CompoundShape with CompoundShape children thread issue

[Topher]

in SpuGatheringCollisionTask.cpp line 875:

Code: Select all

btAssert(!btBroadphaseProxy::isCompound(childShape0.m_childShapeType));

This is making sure the child shape isn't Compound, however we find ourselves in this situation. The non-threaded solvers had no trouble with this, and it seems if I just ignore this assert everything is fine any way. What is the purpose of this assert?

After this check it just recursively calls the function handleCollisionPair() which can deal with 2 compound objects any way.

Code: Select all

else if (btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType0) && 
			btBroadphaseProxy::isCompound(collisionPairInput.m_shapeType1))
	{
		//snPause();

		dmaCollisionShape (collisionShape0Loc, collisionShape0Ptr, 1, collisionPairInput.m_shapeType0);
		dmaCollisionShape (collisionShape1Loc, collisionShape1Ptr, 2, collisionPairInput.m_shapeType1);
		cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));

		// Both are compounds, do N^2 CD for now
		///@todo: add some AABB-based pruning (probably not -> slower)
	
		btCompoundShape* spuCompoundShape0 = (btCompoundShape*)collisionShape0Loc;
		btCompoundShape* spuCompoundShape1 = (btCompoundShape*)collisionShape1Loc;

		dmaCompoundShapeInfo (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
		dmaCompoundShapeInfo (&lsMem.compoundShapeData[1], spuCompoundShape1, 2);
		cellDmaWaitTagStatusAll(DMA_MASK(1) | DMA_MASK(2));
		

		dmaCompoundSubShapes (&lsMem.compoundShapeData[0], spuCompoundShape0, 1);
		cellDmaWaitTagStatusAll(DMA_MASK(1));
		dmaCompoundSubShapes (&lsMem.compoundShapeData[1], spuCompoundShape1, 1);
		cellDmaWaitTagStatusAll(DMA_MASK(1));

		int childShapeCount0 = spuCompoundShape0->getNumChildShapes();
		btAssert(childShapeCount0< MAX_SPU_COMPOUND_SUBSHAPES);
		int childShapeCount1 = spuCompoundShape1->getNumChildShapes();
		btAssert(childShapeCount1< MAX_SPU_COMPOUND_SUBSHAPES);

		// Start the N^2
		for (int i = 0; i < childShapeCount0; ++i)
		{
			btCompoundShapeChild& childShape0 = lsMem.compoundShapeData[0].gSubshapes[i];
			//btAssert(!btBroadphaseProxy::isCompound(childShape0.m_childShapeType));

			for (int j = 0; j < childShapeCount1; ++j)
			{
				btCompoundShapeChild& childShape1 = lsMem.compoundShapeData[1].gSubshapes[j];
				//btAssert(!btBroadphaseProxy::isCompound(childShape1.m_childShapeType));


				/* Create a new collision pair input struct using the two child shapes */
				SpuCollisionPairInput cinput (collisionPairInput);

				cinput.m_worldTransform0 = collisionPairInput.m_worldTransform0 * childShape0.m_transform;
				cinput.m_shapeType0 = childShape0.m_childShapeType;
				cinput.m_collisionMargin0 = childShape0.m_childMargin;

				cinput.m_worldTransform1 = collisionPairInput.m_worldTransform1 * childShape1.m_transform;
				cinput.m_shapeType1 = childShape1.m_childShapeType;
				cinput.m_collisionMargin1 = childShape1.m_childMargin;
				/* Recursively call handleCollisionPair () with new collision pair input */
				
				handleCollisionPair(cinput, lsMem, spuContacts,			
					(ppu_address_t)childShape0.m_childShape, lsMem.compoundShapeData[0].gSubshapeShape[i], 
					(ppu_address_t)childShape1.m_childShape, lsMem.compoundShapeData[1].gSubshapeShape[j], false);
			}
		}
	}