mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-11 01:40:10 +00:00
152 lines
4.4 KiB
C++
152 lines
4.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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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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#include <new>
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "LinearMath/btAlignedAllocator.h"
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#include "SpuBatchRaycaster.h"
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SpuBatchRaycaster::SpuBatchRaycaster (class btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks)
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{
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m_threadInterface = threadInterface;
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castUponObjectWrappers = NULL;
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numCastUponObjectWrappers = 0;
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m_spuRaycastTaskProcess = new SpuRaycastTaskProcess(m_threadInterface,maxNumOutstandingTasks); // FIXME non constant
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}
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SpuBatchRaycaster::~SpuBatchRaycaster ()
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{
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if (castUponObjectWrappers)
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{
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btAlignedFree (castUponObjectWrappers);
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castUponObjectWrappers = NULL;
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}
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}
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void
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SpuBatchRaycaster::setCollisionObjects (btCollisionObjectArray& castUponObjects, int numCastUponObjects)
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{
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if (castUponObjectWrappers)
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{
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btAlignedFree (castUponObjectWrappers);
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castUponObjectWrappers = NULL;
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}
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castUponObjectWrappers = (SpuCollisionObjectWrapper*)btAlignedAlloc (sizeof(SpuCollisionObjectWrapper) * numCastUponObjects,16);
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numCastUponObjectWrappers = numCastUponObjects;
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for (int i = 0; i < numCastUponObjectWrappers; i++)
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{
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castUponObjectWrappers[i] = SpuCollisionObjectWrapper(castUponObjects[i]);
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}
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}
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void
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SpuBatchRaycaster::setCollisionObjectsSkipPE (btCollisionObjectArray& castUponObjects, int numCastUponObjects)
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{
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if (castUponObjectWrappers)
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{
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btAlignedFree (castUponObjectWrappers);
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castUponObjectWrappers = NULL;
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}
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int numNonPEShapes = 0;
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for (int i = 0; i < numCastUponObjects; i++)
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{
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const btCollisionShape* shape = castUponObjects[i]->getCollisionShape();
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if (shape->getShapeType () == BOX_SHAPE_PROXYTYPE ||
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shape->getShapeType () == SPHERE_SHAPE_PROXYTYPE ||
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shape->getShapeType () == CAPSULE_SHAPE_PROXYTYPE)
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{
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continue;
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}
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numNonPEShapes++;
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}
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castUponObjectWrappers = (SpuCollisionObjectWrapper*)btAlignedAlloc (sizeof(SpuCollisionObjectWrapper) * numNonPEShapes,16);
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numCastUponObjectWrappers = numNonPEShapes;
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int index = 0;
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for (int i = 0; i < numCastUponObjects; i++)
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{
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const btCollisionShape* shape = castUponObjects[i]->getCollisionShape();
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if (shape->getShapeType () == BOX_SHAPE_PROXYTYPE ||
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shape->getShapeType () == SPHERE_SHAPE_PROXYTYPE ||
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shape->getShapeType () == CAPSULE_SHAPE_PROXYTYPE)
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{
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continue;
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}
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castUponObjectWrappers[index] = SpuCollisionObjectWrapper(castUponObjects[i]);
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index++;
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}
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// printf("Number of shapes bullet is casting against: %d\n", numNonPEShapes);
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btAssert (index == numNonPEShapes);
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}
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void
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SpuBatchRaycaster::addRay (const btVector3& rayFrom, const btVector3& rayTo, const btScalar hitFraction)
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{
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SpuRaycastTaskWorkUnitOut workUnitOut;
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workUnitOut.hitFraction = hitFraction;
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workUnitOut.hitNormal = btVector3(0.0, 1.0, 0.0);
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rayBatchOutput.push_back (workUnitOut);
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SpuRaycastTaskWorkUnit workUnit;
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workUnit.rayFrom = rayFrom;
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workUnit.rayTo = rayTo;
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rayBatch.push_back (workUnit);
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}
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void
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SpuBatchRaycaster::clearRays ()
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{
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rayBatch.clear ();
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rayBatchOutput.clear ();
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}
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void
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SpuBatchRaycaster::performBatchRaycast ()
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{
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m_spuRaycastTaskProcess->initialize2 (castUponObjectWrappers, numCastUponObjectWrappers);
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for (int i = 0; i < rayBatch.size(); i++)
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{
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rayBatch[i].output = &rayBatchOutput[i]; // assign output memory location
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m_spuRaycastTaskProcess->addWorkToTask(rayBatch[i]);
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}
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m_spuRaycastTaskProcess->flush2 ();
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}
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const SpuRaycastTaskWorkUnitOut&
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SpuBatchRaycaster::operator [] (int i) const
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{
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return rayBatchOutput[i];
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}
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int
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SpuBatchRaycaster::getNumRays () const
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{
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return rayBatchOutput.size();
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}
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