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Fixes for broadphase/paircache determinism.

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Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types.
Use btAssert and not assert.
Don't access btAlignedObjectArray elements, for zero sets
This commit is contained in:
erwin.coumans
2009-02-10 23:50:21 +00:00
parent be3260280a
commit 7a2a98078a
35 changed files with 323 additions and 205 deletions
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89
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -221,7 +221,7 @@ void btAxisSweep3<BP_FP_INT_TYPE>::debugPrintAxis(int axis, bool checkCardinalit
}
if (checkCardinality)
assert(numEdges == m_numHandles*2+1);
btAssert(numEdges == m_numHandles*2+1);
}
#endif //DEBUG_BROADPHASE
@@ -347,7 +347,7 @@ m_raycastAccelerator(0)
m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
}
//assert(bounds.HasVolume());
//btAssert(bounds.HasVolume());
// init bounds
m_worldAabbMin = worldAabbMin;
@@ -453,7 +453,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::quantize(BP_FP_INT_TYPE* out, const b
template <typename BP_FP_INT_TYPE>
BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
{
assert(m_firstFreeHandle);
btAssert(m_firstFreeHandle);
BP_FP_INT_TYPE handle = m_firstFreeHandle;
m_firstFreeHandle = getHandle(handle)->GetNextFree();
@@ -465,7 +465,7 @@ BP_FP_INT_TYPE btAxisSweep3Internal<BP_FP_INT_TYPE>::allocHandle()
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::freeHandle(BP_FP_INT_TYPE handle)
{
assert(handle > 0 && handle < m_maxHandles);
btAssert(handle > 0 && handle < m_maxHandles);
getHandle(handle)->SetNextFree(m_firstFreeHandle);
m_firstFreeHandle = handle;
@@ -611,8 +611,83 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
if (m_pairCache->hasDeferredRemoval())
{
m_pairCache->performDeferredRemoval(dispatcher);
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
btBroadphasePair previousPair;
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);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
///important to use an AABB test that is consistent with the broadphase
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//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();
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
//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
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}
@@ -653,8 +728,8 @@ bool btAxisSweep3Internal<BP_FP_INT_TYPE>::testOverlap2D(const Handle* pHandleA,
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
{
// assert(bounds.IsFinite());
//assert(bounds.HasVolume());
// btAssert(bounds.IsFinite());
//btAssert(bounds.HasVolume());
Handle* pHandle = getHandle(handle);