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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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4
Extras/BulletMultiThreaded/SpuParallelSolver.cpp
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@@ -278,11 +278,11 @@ void btParallelSequentialImpulseSolver::allSolved (const btContactSolverInfo& in
// Sort the manifolds list
int numManifolds = m_sortedManifolds.size();
m_sortedManifolds.heapSort(CellHolderPredicate<ManifoldCellHolder>());
m_sortedManifolds.quickSort(CellHolderPredicate<ManifoldCellHolder>());
// Sort the constraint list
int numConstraints = m_sortedConstraints.size();
m_sortedConstraints.heapSort(CellHolderPredicate<ConstraintCellHolder>());
m_sortedConstraints.quickSort(CellHolderPredicate<ConstraintCellHolder>());
// Sort the body list

2
Extras/GIMPACT/src/Bullet/btContactProcessing.cpp
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@@ -92,7 +92,7 @@ void btContactArray::merge_contacts(
}
//sort keys
keycontacts.heapSort(CONTACT_KEY_TOKEN_COMP());
keycontacts.quickSort(CONTACT_KEY_TOKEN_COMP());
// Merge contacts
int coincident_count=0;

30
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -117,10 +117,14 @@ public:
virtual ~btAxisSweep3Internal();
BP_FP_INT_TYPE getNumHandles() const
{
return m_numHandles;
}
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax,btDispatcher* dispatcher);
SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
@@ -128,7 +132,7 @@ public:
void processAllOverlappingPairs(btOverlapCallback* callback);
//Broadphase Interface
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
@@ -160,6 +164,15 @@ public:
aabbMax = m_worldAabbMax;
}
virtual void printStats()
{
/* printf("btAxisSweep3.h\n");
printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
*/
}
};
@@ -194,10 +207,10 @@ void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinalit
#endif //DEBUG_BROADPHASE
template <typename BP_FP_INT_TYPE>
btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
{
(void)shapeType;
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher);
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy);
Handle* handle = getHandle(handleId);
@@ -360,7 +373,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher)
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy)
{
// quantize the bounds
BP_FP_INT_TYPE min[3], max[3];
@@ -378,6 +391,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::addHandle(const btPoint3& a
pHandle->m_clientObject = pOwner;
pHandle->m_collisionFilterGroup = collisionFilterGroup;
pHandle->m_collisionFilterMask = collisionFilterMask;
pHandle->m_multiSapParentProxy = multiSapProxy;
// compute current limit of edge arrays
BP_FP_INT_TYPE limit = m_numHandles * 2;
@@ -472,7 +486,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
}
extern int gOverlappingPairs;
#include <stdio.h>
//#include <stdio.h>
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatcher* dispatcher)
@@ -484,7 +498,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
@@ -547,7 +561,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;

4
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
View File

@@ -31,7 +31,7 @@ class btBroadphaseInterface
public:
virtual ~btBroadphaseInterface() {}
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher) =0;
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
@@ -45,6 +45,8 @@ public:
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void printStats() = 0;
};
#endif //BROADPHASE_INTERFACE_H

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;
}

107
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;
@@ -360,7 +373,6 @@ 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;
@@ -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();
}
*/
}

8
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
View File

@@ -70,7 +70,7 @@ public:
short int m_collisionFilterMask;
*/
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,this),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_shapeType(shapeType)
@@ -104,7 +104,7 @@ public:
virtual ~btMultiSapBroadphase();
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
@@ -132,6 +132,10 @@ public:
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
virtual void printStats();
void quicksort (btBroadphasePairArray& a, int lo, int hi);
};
#endif //BT_MULTI_SAP_BROADPHASE

6
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View File

@@ -163,7 +163,7 @@ btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* prox
return &m_overlappingPairArray[index];
}
#include <stdio.h>
//#include <stdio.h>
void btHashedOverlappingPairCache::growTables()
{
@@ -349,7 +349,7 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
return userData;
}
#include <stdio.h>
//#include <stdio.h>
void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
{
@@ -450,7 +450,7 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
#include <stdio.h>
//#include <stdio.h>
void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
{

8
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@@ -83,7 +83,7 @@ btSimpleBroadphase::~btSimpleBroadphase()
}
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher)
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
{
if (m_numHandles >= m_maxHandles)
{
@@ -93,7 +93,7 @@ btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin,
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int newHandleIndex = allocHandle();
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
return proxy;
}
@@ -227,7 +227,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
@@ -288,7 +288,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;

12
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
View File

@@ -31,8 +31,8 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
m_min(minpt),m_max(maxpt)
{
(void)shapeType;
@@ -120,7 +120,7 @@ public:
static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
@@ -146,6 +146,12 @@ public:
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
virtual void printStats()
{
// printf("btSimpleBroadphase.h\n");
// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
}
};

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());
}

2
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -13,7 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
//#include <stdio.h>
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"

2
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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@@ -26,7 +26,7 @@ subject to the following restrictions:
#include "btVoronoiSimplexSolver.h"
#include <assert.h>
#include <stdio.h>
//#include <stdio.h>
#define VERTA 0
#define VERTB 1

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -625,7 +625,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
sortedConstraints.heapSort(btSortConstraintOnIslandPredicate());
sortedConstraints.quickSort(btSortConstraintOnIslandPredicate());
btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;

40
src/LinearMath/btAlignedObjectArray.h
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@@ -253,6 +253,46 @@ class btAlignedObjectArray
}
};
template <typename L>
void quickSortInternal(L CompareFunc,int lo, int hi)
{
// lo is the lower index, hi is the upper index
// of the region of array a that is to be sorted
int i=lo, j=hi;
T x=m_data[(lo+hi)/2];
// partition
do
{
while (CompareFunc(m_data[i],x))
i++;
while (CompareFunc(x,m_data[j]))
j--;
if (i<=j)
{
swap(i,j);
i++; j--;
}
} while (i<=j);
// recursion
if (lo<j)
quickSortInternal( CompareFunc, lo, j);
if (i<hi)
quickSortInternal( CompareFunc, i, hi);
}
template <typename L>
void quickSort(L CompareFunc)
{
//don't sort 0 or 1 elements
if (size()>1)
{
quickSortInternal(CompareFunc,0,size()-1);
}
}
///heap sort from http://www.csse.monash.edu.au/~lloyd/tildeAlgDS/Sort/Heap/
template <typename L>

2
src/btBulletCollisionCommon.h
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@@ -50,7 +50,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
///Math library & Utils
#include "LinearMath/btQuaternion.h"