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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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54
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -24,6 +24,10 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
btVector3 m_min;
btVector3 m_max;
int m_nextFree;
int m_nextAllocated;
// int m_handleId;
btSimpleBroadphaseProxy() {};
@@ -34,6 +38,13 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
(void)shapeType;
}
inline void SetNextFree(int next) {m_nextFree = next;}
inline int GetNextFree() const {return m_nextFree;}
inline void SetNextAllocated(int next) {m_nextAllocated = next;}
inline int GetNextAllocated() const {return m_nextAllocated;}
};
@@ -43,19 +54,46 @@ class btSimpleBroadphase : public btBroadphaseInterface
protected:
btSimpleBroadphaseProxy* m_proxies;
int* m_freeProxies;
int m_firstFreeProxy;
int m_numHandles; // number of active handles
int m_maxHandles; // max number of handles
btSimpleBroadphaseProxy* m_pHandles; // handles pool
int m_firstFreeHandle; // free handles list
int m_firstAllocatedHandle;
int allocHandle()
{
int freeHandle = m_firstFreeHandle;
m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
m_firstAllocatedHandle = freeHandle;
m_numHandles++;
return freeHandle;
}
void freeHandle(btSimpleBroadphaseProxy* proxy)
{
int handle = int(proxy-m_pHandles);
btAssert(handle > 0 && handle < m_maxHandles);
proxy->SetNextFree(m_firstFreeHandle);
m_firstFreeHandle = handle;
m_firstAllocatedHandle = proxy->GetNextAllocated();
proxy->SetNextAllocated(-1);
m_numHandles--;
}
btSimpleBroadphaseProxy** m_pProxies;
int m_numProxies;
btOverlappingPairCache* m_pairCache;
bool m_ownsPairCache;
int m_invalidPair;
int m_maxProxies;
inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
@@ -80,12 +118,12 @@ public:
static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
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 calculateOverlappingPairs(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);
btOverlappingPairCache* getOverlappingPairCache()
{