diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
commit | 7f293488d12b5d5076b4bbf3d6c9248867c447a0 (patch) | |
tree | 977ac9f1063de48615e8f294bfbcadb2a3b645f6 /extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp | |
parent | 206cfe7955683ac166201e417977e933fd98f7b3 (diff) |
Upgrade to latest Bullet trunk, that is in sync with Blender/extern/bullet2. (except for one define 'WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER')
In case someone reads those SVN logs: you can enable some extra broadphase SSE optimizations by replacing WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER by WIN32 in extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
Thanks to Benoit Bolsee for the upstream patch/contribution.
Removed some obsolete files, they were just intended for comparison/testing.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 211 |
1 files changed, 176 insertions, 35 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index a29a6d624e5..da9336c55c7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -16,12 +16,17 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" - +#include "BulletCollision/BroadphaseCollision/btDbvt.h" +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btAabbUtil2.h" btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) :btCollisionAlgorithm(ci), -m_isSwapped(isSwapped) +m_isSwapped(isSwapped), +m_sharedManifold(ci.m_manifold) { + m_ownsManifold = false; + btCollisionObject* colObj = m_isSwapped? body1 : body0; btCollisionObject* otherObj = m_isSwapped? body0 : body1; assert (colObj->getCollisionShape()->isCompound()); @@ -33,11 +38,17 @@ m_isSwapped(isSwapped) m_childCollisionAlgorithms.resize(numChildren); for (i=0;i<numChildren;i++) { - btCollisionShape* tmpShape = colObj->getCollisionShape(); - btCollisionShape* childShape = compoundShape->getChildShape(i); - colObj->internalSetTemporaryCollisionShape( childShape ); - m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj); - colObj->internalSetTemporaryCollisionShape( tmpShape ); + if (compoundShape->getDynamicAabbTree()) + { + m_childCollisionAlgorithms[i] = 0; + } else + { + btCollisionShape* tmpShape = colObj->getCollisionShape(); + btCollisionShape* childShape = compoundShape->getChildShape(i); + colObj->internalSetTemporaryCollisionShape( childShape ); + m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold); + colObj->internalSetTemporaryCollisionShape( tmpShape ); + } } } @@ -48,11 +59,109 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() int i; for (i=0;i<numChildren;i++) { - m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + if (m_childCollisionAlgorithms[i]) + { + m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + } } } + + + +struct btCompoundLeafCallback : btDbvt::ICollide +{ + +public: + + btCollisionObject* m_compoundColObj; + btCollisionObject* m_otherObj; + btDispatcher* m_dispatcher; + const btDispatcherInfo& m_dispatchInfo; + btManifoldResult* m_resultOut; + btCollisionAlgorithm** m_childCollisionAlgorithms; + btPersistentManifold* m_sharedManifold; + + + + + btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold) + :m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut), + m_childCollisionAlgorithms(childCollisionAlgorithms), + m_sharedManifold(sharedManifold) + { + + } + + + void ProcessChildShape(btCollisionShape* childShape,int index) + { + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); + + + //backup + btTransform orgTrans = m_compoundColObj->getWorldTransform(); + btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(index); + btTransform newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1); + + if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + + m_compoundColObj->setWorldTransform( newChildWorldTrans); + m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans); + + //the contactpoint is still projected back using the original inverted worldtrans + btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape(); + m_compoundColObj->internalSetTemporaryCollisionShape( childShape ); + + if (!m_childCollisionAlgorithms[index]) + m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold); + + m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut); + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1)); + m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1)); + } + + //revert back transform + m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape); + m_compoundColObj->setWorldTransform( orgTrans ); + m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans); + } + } + void Process(const btDbvtNode* leaf) + { + int index = int(leaf->data); + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); + btCollisionShape* childShape = compoundShape->getChildShape(index); + if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) + { + btVector3 worldAabbMin,worldAabbMax; + btTransform orgTrans = m_compoundColObj->getWorldTransform(); + btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax); + m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0)); + } + ProcessChildShape(childShape,index); + + } +}; + + + + + + void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { btCollisionObject* colObj = m_isSwapped? body1 : body0; @@ -61,37 +170,69 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt assert (colObj->getCollisionShape()->isCompound()); btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); - //We will use the OptimizedBVH, AABB tree to cull potential child-overlaps - //If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals - //given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means: - //determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1 - //then use each overlapping node AABB against Tree0 - //and vise versa. + btDbvt* tree = compoundShape->getDynamicAabbTree(); + //use a dynamic aabb tree to cull potential child-overlaps + btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); - int numChildren = m_childCollisionAlgorithms.size(); - int i; - for (i=0;i<numChildren;i++) + + if (tree) { - //temporarily exchange parent btCollisionShape with childShape, and recurse - btCollisionShape* childShape = compoundShape->getChildShape(i); - //backup - btTransform orgTrans = colObj->getWorldTransform(); - btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform(); + btVector3 localAabbMin,localAabbMax; + btTransform otherInCompoundSpace; + otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform(); + otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); - const btTransform& childTrans = compoundShape->getChildTransform(i); - btTransform newChildWorldTrans = orgTrans*childTrans ; - colObj->setWorldTransform( newChildWorldTrans); - colObj->setInterpolationWorldTransform(newChildWorldTrans); + const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); + //process all children, that overlap with the given AABB bounds + tree->collideTV(tree->m_root,bounds,callback); + + } else + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + for (i=0;i<numChildren;i++) + { + callback.ProcessChildShape(compoundShape->getChildShape(i),i); + } + } + + { + //iterate over all children, perform an AABB check inside ProcessChildShape + int numChildren = m_childCollisionAlgorithms.size(); + int i; + btManifoldArray manifoldArray; + + for (i=0;i<numChildren;i++) + { + if (m_childCollisionAlgorithms[i]) + { + btCollisionShape* childShape = compoundShape->getChildShape(i); + //if not longer overlapping, remove the algorithm + btTransform orgTrans = colObj->getWorldTransform(); + btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform(); + const btTransform& childTrans = compoundShape->getChildTransform(i); + btTransform newChildWorldTrans = orgTrans*childTrans ; + + //perform an AABB check first + btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1); + + if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) + { + m_childCollisionAlgorithms[i]->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]); + m_childCollisionAlgorithms[i] = 0; + } + + } + + } + + - //the contactpoint is still projected back using the original inverted worldtrans - btCollisionShape* tmpShape = colObj->getCollisionShape(); - colObj->internalSetTemporaryCollisionShape( childShape ); - m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut); - //revert back - colObj->internalSetTemporaryCollisionShape( tmpShape); - colObj->setWorldTransform( orgTrans ); - colObj->setInterpolationWorldTransform(orgInterpolationTrans); } } |