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Several changes to sync Bullet trunk with PlayStation 3 spubullet version

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Still needs some cross-platform fixes
This commit is contained in:
erwin.coumans
2010-07-08 17:02:38 +00:00
parent 76a58e1f4e
commit fbc17731ec
63 changed files with 10363 additions and 522 deletions
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60
src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -52,7 +52,7 @@ subject to the following restrictions:
#ifdef __SPU__
///Software caching from the IBM Cell SDK, it reduces 25% SPU time for our test cases
#ifndef USE_LIBSPE2
#define USE_SOFTWARE_CACHE 1
//#define USE_SOFTWARE_CACHE 1
#endif
#endif //__SPU__
@@ -1216,7 +1216,7 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
#endif
)
{
//#define USE_PE_BOX_BOX 1
#define USE_PE_BOX_BOX 1
#ifdef USE_PE_BOX_BOX
{
@@ -1225,38 +1225,64 @@ void processCollisionTask(void* userPtr, void* lsMemPtr)
btScalar margin1 = lsMem.getlocalCollisionAlgorithm()->getCollisionMargin1();
btVector3 shapeDim0 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions0()+btVector3(margin0,margin0,margin0);
btVector3 shapeDim1 = lsMem.getlocalCollisionAlgorithm()->getShapeDimensions1()+btVector3(margin1,margin1,margin1);
/*
//Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
vmVector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
vmVector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
vmMatrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
vmMatrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Box boxA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
Vector3 vmPos0 = getVmVector3(collisionPairInput.m_worldTransform0.getOrigin());
Vector3 vmPos1 = getVmVector3(collisionPairInput.m_worldTransform1.getOrigin());
Matrix3 vmMatrix0 = getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis());
Matrix3 vmMatrix1 = getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis());
Transform3 transformA(vmMatrix0,vmPos0);
vmTransform3 transformA(vmMatrix0,vmPos0);
Box boxB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
Transform3 transformB(vmMatrix1,vmPos1);
vmTransform3 transformB(vmMatrix1,vmPos1);
BoxPoint resultClosestBoxPointA;
BoxPoint resultClosestBoxPointB;
Vector3 resultNormal;
vmVector3 resultNormal;
*/
#ifdef USE_SEPDISTANCE_UTIL
float distanceThreshold = FLT_MAX
#else
float distanceThreshold = 0.f;
//float distanceThreshold = 0.f;
#endif
distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
vmVector3 n;
Box boxA;
vmVector3 hA(shapeDim0.getX(),shapeDim0.getY(),shapeDim0.getZ());
vmVector3 hB(shapeDim1.getX(),shapeDim1.getY(),shapeDim1.getZ());
boxA.mHalf= hA;
vmTransform3 trA;
trA.setTranslation(getVmVector3(collisionPairInput.m_worldTransform0.getOrigin()));
trA.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform0.getBasis()));
Box boxB;
boxB.mHalf = hB;
vmTransform3 trB;
trB.setTranslation(getVmVector3(collisionPairInput.m_worldTransform1.getOrigin()));
trB.setUpper3x3(getVmMatrix3(collisionPairInput.m_worldTransform1.getBasis()));
normalInB = -getBtVector3(resultNormal);
float distanceThreshold = spuManifold->getContactBreakingThreshold();//0.001f;
if(distance < spuManifold->getContactBreakingThreshold())
BoxPoint ptA,ptB;
float dist = boxBoxDistance(n, ptA, ptB,
boxA, trA, boxB, trB,
distanceThreshold );
// float distance = boxBoxDistance(resultNormal,resultClosestBoxPointA,resultClosestBoxPointB, boxA, transformA, boxB,transformB,distanceThreshold);
normalInB = -getBtVector3(n);//resultNormal);
//if(dist < distanceThreshold)//spuManifold->getContactBreakingThreshold())
if(dist < spuManifold->getContactBreakingThreshold())
{
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(resultClosestBoxPointB.localPoint));
btVector3 pointOnB = collisionPairInput.m_worldTransform1(getBtVector3(ptB.localPoint));
spuContacts.addContactPoint(
normalInB,
pointOnB,
distance);
dist);
}
}
#else