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Some work-in-progress on making btDbvtBroadphase deterministic. When using the btSortedOverlappingPairCache, it seems deterministic now. todo: when using btHashedOverlappingPairCache.

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erwin.coumans
2009-02-10 03:50:58 +00:00
parent bd5a7f623d
commit 2a10a61f50
11 changed files with 207 additions and 160 deletions
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84
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -139,7 +139,7 @@ public:
void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void resetPool();
virtual void resetPool(btDispatcher* dispatcher);
void processAllOverlappingPairs(btOverlapCallback* callback);
@@ -588,7 +588,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool()
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
{
if (m_numHandles == 0)
{
@@ -611,86 +611,8 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
if (m_pairCache->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
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,dispatcher);
// 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.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
m_pairCache->performDeferredRemoval(dispatcher);
}
}