Got btMultiSapBroadphase in a working state. Now tuning/optimizations can be started.
Added getBroadphaseAabb to btBroadphaseInterface.
This commit is contained in:
erwin.coumans
@@ -17,16 +17,31 @@ subject to the following restrictions:
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#include "btSimpleBroadphase.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
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/// btSapBroadphaseArray m_sapBroadphases;
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/// btOverlappingPairCache* m_overlappingPairs;
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extern int gOverlappingPairs;
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/*
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class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
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{
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public:
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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{
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return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
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}
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};
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*/
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btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
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:m_overlappingPairs(pairCache),
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m_ownsPairCache(false),
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m_invalidPair(0)
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m_invalidPair(0),
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m_optimizedAabbTree(0)
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{
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if (!m_overlappingPairs)
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{
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@@ -42,11 +57,9 @@ m_invalidPair(0)
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// return true when pairs need collision
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virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
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{
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btMultiSapBroadphase::btMultiSapProxy* multiSapProxy0 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
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btMultiSapBroadphase::btMultiSapProxy* multiSapProxy1 = (btMultiSapBroadphase::btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
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bool collides = (multiSapProxy0->m_collisionFilterGroup & multiSapProxy1->m_collisionFilterMask) != 0;
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collides = collides && (multiSapProxy1->m_collisionFilterGroup & multiSapProxy0->m_collisionFilterMask);
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bool collides = (childProxy0->m_collisionFilterGroup & childProxy1->m_collisionFilterMask) != 0;
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collides = collides && (childProxy1->m_collisionFilterGroup & childProxy0->m_collisionFilterMask);
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return collides;
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}
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@@ -69,23 +82,32 @@ btMultiSapBroadphase::~btMultiSapBroadphase()
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}
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}
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void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
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{
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m_optimizedAabbTree = new btOptimizedBvh();
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m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
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QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray();
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for (int i=0;i<m_sapBroadphases.size();i++)
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{
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btQuantizedBvhNode node;
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btVector3 aabbMin,aabbMax;
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m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
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int partId = 0;
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node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
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nodes.push_back(node);
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}
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m_optimizedAabbTree->buildInternal();
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}
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btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
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{
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void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
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btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
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m_multiSapProxies.push_back(proxy);
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///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
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///this is needed to be able to calculate the aabb overlap
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btBroadphaseProxy* simpleProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask, dispatcher);
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simpleProxy->m_multiSapParentProxy = proxy;
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mem = btAlignedAlloc(sizeof(btChildProxy),16);
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btChildProxy* childProxyRef = new(mem) btChildProxy();
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childProxyRef->m_proxy = simpleProxy;
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childProxyRef->m_childBroadphase = m_simpleBroadphase;
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proxy->m_childProxies.push_back(childProxyRef);
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///this should deal with inserting/removal into child broadphases
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setAabb(proxy,aabbMin,aabbMax,dispatcher);
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return proxy;
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@@ -97,51 +119,248 @@ void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* d
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btAssert(0);
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}
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void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
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{
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void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
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btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy();
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bridgeProxyRef->m_childProxy = childProxy;
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bridgeProxyRef->m_childBroadphase = childBroadphase;
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parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
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}
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bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
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{
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return
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amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
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amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
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amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
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}
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int doTree=1;
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#include <stdio.h>
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void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
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{
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btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
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multiProxy->m_aabbMin = aabbMin;
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multiProxy->m_aabbMax = aabbMax;
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for (int i=0;i<multiProxy->m_childProxies.size();i++)
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bool fullyContained = false;
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bool alreadyInSimple = false;
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for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
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childProxyRef->m_childBroadphase->setAabb(childProxyRef->m_proxy,aabbMin,aabbMax,dispatcher);
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btVector3 worldAabbMin,worldAabbMax;
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multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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if (!overlapsBroadphase)
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{
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//remove it now
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btMultiSapBroadphase* m_multiSap;
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btMultiSapProxy* m_multiProxy;
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btDispatcher* m_dispatcher;
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MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
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:m_multiSap(multiSap),
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m_multiProxy(multiProxy),
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m_dispatcher(dispatcher)
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{
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}
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virtual void processNode(int nodeSubPart, int broadphaseIndex)
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{
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btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
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int containingBroadphaseIndex = -1;
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//already found?
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for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
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{
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if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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break;
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}
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}
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if (containingBroadphaseIndex<0)
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{
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//add it
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher);
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childProxy->m_multiSapParentProxy = m_multiProxy;
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m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
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}
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}
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};
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MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher);
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if (doTree)
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{
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m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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}
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/*if (!stopUpdating1)
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{
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//find broadphase that contain this multiProxy
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int numChildBroadphases = getBroadphaseArray().size();
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for (int i=0;i<numChildBroadphases;i++)
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{
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btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
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btVector3 worldAabbMin,worldAabbMax;
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childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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// fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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int containingBroadphaseIndex = -1;
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//if already contains this
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for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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}
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alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
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}
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if (overlapsBroadphase)
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{
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if (containingBroadphaseIndex<0)
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{
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,childBroadphase);
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}
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} else
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{
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if (containingBroadphaseIndex>=0)
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{
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//remove
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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}
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///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
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///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
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if (0)//!multiProxy->m_bridgeProxies.size())
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{
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///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
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///this is needed to be able to calculate the aabb overlap
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btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
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}
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}
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*/
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//update
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for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
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bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
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}
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}
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bool stopUpdating=false;
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
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{
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class btMultiSapBroadphasePairSortPredicate
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{
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public:
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bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
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{
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btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
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return aProxy0 > bProxy0 ||
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(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
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(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm);
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}
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};
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m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
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if (m_overlappingPairs->hasDeferredRemoval())
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if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
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{
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btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
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btBroadphasePairArray& overlappingPairArray = m_overlappingPairs->getOverlappingPairArray();
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//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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int i;
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btBroadphasePair previousPair;
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previousPair.m_pProxy0 = 0;
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previousPair.m_pProxy1 = 0;
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previousPair.m_algorithm = 0;
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int i;
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for (i=0;i<overlappingPairArray.size();i++)
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{
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btBroadphasePair& pair = overlappingPairArray[i];
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bool isDuplicate = (pair == previousPair);
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btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
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bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
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(pair == previousPair);
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previousPair = pair;
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@@ -168,7 +387,7 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
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if (needsRemoval)
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{
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m_overlappingPairs->cleanOverlappingPair(pair,dispatcher);
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getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
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// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
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// m_overlappingPairArray.pop_back();
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@@ -185,23 +404,27 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
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#ifdef CLEAN_INVALID_PAIRS
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//perform a sort, to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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#endif//CLEAN_INVALID_PAIRS
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//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
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}
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}
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bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
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{
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btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
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btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
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btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
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return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
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multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
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}
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