Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added btAxisSweep3::resetPool, to avoid non-determinism due to unsorted linked-list, thanks to Ole K., See http://code.google.com/p/bullet/issues/detail?id=126

Browse Source 
Fixed recently introduced issue: can't re-use stack as member variable (to reduce memory allocs) in btDbvt, due to recursion.
remove btGjkEpa.* from Makefile.am, Makefile and CMakeLists.txt
avoid division-by-zero in ODE boxbox contact reduction
This commit is contained in:
erwin.coumans
2008-11-04 09:37:31 +00:00
parent 4df7c841a3
commit 8e51049359
8 changed files with 81 additions and 57 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Extras/quickstep/btSorLcp.cpp
View File

@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "btSorLcp.h" #include "btSorLcp.h"
#include "btOdeSolverBody.h" #include "btOdeSolverBody.h"
#include "LinearMath/btQuickProf.h"
#ifdef USE_SOR_SOLVER #ifdef USE_SOR_SOLVER
@@ -223,6 +224,8 @@ void btSorLcpSolver::SOR_LCP(int m, int nb, dRealMutablePtr J, int *jb,
btStackAlloc* stackAlloc btStackAlloc* stackAlloc
) )
{ {
BT_PROFILE("btSorLcpSolver::SOR_LCP");
//btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007 //btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007
AutoBlockSa asaBlock(stackAlloc); AutoBlockSa asaBlock(stackAlloc);
@@ -448,6 +451,7 @@ void btSorLcpSolver::SolveInternal1 (
int nj, const btContactSolverInfo& solverInfo, int nj, const btContactSolverInfo& solverInfo,
btStackAlloc* stackAlloc) btStackAlloc* stackAlloc)
{ {
BT_PROFILE("btSorLcpSolver::SolveInternal1");
//btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007 //btBlock* saBlock = stackAlloc->beginBlock();//Remo: 10.10.2007
AutoBlockSa asaBlock(stackAlloc); AutoBlockSa asaBlock(stackAlloc);

17
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -138,6 +138,8 @@ public:
void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void resetPool();
void processAllOverlappingPairs(btOverlapCallback* callback); void processAllOverlappingPairs(btOverlapCallback* callback);
//Broadphase Interface //Broadphase Interface
@@ -584,6 +586,21 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
} }
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool()
{
if (m_numHandles == 0)
{
m_firstFreeHandle = 1;
{
for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < m_maxHandles; i++)
m_pHandles[i].SetNextFree(static_cast<BP_FP_INT_TYPE>(i + 1));
m_pHandles[m_maxHandles - 1].SetNextFree(0);
}
}
}
extern int gOverlappingPairs; extern int gOverlappingPairs;
//#include <stdio.h> //#include <stdio.h>

100
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -184,7 +184,8 @@ struct btDbvtNode
btDbvtNode* parent; btDbvtNode* parent;
DBVT_INLINE bool isleaf() const { return(childs[1]==0); } DBVT_INLINE bool isleaf() const { return(childs[1]==0); }
DBVT_INLINE bool isinternal() const { return(!isleaf()); } DBVT_INLINE bool isinternal() const { return(!isleaf()); }
union { union
{
btDbvtNode* childs[2]; btDbvtNode* childs[2];
void* data; void* data;
int dataAsInt; int dataAsInt;
@@ -264,8 +265,8 @@ struct btDbvt
int m_leaves; int m_leaves;
unsigned m_opath; unsigned m_opath;
mutable btAlignedObjectArray<const btDbvtNode*> m_stack;
mutable btAlignedObjectArray<sStkNN> m_stkStack;
// Methods // Methods
@@ -727,22 +728,23 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
{ {
int depth=1; int depth=1;
int treshold=DOUBLE_STACKSIZE-4; int treshold=DOUBLE_STACKSIZE-4;
m_stkStack.resize(DOUBLE_STACKSIZE); btAlignedObjectArray<sStkNN> stkStack;
m_stkStack[0]=sStkNN(root0,root1); stkStack.resize(DOUBLE_STACKSIZE);
stkStack[0]=sStkNN(root0,root1);
do { do {
sStkNN p=m_stkStack[--depth]; sStkNN p=stkStack[--depth];
if(depth>treshold) if(depth>treshold)
{ {
m_stkStack.resize(m_stkStack.size()*2); stkStack.resize(stkStack.size()*2);
treshold=m_stkStack.size()-4; treshold=stkStack.size()-4;
} }
if(p.a==p.b) if(p.a==p.b)
{ {
if(p.a->isinternal()) if(p.a->isinternal())
{ {
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]); stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
} }
} }
else if(Intersect(p.a->volume,p.b->volume)) else if(Intersect(p.a->volume,p.b->volume))
@@ -751,23 +753,23 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
{ {
if(p.b->isinternal()) if(p.b->isinternal())
{ {
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
} }
else else
{ {
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
} }
} }
else else
{ {
if(p.b->isinternal()) if(p.b->isinternal())
{ {
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
} }
else else
{ {
@@ -791,38 +793,38 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
{ {
int depth=1; int depth=1;
int treshold=DOUBLE_STACKSIZE-4; int treshold=DOUBLE_STACKSIZE-4;
m_stkStack.resize(DOUBLE_STACKSIZE); stkStack.resize(DOUBLE_STACKSIZE);
m_stkStack[0]=sStkNN(root0,root1); stkStack[0]=sStkNN(root0,root1);
do { do {
sStkNN p=m_stkStack[--depth]; sStkNN p=stkStack[--depth];
if(Intersect(p.a->volume,p.b->volume,xform)) if(Intersect(p.a->volume,p.b->volume,xform))
{ {
if(depth>treshold) if(depth>treshold)
{ {
m_stkStack.resize(m_stkStack.size()*2); stkStack.resize(stkStack.size()*2);
treshold=m_stkStack.size()-4; treshold=stkStack.size()-4;
} }
if(p.a->isinternal()) if(p.a->isinternal())
{ {
if(p.b->isinternal()) if(p.b->isinternal())
{ {
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]); stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]); stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]); stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
} }
else else
{ {
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b); stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b); stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
} }
} }
else else
{ {
if(p.b->isinternal()) if(p.b->isinternal())
{ {
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]); stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]); stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
} }
else else
{ {
@@ -856,26 +858,26 @@ inline void btDbvt::collideTV( const btDbvtNode* root,
if(root) if(root)
{ {
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol); ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
btAlignedObjectArray<const btDbvtNode*> stack;
m_stack.resize(0); stack.resize(0);
m_stack.reserve(SIMPLE_STACKSIZE); stack.reserve(SIMPLE_STACKSIZE);
m_stack.push_back(root); stack.push_back(root);
do { do {
const btDbvtNode* n=m_stack[m_stack.size()-1]; const btDbvtNode* n=stack[stack.size()-1];
m_stack.pop_back(); stack.pop_back();
if(Intersect(n->volume,volume)) if(Intersect(n->volume,volume))
{ {
if(n->isinternal()) if(n->isinternal())
{ {
m_stack.push_back(n->childs[0]); stack.push_back(n->childs[0]);
m_stack.push_back(n->childs[1]); stack.push_back(n->childs[1]);
} }
else else
{ {
policy.Process(n); policy.Process(n);
} }
} }
} while(m_stack.size()>0); } while(stack.size()>0);
} }
} }
@@ -895,13 +897,13 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
int depth=1; int depth=1;
int treshold=DOUBLE_STACKSIZE-2; int treshold=DOUBLE_STACKSIZE-2;
btAlignedObjectArray<const btDbvtNode*> stack;
m_stack.resize(DOUBLE_STACKSIZE); stack.resize(DOUBLE_STACKSIZE);
m_stack[0]=root; stack[0]=root;
btVector3 bounds[2]; btVector3 bounds[2];
do do
{ {
const btDbvtNode* node=m_stack[--depth]; const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins(); bounds[0] = node->volume.Mins();
bounds[1] = node->volume.Maxs(); bounds[1] = node->volume.Maxs();
btScalar tmin=1.f,lambda_min=0.f; btScalar tmin=1.f,lambda_min=0.f;
@@ -913,11 +915,11 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
{ {
if(depth>treshold) if(depth>treshold)
{ {
m_stack.resize(m_stack.size()*2); stack.resize(stack.size()*2);
treshold=m_stack.size()-2; treshold=stack.size()-2;
} }
m_stack[depth++]=node->childs[0]; stack[depth++]=node->childs[0];
m_stack[depth++]=node->childs[1]; stack[depth++]=node->childs[1];
} }
else else
{ {

2
src/BulletCollision/CMakeLists.txt
View File

@@ -143,8 +143,6 @@ ADD_LIBRARY(LibBulletCollision
Gimpact/gim_box_set.cpp Gimpact/gim_box_set.cpp
NarrowPhaseCollision/btContinuousConvexCollision.cpp NarrowPhaseCollision/btContinuousConvexCollision.cpp
NarrowPhaseCollision/btContinuousConvexCollision.h NarrowPhaseCollision/btContinuousConvexCollision.h
NarrowPhaseCollision/btGjkEpa.cpp
NarrowPhaseCollision/btGjkEpa.h
NarrowPhaseCollision/btGjkEpa2.cpp NarrowPhaseCollision/btGjkEpa2.cpp
NarrowPhaseCollision/btGjkEpa2.h NarrowPhaseCollision/btGjkEpa2.h
NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp

6
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
View File

@@ -207,7 +207,13 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
cy += q*(p[i*2+1]+p[i*2+3]); cy += q*(p[i*2+1]+p[i*2+3]);
} }
q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
if (btFabs(a+q) > SIMD_EPSILON)
{
a = 1.f/(btScalar(3.0)*(a+q)); a = 1.f/(btScalar(3.0)*(a+q));
} else
{
a=1e30f;
}
cx = a*(cx + q*(p[n*2-2]+p[0])); cx = a*(cx + q*(p[n*2-2]+p[0]));
cy = a*(cy + q*(p[n*2-1]+p[1])); cy = a*(cy + q*(p[n*2-1]+p[1]));
} }

4
src/BulletCollision/Gimpact/btBoxCollision.h
View File

@@ -38,7 +38,7 @@ subject to the following restrictions:
#define BT_MAX(a,b) (a<b?b:a) #define BT_MAX(a,b) (a<b?b:a)
#define BT_MIN(a,b) (a>b?b:a) #define BT_MIN(a,b) (a>b?b:a)
#define BT_GREATER(x, y) fabsf(x) > (y) #define BT_GREATER(x, y) btFabs(x) > (y)
#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c)) #define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c)) #define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
@@ -178,7 +178,7 @@ public:
{ {
for(j=0;j<3;j++ ) for(j=0;j<3;j++ )
{ {
m_AR[i][j] = 1e-6f + fabsf(m_R1to0[i][j]); m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
} }
} }

1
src/BulletCollision/ibmsdk/Makefile
View File

@@ -39,7 +39,6 @@ btSimpleBroadphase.o \
btContinuousConvexCollision.o \ btContinuousConvexCollision.o \
btConvexCast.o \ btConvexCast.o \
btGjkConvexCast.o \ btGjkConvexCast.o \
btGjkEpa.o \
btGjkEpa2.o \ btGjkEpa2.o \
btGjkEpaPenetrationDepthSolver.o \ btGjkEpaPenetrationDepthSolver.o \
btGjkPairDetector.o \ btGjkPairDetector.o \

2
src/Makefile.am
View File

@@ -33,7 +33,6 @@ libbulletcollision_a_SOURCES = \
BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp \ BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp \
BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp \ BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp \
BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp \ BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp \
BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp \
BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp \ BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp \
BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp \ BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp \
BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp \ BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp \
@@ -115,7 +114,6 @@ libbulletcollision_a_SOURCES = \
BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \ BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h \
BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \ BulletCollision/NarrowPhaseCollision/btRaycastCallback.h \
BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \ BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h \
BulletCollision/NarrowPhaseCollision/btGjkEpa.h \
BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \ BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h \
BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \ BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \ BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h \