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more work on hashed pairmanager. growing doesn't work yet, so need to allocate enough room for the overlapping pairs in advance.

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boxbox reports contact point in B, rather then average point
box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin'
integrated changed for ODE quickstep solver
replaced inline with SIMD_FORCE_INLINE
some minor optimizations in the btSequentialImpulseConstraintSolver

added cone drawing (for X,Y,Z cones)
This commit is contained in:
ejcoumans
2007-10-12 02:52:28 +00:00
parent 1baa61bc8d
commit eff4fe8ec8
39 changed files with 1882 additions and 1336 deletions
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131
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -24,6 +24,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
///disable the USE_HASH_PAIRCACHE define to use a pair manager that sorts the pairs to find duplicates/non-overlap
#define USE_HASH_PAIRCACHE 1
@@ -48,18 +49,13 @@ typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
#ifdef USE_HASH_PAIRCACHE
const int b2_maxPairs = 65536;//32768;
typedef unsigned short int uint16;
typedef int int32;
typedef unsigned int uint32;
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
const uint16 b2_nullPair = 0xffff;
const uint16 b2_nullProxy = 0xffff;
const int32 b2_tableCapacity = b2_maxPairs; // must be a power of two
const int32 b2_tableMask = b2_tableCapacity - 1;
extern int gRemovePairs;
extern int gAddedPairs;
extern int gFindPairs;
#define BT_NULL_PAIR 0xffffffff
class btOverlappingPairCache
{
@@ -67,6 +63,8 @@ class btOverlappingPairCache
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
public:
btOverlappingPairCache();
~btOverlappingPairCache();
@@ -74,12 +72,9 @@ public:
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
Remove(proxy0,proxy1,dispatcher);
}
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_overlapFilterCallback)
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
@@ -90,18 +85,19 @@ public:
return collides;
}
void addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
SIMD_FORCE_INLINE btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
gAddedPairs++;
if (!needsBroadphaseCollision(proxy0,proxy1))
return;
return 0;
Add(proxy0,proxy1);
return internalAddPair(proxy0,proxy1);
}
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
return Find(proxy0,proxy1);
}
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
@@ -130,16 +126,11 @@ public:
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
btBroadphasePair* Add(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
// Remove a pair, return the pair's userData.
void* Remove(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
btBroadphasePair* Find(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
int32 GetCount() const { return m_overlappingPairArray.size(); }
int GetCount() const { return m_overlappingPairArray.size(); }
// btBroadphasePair* GetPairs() { return m_pairs; }
btOverlapFilterCallback* getOverlapFilterCallback()
@@ -157,12 +148,82 @@ public:
return m_overlappingPairArray.size();
}
private:
btBroadphasePair* Find(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, uint32 hashValue);
btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
{
return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
}
/*
// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
// This assumes proxyId1 and proxyId2 are 16-bit.
SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
{
int key = (proxyId2 << 16) | proxyId1;
key = ~key + (key << 15);
key = key ^ (key >> 12);
key = key + (key << 2);
key = key ^ (key >> 4);
key = key * 2057;
key = key ^ (key >> 16);
return key;
}
*/
SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
{
int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId1) <<16);
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return key;
}
SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
{
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
int index = m_hashTable[hash];
while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
{
index = m_next[index];
}
if ( index == BT_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
public:
uint16 m_hashTable[b2_tableCapacity];
uint16 m_next[b2_maxPairs];
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
};
@@ -192,11 +253,11 @@ class btOverlappingPairCache
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
void removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
void addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);