mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-01 03:23:52 +00:00
Bullet 2.82 update
This commit is contained in:
rextimmy
parent
d0a64026b0
commit
416c50690e
146 changed files with 12202 additions and 1422 deletions
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@ -102,7 +102,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletMultiThreaded DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletMultiThreaded DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletMultiThreaded
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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INSTALL(DIRECTORY
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${CMAKE_CURRENT_SOURCE_DIR} DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING
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PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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@ -70,7 +70,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_DX11
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -49,7 +49,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -64,7 +64,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -69,7 +69,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -62,7 +62,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -68,7 +68,10 @@ IF (INSTALL_LIBS)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION lib${LIB_SUFFIX})
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INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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#headers are already installed by BulletMultiThreaded library
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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@ -38,7 +38,11 @@ typedef union
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#ifndef __PHYSICS_COMMON_H__
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#ifndef PFX_USE_FREE_VECTORMATH
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#ifndef __BT_SKIP_UINT64_H
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#if defined(_WIN64) && defined(_MSC_VER)
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typedef unsigned __int64 uint64_t;
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#else
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typedef unsigned long int uint64_t;
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#endif
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#endif //__BT_SKIP_UINT64_H
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#endif //PFX_USE_FREE_VECTORMATH
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typedef unsigned int uint32_t;
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@ -166,8 +166,8 @@ public:
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collisionPair.m_internalTmpValue = 2;
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} else
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{
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btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
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btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
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btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
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btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
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collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
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collisionPair.m_internalTmpValue = 3;
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@ -245,8 +245,8 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
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if (dispatcher->needsCollision(colObj0,colObj1))
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{
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//discrete collision detection query
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btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
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btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
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btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
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btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
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btManifoldResult contactPointResult(&ob0,&ob1);
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@ -20,7 +20,6 @@ subject to the following restrictions:
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class btStackAlloc;
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class btIDebugDraw;
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#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
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@ -37,7 +36,7 @@ public:
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void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
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btTransform& transA,const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
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class btIDebugDraw* debugDraw,
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struct SpuConvexPolyhedronVertexData* convexVertexDataA,
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struct SpuConvexPolyhedronVertexData* convexVertexDataB
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) const = 0;
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@ -127,7 +127,7 @@ bool gUseEpa = false;
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//int gNumConvexPoints0=0;
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///Make sure no destructors are called on this memory
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struct CollisionTask_LocalStoreMemory
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ATTRIBUTE_ALIGNED16(struct) CollisionTask_LocalStoreMemory
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{
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///This CollisionTask_LocalStoreMemory is mainly used for the SPU version, using explicit DMA
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///Other platforms can use other memory programming models.
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@ -142,7 +142,7 @@ struct CollisionTask_LocalStoreMemory
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btPersistentManifold gPersistentManifoldBuffer;
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CollisionShape_LocalStoreMemory gCollisionShapes[2];
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bvhMeshShape_LocalStoreMemory bvhShapeData;
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SpuConvexPolyhedronVertexData convexVertexData[2];
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ATTRIBUTE_ALIGNED16(SpuConvexPolyhedronVertexData convexVertexData[2]);
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CompoundShape_LocalStoreMemory compoundShapeData[2];
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///The following pointers might either point into this local store memory, or to the original/other memory locations.
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@ -199,7 +199,7 @@ btAlignedObjectArray<CollisionTask_LocalStoreMemory*> sLocalStorePointers;
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void* createCollisionLocalStoreMemory()
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{
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CollisionTask_LocalStoreMemory* localStore = new CollisionTask_LocalStoreMemory;
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CollisionTask_LocalStoreMemory* localStore = (CollisionTask_LocalStoreMemory*)btAlignedAlloc( sizeof(CollisionTask_LocalStoreMemory),16);
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sLocalStorePointers.push_back(localStore);
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return localStore;
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}
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@ -208,7 +208,7 @@ void deleteCollisionLocalStoreMemory()
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{
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for (int i=0;i<sLocalStorePointers.size();i++)
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{
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delete sLocalStorePointers[i];
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btAlignedFree(sLocalStorePointers[i]);
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}
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sLocalStorePointers.clear();
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}
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@ -291,7 +291,7 @@ SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
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class spuNodeCallback : public btNodeOverlapCallback
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ATTRIBUTE_ALIGNED16(class) spuNodeCallback : public btNodeOverlapCallback
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{
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SpuCollisionPairInput* m_wuInput;
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SpuContactResult& m_spuContacts;
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@ -72,10 +72,9 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface&
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const btConvexShape* convexA,const btConvexShape* convexB,
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const btTransform& transA,const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
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class btIDebugDraw* debugDraw)
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{
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#if 0
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(void)stackAlloc;
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(void)v;
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@ -20,7 +20,6 @@ subject to the following restrictions:
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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class btStackAlloc;
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class btIDebugDraw;
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class btVoronoiSimplexSolver;
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class btConvexShape;
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@ -37,7 +36,7 @@ public:
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const btConvexShape* convexA,const btConvexShape* convexB,
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const btTransform& transA,const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
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class btIDebugDraw* debugDraw
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);
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@ -54,8 +54,8 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
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{
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btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
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const btScalar deltaVel1Dotn = c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
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const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
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const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
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const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
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// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
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deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
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@ -79,7 +79,7 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
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if (body1.mMassInv)
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{
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btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
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btVector3 linearComponent = c.m_contactNormal1*body1.mMassInv;
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body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
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btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
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body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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@ -87,14 +87,14 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
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if (body2.mMassInv)
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{
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btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
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btVector3 linearComponent = c.m_contactNormal2*body2.mMassInv;
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body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
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btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
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body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
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}
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//body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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//body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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//body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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//body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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}
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@ -1163,7 +1163,7 @@ btParallelConstraintSolver::~btParallelConstraintSolver()
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btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
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btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
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{
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/* int sz = sizeof(PfxSolverBody);
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@ -1217,8 +1217,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
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btVector3 angVelPlusForces = rb->getAngularVelocity()+rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
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btVector3 linVelPlusForces = rb->getLinearVelocity()+rb->getTotalForce()*rb->getInvMass()*infoGlobal.m_timeStep;
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state.setAngularVelocity((const vmVector3&)angVelPlusForces);
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state.setLinearVelocity((const vmVector3&) linVelPlusForces);
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state.setAngularVelocity(btReadVector3(angVelPlusForces));
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state.setLinearVelocity(btReadVector3(linVelPlusForces));
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state.setMotionType(PfxMotionTypeActive);
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vmMatrix3 ori(solverBody.mOrientation);
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@ -1381,9 +1381,9 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
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btTypedConstraint::btConstraintInfo2 info2;
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info2.fps = 1.f/infoGlobal.m_timeStep;
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info2.erp = infoGlobal.m_erp;
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info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
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info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
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info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
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info2.m_J2linearAxis = 0;
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info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
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info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
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info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
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///the size of btSolverConstraint needs be a multiple of btScalar
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@ -1418,14 +1418,14 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
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}
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{
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btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
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btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
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btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
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btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
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btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
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btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
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btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
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btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
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sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
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sum += iMJlB.dot(solverConstraint.m_contactNormal);
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sum += iMJlB.dot(solverConstraint.m_contactNormal2);
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sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
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solverConstraint.m_jacDiagABInv = btScalar(1.)/sum;
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@ -1436,8 +1436,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
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///todo: add force/torque accelerators
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{
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btScalar rel_vel;
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btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
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btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
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btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
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||||
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
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||||
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||||
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|
@ -279,7 +279,7 @@ public:
|
|||
|
||||
virtual ~btParallelConstraintSolver();
|
||||
|
||||
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
|
||||
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
|
||||
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue