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Patch by Nathanael Presson: (needs some more work, some of the demos don't show properly (RayCaster, CollisionInterfaceDemo,'g' key is already occupied in ConcaveDemo etc)

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btDbvtBroadphase:
- Fixed a performance issues reported by 'reltham'
- Added btDbvtBroadphase::optimize() for people who want good performances right away or don't do dynamics.
- fixed compilation issues when DBVT_BP_PROFILE was set.

btSoftBody:
- Fixed singular matrix issues related to polar decomposition (flat meshes).

DemoApplication:
- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
- Texture can be enable/disable through 'u'

CDFramework:
- fixed compilation issues.
This commit is contained in:
erwin.coumans
2008-07-28 04:33:55 +00:00
parent 9e2e77d578
commit 3ca977e39f
11 changed files with 399 additions and 140 deletions
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92
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -86,30 +86,6 @@ value=zerodummy;
// Colliders
//
/* Leaf collider */
struct btDbvtLeafCollider : btDbvt::ICollide
{
btDbvtBroadphase* pbp;
btDbvtProxy* ppx;
btDbvtLeafCollider(btDbvtBroadphase* p,btDbvtProxy* px) : pbp(p),ppx(px) {}
void Process(const btDbvtNode* na)
{
const btDbvtNode* nb=ppx->leaf;
if(nb!=na)
{
btDbvtProxy* pa=(btDbvtProxy*)na->data;
btDbvtProxy* pb=(btDbvtProxy*)nb->data;
#if DBVT_BP_DISCRETPAIRS
if(Intersect(pa->aabb,pb->aabb))
#endif
{
if(pa>pb) btSwap(pa,pb);
pbp->m_paircache->addOverlappingPair(pa,pb);
}
}
}
};
/* Tree collider */
struct btDbvtTreeCollider : btDbvt::ICollide
{
@@ -179,7 +155,7 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( userPtr,
collisionFilterGroup,
collisionFilterMask);
proxy->aabb = btDbvtAabbMm::FromMM(aabbMin,aabbMax);
proxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
proxy->leaf = m_sets[0].insert(proxy->aabb,proxy);
proxy->stage = m_stageCurrent;
proxy->m_uniqueId = ++m_gid;
@@ -208,32 +184,35 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
btDbvtAabbMm aabb=btDbvtAabbMm::FromMM(aabbMin,aabbMax);
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=m_sets[0].insert(aabb,proxy);
}
else
{/* dynamic set */
if(Intersect(proxy->leaf->volume,aabb))
{/* Moving */
const btVector3 delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
#ifdef DBVT_BP_MARGIN
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes,DBVT_BP_MARGIN);
#else
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes);
#endif
btDbvtVolume aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
if(NotEqual(aabb,proxy->leaf->volume))
{
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=m_sets[0].insert(aabb,proxy);
}
else
{/* Teleporting */
m_sets[0].update(proxy->leaf,aabb);
}
{/* dynamic set */
if(Intersect(proxy->leaf->volume,aabb))
{/* Moving */
const btVector3 delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
#ifdef DBVT_BP_MARGIN
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes,DBVT_BP_MARGIN);
#else
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes);
#endif
}
else
{/* Teleporting */
m_sets[0].update(proxy->leaf,aabb);
}
}
listremove(proxy,m_stageRoots[proxy->stage]);
proxy->aabb = aabb;
proxy->stage = m_stageCurrent;
listappend(proxy,m_stageRoots[m_stageCurrent]);
}
listremove(proxy,m_stageRoots[proxy->stage]);
proxy->aabb = aabb;
proxy->stage = m_stageCurrent;
listappend(proxy,m_stageRoots[m_stageCurrent]);
}
//
@@ -243,9 +222,7 @@ collide(dispatcher);
#if DBVT_BP_PROFILE
if(0==(m_pid%DBVT_BP_PROFILING_RATE))
{
printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leafs,m_sets[0].m_leafs,m_paircache->getNumOverlappingPairs());
printf("mode: %s\r\n",m_mode==MODE_FULL?"full":"incremental");
printf("cleanup: %s\r\n",m_cleanupmode==CLEANUP_FULL?"full":"incremental");
printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
unsigned int total=m_profiling.m_total;
if(total<=0) total=1;
printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
@@ -256,7 +233,7 @@ if(0==(m_pid%DBVT_BP_PROFILING_RATE))
m_profiling.m_fdcollide+
m_profiling.m_cleanup;
printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leafs+m_sets[1].m_leafs)*DBVT_BP_PROFILING_RATE));
printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
clear(m_profiling);
m_clock.reset();
}
@@ -322,6 +299,13 @@ if(current)
++m_pid;
}
//
void btDbvtBroadphase::optimize()
{
m_sets[0].optimizeTopDown();
m_sets[1].optimizeTopDown();
}
//
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
{
@@ -337,7 +321,7 @@ return(m_paircache);
//
void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
btDbvtAabbMm bounds;
btDbvtVolume bounds;
if(!m_sets[0].empty())
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
m_sets[1].m_root->volume,bounds);
@@ -345,7 +329,7 @@ if(!m_sets[0].empty())
bounds=m_sets[0].m_root->volume;
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
else
bounds=btDbvtAabbMm::FromCR(btVector3(0,0,0),0);
bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
aabbMin=bounds.Mins();
aabbMax=bounds.Maxs();
}