added brute-force triangle iteration method, to allow graphics to skip aabb traversal (useful for debugging)

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -20,6 +20,12 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
+//#define USE_PARALLEL_DISPATCHER 1
+#ifdef USE_PARALLEL_DISPATCHER
+#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
+#endif//USE_PARALLEL_DISPATCHER
+
+
 
 GLDebugDrawer	debugDrawer;
 class btIDebugDraw* debugDrawerPtr=0;
@@ -187,12 +193,22 @@ void	ConcaveDemo::initPhysics()
 
 
 //	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
-	btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
+	
+#ifdef USE_PARALLEL_DISPATCHER
+	btCollisionDispatcher* dispatcher = new	SpuGatheringCollisionDispatcher();
+#else
+		btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+#endif//USE_PARALLEL_DISPATCHER
+
+
 	btVector3 worldMin(-1000,-1000,-1000);
 	btVector3 worldMax(1000,1000,1000);
 	btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
+#ifdef USE_PARALLEL_DISPATCHER
+	m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
+#endif //USE_PARALLEL_DISPATCHER
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 	debugDrawerPtr = &debugDrawer;
 	
@@ -201,6 +217,17 @@ void	ConcaveDemo::initPhysics()
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-2,0));
 
+	{
+		for (int i=0;i<10;i++)
+		{
+			//btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
+			btCollisionShape* boxShape = new btSphereShape(1.f);
+			startTransform.setOrigin(btVector3(2*i,10,1));
+			localCreateRigidBody(1, startTransform,boxShape);
+		}
+	}
+
+	startTransform.setIdentity();
 	staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
 
 	staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
@@ -208,14 +235,7 @@ void	ConcaveDemo::initPhysics()
 	//enable custom material callback
 	staticBody->setCollisionFlags(staticBody->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
 
-	{
+	
-		for (int i=0;i<10;i++)
-		{
-			btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
-			startTransform.setOrigin(btVector3(2*i,10,1));
-			localCreateRigidBody(1, startTransform,boxShape);
-		}
-	}
 	
 }
 

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -22,6 +22,12 @@ subject to the following restrictions:
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btGeometryUtil.h"
 
+//#define USE_PARALLEL_DISPATCHER 1
+#ifdef USE_PARALLEL_DISPATCHER
+#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
+#endif//USE_PARALLEL_DISPATCHER
+
+
 #include "GLDebugDrawer.h"
 
 #include "BMF_Api.h"
@@ -83,7 +89,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 		//when running this app from visual studio, the default starting folder is different, so make a second attempt...
 		tcount = wo.loadObj("../../file.obj");
 	}
-	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+
+#ifdef USE_PARALLEL_DISPATCHER
+	btCollisionDispatcher* dispatcher = new	SpuGatheringCollisionDispatcher();
+#else
+		btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+#endif//USE_PARALLEL_DISPATCHER
+
 
 
 	btVector3 worldAabbMin(-10000,-10000,-10000);
@@ -95,6 +107,10 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
 
+#ifdef USE_PARALLEL_DISPATCHER
+	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
+#endif //USE_PARALLEL_DISPATCHER
+
 	btTransform startTransform;
 	startTransform.setIdentity();
 	startTransform.setOrigin(btVector3(0,-4.5,0));
@@ -227,8 +243,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 					
 #else //SHRINK_OBJECT_INWARDS
 					
-					//btCollisionShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
+#ifdef USE_PARALLEL_DISPATCHER
+					//SPU/multi threaded version only supports convex hull with contiguous vertices at the moment
+					btCollisionShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
+#else
 					btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
+#endif //USE_PARALLEL_DISPATCHER
+
 #endif 
 
 					convexShape->setMargin(0.01);

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -23,6 +23,11 @@ subject to the following restrictions:
 #include "../Extras/GIMPACTBullet/btGIMPACTMeshShape.h"
 #include "../Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.h"
 
+//#define USE_PARALLEL_DISPATCHER 1
+#ifdef USE_PARALLEL_DISPATCHER
+#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
+#endif//USE_PARALLEL_DISPATCHER
+
 
 
 #include "BMF_Api.h"
@@ -1630,13 +1635,22 @@ void	ConcaveDemo::initPhysics()
 	g_trimeshData = new btGIMPACTMeshData(indexVertexArrays);	
 
 	//btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
-	btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
+	
+#ifdef USE_PARALLEL_DISPATCHER
+	btCollisionDispatcher* dispatcher = new	SpuGatheringCollisionDispatcher();
+#else
+		btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();
+#endif//USE_PARALLEL_DISPATCHER
+
+
+
 	//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 	btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
 
+
 	m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
 	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
 	dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -520,7 +520,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 			GlDrawcallback drawCallback;
 			drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
 
-			concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+			concaveMesh->processAllTrianglesBruteForce(&drawCallback,aabbMin,aabbMax);
 
 		}
 #endif

src/BulletCollision/CollisionShapes/btConcaveShape.h

@@ -34,6 +34,9 @@ public:
 	virtual ~btConcaveShape();
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
+	virtual void	processAllTrianglesBruteForce(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
+
+	
 
 	virtual btScalar getMargin() const {
 		return m_collisionMargin;

src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

@@ -138,10 +138,9 @@ const btVector3& btTriangleMeshShape::getLocalScaling() const
 //#define DEBUG_TRIANGLE_MESH
 
 
-void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+void	btTriangleMeshShape::processAllTrianglesBruteForce(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
 {
-
+		struct FilteredCallback : public btInternalTriangleIndexCallback
-	struct FilteredCallback : public btInternalTriangleIndexCallback
 	{
 		btTriangleCallback* m_callback;
 		btVector3 m_aabbMin;
@@ -169,7 +168,12 @@ void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const
 	FilteredCallback filterCallback(callback,aabbMin,aabbMax);
 
 	m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
+}
 
+
+void	btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+	processAllTrianglesBruteForce(callback,aabbMin,aabbMax);
 }
 
 

src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -53,6 +53,8 @@ public:
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
 
+	virtual void	processAllTrianglesBruteForce(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
 
 	virtual void	setLocalScaling(const btVector3& scaling);