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preparation for multi SAP broadphase

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This commit is contained in:
ejcoumans
2007-08-03 01:39:36 +00:00
parent 1f7646f72a
commit b6cd61a5e1
9 changed files with 463 additions and 133 deletions
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138
src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
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@@ -45,10 +45,10 @@ void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
#endif //DEBUG_BROADPHASE
btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
{
(void)shapeType;
BP_FP_INT_TYPE handleId = addHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask);
Handle* handle = getHandle(handleId);
@@ -73,10 +73,16 @@ void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,con
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles)
:m_invalidPair(0)
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles, btOverlappingPairCache* pairCache)
:m_invalidPair(0),
m_pairCache(pairCache),
m_ownsPairCache(false)
{
m_pairCache = new btOverlappingPairCache();
if (!m_pairCache)
{
m_pairCache = new btOverlappingPairCache();
m_ownsPairCache = true;
}
//assert(bounds.HasVolume());
@@ -140,6 +146,11 @@ btAxisSweep3::~btAxisSweep3()
for (int i = 2; i >= 0; i--)
delete[] m_pEdges[i];
delete[] m_pHandles;
if (m_ownsPairCache)
{
delete m_pairCache;
}
}
void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
@@ -297,79 +308,82 @@ extern int gOverlappingPairs;
void btAxisSweep3::calculateOverlappingPairs()
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
if (m_ownsPairCache)
{
btBroadphasePair& pair = overlappingPairArray[i];
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
bool isDuplicate = (pair == previousPair);
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
previousPair = pair;
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
bool needsRemoval = false;
int i;
if (!isDuplicate)
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
btBroadphasePair& pair = overlappingPairArray[i];
if (hasOverlap)
bool isDuplicate = (pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
needsRemoval = false;//callback->processOverlap(pair);
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair);
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}