Changeset 2908 for code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp (modified) (9 diffs)

code/branches/questsystem5/src/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -101 +101 @@
                         btDbvtProxy*    pb=(btDbvtProxy*)nb->data;
 #if DBVT_BP_SORTPAIRS
-                        if(pa->m_uniqueId>pb->m_uniqueId) 
-                                btSwap(pa,pb);
+                        if(pa>pb) btSwap(pa,pb);
 #endif
                         pbp->m_paircache->addOverlappingPair(pa,pb);
@@ -134 +133 @@
         m_updates_done          =       0;
         m_updates_ratio         =       0;
-        m_paircache                     =       paircache? paircache    : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
+        m_paircache                     =       paircache?
+paircache       :
+        new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
         m_gid                           =       0;
         m_pid                           =       0;
@@ -210 +211 @@
 }
 
-struct  BroadphaseRayTester : btDbvt::ICollide
-{
-        btBroadphaseRayCallback& m_rayCallback;
-        BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
-                :m_rayCallback(orgCallback)
-        {
-        }
-        void                                    Process(const btDbvtNode* leaf)
-        {
-                btDbvtProxy*    proxy=(btDbvtProxy*)leaf->data;
-                m_rayCallback.process(proxy);
-        }
-};      
-
 void    btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
 {
+
+        struct  BroadphaseRayTester : btDbvt::ICollide
+        {
+                btBroadphaseRayCallback& m_rayCallback;
+                BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
+                        :m_rayCallback(orgCallback)
+                {
+                }
+                void                                    Process(const btDbvtNode* leaf)
+                {
+                        btDbvtProxy*    proxy=(btDbvtProxy*)leaf->data;
+                        m_rayCallback.process(proxy);
+                }
+        };      
+
         BroadphaseRayTester callback(rayCallback);
 
@@ -340 +342 @@
         }
 #endif
-
-        performDeferredRemoval(dispatcher);
-
-}
-
-void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
-{
-
-        if (m_paircache->hasDeferredRemoval())
-        {
-
-                btBroadphasePairArray&  overlappingPairArray = m_paircache->getOverlappingPairArray();
-
-                //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
-                overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
-                int invalidPair = 0;
-
-                
-                int i;
-
-                btBroadphasePair previousPair;
-                previousPair.m_pProxy0 = 0;
-                previousPair.m_pProxy1 = 0;
-                previousPair.m_algorithm = 0;
-                
-                
-                for (i=0;i<overlappingPairArray.size();i++)
-                {
-                
-                        btBroadphasePair& pair = overlappingPairArray[i];
-
-                        bool isDuplicate = (pair == previousPair);
-
-                        previousPair = pair;
-
-                        bool needsRemoval = false;
-
-                        if (!isDuplicate)
-                        {
-                                //important to perform AABB check that is consistent with the broadphase
-                                btDbvtProxy*            pa=(btDbvtProxy*)pair.m_pProxy0;
-                                btDbvtProxy*            pb=(btDbvtProxy*)pair.m_pProxy1;
-                                bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
-
-                                if (hasOverlap)
-                                {
-                                        needsRemoval = false;
-                                } else
-                                {
-                                        needsRemoval = true;
-                                }
-                        } else
-                        {
-                                //remove duplicate
-                                needsRemoval = true;
-                                //should have no algorithm
-                                btAssert(!pair.m_algorithm);
-                        }
-                        
-                        if (needsRemoval)
-                        {
-                                m_paircache->cleanOverlappingPair(pair,dispatcher);
-
-                                pair.m_pProxy0 = 0;
-                                pair.m_pProxy1 = 0;
-                                invalidPair++;
-                        } 
-                        
-                }
-
-                //perform a sort, to sort 'invalid' pairs to the end
-                overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-                overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
-        }
 }
 
@@ -420 +347 @@
 void                                                    btDbvtBroadphase::collide(btDispatcher* dispatcher)
 {
-        /*printf("---------------------------------------------------------\n");
-        printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
-        printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
-        printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
-        {
-                int i;
-                for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
-                {
-                        printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
-                                getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
-                }
-                printf("\n");
-        }
-*/
-
-
-
         SPC(m_profiling.m_total);
         /* optimize                             */ 
@@ -492 +402 @@
                 if(pairs.size()>0)
                 {
-
-                        int                     ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
+                        const int       ci=pairs.size();
+                        int                     ni=btMin(ci,btMax<int>(m_newpairs,(ci*m_cupdates)/100));
                         for(int i=0;i<ni;++i)
                         {
-                                btBroadphasePair&       p=pairs[(m_cid+i)%pairs.size()];
+                                btBroadphasePair&       p=pairs[(m_cid+i)%ci];
                                 btDbvtProxy*            pa=(btDbvtProxy*)p.m_pProxy0;
                                 btDbvtProxy*            pb=(btDbvtProxy*)p.m_pProxy1;
@@ -502 +412 @@
                                 {
 #if DBVT_BP_SORTPAIRS
-                                        if(pa->m_uniqueId>pb->m_uniqueId) 
-                                                btSwap(pa,pb);
+                                        if(pa>pb) btSwap(pa,pb);
 #endif
                                         m_paircache->removeOverlappingPair(pa,pb,dispatcher);
@@ -558 +467 @@
         aabbMin=bounds.Mins();
         aabbMax=bounds.Maxs();
-}
-
-void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
-{
-        
-        int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
-        if (!totalObjects)
-        {
-                //reset internal dynamic tree data structures
-                m_sets[0].clear();
-                m_sets[1].clear();
-                
-                m_deferedcollide        =       false;
-                m_needcleanup           =       true;
-                m_prediction            =       1/(btScalar)2;
-                m_stageCurrent          =       0;
-                m_fixedleft                     =       0;
-                m_fupdates                      =       1;
-                m_dupdates                      =       0;
-                m_cupdates                      =       10;
-                m_newpairs                      =       1;
-                m_updates_call          =       0;
-                m_updates_done          =       0;
-                m_updates_ratio         =       0;
-                
-                m_gid                           =       0;
-                m_pid                           =       0;
-                m_cid                           =       0;
-                for(int i=0;i<=STAGECOUNT;++i)
-                {
-                        m_stageRoots[i]=0;
-                }
-        }
 }
 
@@ -725 +601 @@
 #undef  SPC
 #endif
-