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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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66
src/LinearMath/btTransformUtil.h
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@@ -140,5 +140,71 @@ public:
};
///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
class btConvexSeparatingDistanceUtil
{
btTransform m_cachedTransformA;
btTransform m_cachedTransformB;
btScalar m_boundingRadiusA;
btScalar m_boundingRadiusB;
btVector3 m_separatingNormal;
btScalar m_separatingDistance;
public:
btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB)
:m_boundingRadiusA(boundingRadiusA),
m_boundingRadiusB(boundingRadiusB),
m_separatingDistance(0.f)
{
}
btScalar getConservativeSeparatingDistance()
{
return m_separatingDistance;
}
void updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
{
if (m_separatingDistance>0.f)
{
const btTransform& fromA = m_cachedTransformA;
const btTransform& fromB = m_cachedTransformB;
const btTransform& toA = transA;
const btTransform& toB = transB;
btVector3 linVelA,angVelA,linVelB,angVelB;
btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA);
btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB);
btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
btScalar relLinVelocLength = (linVelB-linVelA).dot(m_separatingNormal);
if (relLinVelocLength<0.f)
{
relLinVelocLength = 0.f;
}
btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
m_separatingDistance -= projectedMotion;
}
m_cachedTransformA = transA;
m_cachedTransformB = transB;
}
void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
{
m_separatingNormal = separatingVector;
m_separatingDistance = separatingDistance;
m_cachedTransformA = transA;
m_cachedTransformB = transB;
}
};
#endif //SIMD_TRANSFORM_UTIL_H