started working on some serious performance improvements. now the union find is optimized, the broadphase add/remove overlapping pair was too slow. added a stl::set to keep track of overlapping pairs. this speeds up the set find/remove. work in progress.the SimpleBroadphase is broken. will be fixed tomorrow.

Did some tests with 3000 rigidbodies, works much smoother now :)

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -687,7 +687,8 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	dispatchInfo.m_debugDraw = this->m_debugDrawer;
 
 	scene->RefreshOverlappingPairs();
-	GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo);
+	
+	GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
 
 
 #ifdef USE_QUICKPROF
@@ -856,7 +857,7 @@ bool	CcdPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 				dispatchInfo.m_dispatchFunc = DispatcherInfo::DISPATCH_CONTINUOUS;
 
 				//pairCache->RefreshOverlappingPairs();//??
-				GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(&scene->GetOverlappingPair(0),scene->GetNumOverlappingPairs(),dispatchInfo);
+				GetCollisionWorld()->GetDispatcher()->DispatchAllCollisionPairs(scene,dispatchInfo);
 				
 				toi = dispatchInfo.m_timeOfImpact;
 

Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.cpp

@@ -282,7 +282,7 @@ void	ParallelIslandDispatcher::ReleaseManifoldResult(ManifoldResult*)
 }
 
 
-void	ParallelIslandDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)
+void	ParallelIslandDispatcher::DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo)
 {
 	//m_blockedForChanges = true;
 
@@ -290,8 +290,9 @@ void	ParallelIslandDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,i
 
 	int dispatcherId = GetUniqueId();
 
+	assert(0);
 	
-
+/*
 	for (i=0;i<numPairs;i++)
 	{
 
@@ -342,7 +343,7 @@ void	ParallelIslandDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,i
 		}
 
 	}
-
+*/
 	//m_blockedForChanges = false;
 
 }

Extras/PhysicsInterface/CcdPhysics/ParallelIslandDispatcher.h

@@ -118,7 +118,7 @@ public:
 
 	virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
 
-	virtual void	DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo);
+	virtual void	DispatchAllCollisionPairs(OverlappingPairCache* pairCache,DispatcherInfo& dispatchInfo);
 	
 	
 

Extras/PhysicsInterface/CcdPhysics/ParallelPhysicsEnvironment.cpp

@@ -110,8 +110,13 @@ bool	ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 	
 	//this is a brute force approach, will rethink later about more subtle ways
 	int i;
+
+			assert(0);
+/*
 	for (i=0;i<	scene->GetNumOverlappingPairs();i++)
 	{
+
+
 		BroadphasePair* pair = &scene->GetOverlappingPair(i);
 
 		CollisionObject*	col0 = static_cast<CollisionObject*>(pair->m_pProxy0->m_clientObject);
@@ -124,7 +129,9 @@ bool	ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 		{
 			simulationIslands[col1->m_islandTag1].m_overlappingPairIndices.push_back(i);
 		}
+		
 	}
+	*/
 	
 	//store constraint indices for each island
 	for (i=0;i<m_constraints.size();i++)
@@ -176,14 +183,19 @@ bool	ParallelPhysicsEnvironment::proceedDeltaTimeOneStep(float timeStep)
 
 
 
+	assert(0);
+	/*
 	//Each simulation island can be processed in parallel (will be put on a job queue)
 	for (k=0;k<simulationIslands.size();k++)
 	{
 		if (simulationIslands[k].m_controllers.size())
 		{
+			assert(0);//seems to be wrong, passing ALL overlapping pairs
 			simulationIslands[k].Simulate(m_debugDrawer,m_numIterations, constraintBase ,&scene->GetOverlappingPair(0),dispatcher,GetBroadphase(),m_solver,timeStep);
 		}
 	}
+	*/
+
 
 #ifdef USE_QUICKPROF
 	Profiler::endBlock("SimulateIsland");

Extras/PhysicsInterface/CcdPhysics/SimulationIsland.cpp

@@ -102,7 +102,8 @@ bool	SimulationIsland::Simulate(IDebugDraw* debugDrawer,int numSolverIterations,
 	//pairCache->RefreshOverlappingPairs();
 	if (overlappingPairs.size())
 	{
-		dispatcher->DispatchAllCollisionPairs(&overlappingPairs[0],overlappingPairs.size(),dispatchInfo);///numsubstep,g);
+		assert(0);
+		//dispatcher->DispatchAllCollisionPairs(&overlappingPairs[0],overlappingPairs.size(),dispatchInfo);///numsubstep,g);
 	}
 
 	//scatter overlapping pair info, mainly the created algorithms/contact caches