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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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13
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -906,12 +906,13 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
assert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
/* if (i_dataBufferSize < calculateSerializeBufferSize() || o_alignedDataBuffer == NULL || (((unsigned)o_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
{
///check alignedment for buffer?
btAssert(0);
return false;
}
*/
btOptimizedBvh *targetBvh = (btOptimizedBvh *)o_alignedDataBuffer;
@@ -946,7 +947,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
unsigned char *nodeData = (unsigned char *)targetBvh;
nodeData += sizeof(btOptimizedBvh);
unsigned sizeToAdd = (BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
int nodeCount = m_curNodeIndex;
@@ -1021,7 +1022,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
}
sizeToAdd = (BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
// Now serialize the subtree headers
@@ -1068,7 +1069,7 @@ bool btOptimizedBvh::serialize(void *o_alignedDataBuffer, unsigned i_dataBufferS
btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian)
{
if (i_alignedDataBuffer == NULL || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
if (i_alignedDataBuffer == NULL)// || (((unsigned)i_alignedDataBuffer & BVH_ALIGNMENT_MASK) != 0))
{
return NULL;
}
@@ -1097,7 +1098,7 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
unsigned char *nodeData = (unsigned char *)bvh;
nodeData += sizeof(btOptimizedBvh);
unsigned sizeToAdd = (BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
unsigned sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
int nodeCount = bvh->m_curNodeIndex;
@@ -1146,7 +1147,7 @@ btOptimizedBvh *btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
nodeData += sizeof(btOptimizedBvhNode) * nodeCount;
}
sizeToAdd = (BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
sizeToAdd = 0;//(BVH_ALIGNMENT-((unsigned)nodeData & BVH_ALIGNMENT_MASK))&BVH_ALIGNMENT_MASK;
nodeData += sizeToAdd;
// Now serialize the subtree headers

4
src/BulletCollision/CollisionShapes/btSphereShape.h
View File

@@ -42,7 +42,7 @@ public:
virtual int getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
btScalar getRadius() const { return m_implicitShapeDimensions.getX();}
btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
//debugging
virtual char* getName()const {return "SPHERE";}
@@ -55,7 +55,7 @@ public:
{
//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
//this means, non-uniform scaling is not supported anymore
return m_localScaling.getX() * getRadius() + btConvexInternalShape::getMargin();
return getRadius();
}