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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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59
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -16,7 +16,6 @@ subject to the following restrictions:
#include "btDiscreteDynamicsWorld.h"
//collision detection
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
@@ -54,8 +53,6 @@ subject to the following restrictions:
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
@@ -84,7 +81,7 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -110,7 +107,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
@@ -155,7 +152,7 @@ void btDiscreteDynamicsWorld::synchronizeMotionStates()
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
for (unsigned int i=0;i<this->m_vehicles.size();i++)
for ( int i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
@@ -294,7 +291,7 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -333,7 +330,7 @@ void btDiscreteDynamicsWorld::updateVehicles(btScalar timeStep)
{
BEGIN_PROFILE("updateVehicles");
for (unsigned int i=0;i<m_vehicles.size();i++)
for ( int i=0;i<m_vehicles.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->updateVehicle( timeStep);
@@ -345,7 +342,7 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep)
{
BEGIN_PROFILE("updateActivationState");
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -380,11 +377,7 @@ void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint)
void btDiscreteDynamicsWorld::removeConstraint(btTypedConstraint* constraint)
{
std::vector<btTypedConstraint*>::iterator cit = std::find(m_constraints.begin(),m_constraints.end(),constraint);
if (!(cit==m_constraints.end()))
{
m_constraints.erase(cit);
}
m_constraints.remove(constraint);
}
void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
@@ -394,11 +387,7 @@ void btDiscreteDynamicsWorld::addVehicle(btRaycastVehicle* vehicle)
void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
{
std::vector<btRaycastVehicle*>::iterator vit = std::find(m_vehicles.begin(),m_vehicles.end(),vehicle);
if (!(vit==m_vehicles.end()))
{
m_vehicles.erase(vit);
}
m_vehicles.remove(vehicle);
}
inline int btGetConstraintIslandId(const btTypedConstraint* lhs)
@@ -420,6 +409,7 @@ static bool btSortConstraintOnIslandPredicate(const btTypedConstraint* lhs, cons
return lIslandId0 < rIslandId0;
}
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
@@ -481,20 +471,23 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
};
//sorted version of all btTypedConstraint, based on islandId
std::vector<btTypedConstraint*> sortedConstraints;
btAlignedObjectArray<btTypedConstraint*> sortedConstraints;
sortedConstraints.resize( m_constraints.size());
int i;
for (i=0;i<getNumConstraints();i++)
{
sortedConstraints[i] = m_constraints[i];
}
// assert(0);
std::sort(sortedConstraints.begin(),sortedConstraints.end(),btSortConstraintOnIslandPredicate);
sortedConstraints.heapSort(btAlignedObjectArray<btTypedConstraint*>::less());
//std::sort(sortedConstraints.begin(),sortedConstraints.end(),btSortConstraintOnIslandPredicate);
btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
@@ -586,7 +579,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
btVector3 colorvec(1,0,0);
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -597,7 +590,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btSimpleBroadphase* bp = (btSimpleBroadphase*)m_broadphasePairCache;
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
@@ -610,13 +603,13 @@ void btDiscreteDynamicsWorld::updateAabbs()
body->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe)
if (reportMe && m_debugDrawer)
{
reportMe = false;
printf("Overflow in AABB, object removed from simulation \n");
printf("If you can reproduce this, please email bugs@continuousphysics.com\n");
printf("Please include above information, your Platform, version of OS.\n");
printf("Thanks.\n");
m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer->reportErrorWarning("Thanks.\n");
}
@@ -636,7 +629,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{
BEGIN_PROFILE("integrateTransforms");
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -657,7 +650,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
BEGIN_PROFILE("predictUnconstraintMotion");
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);