mirror of
https://github.com/Ragora/T2-CPP.git
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Ported Bullet to the mod loader system; needs further work
This commit is contained in:
Robert MacGregor
parent
527474ff24
commit
06810b6cca
353 changed files with 80265 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.
|
||||
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.
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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 "vectormath/vmInclude.h"
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#include "../PlatformDefinitions.h"
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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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vmVector3 mHalf;
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inline Box()
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{}
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inline Box(PE_REF(vmVector3) half_);
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inline Box(float hx, float hy, float hz);
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inline void Set(PE_REF(vmVector3) half_);
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inline void Set(float hx, float hy, float hz);
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inline vmVector3 GetAABB(const vmMatrix3& rotation) const;
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};
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inline
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Box::Box(PE_REF(vmVector3) 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(vmVector3) half_)
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{
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mHalf = 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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mHalf = vmVector3(hx, hy, hz);
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}
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inline
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vmVector3
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Box::GetAABB(const vmMatrix3& rotation) const
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{
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return absPerElem(rotation) * mHalf;
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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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vmPoint3 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 +1,128 @@
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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.
|
||||
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.
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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 __SPU_COLLISION_SHAPES_H
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#define __SPU_COLLISION_SHAPES_H
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#include "../SpuDoubleBuffer.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#define MAX_NUM_SPU_CONVEX_POINTS 128 //@fallback to PPU if a btConvexHullShape has more than MAX_NUM_SPU_CONVEX_POINTS points
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#define MAX_SPU_COMPOUND_SUBSHAPES 16 //@fallback on PPU if compound has more than MAX_SPU_COMPOUND_SUBSHAPES child shapes
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#define MAX_SHAPE_SIZE 256 //@todo: assert on this
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ATTRIBUTE_ALIGNED16(struct) SpuConvexPolyhedronVertexData
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{
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void* gSpuConvexShapePtr;
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btVector3* gConvexPoints;
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int gNumConvexPoints;
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int unused;
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ATTRIBUTE_ALIGNED16(btVector3 g_convexPointBuffer[MAX_NUM_SPU_CONVEX_POINTS]);
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};
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ATTRIBUTE_ALIGNED16(struct) CollisionShape_LocalStoreMemory
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{
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ATTRIBUTE_ALIGNED16(char collisionShape[MAX_SHAPE_SIZE]);
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};
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ATTRIBUTE_ALIGNED16(struct) CompoundShape_LocalStoreMemory
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{
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// Compound data
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ATTRIBUTE_ALIGNED16(btCompoundShapeChild gSubshapes[MAX_SPU_COMPOUND_SUBSHAPES]);
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ATTRIBUTE_ALIGNED16(char gSubshapeShape[MAX_SPU_COMPOUND_SUBSHAPES][MAX_SHAPE_SIZE]);
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};
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ATTRIBUTE_ALIGNED16(struct) bvhMeshShape_LocalStoreMemory
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{
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//ATTRIBUTE_ALIGNED16(btOptimizedBvh gOptimizedBvh);
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ATTRIBUTE_ALIGNED16(char gOptimizedBvh[sizeof(btOptimizedBvh)+16]);
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btOptimizedBvh* getOptimizedBvh()
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{
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return (btOptimizedBvh*) gOptimizedBvh;
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}
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ATTRIBUTE_ALIGNED16(btTriangleIndexVertexArray gTriangleMeshInterfaceStorage);
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btTriangleIndexVertexArray* gTriangleMeshInterfacePtr;
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///only a single mesh part for now, we can add support for multiple parts, but quantized trees don't support this at the moment
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ATTRIBUTE_ALIGNED16(btIndexedMesh gIndexMesh);
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#define MAX_SPU_SUBTREE_HEADERS 32
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//1024
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ATTRIBUTE_ALIGNED16(btBvhSubtreeInfo gSubtreeHeaders[MAX_SPU_SUBTREE_HEADERS]);
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ATTRIBUTE_ALIGNED16(btQuantizedBvhNode gSubtreeNodes[MAX_SUBTREE_SIZE_IN_BYTES/sizeof(btQuantizedBvhNode)]);
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};
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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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void dmaBvhShapeData (bvhMeshShape_LocalStoreMemory* bvhMeshShape, btBvhTriangleMeshShape* triMeshShape);
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void dmaBvhIndexedMesh (btIndexedMesh* IndexMesh, IndexedMeshArray& indexArray, int index, uint32_t dmaTag);
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void dmaBvhSubTreeHeaders (btBvhSubtreeInfo* subTreeHeaders, ppu_address_t subTreePtr, int batchSize, uint32_t dmaTag);
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void dmaBvhSubTreeNodes (btQuantizedBvhNode* nodes, const btBvhSubtreeInfo& subtree, QuantizedNodeArray& nodeArray, int dmaTag);
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int getShapeTypeSize(int shapeType);
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void dmaConvexVertexData (SpuConvexPolyhedronVertexData* convexVertexData, btConvexHullShape* convexShapeSPU);
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void dmaCollisionShape (void* collisionShapeLocation, ppu_address_t collisionShapePtr, uint32_t dmaTag, int shapeType);
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void dmaCompoundShapeInfo (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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void dmaCompoundSubShapes (CompoundShape_LocalStoreMemory* compoundShapeLocation, btCompoundShape* spuCompoundShape, uint32_t dmaTag);
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#define USE_BRANCHFREE_TEST 1
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#ifdef USE_BRANCHFREE_TEST
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SIMD_FORCE_INLINE unsigned int spuTestQuantizedAabbAgainstQuantizedAabb(unsigned short int* aabbMin1,unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
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{
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#if defined(__CELLOS_LV2__) && defined (__SPU__)
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vec_ushort8 vecMin = {aabbMin1[0],aabbMin2[0],aabbMin1[2],aabbMin2[2],aabbMin1[1],aabbMin2[1],0,0};
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vec_ushort8 vecMax = {aabbMax2[0],aabbMax1[0],aabbMax2[2],aabbMax1[2],aabbMax2[1],aabbMax1[1],0,0};
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vec_ushort8 isGt = spu_cmpgt(vecMin,vecMax);
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return spu_extract(spu_gather(isGt),0)==0;
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#else
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return btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
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& (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
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& (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
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1, 0);
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#endif
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}
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#else
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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)
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||||
{
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unsigned int overlap = 1;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? 0 : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? 0 : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? 0 : overlap;
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return overlap;
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}
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#endif
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void spuWalkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,const btQuantizedBvhNode* rootNode,int startNodeIndex,int endNodeIndex);
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|
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#endif
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|
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@ -0,0 +1,106 @@
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/*
|
||||
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
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||||
|
||||
|
||||
#ifndef _WIN32
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||||
#include <stdint.h>
|
||||
#endif
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||||
|
||||
|
||||
|
||||
#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
|
||||
|
||||
|
|
@ -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 +1,48 @@
|
|||
|
||||
/*
|
||||
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
|
||||
|
|
@ -0,0 +1,65 @@
|
|||
/*
|
||||
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"
|
||||
|
||||
|
||||
//---------------------------------------------------------------------------
|
||||
// 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:
|
||||
// vmVector3& 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 vmTransform3& transformA, const vmTransform3& 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(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
||||
PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB,
|
||||
const vmTransform3 & transformB,
|
||||
float distanceThreshold = FLT_MAX );
|
||||
|
||||
#endif /* __BOXBOXDISTANCE_H__ */
|
||||
Loading…
Add table
Add a link
Reference in a new issue