @@ void supportPoints (const btTransform& xformRay,
saUnit.normalize();
btVector3 SupportPellet = xformRay(0.0001 * -saUnit);
btVector3 rotatedSeperatingAxis = seperatingAxis * xformB.getBasis();
btVector3 SupportShape = xformB(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
btVector3 SupportShape = shape->localGetSupportVertexWithoutMarginNonVirtual(rotatedSeperatingAxis);
SupportShape += saUnit * marginB;
w = SupportPellet - SupportShape;
supVertexRay = SupportPellet;
@@ -82,7 +81,7 @@ bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
btVector3 supVertexRay;
btVector3 supVertexB;
btVector3 v;
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, r, v, supVertexRay, supVertexB);
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_marginB, r, v, supVertexRay, supVertexB);
btVector3 n;
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
@@ -104,7 +103,7 @@ bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
while ( (dist2 > epsilon) && maxIter--)
{
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, v, w, supVertexRay, supVertexB);
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_marginB, v, w, supVertexRay, supVertexB);
btScalar VdotW = v.dot(w);

10
src/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.h
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#ifndef SPU_SUBSIMPLEX_RAY_CAST_H
#define SPU_SUBSIMPLEX_RAY_CAST_H
#include "../SpuNarrowPhaseCollisionTask/SpuVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "../SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "SpuRaycastTask.h"
@@ -35,15 +35,15 @@ struct SpuCastResult
/// Objects should not start in overlap, otherwise results are not defined.
class SpuSubsimplexRayCast
{
SpuVoronoiSimplexSolver* m_simplexSolver;
void* m_shapeB;
btVoronoiSimplexSolver* m_simplexSolver;
btConvexShape* m_shapeB;
SpuConvexPolyhedronVertexData* m_convexDataB;
int m_shapeTypeB;
float m_marginB;
public:
SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
SpuVoronoiSimplexSolver* simplexSolver);
SpuSubsimplexRayCast (btConvexShape* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
btVoronoiSimplexSolver* simplexSolver);
//virtual ~btSubsimplexConvexCast();

4
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -714,7 +714,7 @@ static float computeJacobianInverse (const btRigidBody* rb0, const btRigidBody*
return 1.0f/jacobian;
}
/*
static float computeAngularJacobianInverse (const btRigidBody* rb0, const btRigidBody* rb1,
const btVector3& normal)
{
@@ -724,7 +724,7 @@ static float computeAngularJacobianInverse (const btRigidBody* rb0, const btRigi
return 1.0f/jacobian;
}
/*static void setupLinearConstraintWorld (btSolverConstraint& constraint, const btRigidBody* rb0, const btRigidBody* rb1,
static void setupLinearConstraintWorld (btSolverConstraint& constraint, const btRigidBody* rb0, const btRigidBody* rb1,
const btVector3& anchorAinW, const btVector3& anchorBinW, const btContactSolverInfoData& solverInfo)
{
btVector3 relPos1 = anchorAinW - rb0->getCenterOfMassPosition();