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Refactoring for parallel processing of islands, collision detection and constraint solving.

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This commit is contained in:
ejcoumans
2006-06-30 00:41:09 +00:00
parent 6e68cff650
commit 3a85557c29
22 changed files with 1359 additions and 345 deletions
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19
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
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@@ -322,7 +322,7 @@ static void DrawAabb(IDebugDraw* debugDrawer,const SimdVector3& from,const SimdV
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,BroadphaseInterface* broadphase)
CcdPhysicsEnvironment::CcdPhysicsEnvironment(CollisionDispatcher* dispatcher,OverlappingPairCache* pairCache)
:m_scalingPropagated(false),
m_numIterations(4),
m_numTimeSubSteps(1),
@@ -336,18 +336,18 @@ m_enableSatCollisionDetection(false)
{
m_triggerCallbacks[i] = 0;
}
if (!dispatcher)
dispatcher = new CollisionDispatcher();
//if (!dispatcher)
// dispatcher = new CollisionDispatcher();
if(!broadphase)
if(!pairCache)
{
//todo: calculate/let user specify this world sizes
SimdVector3 worldMin(-10000,-10000,-10000);
SimdVector3 worldMax(10000,10000,10000);
broadphase = new AxisSweep3(worldMin,worldMax);
pairCache = new AxisSweep3(worldMin,worldMax);
//broadphase = new SimpleBroadphase();
}
@@ -355,7 +355,7 @@ m_enableSatCollisionDetection(false)
setSolverType(1);//issues with quickstep and memory allocations
m_collisionWorld = new CollisionWorld(dispatcher,broadphase);
m_collisionWorld = new CollisionWorld(dispatcher,pairCache);
m_debugDrawer = 0;
m_gravity = SimdVector3(0.f,-10.f,0.f);
@@ -654,7 +654,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
Profiler::endBlock("predictIntegratedTransform");
#endif //USE_QUICKPROF
BroadphaseInterface* scene = GetBroadphase();
OverlappingPairCache* scene = m_collisionWorld->GetPairCache();
//
@@ -675,7 +675,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_enableSatConvex = m_enableSatCollisionDetection;
scene->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);///numsubstep,g);
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
#ifdef USE_QUICKPROF
@@ -842,7 +842,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
scene->DispatchAllCollisionPairs( *GetDispatcher(),dispatchInfo);///numsubstep,g);
GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
toi = dispatchInfo.m_timeOfImpact;
}