diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp | 237 |
1 files changed, 84 insertions, 153 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index b535fac6563..a031a9f9784 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -19,69 +19,39 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" + #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "LinearMath/btPoolAllocator.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" int gNumManifold = 0; +#ifdef BT_DEBUG #include <stdio.h> +#endif - -btCollisionDispatcher::btCollisionDispatcher(bool noDefaultAlgorithms): -m_count(0), -m_useIslands(true), -m_convexConvexCreateFunc(0), -m_convexConcaveCreateFunc(0), -m_swappedConvexConcaveCreateFunc(0), -m_compoundCreateFunc(0), -m_swappedCompoundCreateFunc(0), -m_emptyCreateFunc(0) -{ - (void)noDefaultAlgorithms; - int i; - - setNearCallback(defaultNearCallback); - m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc; - for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++) - { - for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++) - { - m_doubleDispatch[i][j] = m_emptyCreateFunc; - } - } -} -//if you want to not link with the default collision algorithms, you can -//define BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION -//in your Bullet library build system -#ifndef BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -btCollisionDispatcher::btCollisionDispatcher (): +btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): m_count(0), - m_useIslands(true) + m_useIslands(true), + m_staticWarningReported(false), + m_collisionConfiguration(collisionConfiguration) { int i; setNearCallback(defaultNearCallback); - //default CreationFunctions, filling the m_doubleDispatch table - m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc; - m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::CreateFunc; - m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::SwappedCreateFunc; - m_compoundCreateFunc = new btCompoundCollisionAlgorithm::CreateFunc; - m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm::SwappedCreateFunc; - m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc; + m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool(); + + m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool(); for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++) { for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++) { - m_doubleDispatch[i][j] = internalFindCreateFunc(i,j); + m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j); assert(m_doubleDispatch[i][j]); } } @@ -89,8 +59,6 @@ btCollisionDispatcher::btCollisionDispatcher (): }; -#endif //BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) { @@ -99,12 +67,6 @@ void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int prox btCollisionDispatcher::~btCollisionDispatcher() { - delete m_convexConvexCreateFunc; - delete m_convexConcaveCreateFunc; - delete m_swappedConvexConcaveCreateFunc; - delete m_compoundCreateFunc; - delete m_swappedCompoundCreateFunc; - delete m_emptyCreateFunc; } btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) @@ -117,7 +79,18 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) btCollisionObject* body0 = (btCollisionObject*)b0; btCollisionObject* body1 = (btCollisionObject*)b1; - btPersistentManifold* manifold = new btPersistentManifold (body0,body1); + void* mem = 0; + + if (m_persistentManifoldPoolAllocator->getFreeCount()) + { + mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold)); + } else + { + mem = btAlignedAlloc(sizeof(btPersistentManifold),16); + + } + btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0); + manifold->m_index1a = m_manifoldsPtr.size(); m_manifoldsPtr.push_back(manifold); return manifold; @@ -137,13 +110,19 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) //printf("releaseManifold: gNumManifold %d\n",gNumManifold); clearManifold(manifold); - ///todo: this can be improved a lot, linear search might be slow part! - int findIndex = m_manifoldsPtr.findLinearSearch(manifold); - if (findIndex < m_manifoldsPtr.size()) + int findIndex = manifold->m_index1a; + btAssert(findIndex < m_manifoldsPtr.size()); + m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1); + m_manifoldsPtr[findIndex]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + + manifold->~btPersistentManifold(); + if (m_persistentManifoldPoolAllocator->validPtr(manifold)) { - m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1); - m_manifoldsPtr.pop_back(); - delete manifold; + m_persistentManifoldPoolAllocator->freeMemory(manifold); + } else + { + btAlignedFree(manifold); } } @@ -152,99 +131,19 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold) { - -#ifdef USE_DISPATCH_REGISTRY_ARRAY btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = this; - ci.m_manifold = sharedManifold; - btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()] - ->CreateCollisionAlgorithm(ci,body0,body1); -#else - btCollisionAlgorithm* algo = internalFindAlgorithm(body0,body1); -#endif //USE_DISPATCH_REGISTRY_ARRAY - return algo; -} + ci.m_dispatcher1 = this; + ci.m_manifold = sharedManifold; + btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1); -#ifndef BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(int proxyType0,int proxyType1) -{ - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) - { - return m_convexConvexCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) - { - return m_convexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) - { - return m_swappedConvexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0)) - { - return m_compoundCreateFunc; - } else - { - if (btBroadphaseProxy::isCompound(proxyType1)) - { - return m_swappedCompoundCreateFunc; - } - } - - //failed to find an algorithm - return m_emptyCreateFunc; + return algo; } -#endif //BT_EXCLUDE_DEFAULT_COLLISIONALGORITHM_REGISTRATION - -#ifndef USE_DISPATCH_REGISTRY_ARRAY -btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold) -{ - m_count++; - - btCollisionAlgorithmConstructionInfo ci; - ci.m_dispatcher = this; - - if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConvex() ) - { - return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1); - } - if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConcave()) - { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); - } - - if (body1->getCollisionShape()->isConvex() && body0->getCollisionShape()->isConcave()) - { - return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); - } - - if (body0->getCollisionShape()->isCompound()) - { - return new btCompoundCollisionAlgorithm(ci,body0,body1,false); - } else - { - if (body1->getCollisionShape()->isCompound()) - { - return new btCompoundCollisionAlgorithm(ci,body0,body1,true); - } - } - - //failed to find an algorithm - return new btEmptyAlgorithm(ci); - -} -#endif //USE_DISPATCH_REGISTRY_ARRAY bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1) { @@ -264,13 +163,19 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO bool needsCollision = true; - //broadphase filtering already deals with this - if ((body0->isStaticObject() || body0->isKinematicObject()) && - (body1->isStaticObject() || body1->isKinematicObject())) +#ifdef BT_DEBUG + if (!m_staticWarningReported) { - printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n"); + //broadphase filtering already deals with this + if ((body0->isStaticObject() || body0->isKinematicObject()) && + (body1->isStaticObject() || body1->isKinematicObject())) + { + m_staticWarningReported = true; + printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n"); + } } - +#endif //BT_DEBUG + if ((!body0->isActive()) && (!body1->isActive())) needsCollision = false; else if (!body0->checkCollideWith(body1)) @@ -286,23 +191,25 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO ///this is useful for the collision dispatcher. class btCollisionPairCallback : public btOverlapCallback { - btDispatcherInfo& m_dispatchInfo; + const btDispatcherInfo& m_dispatchInfo; btCollisionDispatcher* m_dispatcher; public: - btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher) + btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher) :m_dispatchInfo(dispatchInfo), m_dispatcher(dispatcher) { } - btCollisionPairCallback& operator=(btCollisionPairCallback& other) + /*btCollisionPairCallback& operator=(btCollisionPairCallback& other) { m_dispatchInfo = other.m_dispatchInfo; m_dispatcher = other.m_dispatcher; return *this; } + */ + virtual ~btCollisionPairCallback() {} @@ -316,13 +223,14 @@ public: }; -void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo) + +void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) { //m_blockedForChanges = true; btCollisionPairCallback collisionCallback(dispatchInfo,this); - pairCache->processAllOverlappingPairs(&collisionCallback); + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); //m_blockedForChanges = false; @@ -332,7 +240,7 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa //by default, Bullet will use this near callback -void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo) +void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo) { btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; @@ -365,3 +273,26 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, } } + + +void* btCollisionDispatcher::allocateCollisionAlgorithm(int size) +{ + if (m_collisionAlgorithmPoolAllocator->getFreeCount()) + { + return m_collisionAlgorithmPoolAllocator->allocate(size); + } + + //warn user for overflow? + return btAlignedAlloc(static_cast<size_t>(size), 16); +} + +void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr) +{ + if (m_collisionAlgorithmPoolAllocator->validPtr(ptr)) + { + m_collisionAlgorithmPoolAllocator->freeMemory(ptr); + } else + { + btAlignedFree(ptr); + } +} |