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re-organized memory (stack and pool) allocators. this lets the user pass in their own memory allocators.

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This commit is contained in:
ejcoumans
2007-10-20 02:23:39 +00:00
parent 1e4e52306f
commit e7caaa28d3
37 changed files with 287 additions and 232 deletions
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4
Demos/BasicDemo/BasicDemo.cpp
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@@ -187,9 +187,9 @@ void BasicDemo::initPhysics()
#ifdef USE_SIMPLE_DYNAMICS_WORLD
//btSimpleDynamicsWorld doesn't support 'cache friendly' optimization, so disable this
sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,collisionConfiguration);
#else
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,collisionConfiguration);
#endif //USE_SIMPLE_DYNAMICS_WORLD
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;

2
Demos/BspDemo/BspDemo.cpp
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@@ -144,7 +144,7 @@ void BspDemo::initPhysics(char* bspfilename)
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
m_dynamicsWorld->setGravity(-m_cameraUp * 10);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);

2
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -477,7 +477,7 @@ int maxNumOutstandingTasks = 4;
solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
m_dynamicsWorld = world;
#ifdef DO_BENCHMARK_PYRAMIDS

2
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -178,7 +178,7 @@ void ColladaDemo::initPhysics(const char* filename)
btVector3 worldMax(1000,1000,1000);
btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
//m_dynamicsWorld = new btSimpleDynamicsWorld();

2
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -91,7 +91,7 @@ void CollisionInterfaceDemo::initPhysics()
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
collisionWorld = new btCollisionWorld(dispatcher,broadphase);
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);

2
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -270,7 +270,7 @@ btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollision
btVector3 worldMax(1000,1000,1000);
btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
#endif //USE_PARALLEL_DISPATCHER

2
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -84,7 +84,7 @@ void ConstraintDemo::initPhysics()
//btBroadphaseInterface* broadphase = new btSimpleBroadphase();
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
//ConstraintSolver* solver = new OdeConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
//m_dynamicsWorld->setGravity(btVector3(0,0,0));

2
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -128,7 +128,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
//btBroadphaseInterface* broadphase = new btSimpleBroadphase();
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;

2
Demos/DoublePrecisionDemo/DoublePrecisionDemo.cpp
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@@ -89,7 +89,7 @@ void DoublePrecisionDemo::initPhysics()
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
collisionWorld = new btCollisionWorld(dispatcher,broadphase);
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);

2
Demos/GenericJointDemo/GenericJointDemo.cpp
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@@ -77,7 +77,7 @@ void GenericJointDemo::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
m_dynamicsWorld->setGravity(btVector3(0,-30,0));

2
Demos/GimpactTestDemo/GimpactTestDemo.cpp
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@@ -415,7 +415,7 @@ void GimpactConcaveDemo::initPhysics()
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
//create trimesh model and shape

2
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -1652,7 +1652,7 @@ void ConcaveDemo::initPhysics()
btBroadphaseInterface* broadphase = new btSimpleBroadphase();
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
//create trimesh model and shape

6
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -40,6 +40,12 @@ void GLDebugDrawer::setDebugMode(int debugMode)
}
void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
glRasterPos3f(location.x(), location.y(), location.z());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}
void GLDebugDrawer::reportErrorWarning(const char* warningString)
{
printf(warningString);

2
Demos/OpenGL/GLDebugDrawer.h
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@@ -20,6 +20,8 @@ public:
virtual void reportErrorWarning(const char* warningString);
virtual void draw3dText(const btVector3& location,const char* textString);
virtual void setDebugMode(int debugMode);
virtual int getDebugMode() const { return m_debugMode;}

2
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -328,7 +328,7 @@ void RagdollDemo::initPhysics()
btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);

2
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -112,7 +112,7 @@ void UserCollisionAlgorithm::initPhysics()
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
float mass = 0.f;
btTransform startTransform;

2
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -124,7 +124,7 @@ void VehicleDemo::setupPhysics()
btVector3 worldMax(1000,1000,1000);
btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif

13
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@@ -17,6 +17,9 @@ subject to the following restrictions:
#define BT_COLLISION_CONFIGURATION
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator size, default collision algorithms and persistent manifold pool size
///todo: describe the meaning
@@ -29,14 +32,12 @@ public:
{
}
///pool size for the persistent contact manifold
virtual int getPersistentManifoldPoolSize() = 0;
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool() = 0;
virtual int getStackAllocatorSize() = 0;
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual int getCollisionAlgorithmPoolSize() = 0;
virtual int getCollisionAlgorithmMaxElementSize() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;

6
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -41,9 +41,9 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
setNearCallback(defaultNearCallback);
m_collisionAlgorithmPoolAllocator = new btPoolAllocator(m_collisionConfiguration->getCollisionAlgorithmMaxElementSize(),m_collisionConfiguration->getCollisionAlgorithmPoolSize());
m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
m_persistentManifoldPoolAllocator = new btPoolAllocator(sizeof(btPersistentManifold),m_collisionConfiguration->getPersistentManifoldPoolSize());
m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
@@ -65,8 +65,6 @@ void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int prox
btCollisionDispatcher::~btCollisionDispatcher()
{
delete m_collisionAlgorithmPoolAllocator;
delete m_persistentManifoldPoolAllocator;
}
btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)

14
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@@ -124,6 +124,20 @@ public:
virtual void freeCollisionAlgorithm(void* ptr);
btCollisionConfiguration* getCollisionConfiguration()
{
return m_collisionConfiguration;
}
const btCollisionConfiguration* getCollisionConfiguration() const
{
return m_collisionConfiguration;
}
void setCollisionConfiguration(btCollisionConfiguration* config)
{
m_collisionConfiguration = config;
}
};

8
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -35,24 +35,22 @@ subject to the following restrictions:
//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, int stackSize)
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache),
m_ownsDispatcher(false),
m_ownsBroadphasePairCache(false)
{
m_stackAlloc = new btStackAlloc(stackSize);
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}
btCollisionWorld::~btCollisionWorld()
{
m_stackAlloc->destroy();
delete m_stackAlloc;
//clean up remaining objects
int i;

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -98,7 +98,7 @@ protected:
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, int stackSize = 2*1024*1024);
btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionWorld();

87
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -24,15 +24,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
#define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
#define DEFAULT_STACK_ALLOCATOR_SIZE (5*1024*1024)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration()
:m_persistentManifoldPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
m_stackAllocatorSize(DEFAULT_STACK_ALLOCATOR_SIZE),
m_collisionAlgorithmPoolSize(DEFAULT_MAX_OVERLAPPING_PAIRS),
m_collisionAlgorithmMaxElementSize(0)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
//default CreationFunctions, filling the m_doubleDispatch table
@@ -58,14 +59,62 @@ m_collisionAlgorithmMaxElementSize(0)
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int maxSize4 = sizeof(btEmptyAlgorithm);
m_collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize3);
m_collisionAlgorithmMaxElementSize = btMax(m_collisionAlgorithmMaxElementSize,maxSize4);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(DEFAULT_STACK_ALLOCATOR_SIZE);
}
if (persistentManifoldPool)
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = persistentManifoldPool;
} else
{
m_ownsPersistentManifoldPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),DEFAULT_MAX_OVERLAPPING_PAIRS);
}
if (collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = collisionAlgorithmPool;
} else
{
m_ownsCollisionAlgorithmPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,DEFAULT_MAX_OVERLAPPING_PAIRS);
}
}
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
btAlignedFree(m_collisionAlgorithmPool);
}
if (m_ownsPersistentManifoldPool)
{
btAlignedFree(m_persistentManifoldPool);
}
delete m_convexConvexCreateFunc;
delete m_convexConcaveCreateFunc;
delete m_swappedConvexConcaveCreateFunc;
@@ -79,28 +128,6 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
delete m_triangleSphereCF;
}
///pool size for the persistent contact manifold
int btDefaultCollisionConfiguration::getPersistentManifoldPoolSize()
{
return m_persistentManifoldPoolSize;
}
int btDefaultCollisionConfiguration::getStackAllocatorSize()
{
return m_stackAllocatorSize;
}
int btDefaultCollisionConfiguration::getCollisionAlgorithmPoolSize()
{
return m_collisionAlgorithmPoolSize;
}
int btDefaultCollisionConfiguration::getCollisionAlgorithmMaxElementSize()
{
return m_collisionAlgorithmMaxElementSize;
}

45
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -19,18 +19,22 @@ subject to the following restrictions:
#include "btCollisionConfiguration.h"
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator size, default collision algorithms and persistent manifold pool size
///stack allocator, pool memory allocators
///todo: describe the meaning
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
int m_persistentManifoldPoolSize;
int m_stackAllocatorSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
int m_collisionAlgorithmPoolSize;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
int m_collisionAlgorithmMaxElementSize;
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
@@ -47,35 +51,30 @@ class btDefaultCollisionConfiguration : public btCollisionConfiguration
public:
btDefaultCollisionConfiguration();
btDefaultCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
virtual ~btDefaultCollisionConfiguration();
///pool size for the persistent contact manifold
virtual int getPersistentManifoldPoolSize();
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool()
{
return m_persistentManifoldPool;
}
virtual int getStackAllocatorSize();
virtual btPoolAllocator* getCollisionAlgorithmPool()
{
return m_collisionAlgorithmPool;
}
virtual int getCollisionAlgorithmPoolSize();
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual int getCollisionAlgorithmMaxElementSize();
btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
void setStackAllocatorSize(int size)
{
m_stackAllocatorSize = size;
}
void setPersistentManifoldPoolSize(int size)
{
m_persistentManifoldPoolSize = size;
}
void setCollisionAlgorithmPoolSize(int size)
{
m_collisionAlgorithmPoolSize = size;
}
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION

22
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -25,17 +25,17 @@ void btSimulationIslandManager::initUnionFind(int n)
}
void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
void btSimulationIslandManager::findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld)
{
{
for (int i=0;i<dispatcher->getNumManifolds();i++)
{
const btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
//static objects (invmass btScalar(0.)) don't merge !
btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
{
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
@@ -71,7 +71,7 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
}
// do the union find
findUnions(dispatcher);
findUnions(dispatcher,colWorld);
@@ -259,11 +259,11 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isStaticOrKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
}
if (colObj1->isStaticOrKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
}
@@ -300,6 +300,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
btAlignedObjectArray<btCollisionObject*> islandBodies;
// printf("Start Islands\n");
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
@@ -343,6 +344,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (!islandSleeping)
{
callback->ProcessIsland(&islandBodies[0],islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
if (numIslandManifolds)

2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
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@@ -42,7 +42,7 @@ public:
virtual void storeIslandActivationState(btCollisionWorld* world);
void findUnions(btDispatcher* dispatcher);
void findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld);

1
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -117,6 +117,7 @@ public:
m_pointCache[index] = m_pointCache[lastUsedIndex];
//get rid of duplicated userPersistentData pointer
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
m_pointCache[lastUsedIndex].m_lifeTime = 0;
}
btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);

5
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -447,6 +447,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
END_PROFILE("refreshManifolds");
#endif //FORCE_REFESH_CONTACT_MANIFOLDS
btVector3 color(0,1,0);
BEGIN_PROFILE("gatherSolverData");
@@ -560,6 +561,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btManifoldPoint& cp = manifold->getContactPoint(j);
if (debugDrawer)
debugDrawer->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
if (cp.getDistance() <= btScalar(0.))
{
@@ -938,6 +942,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
}
}

2
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
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@@ -70,7 +70,7 @@ plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
btBroadphaseInterface* pairCache = new btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
}
void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
{

4
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
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@@ -33,8 +33,8 @@ subject to the following restrictions:
#include <stdio.h>
btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver)
btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
}

2
src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
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@@ -28,7 +28,7 @@ class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld
public:
btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btContinuousDynamicsWorld();
///time stepping with calculation of time of impact for selected fast moving objects

4
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -57,8 +57,8 @@ subject to the following restrictions:
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -86,7 +86,7 @@ public:
///this btDiscreteDynamicsWorld constructor gets created objects from the user, and will not delete those
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btDiscreteDynamicsWorld();

4
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -28,8 +28,8 @@ class btDynamicsWorld : public btCollisionWorld
public:
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
:btCollisionWorld(dispatcher,broadphase)
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
{
}

4
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -32,8 +32,8 @@ extern "C" void btBulletDynamicsProbe () {}
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
m_constraintSolver(constraintSolver),
m_ownsConstraintSolver(false),
m_debugDrawer(0),

2
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -48,7 +48,7 @@ public:
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btSimpleDynamicsWorld();

2
src/LinearMath/btIDebugDraw.h
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@@ -60,6 +60,8 @@ class btIDebugDraw
virtual void reportErrorWarning(const char* warningString) = 0;
virtual void draw3dText(const btVector3& location,const char* textString) = 0;
virtual void setDebugMode(int debugMode) =0;
virtual int getDebugMode() const = 0;