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fix btSimpleBroadphase, it shouldn't store the allocated handles, they are simply in m_pHandles.

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Thanks to Ole K. for reporting the issue:
http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2560
This commit is contained in:
erwin.coumans
2008-09-04 19:31:37 +00:00
parent d2760b18aa
commit 7234a61910
2 changed files with 32 additions and 50 deletions
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64
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -62,10 +62,8 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
{
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
m_pHandles[i].SetNextAllocated(-1);
}
m_pHandles[maxProxies - 1].SetNextFree(0);
m_pHandles[maxProxies - 1].SetNextAllocated(-1);
}
@@ -179,31 +177,29 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
//first check for new overlapping pairs
int i,j;
if (m_firstAllocatedHandle >= 0)
if (m_numHandles >= 0)
{
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
for (i=0;i<m_numHandles;i++)
{
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
for (j=0;j<m_numHandles;j++)
for (j=i+1;j<m_numHandles;j++)
{
if (proxy0 != proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
btAssert(proxy0 != proxy1);
if (aabbOverlap(p0,p1))
{
if ( !m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
} else
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
if (aabbOverlap(p0,p1))
{
if ( !m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
} else
{
if (!m_pairCache->hasDeferredRemoval())
{
if ( m_pairCache->findPair(proxy0,proxy1))
@@ -211,19 +207,13 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
}
}
}
proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
}
proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
}
if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
@@ -237,11 +227,11 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
@@ -268,31 +258,31 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
#endif//CLEAN_INVALID_PAIRS
}
}