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Some performance improvements and fixes related to btVector3 being aligned on SPU.

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btQuantizedBvh has a version number, memory layout might be different now (due to aligned btVector3)
reorganized some data members of some classes, to reduce memory footprint
This commit is contained in:
erwin.coumans
2008-10-29 02:45:43 +00:00
parent aeb48644ee
commit 50930cec5c
11 changed files with 79 additions and 60 deletions
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18
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -91,20 +91,16 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
btVector3 m_aabbMin;
btVector3 m_aabbMax;
//Usually the client btCollisionObject or Rigidbody class
void* m_clientObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
void* m_multiSapParentProxy;
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
btVector3 m_aabbMin;
btVector3 m_aabbMax;
SIMD_FORCE_INLINE int getUid() const
{
return m_uniqueId;
@@ -116,11 +112,11 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
}
btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_clientObject(userPtr),
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
m_collisionFilterMask(collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax)
{
m_multiSapParentProxy = multiSapParentProxy;
}

8
src/BulletCollision/BroadphaseCollision/btDbvt.cpp
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@@ -500,7 +500,7 @@ void btDbvt::update(btDbvtNode* leaf,int lookahead)
}
//
void btDbvt::update(btDbvtNode* leaf,const btDbvtVolume& volume)
void btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume)
{
btDbvtNode* root=removeleaf(this,leaf);
if(root)
@@ -518,7 +518,7 @@ void btDbvt::update(btDbvtNode* leaf,const btDbvtVolume& volume)
}
//
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin)
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));
@@ -528,7 +528,7 @@ bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velo
}
//
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity)
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity)
{
if(leaf->volume.Contain(volume)) return(false);
volume.SignedExpand(velocity);
@@ -537,7 +537,7 @@ bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velo
}
//
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin)
bool btDbvt::update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin)
{
if(leaf->volume.Contain(volume)) return(false);
volume.Expand(btVector3(margin,margin,margin));

8
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -276,10 +276,10 @@ struct btDbvt
void optimizeIncremental(int passes);
btDbvtNode* insert(const btDbvtVolume& box,void* data);
void update(btDbvtNode* leaf,int lookahead=-1);
void update(btDbvtNode* leaf,const btDbvtVolume& volume);
bool update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity,btScalar margin);
bool update(btDbvtNode* leaf,btDbvtVolume volume,const btVector3& velocity);
bool update(btDbvtNode* leaf,btDbvtVolume volume,btScalar margin);
void update(btDbvtNode* leaf,btDbvtVolume& volume);
bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity,btScalar margin);
bool update(btDbvtNode* leaf,btDbvtVolume& volume,const btVector3& velocity);
bool update(btDbvtNode* leaf,btDbvtVolume& volume,btScalar margin);
void remove(btDbvtNode* leaf);
void write(IWriter* iwriter) const;
void clone(btDbvt& dest,IClone* iclone=0) const;

8
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
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@@ -20,7 +20,9 @@ subject to the following restrictions:
#define RAYAABB2
btQuantizedBvh::btQuantizedBvh() : m_useQuantization(false),
btQuantizedBvh::btQuantizedBvh() :
m_bulletVersion(BT_BULLET_VERSION),
m_useQuantization(false),
//m_traversalMode(TRAVERSAL_STACKLESS_CACHE_FRIENDLY)
m_traversalMode(TRAVERSAL_STACKLESS)
//m_traversalMode(TRAVERSAL_RECURSIVE)
@@ -1136,10 +1138,10 @@ btQuantizedBvh *btQuantizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, un
btQuantizedBvh::btQuantizedBvh(btQuantizedBvh &self, bool /* ownsMemory */) :
m_bvhAabbMin(self.m_bvhAabbMin),
m_bvhAabbMax(self.m_bvhAabbMax),
m_bvhQuantization(self.m_bvhQuantization)
m_bvhQuantization(self.m_bvhQuantization),
m_bulletVersion(BT_BULLET_VERSION)
{
}

45
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
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@@ -158,41 +158,43 @@ typedef btAlignedObjectArray<btBvhSubtreeInfo> BvhSubtreeInfoArray;
///It is recommended to use quantization for better performance and lower memory requirements.
ATTRIBUTE_ALIGNED16(class) btQuantizedBvh
{
protected:
NodeArray m_leafNodes;
NodeArray m_contiguousNodes;
QuantizedNodeArray m_quantizedLeafNodes;
QuantizedNodeArray m_quantizedContiguousNodes;
int m_curNodeIndex;
//quantization data
bool m_useQuantization;
btVector3 m_bvhAabbMin;
btVector3 m_bvhAabbMax;
btVector3 m_bvhQuantization;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
enum btTraversalMode
{
TRAVERSAL_STACKLESS = 0,
TRAVERSAL_STACKLESS_CACHE_FRIENDLY,
TRAVERSAL_RECURSIVE
};
protected:
btTraversalMode m_traversalMode;
btVector3 m_bvhAabbMin;
btVector3 m_bvhAabbMax;
btVector3 m_bvhQuantization;
int m_bulletVersion; //for serialization versioning. It could also be used to detect endianess.
int m_curNodeIndex;
//quantization data
bool m_useQuantization;
NodeArray m_leafNodes;
NodeArray m_contiguousNodes;
QuantizedNodeArray m_quantizedLeafNodes;
QuantizedNodeArray m_quantizedContiguousNodes;
btTraversalMode m_traversalMode;
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
int m_subtreeHeaderCount;
///two versions, one for quantized and normal nodes. This allows code-reuse while maintaining readability (no template/macro!)
///this might be refactored into a virtual, it is usually not calculated at run-time
@@ -332,6 +334,9 @@ protected:
void updateSubtreeHeaders(int leftChildNodexIndex,int rightChildNodexIndex);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btQuantizedBvh();
virtual ~btQuantizedBvh();