diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision')
7 files changed, 38 insertions, 15 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h index 980d19a754..55daa7fb57 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvt.h @@ -203,8 +203,8 @@ struct btDbvntNode btDbvntNode(const btDbvtNode* n) : volume(n->volume) - , angle(0) , normal(0,0,0) + , angle(0) , data(n->data) { childs[0] = 0; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index f4a2d5e368..56011899cb 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -61,7 +61,8 @@ public: virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0; virtual int getNumOverlappingPairs() const = 0; - + virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0; + virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0; virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0; virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; @@ -380,6 +381,14 @@ public: { } + bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const + { + return true; + } + btOverlapFilterCallback* getOverlapFilterCallback() + { + return 0; + } virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) { } diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp index b814fd84d8..4954e773e2 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp @@ -468,7 +468,7 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall #ifdef RAYAABB2 btVector3 rayDir = (rayTarget - raySource); - rayDir.normalize(); + rayDir.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17 lambda_max = rayDir.dot(rayTarget - raySource); ///what about division by zero? --> just set rayDirection[i] to 1.0 btVector3 rayDirectionInverse; @@ -554,7 +554,7 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* #ifdef RAYAABB2 btVector3 rayDirection = (rayTarget - raySource); - rayDirection.normalize(); + rayDirection.safeNormalize();// stephengold changed normalize to safeNormalize 2020-02-17 lambda_max = rayDirection.dot(rayTarget - raySource); ///what about division by zero? --> just set rayDirection[i] to 1.0 rayDirection[0] = rayDirection[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDirection[0]; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h index 6b9f5e23a5..04309670cf 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -46,8 +46,6 @@ protected: btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr; - btManifoldResult m_defaultManifoldResult; - btNearCallback m_nearCallback; btPoolAllocator* m_collisionAlgorithmPoolAllocator; @@ -95,11 +93,15 @@ public: btPersistentManifold* getManifoldByIndexInternal(int index) { + btAssert(index>=0); + btAssert(index<m_manifoldsPtr.size()); return m_manifoldsPtr[index]; } const btPersistentManifold* getManifoldByIndexInternal(int index) const { + btAssert(index>=0); + btAssert(index<m_manifoldsPtr.size()); return m_manifoldsPtr[index]; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp index 6fe56538d2..89bc8d920e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.cpp @@ -28,6 +28,7 @@ subject to the following restrictions: btCollisionDispatcherMt::btCollisionDispatcherMt(btCollisionConfiguration* config, int grainSize) : btCollisionDispatcher(config) { + m_batchManifoldsPtr.resize(btGetTaskScheduler()->getNumThreads()); m_batchUpdating = false; m_grainSize = grainSize; // iterations per task } @@ -65,6 +66,10 @@ btPersistentManifold* btCollisionDispatcherMt::getNewManifold(const btCollisionO manifold->m_index1a = m_manifoldsPtr.size(); m_manifoldsPtr.push_back(manifold); } + else + { + m_batchManifoldsPtr[btGetCurrentThreadIndex()].push_back(manifold); + } return manifold; } @@ -121,7 +126,7 @@ struct CollisionDispatcherUpdater : public btIParallelForBody void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) { - int pairCount = pairCache->getNumOverlappingPairs(); + const int pairCount = pairCache->getNumOverlappingPairs(); if (pairCount == 0) { return; @@ -136,16 +141,17 @@ void btCollisionDispatcherMt::dispatchAllCollisionPairs(btOverlappingPairCache* btParallelFor(0, pairCount, m_grainSize, updater); m_batchUpdating = false; - // reconstruct the manifolds array to ensure determinism - m_manifoldsPtr.resizeNoInitialize(0); - - btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr(); - for (int i = 0; i < pairCount; ++i) + // merge new manifolds, if any + for (int i = 0; i < m_batchManifoldsPtr.size(); ++i) { - if (btCollisionAlgorithm* algo = pairs[i].m_algorithm) + btAlignedObjectArray<btPersistentManifold*>& batchManifoldsPtr = m_batchManifoldsPtr[i]; + + for (int j = 0; j < batchManifoldsPtr.size(); ++j) { - algo->getAllContactManifolds(m_manifoldsPtr); + m_manifoldsPtr.push_back(batchManifoldsPtr[j]); } + + batchManifoldsPtr.resizeNoInitialize(0); } // update the indices (used when releasing manifolds) diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h index 28eba7f32a..1155de2cfe 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcherMt.h @@ -30,6 +30,7 @@ public: virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher) BT_OVERRIDE; protected: + btAlignedObjectArray<btAlignedObjectArray<btPersistentManifold*> > m_batchManifoldsPtr; bool m_batchUpdating; int m_grainSize; }; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 1bb21104cb..b5f4a3c869 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -139,7 +139,12 @@ public: if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1)) { - btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index); + btTransform preTransform = childTrans; + if (this->m_compoundColObjWrap->m_preTransform) + { + preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform)); + } + btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index); btCollisionAlgorithm* algo = 0; bool allocatedAlgorithm = false; |