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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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9
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGjkPairDetector.h
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@@ -24,18 +24,15 @@ subject to the following restrictions:
#include "SpuContactResult.h"
#include "SpuVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
class SpuConvexPenetrationDepthSolver;
/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
class SpuGjkPairDetector
{
btVector3 m_cachedSeparatingAxis;
const SpuConvexPenetrationDepthSolver* m_penetrationDepthSolver;
SpuVoronoiSimplexSolver* m_simplexSolver;
btVoronoiSimplexSolver* m_simplexSolver;
void* m_minkowskiA;
void* m_minkowskiB;
int m_shapeTypeA;
@@ -54,7 +51,7 @@ public:
int m_catchDegeneracies;
SpuGjkPairDetector(void* objectA,void* objectB,int m_shapeTypeA, int m_shapeTypeB, float marginA, float marginB, SpuVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver);
SpuGjkPairDetector(void* objectA,void* objectB,int m_shapeTypeA, int m_shapeTypeB, float marginA, float marginB, btVoronoiSimplexSolver* simplexSolver, const SpuConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~SpuGjkPairDetector() {};
virtual void getClosestPoints(const SpuClosestPointInput& input,SpuContactResult& output);