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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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136
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -36,15 +36,21 @@ void btSimpleBroadphase::validate()
}
btSimpleBroadphase::btSimpleBroadphase(int maxProxies)
btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
:
m_firstFreeProxy(0),
m_numProxies(0),
m_maxProxies(maxProxies),
m_invalidPair(0)
m_invalidPair(0),
m_pairCache(overlappingPairCache),
m_ownsPairCache(false)
{
m_pairCache = new btOverlappingPairCache();
if (!overlappingPairCache)
{
m_pairCache = new btOverlappingPairCache();
m_ownsPairCache = true;
}
m_proxies = new btSimpleBroadphaseProxy[maxProxies];
m_freeProxies = new int[maxProxies];
@@ -71,20 +77,25 @@ btSimpleBroadphase::~btSimpleBroadphase()
destroyProxy(proxy);
}
*/
if (m_ownsPairCache)
{
delete m_pairCache;
}
}
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
{
if (m_numProxies >= m_maxProxies)
{
assert(0);
return 0; //should never happen, but don't let the game crash ;-)
}
assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int freeIndex= m_freeProxies[m_firstFreeProxy];
btSimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])btSimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
btSimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
m_firstFreeProxy++;
btSimpleBroadphaseProxy* proxy1 = &m_proxies[0];
@@ -215,77 +226,80 @@ void btSimpleBroadphase::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;
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;
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);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
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--;
}
}
///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
///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());
//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
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
}