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Make the btDbvtBroadphase deterministic/reproducable, by sorting the btBroadphasePair using unique ID, instead of proxy address.

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The btAxisSweep3 didn't suffer from this issue, because proxies were always allocated in-order, as part of an array.
This commit is contained in:
erwin.coumans
2008-12-08 20:16:29 +00:00
parent 65cdd7146f
commit 6db1b932fd
5 changed files with 16 additions and 27 deletions
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20
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -146,9 +146,7 @@ struct btDbvtAabbMm
DBVT_INLINE btScalar ProjectMinimum(const btVector3& v,unsigned signs) const;
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
const btTransform& xform);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& b);
@@ -530,21 +528,7 @@ DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
#endif
}
//
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b,
const btTransform& xform)
{
const btVector3 d0=xform*b.Center()-a.Center();
const btVector3 d1=d0*xform.getBasis();
btScalar s0[2]={0,0};
btScalar s1[2]={dot(xform.getOrigin(),d0),s1[0]};
a.AddSpan(d0,s0[0],s0[1]);
b.AddSpan(d1,s1[0],s1[1]);
if(s0[0]>(s1[1])) return(false);
if(s0[1]<(s1[0])) return(false);
return(true);
}
//
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,