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collisionObject: renamed uniqueId to worldArrayIndex; removed linear search in removeCollisionObject

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Lunkhound
2016-11-12 12:41:55 -08:00
parent 3b5d0f444b
commit 2f4ec4f8c9
6 changed files with 30 additions and 17 deletions
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1
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -28,6 +28,7 @@ btCollisionObject::btCollisionObject()
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
m_companionId(-1),
m_worldArrayIndex(-1),
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),

11
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -79,7 +79,7 @@ protected:
int m_islandTag1;
int m_companionId;
int m_uniqueId;
int m_worldArrayIndex; // index of object in world's collisionObjects array
mutable int m_activationState1;
mutable btScalar m_deactivationTime;
@@ -456,14 +456,15 @@ public:
m_companionId = id;
}
SIMD_FORCE_INLINE int getUniqueId() const
SIMD_FORCE_INLINE int getWorldArrayIndex() const
{
return m_uniqueId;
return m_worldArrayIndex;
}
void setUniqueId( int id )
// only should be called by CollisionWorld
void setWorldArrayIndex(int ix)
{
m_uniqueId = id;
m_worldArrayIndex = ix;
}
SIMD_FORCE_INLINE btScalar getHitFraction() const

25
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -115,7 +115,9 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
//check that the object isn't already added
btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world
collisionObject->setWorldArrayIndex(m_collisionObjects.size());
m_collisionObjects.push_back(collisionObject);
//calculate new AABB
@@ -195,6 +197,7 @@ void btCollisionWorld::updateAabbs()
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btAssert(colObj->getWorldArrayIndex() == i);
//only update aabb of active objects
if (m_forceUpdateAllAabbs || colObj->isActive())
@@ -253,9 +256,25 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
}
//swapremove
m_collisionObjects.remove(collisionObject);
int iObj = collisionObject->getWorldArrayIndex();
btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
if (iObj >= 0 && iObj < m_collisionObjects.size())
{
btAssert(collisionObject == m_collisionObjects[iObj]);
m_collisionObjects.swap(iObj, m_collisionObjects.size()-1);
m_collisionObjects.pop_back();
if (iObj < m_collisionObjects.size())
{
m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
}
}
else
{
// slow linear search
//swapremove
m_collisionObjects.remove(collisionObject);
}
collisionObject->setWorldArrayIndex(-1);
}