virtual bool processOverlap(btBroadphasePair& collisionPair)
{
//PPU version
//(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
//only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
//by default, Bullet will use this near callback
{
///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
if (!collisionPair.m_internalTmpValue)
{
collisionPair.m_internalTmpValue = 1;
}
if (!collisionPair.m_algorithm)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
ci.m_manifold = 0;
if (m_dispatcher->needsCollision(colObj0,colObj1))
{
int proxyType0 = colObj0->getCollisionShape()->getShapeType();
int proxyType1 = colObj1->getCollisionShape()->getShapeType();
if (m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1))
{
int so = sizeof(SpuContactManifoldCollisionAlgorithm);
#ifdef ALLOCATE_SEPARATELY
void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
#else
void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
#endif
collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
collisionPair.m_internalTmpValue = 2;
} else
{
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(colObj0,colObj1);
collisionPair.m_internalTmpValue = 3;
}
}
}
}
return false;
}
virtual bool processOverlap(btBroadphasePair& collisionPair)
{
//PPU version
//(*m_dispatcher->getNearCallback())(collisionPair,*m_dispatcher,m_dispatchInfo);
//only support discrete collision detection for now, we could fallback on PPU/unoptimized version for TOI/CCD
btAssert(m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE);
//by default, Bullet will use this near callback
{
///userInfo is used to determine if the SPU has to handle this case or not (skip PPU tasks)
if (!collisionPair.m_internalTmpValue)
{
collisionPair.m_internalTmpValue = 1;
}
if (!collisionPair.m_algorithm)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
ci.m_manifold = 0;
if (m_dispatcher->needsCollision(colObj0,colObj1))
{
int proxyType0 = colObj0->getCollisionShape()->getShapeType();
int proxyType1 = colObj1->getCollisionShape()->getShapeType();
bool supportsSpuDispatch = m_dispatcher->supportsDispatchPairOnSpu(proxyType0,proxyType1)
&& ((colObj0->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0)
&& ((colObj1->getCollisionFlags() & btCollisionObject::CF_DISABLE_SPU_COLLISION_PROCESSING) == 0);
if (proxyType0 == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj0->getCollisionShape();
if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
{
//printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
supportsSpuDispatch = false;
}
}
if (proxyType1 == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* compound = (btCompoundShape*)colObj1->getCollisionShape();
if (compound->getNumChildShapes()>MAX_SPU_COMPOUND_SUBSHAPES)
{
//printf("PPU fallback, compound->getNumChildShapes(%d)>%d\n",compound->getNumChildShapes(),MAX_SPU_COMPOUND_SUBSHAPES);
supportsSpuDispatch = false;
}
}
if (supportsSpuDispatch)
{
int so = sizeof(SpuContactManifoldCollisionAlgorithm);
#ifdef ALLOCATE_SEPARATELY
void* mem = btAlignedAlloc(so,16);//m_dispatcher->allocateCollisionAlgorithm(so);
#else
void* mem = m_dispatcher->allocateCollisionAlgorithm(so);
#endif
collisionPair.m_algorithm = new(mem) SpuContactManifoldCollisionAlgorithm(ci,colObj0,colObj1);
collisionPair.m_internalTmpValue = 2;
} else
{
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
collisionPair.m_internalTmpValue = 3;
}
}
}
}
return false;
}
