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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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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);