archive/blender-archive
Archived
1
1
Fork 0
Code Pull Requests Packages Activity

update to latest Bullet 2.x sources. prepare to make near sensors much faster

Browse Source
This commit is contained in:
Erwin Coumans
2006-12-04 15:48:32 +00:00
parent d6e9265895
commit 1cef024780
6 changed files with 82 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h vendored
View File

@@ -70,7 +70,8 @@ struct btBroadphaseProxy
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter,
SensorTrigger = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger,
};
//Usually the client btCollisionObject or Rigidbody class
@@ -118,8 +119,7 @@ class btCollisionAlgorithm;
struct btBroadphaseProxy;
//Increase SIMPLE_MAX_ALGORITHMS to allow multiple btDispatchers caching their own algorithms
#define SIMPLE_MAX_ALGORITHMS 1
/// contains a pair of aabb-overlapping objects
struct btBroadphasePair
@@ -127,22 +127,16 @@ struct btBroadphasePair
btBroadphasePair ()
:
m_pProxy0(0),
m_pProxy1(0)
m_pProxy1(0),
m_algorithm(0)
{
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = 0;
}
}
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1)
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm)
{
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = other.m_algorithms[i];
}
}
btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
{
@@ -159,17 +153,14 @@ struct btBroadphasePair
m_pProxy1 = &proxy0;
}
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
{
m_algorithms[i] = 0;
}
m_algorithm = 0;
}
btBroadphaseProxy* m_pProxy0;
btBroadphaseProxy* m_pProxy1;
mutable btCollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
mutable btCollisionAlgorithm* m_algorithm;
};

10
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h vendored
View File

@@ -22,11 +22,6 @@ class btRigidBody;
class btCollisionObject;
class btOverlappingPairCache;
enum btCollisionDispatcherId
{
RIGIDBODY_DISPATCHER = 0,
USERCALLBACK_DISPATCHER
};
class btPersistentManifold;
class btStackAlloc;
@@ -74,11 +69,6 @@ public:
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
//
// asume dispatchers to have unique id's in the range [0..max dispacher]
//
virtual int getUniqueId() = 0;
virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0;
virtual void releaseManifold(btPersistentManifold* manifold)=0;

9
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp vendored
View File

@@ -54,14 +54,11 @@ void btOverlappingPairCache::removeOverlappingPair(btBroadphasePair& findPair)
void btOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair)
{
for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
if (pair.m_algorithm)
{
if (pair.m_algorithms[dispatcherId])
{
{
delete pair.m_algorithms[dispatcherId];
pair.m_algorithms[dispatcherId]=0;
}
delete pair.m_algorithm;;
pair.m_algorithm=0;
}
}
}

82
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp vendored
View File

@@ -45,6 +45,8 @@ m_emptyCreateFunc(0)
{
int i;
setNearCallback(defaultNearCallback);
m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc;
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
@@ -61,6 +63,8 @@ btCollisionDispatcher::btCollisionDispatcher ():
m_count(0)
{
int i;
setNearCallback(defaultNearCallback);
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc;
@@ -275,50 +279,20 @@ class btCollisionPairCallback : public btOverlapCallback
{
btDispatcherInfo& m_dispatchInfo;
btCollisionDispatcher* m_dispatcher;
int m_dispatcherId;
public:
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher,int dispatcherId)
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher)
:m_dispatchInfo(dispatchInfo),
m_dispatcher(dispatcher),
m_dispatcherId(dispatcherId)
m_dispatcher(dispatcher)
{
}
virtual bool processOverlap(btBroadphasePair& pair)
{
btCollisionObject* body0 = (btCollisionObject*)pair.m_pProxy0->m_clientObject;
btCollisionObject* body1 = (btCollisionObject*)pair.m_pProxy1->m_clientObject;
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
if (!m_dispatcher->needsCollision(body0,body1))
return false;
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[m_dispatcherId])
{
pair.m_algorithms[m_dispatcherId] = m_dispatcher->findAlgorithm(
body0,
body1);
}
if (pair.m_algorithms[m_dispatcherId])
{
btManifoldResult* resultOut = m_dispatcher->internalGetNewManifoldResult(body0,body1);
if (m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[m_dispatcherId]->processCollision(body0,body1,m_dispatchInfo,resultOut);
} else
{
float toi = pair.m_algorithms[m_dispatcherId]->calculateTimeOfImpact(body0,body1,m_dispatchInfo,resultOut);
if (m_dispatchInfo.m_timeOfImpact > toi)
m_dispatchInfo.m_timeOfImpact = toi;
}
m_dispatcher->internalReleaseManifoldResult(resultOut);
}
return false;
}
};
@@ -327,9 +301,7 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
{
//m_blockedForChanges = true;
int dispatcherId = getUniqueId();
btCollisionPairCallback collisionCallback(dispatchInfo,this,dispatcherId);
btCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback);
@@ -338,3 +310,39 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
}
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}

35
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h vendored
View File

@@ -32,6 +32,10 @@ class btOverlappingPairCache;
#define USE_DISPATCH_REGISTRY_ARRAY 1
class btCollisionDispatcher;
///user can override this nearcallback for collision filtering and more finegrained control over collision detection
typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
@@ -43,6 +47,8 @@ class btCollisionDispatcher : public btDispatcher
bool m_useIslands;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
@@ -62,19 +68,7 @@ class btCollisionDispatcher : public btDispatcher
public:
///allows the user to get contact point callbacks
inline btManifoldResult* internalGetNewManifoldResult(btCollisionObject* obj0,btCollisionObject* obj1)
{
//in-place, this prevents parallel dispatching, but just adding a list would fix that.
btManifoldResult* manifoldResult = new (&m_defaultManifoldResult) btManifoldResult(obj0,obj1);
return manifoldResult;
}
///allows the user to get contact point callbacks
inline void internalReleaseManifoldResult(btManifoldResult*)
{
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
@@ -121,12 +115,21 @@ public:
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual int getUniqueId() { return RIGIDBODY_DISPATCHER;}
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
void setNearCallback(btNearCallback nearCallback)
{
m_nearCallback = nearCallback;
}
btNearCallback getNearCallback() const
{
return m_nearCallback;
}
//by default, Bullet will use this near callback
static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
};

7
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h vendored
View File

@@ -336,7 +336,12 @@ public:
{
return m_angularFactor;
}
//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
bool isInWorld() const
{
return (getBroadphaseProxy() != 0);
}
int m_debugBodyId;
};