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- Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.

Browse Source 
Thanks tbp for more details on reproducing case.
- Fixed issue with full 32bit integers in btAxisSweep3 (define BP_USE_FIXEDPOINT_INT_32), it used only 65536 for quantization, it should use full integer space (0xffffffff)
- Added 'getForwardVector' and getCurrentSpeedKmHour utility functions to btRaycastVehicle
- Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3). Thanks Volker for reporting!
- Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
This commit is contained in:
ejcoumans
2007-05-20 16:21:14 +00:00
parent 3ad4316622
commit cf2337ed7b
12 changed files with 140 additions and 25 deletions
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89
src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
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@@ -21,6 +21,30 @@
#include <assert.h>
#ifdef DEBUG_BROADPHASE
#include <stdio.h>
void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
{
int numEdges = m_pHandles[0].m_maxEdges[axis];
printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
int i;
for (i=0;i<numEdges+1;i++)
{
Edge* pEdge = m_pEdges[axis] + i;
Handle* pHandlePrev = getHandle(pEdge->m_handle);
int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
char beginOrEnd;
beginOrEnd=pEdge->IsMax()?'E':'B';
printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
}
if (checkCardinality)
assert(numEdges == m_numHandles*2+1);
}
#endif //DEBUG_BROADPHASE
btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
{
(void)shapeType;
@@ -41,6 +65,7 @@ void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,con
{
Handle* handle = static_cast<Handle*>(proxy);
updateHandle(handle->m_handleId,aabbMin,aabbMax);
}
@@ -55,7 +80,7 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
//assert(bounds.HasVolume());
// 1 handle is reserved as sentinel
assert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
// init bounds
m_worldAabbMin = worldAabbMin;
@@ -63,7 +88,9 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
m_quantize = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize;
BP_FP_INT_TYPE maxInt = BP_HANDLE_SENTINEL;
m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
// allocate handles buffer and put all handles on free list
m_pHandles = new Handle[maxHandles];
@@ -98,7 +125,12 @@ btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAab
m_pEdges[axis][0].m_handle = 0;
m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL;
m_pEdges[axis][1].m_handle = 0;
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
}
btAxisSweep3::~btAxisSweep3()
@@ -172,9 +204,11 @@ BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a
// compute current limit of edge arrays
BP_FP_INT_TYPE limit = m_numHandles * 2;
// insert new edges just inside the max boundary edge
for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
{
m_pHandles[0].m_maxEdges[axis] += 2;
m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
@@ -197,7 +231,6 @@ BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a
sortMinDown(2, pHandle->m_minEdges[2], true);
sortMaxDown(2, pHandle->m_maxEdges[2], true);
//PrintAxis(1);
return handle;
}
@@ -205,6 +238,7 @@ BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& a
void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
{
Handle* pHandle = getHandle(handle);
//explicitly remove the pairs containing the proxy
@@ -215,15 +249,19 @@ void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
// compute current limit of edge arrays
int limit = m_numHandles * 2;
int axis;
for (axis = 0;axis<3;axis++)
{
Edge* pEdges = m_pEdges[axis];
m_pHandles[0].m_maxEdges[axis] -= 2;
int maxEdge= pHandle->m_maxEdges[axis];
pEdges[maxEdge].m_pos = BP_HANDLE_SENTINEL;
//pEdges[maxEdge].m_pos = BP_HANDLE_SENTINEL;
//pEdges[maxEdge].m_handle = 0;
int minEdge = pHandle->m_minEdges[axis];
pEdges[minEdge].m_pos = BP_HANDLE_SENTINEL;
//pEdges[minEdge].m_pos = BP_HANDLE_SENTINEL;
//pEdges[minEdge].m_handle = 0;
}
// remove the edges by sorting them up to the end of the list
@@ -234,17 +272,25 @@ void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
pEdges[max].m_pos = BP_HANDLE_SENTINEL;
sortMaxUp(axis,max,false);
BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
pEdges[i].m_pos = BP_HANDLE_SENTINEL;
sortMinUp(axis,i,false);
pEdges[limit-1].m_handle = 0;
pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL;
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis,false);
#endif //DEBUG_BROADPHASE
}
// free the handle
freeHandle(handle);
@@ -365,7 +411,7 @@ bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Hand
}
}
//optimization 2: only 2 axis need to be tested
//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
/*for (int axis = 0; axis < 3; axis++)
{
@@ -417,14 +463,22 @@ void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,c
if (dmax < 0)
sortMaxDown(axis, emax);
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
//PrintAxis(1);
}
// sorting a min edge downwards can only ever *add* overlaps
void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
Edge* pPrev = pEdge - 1;
Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -461,6 +515,11 @@ void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlap
pEdge--;
pPrev--;
}
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
// sorting a min edge upwards can only ever *remove* overlaps
@@ -470,7 +529,7 @@ void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
Edge* pNext = pEdge + 1;
Handle* pHandleEdge = getHandle(pEdge->m_handle);
while (pEdge->m_pos > pNext->m_pos)
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
{
Handle* pHandleNext = getHandle(pNext->m_handle);
@@ -505,11 +564,14 @@ void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
pEdge++;
pNext++;
}
}
// sorting a max edge downwards can only ever *remove* overlaps
void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
{
Edge* pEdge = m_pEdges[axis] + edge;
Edge* pPrev = pEdge - 1;
Handle* pHandleEdge = getHandle(pEdge->m_handle);
@@ -555,6 +617,12 @@ void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlap
pEdge--;
pPrev--;
}
#ifdef DEBUG_BROADPHASE
debugPrintAxis(axis);
#endif //DEBUG_BROADPHASE
}
// sorting a max edge upwards can only ever *add* overlaps
@@ -564,7 +632,7 @@ void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
Edge* pNext = pEdge + 1;
Handle* pHandleEdge = getHandle(pEdge->m_handle);
while (pEdge->m_pos > pNext->m_pos)
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
{
Handle* pHandleNext = getHandle(pNext->m_handle);
@@ -595,4 +663,5 @@ void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
pEdge++;
pNext++;
}
}

8
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -31,14 +31,15 @@
#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
#define BP_HANDLE_MASK 0xfffffffe
#else
#define BP_FP_INT_TYPE unsigned short int
#define BP_MAX_HANDLES 32767
#define BP_HANDLE_SENTINEL 0xffff
#define BP_HANDLE_MASK 0xfffe
#endif
#endif //BP_USE_FIXEDPOINT_INT_32
//#define DEBUG_BROADPHASE 1
/// 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.
@@ -97,6 +98,9 @@ private:
bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
#ifdef DEBUG_BROADPHASE
void debugPrintAxis(int axis,bool checkCardinality=true);
#endif //DEBUG_BROADPHASE
//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);

4
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -164,9 +164,7 @@ void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
btTriangleMeshShape::setLocalScaling(scaling);
delete m_bvh;
///rescale aabb, instead of calculating?
m_localAabbMin*=scaling;
m_localAabbMax*=scaling;
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
m_bvh = new btOptimizedBvh();
//rebuild the bvh...
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);

6
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -195,5 +195,11 @@ void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
m_stridingMesh->setScaling(scaling);
recalcLocalAabb();
}
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
return m_stridingMesh->getScaling();
}

3
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
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@@ -39,7 +39,8 @@ public:
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
void setLocalScaling(const btVector3& scaling);
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
};