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1)Added SCE Physics Effects boxBoxDistance

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BulletMultiThreaded/NarrowPhaseCollision makes use of this boxBoxDistance.
Cache some values in src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp, to avoid DMA transfers

2) Added btConvexSeparatingDistanceUtil: this allows caching of separating distance/vector as early-out to avoid convex-convex collision detection.
btConvexSeparatingDistanceUtil is used in src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp and can be controlled by btDispatcherInfo.m_useConvexConservativeDistanceUtil/m_convexConservativeDistanceThreshold

3) Use BulletMultiThreaded/vectormath/scalar/cpp/vectormath/scalar/cpp/vectormath_aos.h as fallback for non-PlayStation 3 Cell SPU/PPU platforms (used by boxBoxDistance).
Note there are other implementations in Extras/vectormath folder, that are potentially faster for IBM Cell SDK 3.0 SPU (libspe2)
This commit is contained in:
erwin.coumans
2008-10-20 20:12:39 +00:00
parent b95810245f
commit e6202f58ad
22 changed files with 6716 additions and 49 deletions
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30
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -64,12 +64,12 @@ btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
m_lowLevelOfDetail(false),
m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
{
(void)body0;
(void)body1;
}
@@ -107,6 +107,16 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
resultOut->setPersistentManifold(m_manifoldPtr);
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
{
#ifdef USE_BT_GJKEPA
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
@@ -121,16 +131,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
#else
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btGjkPairDetector::ClosestPointInput input;
//TODO: if (dispatchInfo.m_useContinuous)
m_gjkPairDetector.setMinkowskiA(min0);
m_gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_maximumDistanceSquared = 1e30f;//min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
//input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = btScalar(1e30);
@@ -141,6 +150,13 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
btScalar sepDist = m_gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
m_sepDistance.initSeparatingDistance(m_gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();