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Replace array by Set for the moved shapes in broad-phase and fix a bug with added and removed collision body (crash in BroadPhaseAlgorithm::computeOverlappingPairs())

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This commit is contained in:
Daniel Chappuis 2018-07-21 23:25:34 +02:00
parent e2fdf8ae8e
commit 160759bb63
2 changed files with 24 additions and 95 deletions
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86
src/collision/broadphase/BroadPhaseAlgorithm.cpp
View File

@ -36,16 +36,12 @@ using namespace reactphysics3d;
// Constructor
BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection)
:mDynamicAABBTree(collisionDetection.getMemoryManager().getPoolAllocator(), DYNAMIC_TREE_AABB_GAP),
mNbMovedShapes(0), mNbAllocatedMovedShapes(8),
mNbNonUsedMovedShapes(0), mNbPotentialPairs(0), mNbAllocatedPotentialPairs(8),
mMovedShapes(collisionDetection.getMemoryManager().getPoolAllocator()),
mNbPotentialPairs(0), mNbAllocatedPotentialPairs(8),
mCollisionDetection(collisionDetection) {
PoolAllocator& poolAllocator = collisionDetection.getMemoryManager().getPoolAllocator();
// Allocate memory for the array of non-static proxy shapes IDs
mMovedShapes = static_cast<int*>(poolAllocator.allocate(mNbAllocatedMovedShapes * sizeof(int)));
assert(mMovedShapes != nullptr);
// Allocate memory for the array of potential overlapping pairs
mPotentialPairs = static_cast<BroadPhasePair*>(poolAllocator.allocate(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair)));
assert(mPotentialPairs != nullptr);
@ -64,40 +60,10 @@ BroadPhaseAlgorithm::~BroadPhaseAlgorithm() {
// Get the memory pool allocatory
PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
// Release the memory for the array of non-static proxy shapes IDs
poolAllocator.release(mMovedShapes, mNbAllocatedMovedShapes * sizeof (int));
// Release the memory for the array of potential overlapping pairs
poolAllocator.release(mPotentialPairs, mNbAllocatedPotentialPairs * sizeof(BroadPhasePair));
}
// Add a collision shape in the array of shapes that have moved in the last simulation step
// and that need to be tested again for broad-phase overlapping.
void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) {
// Allocate more elements in the array of shapes that have moved if necessary
if (mNbAllocatedMovedShapes == mNbMovedShapes) {
// Get the memory pool allocatory
PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
uint oldNbAllocatedMovedShapes = mNbAllocatedMovedShapes;
mNbAllocatedMovedShapes *= 2;
int* oldArray = mMovedShapes;
mMovedShapes = static_cast<int*>(poolAllocator.allocate(mNbAllocatedMovedShapes * sizeof(int)));
assert(mMovedShapes != nullptr);
std::memcpy(mMovedShapes, oldArray, mNbMovedShapes * sizeof(int));
poolAllocator.release(oldArray, oldNbAllocatedMovedShapes * sizeof(int));
}
// Store the broad-phase ID into the array of shapes that have moved
assert(mNbMovedShapes < mNbAllocatedMovedShapes);
assert(mMovedShapes != nullptr);
mMovedShapes[mNbMovedShapes] = broadPhaseID;
mNbMovedShapes++;
}
// Return true if the two broad-phase collision shapes are overlapping
bool BroadPhaseAlgorithm::testOverlappingShapes(const ProxyShape* shape1,
const ProxyShape* shape2) const {
@ -123,47 +89,6 @@ void BroadPhaseAlgorithm::raycast(const Ray& ray, RaycastTest& raycastTest,
mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback);
}
// Remove a collision shape from the array of shapes that have moved in the last simulation step
// and that need to be tested again for broad-phase overlapping.
void BroadPhaseAlgorithm::removeMovedCollisionShape(int broadPhaseID) {
assert(mNbNonUsedMovedShapes <= mNbMovedShapes);
// If less than the quarter of allocated elements of the non-static shapes IDs array
// are used, we release some allocated memory
if ((mNbMovedShapes - mNbNonUsedMovedShapes) < mNbAllocatedMovedShapes / 4 &&
mNbAllocatedMovedShapes > 8) {
// Get the memory pool allocatory
PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
uint oldNbAllocatedMovedShapes = mNbAllocatedMovedShapes;
mNbAllocatedMovedShapes /= 2;
int* oldArray = mMovedShapes;
mMovedShapes = static_cast<int*>(poolAllocator.allocate(mNbAllocatedMovedShapes * sizeof(int)));
assert(mMovedShapes != nullptr);
uint nbElements = 0;
for (uint i=0; i<mNbMovedShapes; i++) {
if (oldArray[i] != -1) {
mMovedShapes[nbElements] = oldArray[i];
nbElements++;
}
}
mNbMovedShapes = nbElements;
mNbNonUsedMovedShapes = 0;
poolAllocator.release(oldArray, oldNbAllocatedMovedShapes * sizeof(int));
}
// Remove the broad-phase ID from the array
for (uint i=0; i<mNbMovedShapes; i++) {
if (mMovedShapes[i] == broadPhaseID) {
mMovedShapes[i] = -1;
mNbNonUsedMovedShapes++;
break;
}
}
}
// Add a proxy collision shape into the broad-phase collision detection
void BroadPhaseAlgorithm::addProxyCollisionShape(ProxyShape* proxyShape, const AABB& aabb) {
@ -239,8 +164,8 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager)
// For all collision shapes that have moved (or have been created) during the
// last simulation step
for (uint i=0; i<mNbMovedShapes; i++) {
int shapeID = mMovedShapes[i];
for (auto it = mMovedShapes.begin(); it != mMovedShapes.end(); ++it) {
int shapeID = *it;
if (shapeID == -1) continue;
@ -263,8 +188,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager)
// Reset the array of collision shapes that have move (or have been created) during the
// last simulation step
mNbMovedShapes = 0;
mNbNonUsedMovedShapes = 0;
mMovedShapes.clear();
// Sort the array of potential overlapping pairs in order to remove duplicate pairs
std::sort(mPotentialPairs, mPotentialPairs + mNbPotentialPairs, BroadPhasePair::smallerThan);

33
src/collision/broadphase/BroadPhaseAlgorithm.h
View File

@ -29,6 +29,7 @@
// Libraries
#include "DynamicAABBTree.h"
#include "containers/LinkedList.h"
#include "containers/Set.h"
/// Namespace ReactPhysics3D
namespace reactphysics3d {
@ -133,22 +134,10 @@ class BroadPhaseAlgorithm {
/// Dynamic AABB tree
DynamicAABBTree mDynamicAABBTree;
/// Array with the broad-phase IDs of all collision shapes that have moved (or have been
/// Set with the broad-phase IDs of all collision shapes that have moved (or have been
/// created) during the last simulation step. Those are the shapes that need to be tested
/// for overlapping in the next simulation step.
int* mMovedShapes;
/// Number of collision shapes in the array of shapes that have moved during the last
/// simulation step.
uint mNbMovedShapes;
/// Number of allocated elements for the array of shapes that have moved during the last
/// simulation step.
uint mNbAllocatedMovedShapes;
/// Number of non-used elements in the array of shapes that have moved during the last
/// simulation step.
uint mNbNonUsedMovedShapes;
Set<int> mMovedShapes;
/// Temporary array of potential overlapping pairs (with potential duplicates)
BroadPhasePair* mPotentialPairs;
@ -248,6 +237,22 @@ inline const AABB& BroadPhaseAlgorithm::getFatAABB(int broadPhaseId) const {
return mDynamicAABBTree.getFatAABB(broadPhaseId);
}
// Add a collision shape in the array of shapes that have moved in the last simulation step
// and that need to be tested again for broad-phase overlapping.
inline void BroadPhaseAlgorithm::addMovedCollisionShape(int broadPhaseID) {
// Store the broad-phase ID into the array of shapes that have moved
mMovedShapes.add(broadPhaseID);
}
// Remove a collision shape from the array of shapes that have moved in the last simulation step
// and that need to be tested again for broad-phase overlapping.
inline void BroadPhaseAlgorithm::removeMovedCollisionShape(int broadPhaseID) {
// Remove the broad-phase ID from the set
mMovedShapes.remove(broadPhaseID);
}
// Return the proxy shape corresponding to the broad-phase node id in parameter
inline ProxyShape* BroadPhaseAlgorithm::getProxyShapeForBroadPhaseId(int broadPhaseId) const {
return static_cast<ProxyShape*>(mDynamicAABBTree.getNodeDataPointer(broadPhaseId));