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Add faster processing of btCompoundShape versus btCompoundShape, using a dedicated btCompoundCompoundCollisionAlgorithm,

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with hash pair caching and tandem tree traversal. It should be much faster, when using many child shapes for both compounds.
Fix iOS compilation, added header.
This commit is contained in:
erwin.coumans
2013-09-12 19:28:39 +00:00
parent 1685729b80
commit e792f0e549
11 changed files with 1018 additions and 26 deletions
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15
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
@@ -64,6 +66,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
@@ -155,6 +161,9 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_compoundCompoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
@@ -258,6 +267,12 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
{
return m_compoundCompoundCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;