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+Added btDbvtBroadphase, this very fast/efficient broadphase is based on Dynamic AABB tree (btDbvt).

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+SoftBody improvements by Nathanael Presson:
+Add tetrahedralization
+Add support for tearing/slicing cloth and deformable volumes. Uncomment the line in Bullet/src/BulletSoftBody/btSoftBodyHelpers.h: //#define	BT_SOFTBODY_USE_STL	1
This commit is contained in:
erwin.coumans
2008-05-05 23:19:21 +00:00
parent bce0047986
commit 25c5d0d57a
19 changed files with 2897 additions and 828 deletions
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36
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "btDispatcher.h"
#include "btCollisionAlgorithm.h"
#include <stdio.h>
int gOverlappingPairs = 0;
int gRemovePairs =0;
@@ -133,12 +135,12 @@ void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
gFindPairs++;
if(proxy0>proxy1) btSwap(proxy0,proxy1);
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
@@ -196,8 +198,8 @@ void btHashedOverlappingPairCache::growTables()
const btBroadphasePair& pair = m_overlappingPairArray[i];
int proxyId1 = pair.m_pProxy0->getUid();
int proxyId2 = pair.m_pProxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hashValue = getHash(proxyId1,proxyId2) & (m_overlappingPairArray.capacity()-1); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
@@ -209,11 +211,12 @@ void btHashedOverlappingPairCache::growTables()
btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
if(proxy0>proxy1) btSwap(proxy0,proxy1);
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
@@ -224,7 +227,15 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
{
return pair;
}
/*for(int i=0;i<m_overlappingPairArray.size();++i)
{
if( (m_overlappingPairArray[i].m_pProxy0==proxy0)&&
(m_overlappingPairArray[i].m_pProxy1==proxy1))
{
printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
internalFindPair(proxy0, proxy1, hash);
}
}*/
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expand();
@@ -255,12 +266,12 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
gRemovePairs++;
if(proxy0>proxy1) btSwap(proxy0,proxy1);
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
/*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = getHash(proxyId1, proxyId2) & (m_overlappingPairArray.capacity()-1);
@@ -316,6 +327,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
// Remove the last pair from the hash table.
const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
/* missing swap here too, Nat. */
int lastHash = getHash(last->m_pProxy0->getUid(), last->m_pProxy1->getUid()) & (m_overlappingPairArray.capacity()-1);
index = m_hashTable[lastHash];
@@ -416,6 +428,7 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
void* mem = &m_overlappingPairArray.expand();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;
gAddedPairs++;
return pair;
}
@@ -500,6 +513,7 @@ void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,b
pair.m_algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
pair.m_algorithm=0;
gRemovePairs--;
}
}
}