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Refactoring to enable multi SAP broadphase.

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This was already planned, and Pierre Terdiman recent thread motivated me to decouple the paircache from the sweep and prune.
http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
This commit is contained in:
ejcoumans
2007-08-02 23:48:46 +00:00
parent 5279f9e129
commit 1f7646f72a
29 changed files with 212 additions and 85 deletions
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60
src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
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@@ -74,9 +74,10 @@ void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,con
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles)
:btOverlappingPairCache()
:m_invalidPair(0)
{
m_invalidPair = 0;
m_pairCache = new btOverlappingPairCache();
//assert(bounds.HasVolume());
// 1 handle is reserved as sentinel
@@ -244,7 +245,7 @@ void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
//explicitly remove the pairs containing the proxy
//we could do it also in the sortMinUp (passing true)
//todo: compare performance
removeOverlappingPairsContainingProxy(pHandle);
m_pairCache->removeOverlappingPairsContainingProxy(pHandle);
// compute current limit of edge arrays
@@ -293,27 +294,16 @@ void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
extern int gOverlappingPairs;
void btAxisSweep3::refreshOverlappingPairs()
{
}
void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
void btAxisSweep3::calculateOverlappingPairs()
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
m_overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
//remove the 'invalid' ones
#ifdef USE_POPBACK_REMOVAL
while (m_invalidPair>0)
{
m_invalidPair--;
m_overlappingPairArray.pop_back();
}
#else
m_overlappingPairArray.resize(m_overlappingPairArray.size() - m_invalidPair);
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif
int i;
@@ -324,10 +314,10 @@ void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
previousPair.m_algorithm = 0;
for (i=0;i<m_overlappingPairArray.size();i++)
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = m_overlappingPairArray[i];
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
@@ -337,11 +327,11 @@ void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
if (!isDuplicate)
{
bool hasOverlap = testOverlap(pair.m_pProxy0,pair.m_pProxy1);
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = callback->processOverlap(pair);
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
@@ -356,7 +346,7 @@ void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
if (needsRemoval)
{
cleanOverlappingPair(pair);
m_pairCache->cleanOverlappingPair(pair);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
@@ -367,10 +357,24 @@ void btAxisSweep3::processAllOverlappingPairs(btOverlapCallback* callback)
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
bool btAxisSweep3::testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
bool btAxisSweep3::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
const Handle* pHandleA = static_cast<Handle*>(proxy0);
const Handle* pHandleB = static_cast<Handle*>(proxy1);
@@ -485,7 +489,7 @@ void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlap
// if previous edge is a maximum check the bounds and add an overlap if necessary
if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
{
addOverlappingPair(pHandleEdge,pHandlePrev);
m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
//AddOverlap(pEdge->m_handle, pPrev->m_handle);
@@ -636,7 +640,7 @@ void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
{
Handle* handle0 = getHandle(pEdge->m_handle);
Handle* handle1 = getHandle(pNext->m_handle);
addOverlappingPair(handle0,handle1);
m_pairCache->addOverlappingPair(handle0,handle1);
}
// update edge reference in other handle
@@ -658,3 +662,5 @@ void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
}
}