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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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120
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -26,7 +26,8 @@
#include "SpuEpaPenetrationDepthSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuVoronoiSimplexSolver.h"
#include "boxBoxDistance.h"
#include "Util/Vectormath2Bullet.h"
#include "SpuCollisionShapes.h" //definition of SpuConvexPolyhedronVertexData
#ifdef __SPU__
@@ -89,11 +90,14 @@ bool gUseEpa = false;
#include <LibSN_SPU.h>
#endif //USE_SN_TUNER
#if defined (__CELLOS_LV2__) || defined (USE_LIBSPE2)
#if defined (__SPU__) || defined (USE_LIBSPE2)
#include <spu_printf.h>
#else
#define IGNORE_ALIGNMENT 1
#define spu_printf printf
#include <stdio.h>
#include <stdlib.h>
#define spu_printf printf
#endif
//int gNumConvexPoints0=0;
@@ -101,14 +105,7 @@ bool gUseEpa = false;
///Make sure no destructors are called on this memory
struct CollisionTask_LocalStoreMemory
{
ATTRIBUTE_ALIGNED16(char bufferProxy0[sizeof(btBroadphaseProxy)+16]);
ATTRIBUTE_ALIGNED16(char bufferProxy1[sizeof(btBroadphaseProxy)+16]);
ATTRIBUTE_ALIGNED16(btBroadphaseProxy* gProxyPtr0);
ATTRIBUTE_ALIGNED16(btBroadphaseProxy* gProxyPtr1);
//ATTRIBUTE_ALIGNED16(btCollisionObject gColObj0);
//ATTRIBUTE_ALIGNED16(btCollisionObject gColObj1);
ATTRIBUTE_ALIGNED16(char gColObj0 [sizeof(btCollisionObject)+16]);
ATTRIBUTE_ALIGNED16(char gColObj1 [sizeof(btCollisionObject)+16]);
@@ -472,18 +469,19 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
//try generic GJK
SpuVoronoiSimplexSolver vsSolver;
SpuEpaPenetrationDepthSolver epaPenetrationSolver;
SpuMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
SpuConvexPenetrationDepthSolver* penetrationSolver;
#ifdef ENABLE_EPA
SpuEpaPenetrationDepthSolver epaPenetrationSolver;
if (gUseEpa)
{
penetrationSolver = &epaPenetrationSolver;
} else {
} else
#endif
{
penetrationSolver = &minkowskiPenetrationSolver;
}
///DMA in the vertices for convex shapes
ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
ATTRIBUTE_ALIGNED16(char convexHullShape1[sizeof(btConvexHullShape)]);
@@ -582,12 +580,12 @@ SIMD_FORCE_INLINE void dmaAndSetupCollisionObjects(SpuCollisionPairInput& collis
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
dmaSize = sizeof(btCollisionObject);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.gProxyPtr0->m_clientObject;
dmaSize = sizeof(btCollisionObject);//btTransform);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr1->m_clientObject :*/ (ppu_address_t)lsMem.gSpuContactManifoldAlgo.getCollisionObject0();
cellDmaGet(&lsMem.gColObj0, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
dmaSize = sizeof(btCollisionObject);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.gProxyPtr1->m_clientObject;
dmaSize = sizeof(btCollisionObject);//btTransform);
dmaPpuAddress2 = /*collisionPairInput.m_isSwapped ? (ppu_address_t)lsMem.gProxyPtr0->m_clientObject :*/ (ppu_address_t)lsMem.gSpuContactManifoldAlgo.getCollisionObject1();
cellDmaGet(&lsMem.gColObj1, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
@@ -796,8 +794,9 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
}
}
spuContacts.flush();
}
@@ -912,6 +911,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif //DEBUG_SPU_COLLISION_DETECTION
/*
dmaSize = sizeof(btBroadphaseProxy);
dmaPpuAddress2 = (ppu_address_t)pair.m_pProxy0;
//stallingUnalignedDmaSmallGet(lsMem.gProxyPtr0, dmaPpuAddress2 , dmaSize);
@@ -923,6 +923,8 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
tmpPtr = cellDmaSmallGetReadOnly(&lsMem.bufferProxy1, dmaPpuAddress2 , dmaSize,DMA_TAG(1), 0, 0);
lsMem.gProxyPtr1 = (btBroadphaseProxy*)tmpPtr;
*/
cellDmaWaitTagStatusAll(DMA_MASK(1));
@@ -963,11 +965,80 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
// Get the collision objects
dmaAndSetupCollisionObjects(collisionPairInput, lsMem);
if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
//if (lsMem.getColObj0()->isActive() || lsMem.getColObj1()->isActive())
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
bool boxbox = ((lsMem.gSpuContactManifoldAlgo.getShapeType0()==BOX_SHAPE_PROXYTYPE)&&
(lsMem.gSpuContactManifoldAlgo.getShapeType1()==BOX_SHAPE_PROXYTYPE));
if (boxbox && !gUseEpa)//for now use gUseEpa for this toggle
{
//getVmVector3
//getBtVector3
//getVmQuat
//getBtQuat
//getVmMatrix3
//getCollisionMargin0
btScalar margin0 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin0();
btScalar margin1 = lsMem.gSpuContactManifoldAlgo.getCollisionMargin1();
btVector3 shapeDim0 = lsMem.gSpuContactManifoldAlgo.getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.gSpuContactManifoldAlgo.getShapeDimensions1()+btVector3(margin1,margin1,margin1);
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Transform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
float distanceThreshold = gContactBreakingThreshold;//0.0f;//FLT_MAX;//use epsilon?
float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB,
boxA, transformA, boxB,transformB,distanceThreshold);
if(distance < distanceThreshold)
{
//spu_printf("boxbox dist = %f\n",distance);
btPersistentManifold* spuManifold=&lsMem.gPersistentManifold;
btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
ppu_address_t manifoldAddress = (ppu_address_t)manifold;
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMem.getColObj0()->getWorldTransform(),
lsMem.getColObj1()->getWorldTransform(),
lsMem.getColObj0()->getRestitution(),lsMem.getColObj1()->getRestitution(),
lsMem.getColObj0()->getFriction(),lsMem.getColObj1()->getFriction(),
collisionPairInput.m_isSwapped);
btVector3 normalInB = -getBtVector3(resultNormal);
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
//transform pointOnB to worldspace?
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
//normalInB,
//pointOnB+positionOffset,
//distance);
//SET_CONTACT_POINT(cp[0],distance,-testNormal,
// boxPointA,relTransformA,primIndexA,
// boxPointB,relTransformB,primIndexB);
spuContacts.flush();
}
} else
{
handleCollisionPair(collisionPairInput, lsMem, spuContacts,
(ppu_address_t)lsMem.getColObj0()->getCollisionShape(), &lsMem.gCollisionShapes[0].collisionShape,
(ppu_address_t)lsMem.getColObj1()->getCollisionShape(), &lsMem.gCollisionShapes[1].collisionShape);
}
}
}
@@ -981,5 +1052,6 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
}// for
return;
}