BGE patch: logic optimization part 2: remove inactive sensors from logic manager.

With this patch, only sensors that are connected to 
active states are actually registered in the logic
manager. Inactive sensors won't take any CPU,
especially the Radar and Near sensors that use a
physical object for the detection: these objects
are removed from the physics engine.

To take advantage of this optimization patch, you
need to define very light idle state when the 
objects are inactive: make them transparent, suspend
the physics, keep few sensors active (e,g a message
sensor to wake up), etc.

1 files changed, 25 insertions, 72 deletions

diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index b773f40650b..ea14c5430e2 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -368,7 +368,7 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 	body->setUserPointer(ctrl);
 
 	body->setGravity( m_gravity );
-	m_controllers.push_back(ctrl);
+	m_controllers.insert(ctrl);
 
 	//use explicit group/filter for finer control over collision in bullet => near/radar sensor
 	m_dynamicsWorld->addRigidBody(body, ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
@@ -434,36 +434,13 @@ void	CcdPhysicsEnvironment::addCcdPhysicsController(CcdPhysicsController* ctrl)
 
 void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctrl)
 {
-
 	//also remove constraint
 
-	
-
 	m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
-
-
-	{
-		std::vector<CcdPhysicsController*>::iterator i =
-			std::find(m_controllers.begin(), m_controllers.end(), ctrl);
-		if (!(i == m_controllers.end()))
-		{
-			std::swap(*i, m_controllers.back());
-			m_controllers.pop_back();
-		}
-	}
+	m_controllers.erase(ctrl);
 
 	//remove it from the triggers
-	{
-		std::vector<CcdPhysicsController*>::iterator i =
-			std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
-		if (!(i == m_triggerControllers.end()))
-		{
-			std::swap(*i, m_triggerControllers.back());
-			m_triggerControllers.pop_back();
-		}
-	}
-
-
+	m_triggerControllers.erase(ctrl);
 }
 
 void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask)
@@ -487,11 +464,10 @@ void	CcdPhysicsEnvironment::updateCcdPhysicsController(CcdPhysicsController* ctr
 
 void CcdPhysicsEnvironment::enableCcdPhysicsController(CcdPhysicsController* ctrl)
 {
-	std::vector<CcdPhysicsController*>::iterator i =
-		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
-	if (i == m_controllers.end())
+	if (m_controllers.insert(ctrl).second)
 	{
 		btRigidBody* body = ctrl->GetRigidBody();
+		body->setUserPointer(ctrl);
 		m_dynamicsWorld->addCollisionObject(body, 
 			ctrl->GetCollisionFilterGroup(), ctrl->GetCollisionFilterMask());
 	}
@@ -507,12 +483,12 @@ void	CcdPhysicsEnvironment::beginFrame()
 
 bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 {
+	std::set<CcdPhysicsController*>::iterator it;
+	int i;
 
-	int i,numCtrl = GetNumControllers();
-	for (i=0;i<numCtrl;i++)
+	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
 	{
-		CcdPhysicsController* ctrl = GetPhysicsController(i);
-		ctrl->SynchronizeMotionStates(timeStep);
+		(*it)->SynchronizeMotionStates(timeStep);
 	}
 
 	float subStep = timeStep / float(m_numTimeSubSteps);
@@ -521,11 +497,9 @@ bool	CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
 		m_dynamicsWorld->stepSimulation(subStep,0);//perform always a full simulation step
 	}
 
-	numCtrl = GetNumControllers();
-	for (i=0;i<numCtrl;i++)
+	for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
 	{
-		CcdPhysicsController* ctrl = GetPhysicsController(i);
-		ctrl->SynchronizeMotionStates(timeStep);
+		(*it)->SynchronizeMotionStates(timeStep);
 	}
 
 	for (i=0;i<m_wrapperVehicles.size();i++)
@@ -852,20 +826,6 @@ CcdPhysicsEnvironment::~CcdPhysicsEnvironment()
 }
 
 
-int	CcdPhysicsEnvironment::GetNumControllers()
-{
-	return m_controllers.size();
-}
-
-
-CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index)
-{
-	return m_controllers[index];
-}
-
-
-
-
 void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1)
 {
 	btTypedConstraint* typedConstraint = getConstraintById(constraintId);
@@ -905,12 +865,14 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 {
 
 	CcdPhysicsController* ctrl1 = (CcdPhysicsController* )ctrl;
-	std::vector<CcdPhysicsController*>::iterator i =
-		std::find(m_controllers.begin(), m_controllers.end(), ctrl);
-	if ((i == m_controllers.end()))
-	{
-		addCcdPhysicsController(ctrl1);
-	}
+	// addSensor() is a "light" function for bullet because it is used
+	// dynamically when the sensor is activated. Use enableCcdPhysicsController() instead 
+	//if (m_controllers.insert(ctrl1).second)
+	//{
+	//	addCcdPhysicsController(ctrl1);
+	//}
+	enableCcdPhysicsController(ctrl1);
+
 	//Collision filter/mask is now set at the time of the creation of the controller 
 	//force collision detection with everything, including static objects (might hurt performance!)
 	//ctrl1->GetRigidBody()->getBroadphaseHandle()->m_collisionFilterMask = btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::SensorTrigger;
@@ -923,21 +885,15 @@ void CcdPhysicsEnvironment::addSensor(PHY_IPhysicsController* ctrl)
 
 void CcdPhysicsEnvironment::removeCollisionCallback(PHY_IPhysicsController* ctrl)
 {
-	std::vector<CcdPhysicsController*>::iterator i =
-		std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl);
-	if (!(i == m_triggerControllers.end()))
-	{
-		std::swap(*i, m_triggerControllers.back());
-		m_triggerControllers.pop_back();
-	}
+	m_triggerControllers.erase((CcdPhysicsController*)ctrl);
 }
 
 
 void CcdPhysicsEnvironment::removeSensor(PHY_IPhysicsController* ctrl)
 {
-	removeCollisionCallback(ctrl);
-	//printf("removeSensor\n");
+	removeCcdPhysicsController((CcdPhysicsController*)ctrl);
 }
+
 void CcdPhysicsEnvironment::addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
 {
 	/*	printf("addTouchCallback\n(response class = %i)\n",response_class);
@@ -975,10 +931,9 @@ void CcdPhysicsEnvironment::requestCollisionCallback(PHY_IPhysicsController* ctr
 	CcdPhysicsController* ccdCtrl = static_cast<CcdPhysicsController*>(ctrl);
 
 	//printf("requestCollisionCallback\n");
-	m_triggerControllers.push_back(ccdCtrl);
+	m_triggerControllers.insert(ccdCtrl);
 }
 
-
 void	CcdPhysicsEnvironment::CallbackTriggers()
 {
 	
@@ -1011,11 +966,10 @@ void	CcdPhysicsEnvironment::CallbackTriggers()
 				CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->getUserPointer());
 				CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->getUserPointer());
 
-				std::vector<CcdPhysicsController*>::iterator i =
-					std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
+				std::set<CcdPhysicsController*>::const_iterator i = m_triggerControllers.find(ctrl0);
 				if (i == m_triggerControllers.end())
 				{
-					i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
+					i = m_triggerControllers.find(ctrl1);
 				}
 
 				if (!(i == m_triggerControllers.end()))
@@ -1125,7 +1079,6 @@ PHY_IPhysicsController*	CcdPhysicsEnvironment::CreateSphereController(float radi
 
 	CcdPhysicsController* sphereController = new CcdPhysicsController(cinfo);
 	
-
 	return sphereController;
 }