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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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3
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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@@ -34,8 +34,8 @@ class btConvexTriangleCallback : public btTriangleCallback
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
btManifoldResult* m_resultOut;
btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle;
@@ -78,6 +78,7 @@ class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm
btConvexTriangleCallback m_btConvexTriangleCallback;
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

24
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -61,12 +61,15 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci),
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
m_lowLevelOfDetail(false)
#ifdef USE_SEPDISTANCE_UTIL2
,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
#endif
{
(void)body0;
(void)body1;
@@ -112,9 +115,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
#ifdef USE_BT_GJKEPA
@@ -135,9 +140,10 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
m_gjkPairDetector.setMinkowskiA(min0);
m_gjkPairDetector.setMinkowskiB(min1);
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = 1e30f;//min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
//input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
@@ -147,12 +153,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
btScalar sepDist = m_gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.initSeparatingDistance(m_gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
#endif //USE_SEPDISTANCE_UTIL2
}

13
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
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@@ -27,19 +27,24 @@ subject to the following restrictions:
class btConvexPenetrationDepthSolver;
//#define USE_SEPDISTANCE_UTIL2 1
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
btGjkPairDetector m_gjkPairDetector;
public:
#ifdef USE_SEPDISTANCE_UTIL2
btConvexSeparatingDistanceUtil m_sepDistance;
#endif
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
///cache separating vector to speedup collision detection
btConvexSeparatingDistanceUtil m_sepDistance;
public:

6
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
@@ -100,8 +101,9 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int maxSize4 = sizeof(btEmptyAlgorithm);
int maxSize4 = sizeof(SpuContactManifoldCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);