fixed broadphases after performance optimizations

Bullet/BroadphaseCollision/AxisSweep3.cpp

@@ -388,12 +388,9 @@ void AxisSweep3::SortMinUp(int axis, unsigned short edge, bool updateOverlaps)
 			{
 				Handle* handle0 = GetHandle(pEdge->m_handle);
 				Handle* handle1 = GetHandle(pNext->m_handle);
-				BroadphasePair* pair = FindPair(handle0,handle1);
+				BroadphasePair tmpPair(*handle0,*handle1);
-				//assert(pair);
+				RemoveOverlappingPair(tmpPair);
-				if (pair)
+
-				{
-					RemoveOverlappingPair(*pair);
-				}
 			}
 
 			// update edge reference in other handle

Bullet/BroadphaseCollision/OverlappingPairCache.cpp

@@ -40,8 +40,12 @@ void	OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
 {
 	CleanOverlappingPair(pair);
 	std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(pair);
-	assert(it != m_overlappingPairSet.end());
+//	assert(it != m_overlappingPairSet.end());
-	m_overlappingPairSet.erase(pair);
+
+	if (it != m_overlappingPairSet.end())
+	{
+		m_overlappingPairSet.erase(it);
+	}
 }
 
 
@@ -76,21 +80,6 @@ void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
 	
 	m_overlappingPairSet.insert(pair);
 	
-	
-#ifdef _DEBUG
-	/*
-	BroadphasePair& pr = (*newElem);
-	int i;
-	for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
-	{
-		assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
-		//m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
-	}
-	*/
-
-#endif _DEBUG
-
-
 }
 
 ///this FindPair becomes really slow. Either sort the list to speedup the query, or
@@ -114,41 +103,66 @@ void	OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
 
 
 
+
+
 void	OverlappingPairCache::CleanProxyFromPairs(BroadphaseProxy* proxy)
 {
-	assert(0);
+
-	/*
+	class	CleanPairCallback : public OverlapCallback
-	for (int i=0;i<m_NumOverlapBroadphasePair;i++)
 	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
+		BroadphaseProxy* m_cleanProxy;
-		if (pair.m_pProxy0 == proxy ||
+		OverlappingPairCache*	m_pairCache;
-			pair.m_pProxy1 == proxy)
+
+	public:
+		CleanPairCallback(BroadphaseProxy* cleanProxy,OverlappingPairCache* pairCache)
+			:m_cleanProxy(cleanProxy),
+			m_pairCache(pairCache)
 		{
-			CleanOverlappingPair(pair);
 		}
+		virtual	bool	ProcessOverlap(BroadphasePair& pair)
+		{
+			if ((pair.m_pProxy0 == m_cleanProxy) ||
+				(pair.m_pProxy1 == m_cleanProxy))
+			{
+				m_pairCache->CleanOverlappingPair(pair);
 			}
-	*/
+			return false;
+		}
+		
+	};
+
+	CleanPairCallback cleanPairs(proxy,this);
+
+	ProcessAllOverlappingPairs(&cleanPairs);
 
 }
 
+
+
 void	OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
 {
 
-	assert(0);
+	class	RemovePairCallback : public OverlapCallback
-	/*
-	int i;
-	
-	for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
 	{
-		BroadphasePair& pair = m_OverlappingPairs[i];
+		BroadphaseProxy* m_obsoleteProxy;
-		if (pair.m_pProxy0 == proxy ||
-			pair.m_pProxy1 == proxy)
-		{
-			RemoveOverlappingPair(pair);
-		}
-	}
-	*/
 
+	public:
+		RemovePairCallback(BroadphaseProxy* obsoleteProxy)
+			:m_obsoleteProxy(obsoleteProxy)
+		{
+		}
+		virtual	bool	ProcessOverlap(BroadphasePair& pair)
+		{
+			return ((pair.m_pProxy0 == m_obsoleteProxy) ||
+				(pair.m_pProxy1 == m_obsoleteProxy));
+		}
+		
+	};
+
+
+	RemovePairCallback removeCallback(proxy);
+
+	ProcessAllOverlappingPairs(&removeCallback);
 }
 
 
@@ -156,14 +170,16 @@ void	OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy
 void	OverlappingPairCache::ProcessAllOverlappingPairs(OverlapCallback* callback)
 {
 	std::set<BroadphasePair>::iterator it = m_overlappingPairSet.begin();
-	for (; !(it==m_overlappingPairSet.end());it++)
+	for (; !(it==m_overlappingPairSet.end());)
 	{
 	
 		BroadphasePair* pair = (BroadphasePair*)(&(*it));
 		if (callback->ProcessOverlap(*pair))
 		{
-			assert(0);
+			it = m_overlappingPairSet.erase(it);
-			m_overlappingPairSet.erase(it);
+		} else
+		{
+			it++;
 		}
 	}
 }

Bullet/BroadphaseCollision/SimpleBroadphase.cpp

@@ -184,6 +184,19 @@ bool	SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphas
 		   proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
 
 }
+
+
+
+//then remove non-overlapping ones
+class CheckOverlapCallback : public OverlapCallback
+{
+public:
+	virtual bool ProcessOverlap(BroadphasePair& pair)
+	{
+		return (!SimpleBroadphase::AabbOverlap(static_cast<SimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<SimpleBroadphaseProxy*>(pair.m_pProxy1)));
+	}
+};
+
 void	SimpleBroadphase::RefreshOverlappingPairs()
 {
 	//first check for new overlapping pairs
@@ -209,22 +222,10 @@ void	SimpleBroadphase::RefreshOverlappingPairs()
 		}
 	}
 
-	assert(0);
-	/*
-	//then remove non-overlapping ones
-	for (i=0;i<GetNumOverlappingPairs();i++)
-	{
-		BroadphasePair& pair = GetOverlappingPair(i);
 
-		SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
+	CheckOverlapCallback	checkOverlap;
-		SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
-		if (!AabbOverlap(proxy0,proxy1))
-		{
-            RemoveOverlappingPair(pair);
-		}
-	}
 
-	*/
+	ProcessAllOverlappingPairs(&checkOverlap);
 
 
 }

Bullet/BroadphaseCollision/SimpleBroadphase.h

@@ -58,7 +58,6 @@ class SimpleBroadphase : public OverlappingPairCache
 		return proxy0;
 	}
 
-	bool	AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
 
 	void	validate();
 
@@ -71,6 +70,9 @@ public:
 	virtual ~SimpleBroadphase();
 
 
+		static bool	AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
+
+
 	virtual BroadphaseProxy*	CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
 
 

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -76,9 +76,9 @@ bool useCompound = false;//true;//false;
 
 
 #ifdef _DEBUG
-const int numObjects = 250;
+const int numObjects = 120;
 #else
-const int numObjects = 250;
+const int numObjects = 120;//try this in release mode: 3000. never go above 4095, unless you increate maxNumObjects  value in DemoApplication.cp
 #endif
 
 const int maxNumObjects = 32760;
@@ -251,13 +251,14 @@ void	CcdPhysicsDemo::initPhysics()
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
 	ParallelIslandDispatcher* dispatcher2 = new	ParallelIslandDispatcher();
 	
-	SimdVector3 worldAabbMin(-30000,-30000,-30000);
+	SimdVector3 worldAabbMin(-10000,-10000,-10000);
-	SimdVector3 worldAabbMax(30000,30000,30000);
+	SimdVector3 worldAabbMax(10000,10000,10000);
 
 	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
+//	OverlappingPairCache* broadphase = new SimpleBroadphase;
+	
 	dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
 	
-	//OverlappingPairCache* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
 
 #ifdef USE_PARALLEL_DISPATCHER
 	m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);