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removed collision template, some code style cleanup, added btDbvhBroadphase to BenchmarkDemo

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This commit is contained in:
erwin.coumans
2008-05-06 02:45:56 +00:00
parent 1d5050f584
commit b9acc820d6
7 changed files with 369 additions and 249 deletions
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6
Demos/Benchmarks/BenchmarkDemo.cpp
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@@ -25,7 +25,7 @@ subject to the following restrictions:
#include <stdio.h> //printf debugging
#include "Taru.mdl"
#include "landscape.mdl"
#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
@@ -272,7 +272,9 @@ void BenchmarkDemo::initPhysics()
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
//m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
m_overlappingPairCache = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;

4
Demos/Benchmarks/main.cpp
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@@ -26,13 +26,13 @@ int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
// BenchmarkDemo1 benchmarkDemo;
BenchmarkDemo1 benchmarkDemo;
// BenchmarkDemo2 benchmarkDemo;
// BenchmarkDemo3 benchmarkDemo;
// BenchmarkDemo4 benchmarkDemo;
// BenchmarkDemo5 benchmarkDemo;
// BenchmarkDemo6 benchmarkDemo;
BenchmarkDemo7 benchmarkDemo;
// BenchmarkDemo7 benchmarkDemo;
benchmarkDemo.initPhysics();

10
src/BulletCollision/BroadphaseCollision/btDbvt.cpp
View File

@@ -279,7 +279,7 @@ static btDbvt::Node* topdown(btDbvt* pdbvt,
{
if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
{
const int midp=abs(splitcount[i][0]-splitcount[i][1]);
const int midp=btFabs(splitcount[i][0]-splitcount[i][1]);
if(midp<bestmidp)
{
bestaxis=i;
@@ -470,25 +470,25 @@ void btDbvt::remove(Node* leaf)
void btDbvt::collide(btDbvt* tree,
ICollide* icollide) const
{
collideGeneric(tree,GCollide(icollide));
collideGeneric(tree,icollide);
}
//
void btDbvt::collide(btDbvt::Node* node,
ICollide* icollide) const
{
collideGeneric(node,GCollide(icollide));
collideGeneric(node,icollide);
}
//
void btDbvt::collide(const Volume& volume,
ICollide* icollide) const
{
collideGeneric(volume,GCollide(icollide));
collideGeneric(volume,icollide);
}
//
void btDbvt::collide(ICollide* icollide) const
{
collideGeneric(GCollide(icollide));
collideGeneric(icollide);
}

54
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -87,18 +87,9 @@ struct btDbvt
/* ICollide */
struct ICollide
{
virtual void Process(const Node*,const Node*) {}
virtual void Process(const Node*) {}
virtual bool Descent(const Node*) { return(false); }
};
/* GCollide */
struct GCollide
{
ICollide* icollide;
GCollide(ICollide* ic) : icollide(ic) {}
void Process(const Node* a,const Node* b) { icollide->Process(a,b); }
void Process(const Node* a) { icollide->Process(a); }
bool Descent(const Node* a) { return(icollide->Descent(a)); }
virtual void Process(const Node*,const Node*)=0;
virtual void Process(const Node*)=0;
virtual bool Descent(const Node*)=0;
};
// Constants
@@ -137,14 +128,14 @@ struct btDbvt
ICollide* icollide) const;
void collide(ICollide* icollide) const;
// Generics : T must implement ICollide
template <typename T>
void collideGeneric( btDbvt* tree,T& policy) const;
template <typename T>
void collideGeneric( btDbvt::Node* node,T& policy) const;
template <typename T>
void collideGeneric(const Volume& volume,T& policy) const;
template <typename T>
void collideGeneric(T& policy) const;
void collideGeneric( btDbvt* tree,ICollide* policy) const;
void collideGeneric( btDbvt::Node* node,ICollide* policy) const;
void collideGeneric(const Volume& volume,ICollide* policy) const;
void collideGeneric(ICollide* policy) const;
//
private:
btDbvt(const btDbvt&) {}
@@ -300,8 +291,7 @@ inline bool NotEqual( const btDbvtAabbMm& a,
//
//
template <typename T>
inline void btDbvt::collideGeneric( btDbvt::Node* node,T& policy) const
inline void btDbvt::collideGeneric( btDbvt::Node* node,ICollide* policy) const
{
if(m_root&&node)
{
@@ -346,7 +336,7 @@ inline void btDbvt::collideGeneric( btDbvt::Node* node,T& policy) const
}
else
{
policy.Process(p.a,p.b);
policy->Process(p.a,p.b);
}
}
}
@@ -355,15 +345,13 @@ inline void btDbvt::collideGeneric( btDbvt::Node* node,T& policy) const
}
//
template <typename T>
inline void btDbvt::collideGeneric( btDbvt* tree,T& policy) const
inline void btDbvt::collideGeneric( btDbvt* tree,ICollide* policy) const
{
collideGeneric<T>(tree->m_root,policy);
collideGeneric(tree->m_root,policy);
}
//
template <typename T>
inline void btDbvt::collideGeneric(const Volume& volume,T& policy) const
inline void btDbvt::collideGeneric(const Volume& volume,ICollide* policy) const
{
if(m_root)
{
@@ -382,7 +370,7 @@ inline void btDbvt::collideGeneric(const Volume& volume,T& policy) const
}
else
{
policy.Process(n);
policy->Process(n);
}
}
} while(stack.size()>0);
@@ -390,8 +378,8 @@ inline void btDbvt::collideGeneric(const Volume& volume,T& policy) const
}
//
template <typename T>
inline void btDbvt::collideGeneric(T& policy) const
inline void btDbvt::collideGeneric(ICollide* policy) const
{
if(m_root)
{
@@ -401,12 +389,12 @@ inline void btDbvt::collideGeneric(T& policy) const
do {
const Node* n=stack[stack.size()-1];
stack.pop_back();
if(policy.Descent(n))
if(policy->Descent(n))
{
if(n->isinternal())
{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
else
{ policy.Process(n); }
{ policy->Process(n); }
}
} while(stack.size()>0);
}

114
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View File

@@ -103,7 +103,16 @@ struct btDbvtBroadphaseCollider : btDbvt::ICollide
btDbvtBroadphase* pbp;
int pid;
btDbvtBroadphaseCollider(btDbvtBroadphase* p,int id) : pbp(p),pid(id) {}
void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
virtual void Process(const btDbvt::Node* na)
{
}
virtual bool Descent(const btDbvt::Node*)
{
return false;
}
virtual void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
{
btDbvtProxy* pa=(btDbvtProxy*)na->data;
btDbvtProxy* pb=(btDbvtProxy*)nb->data;
@@ -112,7 +121,8 @@ void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
#endif
{
btBroadphasePair* pp=pbp->m_paircache->addOverlappingPair(pa,pb);
if(pp) pp->m_userInfo=*(void**)&pid;
if(pp)
pp->m_userInfo=*(void**)&pid;
}
}
};
@@ -124,12 +134,15 @@ void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
//
btDbvtBroadphase::btDbvtBroadphase()
{
m_invalidPair = 0;
m_fcursor = 0;
m_dcursor = 0;
m_stageCurrent = 0;
m_fupdates = 1;
m_dupdates = 0;
//m_paircache = new btSortedOverlappingPairCache();
m_paircache = new btHashedOverlappingPairCache();
m_gid = 0;
m_pid = 0;
for(int i=0;i<=STAGECOUNT;++i)
@@ -239,7 +252,8 @@ if(m_stageRoots[m_stageCurrent]&&(m_dupdates>0))
const int count=1+(m_sets[0].m_leafs*m_dupdates)/100;
for(int i=0;i<count;++i)
{
if(!m_dcursor) m_dcursor=m_stageRoots[m_stageCurrent];
if(!m_dcursor)
m_dcursor=m_stageRoots[m_stageCurrent];
m_sets[0].update(m_dcursor->leaf);
m_dcursor=m_dcursor->links[1];
}
@@ -255,7 +269,7 @@ if(current)
if(m_dcursor==current) m_dcursor=0;
listremove(current,m_stageRoots[current->stage]);
listappend(current,m_stageRoots[STAGECOUNT]);
m_sets[1].collideGeneric(current->leaf,collider);
m_sets[1].collideGeneric(current->leaf,&collider);
m_sets[0].remove(current->leaf);
current->leaf = m_sets[1].insert(current->aabb,current);
current->stage = STAGECOUNT;
@@ -277,15 +291,18 @@ if(m_stageRoots[STAGECOUNT]&&(m_fupdates>0))
btDbvtBroadphaseCollider collider(this,m_pid);
{
SPC(m_profiling.m_fdcollide);
m_sets[0].collideGeneric(&m_sets[1],collider);
m_sets[0].collideGeneric(&m_sets[1],&collider);
}
{
SPC(m_profiling.m_ddcollide);
m_sets[0].collideGeneric(&m_sets[0],collider);
m_sets[0].collideGeneric(&m_sets[0],&collider);
}
/* clean up */
///m_paircache->processAllOverlappingPairs(0,dispatcher);
{
SPC(m_profiling.m_cleanup);
if (!m_paircache->hasDeferredRemoval())
{
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
for(int i=0,ni=pairs.size();i<ni;++i)
{
@@ -301,7 +318,92 @@ btDbvtBroadphaseCollider collider(this,m_pid);
}
}
}
} 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;
}

5
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
View File

@@ -30,7 +30,8 @@ subject to the following restrictions:
// Compile time config
//
#define DBVT_BP_PROFILE 1
//#define DBVT_BP_PROFILE 1
#define DBVT_BP_DISCRETPAIRS 0
#define DBVT_BP_MARGIN (btScalar)0.05
@@ -80,6 +81,8 @@ int m_fupdates; // % of fixed updates per frame
int m_dupdates; // % of dynamic updates per frame
int m_pid; // Parse id
int m_gid; // Gen id
int m_invalidPair;
#if DBVT_BP_PROFILE
btClock m_clock;
struct {

33
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -622,7 +622,13 @@ struct RayCaster : public btDbvt::ICollide
face = 0;
tests = 0;
}
void Process(const btDbvt::Node* leaf)
virtual void Process(const btDbvt::Node* a,const btDbvt::Node* b)
{
}
virtual void Process(const btDbvt::Node* leaf)
{
btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data;
const btScalar t=RayTriangle( o,d,
@@ -637,7 +643,7 @@ struct RayCaster : public btDbvt::ICollide
}
++tests;
}
bool Descent(const btDbvt::Node* node)
virtual bool Descent(const btDbvt::Node* node)
{
const btVector3 ctr=node->volume.Center()-o;
const btScalar sqr=node->volume.Lengths().length2()/4;
@@ -715,7 +721,7 @@ static int RaycastInternal(const btSoftBody* psb,
else
{/* Use dbvt */
RayCaster collider(org,dir,mint);
psb->m_fdbvt.collideGeneric(collider);
psb->m_fdbvt.collideGeneric(&collider);
if(collider.face)
{
mint=collider.mint;
@@ -2533,7 +2539,17 @@ switch(m_cfg.collisions&fCollision::RVSmask)
{
struct DoCollide : btDbvt::ICollide
{
void Process(const btDbvt::Node* leaf)
virtual void Process(const btDbvt::Node* a,const btDbvt::Node* b)
{
}
virtual bool Descent(const btDbvt::Node*)
{
return false;
}
virtual void Process(const btDbvt::Node* leaf)
{
Node* node=(Node*)leaf->data;
DoNode(*node);
@@ -2608,6 +2624,15 @@ switch(cf&fCollision::SVSmask)
{
struct DoCollide : btDbvt::ICollide
{
virtual bool Descent(const btDbvt::Node*)
{
return false;
}
virtual void Process(const btDbvt::Node* leaf)
{
}
void Process(const btDbvt::Node* lnode,
const btDbvt::Node* lface)
{