Speed up the physics engine: hook the SOLID broad phase, so we can either reject the test or request the penetration depth test as necessary. Previously we were doing the penetration depth test, as well as SOLID's intersection test.

2 files changed, 14 insertions, 5 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
index 54574f9fc55..4a69f7e2990 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h
@@ -66,6 +66,14 @@ struct SM_MaterialProps {
 	bool      m_fh_normal;             ///< Should the object slide off slopes?
 };
 
+class SM_ClientObject
+{
+public:
+	SM_ClientObject() {}
+	virtual ~SM_ClientObject() {}
+	
+	virtual bool hasCollisionCallback() = 0;
+};
 
 /**
  * SM_Object is an internal part of the Sumo physics engine.
@@ -227,7 +235,6 @@ public:
 
 	SM_Object *getDynamicParent() ;
 
-	void beginFrame();
 	void integrateForces(MT_Scalar timeStep);
 	void integrateMomentum(MT_Scalar timeSteo);
 
@@ -255,8 +262,8 @@ public:
 	);
 	
 	
-	void *getClientObject() { return m_client_object; }
-	void setClientObject(void *client_object) { m_client_object = client_object; }
+	SM_ClientObject *getClientObject() { return m_client_object; }
+	void setClientObject(SM_ClientObject *client_object) { m_client_object = client_object; }
 	
 	void relax();
 	
@@ -301,7 +308,7 @@ private:
     // as the collision callback now has only information
 	// on an SM_Object, there must be a way that the SM_Object client
 	// can identify it's clientdata after a collision
-	void                   *m_client_object;
+	SM_ClientObject        *m_client_object;
 
 	DT_ShapeHandle          m_shape;                 // Shape for collision detection
 
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
index 1c11df66c38..0b429a3c1a4 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Scene.h
@@ -101,13 +101,15 @@ public:
 	
 	void requestCollisionCallback(SM_Object &object);
 
+	void beginFrame();
+	void endFrame();
 
 	// Perform an integration step of duration 'timeStep'.
 	// 'subSampling' is the maximum duration of a substep, i.e.,
 	// The maximum time interval between two collision checks.
 	// 'subSampling' can be used to control aliasing effects
 	// (fast moving objects traversing through walls and such). 
-	void proceed(MT_Scalar curtime, MT_Scalar ticrate);
+	bool proceed(MT_Scalar curtime, MT_Scalar ticrate);
 
 	/**
 	 * Test whether any objects lie on the line defined by from and