mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
Added preliminary cmake support for PE branch, Win32 only for now.
This commit is contained in:
erwin.coumans
parent
22ff43e388
commit
f10846ed7a
@ -42,8 +42,11 @@ typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispa
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///Time of Impact, Closest Points and Penetration Depth.
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class btCollisionDispatcher : public btDispatcher
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{
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protected:
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int m_dispatcherFlags;
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btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
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btManifoldResult m_defaultManifoldResult;
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@ -277,13 +277,13 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
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nodeSubPart);
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unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
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btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT||indicestype==PHY_UCHAR);
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const btVector3& meshScaling = m_meshInterface->getScaling();
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for (int j=2;j>=0;j--)
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{
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
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int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:indicestype==PHY_INTEGER?gfxbase[j]:((unsigned char*)gfxbase)[j];
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#ifdef DEBUG_TRIANGLE_MESH
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@ -88,6 +88,21 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
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}
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break;
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}
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case PHY_UCHAR:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
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graphicsbase = (float*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (float*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(), graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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default:
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btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
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}
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@ -130,6 +145,21 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
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}
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break;
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}
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case PHY_UCHAR:
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{
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
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graphicsbase = (double*)(vertexbase+tri_indices[0]*stride);
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triangle[0].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(),(btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[1]*stride);
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triangle[1].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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graphicsbase = (double*)(vertexbase+tri_indices[2]*stride);
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triangle[2].setValue((btScalar)graphicsbase[0]*meshScaling.getX(),(btScalar)graphicsbase[1]*meshScaling.getY(), (btScalar)graphicsbase[2]*meshScaling.getZ());
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callback->internalProcessTriangleIndex(triangle,part,gfxindex);
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}
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break;
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}
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default:
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btAssert((gfxindextype == PHY_INTEGER) || (gfxindextype == PHY_SHORT));
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}
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@ -266,6 +296,24 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
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}
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break;
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}
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case PHY_UCHAR:
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{
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if (numtriangles)
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{
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btChunk* chunk = serializer->allocate(sizeof(btCharIndexTripletData),numtriangles);
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btCharIndexTripletData* tmpIndices = (btCharIndexTripletData*)chunk->m_oldPtr;
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memPtr->m_3indices8 = (btCharIndexTripletData*) serializer->getUniquePointer(tmpIndices);
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for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
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{
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unsigned char* tri_indices= (unsigned char*)(indexbase+gfxindex*indexstride);
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tmpIndices[gfxindex].m_values[0] = tri_indices[0];
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tmpIndices[gfxindex].m_values[1] = tri_indices[1];
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tmpIndices[gfxindex].m_values[2] = tri_indices[2];
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}
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serializer->finalizeChunk(chunk,"btCharIndexTripletData",BT_ARRAY_CODE,(void*)chunk->m_oldPtr);
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}
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break;
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}
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default:
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{
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btAssert(0);
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@ -116,6 +116,13 @@ struct btShortIntIndexTripletData
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char m_pad[2];
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};
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struct btCharIndexTripletData
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{
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unsigned char m_values[3];
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char m_pad;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btMeshPartData
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{
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@ -124,6 +131,7 @@ struct btMeshPartData
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btIntIndexData *m_indices32;
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btShortIntIndexTripletData *m_3indices16;
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btCharIndexTripletData *m_3indices8;
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btShortIntIndexData *m_indices16;//backwards compatibility
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@ -19,16 +19,21 @@ subject to the following restrictions:
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransformUtil.h"
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// Don't change following order of parameters
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ATTRIBUTE_ALIGNED16(struct) PfxConstraintRow {
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btScalar mNormal[3];
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btScalar mRhs;
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btScalar mJacDiagInv;
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btScalar mLowerLimit;
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btScalar mUpperLimit;
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btScalar mAccumImpulse;
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};
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#if 1 //#ifdef PFX_USE_FREE_VECTORMATH
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#include "physics_effects\base_level\solver\pfx_constraint_row.h"
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typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
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#else
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// Don't change following order of parameters
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ATTRIBUTE_ALIGNED16(struct) btConstraintRow {
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btScalar m_normal[3];
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btScalar m_rhs;
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btScalar m_jacDiagInv;
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btScalar m_lowerLimit;
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btScalar m_upperLimit;
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btScalar m_accumImpulse;
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};
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typedef btConstraintRow PfxConstraintRow;
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#endif //PFX_USE_FREE_VECTORMATH
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@ -71,9 +76,9 @@ class btManifoldPoint
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m_contactCFM2(0.f),
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m_lifeTime(0)
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{
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mConstraintRow[0].mAccumImpulse = 0.f;
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mConstraintRow[1].mAccumImpulse = 0.f;
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mConstraintRow[2].mAccumImpulse = 0.f;
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mConstraintRow[0].m_accumImpulse = 0.f;
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mConstraintRow[1].m_accumImpulse = 0.f;
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mConstraintRow[2].m_accumImpulse = 0.f;
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}
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@ -113,7 +118,7 @@ class btManifoldPoint
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PfxConstraintRow mConstraintRow[3];
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btConstraintRow mConstraintRow[3];
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btScalar getDistance() const
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@ -146,9 +146,9 @@ public:
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m_pointCache[index] = m_pointCache[lastUsedIndex];
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//get rid of duplicated userPersistentData pointer
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m_pointCache[lastUsedIndex].m_userPersistentData = 0;
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m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
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m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
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m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
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@ -167,9 +167,9 @@ public:
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#define MAINTAIN_PERSISTENCY 1
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#ifdef MAINTAIN_PERSISTENCY
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int lifeTime = m_pointCache[insertIndex].getLifeTime();
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btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
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btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
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btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
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btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
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btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
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btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
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// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
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@ -184,9 +184,9 @@ public:
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m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
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m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
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m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse = appliedImpulse;
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m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
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m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
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m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse = appliedImpulse;
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m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
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m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
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m_pointCache[insertIndex].m_lifeTime = lifeTime;
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@ -89,7 +89,7 @@ class btRigidBody : public btCollisionObject
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int m_rigidbodyFlags;
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int m_debugBodyId;
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protected:
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@ -617,6 +617,7 @@ public:
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void internalWritebackVelocity(btScalar timeStep);
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///////////////////////////////////////////////
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@ -5,7 +5,7 @@
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btMinMax.h"
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#include "vectormath/vmInclude.h"
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#include "vecmath/vmInclude.h"
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@ -27,11 +27,9 @@ typedef union
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typedef unsigned char uint8_t;
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#ifndef __PHYSICS_COMMON_H__
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#ifndef __PFX_COMMON_H__
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#ifndef __BT_SKIP_UINT64_H
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typedef unsigned long int uint64_t;
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#endif //__BT_SKIP_UINT64_H
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#endif //__PFX_COMMON_H__
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typedef unsigned int uint32_t;
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#endif //__PHYSICS_COMMON_H__
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typedef unsigned short uint16_t;
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@ -24,7 +24,7 @@ subject to the following restrictions:
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#include <math.h>
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#include "vectormath/vmInclude.h"
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#include "vecmath/vmInclude.h"
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#include "../PlatformDefinitions.h"
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@ -18,7 +18,7 @@ subject to the following restrictions:
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#define __TRBSTATEVEC_H__
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#include <stdlib.h>
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#include "vectormath/vmInclude.h"
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#include "vecmath/vmInclude.h"
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#include "PlatformDefinitions.h"
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@ -21,7 +21,7 @@ subject to the following restrictions:
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#include "LinearMath/btQuickprof.h"
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#include "BulletMultiThreaded/btThreadSupportInterface.h"
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#include "vectormath/vmInclude.h"
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#include "vecmath/vmInclude.h"
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#include "HeapManager.h"
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@ -92,20 +92,20 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
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static SIMD_FORCE_INLINE
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void pfxSolveLinearConstraintRow(PfxConstraintRow &constraint,
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void pfxSolveLinearConstraintRow(btConstraintRow &constraint,
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vmVector3 &deltaLinearVelocityA,vmVector3 &deltaAngularVelocityA,
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float massInvA,const vmMatrix3 &inertiaInvA,const vmVector3 &rA,
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vmVector3 &deltaLinearVelocityB,vmVector3 &deltaAngularVelocityB,
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float massInvB,const vmMatrix3 &inertiaInvB,const vmVector3 &rB)
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{
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const vmVector3 normal(btReadVector3(constraint.mNormal));
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btScalar deltaImpulse = constraint.mRhs;
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const vmVector3 normal(btReadVector3(constraint.m_normal));
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btScalar deltaImpulse = constraint.m_rhs;
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vmVector3 dVA = deltaLinearVelocityA + cross(deltaAngularVelocityA,rA);
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vmVector3 dVB = deltaLinearVelocityB + cross(deltaAngularVelocityB,rB);
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deltaImpulse -= constraint.mJacDiagInv * dot(normal,dVA-dVB);
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btScalar oldImpulse = constraint.mAccumImpulse;
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constraint.mAccumImpulse = btClamped(oldImpulse + deltaImpulse,constraint.mLowerLimit,constraint.mUpperLimit);
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deltaImpulse = constraint.mAccumImpulse - oldImpulse;
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deltaImpulse -= constraint.m_jacDiagInv * dot(normal,dVA-dVB);
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btScalar oldImpulse = constraint.m_accumImpulse;
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constraint.m_accumImpulse = btClamped(oldImpulse + deltaImpulse,constraint.m_lowerLimit,constraint.m_upperLimit);
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deltaImpulse = constraint.m_accumImpulse - oldImpulse;
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deltaLinearVelocityA += deltaImpulse * massInvA * normal;
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deltaAngularVelocityA += deltaImpulse * inertiaInvA * cross(rA,normal);
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deltaLinearVelocityB -= deltaImpulse * massInvB * normal;
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@ -114,9 +114,9 @@ void pfxSolveLinearConstraintRow(PfxConstraintRow &constraint,
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}
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void btSolveContactConstraint(
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PfxConstraintRow &constraintResponse,
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PfxConstraintRow &constraintFriction1,
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PfxConstraintRow &constraintFriction2,
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btConstraintRow &constraintResponse,
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btConstraintRow &constraintFriction1,
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btConstraintRow &constraintFriction2,
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const vmVector3 &contactPointA,
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const vmVector3 &contactPointB,
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PfxSolverBody &solverBodyA,
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@ -131,11 +131,11 @@ void btSolveContactConstraint(
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solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA,
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solverBodyB.mDeltaLinearVelocity,solverBodyB.mDeltaAngularVelocity,solverBodyB.mMassInv,solverBodyB.mInertiaInv,rB);
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float mf = friction*fabsf(constraintResponse.mAccumImpulse);
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constraintFriction1.mLowerLimit = -mf;
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constraintFriction1.mUpperLimit = mf;
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constraintFriction2.mLowerLimit = -mf;
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constraintFriction2.mUpperLimit = mf;
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float mf = friction*fabsf(constraintResponse.m_accumImpulse);
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constraintFriction1.m_lowerLimit = -mf;
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constraintFriction1.m_upperLimit = mf;
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constraintFriction2.m_lowerLimit = -mf;
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constraintFriction2.m_upperLimit = mf;
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pfxSolveLinearConstraintRow(constraintFriction1,
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solverBodyA.mDeltaLinearVelocity,solverBodyA.mDeltaAngularVelocity,solverBodyA.mMassInv,solverBodyA.mInertiaInv,rA,
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@ -226,8 +226,8 @@ void CustomSolveConstraintsTaskParallel(
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vmVector3 rB = rotate(solverBodyB.mOrientation,btReadVector3(cp.m_localPointB));
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for(int k=0;k<3;k++) {
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vmVector3 normal = btReadVector3(cp.mConstraintRow[k].mNormal);
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float deltaImpulse = cp.mConstraintRow[k].mAccumImpulse;
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vmVector3 normal = btReadVector3(cp.mConstraintRow[k].m_normal);
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float deltaImpulse = cp.mConstraintRow[k].m_accumImpulse;
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solverBodyA.mDeltaLinearVelocity += deltaImpulse * solverBodyA.mMassInv * normal;
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solverBodyA.mDeltaAngularVelocity += deltaImpulse * solverBodyA.mInertiaInv * cross(rA,normal);
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solverBodyB.mDeltaLinearVelocity -= deltaImpulse * solverBodyB.mMassInv * normal;
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@ -311,9 +311,9 @@ void pfxGetPlaneSpace(const vmVector3& n, vmVector3& p, vmVector3& q)
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#define PFX_CONTACT_SLOP 0.001f
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void btSetupContactConstraint(
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PfxConstraintRow &constraintResponse,
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PfxConstraintRow &constraintFriction1,
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PfxConstraintRow &constraintFriction2,
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btConstraintRow &constraintResponse,
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btConstraintRow &constraintFriction1,
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btConstraintRow &constraintFriction2,
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float penetrationDepth,
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float restitution,
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float friction,
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@ -342,9 +342,9 @@ void btSetupContactConstraint(
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vmVector3 tangent1,tangent2;
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btPlaneSpace1(contactNormal,tangent1,tangent2);
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// constraintResponse.mAccumImpulse = 0.f;
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// constraintFriction1.mAccumImpulse = 0.f;
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// constraintFriction2.mAccumImpulse = 0.f;
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// constraintResponse.m_accumImpulse = 0.f;
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// constraintFriction1.m_accumImpulse = 0.f;
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// constraintFriction2.m_accumImpulse = 0.f;
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// Contact Constraint
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{
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@ -352,13 +352,13 @@ void btSetupContactConstraint(
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float denom = dot(K*normal,normal);
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constraintResponse.mRhs = -(1.0f+restitution)*dot(vAB,normal); // velocity error
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constraintResponse.mRhs -= (separateBias * btMin(0.0f,penetrationDepth+PFX_CONTACT_SLOP)) / timeStep; // position error
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constraintResponse.mRhs /= denom;
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constraintResponse.mJacDiagInv = 1.0f/denom;
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constraintResponse.mLowerLimit = 0.0f;
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constraintResponse.mUpperLimit = SIMD_INFINITY;
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btStoreVector3(normal,constraintResponse.mNormal);
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constraintResponse.m_rhs = -(1.0f+restitution)*dot(vAB,normal); // velocity error
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constraintResponse.m_rhs -= (separateBias * btMin(0.0f,penetrationDepth+PFX_CONTACT_SLOP)) / timeStep; // position error
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constraintResponse.m_rhs /= denom;
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constraintResponse.m_jacDiagInv = 1.0f/denom;
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constraintResponse.m_lowerLimit = 0.0f;
|
||||
constraintResponse.m_upperLimit = SIMD_INFINITY;
|
||||
btStoreVector3(normal,constraintResponse.m_normal);
|
||||
}
|
||||
|
||||
// Friction Constraint 1
|
||||
@ -367,12 +367,12 @@ void btSetupContactConstraint(
|
||||
|
||||
float denom = dot(K*normal,normal);
|
||||
|
||||
constraintFriction1.mJacDiagInv = 1.0f/denom;
|
||||
constraintFriction1.mRhs = -dot(vAB,normal);
|
||||
constraintFriction1.mRhs *= constraintFriction1.mJacDiagInv;
|
||||
constraintFriction1.mLowerLimit = 0.0f;
|
||||
constraintFriction1.mUpperLimit = SIMD_INFINITY;
|
||||
btStoreVector3(normal,constraintFriction1.mNormal);
|
||||
constraintFriction1.m_jacDiagInv = 1.0f/denom;
|
||||
constraintFriction1.m_rhs = -dot(vAB,normal);
|
||||
constraintFriction1.m_rhs *= constraintFriction1.m_jacDiagInv;
|
||||
constraintFriction1.m_lowerLimit = 0.0f;
|
||||
constraintFriction1.m_upperLimit = SIMD_INFINITY;
|
||||
btStoreVector3(normal,constraintFriction1.m_normal);
|
||||
}
|
||||
|
||||
// Friction Constraint 2
|
||||
@ -381,12 +381,12 @@ void btSetupContactConstraint(
|
||||
|
||||
float denom = dot(K*normal,normal);
|
||||
|
||||
constraintFriction2.mJacDiagInv = 1.0f/denom;
|
||||
constraintFriction2.mRhs = -dot(vAB,normal);
|
||||
constraintFriction2.mRhs *= constraintFriction2.mJacDiagInv;
|
||||
constraintFriction2.mLowerLimit = 0.0f;
|
||||
constraintFriction2.mUpperLimit = SIMD_INFINITY;
|
||||
btStoreVector3(normal,constraintFriction2.mNormal);
|
||||
constraintFriction2.m_jacDiagInv = 1.0f/denom;
|
||||
constraintFriction2.m_rhs = -dot(vAB,normal);
|
||||
constraintFriction2.m_rhs *= constraintFriction2.m_jacDiagInv;
|
||||
constraintFriction2.m_lowerLimit = 0.0f;
|
||||
constraintFriction2.m_upperLimit = SIMD_INFINITY;
|
||||
btStoreVector3(normal,constraintFriction2.m_normal);
|
||||
}
|
||||
}
|
||||
|
||||
@ -435,7 +435,7 @@ void CustomSetupContactConstraintsTask(
|
||||
cp.getDistance(),
|
||||
restitution,
|
||||
friction,
|
||||
btReadVector3(cp.m_normalWorldOnB),//.mConstraintRow[0].mNormal),
|
||||
btReadVector3(cp.m_normalWorldOnB),//.mConstraintRow[0].m_normal),
|
||||
btReadVector3(cp.m_localPointA),
|
||||
btReadVector3(cp.m_localPointB),
|
||||
stateA,
|
||||
@ -994,7 +994,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
|
||||
int sz2 = sizeof(vmVector3);
|
||||
int sz3 = sizeof(vmMatrix3);
|
||||
int sz4 = sizeof(vmQuat);
|
||||
int sz5 = sizeof(PfxConstraintRow);
|
||||
int sz5 = sizeof(btConstraintRow);
|
||||
int sz6 = sizeof(btSolverConstraint);
|
||||
int sz7 = sizeof(TrbState);
|
||||
*/
|
||||
@ -1119,7 +1119,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
|
||||
pfxSetActive(pair,numPosPoints>0);
|
||||
|
||||
pfxSetBroadphaseFlag(pair,0);
|
||||
pfxSetContactId(pair,(uint64_t)m);//contactId);
|
||||
pfxSetContactId(pair,(uint32_t)m);//contactId);
|
||||
pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());
|
||||
actualNumManifolds++;
|
||||
}
|
||||
@ -1279,7 +1279,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
|
||||
pfxSetMotionMaskB(pair,m_memoryCache->m_mystates[idB].getMotionMask());
|
||||
|
||||
pfxSetActive(pair,true);
|
||||
pfxSetContactId(pair,(uint64_t)currentConstraintRow);//contactId);
|
||||
pfxSetContactId(pair,(uint32_t)currentConstraintRow);//contactId);
|
||||
actualNumJoints++;
|
||||
|
||||
|
||||
|
||||
@ -31,7 +31,7 @@
|
||||
#define AOS_VECTORMATH_BULLET_CONVERT_H
|
||||
|
||||
|
||||
#include "vectormath/vmInclude.h"
|
||||
#include "vecmath/vmInclude.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
Loading…
Reference in New Issue
Block a user