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

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

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files

109
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
View File

@@ -57,9 +57,11 @@ m_optimizedAabbTree(0)
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
{
btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
bool collides = (childProxy0->m_collisionFilterGroup & childProxy1->m_collisionFilterMask) != 0;
collides = collides && (childProxy1->m_collisionFilterGroup & childProxy0->m_collisionFilterMask);
bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
return collides;
}
@@ -69,8 +71,8 @@ m_optimizedAabbTree(0)
m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
}
btMultiSapBroadphase::~btMultiSapBroadphase()
@@ -102,8 +104,10 @@ void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3
m_optimizedAabbTree->buildInternal();
}
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* ignoreMe)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
m_multiSapProxies.push_back(proxy);
@@ -144,8 +148,7 @@ amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
int doTree=1;
#include <stdio.h>
//#include <stdio.h>
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
@@ -157,25 +160,6 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
bool fullyContained = false;
bool alreadyInSimple = false;
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btVector3 worldAabbMin,worldAabbMax;
multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
@@ -211,8 +195,7 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
if (containingBroadphaseIndex<0)
{
//add it
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);
childProxy->m_multiSapParentProxy = m_multiProxy;
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,m_multiProxy);
m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
}
@@ -223,14 +206,32 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
if (doTree)
{
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btVector3 worldAabbMin,worldAabbMax;
multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
/*if (!stopUpdating1)
/*
if (1)
{
//find broadphase that contain this multiProxy
@@ -292,7 +293,16 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
}
*/
if (!multiProxy->m_bridgeProxies.size())
{
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
*/
//update
@@ -306,7 +316,6 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
bool stopUpdating=false;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
@@ -327,15 +336,19 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
}
};
m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
// quicksort(overlappingPairArray,0,overlappingPairArray.size());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
@@ -360,8 +373,7 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
(pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
@@ -404,7 +416,8 @@ void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
@@ -428,3 +441,21 @@ bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroa
}
void btMultiSapBroadphase::printStats()
{
/* printf("---------------------------------\n");
printf("btMultiSapBroadphase.h\n");
printf("numHandles = %d\n",m_multiSapProxies.size());
//find broadphase that contain this multiProxy
int numChildBroadphases = getBroadphaseArray().size();
for (int i=0;i<numChildBroadphases;i++)
{
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
childBroadphase->printStats();
}
*/
}