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BulletMultiThreaded needs to refreshContactPoint for contact manifold (this has been moved to the collision detector, instead of constraint solver)

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BulletMultiThreaded support function for box shouldn't compensate for the collision margin anymore
This commit is contained in:
ejcoumans 2007-10-14 01:51:07 +00:00
parent 43b0ecd71a
commit ffcdb0f93d
7 changed files with 26 additions and 14 deletions
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14
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@ -366,7 +366,7 @@ void CcdPhysicsDemo::initPhysics()
#endif //DO_BENCHMARK_PYRAMIDS #endif //DO_BENCHMARK_PYRAMIDS
btCollisionDispatcher* dispatcher=0; btCollisionDispatcher* dispatcher=0;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER #ifdef USE_PARALLEL_DISPATCHER
@ -387,10 +387,10 @@ int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
#endif #endif
dispatcher = new SpuGatheringCollisionDispatcher(threadSupportCollision,maxNumOutstandingTasks); dispatcher = new SpuGatheringCollisionDispatcher(threadSupportCollision,maxNumOutstandingTasks,collisionConfiguration);
// dispatcher = new btCollisionDispatcher(); // dispatcher = new btCollisionDispatcher(collisionConfiguration);
#else #else
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher(collisionConfiguration); dispatcher = new btCollisionDispatcher(collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER #endif //USE_PARALLEL_DISPATCHER
@ -450,7 +450,11 @@ int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver); btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
m_dynamicsWorld = world; m_dynamicsWorld = world;
// world->getSolverInfo().m_numIterations = 4;
#ifdef DO_BENCHMARK_PYRAMIDS
world->getSolverInfo().m_numIterations = 4;
#endif //DO_BENCHMARK_PYRAMIDS
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true; m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0)); m_dynamicsWorld->setGravity(btVector3(0,-10,0));

2
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@ -252,7 +252,7 @@ void GimpactConcaveDemo::renderme()
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP); //bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD); bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
glRasterPos3f(xOffset,yStart,0); glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD); sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);

4
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@ -1600,7 +1600,7 @@ void ConcaveDemo::renderme()
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP); //bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD); bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
glRasterPos3f(xOffset,yStart,0); glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD); sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
@ -1643,7 +1643,7 @@ void ConcaveDemo::initGImpactCollision()
void ConcaveDemo::initPhysics() void ConcaveDemo::initPhysics()
{ {
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
//btConstraintSolver* solver = new btSequentialImpulseConstraintSolver; //btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;

8
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@ -170,6 +170,14 @@ void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const b
void SpuContactResult::flush() void SpuContactResult::flush()
{ {
if (m_spuManifold && m_spuManifold->getNumContacts())
{
m_spuManifold->refreshContactPoints(m_rootWorldTransform0,m_rootWorldTransform1);
m_RequiresWriteBack = true;
}
if (m_RequiresWriteBack) if (m_RequiresWriteBack)
{ {
#ifdef DEBUG_SPU_COLLISION_DETECTION #ifdef DEBUG_SPU_COLLISION_DETECTION

5
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
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@ -48,9 +48,8 @@ inline btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape
{ {
// spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n"); // spu_printf("SPU: getSupport BOX_SHAPE_PROXYTYPE\n");
btConvexInternalShape* convexShape = (btConvexInternalShape*)shape; btConvexInternalShape* convexShape = (btConvexInternalShape*)shape;
btVector3 halfExtents = convexShape->getImplicitShapeDimensions(); const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
float margin = convexShape->getMarginNV();
halfExtents -= btVector3(margin,margin,margin);
return btPoint3( return btPoint3(
localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(), localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(), localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),

4
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@ -64,8 +64,8 @@ CONCAVE_SHAPES_END_HERE,
///btBroadphaseProxy ///btBroadphaseProxy
ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy //ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
//struct btBroadphaseProxy struct btBroadphaseProxy
{ {
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();

3
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@ -33,8 +33,9 @@ btOverlappingPairCache::btOverlappingPairCache():
{ {
int initialAllocatedSize= 2; int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize); m_overlappingPairArray.reserve(initialAllocatedSize);
#ifdef USE_HASH_PAIRCACHE
growTables(); growTables();
#endif //USE_HASH_PAIRCACHE
} }