ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
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Bullet Continuous Collision Detection and Physics Library
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+
This software is provided 'as-is', without any express or implied warranty.
|
6
|
+
In no event will the authors be held liable for any damages arising from the use of this software.
|
7
|
+
Permission is granted to anyone to use this software for any purpose,
|
8
|
+
including commercial applications, and to alter it and redistribute it freely,
|
9
|
+
subject to the following restrictions:
|
10
|
+
|
11
|
+
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
12
|
+
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
13
|
+
3. This notice may not be removed or altered from any source distribution.
|
14
|
+
*/
|
15
|
+
|
16
|
+
///btDbvtBroadphase implementation by Nathanael Presson
|
17
|
+
|
18
|
+
#include "btDbvtBroadphase.h"
|
19
|
+
|
20
|
+
//
|
21
|
+
// Profiling
|
22
|
+
//
|
23
|
+
|
24
|
+
#if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK
|
25
|
+
#include <stdio.h>
|
26
|
+
#endif
|
27
|
+
|
28
|
+
#if DBVT_BP_PROFILE
|
29
|
+
struct ProfileScope
|
30
|
+
{
|
31
|
+
__forceinline ProfileScope(btClock& clock,unsigned long& value) :
|
32
|
+
m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
|
33
|
+
{
|
34
|
+
}
|
35
|
+
__forceinline ~ProfileScope()
|
36
|
+
{
|
37
|
+
(*m_value)+=m_clock->getTimeMicroseconds()-m_base;
|
38
|
+
}
|
39
|
+
btClock* m_clock;
|
40
|
+
unsigned long* m_value;
|
41
|
+
unsigned long m_base;
|
42
|
+
};
|
43
|
+
#define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
|
44
|
+
#else
|
45
|
+
#define SPC(_value_)
|
46
|
+
#endif
|
47
|
+
|
48
|
+
//
|
49
|
+
// Helpers
|
50
|
+
//
|
51
|
+
|
52
|
+
//
|
53
|
+
template <typename T>
|
54
|
+
static inline void listappend(T* item,T*& list)
|
55
|
+
{
|
56
|
+
item->links[0]=0;
|
57
|
+
item->links[1]=list;
|
58
|
+
if(list) list->links[0]=item;
|
59
|
+
list=item;
|
60
|
+
}
|
61
|
+
|
62
|
+
//
|
63
|
+
template <typename T>
|
64
|
+
static inline void listremove(T* item,T*& list)
|
65
|
+
{
|
66
|
+
if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
|
67
|
+
if(item->links[1]) item->links[1]->links[0]=item->links[0];
|
68
|
+
}
|
69
|
+
|
70
|
+
//
|
71
|
+
template <typename T>
|
72
|
+
static inline int listcount(T* root)
|
73
|
+
{
|
74
|
+
int n=0;
|
75
|
+
while(root) { ++n;root=root->links[1]; }
|
76
|
+
return(n);
|
77
|
+
}
|
78
|
+
|
79
|
+
//
|
80
|
+
template <typename T>
|
81
|
+
static inline void clear(T& value)
|
82
|
+
{
|
83
|
+
static const struct ZeroDummy : T {} zerodummy;
|
84
|
+
value=zerodummy;
|
85
|
+
}
|
86
|
+
|
87
|
+
//
|
88
|
+
// Colliders
|
89
|
+
//
|
90
|
+
|
91
|
+
/* Tree collider */
|
92
|
+
struct btDbvtTreeCollider : btDbvt::ICollide
|
93
|
+
{
|
94
|
+
btDbvtBroadphase* pbp;
|
95
|
+
btDbvtProxy* proxy;
|
96
|
+
btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
|
97
|
+
void Process(const btDbvtNode* na,const btDbvtNode* nb)
|
98
|
+
{
|
99
|
+
if(na!=nb)
|
100
|
+
{
|
101
|
+
btDbvtProxy* pa=(btDbvtProxy*)na->data;
|
102
|
+
btDbvtProxy* pb=(btDbvtProxy*)nb->data;
|
103
|
+
#if DBVT_BP_SORTPAIRS
|
104
|
+
if(pa->m_uniqueId>pb->m_uniqueId)
|
105
|
+
btSwap(pa,pb);
|
106
|
+
#endif
|
107
|
+
pbp->m_paircache->addOverlappingPair(pa,pb);
|
108
|
+
++pbp->m_newpairs;
|
109
|
+
}
|
110
|
+
}
|
111
|
+
void Process(const btDbvtNode* n)
|
112
|
+
{
|
113
|
+
Process(n,proxy->leaf);
|
114
|
+
}
|
115
|
+
};
|
116
|
+
|
117
|
+
//
|
118
|
+
// btDbvtBroadphase
|
119
|
+
//
|
120
|
+
|
121
|
+
//
|
122
|
+
btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
|
123
|
+
{
|
124
|
+
m_deferedcollide = false;
|
125
|
+
m_needcleanup = true;
|
126
|
+
m_releasepaircache = (paircache!=0)?false:true;
|
127
|
+
m_prediction = 0;
|
128
|
+
m_stageCurrent = 0;
|
129
|
+
m_fixedleft = 0;
|
130
|
+
m_fupdates = 1;
|
131
|
+
m_dupdates = 0;
|
132
|
+
m_cupdates = 10;
|
133
|
+
m_newpairs = 1;
|
134
|
+
m_updates_call = 0;
|
135
|
+
m_updates_done = 0;
|
136
|
+
m_updates_ratio = 0;
|
137
|
+
m_paircache = paircache? paircache : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
|
138
|
+
m_gid = 0;
|
139
|
+
m_pid = 0;
|
140
|
+
m_cid = 0;
|
141
|
+
for(int i=0;i<=STAGECOUNT;++i)
|
142
|
+
{
|
143
|
+
m_stageRoots[i]=0;
|
144
|
+
}
|
145
|
+
#if DBVT_BP_PROFILE
|
146
|
+
clear(m_profiling);
|
147
|
+
#endif
|
148
|
+
}
|
149
|
+
|
150
|
+
//
|
151
|
+
btDbvtBroadphase::~btDbvtBroadphase()
|
152
|
+
{
|
153
|
+
if(m_releasepaircache)
|
154
|
+
{
|
155
|
+
m_paircache->~btOverlappingPairCache();
|
156
|
+
btAlignedFree(m_paircache);
|
157
|
+
}
|
158
|
+
}
|
159
|
+
|
160
|
+
//
|
161
|
+
btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
|
162
|
+
const btVector3& aabbMax,
|
163
|
+
int /*shapeType*/,
|
164
|
+
void* userPtr,
|
165
|
+
short int collisionFilterGroup,
|
166
|
+
short int collisionFilterMask,
|
167
|
+
btDispatcher* /*dispatcher*/,
|
168
|
+
void* /*multiSapProxy*/)
|
169
|
+
{
|
170
|
+
btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
|
171
|
+
collisionFilterGroup,
|
172
|
+
collisionFilterMask);
|
173
|
+
|
174
|
+
btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
|
175
|
+
|
176
|
+
//bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
|
177
|
+
proxy->stage = m_stageCurrent;
|
178
|
+
proxy->m_uniqueId = ++m_gid;
|
179
|
+
proxy->leaf = m_sets[0].insert(aabb,proxy);
|
180
|
+
listappend(proxy,m_stageRoots[m_stageCurrent]);
|
181
|
+
if(!m_deferedcollide)
|
182
|
+
{
|
183
|
+
btDbvtTreeCollider collider(this);
|
184
|
+
collider.proxy=proxy;
|
185
|
+
m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
|
186
|
+
m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
|
187
|
+
}
|
188
|
+
return(proxy);
|
189
|
+
}
|
190
|
+
|
191
|
+
//
|
192
|
+
void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
|
193
|
+
btDispatcher* dispatcher)
|
194
|
+
{
|
195
|
+
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
|
196
|
+
if(proxy->stage==STAGECOUNT)
|
197
|
+
m_sets[1].remove(proxy->leaf);
|
198
|
+
else
|
199
|
+
m_sets[0].remove(proxy->leaf);
|
200
|
+
listremove(proxy,m_stageRoots[proxy->stage]);
|
201
|
+
m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
|
202
|
+
btAlignedFree(proxy);
|
203
|
+
m_needcleanup=true;
|
204
|
+
}
|
205
|
+
|
206
|
+
void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
|
207
|
+
{
|
208
|
+
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
|
209
|
+
aabbMin = proxy->m_aabbMin;
|
210
|
+
aabbMax = proxy->m_aabbMax;
|
211
|
+
}
|
212
|
+
|
213
|
+
struct BroadphaseRayTester : btDbvt::ICollide
|
214
|
+
{
|
215
|
+
btBroadphaseRayCallback& m_rayCallback;
|
216
|
+
BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
|
217
|
+
:m_rayCallback(orgCallback)
|
218
|
+
{
|
219
|
+
}
|
220
|
+
void Process(const btDbvtNode* leaf)
|
221
|
+
{
|
222
|
+
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
|
223
|
+
m_rayCallback.process(proxy);
|
224
|
+
}
|
225
|
+
};
|
226
|
+
|
227
|
+
void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
|
228
|
+
{
|
229
|
+
BroadphaseRayTester callback(rayCallback);
|
230
|
+
|
231
|
+
m_sets[0].rayTestInternal( m_sets[0].m_root,
|
232
|
+
rayFrom,
|
233
|
+
rayTo,
|
234
|
+
rayCallback.m_rayDirectionInverse,
|
235
|
+
rayCallback.m_signs,
|
236
|
+
rayCallback.m_lambda_max,
|
237
|
+
aabbMin,
|
238
|
+
aabbMax,
|
239
|
+
callback);
|
240
|
+
|
241
|
+
m_sets[1].rayTestInternal( m_sets[1].m_root,
|
242
|
+
rayFrom,
|
243
|
+
rayTo,
|
244
|
+
rayCallback.m_rayDirectionInverse,
|
245
|
+
rayCallback.m_signs,
|
246
|
+
rayCallback.m_lambda_max,
|
247
|
+
aabbMin,
|
248
|
+
aabbMax,
|
249
|
+
callback);
|
250
|
+
|
251
|
+
}
|
252
|
+
|
253
|
+
|
254
|
+
struct BroadphaseAabbTester : btDbvt::ICollide
|
255
|
+
{
|
256
|
+
btBroadphaseAabbCallback& m_aabbCallback;
|
257
|
+
BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
|
258
|
+
:m_aabbCallback(orgCallback)
|
259
|
+
{
|
260
|
+
}
|
261
|
+
void Process(const btDbvtNode* leaf)
|
262
|
+
{
|
263
|
+
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
|
264
|
+
m_aabbCallback.process(proxy);
|
265
|
+
}
|
266
|
+
};
|
267
|
+
|
268
|
+
void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
|
269
|
+
{
|
270
|
+
BroadphaseAabbTester callback(aabbCallback);
|
271
|
+
|
272
|
+
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
|
273
|
+
//process all children, that overlap with the given AABB bounds
|
274
|
+
m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
|
275
|
+
m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
|
276
|
+
|
277
|
+
}
|
278
|
+
|
279
|
+
|
280
|
+
|
281
|
+
//
|
282
|
+
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
|
283
|
+
const btVector3& aabbMin,
|
284
|
+
const btVector3& aabbMax,
|
285
|
+
btDispatcher* /*dispatcher*/)
|
286
|
+
{
|
287
|
+
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
|
288
|
+
ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
|
289
|
+
#if DBVT_BP_PREVENTFALSEUPDATE
|
290
|
+
if(NotEqual(aabb,proxy->leaf->volume))
|
291
|
+
#endif
|
292
|
+
{
|
293
|
+
bool docollide=false;
|
294
|
+
if(proxy->stage==STAGECOUNT)
|
295
|
+
{/* fixed -> dynamic set */
|
296
|
+
m_sets[1].remove(proxy->leaf);
|
297
|
+
proxy->leaf=m_sets[0].insert(aabb,proxy);
|
298
|
+
docollide=true;
|
299
|
+
}
|
300
|
+
else
|
301
|
+
{/* dynamic set */
|
302
|
+
++m_updates_call;
|
303
|
+
if(Intersect(proxy->leaf->volume,aabb))
|
304
|
+
{/* Moving */
|
305
|
+
|
306
|
+
const btVector3 delta=aabbMin-proxy->m_aabbMin;
|
307
|
+
btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
|
308
|
+
if(delta[0]<0) velocity[0]=-velocity[0];
|
309
|
+
if(delta[1]<0) velocity[1]=-velocity[1];
|
310
|
+
if(delta[2]<0) velocity[2]=-velocity[2];
|
311
|
+
if (
|
312
|
+
#ifdef DBVT_BP_MARGIN
|
313
|
+
m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
|
314
|
+
#else
|
315
|
+
m_sets[0].update(proxy->leaf,aabb,velocity)
|
316
|
+
#endif
|
317
|
+
)
|
318
|
+
{
|
319
|
+
++m_updates_done;
|
320
|
+
docollide=true;
|
321
|
+
}
|
322
|
+
}
|
323
|
+
else
|
324
|
+
{/* Teleporting */
|
325
|
+
m_sets[0].update(proxy->leaf,aabb);
|
326
|
+
++m_updates_done;
|
327
|
+
docollide=true;
|
328
|
+
}
|
329
|
+
}
|
330
|
+
listremove(proxy,m_stageRoots[proxy->stage]);
|
331
|
+
proxy->m_aabbMin = aabbMin;
|
332
|
+
proxy->m_aabbMax = aabbMax;
|
333
|
+
proxy->stage = m_stageCurrent;
|
334
|
+
listappend(proxy,m_stageRoots[m_stageCurrent]);
|
335
|
+
if(docollide)
|
336
|
+
{
|
337
|
+
m_needcleanup=true;
|
338
|
+
if(!m_deferedcollide)
|
339
|
+
{
|
340
|
+
btDbvtTreeCollider collider(this);
|
341
|
+
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
|
342
|
+
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
|
343
|
+
}
|
344
|
+
}
|
345
|
+
}
|
346
|
+
}
|
347
|
+
|
348
|
+
|
349
|
+
//
|
350
|
+
void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy,
|
351
|
+
const btVector3& aabbMin,
|
352
|
+
const btVector3& aabbMax,
|
353
|
+
btDispatcher* /*dispatcher*/)
|
354
|
+
{
|
355
|
+
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
|
356
|
+
ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
|
357
|
+
bool docollide=false;
|
358
|
+
if(proxy->stage==STAGECOUNT)
|
359
|
+
{/* fixed -> dynamic set */
|
360
|
+
m_sets[1].remove(proxy->leaf);
|
361
|
+
proxy->leaf=m_sets[0].insert(aabb,proxy);
|
362
|
+
docollide=true;
|
363
|
+
}
|
364
|
+
else
|
365
|
+
{/* dynamic set */
|
366
|
+
++m_updates_call;
|
367
|
+
/* Teleporting */
|
368
|
+
m_sets[0].update(proxy->leaf,aabb);
|
369
|
+
++m_updates_done;
|
370
|
+
docollide=true;
|
371
|
+
}
|
372
|
+
listremove(proxy,m_stageRoots[proxy->stage]);
|
373
|
+
proxy->m_aabbMin = aabbMin;
|
374
|
+
proxy->m_aabbMax = aabbMax;
|
375
|
+
proxy->stage = m_stageCurrent;
|
376
|
+
listappend(proxy,m_stageRoots[m_stageCurrent]);
|
377
|
+
if(docollide)
|
378
|
+
{
|
379
|
+
m_needcleanup=true;
|
380
|
+
if(!m_deferedcollide)
|
381
|
+
{
|
382
|
+
btDbvtTreeCollider collider(this);
|
383
|
+
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
|
384
|
+
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
|
385
|
+
}
|
386
|
+
}
|
387
|
+
}
|
388
|
+
|
389
|
+
//
|
390
|
+
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
|
391
|
+
{
|
392
|
+
collide(dispatcher);
|
393
|
+
#if DBVT_BP_PROFILE
|
394
|
+
if(0==(m_pid%DBVT_BP_PROFILING_RATE))
|
395
|
+
{
|
396
|
+
printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
|
397
|
+
unsigned int total=m_profiling.m_total;
|
398
|
+
if(total<=0) total=1;
|
399
|
+
printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
|
400
|
+
printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
|
401
|
+
printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
|
402
|
+
printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
|
403
|
+
const unsigned long sum=m_profiling.m_ddcollide+
|
404
|
+
m_profiling.m_fdcollide+
|
405
|
+
m_profiling.m_cleanup;
|
406
|
+
printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
|
407
|
+
printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
|
408
|
+
clear(m_profiling);
|
409
|
+
m_clock.reset();
|
410
|
+
}
|
411
|
+
#endif
|
412
|
+
|
413
|
+
performDeferredRemoval(dispatcher);
|
414
|
+
|
415
|
+
}
|
416
|
+
|
417
|
+
void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
|
418
|
+
{
|
419
|
+
|
420
|
+
if (m_paircache->hasDeferredRemoval())
|
421
|
+
{
|
422
|
+
|
423
|
+
btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
|
424
|
+
|
425
|
+
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
|
426
|
+
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
|
427
|
+
|
428
|
+
int invalidPair = 0;
|
429
|
+
|
430
|
+
|
431
|
+
int i;
|
432
|
+
|
433
|
+
btBroadphasePair previousPair;
|
434
|
+
previousPair.m_pProxy0 = 0;
|
435
|
+
previousPair.m_pProxy1 = 0;
|
436
|
+
previousPair.m_algorithm = 0;
|
437
|
+
|
438
|
+
|
439
|
+
for (i=0;i<overlappingPairArray.size();i++)
|
440
|
+
{
|
441
|
+
|
442
|
+
btBroadphasePair& pair = overlappingPairArray[i];
|
443
|
+
|
444
|
+
bool isDuplicate = (pair == previousPair);
|
445
|
+
|
446
|
+
previousPair = pair;
|
447
|
+
|
448
|
+
bool needsRemoval = false;
|
449
|
+
|
450
|
+
if (!isDuplicate)
|
451
|
+
{
|
452
|
+
//important to perform AABB check that is consistent with the broadphase
|
453
|
+
btDbvtProxy* pa=(btDbvtProxy*)pair.m_pProxy0;
|
454
|
+
btDbvtProxy* pb=(btDbvtProxy*)pair.m_pProxy1;
|
455
|
+
bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
|
456
|
+
|
457
|
+
if (hasOverlap)
|
458
|
+
{
|
459
|
+
needsRemoval = false;
|
460
|
+
} else
|
461
|
+
{
|
462
|
+
needsRemoval = true;
|
463
|
+
}
|
464
|
+
} else
|
465
|
+
{
|
466
|
+
//remove duplicate
|
467
|
+
needsRemoval = true;
|
468
|
+
//should have no algorithm
|
469
|
+
btAssert(!pair.m_algorithm);
|
470
|
+
}
|
471
|
+
|
472
|
+
if (needsRemoval)
|
473
|
+
{
|
474
|
+
m_paircache->cleanOverlappingPair(pair,dispatcher);
|
475
|
+
|
476
|
+
pair.m_pProxy0 = 0;
|
477
|
+
pair.m_pProxy1 = 0;
|
478
|
+
invalidPair++;
|
479
|
+
}
|
480
|
+
|
481
|
+
}
|
482
|
+
|
483
|
+
//perform a sort, to sort 'invalid' pairs to the end
|
484
|
+
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
|
485
|
+
overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
|
486
|
+
}
|
487
|
+
}
|
488
|
+
|
489
|
+
//
|
490
|
+
void btDbvtBroadphase::collide(btDispatcher* dispatcher)
|
491
|
+
{
|
492
|
+
/*printf("---------------------------------------------------------\n");
|
493
|
+
printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
|
494
|
+
printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
|
495
|
+
printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
|
496
|
+
{
|
497
|
+
int i;
|
498
|
+
for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
|
499
|
+
{
|
500
|
+
printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
|
501
|
+
getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
|
502
|
+
}
|
503
|
+
printf("\n");
|
504
|
+
}
|
505
|
+
*/
|
506
|
+
|
507
|
+
|
508
|
+
|
509
|
+
SPC(m_profiling.m_total);
|
510
|
+
/* optimize */
|
511
|
+
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
|
512
|
+
if(m_fixedleft)
|
513
|
+
{
|
514
|
+
const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
|
515
|
+
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
|
516
|
+
m_fixedleft=btMax<int>(0,m_fixedleft-count);
|
517
|
+
}
|
518
|
+
/* dynamic -> fixed set */
|
519
|
+
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
|
520
|
+
btDbvtProxy* current=m_stageRoots[m_stageCurrent];
|
521
|
+
if(current)
|
522
|
+
{
|
523
|
+
btDbvtTreeCollider collider(this);
|
524
|
+
do {
|
525
|
+
btDbvtProxy* next=current->links[1];
|
526
|
+
listremove(current,m_stageRoots[current->stage]);
|
527
|
+
listappend(current,m_stageRoots[STAGECOUNT]);
|
528
|
+
#if DBVT_BP_ACCURATESLEEPING
|
529
|
+
m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
|
530
|
+
collider.proxy=current;
|
531
|
+
btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
|
532
|
+
btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
|
533
|
+
#endif
|
534
|
+
m_sets[0].remove(current->leaf);
|
535
|
+
ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
|
536
|
+
current->leaf = m_sets[1].insert(curAabb,current);
|
537
|
+
current->stage = STAGECOUNT;
|
538
|
+
current = next;
|
539
|
+
} while(current);
|
540
|
+
m_fixedleft=m_sets[1].m_leaves;
|
541
|
+
m_needcleanup=true;
|
542
|
+
}
|
543
|
+
/* collide dynamics */
|
544
|
+
{
|
545
|
+
btDbvtTreeCollider collider(this);
|
546
|
+
if(m_deferedcollide)
|
547
|
+
{
|
548
|
+
SPC(m_profiling.m_fdcollide);
|
549
|
+
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
|
550
|
+
}
|
551
|
+
if(m_deferedcollide)
|
552
|
+
{
|
553
|
+
SPC(m_profiling.m_ddcollide);
|
554
|
+
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
|
555
|
+
}
|
556
|
+
}
|
557
|
+
/* clean up */
|
558
|
+
if(m_needcleanup)
|
559
|
+
{
|
560
|
+
SPC(m_profiling.m_cleanup);
|
561
|
+
btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
|
562
|
+
if(pairs.size()>0)
|
563
|
+
{
|
564
|
+
|
565
|
+
int ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
|
566
|
+
for(int i=0;i<ni;++i)
|
567
|
+
{
|
568
|
+
btBroadphasePair& p=pairs[(m_cid+i)%pairs.size()];
|
569
|
+
btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
|
570
|
+
btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
|
571
|
+
if(!Intersect(pa->leaf->volume,pb->leaf->volume))
|
572
|
+
{
|
573
|
+
#if DBVT_BP_SORTPAIRS
|
574
|
+
if(pa->m_uniqueId>pb->m_uniqueId)
|
575
|
+
btSwap(pa,pb);
|
576
|
+
#endif
|
577
|
+
m_paircache->removeOverlappingPair(pa,pb,dispatcher);
|
578
|
+
--ni;--i;
|
579
|
+
}
|
580
|
+
}
|
581
|
+
if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
|
582
|
+
}
|
583
|
+
}
|
584
|
+
++m_pid;
|
585
|
+
m_newpairs=1;
|
586
|
+
m_needcleanup=false;
|
587
|
+
if(m_updates_call>0)
|
588
|
+
{ m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
|
589
|
+
else
|
590
|
+
{ m_updates_ratio=0; }
|
591
|
+
m_updates_done/=2;
|
592
|
+
m_updates_call/=2;
|
593
|
+
}
|
594
|
+
|
595
|
+
//
|
596
|
+
void btDbvtBroadphase::optimize()
|
597
|
+
{
|
598
|
+
m_sets[0].optimizeTopDown();
|
599
|
+
m_sets[1].optimizeTopDown();
|
600
|
+
}
|
601
|
+
|
602
|
+
//
|
603
|
+
btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
|
604
|
+
{
|
605
|
+
return(m_paircache);
|
606
|
+
}
|
607
|
+
|
608
|
+
//
|
609
|
+
const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
|
610
|
+
{
|
611
|
+
return(m_paircache);
|
612
|
+
}
|
613
|
+
|
614
|
+
//
|
615
|
+
void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
616
|
+
{
|
617
|
+
|
618
|
+
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds;
|
619
|
+
|
620
|
+
if(!m_sets[0].empty())
|
621
|
+
if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
|
622
|
+
m_sets[1].m_root->volume,bounds);
|
623
|
+
else
|
624
|
+
bounds=m_sets[0].m_root->volume;
|
625
|
+
else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
|
626
|
+
else
|
627
|
+
bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
|
628
|
+
aabbMin=bounds.Mins();
|
629
|
+
aabbMax=bounds.Maxs();
|
630
|
+
}
|
631
|
+
|
632
|
+
void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
|
633
|
+
{
|
634
|
+
|
635
|
+
int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
|
636
|
+
if (!totalObjects)
|
637
|
+
{
|
638
|
+
//reset internal dynamic tree data structures
|
639
|
+
m_sets[0].clear();
|
640
|
+
m_sets[1].clear();
|
641
|
+
|
642
|
+
m_deferedcollide = false;
|
643
|
+
m_needcleanup = true;
|
644
|
+
m_stageCurrent = 0;
|
645
|
+
m_fixedleft = 0;
|
646
|
+
m_fupdates = 1;
|
647
|
+
m_dupdates = 0;
|
648
|
+
m_cupdates = 10;
|
649
|
+
m_newpairs = 1;
|
650
|
+
m_updates_call = 0;
|
651
|
+
m_updates_done = 0;
|
652
|
+
m_updates_ratio = 0;
|
653
|
+
|
654
|
+
m_gid = 0;
|
655
|
+
m_pid = 0;
|
656
|
+
m_cid = 0;
|
657
|
+
for(int i=0;i<=STAGECOUNT;++i)
|
658
|
+
{
|
659
|
+
m_stageRoots[i]=0;
|
660
|
+
}
|
661
|
+
}
|
662
|
+
}
|
663
|
+
|
664
|
+
//
|
665
|
+
void btDbvtBroadphase::printStats()
|
666
|
+
{}
|
667
|
+
|
668
|
+
//
|
669
|
+
#if DBVT_BP_ENABLE_BENCHMARK
|
670
|
+
|
671
|
+
struct btBroadphaseBenchmark
|
672
|
+
{
|
673
|
+
struct Experiment
|
674
|
+
{
|
675
|
+
const char* name;
|
676
|
+
int object_count;
|
677
|
+
int update_count;
|
678
|
+
int spawn_count;
|
679
|
+
int iterations;
|
680
|
+
btScalar speed;
|
681
|
+
btScalar amplitude;
|
682
|
+
};
|
683
|
+
struct Object
|
684
|
+
{
|
685
|
+
btVector3 center;
|
686
|
+
btVector3 extents;
|
687
|
+
btBroadphaseProxy* proxy;
|
688
|
+
btScalar time;
|
689
|
+
void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
|
690
|
+
{
|
691
|
+
time += speed;
|
692
|
+
center[0] = btCos(time*(btScalar)2.17)*amplitude+
|
693
|
+
btSin(time)*amplitude/2;
|
694
|
+
center[1] = btCos(time*(btScalar)1.38)*amplitude+
|
695
|
+
btSin(time)*amplitude;
|
696
|
+
center[2] = btSin(time*(btScalar)0.777)*amplitude;
|
697
|
+
pbi->setAabb(proxy,center-extents,center+extents,0);
|
698
|
+
}
|
699
|
+
};
|
700
|
+
static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); }
|
701
|
+
static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); }
|
702
|
+
static void OutputTime(const char* name,btClock& c,unsigned count=0)
|
703
|
+
{
|
704
|
+
const unsigned long us=c.getTimeMicroseconds();
|
705
|
+
const unsigned long ms=(us+500)/1000;
|
706
|
+
const btScalar sec=us/(btScalar)(1000*1000);
|
707
|
+
if(count>0)
|
708
|
+
printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
|
709
|
+
else
|
710
|
+
printf("%s : %u us (%u ms)\r\n",name,us,ms);
|
711
|
+
}
|
712
|
+
};
|
713
|
+
|
714
|
+
void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
|
715
|
+
{
|
716
|
+
static const btBroadphaseBenchmark::Experiment experiments[]=
|
717
|
+
{
|
718
|
+
{"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
|
719
|
+
/*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
|
720
|
+
{"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
|
721
|
+
};
|
722
|
+
static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]);
|
723
|
+
btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
|
724
|
+
btClock wallclock;
|
725
|
+
/* Begin */
|
726
|
+
for(int iexp=0;iexp<nexperiments;++iexp)
|
727
|
+
{
|
728
|
+
const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp];
|
729
|
+
const int object_count=experiment.object_count;
|
730
|
+
const int update_count=(object_count*experiment.update_count)/100;
|
731
|
+
const int spawn_count=(object_count*experiment.spawn_count)/100;
|
732
|
+
const btScalar speed=experiment.speed;
|
733
|
+
const btScalar amplitude=experiment.amplitude;
|
734
|
+
printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
|
735
|
+
printf("\tObjects: %u\r\n",object_count);
|
736
|
+
printf("\tUpdate: %u\r\n",update_count);
|
737
|
+
printf("\tSpawn: %u\r\n",spawn_count);
|
738
|
+
printf("\tSpeed: %f\r\n",speed);
|
739
|
+
printf("\tAmplitude: %f\r\n",amplitude);
|
740
|
+
srand(180673);
|
741
|
+
/* Create objects */
|
742
|
+
wallclock.reset();
|
743
|
+
objects.reserve(object_count);
|
744
|
+
for(int i=0;i<object_count;++i)
|
745
|
+
{
|
746
|
+
btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object();
|
747
|
+
po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
|
748
|
+
po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
|
749
|
+
po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
|
750
|
+
po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
|
751
|
+
po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
|
752
|
+
po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
|
753
|
+
po->time=btBroadphaseBenchmark::UnitRand()*2000;
|
754
|
+
po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
|
755
|
+
objects.push_back(po);
|
756
|
+
}
|
757
|
+
btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
|
758
|
+
/* First update */
|
759
|
+
wallclock.reset();
|
760
|
+
for(int i=0;i<objects.size();++i)
|
761
|
+
{
|
762
|
+
objects[i]->update(speed,amplitude,pbi);
|
763
|
+
}
|
764
|
+
btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
|
765
|
+
/* Updates */
|
766
|
+
wallclock.reset();
|
767
|
+
for(int i=0;i<experiment.iterations;++i)
|
768
|
+
{
|
769
|
+
for(int j=0;j<update_count;++j)
|
770
|
+
{
|
771
|
+
objects[j]->update(speed,amplitude,pbi);
|
772
|
+
}
|
773
|
+
pbi->calculateOverlappingPairs(0);
|
774
|
+
}
|
775
|
+
btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
|
776
|
+
/* Clean up */
|
777
|
+
wallclock.reset();
|
778
|
+
for(int i=0;i<objects.size();++i)
|
779
|
+
{
|
780
|
+
pbi->destroyProxy(objects[i]->proxy,0);
|
781
|
+
delete objects[i];
|
782
|
+
}
|
783
|
+
objects.resize(0);
|
784
|
+
btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
|
785
|
+
}
|
786
|
+
|
787
|
+
}
|
788
|
+
#else
|
789
|
+
void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
|
790
|
+
{}
|
791
|
+
#endif
|
792
|
+
|
793
|
+
#if DBVT_BP_PROFILE
|
794
|
+
#undef SPC
|
795
|
+
#endif
|
796
|
+
|