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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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5
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -53,6 +53,8 @@ m_catchDegeneracies(1)
void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
{
m_cachedSeparatingDistance = 0.f;
btScalar distance=btScalar(0.);
btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 pointOnA,pointOnB;
@@ -331,6 +333,9 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 1\n");
#endif
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
output.addContactPoint(
normalInB,
pointOnB+positionOffset,

10
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
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@@ -38,6 +38,7 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
const btConvexShape* m_minkowskiA;
const btConvexShape* m_minkowskiB;
bool m_ignoreMargin;
btScalar m_cachedSeparatingDistance;
public:
@@ -68,6 +69,15 @@ public:
m_cachedSeparatingAxis = seperatingAxis;
}
const btVector3& getCachedSeparatingAxis() const
{
return m_cachedSeparatingAxis;
}
btScalar getCachedSeparatingDistance() const
{
return m_cachedSeparatingDistance;
}
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;