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https://github.com/TorqueGameEngines/Torque3D.git
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Engine directory for ticket #1
This commit is contained in:
DavidWyand-GG
parent
352279af7a
commit
7dbfe6994d
3795 changed files with 1363358 additions and 0 deletions
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/*
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Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
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All rights reserved.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef __BOX_H__
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#define __BOX_H__
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#ifndef PE_REF
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#define PE_REF(a) a&
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#endif
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#include <math.h>
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//#include "BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h"
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#include <vectormath_aos.h>
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using namespace Vectormath::Aos;
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enum FeatureType { F, E, V };
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//----------------------------------------------------------------------------
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// Box
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//----------------------------------------------------------------------------
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///The Box is an internal class used by the boxBoxDistance calculation.
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class Box
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{
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public:
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Vector3 half;
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inline Box()
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{}
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inline Box(PE_REF(Vector3) half_);
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inline Box(float hx, float hy, float hz);
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inline void Set(PE_REF(Vector3) half_);
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inline void Set(float hx, float hy, float hz);
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inline Vector3 GetAABB(const Matrix3& rotation) const;
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};
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inline
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Box::Box(PE_REF(Vector3) half_)
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{
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Set(half_);
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}
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inline
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Box::Box(float hx, float hy, float hz)
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{
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Set(hx, hy, hz);
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}
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inline
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void
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Box::Set(PE_REF(Vector3) half_)
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{
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half = half_;
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}
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inline
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void
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Box::Set(float hx, float hy, float hz)
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{
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half = Vector3(hx, hy, hz);
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}
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inline
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Vector3
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Box::GetAABB(const Matrix3& rotation) const
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{
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return absPerElem(rotation) * half;
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}
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//-------------------------------------------------------------------------------------------------
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// BoxPoint
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//-------------------------------------------------------------------------------------------------
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///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation.
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class BoxPoint
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{
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public:
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BoxPoint() : localPoint(0.0f) {}
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Point3 localPoint;
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FeatureType featureType;
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int featureIdx;
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inline void setVertexFeature(int plusX, int plusY, int plusZ);
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inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1);
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inline void setFaceFeature(int dim, int plus);
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inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const;
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inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const;
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inline void getFaceFeature(int & dim, int & plus) const;
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};
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inline
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void
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BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ)
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{
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featureType = V;
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featureIdx = plusX << 2 | plusY << 1 | plusZ;
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}
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inline
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void
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BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1)
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{
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featureType = E;
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if (dim0 > dim1) {
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featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0;
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} else {
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featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1;
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}
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}
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inline
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void
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BoxPoint::setFaceFeature(int dim, int plus)
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{
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featureType = F;
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featureIdx = plus << 2 | dim;
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}
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inline
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void
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BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const
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{
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plusX = featureIdx >> 2;
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plusY = featureIdx >> 1 & 1;
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plusZ = featureIdx & 1;
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}
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inline
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void
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BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const
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{
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plus0 = featureIdx >> 5;
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dim0 = featureIdx >> 3 & 3;
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plus1 = featureIdx >> 2 & 1;
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dim1 = featureIdx & 3;
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}
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inline
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void
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BoxPoint::getFaceFeature(int & dim, int & plus) const
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{
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plus = featureIdx >> 2;
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dim = featureIdx & 3;
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}
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#endif /* __BOX_H__ */
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@ -0,0 +1,295 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
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|
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "SpuCollisionShapes.h"
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///not supported on IBM SDK, until we fix the alignment of btVector3
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#if defined (__CELLOS_LV2__) && defined (__SPU__)
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#include <spu_intrinsics.h>
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static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
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{
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vec_float4 result;
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result = spu_mul( vec0, vec1 );
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result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
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return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
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}
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#endif //__SPU__
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void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform)
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{
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//calculate the aabb, given the types...
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switch (shapeType)
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{
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case CYLINDER_SHAPE_PROXYTYPE:
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/* fall through */
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case BOX_SHAPE_PROXYTYPE:
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{
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btScalar margin=convexShape->getMarginNV();
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btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
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halfExtents += btVector3(margin,margin,margin);
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const btTransform& t = xform;
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btScalar margin=convexShape->getMarginNV();
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btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
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//add the radius to y-axis to get full height
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btScalar radius = halfExtents[0];
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halfExtents[1] += radius;
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halfExtents += btVector3(margin,margin,margin);
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#if 0
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int capsuleUpAxis = convexShape->getUpAxis();
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btScalar halfHeight = convexShape->getHalfHeight();
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btScalar radius = convexShape->getRadius();
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halfExtents[capsuleUpAxis] = radius + halfHeight;
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#endif
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const btTransform& t = xform;
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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btScalar radius = convexShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
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btScalar margin = radius + convexShape->getMarginNV();
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const btTransform& t = xform;
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const btVector3& center = t.getOrigin();
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btVector3 extent(margin,margin,margin);
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aabbMin = center - extent;
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aabbMax = center + extent;
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break;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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ATTRIBUTE_ALIGNED16(char convexHullShape0[sizeof(btConvexHullShape)]);
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cellDmaGet(&convexHullShape0, convexShapePtr , sizeof(btConvexHullShape), DMA_TAG(1), 0, 0);
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cellDmaWaitTagStatusAll(DMA_MASK(1));
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btConvexHullShape* localPtr = (btConvexHullShape*)&convexHullShape0;
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const btTransform& t = xform;
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btScalar margin = convexShape->getMarginNV();
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localPtr->getNonvirtualAabb(t,aabbMin,aabbMax,margin);
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//spu_printf("SPU convex aabbMin=%f,%f,%f=\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
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//spu_printf("SPU convex aabbMax=%f,%f,%f=\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
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break;
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}
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default:
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{
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// spu_printf("SPU: unsupported shapetype %d in AABB calculation\n");
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}
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};
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}
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void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape)
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{
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register int dmaSize;
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register ppu_address_t dmaPpuAddress2;
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dmaSize = sizeof(btTriangleIndexVertexArray);
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dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getMeshInterface());
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// spu_printf("trimeshShape->getMeshInterface() == %llx\n",dmaPpuAddress2);
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#ifdef __SPU__
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cellDmaGet(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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bvhMeshShape->gTriangleMeshInterfacePtr = &bvhMeshShape->gTriangleMeshInterfaceStorage;
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#else
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bvhMeshShape->gTriangleMeshInterfacePtr = (btTriangleIndexVertexArray*)cellDmaGetReadOnly(&bvhMeshShape->gTriangleMeshInterfaceStorage, dmaPpuAddress2 , dmaSize, DMA_TAG(1), 0, 0);
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#endif
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//cellDmaWaitTagStatusAll(DMA_MASK(1));
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///now DMA over the BVH
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dmaSize = sizeof(btOptimizedBvh);
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dmaPpuAddress2 = reinterpret_cast<ppu_address_t>(triMeshShape->getOptimizedBvh());
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//spu_printf("trimeshShape->getOptimizedBvh() == %llx\n",dmaPpuAddress2);
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cellDmaGet(&bvhMeshShape->gOptimizedBvh, dmaPpuAddress2 , dmaSize, DMA_TAG(2), 0, 0);
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//cellDmaWaitTagStatusAll(DMA_MASK(2));
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cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
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}
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void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag)
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{
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cellDmaGet(IndexMesh, (ppu_address_t)&indexArray[index] , sizeof(btIndexedMesh), DMA_TAG(dmaTag), 0, 0);
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}
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void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag)
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{
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cellDmaGet(subTreeHeaders, subTreePtr, batchSize * sizeof(btBvhSubtreeInfo), DMA_TAG(dmaTag), 0, 0);
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}
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void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag)
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{
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cellDmaGet(nodes, reinterpret_cast<ppu_address_t>(&nodeArray[subtree.m_rootNodeIndex]) , subtree.m_subtreeSize* sizeof(btQuantizedBvhNode), DMA_TAG(2), 0, 0);
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}
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///getShapeTypeSize could easily be optimized, but it is not likely a bottleneck
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int getShapeTypeSize(int shapeType)
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{
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switch (shapeType)
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{
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCylinderShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case BOX_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btBoxShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btSphereShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btBvhTriangleMeshShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCapsuleShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btConvexHullShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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case COMPOUND_SHAPE_PROXYTYPE:
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{
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int shapeSize = sizeof(btCompoundShape);
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btAssert(shapeSize < MAX_SHAPE_SIZE);
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return shapeSize;
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}
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||||
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default:
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btAssert(0);
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//unsupported shapetype, please add here
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return 0;
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||||
}
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}
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void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU)
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{
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convexVertexData->gNumConvexPoints = convexShapeSPU->getNumPoints();
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if (convexVertexData->gNumConvexPoints>MAX_NUM_SPU_CONVEX_POINTS)
|
||||
{
|
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btAssert(0);
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// spu_printf("SPU: Error: MAX_NUM_SPU_CONVEX_POINTS(%d) exceeded: %d\n",MAX_NUM_SPU_CONVEX_POINTS,convexVertexData->gNumConvexPoints);
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return;
|
||||
}
|
||||
|
||||
register int dmaSize = convexVertexData->gNumConvexPoints*sizeof(btVector3);
|
||||
ppu_address_t pointsPPU = (ppu_address_t) convexShapeSPU->getUnscaledPoints();
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cellDmaGet(&convexVertexData->g_convexPointBuffer[0], pointsPPU , dmaSize, DMA_TAG(2), 0, 0);
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}
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||||
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void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType)
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||||
{
|
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register int dmaSize = getShapeTypeSize(shapeType);
|
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cellDmaGet(collisionShapeLocation, collisionShapePtr , dmaSize, DMA_TAG(dmaTag), 0, 0);
|
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//cellDmaWaitTagStatusAll(DMA_MASK(dmaTag));
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}
|
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|
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void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
|
||||
{
|
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register int dmaSize;
|
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register ppu_address_t dmaPpuAddress2;
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||||
int childShapeCount = spuCompoundShape->getNumChildShapes();
|
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dmaSize = childShapeCount * sizeof(btCompoundShapeChild);
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dmaPpuAddress2 = (ppu_address_t)spuCompoundShape->getChildList();
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cellDmaGet(&compoundShapeLocation->gSubshapes[0], dmaPpuAddress2, dmaSize, DMA_TAG(dmaTag), 0, 0);
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}
|
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void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag)
|
||||
{
|
||||
int childShapeCount = spuCompoundShape->getNumChildShapes();
|
||||
int i;
|
||||
// DMA all the subshapes
|
||||
for ( i = 0; i < childShapeCount; ++i)
|
||||
{
|
||||
btCompoundShapeChild& childShape = compoundShapeLocation->gSubshapes[i];
|
||||
dmaCollisionShape (&compoundShapeLocation->gSubshapeShape[i],(ppu_address_t)childShape.m_childShape, dmaTag, childShape.m_childShapeType);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex)
|
||||
{
|
||||
|
||||
int curIndex = startNodeIndex;
|
||||
int walkIterations = 0;
|
||||
#ifdef BT_DEBUG
|
||||
int subTreeSize = endNodeIndex - startNodeIndex;
|
||||
#endif
|
||||
|
||||
int escapeIndex;
|
||||
|
||||
unsigned int aabbOverlap, isLeafNode;
|
||||
|
||||
while (curIndex < endNodeIndex)
|
||||
{
|
||||
//catch bugs in tree data
|
||||
btAssert (walkIterations < subTreeSize);
|
||||
|
||||
walkIterations++;
|
||||
aabbOverlap = spuTestQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
|
||||
isLeafNode = rootNode->isLeafNode();
|
||||
|
||||
if (isLeafNode && aabbOverlap)
|
||||
{
|
||||
//printf("overlap with node %d\n",rootNode->getTriangleIndex());
|
||||
nodeCallback->processNode(0,rootNode->getTriangleIndex());
|
||||
// spu_printf("SPU: overlap detected with triangleIndex:%d\n",rootNode->getTriangleIndex());
|
||||
}
|
||||
|
||||
if (aabbOverlap || isLeafNode)
|
||||
{
|
||||
rootNode++;
|
||||
curIndex++;
|
||||
} else
|
||||
{
|
||||
escapeIndex = rootNode->getEscapeIndex();
|
||||
rootNode += escapeIndex;
|
||||
curIndex += escapeIndex;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,125 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef __SPU_COLLISION_SHAPES_H
|
||||
#define __SPU_COLLISION_SHAPES_H
|
||||
|
||||
#include "../SpuDoubleBuffer.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
|
||||
#define MAX_NUM_SPU_CONVEX_POINTS 128
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData
|
||||
{
|
||||
void* gSpuConvexShapePtr;
|
||||
btVector3* gConvexPoints;
|
||||
int gNumConvexPoints;
|
||||
int unused;
|
||||
ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
|
||||
};
|
||||
|
||||
#define MAX_SHAPE_SIZE 256
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory
|
||||
{
|
||||
ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory
|
||||
{
|
||||
// Compound data
|
||||
#define MAX_SPU_COMPOUND_SUBSHAPES 16
|
||||
ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
|
||||
ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
|
||||
};
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory
|
||||
{
|
||||
//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
|
||||
ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
|
||||
btOptimizedBvh* getOptimizedBvh()
|
||||
{
|
||||
return (btOptimizedBvh*) gOptimizedBvh;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
|
||||
btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
|
||||
///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
|
||||
ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
|
||||
#define MAX_SPU_SUBTREE_HEADERS 32
|
||||
//1024
|
||||
ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
|
||||
ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
|
||||
};
|
||||
|
||||
|
||||
void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape* convexShape, ppu_address_t convexShapePtr, int shapeType, const btTransform& xform);
|
||||
void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
|
||||
void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
|
||||
void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
|
||||
|
||||
int getShapeTypeSize(int shapeType);
|
||||
void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
|
||||
void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
|
||||
void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
|
||||
|
||||
|
||||
#define USE_BRANCHFREE_TEST 1
|
||||
#ifdef USE_BRANCHFREE_TEST
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
#if defined(__CELLOS_LV2__) && defined (__SPU__)
|
||||
vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
|
||||
vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
|
||||
vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
|
||||
return spu_extract(spu_gather(isGt),0)==0;
|
||||
|
||||
#else
|
||||
return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
|
||||
& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
|
||||
& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
|
||||
1, 0);
|
||||
#endif
|
||||
}
|
||||
#else
|
||||
|
||||
SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
|
||||
{
|
||||
unsigned int overlap = 1;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
|
||||
return overlap;
|
||||
}
|
||||
#endif
|
||||
|
||||
void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,236 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuContactResult.h"
|
||||
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
SpuContactResult::SpuContactResult()
|
||||
{
|
||||
m_manifoldAddress = 0;
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
SpuContactResult::~SpuContactResult()
|
||||
{
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
}
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
|
||||
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
|
||||
{
|
||||
btScalar friction = friction0*friction1;
|
||||
|
||||
const btScalar MAX_FRICTION = btScalar(10.);
|
||||
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
|
||||
{
|
||||
return restitution0*restitution1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
|
||||
{
|
||||
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
|
||||
m_rootWorldTransform0 = worldTrans0;
|
||||
m_rootWorldTransform1 = worldTrans1;
|
||||
m_manifoldAddress = manifoldAddress;
|
||||
m_spuManifold = spuManifold;
|
||||
|
||||
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
|
||||
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
|
||||
m_isSwapped = isSwapped;
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiersA(int partId0,int index0)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void SpuContactResult::setShapeIdentifiersB(int partId1,int index1)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///return true if it requires a dma transfer back
|
||||
bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
|
||||
const btVector3& pointInWorld,
|
||||
float depth,
|
||||
btPersistentManifold* manifoldPtr,
|
||||
btTransform& transA,
|
||||
btTransform& transB,
|
||||
btScalar combinedFriction,
|
||||
btScalar combinedRestitution,
|
||||
bool isSwapped)
|
||||
{
|
||||
|
||||
// float contactTreshold = manifoldPtr->getContactBreakingThreshold();
|
||||
|
||||
//spu_printf("SPU: add contactpoint, depth:%f, contactTreshold %f, manifoldPtr %llx\n",depth,contactTreshold,manifoldPtr);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: contactTreshold %f\n",contactTreshold);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
if (depth > manifoldPtr->getContactBreakingThreshold())
|
||||
return false;
|
||||
|
||||
//provide inverses or just calculate?
|
||||
btTransform transAInv = transA.inverse();//m_body0->m_cachedInvertedWorldTransform;
|
||||
btTransform transBInv= transB.inverse();//m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
btVector3 pointA;
|
||||
btVector3 localA;
|
||||
btVector3 localB;
|
||||
btVector3 normal;
|
||||
|
||||
if (isSwapped)
|
||||
{
|
||||
normal = normalOnBInWorld * -1;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
/*localA = transBInv(pointA );
|
||||
localB = transAInv(pointInWorld);*/
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = normalOnBInWorld;
|
||||
pointA = pointInWorld + normal * depth;
|
||||
localA = transAInv(pointA );
|
||||
localB = transBInv(pointInWorld);
|
||||
}
|
||||
|
||||
btManifoldPoint newPt(localA,localB,normal,depth);
|
||||
|
||||
int insertIndex = manifoldPtr->getCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
// manifoldPtr->replaceContactPoint(newPt,insertIndex);
|
||||
// return true;
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: same contact detected, nothing done\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// This is not needed, just use the old info! saves a DMA transfer as well
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = combinedFriction;
|
||||
newPt.m_combinedRestitution = combinedRestitution;
|
||||
|
||||
/*
|
||||
///@todo: SPU callbacks, either immediate (local on the SPU), or deferred
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & btCollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & btCollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
*/
|
||||
manifoldPtr->addManifoldPoint(newPt);
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpuContactResult::writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold)
|
||||
{
|
||||
///only write back the contact information on SPU. Other platforms avoid copying, and use the data in-place
|
||||
///see SpuFakeDma.cpp 'cellDmaLargeGetReadOnly'
|
||||
#if defined (__SPU__) || defined (USE_LIBSPE2)
|
||||
memcpy(g_manifoldDmaExport.getFront(),lsManifold,sizeof(btPersistentManifold));
|
||||
|
||||
g_manifoldDmaExport.swapBuffers();
|
||||
ppu_address_t mmAddr = (ppu_address_t)mmManifold;
|
||||
g_manifoldDmaExport.backBufferDmaPut(mmAddr, sizeof(btPersistentManifold), DMA_TAG(9));
|
||||
// Should there be any kind of wait here? What if somebody tries to use this tag again? What if we call this function again really soon?
|
||||
//no, the swapBuffers does the wait
|
||||
#endif
|
||||
}
|
||||
|
||||
void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
|
||||
{
|
||||
//spu_printf("*** SpuContactResult::addContactPoint: depth = %f\n",depth);
|
||||
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
// int sman = sizeof(rage::phManifold);
|
||||
// spu_printf("sizeof_manifold = %i\n",sman);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
|
||||
btPersistentManifold* localManifold = m_spuManifold;
|
||||
|
||||
btVector3 normalB(normalOnBInWorld.getX(),normalOnBInWorld.getY(),normalOnBInWorld.getZ());
|
||||
btVector3 pointWrld(pointInWorld.getX(),pointInWorld.getY(),pointInWorld.getZ());
|
||||
|
||||
//process the contact point
|
||||
const bool retVal = ManifoldResultAddContactPoint(normalB,
|
||||
pointWrld,
|
||||
depth,
|
||||
localManifold,
|
||||
m_rootWorldTransform0,
|
||||
m_rootWorldTransform1,
|
||||
m_combinedFriction,
|
||||
m_combinedRestitution,
|
||||
m_isSwapped);
|
||||
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
|
||||
}
|
||||
|
||||
void SpuContactResult::flush()
|
||||
{
|
||||
|
||||
if (m_spuManifold && m_spuManifold->getNumContacts())
|
||||
{
|
||||
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
|
||||
m_RequiresWriteBack = true;
|
||||
}
|
||||
|
||||
|
||||
if (m_RequiresWriteBack)
|
||||
{
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Start SpuContactResult::flush (Put) DMA\n");
|
||||
spu_printf("Num contacts:%d\n", m_spuManifold->getNumContacts());
|
||||
spu_printf("Manifold address: %llu\n", m_manifoldAddress);
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
// spu_printf("writeDoubleBufferedManifold\n");
|
||||
writeDoubleBufferedManifold(m_spuManifold, (btPersistentManifold*)m_manifoldAddress);
|
||||
#ifdef DEBUG_SPU_COLLISION_DETECTION
|
||||
spu_printf("SPU: Finished (Put) DMA\n");
|
||||
#endif //DEBUG_SPU_COLLISION_DETECTION
|
||||
}
|
||||
m_spuManifold = NULL;
|
||||
m_RequiresWriteBack = false;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,106 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SPU_CONTACT_RESULT2_H
|
||||
#define SPU_CONTACT_RESULT2_H
|
||||
|
||||
|
||||
#ifndef WIN32
|
||||
#include <stdint.h>
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#include "../SpuDoubleBuffer.h"
|
||||
|
||||
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
|
||||
class btCollisionShape;
|
||||
|
||||
|
||||
struct SpuCollisionPairInput
|
||||
{
|
||||
ppu_address_t m_collisionShapes[2];
|
||||
btCollisionShape* m_spuCollisionShapes[2];
|
||||
|
||||
ppu_address_t m_persistentManifoldPtr;
|
||||
btVector3 m_primitiveDimensions0;
|
||||
btVector3 m_primitiveDimensions1;
|
||||
int m_shapeType0;
|
||||
int m_shapeType1;
|
||||
float m_collisionMargin0;
|
||||
float m_collisionMargin1;
|
||||
|
||||
btTransform m_worldTransform0;
|
||||
btTransform m_worldTransform1;
|
||||
|
||||
bool m_isSwapped;
|
||||
bool m_useEpa;
|
||||
};
|
||||
|
||||
|
||||
struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
|
||||
{
|
||||
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 : public btDiscreteCollisionDetectorInterface::Result
|
||||
{
|
||||
btTransform m_rootWorldTransform0;
|
||||
btTransform m_rootWorldTransform1;
|
||||
ppu_address_t m_manifoldAddress;
|
||||
|
||||
btPersistentManifold* m_spuManifold;
|
||||
bool m_RequiresWriteBack;
|
||||
btScalar m_combinedFriction;
|
||||
btScalar m_combinedRestitution;
|
||||
|
||||
bool m_isSwapped;
|
||||
|
||||
DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
|
||||
|
||||
public:
|
||||
SpuContactResult();
|
||||
virtual ~SpuContactResult();
|
||||
|
||||
btPersistentManifold* GetSpuManifold() const
|
||||
{
|
||||
return m_spuManifold;
|
||||
}
|
||||
|
||||
virtual void setShapeIdentifiersA(int partId0,int index0);
|
||||
virtual void setShapeIdentifiersB(int partId1,int index1);
|
||||
|
||||
void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
|
||||
|
||||
|
||||
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
|
||||
|
||||
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
|
||||
|
||||
void flush();
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //SPU_CONTACT_RESULT2_H
|
||||
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef SPU_CONVEX_PENETRATION_DEPTH_H
|
||||
#define SPU_CONVEX_PENETRATION_DEPTH_H
|
||||
|
||||
|
||||
|
||||
class btStackAlloc;
|
||||
class btIDebugDraw;
|
||||
#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
|
||||
#include <LinearMath/btTransform.h>
|
||||
|
||||
|
||||
///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
|
||||
class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~SpuConvexPenetrationDepthSolver() {};
|
||||
virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
|
||||
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
|
||||
btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btVector3& pa, btVector3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
|
||||
struct SpuConvexPolyhedronVertexData* convexVertexDataB
|
||||
) const = 0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //SPU_CONVEX_PENETRATION_DEPTH_H
|
||||
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,140 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SPU_GATHERING_COLLISION_TASK_H
|
||||
#define SPU_GATHERING_COLLISION_TASK_H
|
||||
|
||||
#include "../PlatformDefinitions.h"
|
||||
//#define DEBUG_SPU_COLLISION_DETECTION 1
|
||||
|
||||
|
||||
///Task Description for SPU collision detection
|
||||
struct SpuGatherAndProcessPairsTaskDesc
|
||||
{
|
||||
ppu_address_t m_inPairPtr;//m_pairArrayPtr;
|
||||
//mutex variable
|
||||
uint32_t m_someMutexVariableInMainMemory;
|
||||
|
||||
ppu_address_t m_dispatcher;
|
||||
|
||||
uint32_t numOnLastPage;
|
||||
|
||||
uint16_t numPages;
|
||||
uint16_t taskId;
|
||||
bool m_useEpa;
|
||||
|
||||
struct CollisionTask_LocalStoreMemory* m_lsMemory;
|
||||
}
|
||||
|
||||
#if defined(__CELLOS_LV2__) || defined(USE_LIBSPE2)
|
||||
__attribute__ ((aligned (128)))
|
||||
#endif
|
||||
;
|
||||
|
||||
|
||||
void processCollisionTask(void* userPtr, void* lsMemory);
|
||||
|
||||
void* createCollisionLocalStoreMemory();
|
||||
|
||||
|
||||
#if defined(USE_LIBSPE2) && defined(__SPU__)
|
||||
#include "../SpuLibspe2Support.h"
|
||||
#include <spu_intrinsics.h>
|
||||
#include <spu_mfcio.h>
|
||||
#include <SpuFakeDma.h>
|
||||
|
||||
//#define DEBUG_LIBSPE2_SPU_TASK
|
||||
|
||||
|
||||
|
||||
int main(unsigned long long speid, addr64 argp, addr64 envp)
|
||||
{
|
||||
printf("SPU: hello \n");
|
||||
|
||||
ATTRIBUTE_ALIGNED128(btSpuStatus status);
|
||||
ATTRIBUTE_ALIGNED16( SpuGatherAndProcessPairsTaskDesc taskDesc ) ;
|
||||
unsigned int received_message = Spu_Mailbox_Event_Nothing;
|
||||
bool shutdown = false;
|
||||
|
||||
cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
status.m_status = Spu_Status_Free;
|
||||
status.m_lsMemory.p = createCollisionLocalStoreMemory();
|
||||
|
||||
cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
|
||||
while ( btLikely( !shutdown ) )
|
||||
{
|
||||
|
||||
received_message = spu_read_in_mbox();
|
||||
|
||||
if( btLikely( received_message == Spu_Mailbox_Event_Task ))
|
||||
{
|
||||
#ifdef DEBUG_LIBSPE2_SPU_TASK
|
||||
printf("SPU: received Spu_Mailbox_Event_Task\n");
|
||||
#endif //DEBUG_LIBSPE2_SPU_TASK
|
||||
|
||||
// refresh the status
|
||||
cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
btAssert(status.m_status==Spu_Status_Occupied);
|
||||
|
||||
cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuGatherAndProcessPairsTaskDesc), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
#ifdef DEBUG_LIBSPE2_SPU_TASK
|
||||
printf("SPU:processCollisionTask\n");
|
||||
#endif //DEBUG_LIBSPE2_SPU_TASK
|
||||
processCollisionTask((void*)&taskDesc, taskDesc.m_lsMemory);
|
||||
|
||||
#ifdef DEBUG_LIBSPE2_SPU_TASK
|
||||
printf("SPU:finished processCollisionTask\n");
|
||||
#endif //DEBUG_LIBSPE2_SPU_TASK
|
||||
}
|
||||
else
|
||||
{
|
||||
#ifdef DEBUG_LIBSPE2_SPU_TASK
|
||||
printf("SPU: received ShutDown\n");
|
||||
#endif //DEBUG_LIBSPE2_SPU_TASK
|
||||
if( btLikely( received_message == Spu_Mailbox_Event_Shutdown ) )
|
||||
{
|
||||
shutdown = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
//printf("SPU - Sth. recieved\n");
|
||||
}
|
||||
}
|
||||
|
||||
// set to status free and wait for next task
|
||||
status.m_status = Spu_Status_Free;
|
||||
cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
|
||||
}
|
||||
|
||||
printf("SPU: shutdown\n");
|
||||
return 0;
|
||||
}
|
||||
#endif // USE_LIBSPE2
|
||||
|
||||
|
||||
#endif //SPU_GATHERING_COLLISION_TASK_H
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,348 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuMinkowskiPenetrationDepthSolver.h"
|
||||
#include "SpuContactResult.h"
|
||||
#include "SpuPreferredPenetrationDirections.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "SpuCollisionShapes.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
{
|
||||
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||||
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
|
||||
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
|
||||
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
|
||||
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||||
};
|
||||
|
||||
|
||||
bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
const btConvexShape* convexA,const btConvexShape* convexB,
|
||||
const btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btVector3& pa, btVector3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
|
||||
{
|
||||
#if 0
|
||||
(void)stackAlloc;
|
||||
(void)v;
|
||||
|
||||
|
||||
struct btIntermediateResult : public SpuContactResult
|
||||
{
|
||||
|
||||
btIntermediateResult():m_hasResult(false)
|
||||
{
|
||||
}
|
||||
|
||||
btVector3 m_normalOnBInWorld;
|
||||
btVector3 m_pointInWorld;
|
||||
btScalar m_depth;
|
||||
bool m_hasResult;
|
||||
|
||||
virtual void setShapeIdentifiersA(int partId0,int index0)
|
||||
{
|
||||
(void)partId0;
|
||||
(void)index0;
|
||||
}
|
||||
|
||||
virtual void setShapeIdentifiersB(int partId1,int index1)
|
||||
{
|
||||
(void)partId1;
|
||||
(void)index1;
|
||||
}
|
||||
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
|
||||
{
|
||||
m_normalOnBInWorld = normalOnBInWorld;
|
||||
m_pointInWorld = pointInWorld;
|
||||
m_depth = depth;
|
||||
m_hasResult = true;
|
||||
}
|
||||
};
|
||||
|
||||
//just take fixed number of orientation, and sample the penetration depth in that direction
|
||||
btScalar minProj = btScalar(BT_LARGE_FLOAT);
|
||||
btVector3 minNorm(0.f,0.f,0.f);
|
||||
btVector3 minVertex;
|
||||
btVector3 minA,minB;
|
||||
btVector3 seperatingAxisInA,seperatingAxisInB;
|
||||
btVector3 pInA,qInB,pWorld,qWorld,w;
|
||||
|
||||
//#define USE_BATCHED_SUPPORT 1
|
||||
#ifdef USE_BATCHED_SUPPORT
|
||||
|
||||
btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
int i;
|
||||
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
|
||||
for (i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
const btVector3& norm = sPenetrationDirections[i];
|
||||
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
|
||||
seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
|
||||
}
|
||||
|
||||
{
|
||||
int numPDA = convexA->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexA->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transA.getBasis() * norm;
|
||||
sPenetrationDirections[numSampleDirections] = norm;
|
||||
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
|
||||
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
int numPDB = convexB->getNumPreferredPenetrationDirections();
|
||||
if (numPDB)
|
||||
{
|
||||
for (int i=0;i<numPDB;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexB->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transB.getBasis() * norm;
|
||||
sPenetrationDirections[numSampleDirections] = norm;
|
||||
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
|
||||
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
|
||||
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
|
||||
|
||||
for (i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
const btVector3& norm = sPenetrationDirections[i];
|
||||
seperatingAxisInA = seperatingAxisInABatch[i];
|
||||
seperatingAxisInB = seperatingAxisInBBatch[i];
|
||||
|
||||
pInA = supportVerticesABatch[i];
|
||||
qInB = supportVerticesBBatch[i];
|
||||
|
||||
pWorld = transA(pInA);
|
||||
qWorld = transB(qInB);
|
||||
w = qWorld - pWorld;
|
||||
btScalar delta = norm.dot(w);
|
||||
//find smallest delta
|
||||
if (delta < minProj)
|
||||
{
|
||||
minProj = delta;
|
||||
minNorm = norm;
|
||||
minA = pWorld;
|
||||
minB = qWorld;
|
||||
}
|
||||
}
|
||||
#else
|
||||
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
|
||||
///this is necessary, otherwise the normal is not correct, and sphere will rotate forever on a sloped triangle mesh
|
||||
#define DO_PREFERRED_DIRECTIONS 1
|
||||
#ifdef DO_PREFERRED_DIRECTIONS
|
||||
{
|
||||
int numPDA = spuGetNumPreferredPenetrationDirections(shapeTypeA,convexA);
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
spuGetPreferredPenetrationDirection(shapeTypeA,convexA,i,norm);
|
||||
norm = transA.getBasis() * norm;
|
||||
sPenetrationDirections[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
int numPDB = spuGetNumPreferredPenetrationDirections(shapeTypeB,convexB);
|
||||
if (numPDB)
|
||||
{
|
||||
for (int i=0;i<numPDB;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
spuGetPreferredPenetrationDirection(shapeTypeB,convexB,i,norm);
|
||||
norm = transB.getBasis() * norm;
|
||||
sPenetrationDirections[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif //DO_PREFERRED_DIRECTIONS
|
||||
|
||||
for (int i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
const btVector3& norm = sPenetrationDirections[i];
|
||||
seperatingAxisInA = (-norm)* transA.getBasis();
|
||||
seperatingAxisInB = norm* transB.getBasis();
|
||||
|
||||
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL);
|
||||
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL);
|
||||
|
||||
// pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
|
||||
// qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
|
||||
|
||||
pWorld = transA(pInA);
|
||||
qWorld = transB(qInB);
|
||||
w = qWorld - pWorld;
|
||||
btScalar delta = norm.dot(w);
|
||||
//find smallest delta
|
||||
if (delta < minProj)
|
||||
{
|
||||
minProj = delta;
|
||||
minNorm = norm;
|
||||
minA = pWorld;
|
||||
minB = qWorld;
|
||||
}
|
||||
}
|
||||
#endif //USE_BATCHED_SUPPORT
|
||||
|
||||
//add the margins
|
||||
|
||||
minA += minNorm*marginA;
|
||||
minB -= minNorm*marginB;
|
||||
//no penetration
|
||||
if (minProj < btScalar(0.))
|
||||
return false;
|
||||
|
||||
minProj += (marginA + marginB) + btScalar(1.00);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//#define DEBUG_DRAW 1
|
||||
#ifdef DEBUG_DRAW
|
||||
if (debugDraw)
|
||||
{
|
||||
btVector3 color(0,1,0);
|
||||
debugDraw->drawLine(minA,minB,color);
|
||||
color = btVector3 (1,1,1);
|
||||
btVector3 vec = minB-minA;
|
||||
btScalar prj2 = minNorm.dot(vec);
|
||||
debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
|
||||
|
||||
}
|
||||
#endif //DEBUG_DRAW
|
||||
|
||||
|
||||
btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
|
||||
|
||||
btScalar offsetDist = minProj;
|
||||
btVector3 offset = minNorm * offsetDist;
|
||||
|
||||
|
||||
SpuClosestPointInput input;
|
||||
input.m_convexVertexData[0] = convexVertexDataA;
|
||||
input.m_convexVertexData[1] = convexVertexDataB;
|
||||
btVector3 newOrg = transA.getOrigin() + offset;
|
||||
|
||||
btTransform displacedTrans = transA;
|
||||
displacedTrans.setOrigin(newOrg);
|
||||
|
||||
input.m_transformA = displacedTrans;
|
||||
input.m_transformB = transB;
|
||||
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
|
||||
|
||||
btIntermediateResult res;
|
||||
gjkdet.getClosestPoints(input,res,0);
|
||||
|
||||
btScalar correctedMinNorm = minProj - res.m_depth;
|
||||
|
||||
|
||||
//the penetration depth is over-estimated, relax it
|
||||
btScalar penetration_relaxation= btScalar(1.);
|
||||
minNorm*=penetration_relaxation;
|
||||
|
||||
if (res.m_hasResult)
|
||||
{
|
||||
|
||||
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
|
||||
pb = res.m_pointInWorld;
|
||||
|
||||
#ifdef DEBUG_DRAW
|
||||
if (debugDraw)
|
||||
{
|
||||
btVector3 color(1,0,0);
|
||||
debugDraw->drawLine(pa,pb,color);
|
||||
}
|
||||
#endif//DEBUG_DRAW
|
||||
|
||||
|
||||
} else {
|
||||
// could not seperate shapes
|
||||
//btAssert (false);
|
||||
}
|
||||
return res.m_hasResult;
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,48 @@
|
|||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
||||
#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
|
||||
class btStackAlloc;
|
||||
class btIDebugDraw;
|
||||
class btVoronoiSimplexSolver;
|
||||
class btConvexShape;
|
||||
|
||||
///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
|
||||
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
|
||||
class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public:
|
||||
SpuMinkowskiPenetrationDepthSolver() {}
|
||||
virtual ~SpuMinkowskiPenetrationDepthSolver() {};
|
||||
|
||||
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
const btConvexShape* convexA,const btConvexShape* convexB,
|
||||
const btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btVector3& pa, btVector3& pb,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
|
||||
);
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
||||
|
||||
|
|
@ -0,0 +1,70 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
|
||||
#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
|
||||
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
|
||||
int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape)
|
||||
{
|
||||
switch (shapeType)
|
||||
{
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
return 2;
|
||||
//spu_printf("2\n");
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
#if __ASSERT
|
||||
spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
|
||||
#endif // __ASSERT
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector)
|
||||
{
|
||||
|
||||
|
||||
switch (shapeType)
|
||||
{
|
||||
case TRIANGLE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
btVector3* vertices = (btVector3*)shape;
|
||||
///calcNormal
|
||||
penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
|
||||
penetrationVector.normalize();
|
||||
if (index)
|
||||
penetrationVector *= btScalar(-1.);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
|
||||
#if __ASSERT
|
||||
spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
|
||||
#endif // __ASSERT
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,66 @@
|
|||
/*
|
||||
Copyright (C) 2006, 2008 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
|
||||
*/
|
||||
|
||||
|
||||
#ifndef __BOXBOXDISTANCE_H__
|
||||
#define __BOXBOXDISTANCE_H__
|
||||
|
||||
|
||||
#include "Box.h"
|
||||
|
||||
using namespace Vectormath::Aos;
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// boxBoxDistance:
|
||||
//
|
||||
// description:
|
||||
// this computes info that can be used for the collision response of two boxes. when the boxes
|
||||
// do not overlap, the points are set to the closest points of the boxes, and a positive
|
||||
// distance between them is returned. if the boxes do overlap, a negative distance is returned
|
||||
// and the points are set to two points that would touch after the boxes are translated apart.
|
||||
// the contact normal gives the direction to repel or separate the boxes when they touch or
|
||||
// overlap (it's being approximated here as one of the 15 "separating axis" directions).
|
||||
//
|
||||
// returns:
|
||||
// positive or negative distance between two boxes.
|
||||
//
|
||||
// args:
|
||||
// Vector3& normal: set to a unit contact normal pointing from box A to box B.
|
||||
//
|
||||
// BoxPoint& boxPointA, BoxPoint& boxPointB:
|
||||
// set to a closest point or point of penetration on each box.
|
||||
//
|
||||
// Box boxA, Box boxB:
|
||||
// boxes, represented as 3 half-widths
|
||||
//
|
||||
// const Transform3& transformA, const Transform3& transformB:
|
||||
// box transformations, in world coordinates
|
||||
//
|
||||
// float distanceThreshold:
|
||||
// the algorithm will exit early if it finds that the boxes are more distant than this
|
||||
// threshold, and not compute a contact normal or points. if this distance returned
|
||||
// exceeds the threshold, all the other output data may not have been computed. by
|
||||
// default, this is set to MAX_FLOAT so it will have no effect.
|
||||
//
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
float
|
||||
boxBoxDistance(Vector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const Transform3 & transformA, PE_REF(Box) boxB,
|
||||
const Transform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
|
|
@ -0,0 +1 @@
|
|||
Empty placeholder for future Libspe2 SPU task
|
||||
Loading…
Add table
Add a link
Reference in a new issue