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use size_t instead of int, for allocator

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added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
This commit is contained in:
ejcoumans
2007-10-11 03:17:54 +00:00
parent bb89cbcf08
commit 0405ce278a
36 changed files with 1485 additions and 460 deletions
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96
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -58,7 +58,7 @@ public:
// indexes into the edge arrays
BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
BP_FP_INT_TYPE m_handleId;
// BP_FP_INT_TYPE m_uniqueId;
BP_FP_INT_TYPE m_pad;
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
@@ -102,10 +102,10 @@ protected:
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
public:
@@ -116,17 +116,17 @@ public:
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void processAllOverlappingPairs(btOverlapCallback* callback);
//Broadphase Interface
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
@@ -173,10 +173,10 @@ void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinalit
#endif //DEBUG_BROADPHASE
template <typename BP_FP_INT_TYPE>
btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
{
(void)shapeType;
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask);
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher);
Handle* handle = getHandle(handleId);
@@ -189,14 +189,14 @@ template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
removeHandle(handle->m_handleId,dispatcher);
removeHandle(handle->m_uniqueId,dispatcher);
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
updateHandle(handle->m_handleId,aabbMin,aabbMax);
updateHandle(handle->m_uniqueId,aabbMin,aabbMax,dispatcher);
}
@@ -335,7 +335,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
{
// quantize the bounds
BP_FP_INT_TYPE min[3], max[3];
@@ -348,7 +348,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
Handle* pHandle = getHandle(handle);
pHandle->m_handleId = handle;
pHandle->m_uniqueId = handle;
//pHandle->m_pOverlaps = 0;
pHandle->m_clientObject = pOwner;
pHandle->m_collisionFilterGroup = collisionFilterGroup;
@@ -377,12 +377,12 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
}
// now sort the new edges to their correct position
sortMinDown(0, pHandle->m_minEdges[0], false);
sortMaxDown(0, pHandle->m_maxEdges[0], false);
sortMinDown(1, pHandle->m_minEdges[1], false);
sortMaxDown(1, pHandle->m_maxEdges[1], false);
sortMinDown(2, pHandle->m_minEdges[2], true);
sortMaxDown(2, pHandle->m_maxEdges[2], true);
sortMinDown(0, pHandle->m_minEdges[0], dispatcher,false);
sortMaxDown(0, pHandle->m_maxEdges[0], dispatcher,false);
sortMinDown(1, pHandle->m_minEdges[1], dispatcher,false);
sortMaxDown(1, pHandle->m_maxEdges[1], dispatcher,false);
sortMinDown(2, pHandle->m_minEdges[2], dispatcher,true);
sortMaxDown(2, pHandle->m_maxEdges[2], dispatcher,true);
return handle;
@@ -418,14 +418,14 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
pEdges[max].m_pos = m_handleSentinel;
sortMaxUp(axis,max,false);
sortMaxUp(axis,max,dispatcher,false);
BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
pEdges[i].m_pos = m_handleSentinel;
sortMinUp(axis,i,false);
sortMinUp(axis,i,dispatcher,false);
pEdges[limit-1].m_handle = 0;
pEdges[limit-1].m_pos = m_handleSentinel;
@@ -445,13 +445,16 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
}
extern int gOverlappingPairs;
#include <stdio.h>
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
{
#ifdef USE_LAZY_REMOVAL
if (m_ownsPairCache)
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
@@ -524,7 +527,12 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
#endif //USE_LAZY_REMOVAL
}
@@ -581,7 +589,7 @@ bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap(int ignoreAxis,const Hand
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher)
{
// assert(bounds.IsFinite());
//assert(bounds.HasVolume());
@@ -607,17 +615,17 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, c
// expand (only adds overlaps)
if (dmin < 0)
sortMinDown(axis, emin);
sortMinDown(axis, emin,dispatcher,true);
if (dmax > 0)
sortMaxUp(axis, emax);
sortMaxUp(axis, emax,dispatcher,true);
// shrink (only removes overlaps)
if (dmin > 0)
sortMinUp(axis, emin);
sortMinUp(axis, emin,dispatcher,true);
if (dmax < 0)
sortMaxDown(axis, emax);
sortMaxDown(axis, emax,dispatcher,true);
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis);
@@ -632,7 +640,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, c
// sorting a min edge downwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
@@ -680,7 +688,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinDown(int axis, BP_FP_INT_TYPE
// sorting a min edge upwards can only ever *remove* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
Edge* pNext = pEdge + 1;
@@ -692,17 +700,16 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE ed
if (pNext->IsMax())
{
#ifndef USE_LAZY_REMOVAL
// if next edge is maximum remove any overlap between the two handles
if (updateOverlaps)
{
/*
Handle* handle0 = getHandle(pEdge->m_handle);
Handle* handle1 = getHandle(pNext->m_handle);
btBroadphasePair tmpPair(*handle0,*handle1);
removeOverlappingPair(tmpPair);
*/
m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);
}
#endif //USE_LAZY_REMOVAL
// update edge reference in other handle
pHandleNext->m_maxEdges[axis]--;
@@ -727,7 +734,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMinUp(int axis, BP_FP_INT_TYPE ed
// sorting a max edge downwards can only ever *remove* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
@@ -744,17 +751,12 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE
if (updateOverlaps)
{
//this is done during the overlappingpairarray iteration/narrowphase collision
/*
#ifndef USE_LAZY_REMOVAL
Handle* handle0 = getHandle(pEdge->m_handle);
Handle* handle1 = getHandle(pPrev->m_handle);
btBroadphasePair* pair = findPair(handle0,handle1);
//assert(pair);
if (pair)
{
removeOverlappingPair(*pair);
}
*/
m_pairCache->removeOverlappingPair(handle0,handle1,dispatcher);
#endif //USE_LAZY_REMOVAL
}
@@ -785,7 +787,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxDown(int axis, BP_FP_INT_TYPE
// sorting a max edge upwards can only ever *add* overlaps
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
Edge* pNext = pEdge + 1;