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Modification to SPU collision detection and ray cast code to share implementation of GJK, EPA, Minkowski penetration depth solver, voronoi simplex solver across multi-threaded and non-multi-threaded versions.

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john.mccutchan
2008-09-29 22:48:44 +00:00
parent 2b71784c86
commit f3b417df6c
15 changed files with 875 additions and 546 deletions
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34
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -31,7 +31,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
struct SpuCollisionPairInput
{
@@ -53,25 +53,25 @@ struct SpuCollisionPairInput
bool m_useEpa;
};
struct SpuClosestPointInput
{
SpuClosestPointInput()
:m_maximumDistanceSquared(float(1e30)),
m_stackAlloc(0)
{
}
btTransform m_transformA;
btTransform m_transformB;
float m_maximumDistanceSquared;
class btStackAlloc* m_stackAlloc;
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
};
struct SpuClosestPointInput
{
SpuClosestPointInput()
:m_maximumDistanceSquared(float(1e30)),
m_stackAlloc(0)
{
}
btTransform m_transformA;
btTransform m_transformB;
float m_maximumDistanceSquared;
class btStackAlloc* m_stackAlloc;
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
};
///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
///So when an existing contact point is duplicated, no transfer/refresh is performed.
class SpuContactResult
class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
{
btTransform m_rootWorldTransform0;
btTransform m_rootWorldTransform1;