Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fix/improve raycast performance for btBvhTriangleMeshShape (btQuantizedBvh, btOptimizedBvh)

Browse Source 
Add raycast acceleration for btAxisSweep3, using btDbvtBroadphase, providing large speedup. Can be disabled in constructor to safe memory.
This commit is contained in:
erwin.coumans
2008-10-14 20:24:28 +00:00
parent fffca75e9f
commit e6c850f13b
7 changed files with 207 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -25,6 +25,7 @@
#include "btBroadphaseInterface.h"
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"
#include "btDbvtBroadphase.h"
//#define DEBUG_BROADPHASE 1
#define USE_OVERLAP_TEST_ON_REMOVES 1
@@ -61,7 +62,7 @@ public:
// indexes into the edge arrays
BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
// BP_FP_INT_TYPE m_uniqueId;
BP_FP_INT_TYPE m_pad;
btBroadphaseProxy* m_dbvtProxy;//for faster raycast
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
@@ -93,6 +94,11 @@ protected:
int m_invalidPair;
///additional dynamic aabb structure, used to accelerate ray cast queries.
///can be disabled using a optional argument in the constructor
btDbvtBroadphase* m_raycastAccelerator;
// allocation/deallocation
BP_FP_INT_TYPE allocHandle();
void freeHandle(BP_FP_INT_TYPE handle);
@@ -116,7 +122,7 @@ protected:
public:
btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
virtual ~btAxisSweep3Internal();
@@ -223,7 +229,12 @@ btBroadphaseProxy* btAxisSweep3Internal<BP_FP_INT_TYPE>::createProxy( const btV
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,multiSapProxy);
Handle* handle = getHandle(handleId);
if (m_raycastAccelerator)
{
btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0);
handle->m_dbvtProxy = rayProxy;
}
return handle;
}
@@ -233,6 +244,8 @@ template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
Handle* handle = static_cast<Handle*>(proxy);
if (m_raycastAccelerator)
m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher);
removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
}
@@ -243,6 +256,8 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,cons
handle->m_aabbMin = aabbMin;
handle->m_aabbMax = aabbMax;
updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
if (m_raycastAccelerator)
m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher);
}
@@ -250,14 +265,20 @@ template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
if (m_raycastAccelerator)
{
if (m_pEdges[axis][i].IsMax())
m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback);
} else
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
{
rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
if (m_pEdges[axis][i].IsMax())
{
rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
}
}
}
}
@@ -298,13 +319,14 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,b
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
:m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel),
m_pairCache(pairCache),
m_userPairCallback(0),
m_ownsPairCache(false),
m_invalidPair(0)
m_invalidPair(0),
m_raycastAccelerator(0)
{
BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
@@ -315,6 +337,12 @@ m_invalidPair(0)
m_ownsPairCache = true;
}
if (!disableRaycastAccelerator)
{
m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase();//m_pairCache);
m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
}
//assert(bounds.HasVolume());
// init bounds
@@ -375,7 +403,9 @@ m_invalidPair(0)
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
{
if (m_raycastAccelerator)
btAlignedFree (m_raycastAccelerator);
for (int i = 2; i >= 0; i--)
{
btAlignedFree(m_pEdgesRawPtr[i]);
@@ -954,7 +984,7 @@ class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
{
public:
btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
};
@@ -965,7 +995,7 @@ class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
{
public:
bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
};