Softbody improvements, thanks to Nathanael
This commit is contained in:
erwin.coumans
@@ -13,31 +13,23 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btDbvtBroadphase implementation by Nathanael Presson
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#ifndef BT_DBVT_BROADPHASE_H
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#define BT_DBVT_BROADPHASE_H
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#include "btDbvt.h"
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#include "LinearMath/btPoint3.h"
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#include "LinearMath/btVector3.h"
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
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//
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// Compile time config
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//
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//#define DBVT_BP_PROFILE 1
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#define DBVT_BP_DISCRETPAIRS 0
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#define DBVT_BP_PROFILE 0
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#define DBVT_BP_DISCRETPAIRS 1
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#define DBVT_BP_MARGIN (btScalar)0.05
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#if DBVT_BP_PROFILE
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#define DBVT_BP_PROFILING_RATE 50
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#include "LinearMath/btQuickprof.h"
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#define DBVT_BP_PROFILING_RATE 256
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#include "LinearMath/btQuickprof.h"
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#endif
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//
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@@ -45,66 +37,66 @@ subject to the following restrictions:
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//
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struct btDbvtProxy : btBroadphaseProxy
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{
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/* Fields */
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btDbvtAabbMm aabb;
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btDbvt::Node* leaf;
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btDbvtProxy* links[2];
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int stage;
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/* ctor */
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btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
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/* Fields */
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btDbvtAabbMm aabb;
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btDbvt::Node* leaf;
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btDbvtProxy* links[2];
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int stage;
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/* ctor */
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btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
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btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
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{
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links[0]=links[1]=0;
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links[0]=links[1]=0;
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}
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};
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typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
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//
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// btDbvtBroadphase
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//
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struct btDbvtBroadphase : btBroadphaseInterface
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{
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/* Config */
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enum {
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/* Config */
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enum {
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DYNAMIC_SET = 0, /* Dynamic set index */
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FIXED_SET = 1, /* Fixed set index */
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STAGECOUNT = 2, /* Number of stages */
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PREDICTED_FRAMES = 2 /* Frames prediction */
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};
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/* Fields */
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btDbvt m_sets[2]; // Dbvt sets
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btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
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int m_stageCurrent; // Current stage
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btOverlappingPairCache* m_paircache; // Pair cache
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btDbvtProxy* m_fcursor; // Current fixed cursor
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btDbvtProxy* m_dcursor; // Current dynamic cursor
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int m_fupdates; // % of fixed updates per frame
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int m_dupdates; // % of dynamic updates per frame
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int m_pid; // Parse id
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int m_gid; // Gen id
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int m_invalidPair;
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PREDICTED_FRAMES = 2 /* Frames prediction */
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};
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/* Fields */
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btDbvt m_sets[2]; // Dbvt sets
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btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
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btOverlappingPairCache* m_paircache; // Pair cache
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int m_stageCurrent; // Current stage
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int m_fupdates; // % of fixed updates per frame
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int m_dupdates; // % of dynamic updates per frame
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int m_pid; // Parse id
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int m_gid; // Gen id
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bool m_releasepaircache; // Release pair cache on delete
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#if DBVT_BP_PROFILE
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btClock m_clock;
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struct {
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btClock m_clock;
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struct {
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unsigned long m_total;
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unsigned long m_ddcollide;
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unsigned long m_fdcollide;
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unsigned long m_cleanup;
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} m_profiling;
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unsigned long m_jobcount;
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} m_profiling;
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#endif
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/* Methods */
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btDbvtBroadphase();
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~btDbvtBroadphase();
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void collide(btDispatcher* dispatcher);
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/* btBroadphaseInterface Implementation */
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btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
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void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
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void calculateOverlappingPairs(btDispatcher* dispatcher);
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btOverlappingPairCache* getOverlappingPairCache();
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const btOverlappingPairCache* getOverlappingPairCache() const;
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void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
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void printStats();
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/* Methods */
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btDbvtBroadphase(btOverlappingPairCache* paircache=0);
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~btDbvtBroadphase();
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void collide(btDispatcher* dispatcher);
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/* btBroadphaseInterface Implementation */
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btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
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void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
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void calculateOverlappingPairs(btDispatcher* dispatcher);
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btOverlappingPairCache* getOverlappingPairCache();
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const btOverlappingPairCache* getOverlappingPairCache() const;
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void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
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void printStats();
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};
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#endif
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