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Add aabbMin/aabbMax to broadphase proxy, and improve rayTest performance.

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Todo: use broadphase acceleration structure (btDbvtBroadphase etc) for ray test
This commit is contained in:
erwin.coumans
2008-10-10 17:32:52 +00:00
parent a42b7d93f1
commit 9ad17dda22
13 changed files with 137 additions and 44 deletions
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40
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -62,7 +62,6 @@ public:
BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
// BP_FP_INT_TYPE m_uniqueId;
BP_FP_INT_TYPE m_pad;
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
@@ -108,7 +107,7 @@ protected:
//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
@@ -139,6 +138,11 @@ public:
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
@@ -234,10 +238,42 @@ template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
handle->m_aabbMin = aabbMin;
handle->m_aabbMax = aabbMax;
updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
Handle* pHandle = static_cast<Handle*>(proxy);
aabbMin = pHandle->m_aabbMin;
aabbMax = pHandle->m_aabbMax;
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
Handle* pHandle = static_cast<Handle*>(proxy);
unsigned short vecInMin[3];
unsigned short vecInMax[3];
vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ;
vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ;
vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ;
vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ;
vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ;
vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ;
aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ()));
aabbMin += m_worldAabbMin;
aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ()));
aabbMax += m_worldAabbMin;
}

3
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
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@@ -36,7 +36,8 @@ public:
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;

10
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#define BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
@@ -90,6 +91,9 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
btVector3 m_aabbMin;
btVector3 m_aabbMax;
//Usually the client btCollisionObject or Rigidbody class
void* m_clientObject;
@@ -111,8 +115,10 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
{
}
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_clientObject(userPtr),
btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
{

31
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -167,20 +167,23 @@ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
btDispatcher* /*dispatcher*/,
void* /*multiSapProxy*/)
{
btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( userPtr,
btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
collisionFilterGroup,
collisionFilterMask);
proxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
proxy->stage = m_stageCurrent;
proxy->m_uniqueId = ++m_gid;
proxy->leaf = m_sets[0].insert(proxy->aabb,proxy);
proxy->leaf = m_sets[0].insert(aabb,proxy);
listappend(proxy,m_stageRoots[m_stageCurrent]);
if(!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
collider.proxy=proxy;
btDbvt::collideTV(m_sets[0].m_root,proxy->aabb,collider);
btDbvt::collideTV(m_sets[1].m_root,proxy->aabb,collider);
btDbvt::collideTV(m_sets[0].m_root,aabb,collider);
btDbvt::collideTV(m_sets[1].m_root,aabb,collider);
}
return(proxy);
}
@@ -200,6 +203,13 @@ btAlignedFree(proxy);
m_needcleanup=true;
}
void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
aabbMin = proxy->m_aabbMin;
aabbMax = proxy->m_aabbMax;
}
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
@@ -224,8 +234,9 @@ if(NotEqual(aabb,proxy->leaf->volume))
++m_updates_call;
if(Intersect(proxy->leaf->volume,aabb))
{/* Moving */
const btVector3 delta=aabbMin-proxy->aabb.Mins();
btVector3 velocity(aabb.Extents()*m_prediction);
const btVector3 delta=aabbMin-proxy->m_aabbMin;
btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
if(delta[0]<0) velocity[0]=-velocity[0];
if(delta[1]<0) velocity[1]=-velocity[1];
if(delta[2]<0) velocity[2]=-velocity[2];
@@ -249,7 +260,8 @@ if(NotEqual(aabb,proxy->leaf->volume))
}
}
listremove(proxy,m_stageRoots[proxy->stage]);
proxy->aabb = aabb;
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
listappend(proxy,m_stageRoots[m_stageCurrent]);
if(docollide)
@@ -319,7 +331,8 @@ if(current)
btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
#endif
m_sets[0].remove(current->leaf);
current->leaf = m_sets[1].insert(current->aabb,current);
ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
current->leaf = m_sets[1].insert(curAabb,current);
current->stage = STAGECOUNT;
current = next;
} while(current);

7
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
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@@ -41,13 +41,13 @@ subject to the following restrictions:
struct btDbvtProxy : btBroadphaseProxy
{
/* Fields */
btDbvtAabbMm aabb;
//btDbvtAabbMm aabb;
btDbvtNode* leaf;
btDbvtProxy* links[2];
int stage;
/* ctor */
btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
{
links[0]=links[1]=0;
}
@@ -105,6 +105,7 @@ void optimize();
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void calculateOverlappingPairs(btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache();
const btOverlappingPairCache* getOverlappingPairCache() const;

8
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -149,6 +149,14 @@ amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
aabbMin = multiProxy->m_aabbMin;
aabbMax = multiProxy->m_aabbMax;
}
//#include <stdio.h>
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)

3
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@@ -72,7 +72,7 @@ public:
short int m_collisionFilterMask;
*/
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_shapeType(shapeType)
@@ -108,6 +108,7 @@ public:
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);

19
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -88,7 +88,7 @@ btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin,
btAssert(0);
return 0; //should never happen, but don't let the game crash ;-)
}
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int newHandleIndex = allocHandle();
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
@@ -137,11 +137,18 @@ void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher*
}
void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
aabbMin = sbp->m_aabbMin;
aabbMax = sbp->m_aabbMax;
}
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_min = aabbMin;
sbp->m_max = aabbMax;
sbp->m_aabbMin = aabbMin;
sbp->m_aabbMax = aabbMax;
}
@@ -154,9 +161,9 @@ void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbM
bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
{
return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] &&
proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
}

12
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -22,8 +22,6 @@ subject to the following restrictions:
struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
btVector3 m_min;
btVector3 m_max;
int m_nextFree;
// int m_handleId;
@@ -32,8 +30,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
m_min(minpt),m_max(maxpt)
:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
{
(void)shapeType;
}
@@ -95,6 +92,12 @@ protected:
return proxy0;
}
inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
{
const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
return proxy0;
}
void validate();
@@ -117,6 +120,7 @@ public:
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
btOverlappingPairCache* getOverlappingPairCache()
{