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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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26
src/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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@@ -6,6 +6,7 @@
#include "../SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
#include "SpuSubSimplexConvexCast.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
/* Future optimization strategies:
@@ -79,7 +80,7 @@ void GatherCollisionObjectAndShapeData (RaycastGatheredObjectData* gatheredObjec
gatheredObjectData->m_collisionMargin = lsMemPtr->getCollisionObjectWrapper()->getCollisionMargin ();
gatheredObjectData->m_shapeType = lsMemPtr->getCollisionObjectWrapper()->getShapeType ();
gatheredObjectData->m_collisionShape = (ppu_address_t)lsMemPtr->getColObj()->getCollisionShape();
gatheredObjectData->m_spuCollisionShape = (void*)&lsMemPtr->gCollisionShape.collisionShape;
gatheredObjectData->m_spuCollisionShape = (btConvexShape*)&lsMemPtr->gCollisionShape.collisionShape;
/* DMA shape data */
dmaCollisionShape (gatheredObjectData->m_spuCollisionShape, gatheredObjectData->m_collisionShape, 1, gatheredObjectData->m_shapeType);
@@ -254,7 +255,8 @@ public:
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
btTriangleShape triangle(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
triangleGatheredObjectData.m_spuCollisionShape = ▵
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
@@ -361,7 +363,8 @@ public:
RaycastGatheredObjectData triangleGatheredObjectData (*m_gatheredObjectData);
triangleGatheredObjectData.m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
triangleGatheredObjectData.m_spuCollisionShape = &spuTriangleVertices[0];
btTriangleShape triangle(spuTriangleVertices[0],spuTriangleVertices[1],spuTriangleVertices[2]);
triangleGatheredObjectData.m_spuCollisionShape = ▵
//printf("%f %f %f\n", spuTriangleVertices[0][0],spuTriangleVertices[0][1],spuTriangleVertices[0][2]);
//printf("%f %f %f\n", spuTriangleVertices[1][0],spuTriangleVertices[1][1],spuTriangleVertices[1][2]);
@@ -395,7 +398,7 @@ void spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
{
int curIndex = startNodeIndex;
int walkIterations = 0;
int subTreeSize = endNodeIndex - startNodeIndex;
//int subTreeSize = endNodeIndex - startNodeIndex;
int escapeIndex;
@@ -503,8 +506,8 @@ void spuWalkStacklessQuantizedTreeAgainstRays(RaycastTask_LocalStoreMemory* lsMe
void performRaycastAgainstConcave (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit* workUnits, SpuRaycastTaskWorkUnitOut* workUnitsOut, int numWorkUnits, RaycastTask_LocalStoreMemory* lsMemPtr)
{
//order: first collision shape is convex, second concave. m_isSwapped is true, if the original order was opposite
register int dmaSize;
register ppu_address_t dmaPpuAddress2;
// register int dmaSize;
// register ppu_address_t dmaPpuAddress2;
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)gatheredObjectData->m_spuCollisionShape;
@@ -632,7 +635,7 @@ void performRaycastAgainstCompound (RaycastGatheredObjectData* gatheredObjectDat
void
performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, const SpuRaycastTaskWorkUnit& workUnit, SpuRaycastTaskWorkUnitOut* workUnitOut, RaycastTask_LocalStoreMemory* lsMemPtr)
{
SpuVoronoiSimplexSolver simplexSolver;
btVoronoiSimplexSolver simplexSolver;
btTransform rayFromTrans, rayToTrans;
rayFromTrans.setIdentity ();
@@ -660,7 +663,7 @@ performRaycastAgainstConvex (RaycastGatheredObjectData* gatheredObjectData, cons
}
/* performRaycast */
SpuSubsimplexRayCast caster (gatheredObjectData->m_spuCollisionShape, &lsMemPtr->convexVertexData, gatheredObjectData->m_shapeType, gatheredObjectData->m_collisionMargin, &simplexSolver);
SpuSubsimplexRayCast caster ((btConvexShape*)gatheredObjectData->m_spuCollisionShape, &lsMemPtr->convexVertexData, gatheredObjectData->m_shapeType, gatheredObjectData->m_collisionMargin, &simplexSolver);
bool r = caster.calcTimeOfImpact (rayFromTrans, rayToTrans, gatheredObjectData->m_worldTransform, gatheredObjectData->m_worldTransform,result);
if (r)
@@ -682,7 +685,7 @@ void processRaycastTask(void* userPtr, void* lsMemory)
//spu_printf("in processRaycastTask %d\n", taskDesc.numSpuCollisionObjectWrappers);
/* for each object */
RaycastGatheredObjectData gatheredObjectData;
for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
for (unsigned int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
{
//spu_printf("%d / %d\n", objectId, taskDesc.numSpuCollisionObjectWrappers);
@@ -692,14 +695,15 @@ void processRaycastTask(void* userPtr, void* lsMemory)
if (btBroadphaseProxy::isConcave (gatheredObjectData.m_shapeType))
{
SpuRaycastTaskWorkUnitOut tWorkUnitsOut[SPU_RAYCAST_WORK_UNITS_PER_TASK];
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
unsigned int rayId ;
for (rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
tWorkUnitsOut[rayId].hitFraction = 1.0;
}
performRaycastAgainstConcave (&gatheredObjectData, &taskDesc.workUnits[0], &tWorkUnitsOut[0], taskDesc.numWorkUnits, localMemory);
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
for (rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
const SpuRaycastTaskWorkUnit& workUnit = taskDesc.workUnits[rayId];
if (tWorkUnitsOut[rayId].hitFraction == 1.0)