1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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11 | 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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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | #include <new> |
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17 | #include "BulletCollision/CollisionShapes/btCollisionShape.h" |
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18 | #include "LinearMath/btAlignedAllocator.h" |
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19 | #include "SpuBatchRaycaster.h" |
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20 | |
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21 | SpuBatchRaycaster::SpuBatchRaycaster (class btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks) |
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22 | { |
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23 | m_threadInterface = threadInterface; |
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24 | |
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25 | castUponObjectWrappers = NULL; |
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26 | numCastUponObjectWrappers = 0; |
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27 | |
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28 | m_spuRaycastTaskProcess = new SpuRaycastTaskProcess(m_threadInterface,maxNumOutstandingTasks); // FIXME non constant |
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29 | } |
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30 | |
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31 | SpuBatchRaycaster::~SpuBatchRaycaster () |
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32 | { |
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33 | if (castUponObjectWrappers) |
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34 | { |
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35 | btAlignedFree (castUponObjectWrappers); |
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36 | castUponObjectWrappers = NULL; |
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37 | } |
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38 | } |
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39 | |
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40 | void |
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41 | SpuBatchRaycaster::setCollisionObjects (btCollisionObjectArray& castUponObjects, int numCastUponObjects) |
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42 | { |
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43 | if (castUponObjectWrappers) |
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44 | { |
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45 | btAlignedFree (castUponObjectWrappers); |
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46 | castUponObjectWrappers = NULL; |
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47 | } |
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48 | |
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49 | castUponObjectWrappers = (SpuCollisionObjectWrapper*)btAlignedAlloc (sizeof(SpuCollisionObjectWrapper) * numCastUponObjects,16); |
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50 | numCastUponObjectWrappers = numCastUponObjects; |
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51 | |
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52 | for (int i = 0; i < numCastUponObjectWrappers; i++) |
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53 | { |
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54 | castUponObjectWrappers[i] = SpuCollisionObjectWrapper(castUponObjects[i]); |
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55 | } |
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56 | } |
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57 | |
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58 | void |
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59 | SpuBatchRaycaster::setCollisionObjectsSkipPE (btCollisionObjectArray& castUponObjects, int numCastUponObjects) |
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60 | { |
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61 | if (castUponObjectWrappers) |
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62 | { |
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63 | btAlignedFree (castUponObjectWrappers); |
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64 | castUponObjectWrappers = NULL; |
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65 | } |
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66 | |
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67 | int numNonPEShapes = 0; |
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68 | for (int i = 0; i < numCastUponObjects; i++) |
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69 | { |
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70 | const btCollisionShape* shape = castUponObjects[i]->getCollisionShape(); |
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71 | |
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72 | if (shape->getShapeType () == BOX_SHAPE_PROXYTYPE || |
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73 | shape->getShapeType () == SPHERE_SHAPE_PROXYTYPE || |
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74 | shape->getShapeType () == CAPSULE_SHAPE_PROXYTYPE) |
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75 | { |
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76 | continue; |
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77 | } |
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78 | |
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79 | numNonPEShapes++; |
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80 | } |
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81 | |
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82 | castUponObjectWrappers = (SpuCollisionObjectWrapper*)btAlignedAlloc (sizeof(SpuCollisionObjectWrapper) * numNonPEShapes,16); |
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83 | numCastUponObjectWrappers = numNonPEShapes; |
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84 | |
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85 | int index = 0; |
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86 | for (int i = 0; i < numCastUponObjects; i++) |
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87 | { |
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88 | const btCollisionShape* shape = castUponObjects[i]->getCollisionShape(); |
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89 | |
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90 | if (shape->getShapeType () == BOX_SHAPE_PROXYTYPE || |
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91 | shape->getShapeType () == SPHERE_SHAPE_PROXYTYPE || |
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92 | shape->getShapeType () == CAPSULE_SHAPE_PROXYTYPE) |
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93 | { |
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94 | continue; |
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95 | } |
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96 | |
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97 | castUponObjectWrappers[index] = SpuCollisionObjectWrapper(castUponObjects[i]); |
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98 | index++; |
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99 | } |
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100 | |
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101 | // printf("Number of shapes bullet is casting against: %d\n", numNonPEShapes); |
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102 | btAssert (index == numNonPEShapes); |
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103 | } |
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104 | |
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105 | void |
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106 | SpuBatchRaycaster::addRay (const btVector3& rayFrom, const btVector3& rayTo, const btScalar hitFraction) |
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107 | { |
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108 | SpuRaycastTaskWorkUnitOut workUnitOut; |
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109 | workUnitOut.hitFraction = hitFraction; |
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110 | workUnitOut.hitNormal = btVector3(0.0, 1.0, 0.0); |
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111 | |
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112 | rayBatchOutput.push_back (workUnitOut); |
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113 | |
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114 | SpuRaycastTaskWorkUnit workUnit; |
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115 | workUnit.rayFrom = rayFrom; |
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116 | workUnit.rayTo = rayTo; |
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117 | rayBatch.push_back (workUnit); |
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118 | } |
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119 | |
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120 | void |
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121 | SpuBatchRaycaster::clearRays () |
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122 | { |
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123 | rayBatch.clear (); |
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124 | rayBatchOutput.clear (); |
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125 | } |
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126 | |
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127 | void |
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128 | SpuBatchRaycaster::performBatchRaycast () |
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129 | { |
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130 | m_spuRaycastTaskProcess->initialize2 (castUponObjectWrappers, numCastUponObjectWrappers); |
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131 | |
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132 | for (int i = 0; i < rayBatch.size(); i++) |
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133 | { |
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134 | rayBatch[i].output = &rayBatchOutput[i]; // assign output memory location |
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135 | m_spuRaycastTaskProcess->addWorkToTask(rayBatch[i]); |
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136 | } |
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137 | |
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138 | m_spuRaycastTaskProcess->flush2 (); |
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139 | } |
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140 | |
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141 | const SpuRaycastTaskWorkUnitOut& |
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142 | SpuBatchRaycaster::operator [] (int i) const |
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143 | { |
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144 | return rayBatchOutput[i]; |
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145 | } |
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146 | |
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147 | int |
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148 | SpuBatchRaycaster::getNumRays () const |
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149 | { |
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150 | return rayBatchOutput.size(); |
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151 | } |
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