Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

avoid a lot of dynamic allocations in btDbvt/btSoftBody (re-use stack)

Browse Source 
add Maya 2009 to Dynamica msvc projectfiles
This commit is contained in:
erwin.coumans
2008-10-29 06:27:40 +00:00
parent 50930cec5c
commit 487cc1cdf1
5 changed files with 59 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -265,6 +265,8 @@ struct btDbvt
unsigned m_opath;
mutable btAlignedObjectArray<const btDbvtNode*> m_stack;
mutable btAlignedObjectArray<sStkNN> m_stkStack;
// Methods
btDbvt();
@@ -299,22 +301,22 @@ struct btDbvt
static void enumLeaves( const btDbvtNode* root,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideTT( const btDbvtNode* root0,
void collideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideTT( const btDbvtNode* root0,
void collideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
const btTransform& xform,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideTT( const btDbvtNode* root0,
void collideTT( const btDbvtNode* root0,
const btTransform& xform0,
const btDbvtNode* root1,
const btTransform& xform1,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideTV( const btDbvtNode* root,
void collideTV( const btDbvtNode* root,
const btDbvtVolume& volume,
DBVT_IPOLICY);
///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
@@ -723,25 +725,24 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
DBVT_CHECKTYPE
if(root0&&root1)
{
btAlignedObjectArray<sStkNN> stack;
int depth=1;
int treshold=DOUBLE_STACKSIZE-4;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=sStkNN(root0,root1);
m_stkStack.resize(DOUBLE_STACKSIZE);
m_stkStack[0]=sStkNN(root0,root1);
do {
sStkNN p=stack[--depth];
sStkNN p=m_stkStack[--depth];
if(depth>treshold)
{
stack.resize(stack.size()*2);
treshold=stack.size()-4;
m_stkStack.resize(m_stkStack.size()*2);
treshold=m_stkStack.size()-4;
}
if(p.a==p.b)
{
if(p.a->isinternal())
{
stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
stack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
}
}
else if(Intersect(p.a->volume,p.b->volume))
@@ -750,23 +751,23 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
{
if(p.b->isinternal())
{
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stack[depth++]=sStkNN(p.a->childs[0],p.b);
stack[depth++]=sStkNN(p.a->childs[1],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stack[depth++]=sStkNN(p.a,p.b->childs[0]);
stack[depth++]=sStkNN(p.a,p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
}
else
{
@@ -788,41 +789,40 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
DBVT_CHECKTYPE
if(root0&&root1)
{
btAlignedObjectArray<sStkNN> stack;
int depth=1;
int treshold=DOUBLE_STACKSIZE-4;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=sStkNN(root0,root1);
m_stkStack.resize(DOUBLE_STACKSIZE);
m_stkStack[0]=sStkNN(root0,root1);
do {
sStkNN p=stack[--depth];
if(Intersect(p.a->volume,p.b->volume,xform))
{
if(depth>treshold)
{
stack.resize(stack.size()*2);
m_stkStack.resize(stack.size()*2);
treshold=stack.size()-4;
}
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
stack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
stack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stack[depth++]=sStkNN(p.a->childs[0],p.b);
stack[depth++]=sStkNN(p.a->childs[1],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stack[depth++]=sStkNN(p.a,p.b->childs[0]);
stack[depth++]=sStkNN(p.a,p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
}
else
{
@@ -856,25 +856,26 @@ inline void btDbvt::collideTV( const btDbvtNode* root,
if(root)
{
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
btAlignedObjectArray<const btDbvtNode*> stack;
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(root);
m_stack.resize(0);
m_stack.reserve(SIMPLE_STACKSIZE);
m_stack.push_back(root);
do {
const btDbvtNode* n=stack[stack.size()-1];
stack.pop_back();
const btDbvtNode* n=m_stack[m_stack.size()-1];
m_stack.pop_back();
if(Intersect(n->volume,volume))
{
if(n->isinternal())
{
stack.push_back(n->childs[0]);
stack.push_back(n->childs[1]);
m_stack.push_back(n->childs[0]);
m_stack.push_back(n->childs[1]);
}
else
{
policy.Process(n);
}
}
} while(stack.size()>0);
} while(m_stack.size()>0);
}
}

12
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View File

@@ -182,8 +182,8 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
{
btDbvtTreeCollider collider(this);
collider.proxy=proxy;
btDbvt::collideTV(m_sets[0].m_root,aabb,collider);
btDbvt::collideTV(m_sets[1].m_root,aabb,collider);
m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
}
return(proxy);
}
@@ -307,8 +307,8 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
if(!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
btDbvt::collideTT(m_sets[1].m_root,proxy->leaf,collider);
btDbvt::collideTT(m_sets[0].m_root,proxy->leaf,collider);
m_sets[1].collideTT(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTT(m_sets[0].m_root,proxy->leaf,collider);
}
}
}
@@ -382,12 +382,12 @@ void btDbvtBroadphase::collide(btDispatcher* dispatcher)
if(m_deferedcollide)
{
SPC(m_profiling.m_fdcollide);
btDbvt::collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
m_sets[0].collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
}
if(m_deferedcollide)
{
SPC(m_profiling.m_ddcollide);
btDbvt::collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
m_sets[0].collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
}
}
/* clean up */