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- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).

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- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
This commit is contained in:
ejcoumans
2007-03-06 09:59:17 +00:00
parent f8b714cd42
commit 054d672592
54 changed files with 512 additions and 246 deletions
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35
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -31,7 +31,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include <algorithm>
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize)
:m_dispatcher1(dispatcher),
@@ -50,13 +49,10 @@ btCollisionWorld::~btCollisionWorld()
delete m_stackAlloc;
//clean up remaining objects
std::vector<btCollisionObject*>::iterator i;
for (i=m_collisionObjects.begin();
!(i==m_collisionObjects.end()); i++)
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= (*i);
btCollisionObject* collisionObject= m_collisionObjects[i];
btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
if (bp)
@@ -89,9 +85,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
{
//check that the object isn't already added
std::vector<btCollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
assert(i == m_collisionObjects.end());
btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
m_collisionObjects.push_back(collisionObject);
@@ -131,7 +125,7 @@ void btCollisionWorld::performDiscreteCollisionDetection()
//update aabb (of all moved objects)
btVector3 aabbMin,aabbMax;
for (size_t i=0;i<m_collisionObjects.size();i++)
for (int i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax);
@@ -169,13 +163,9 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
}
std::vector<btCollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
if (!(i == m_collisionObjects.end()))
{
std::swap(*i, m_collisionObjects.back());
m_collisionObjects.pop_back();
}
//swapremove
m_collisionObjects.remove(collisionObject);
}
@@ -324,13 +314,10 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
std::vector<btCollisionObject*>::iterator iter;
for (iter=m_collisionObjects.begin();
!(iter==m_collisionObjects.end()); iter++)
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= (*iter);
btCollisionObject* collisionObject= m_collisionObjects[i];
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;