some more changes related to PS3 SPU optimizations (16-byte alignment, allowing non-virtual access to data)

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -32,6 +32,15 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
 	}
 
 	recalcLocalAabb();
+
+}
+
+
+void btConvexHullShape::addPoint(const btPoint3& point)
+{
+	m_points.push_back(point);
+	recalcLocalAabb();
+
 }
 
 btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -24,21 +24,30 @@ subject to the following restrictions:
 ///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
 ///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
 ///(memory is much slower then the cpu)
-class btConvexHullShape : public btPolyhedralConvexShape
+ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
 {
 	btAlignedObjectArray<btPoint3>	m_points;
 
 public:
+
+	
 	///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
 	///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
 	///btConvexHullShape make an internal copy of the points.
 	btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
 
-	void addPoint(const btPoint3& point)
+	void addPoint(const btPoint3& point);
+
+	btPoint3* getPoints()
 	{
-		m_points.push_back(point);
+		return &m_points[0];
-		recalcLocalAabb();
 	}
+
+	int getNumPoints()
+	{
+		return m_points.size();
+	}
+
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -119,35 +119,16 @@ void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
 
 }
 
+
+
 void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
 {
-
+	getNonvirtualAabb(trans,aabbMin,aabbMax,getMargin());
-	//lazy evaluation of local aabb
-	btAssert(m_isLocalAabbValid);
-
-	btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
-	btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
-	btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
-
-
-	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
-	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
-	
-	btMatrix3x3 abs_b = trans.getBasis().absolute();  
-
-	btPoint3 center = trans(localCenter);
-
-	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
-		   abs_b[1].dot(localHalfExtents),
-		  abs_b[2].dot(localHalfExtents));
-	extent += btVector3(getMargin(),getMargin(),getMargin());
-
-	aabbMin = center - extent;
-	aabbMax = center + extent;
-
-	
 }
 
+
+
+
 void	btPolyhedralConvexShape::recalcLocalAabb()
 {
 	m_isLocalAabbValid = true;

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -25,6 +25,7 @@ subject to the following restrictions:
 class btPolyhedralConvexShape : public btConvexShape
 {
 
+protected:
 	btVector3	m_localAabbMin;
 	btVector3	m_localAabbMax;
 	bool		m_isLocalAabbValid;
@@ -40,7 +41,38 @@ public:
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
 
 
+	inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
+	{
+
+		//lazy evaluation of local aabb
+		btAssert(m_isLocalAabbValid);
+
+		btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
+		btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
+		btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
+
+
+		btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+		btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+		
+		btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+		btPoint3 center = trans(localCenter);
+
+		btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
+			   abs_b[1].dot(localHalfExtents),
+			  abs_b[2].dot(localHalfExtents));
+		extent += btVector3(margin,margin,margin);
+
+		aabbMin = center - extent;
+		aabbMax = center + extent;
+
+		
+	}
+
+	
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
 	void	recalcLocalAabb();
 
 	virtual int	getNumVertices() const = 0 ;