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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp | 632 |
1 files changed, 632 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp new file mode 100644 index 0000000000..55ebf06f1e --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -0,0 +1,632 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#include "btOverlappingPairCache.h" + +#include "btDispatcher.h" +#include "btCollisionAlgorithm.h" +#include "LinearMath/btAabbUtil2.h" + +#include <stdio.h> + +int gOverlappingPairs = 0; + +int gRemovePairs =0; +int gAddedPairs =0; +int gFindPairs =0; + + + + +btHashedOverlappingPairCache::btHashedOverlappingPairCache(): + m_overlapFilterCallback(0), + m_ghostPairCallback(0) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); + growTables(); +} + + + + +btHashedOverlappingPairCache::~btHashedOverlappingPairCache() +{ +} + + + +void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) +{ + if (pair.m_algorithm && dispatcher) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + } + } +} + + + + +void btHashedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class CleanPairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_cleanProxy; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + + public: + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + if ((pair.m_pProxy0 == m_cleanProxy) || + (pair.m_pProxy1 == m_cleanProxy)) + { + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); + } + return false; + } + + }; + + CleanPairCallback cleanPairs(proxy,this,dispatcher); + + processAllOverlappingPairs(&cleanPairs,dispatcher); + +} + + + + +void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class RemovePairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_obsoleteProxy; + + public: + RemovePairCallback(btBroadphaseProxy* obsoleteProxy) + :m_obsoleteProxy(obsoleteProxy) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + return ((pair.m_pProxy0 == m_obsoleteProxy) || + (pair.m_pProxy1 == m_obsoleteProxy)); + } + + }; + + + RemovePairCallback removeCallback(proxy); + + processAllOverlappingPairs(&removeCallback,dispatcher); +} + + + + + +btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + gFindPairs++; + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + if (hash >= m_hashTable.size()) + { + return NULL; + } + + int index = m_hashTable[hash]; + while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + { + index = m_next[index]; + } + + if (index == BT_NULL_PAIR) + { + return NULL; + } + + btAssert(index < m_overlappingPairArray.size()); + + return &m_overlappingPairArray[index]; +} + +//#include <stdio.h> + +void btHashedOverlappingPairCache::growTables() +{ + + int newCapacity = m_overlappingPairArray.capacity(); + + if (m_hashTable.size() < newCapacity) + { + //grow hashtable and next table + int curHashtableSize = m_hashTable.size(); + + m_hashTable.resize(newCapacity); + m_next.resize(newCapacity); + + + int i; + + for (i= 0; i < newCapacity; ++i) + { + m_hashTable[i] = BT_NULL_PAIR; + } + for (i = 0; i < newCapacity; ++i) + { + m_next[i] = BT_NULL_PAIR; + } + + for(i=0;i<curHashtableSize;i++) + { + + const btBroadphasePair& pair = m_overlappingPairArray[i]; + int proxyId1 = pair.m_pProxy0->getUid(); + int proxyId2 = pair.m_pProxy1->getUid(); + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + m_next[i] = m_hashTable[hashValue]; + m_hashTable[hashValue] = i; + } + + + } +} + +btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) +{ + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask + + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair != NULL) + { + return pair; + } + /*for(int i=0;i<m_overlappingPairArray.size();++i) + { + if( (m_overlappingPairArray[i].m_pProxy0==proxy0)&& + (m_overlappingPairArray[i].m_pProxy1==proxy1)) + { + printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2); + internalFindPair(proxy0, proxy1, hash); + } + }*/ + int count = m_overlappingPairArray.size(); + int oldCapacity = m_overlappingPairArray.capacity(); + void* mem = &m_overlappingPairArray.expandNonInitializing(); + + //this is where we add an actual pair, so also call the 'ghost' + if (m_ghostPairCallback) + m_ghostPairCallback->addOverlappingPair(proxy0,proxy1); + + int newCapacity = m_overlappingPairArray.capacity(); + + if (oldCapacity < newCapacity) + { + growTables(); + //hash with new capacity + hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + } + + pair = new (mem) btBroadphasePair(*proxy0,*proxy1); +// pair->m_pProxy0 = proxy0; +// pair->m_pProxy1 = proxy1; + pair->m_algorithm = 0; + pair->m_internalTmpValue = 0; + + + m_next[count] = m_hashTable[hash]; + m_hashTable[hash] = count; + + return pair; +} + + + +void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher) +{ + gRemovePairs++; + if(proxy0->m_uniqueId>proxy1->m_uniqueId) + btSwap(proxy0,proxy1); + int proxyId1 = proxy0->getUid(); + int proxyId2 = proxy1->getUid(); + + /*if (proxyId1 > proxyId2) + btSwap(proxyId1, proxyId2);*/ + + int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); + + btBroadphasePair* pair = internalFindPair(proxy0, proxy1, hash); + if (pair == NULL) + { + return 0; + } + + cleanOverlappingPair(*pair,dispatcher); + + void* userData = pair->m_internalInfo1; + + btAssert(pair->m_pProxy0->getUid() == proxyId1); + btAssert(pair->m_pProxy1->getUid() == proxyId2); + + int pairIndex = int(pair - &m_overlappingPairArray[0]); + btAssert(pairIndex < m_overlappingPairArray.size()); + + // Remove the pair from the hash table. + int index = m_hashTable[hash]; + btAssert(index != BT_NULL_PAIR); + + int previous = BT_NULL_PAIR; + while (index != pairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == pairIndex); + m_next[previous] = m_next[pairIndex]; + } + else + { + m_hashTable[hash] = m_next[pairIndex]; + } + + // We now move the last pair into spot of the + // pair being removed. We need to fix the hash + // table indices to support the move. + + int lastPairIndex = m_overlappingPairArray.size() - 1; + + if (m_ghostPairCallback) + m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher); + + // If the removed pair is the last pair, we are done. + if (lastPairIndex == pairIndex) + { + m_overlappingPairArray.pop_back(); + return userData; + } + + // Remove the last pair from the hash table. + const btBroadphasePair* last = &m_overlappingPairArray[lastPairIndex]; + /* missing swap here too, Nat. */ + int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_pProxy0->getUid()), static_cast<unsigned int>(last->m_pProxy1->getUid())) & (m_overlappingPairArray.capacity()-1)); + + index = m_hashTable[lastHash]; + btAssert(index != BT_NULL_PAIR); + + previous = BT_NULL_PAIR; + while (index != lastPairIndex) + { + previous = index; + index = m_next[index]; + } + + if (previous != BT_NULL_PAIR) + { + btAssert(m_next[previous] == lastPairIndex); + m_next[previous] = m_next[lastPairIndex]; + } + else + { + m_hashTable[lastHash] = m_next[lastPairIndex]; + } + + // Copy the last pair into the remove pair's spot. + m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex]; + + // Insert the last pair into the hash table + m_next[pairIndex] = m_hashTable[lastHash]; + m_hashTable[lastHash] = pairIndex; + + m_overlappingPairArray.pop_back(); + + return userData; +} +//#include <stdio.h> +#include "LinearMath/btQuickprof.h" +void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs"); + int i; + +// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size()); + for (i=0;i<m_overlappingPairArray.size();) + { + + btBroadphasePair* pair = &m_overlappingPairArray[i]; + if (callback->processOverlap(*pair)) + { + removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); + + gOverlappingPairs--; + } else + { + i++; + } + } +} + +void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) +{ + ///need to keep hashmap in sync with pair address, so rebuild all + btBroadphasePairArray tmpPairs; + int i; + for (i=0;i<m_overlappingPairArray.size();i++) + { + tmpPairs.push_back(m_overlappingPairArray[i]); + } + + for (i=0;i<tmpPairs.size();i++) + { + removeOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1,dispatcher); + } + + for (i = 0; i < m_next.size(); i++) + { + m_next[i] = BT_NULL_PAIR; + } + + tmpPairs.quickSort(btBroadphasePairSortPredicate()); + + for (i=0;i<tmpPairs.size();i++) + { + addOverlappingPair(tmpPairs[i].m_pProxy0,tmpPairs[i].m_pProxy1); + } + + +} + + +void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1, btDispatcher* dispatcher ) +{ + if (!hasDeferredRemoval()) + { + btBroadphasePair findPair(*proxy0,*proxy1); + + int findIndex = m_overlappingPairArray.findLinearSearch(findPair); + if (findIndex < m_overlappingPairArray.size()) + { + gOverlappingPairs--; + btBroadphasePair& pair = m_overlappingPairArray[findIndex]; + void* userData = pair.m_internalInfo1; + cleanOverlappingPair(pair,dispatcher); + if (m_ghostPairCallback) + m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher); + + m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1); + m_overlappingPairArray.pop_back(); + return userData; + } + } + + return 0; +} + + + + + + + + +btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + //don't add overlap with own + btAssert(proxy0 != proxy1); + + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + void* mem = &m_overlappingPairArray.expandNonInitializing(); + btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1); + + gOverlappingPairs++; + gAddedPairs++; + + if (m_ghostPairCallback) + m_ghostPairCallback->addOverlappingPair(proxy0, proxy1); + return pair; + +} + +///this findPair becomes really slow. Either sort the list to speedup the query, or +///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed. +///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address) +///Also we can use a 2D bitmap, which can be useful for a future GPU implementation + btBroadphasePair* btSortedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) +{ + if (!needsBroadphaseCollision(proxy0,proxy1)) + return 0; + + btBroadphasePair tmpPair(*proxy0,*proxy1); + int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair); + + if (findIndex < m_overlappingPairArray.size()) + { + //btAssert(it != m_overlappingPairSet.end()); + btBroadphasePair* pair = &m_overlappingPairArray[findIndex]; + return pair; + } + return 0; +} + + + + + + + + + + +//#include <stdio.h> + +void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher) +{ + + int i; + + for (i=0;i<m_overlappingPairArray.size();) + { + + btBroadphasePair* pair = &m_overlappingPairArray[i]; + if (callback->processOverlap(*pair)) + { + cleanOverlappingPair(*pair,dispatcher); + pair->m_pProxy0 = 0; + pair->m_pProxy1 = 0; + m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); + m_overlappingPairArray.pop_back(); + gOverlappingPairs--; + } else + { + i++; + } + } +} + + + + +btSortedOverlappingPairCache::btSortedOverlappingPairCache(): + m_blockedForChanges(false), + m_hasDeferredRemoval(true), + m_overlapFilterCallback(0), + m_ghostPairCallback(0) +{ + int initialAllocatedSize= 2; + m_overlappingPairArray.reserve(initialAllocatedSize); +} + +btSortedOverlappingPairCache::~btSortedOverlappingPairCache() +{ +} + +void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) +{ + if (pair.m_algorithm) + { + { + pair.m_algorithm->~btCollisionAlgorithm(); + dispatcher->freeCollisionAlgorithm(pair.m_algorithm); + pair.m_algorithm=0; + gRemovePairs--; + } + } +} + + +void btSortedOverlappingPairCache::cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class CleanPairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_cleanProxy; + btOverlappingPairCache* m_pairCache; + btDispatcher* m_dispatcher; + + public: + CleanPairCallback(btBroadphaseProxy* cleanProxy,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + if ((pair.m_pProxy0 == m_cleanProxy) || + (pair.m_pProxy1 == m_cleanProxy)) + { + m_pairCache->cleanOverlappingPair(pair,m_dispatcher); + } + return false; + } + + }; + + CleanPairCallback cleanPairs(proxy,this,dispatcher); + + processAllOverlappingPairs(&cleanPairs,dispatcher); + +} + + +void btSortedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher) +{ + + class RemovePairCallback : public btOverlapCallback + { + btBroadphaseProxy* m_obsoleteProxy; + + public: + RemovePairCallback(btBroadphaseProxy* obsoleteProxy) + :m_obsoleteProxy(obsoleteProxy) + { + } + virtual bool processOverlap(btBroadphasePair& pair) + { + return ((pair.m_pProxy0 == m_obsoleteProxy) || + (pair.m_pProxy1 == m_obsoleteProxy)); + } + + }; + + RemovePairCallback removeCallback(proxy); + + processAllOverlappingPairs(&removeCallback,dispatcher); +} + +void btSortedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) +{ + //should already be sorted +} + |