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reduce the number of dynamic memory allocations again (using a persistentStack version in btDbvt)

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This commit is contained in:
erwin.coumans
2008-11-04 18:02:41 +00:00
parent 807e979597
commit ff29cb5008
2 changed files with 77 additions and 5 deletions
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74
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -266,7 +266,7 @@ struct btDbvt
unsigned m_opath;
btAlignedObjectArray<sStkNN> m_stkStack;
// Methods
@@ -305,6 +305,12 @@ struct btDbvt
void collideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
DBVT_IPOLICY);
DBVT_PREFIX
void collideTTpersistentStack( const btDbvtNode* root0,
const btDbvtNode* root1,
DBVT_IPOLICY);
DBVT_PREFIX
void collideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
@@ -781,6 +787,72 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
}
}
DBVT_PREFIX
inline void btDbvt::collideTTpersistentStack( const btDbvtNode* root0,
const btDbvtNode* root1,
DBVT_IPOLICY)
{
DBVT_CHECKTYPE
if(root0&&root1)
{
int depth=1;
int treshold=DOUBLE_STACKSIZE-4;
m_stkStack.resize(DOUBLE_STACKSIZE);
m_stkStack[0]=sStkNN(root0,root1);
do {
sStkNN p=m_stkStack[--depth];
if(depth>treshold)
{
m_stkStack.resize(m_stkStack.size()*2);
treshold=m_stkStack.size()-4;
}
if(p.a==p.b)
{
if(p.a->isinternal())
{
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.a->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.a->childs[1]);
}
}
else if(Intersect(p.a->volume,p.b->volume))
{
if(p.a->isinternal())
{
if(p.b->isinternal())
{
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b->childs[1]);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
m_stkStack[depth++]=sStkNN(p.a->childs[0],p.b);
m_stkStack[depth++]=sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[0]);
m_stkStack[depth++]=sStkNN(p.a,p.b->childs[1]);
}
else
{
policy.Process(p.a,p.b);
}
}
}
} while(depth);
}
}
//
DBVT_PREFIX
inline void btDbvt::collideTT( const btDbvtNode* root0,

8
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View File

@@ -307,8 +307,8 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
if(!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
m_sets[1].collideTT(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTT(m_sets[0].m_root,proxy->leaf,collider);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
}
}
}
@@ -382,12 +382,12 @@ void btDbvtBroadphase::collide(btDispatcher* dispatcher)
if(m_deferedcollide)
{
SPC(m_profiling.m_fdcollide);
m_sets[0].collideTT(m_sets[0].m_root,m_sets[1].m_root,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
}
if(m_deferedcollide)
{
SPC(m_profiling.m_ddcollide);
m_sets[0].collideTT(m_sets[0].m_root,m_sets[0].m_root,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
}
}
/* clean up */