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- added quickSort to btAlignedObjectArray (has generally better performance then heapSort)

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- replaced all usage of heapSort by quickSort
- finished btMultiSapBroadphase. Still some work to be done to increase performance (faster add/remove from child broadphases. 
  uses currently AABB tree to locate child broadphase (should use grid), and sorted array takes too much time.
This commit is contained in:
erwin.coumans
2008-03-16 04:30:43 +00:00
parent 44186898af
commit 65bb612598
20 changed files with 310 additions and 217 deletions
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22
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -62,6 +62,7 @@ CONCAVE_SHAPES_END_HERE,
MAX_BROADPHASE_COLLISION_TYPES
};
//#include <stdio.h>
///btBroadphaseProxy
ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
@@ -83,21 +84,13 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
//Usually the client btCollisionObject or Rigidbody class
void* m_clientObject;
///in the case of btMultiSapBroadphase, we store the collifionFilterGroup/Mask in the m_multiSapParentProxy
union
{
struct
{
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
};
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
void* m_multiSapParentProxy;
void* m_multiSapParentProxy;
};
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
int m_unusedPadding; //making the structure 16 bytes, better for alignment etc.
SIMD_FORCE_INLINE int getUid() const
{
@@ -105,13 +98,16 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
}
//used for memory pools
btBroadphaseProxy() :m_clientObject(0){}
btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
{
}
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
{
m_multiSapParentProxy = multiSapParentProxy;
}