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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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3
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -28,8 +28,9 @@ subject to the following restrictions:
int gNumManifold = 0;
#ifdef BT_DEBUG
#include <stdio.h>
#endif
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -104,7 +104,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
collisionObject,
collisionFilterGroup,
collisionFilterMask,
m_dispatcher1
m_dispatcher1,0
)) ;

2
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -15,7 +15,7 @@ subject to the following restrictions:
#include "btConvexConvexAlgorithm.h"
#include <stdio.h>
//#include <stdio.h>
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"

12
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -7,7 +7,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include <stdio.h>
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
@@ -138,7 +138,7 @@ class btPersistentManifoldSortPredicate
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
BT_PROFILE("islandUnionFindAndHeapSort");
BT_PROFILE("islandUnionFindAndQuickSort");
//we are going to sort the unionfind array, and store the element id in the size
//afterwards, we clean unionfind, to make sure no-one uses it anymore
@@ -170,7 +170,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
printf("error in island management\n");
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -197,7 +197,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
printf("error in island management\n");
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -218,7 +218,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
printf("error in island management\n");
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
@@ -286,7 +286,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)

3
src/BulletCollision/CollisionDispatch/btUnionFind.cpp
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@@ -77,8 +77,7 @@ void btUnionFind::sortIslands()
// Sort the vector using predicate and std::sort
//std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
//perhaps use radix sort?
m_elements.heapSort(btUnionFindElementSortPredicate());
m_elements.quickSort(btUnionFindElementSortPredicate());
}