From b2351c84f3d866eeb852e1f81e76afc03643622b Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Mon, 12 Mar 2007 20:14:29 +0000 Subject: [PATCH] optional define for 32bit handles in Broadphase, which allows number of objects to exceed 32767 --- .../BroadphaseCollision/btAxisSweep3.cpp | 54 ++++++++--------- .../BroadphaseCollision/btAxisSweep3.h | 60 ++++++++++++------- 2 files changed, 65 insertions(+), 49 deletions(-) diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp index e415df922..52067d94e 100644 --- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp @@ -23,7 +23,7 @@ btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask) { - unsigned short handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask); + BP_FP_INT_TYPE handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask); Handle* handle = getHandle(handleId); @@ -54,7 +54,7 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab //assert(bounds.HasVolume()); // 1 handle is reserved as sentinel - assert(maxHandles > 1 && maxHandles < 32767); + assert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES); // init bounds m_worldAabbMin = worldAabbMin; @@ -95,7 +95,7 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab m_pEdges[axis][0].m_pos = 0; m_pEdges[axis][0].m_handle = 0; - m_pEdges[axis][1].m_pos = 0xffff; + m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL; m_pEdges[axis][1].m_handle = 0; } } @@ -108,7 +108,7 @@ btAxisSweep3::~btAxisSweep3() delete[] m_pHandles; } -void btAxisSweep3::quantize(unsigned short* out, const btPoint3& point, int isMax) const +void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const { btPoint3 clampedPoint(point); @@ -118,26 +118,26 @@ void btAxisSweep3::quantize(unsigned short* out, const btPoint3& point, int isMa clampedPoint.setMin(m_worldAabbMax); btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize; - out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax); - out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax); - out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax); + out[0] = (BP_FP_INT_TYPE)(((int)v.getX() & BP_HANDLE_MASK) | isMax); + out[1] = (BP_FP_INT_TYPE)(((int)v.getY() & BP_HANDLE_MASK) | isMax); + out[2] = (BP_FP_INT_TYPE)(((int)v.getZ() & BP_HANDLE_MASK) | isMax); } -unsigned short btAxisSweep3::allocHandle() +BP_FP_INT_TYPE btAxisSweep3::allocHandle() { assert(m_firstFreeHandle); - unsigned short handle = m_firstFreeHandle; + BP_FP_INT_TYPE handle = m_firstFreeHandle; m_firstFreeHandle = getHandle(handle)->GetNextFree(); m_numHandles++; return handle; } -void btAxisSweep3::freeHandle(unsigned short handle) +void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle) { assert(handle > 0 && handle < m_maxHandles); @@ -149,15 +149,15 @@ void btAxisSweep3::freeHandle(unsigned short handle) -unsigned short btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask) +BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask) { // quantize the bounds - unsigned short min[3], max[3]; + BP_FP_INT_TYPE min[3], max[3]; quantize(min, aabbMin, 0); quantize(max, aabbMax, 1); // allocate a handle - unsigned short handle = allocHandle(); + BP_FP_INT_TYPE handle = allocHandle(); assert(handle!= 0xcdcd); Handle* pHandle = getHandle(handle); @@ -202,7 +202,7 @@ unsigned short btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a } -void btAxisSweep3::removeHandle(unsigned short handle) +void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle) { Handle* pHandle = getHandle(handle); @@ -220,9 +220,9 @@ void btAxisSweep3::removeHandle(unsigned short handle) { Edge* pEdges = m_pEdges[axis]; int maxEdge= pHandle->m_maxEdges[axis]; - pEdges[maxEdge].m_pos = 0xffff; + pEdges[maxEdge].m_pos = BP_HANDLE_SENTINEL; int minEdge = pHandle->m_minEdges[axis]; - pEdges[minEdge].m_pos = 0xffff; + pEdges[minEdge].m_pos = BP_HANDLE_SENTINEL; } // remove the edges by sorting them up to the end of the list @@ -230,17 +230,17 @@ void btAxisSweep3::removeHandle(unsigned short handle) { Edge* pEdges = m_pEdges[axis]; int max = pHandle->m_maxEdges[axis]; - pEdges[max].m_pos = 0xffff; + pEdges[max].m_pos = BP_HANDLE_SENTINEL; sortMaxUp(axis,max,false); int i = pHandle->m_minEdges[axis]; - pEdges[i].m_pos = 0xffff; + pEdges[i].m_pos = BP_HANDLE_SENTINEL; sortMinUp(axis,i,false); pEdges[limit-1].m_handle = 0; - pEdges[limit-1].m_pos = 0xffff; + pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL; } @@ -372,7 +372,7 @@ bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Hand return true; } -void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax) +void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax) { // assert(bounds.IsFinite()); //assert(bounds.HasVolume()); @@ -380,15 +380,15 @@ void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,c Handle* pHandle = getHandle(handle); // quantize the new bounds - unsigned short min[3], max[3]; + BP_FP_INT_TYPE min[3], max[3]; quantize(min, aabbMin, 0); quantize(max, aabbMax, 1); // update changed edges for (int axis = 0; axis < 3; axis++) { - unsigned short emin = pHandle->m_minEdges[axis]; - unsigned short emax = pHandle->m_maxEdges[axis]; + BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis]; + BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis]; int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos; int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos; @@ -415,7 +415,7 @@ void btAxisSweep3::updateHandle(unsigned short handle, const btPoint3& aabbMin,c } // sorting a min edge downwards can only ever *add* overlaps -void btAxisSweep3::sortMinDown(int axis, unsigned short edge, bool updateOverlaps) +void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) { Edge* pEdge = m_pEdges[axis] + edge; Edge* pPrev = pEdge - 1; @@ -456,7 +456,7 @@ void btAxisSweep3::sortMinDown(int axis, unsigned short edge, bool updateOverlap } // sorting a min edge upwards can only ever *remove* overlaps -void btAxisSweep3::sortMinUp(int axis, unsigned short edge, bool updateOverlaps) +void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) { Edge* pEdge = m_pEdges[axis] + edge; Edge* pNext = pEdge + 1; @@ -500,7 +500,7 @@ void btAxisSweep3::sortMinUp(int axis, unsigned short edge, bool updateOverlaps) } // sorting a max edge downwards can only ever *remove* overlaps -void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlaps) +void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) { Edge* pEdge = m_pEdges[axis] + edge; Edge* pPrev = pEdge - 1; @@ -550,7 +550,7 @@ void btAxisSweep3::sortMaxDown(int axis, unsigned short edge, bool updateOverlap } // sorting a max edge upwards can only ever *add* overlaps -void btAxisSweep3::sortMaxUp(int axis, unsigned short edge, bool updateOverlaps) +void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps) { Edge* pEdge = m_pEdges[axis] + edge; Edge* pNext = pEdge + 1; diff --git a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h index 18fcf4cda..270b2c88a 100644 --- a/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h +++ b/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -24,6 +24,22 @@ #include "btOverlappingPairCache.h" #include "btBroadphaseProxy.h" +//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects +//#define BP_USE_FIXEDPOINT_INT_32 1 + +#ifdef BP_USE_FIXEDPOINT_INT_32 + #define BP_FP_INT_TYPE unsigned int + #define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles + #define BP_HANDLE_SENTINEL 0xffffffff + #define BP_HANDLE_MASK 0xfffffffc +#else BP_USE_FIXEDPOINT_INT_32 + #define BP_FP_INT_TYPE unsigned short int + #define BP_MAX_HANDLES 32767 + #define BP_HANDLE_SENTINEL 0xffff + #define BP_HANDLE_MASK 0xfffe +#endif //BP_USE_FIXEDPOINT_INT_32 + + /// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. /// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats. /// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos @@ -36,10 +52,10 @@ public: class Edge { public: - unsigned short m_pos; // low bit is min/max - unsigned short m_handle; + BP_FP_INT_TYPE m_pos; // low bit is min/max + BP_FP_INT_TYPE m_handle; - unsigned short IsMax() const {return m_pos & 1;} + BP_FP_INT_TYPE IsMax() const {return m_pos & 1;} }; public: @@ -48,14 +64,14 @@ public: public: // indexes into the edge arrays - unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 - unsigned short m_handleId; - unsigned short m_pad; + BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 + BP_FP_INT_TYPE m_handleId; + BP_FP_INT_TYPE m_pad; //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject - inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;} - inline unsigned short GetNextFree() const {return m_minEdges[0];} + inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry @@ -68,29 +84,29 @@ private: int m_numHandles; // number of active handles int m_maxHandles; // max number of handles Handle* m_pHandles; // handles pool - unsigned short m_firstFreeHandle; // free handles list + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) int m_invalidPair; // allocation/deallocation - unsigned short allocHandle(); - void freeHandle(unsigned short handle); + BP_FP_INT_TYPE allocHandle(); + void freeHandle(BP_FP_INT_TYPE handle); bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB); - //Overlap* AddOverlap(unsigned short handleA, unsigned short handleB); - //void RemoveOverlap(unsigned short handleA, unsigned short handleB); + //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(unsigned short* out, const btPoint3& point, int isMax) const; + void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const; - void sortMinDown(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMinUp(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true); + void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); public: btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384); @@ -101,10 +117,10 @@ public: //this is performed incrementally by sweep and prune (add pair), and during pair traversal (remove pair) } - unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask); - void removeHandle(unsigned short handle); - void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax); - inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;} + BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask); + void removeHandle(BP_FP_INT_TYPE handle); + void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax); + inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} void processAllOverlappingPairs(btOverlapCallback* callback);