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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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147
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -133,9 +133,7 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
m_updates_call = 0;
m_updates_done = 0;
m_updates_ratio = 0;
m_paircache = paircache?
paircache :
new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
m_paircache = paircache? paircache : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
m_gid = 0;
m_pid = 0;
m_cid = 0;
@@ -342,16 +340,102 @@ void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
}
#endif
performDeferredRemoval(dispatcher);
}
void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
{
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());
int 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 perform AABB check that is consistent with the broadphase
btDbvtProxy* pa=(btDbvtProxy*)pair.m_pProxy0;
btDbvtProxy* pb=(btDbvtProxy*)pair.m_pProxy1;
bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
if (hasOverlap)
{
needsRemoval = false;
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_paircache->cleanOverlappingPair(pair,dispatcher);
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
invalidPair++;
}
}
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
}
}
//
void btDbvtBroadphase::collide(btDispatcher* dispatcher)
{
/*printf("---------------------------------------------------------\n");
printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
{
int i;
for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
{
printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
}
printf("\n");
}
*/
SPC(m_profiling.m_total);
/* optimize */
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
@@ -407,11 +491,11 @@ void btDbvtBroadphase::collide(btDispatcher* dispatcher)
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
if(pairs.size()>0)
{
const int ci=pairs.size();
int ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
int ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
for(int i=0;i<ni;++i)
{
btBroadphasePair& p=pairs[(m_cid+i)%ci];
btBroadphasePair& p=pairs[(m_cid+i)%pairs.size()];
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
if(!Intersect(pa->leaf->volume,pb->leaf->volume))
@@ -477,26 +561,35 @@ void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aab
void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
{
return;
m_sets[0].optimizeBottomUp();
m_sets[1].optimizeBottomUp();
btDbvtProxy* current=m_stageRoots[m_stageCurrent];
if(current)
{
btDbvtTreeCollider collider(this);
do {
btDbvtProxy* next=current->links[1];
listremove(current,m_stageRoots[current->stage]);
listappend(current,m_stageRoots[m_stageCurrent]);
current->stage = m_stageCurrent;
current = next;
} while(current);
}
int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
if (!totalObjects)
{
//reset internal dynamic tree data structures
m_sets[0].clear();
m_sets[1].clear();
m_deferedcollide = false;
m_needcleanup = true;
m_prediction = 1/(btScalar)2;
m_stageCurrent = 0;
m_fixedleft = 0;
m_fupdates = 1;
m_dupdates = 0;
m_cupdates = 10;
m_newpairs = 1;
m_updates_call = 0;
m_updates_done = 0;
m_updates_ratio = 0;
m_gid = 0;
m_pid = 0;
m_cid = 0;
for(int i=0;i<=STAGECOUNT;++i)
{
m_stageRoots[i]=0;
}
}
}
//