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- Added serialization to btBvhTriangleMeshShape/btOptimizedBvh. See ConcaveDemo for example usage.

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- added bt32BitAxisSweep3, which co-exists without recompilation, using template class. This broadphase is recommended for large worlds with many objects (> 16384), until btMultiSwap is finished.
- Fixed some recent issues in Bullet 2.57 related to compound (thanks Proctoid) and memory allocations
This commit is contained in:
ejcoumans
2007-09-10 01:14:42 +00:00
parent e1c037b4c2
commit b054f375bc
20 changed files with 1585 additions and 810 deletions
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69
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -27,8 +27,7 @@ subject to the following restrictions:
#include <new>
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btQuickprof.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "LinearMath/btAlignedObjectArray.h"
@@ -392,19 +391,41 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
int tmpSolverBodyPoolSize = 0;
int mem1 = sizeof(btSolverBody) * numActiveBodies;
btSolverBody* tmpSolverBodyPool = (btSolverBody*) stackAlloc->allocate(sizeof(btSolverBody) * numActiveBodies*2);
int memNeeded = sizeof(btSolverBody) * numActiveBodies*2;
btSolverBody* tmpSolverBodyPool = 0;
if (memNeeded < stackAlloc->getAvailableMemory())
{
tmpSolverBodyPool = (btSolverBody*) stackAlloc->allocate(memNeeded);
} else
{
m_solverBodyPool.resize(numActiveBodies*2);
tmpSolverBodyPool = &m_solverBodyPool[0];
}
int tmpSolverConstraintPoolSize = 0;
int mem2 = sizeof(btSolverConstraint)*numActiveManifolds;
int mem2Needed = sizeof(btSolverConstraint)*totalContacts;
btSolverConstraint* tmpSolverConstraintPool = (btSolverConstraint*) stackAlloc->allocate(sizeof(btSolverConstraint)*totalContacts);
btSolverConstraint* tmpSolverConstraintPool = 0;
if (mem2Needed < stackAlloc->getAvailableMemory())
{
tmpSolverConstraintPool = (btSolverConstraint*) stackAlloc->allocate(sizeof(btSolverConstraint)*totalContacts);
} else
{
m_solverConstraintPool.resize(totalContacts);
tmpSolverConstraintPool = &m_solverConstraintPool[0];
}
int tmpSolverFrictionConstraintPoolSize = 0;
btSolverConstraint* tmpSolverFrictionConstraintPool = (btSolverConstraint*) stackAlloc->allocate(sizeof(btSolverConstraint)*totalContacts*2);
//int sizeofSB = sizeof(btSolverBody);
//int sizeofSC = sizeof(btSolverConstraint);
int mem3Needed = sizeof(btSolverConstraint)*totalContacts*2;
btSolverConstraint* tmpSolverFrictionConstraintPool = 0;
if (mem3Needed < stackAlloc->getAvailableMemory())
{
tmpSolverFrictionConstraintPool = (btSolverConstraint*) stackAlloc->allocate(mem3Needed);
} else
{
m_solverFrictionConstraintPool.resize(totalContacts*2);
tmpSolverFrictionConstraintPool = &m_solverFrictionConstraintPool[0];
}
//if (1)
{
@@ -654,9 +675,33 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
///use the stack allocator for temporarily memory
int gOrderTmpConstraintPoolSize = numConstraintPool;
int* gOrderTmpConstraintPool = (int*) stackAlloc->allocate(sizeof(int)*numConstraintPool);
int mem4Needed = sizeof(int)*numConstraintPool;
int* gOrderTmpConstraintPool = 0;
if (mem4Needed < stackAlloc->getAvailableMemory())
{
gOrderTmpConstraintPool = (int*) stackAlloc->allocate(mem4Needed);
} else
{
m_constraintOrder.resize(numConstraintPool);
gOrderTmpConstraintPool = &m_constraintOrder[0];
}
int gOrderFrictionConstraintPoolSize = numFrictionPool;
int* gOrderFrictionConstraintPool = (int*) stackAlloc->allocate(sizeof(int)*numFrictionPool);
int mem5Needed = sizeof(int)*numFrictionPool;
int* gOrderFrictionConstraintPool =0;
if (mem5Needed < stackAlloc->getAvailableMemory())
{
gOrderFrictionConstraintPool = (int*) stackAlloc->allocate(mem5Needed);
}
else
{
m_frictionConstraintOrder.resize(numFrictionPool);
gOrderFrictionConstraintPool = &m_frictionConstraintOrder[0];
}
{
int i;