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Implemented btDiscreteDynamicsWorld::addSpeculativeContacts, using conservative advancement to find contact point ahead of time

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make Extras/ConvexDecomposition thread safe, Issue 501
some improvements to the btInternalEdgeUtility, patch from Issue 501
This commit is contained in:
erwin.coumans
2011-04-07 06:23:34 +00:00
parent 49630e9c77
commit a4e8213ede
8 changed files with 304 additions and 88 deletions
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59
Extras/ConvexDecomposition/vlookup.cpp
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@@ -143,49 +143,70 @@ public:
float mPos[3];
};
typedef std::vector< VertexPosition > VertexVector;
class VertexLess
struct Tracker
{
public:
typedef std::vector< VertexPosition > VertexVector;
VertexPosition mFind; // vertice to locate.
VertexVector *mList;
bool operator()(int v1,int v2) const;
Tracker()
{
mList = 0;
}
static void SetSearch(const VertexPosition& match,VertexVector *list)
void SetSearch(const VertexPosition& match,VertexVector *list)
{
mFind = match;
mList = list;
};
};
struct VertexID
{
int mID;
Tracker* mTracker;
VertexID(int ID, Tracker* Tracker)
{
mID = ID;
mTracker = Tracker;
}
};
class VertexLess
{
public:
bool operator()(VertexID v1,VertexID v2) const;
private:
const VertexPosition& Get(int index) const
const VertexPosition& Get(VertexID index) const
{
if ( index == -1 ) return mFind;
VertexVector &vlist = *mList;
return vlist[index];
if ( index.mID == -1 ) return index.mTracker->mFind;
VertexVector &vlist = *index.mTracker->mList;
return vlist[index.mID];
}
static VertexPosition mFind; // vertice to locate.
static VertexVector *mList;
};
template <class Type> class VertexPool
{
public:
typedef std::set<int, VertexLess > VertexSet;
typedef std::set<VertexID, VertexLess > VertexSet;
typedef std::vector< Type > VertexVector;
int getVertex(const Type& vtx)
{
VertexLess::SetSearch(vtx,&mVtxs);
mTracker.SetSearch(vtx,&mVtxs);
VertexSet::iterator found;
found = mVertSet.find( -1 );
found = mVertSet.find( VertexID(-1,&mTracker) );
if ( found != mVertSet.end() )
{
return *found;
return found->mID;
}
int idx = (int)mVtxs.size();
mVtxs.push_back( vtx );
mVertSet.insert( idx );
mVertSet.insert( VertexID(idx,&mTracker) );
return idx;
};
@@ -233,13 +254,11 @@ public:
private:
VertexSet mVertSet; // ordered list.
VertexVector mVtxs; // set of vertices.
Tracker mTracker;
};
VertexPosition VertexLess::mFind;
std::vector<VertexPosition > *VertexLess::mList=0;
bool VertexLess::operator()(int v1,int v2) const
bool VertexLess::operator()(VertexID v1,VertexID v2) const
{
const VertexPosition& a = Get(v1);