removed collision template, some code style cleanup, added btDbvhBroadphase to BenchmarkDemo
This commit is contained in:
erwin.coumans
@@ -23,21 +23,21 @@ subject to the following restrictions:
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#if DBVT_BP_PROFILE
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#include <stdio.h>
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struct ProfileScope
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{
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{
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ProfileScope(btClock& clock,unsigned long& value)
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{
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{
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m_clock=&clock;
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m_value=&value;
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m_base=clock.getTimeMicroseconds();
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}
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}
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~ProfileScope()
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{
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{
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(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
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}
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}
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btClock* m_clock;
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unsigned long* m_value;
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unsigned long m_base;
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};
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};
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#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
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#else
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#define SPC(_value_)
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@@ -50,49 +50,49 @@ struct ProfileScope
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//
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static inline int hash(unsigned int i,unsigned int j)
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{
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int key=((unsigned int)i)|(((unsigned int)j)<<16);
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key+=~(key<<15);
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key^= (key>>10);
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key+= (key<<3);
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key^= (key>>6);
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key+=~(key<<11);
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key^= (key>>16);
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return(key);
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int key=((unsigned int)i)|(((unsigned int)j)<<16);
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key+=~(key<<15);
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key^= (key>>10);
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key+= (key<<3);
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key^= (key>>6);
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key+=~(key<<11);
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key^= (key>>16);
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return(key);
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}
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//
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template <typename T>
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static inline void listappend(T* item,T*& list)
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{
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item->links[0]=0;
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item->links[1]=list;
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if(list) list->links[0]=item;
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list=item;
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item->links[0]=0;
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item->links[1]=list;
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if(list) list->links[0]=item;
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list=item;
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}
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//
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template <typename T>
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static inline void listremove(T* item,T*& list)
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{
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if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
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if(item->links[1]) item->links[1]->links[0]=item->links[0];
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if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
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if(item->links[1]) item->links[1]->links[0]=item->links[0];
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}
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//
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template <typename T>
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static inline int listcount(T* root)
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{
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int n=0;
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while(root) { ++n;root=root->links[1]; }
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return(n);
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int n=0;
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while(root) { ++n;root=root->links[1]; }
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return(n);
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}
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//
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template <typename T>
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static inline void clear(T& value)
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{
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static const T zerodummy;
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value=zerodummy;
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static const T zerodummy;
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value=zerodummy;
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}
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//
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@@ -100,19 +100,29 @@ value=zerodummy;
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//
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struct btDbvtBroadphaseCollider : btDbvt::ICollide
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{
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btDbvtBroadphase* pbp;
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int pid;
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btDbvtBroadphaseCollider(btDbvtBroadphase* p,int id) : pbp(p),pid(id) {}
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void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
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btDbvtBroadphase* pbp;
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int pid;
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btDbvtBroadphaseCollider(btDbvtBroadphase* p,int id) : pbp(p),pid(id) {}
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virtual void Process(const btDbvt::Node* na)
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{
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btDbvtProxy* pa=(btDbvtProxy*)na->data;
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btDbvtProxy* pb=(btDbvtProxy*)nb->data;
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#if DBVT_BP_DISCRETPAIRS
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if(Intersect(pa->aabb,pb->aabb))
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#endif
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}
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virtual bool Descent(const btDbvt::Node*)
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{
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return false;
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}
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virtual void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
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{
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btDbvtProxy* pa=(btDbvtProxy*)na->data;
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btDbvtProxy* pb=(btDbvtProxy*)nb->data;
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#if DBVT_BP_DISCRETPAIRS
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if(Intersect(pa->aabb,pb->aabb))
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#endif
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{
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btBroadphasePair* pp=pbp->m_paircache->addOverlappingPair(pa,pb);
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if(pp) pp->m_userInfo=*(void**)&pid;
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btBroadphasePair* pp=pbp->m_paircache->addOverlappingPair(pa,pb);
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if(pp)
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pp->m_userInfo=*(void**)&pid;
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}
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}
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};
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@@ -124,107 +134,110 @@ void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
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//
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btDbvtBroadphase::btDbvtBroadphase()
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{
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m_fcursor = 0;
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m_dcursor = 0;
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m_stageCurrent = 0;
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m_fupdates = 1;
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m_dupdates = 0;
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m_paircache = new btHashedOverlappingPairCache();
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m_gid = 0;
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m_pid = 0;
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for(int i=0;i<=STAGECOUNT;++i)
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m_invalidPair = 0;
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m_fcursor = 0;
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m_dcursor = 0;
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m_stageCurrent = 0;
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m_fupdates = 1;
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m_dupdates = 0;
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//m_paircache = new btSortedOverlappingPairCache();
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m_paircache = new btHashedOverlappingPairCache();
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m_gid = 0;
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m_pid = 0;
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for(int i=0;i<=STAGECOUNT;++i)
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{
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m_stageRoots[i]=0;
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m_stageRoots[i]=0;
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}
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#if DBVT_BP_PROFILE
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clear(m_profiling);
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clear(m_profiling);
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#endif
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}
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//
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btDbvtBroadphase::~btDbvtBroadphase()
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{
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delete m_paircache;
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delete m_paircache;
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}
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//
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btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
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const btVector3& aabbMax,
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int shapeType,
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void* userPtr,
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short int collisionFilterGroup,
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short int collisionFilterMask,
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btDispatcher* dispatcher,
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void* multiSapProxy)
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const btVector3& aabbMax,
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int shapeType,
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void* userPtr,
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short int collisionFilterGroup,
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short int collisionFilterMask,
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btDispatcher* dispatcher,
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void* multiSapProxy)
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{
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btDbvtProxy* proxy=new btDbvtProxy(userPtr,collisionFilterGroup,collisionFilterMask);
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proxy->aabb = btDbvtAabbMm::FromMM(aabbMin,aabbMax);
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proxy->leaf = m_sets[0].insert(proxy->aabb,proxy);
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proxy->stage = m_stageCurrent;
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proxy->m_uniqueId = ++m_gid;
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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return(proxy);
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btDbvtProxy* proxy=new btDbvtProxy(userPtr,collisionFilterGroup,collisionFilterMask);
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proxy->aabb = btDbvtAabbMm::FromMM(aabbMin,aabbMax);
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proxy->leaf = m_sets[0].insert(proxy->aabb,proxy);
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proxy->stage = m_stageCurrent;
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proxy->m_uniqueId = ++m_gid;
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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return(proxy);
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}
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//
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void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
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btDispatcher* dispatcher)
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btDispatcher* dispatcher)
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{
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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if(proxy->stage==STAGECOUNT)
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m_sets[1].remove(proxy->leaf);
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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if(proxy->stage==STAGECOUNT)
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m_sets[1].remove(proxy->leaf);
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else
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m_sets[0].remove(proxy->leaf);
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listremove(proxy,m_stageRoots[proxy->stage]);
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m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
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delete proxy;
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m_sets[0].remove(proxy->leaf);
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listremove(proxy,m_stageRoots[proxy->stage]);
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m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
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delete proxy;
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}
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//
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void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
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const btVector3& aabbMin,
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const btVector3& aabbMax,
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btDispatcher* dispatcher)
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const btVector3& aabbMin,
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const btVector3& aabbMax,
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btDispatcher* dispatcher)
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{
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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btDbvtAabbMm aabb=btDbvtAabbMm::FromMM(aabbMin,aabbMax);
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if(proxy->stage==STAGECOUNT)
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btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
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btDbvtAabbMm aabb=btDbvtAabbMm::FromMM(aabbMin,aabbMax);
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if(proxy->stage==STAGECOUNT)
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{/* fixed -> dynamic set */
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m_sets[1].remove(proxy->leaf);
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proxy->leaf=m_sets[0].insert(aabb,proxy);
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m_fcursor=0;
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m_sets[1].remove(proxy->leaf);
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proxy->leaf=m_sets[0].insert(aabb,proxy);
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m_fcursor=0;
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}
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else
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{/* dynamic set */
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const btVector3 delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
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m_sets[0].update(proxy->leaf,aabb,delta*PREDICTED_FRAMES,DBVT_BP_MARGIN);
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const btVector3 delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
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m_sets[0].update(proxy->leaf,aabb,delta*PREDICTED_FRAMES,DBVT_BP_MARGIN);
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}
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listremove(proxy,m_stageRoots[proxy->stage]);
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proxy->aabb = aabb;
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proxy->stage = m_stageCurrent;
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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listremove(proxy,m_stageRoots[proxy->stage]);
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proxy->aabb = aabb;
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proxy->stage = m_stageCurrent;
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listappend(proxy,m_stageRoots[m_stageCurrent]);
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}
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//
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void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
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{
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collide(dispatcher);
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collide(dispatcher);
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#if DBVT_BP_PROFILE
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if(0==(m_pid%DBVT_BP_PROFILING_RATE))
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if(0==(m_pid%DBVT_BP_PROFILING_RATE))
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{
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printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leafs,m_sets[0].m_leafs,m_paircache->getNumOverlappingPairs());
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unsigned int total=m_profiling.m_total;
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if(total<=0) total=1;
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printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
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printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
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printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
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printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
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const unsigned long sum=m_profiling.m_ddcollide+
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m_profiling.m_fdcollide+
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m_profiling.m_cleanup;
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printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
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clear(m_profiling);
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m_clock.reset();
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printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leafs,m_sets[0].m_leafs,m_paircache->getNumOverlappingPairs());
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unsigned int total=m_profiling.m_total;
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if(total<=0) total=1;
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printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
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printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
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printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
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printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
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const unsigned long sum=m_profiling.m_ddcollide+
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m_profiling.m_fdcollide+
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m_profiling.m_cleanup;
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printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
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clear(m_profiling);
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m_clock.reset();
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}
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#endif
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}
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@@ -232,105 +245,194 @@ if(0==(m_pid%DBVT_BP_PROFILING_RATE))
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//
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void btDbvtBroadphase::collide(btDispatcher* dispatcher)
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{
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SPC(m_profiling.m_total);
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/* refine dynamic */
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if(m_stageRoots[m_stageCurrent]&&(m_dupdates>0))
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SPC(m_profiling.m_total);
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/* refine dynamic */
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if(m_stageRoots[m_stageCurrent]&&(m_dupdates>0))
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{
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const int count=1+(m_sets[0].m_leafs*m_dupdates)/100;
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for(int i=0;i<count;++i)
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const int count=1+(m_sets[0].m_leafs*m_dupdates)/100;
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for(int i=0;i<count;++i)
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{
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if(!m_dcursor) m_dcursor=m_stageRoots[m_stageCurrent];
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m_sets[0].update(m_dcursor->leaf);
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m_dcursor=m_dcursor->links[1];
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if(!m_dcursor)
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m_dcursor=m_stageRoots[m_stageCurrent];
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m_sets[0].update(m_dcursor->leaf);
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m_dcursor=m_dcursor->links[1];
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}
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}
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/* dynamic -> fixed set */
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m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
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btDbvtProxy* current=m_stageRoots[m_stageCurrent];
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if(current)
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/* dynamic -> fixed set */
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m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
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btDbvtProxy* current=m_stageRoots[m_stageCurrent];
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if(current)
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{
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btDbvtBroadphaseCollider collider(this,m_pid);
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do {
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btDbvtProxy* next=current->links[1];
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if(m_dcursor==current) m_dcursor=0;
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listremove(current,m_stageRoots[current->stage]);
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listappend(current,m_stageRoots[STAGECOUNT]);
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m_sets[1].collideGeneric(current->leaf,collider);
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m_sets[0].remove(current->leaf);
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current->leaf = m_sets[1].insert(current->aabb,current);
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current->stage = STAGECOUNT;
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current = next;
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btDbvtBroadphaseCollider collider(this,m_pid);
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do {
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btDbvtProxy* next=current->links[1];
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if(m_dcursor==current) m_dcursor=0;
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listremove(current,m_stageRoots[current->stage]);
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listappend(current,m_stageRoots[STAGECOUNT]);
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m_sets[1].collideGeneric(current->leaf,&collider);
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m_sets[0].remove(current->leaf);
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current->leaf = m_sets[1].insert(current->aabb,current);
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current->stage = STAGECOUNT;
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current = next;
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} while(current);
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}
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/* refine fixed */
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if(m_stageRoots[STAGECOUNT]&&(m_fupdates>0))
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/* refine fixed */
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if(m_stageRoots[STAGECOUNT]&&(m_fupdates>0))
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{
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const int count=1+(m_sets[1].m_leafs*m_fupdates)/100;
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for(int i=0;i<count;++i)
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const int count=1+(m_sets[1].m_leafs*m_fupdates)/100;
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for(int i=0;i<count;++i)
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{
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if(!m_fcursor) m_fcursor=m_stageRoots[STAGECOUNT];
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m_sets[1].update(m_fcursor->leaf);
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m_fcursor=m_fcursor->links[1];
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if(!m_fcursor) m_fcursor=m_stageRoots[STAGECOUNT];
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m_sets[1].update(m_fcursor->leaf);
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m_fcursor=m_fcursor->links[1];
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}
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}
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/* collide dynamics */
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btDbvtBroadphaseCollider collider(this,m_pid);
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/* collide dynamics */
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btDbvtBroadphaseCollider collider(this,m_pid);
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{
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SPC(m_profiling.m_fdcollide);
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m_sets[0].collideGeneric(&m_sets[1],collider);
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SPC(m_profiling.m_fdcollide);
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m_sets[0].collideGeneric(&m_sets[1],&collider);
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}
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{
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SPC(m_profiling.m_ddcollide);
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m_sets[0].collideGeneric(&m_sets[0],collider);
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SPC(m_profiling.m_ddcollide);
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m_sets[0].collideGeneric(&m_sets[0],&collider);
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}
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/* clean up */
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/* clean up */
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///m_paircache->processAllOverlappingPairs(0,dispatcher);
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{
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SPC(m_profiling.m_cleanup);
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btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
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for(int i=0,ni=pairs.size();i<ni;++i)
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SPC(m_profiling.m_cleanup);
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if (!m_paircache->hasDeferredRemoval())
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{
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btBroadphasePair& p=pairs[i];
|
||||
if(m_pid!=(*(int*)&p.m_userInfo))
|
||||
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
|
||||
for(int i=0,ni=pairs.size();i<ni;++i)
|
||||
{
|
||||
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
|
||||
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
|
||||
if(!Intersect(pa->aabb,pb->aabb))
|
||||
btBroadphasePair& p=pairs[i];
|
||||
if(m_pid!=(*(int*)&p.m_userInfo))
|
||||
{
|
||||
m_paircache->removeOverlappingPair(pa,pb,dispatcher);
|
||||
--ni;--i;
|
||||
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
|
||||
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
|
||||
if(!Intersect(pa->aabb,pb->aabb))
|
||||
{
|
||||
m_paircache->removeOverlappingPair(pa,pb,dispatcher);
|
||||
--ni;--i;
|
||||
}
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
if ( m_paircache->hasDeferredRemoval())
|
||||
{
|
||||
|
||||
btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
|
||||
|
||||
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
|
||||
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
|
||||
|
||||
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
||||
m_invalidPair = 0;
|
||||
|
||||
|
||||
btBroadphasePair previousPair;
|
||||
previousPair.m_pProxy0 = 0;
|
||||
previousPair.m_pProxy1 = 0;
|
||||
previousPair.m_algorithm = 0;
|
||||
|
||||
|
||||
int i;
|
||||
for (i=0;i<overlappingPairArray.size();i++)
|
||||
{
|
||||
|
||||
btBroadphasePair& pair = overlappingPairArray[i];
|
||||
|
||||
bool isDuplicate = (pair == previousPair);
|
||||
|
||||
previousPair = pair;
|
||||
|
||||
bool needsRemoval = false;
|
||||
|
||||
if (!isDuplicate)
|
||||
{
|
||||
btDbvtProxy* pa=(btDbvtProxy*)pair.m_pProxy0;
|
||||
btDbvtProxy* pb=(btDbvtProxy*)pair.m_pProxy1;
|
||||
|
||||
bool hasOverlap = Intersect(pa->aabb,pb->aabb);
|
||||
|
||||
if (hasOverlap)
|
||||
{
|
||||
needsRemoval = false;//callback->processOverlap(pair);
|
||||
} else
|
||||
{
|
||||
needsRemoval = true;
|
||||
}
|
||||
} else
|
||||
{
|
||||
//remove duplicate
|
||||
needsRemoval = true;
|
||||
//should have no algorithm
|
||||
btAssert(!pair.m_algorithm);
|
||||
}
|
||||
|
||||
if (needsRemoval)
|
||||
{
|
||||
m_paircache->cleanOverlappingPair(pair,dispatcher);
|
||||
|
||||
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
|
||||
// m_overlappingPairArray.pop_back();
|
||||
pair.m_pProxy0 = 0;
|
||||
pair.m_pProxy1 = 0;
|
||||
m_invalidPair++;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
///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.quickSort(btBroadphasePairSortPredicate());
|
||||
|
||||
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
||||
m_invalidPair = 0;
|
||||
#endif//CLEAN_INVALID_PAIRS
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
++m_pid;
|
||||
|
||||
|
||||
++m_pid;
|
||||
}
|
||||
|
||||
//
|
||||
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
|
||||
{
|
||||
return(m_paircache);
|
||||
return(m_paircache);
|
||||
}
|
||||
|
||||
//
|
||||
const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
|
||||
{
|
||||
return(m_paircache);
|
||||
return(m_paircache);
|
||||
}
|
||||
|
||||
//
|
||||
void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btDbvtAabbMm bounds;
|
||||
if(!m_sets[0].empty())
|
||||
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
|
||||
m_sets[1].m_root->volume,bounds);
|
||||
else
|
||||
bounds=m_sets[0].m_root->volume;
|
||||
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
|
||||
else
|
||||
bounds=btDbvtAabbMm::FromCR(btVector3(0,0,0),0);
|
||||
aabbMin=bounds.Mins();
|
||||
aabbMax=bounds.Maxs();
|
||||
btDbvtAabbMm bounds;
|
||||
if(!m_sets[0].empty())
|
||||
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
|
||||
m_sets[1].m_root->volume,bounds);
|
||||
else
|
||||
bounds=m_sets[0].m_root->volume;
|
||||
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
|
||||
else
|
||||
bounds=btDbvtAabbMm::FromCR(btVector3(0,0,0),0);
|
||||
aabbMin=bounds.Mins();
|
||||
aabbMax=bounds.Maxs();
|
||||
}
|
||||
|
||||
//
|
||||
|
||||
Reference in New Issue
Block a user