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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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94
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "LinearMath/btMatrix3x3.h"
#include <new>
extern int gOverlappingPairs;
void btSimpleBroadphase::validate()
{
@@ -36,11 +37,14 @@ void btSimpleBroadphase::validate()
}
btSimpleBroadphase::btSimpleBroadphase(int maxProxies)
:btOverlappingPairCache(),
:
m_firstFreeProxy(0),
m_numProxies(0),
m_maxProxies(maxProxies)
m_maxProxies(maxProxies),
m_invalidPair(0)
{
m_pairCache = new btOverlappingPairCache();
m_proxies = new btSimpleBroadphaseProxy[maxProxies];
m_freeProxies = new int[maxProxies];
@@ -136,7 +140,7 @@ void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg)
btAssert (index < m_maxProxies);
m_freeProxies[--m_firstFreeProxy] = index;
removeOverlappingPairsContainingProxy(proxyOrg);
m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg);
for (i=0;i<m_numProxies;i++)
{
@@ -186,7 +190,7 @@ public:
}
};
void btSimpleBroadphase::refreshOverlappingPairs()
void btSimpleBroadphase::calculateOverlappingPairs()
{
//first check for new overlapping pairs
int i,j;
@@ -202,21 +206,95 @@ void btSimpleBroadphase::refreshOverlappingPairs()
if (aabbOverlap(p0,p1))
{
if ( !findPair(proxy0,proxy1))
if ( !m_pairCache->findPair(proxy0,proxy1))
{
addOverlappingPair(proxy0,proxy1);
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
}
}
}
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
CheckOverlapCallback checkOverlap;
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
processAllOverlappingPairs(&checkOverlap);
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///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 btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
return aabbOverlap(p0,p1);
}