Remove the use of std::map and fix issues in Map class
This commit is contained in:
parent
624de80453
commit
220057a587
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@ -48,7 +48,8 @@ using namespace std;
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// Constructor
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CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryManager& memoryManager)
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: mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoList(nullptr), mBroadPhaseAlgorithm(*this),
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: mMemoryManager(memoryManager), mWorld(world), mNarrowPhaseInfoList(nullptr),
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mOverlappingPairs(mMemoryManager.getPoolAllocator()), mBroadPhaseAlgorithm(*this),
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mIsCollisionShapesAdded(false) {
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// Set the default collision dispatch configuration
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@ -104,7 +105,7 @@ void CollisionDetection::computeMiddlePhase() {
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PROFILE("CollisionDetection::computeMiddlePhase()", mProfiler);
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// For each possible collision pair of bodies
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map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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OverlappingPair* pair = it->second;
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@ -126,14 +127,14 @@ void CollisionDetection::computeMiddlePhase() {
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// overlapping pair
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if (!mBroadPhaseAlgorithm.testOverlappingShapes(shape1, shape2)) {
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std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator itToRemove = it;
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++it;
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// Destroy the overlapping pair
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itToRemove->second->~OverlappingPair();
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mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, itToRemove->second, sizeof(OverlappingPair));
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mOverlappingPairs.erase(itToRemove);
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mOverlappingPairs.remove(itToRemove);
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continue;
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}
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else {
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@ -320,10 +321,10 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro
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(shape1->getCollisionCategoryBits() & shape2->getCollideWithMaskBits()) == 0) return;
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// Compute the overlapping pair ID
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overlappingpairid pairID = OverlappingPair::computeID(shape1, shape2);
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OverlappingPair::OverlappingPairId pairID = OverlappingPair::computeID(shape1, shape2);
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// Check if the overlapping pair already exists
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if (mOverlappingPairs.find(pairID) != mOverlappingPairs.end()) return;
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if (mOverlappingPairs.containsKey(pairID)) return;
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// Create the overlapping pair and add it into the set of overlapping pairs
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OverlappingPair* newPair = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(OverlappingPair)))
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@ -331,11 +332,7 @@ void CollisionDetection::broadPhaseNotifyOverlappingPair(ProxyShape* shape1, Pro
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mMemoryManager.getSingleFrameAllocator());
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assert(newPair != nullptr);
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#ifndef NDEBUG
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std::pair<map<overlappingpairid, OverlappingPair*>::iterator, bool> check =
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#endif
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mOverlappingPairs.insert(make_pair(pairID, newPair));
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assert(check.second);
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mOverlappingPairs.add(make_pair(pairID, newPair));
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// Wake up the two bodies
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shape1->getBody()->setIsSleeping(false);
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@ -348,11 +345,11 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
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assert(proxyShape->mBroadPhaseID != -1);
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// Remove all the overlapping pairs involving this proxy shape
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ) {
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if (it->second->getShape1()->mBroadPhaseID == proxyShape->mBroadPhaseID||
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it->second->getShape2()->mBroadPhaseID == proxyShape->mBroadPhaseID) {
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std::map<overlappingpairid, OverlappingPair*>::iterator itToRemove = it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator itToRemove = it;
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++it;
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// TODO : Remove all the contact manifold of the overlapping pair from the contact manifolds list of the two bodies involved
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@ -360,7 +357,7 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
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// Destroy the overlapping pair
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itToRemove->second->~OverlappingPair();
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mWorld->mMemoryManager.release(MemoryManager::AllocationType::Pool, itToRemove->second, sizeof(OverlappingPair));
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mOverlappingPairs.erase(itToRemove);
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mOverlappingPairs.remove(itToRemove);
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}
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else {
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++it;
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@ -376,7 +373,7 @@ void CollisionDetection::addAllContactManifoldsToBodies() {
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PROFILE("CollisionDetection::addAllContactManifoldsToBodies()", mProfiler);
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// For each overlapping pairs in contact during the narrow-phase
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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// Add all the contact manifolds of the pair into the list of contact manifolds
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@ -427,7 +424,7 @@ void CollisionDetection::processAllPotentialContacts() {
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PROFILE("CollisionDetection::processAllPotentialContacts()", mProfiler);
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// For each overlapping pairs in contact during the narrow-phase
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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// Process the potential contacts of the overlapping pair
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@ -466,7 +463,7 @@ void CollisionDetection::reportAllContacts() {
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PROFILE("CollisionDetection::reportAllContacts()", mProfiler);
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// For each overlapping pairs in contact during the narrow-phase
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std::map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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// If there is a user callback
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@ -921,7 +918,7 @@ void CollisionDetection::testCollision(CollisionCallback* callback) {
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computeBroadPhase();
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// For each possible collision pair of bodies
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map<overlappingpairid, OverlappingPair*>::iterator it;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
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for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); ++it) {
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OverlappingPair* originalPair = it->second;
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@ -34,9 +34,9 @@
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#include "narrowphase/DefaultCollisionDispatch.h"
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#include "memory/MemoryManager.h"
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#include "constraint/ContactPoint.h"
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#include "containers/Map.h"
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#include <set>
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#include <utility>
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#include <map>
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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@ -79,7 +79,7 @@ class CollisionDetection {
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NarrowPhaseInfo* mNarrowPhaseInfoList;
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/// Broad-phase overlapping pairs
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std::map<overlappingpairid, OverlappingPair*> mOverlappingPairs;
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Map<OverlappingPair::OverlappingPairId, OverlappingPair*> mOverlappingPairs;
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/// Broad-phase algorithm
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BroadPhaseAlgorithm mBroadPhaseAlgorithm;
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@ -25,37 +25,52 @@
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// Libraries
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#include "HalfEdgeStructure.h"
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#include <map>
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#include "containers/Map.h"
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#include "containers/containers_common.h"
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using namespace reactphysics3d;
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// Hash function for struct VerticesPair
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namespace std {
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template <> struct hash<HalfEdgeStructure::VerticesPair> {
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size_t operator()(const HalfEdgeStructure::VerticesPair& pair) const {
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std::size_t seed = 0;
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hash_combine<uint>(seed, pair.vertex1);
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hash_combine<uint>(seed, pair.vertex2);
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return seed;
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}
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};
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}
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// Initialize the structure (when all vertices and faces have been added)
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void HalfEdgeStructure::init() {
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using edgeKey = std::pair<uint, uint>;
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Map<VerticesPair, Edge> edges(mAllocator);
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Map<VerticesPair, VerticesPair> nextEdges(mAllocator);
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Map<VerticesPair, uint> mapEdgeToStartVertex(mAllocator);
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Map<VerticesPair, uint> mapEdgeToIndex(mAllocator);
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Map<uint, VerticesPair> mapEdgeIndexToKey(mAllocator);
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Map<uint, VerticesPair> mapFaceIndexToEdgeKey(mAllocator);
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std::map<edgeKey, Edge> edges;
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std::map<edgeKey, edgeKey> nextEdges;
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std::map<edgeKey, uint> mapEdgeToStartVertex;
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std::map<edgeKey, uint> mapEdgeToIndex;
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std::map<uint, edgeKey> mapEdgeIndexToKey;
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std::map<uint, edgeKey> mapFaceIndexToEdgeKey;
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List<edgeKey> currentFaceEdges(mAllocator, mFaces[0].faceVertices.size());
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List<VerticesPair> currentFaceEdges(mAllocator, mFaces[0].faceVertices.size());
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// For each face
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for (uint f=0; f<mFaces.size(); f++) {
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Face face = mFaces[f];
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edgeKey firstEdgeKey;
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VerticesPair firstEdgeKey;
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// For each vertex of the face
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for (uint v=0; v < face.faceVertices.size(); v++) {
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uint v1Index = face.faceVertices[v];
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uint v2Index = face.faceVertices[v == (face.faceVertices.size() - 1) ? 0 : v + 1];
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const edgeKey pairV1V2 = std::make_pair(v1Index, v2Index);
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const VerticesPair pairV1V2 = VerticesPair(v1Index, v2Index);
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// Create a new half-edge
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Edge edge;
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firstEdgeKey = pairV1V2;
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}
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else if (v >= 1) {
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nextEdges.insert(std::make_pair(currentFaceEdges[currentFaceEdges.size() - 1], pairV1V2));
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nextEdges.add(std::make_pair(currentFaceEdges[currentFaceEdges.size() - 1], pairV1V2));
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}
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if (v == (face.faceVertices.size() - 1)) {
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nextEdges.insert(std::make_pair(pairV1V2, firstEdgeKey));
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nextEdges.add(std::make_pair(pairV1V2, firstEdgeKey));
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}
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edges.insert(std::make_pair(pairV1V2, edge));
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edges.add(std::make_pair(pairV1V2, edge));
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const edgeKey pairV2V1 = std::make_pair(v2Index, v1Index);
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const VerticesPair pairV2V1(v2Index, v1Index);
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mapEdgeToStartVertex.insert(std::make_pair(pairV1V2, v1Index));
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mapEdgeToStartVertex.insert(std::make_pair(pairV2V1, v2Index));
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mapEdgeToStartVertex.add(std::make_pair(pairV1V2, v1Index), true);
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mapEdgeToStartVertex.add(std::make_pair(pairV2V1, v2Index), true);
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mapFaceIndexToEdgeKey.insert(std::make_pair(f, pairV1V2));
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mapFaceIndexToEdgeKey.add(std::make_pair(f, pairV1V2), true);
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auto itEdge = edges.find(pairV2V1);
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if (itEdge != edges.end()) {
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itEdge->second.twinEdgeIndex = edgeIndex + 1;
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edge.twinEdgeIndex = edgeIndex;
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mapEdgeIndexToKey[edgeIndex] = pairV2V1;
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mapEdgeIndexToKey[edgeIndex + 1] = pairV1V2;
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mapEdgeIndexToKey.add(std::make_pair(edgeIndex, pairV2V1));
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mapEdgeIndexToKey.add(std::make_pair(edgeIndex + 1, pairV1V2));
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mVertices[v1Index].edgeIndex = edgeIndex + 1;
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mVertices[v2Index].edgeIndex = edgeIndex;
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mapEdgeToIndex.insert(std::make_pair(pairV1V2, edgeIndex + 1));
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mapEdgeToIndex.insert(std::make_pair(pairV2V1, edgeIndex));
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mapEdgeToIndex.add(std::make_pair(pairV1V2, edgeIndex + 1));
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mapEdgeToIndex.add(std::make_pair(pairV2V1, edgeIndex));
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mEdges.add(itEdge->second);
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mEdges.add(edge);
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@ -41,6 +41,25 @@ class HalfEdgeStructure {
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public:
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/// Pair of vertices
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struct VerticesPair {
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uint vertex1;
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uint vertex2;
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/// Constructor
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VerticesPair() = default;
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/// Constructor
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VerticesPair(uint v1, uint v2) : vertex1(v1), vertex2(v2) {}
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/// Equality operator
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bool operator==(const VerticesPair& pair) const {
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return vertex1 == pair.vertex1 && vertex2 == pair.vertex2;
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}
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};
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/// Edge
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struct Edge {
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uint vertexIndex; // Index of the vertex at the beginning of the edge
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uint twinEdgeIndex; // Index of the twin edge
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uint nextEdgeIndex; // Index of the next edge
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};
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/// Face
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struct Face {
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uint edgeIndex; // Index of an half-edge of the face
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List<uint> faceVertices; // Index of the vertices of the face
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Face(List<uint> vertices) : faceVertices(vertices) {}
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};
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/// Vertex
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struct Vertex {
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uint vertexPointIndex; // Index of the vertex point in the origin vertex array
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uint edgeIndex; // Index of one edge emanting from this vertex
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@ -34,7 +34,6 @@
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#include "collision/PolyhedronMesh.h"
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#include "collision/narrowphase/GJK/GJKAlgorithm.h"
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#include <set>
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#include <map>
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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@ -30,8 +30,11 @@
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#include "memory/MemoryAllocator.h"
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#include "mathematics/mathematics_functions.h"
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#include <cstring>
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#include <stdexcept>
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#include <functional>
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#include <limits>
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namespace reactphysics3d {
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// Class Map
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@ -387,7 +390,15 @@ class Map {
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std::memcpy(mBuckets, map.mBuckets, mCapacity * sizeof(int));
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// Copy the entries
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std::memcpy(mEntries, map.mEntries, mCapacity * sizeof(Entry));
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for (int i=0; i < mCapacity; i++) {
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new (&mEntries[i]) Entry(map.mEntries[i].hashCode, map.mEntries[i].next);
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if (map.mEntries[i].keyValue != nullptr) {
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mEntries[i].keyValue = static_cast<std::pair<K,V>*>(mAllocator.allocate(sizeof(std::pair<K, V>)));
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new (mEntries[i].keyValue) std::pair<K,V>(*(map.mEntries[i].keyValue));
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}
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}
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}
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/// Destructor
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@ -417,7 +428,7 @@ class Map {
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}
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/// Add an element into the map
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void add(const std::pair<K,V>& keyValue) {
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void add(const std::pair<K,V>& keyValue, bool insertIfAlreadyPresent = false) {
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if (mCapacity == 0) {
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initialize(0);
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// If there is already an item with the same key in the map
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if (mEntries[i].hashCode == hashCode && mEntries[i].keyValue->first == keyValue.first) {
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if (insertIfAlreadyPresent) {
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// Destruct the previous key/value
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mEntries[i].keyValue->~pair<K, V>();
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// Copy construct the new key/value
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new (mEntries[i].keyValue) std::pair<K,V>(keyValue);
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return;
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}
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else {
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throw std::runtime_error("The key and value pair already exists in the map");
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}
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}
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}
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size_t entryIndex;
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mBuckets[bucket] = entryIndex;
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}
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/// Remove the element pointed by some iterator
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bool remove(const Iterator& it) {
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const K& key = it->first;
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return remove(key);
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}
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/// Remove the element from the map with a given key
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bool remove(const K& key) {
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@ -605,7 +635,9 @@ class Map {
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throw std::runtime_error("No item with given key has been found in the map");
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}
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return mEntries[entry];
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assert(mEntries[entry].keyValue != nullptr);
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return mEntries[entry].keyValue->second;
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}
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/// Overloaded equality operator
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44
src/containers/containers_common.h
Normal file
44
src/containers/containers_common.h
Normal file
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@ -0,0 +1,44 @@
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_CONTAINERS_COMMON_H
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#define REACTPHYSICS3D_CONTAINERS_COMMON_H
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// Libraries
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#include <cstddef>
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#include <functional>
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|
||||
namespace reactphysics3d {
|
||||
|
||||
/// This method is used to combine two hash values
|
||||
template <class T>
|
||||
inline void hash_combine(std::size_t& seed, const T& v) {
|
||||
std::hash<T> hasher;
|
||||
seed ^= hasher(v) + 0x9e3779b9 + (seed<<6) + (seed>>2);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
|
@ -31,8 +31,6 @@
|
|||
#include "mathematics/mathematics.h"
|
||||
#include "constraint/Joint.h"
|
||||
#include "Island.h"
|
||||
#include <map>
|
||||
#include <set>
|
||||
|
||||
namespace reactphysics3d {
|
||||
|
||||
|
|
|
@ -32,8 +32,6 @@
|
|||
#include "constraint/Joint.h"
|
||||
#include "collision/ContactManifold.h"
|
||||
#include "Island.h"
|
||||
#include <map>
|
||||
#include <set>
|
||||
|
||||
/// ReactPhysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
|
|
@ -833,7 +833,7 @@ List<const ContactManifold*> DynamicsWorld::getContactsList() {
|
|||
List<const ContactManifold*> contactManifolds(mMemoryManager.getPoolAllocator());
|
||||
|
||||
// For each currently overlapping pair of bodies
|
||||
std::map<overlappingpairid, OverlappingPair*>::const_iterator it;
|
||||
Map<OverlappingPair::OverlappingPairId, OverlappingPair*>::Iterator it;
|
||||
for (it = mCollisionDetection.mOverlappingPairs.begin();
|
||||
it != mCollisionDetection.mOverlappingPairs.end(); ++it) {
|
||||
|
||||
|
|
|
@ -28,14 +28,17 @@
|
|||
#include "OverlappingPair.h"
|
||||
#include "collision/ContactManifoldInfo.h"
|
||||
#include "collision/NarrowPhaseInfo.h"
|
||||
#include "containers/containers_common.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
|
||||
// Constructor
|
||||
OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
|
||||
MemoryAllocator& persistentMemoryAllocator, MemoryAllocator& temporaryMemoryAllocator)
|
||||
: mContactManifoldSet(shape1, shape2, persistentMemoryAllocator), mPotentialContactManifolds(nullptr),
|
||||
mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator) {
|
||||
mPersistentAllocator(persistentMemoryAllocator), mTempMemoryAllocator(temporaryMemoryAllocator),
|
||||
mLastFrameCollisionInfos(mPersistentAllocator) {
|
||||
|
||||
}
|
||||
|
||||
|
@ -150,7 +153,8 @@ void OverlappingPair::reducePotentialContactManifolds() {
|
|||
void OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2) {
|
||||
|
||||
// Try to get the corresponding last frame collision info
|
||||
auto it = mLastFrameCollisionInfos.find(std::make_pair(shapeId1, shapeId2));
|
||||
const ShapeIdPair shapeIdPair(shapeId1, shapeId2);
|
||||
auto it = mLastFrameCollisionInfos.find(shapeIdPair);
|
||||
|
||||
// If there is no collision info for those two shapes already
|
||||
if (it == mLastFrameCollisionInfos.end()) {
|
||||
|
@ -160,9 +164,7 @@ void OverlappingPair::addLastFrameInfoIfNecessary(uint shapeId1, uint shapeId2)
|
|||
LastFrameCollisionInfo();
|
||||
|
||||
// Add it into the map of collision infos
|
||||
std::map<std::pair<uint, uint>, LastFrameCollisionInfo*>::iterator it;
|
||||
auto ret = mLastFrameCollisionInfos.insert(std::make_pair(std::make_pair(shapeId1, shapeId2), collisionInfo));
|
||||
assert(ret.second);
|
||||
mLastFrameCollisionInfos.add(std::make_pair(shapeIdPair, collisionInfo));
|
||||
}
|
||||
else {
|
||||
|
||||
|
@ -185,7 +187,7 @@ void OverlappingPair::clearObsoleteLastFrameCollisionInfos() {
|
|||
it->second->~LastFrameCollisionInfo();
|
||||
mPersistentAllocator.release(it->second, sizeof(LastFrameCollisionInfo));
|
||||
|
||||
mLastFrameCollisionInfos.erase(it++);
|
||||
mLastFrameCollisionInfos.remove(it++);
|
||||
}
|
||||
else {
|
||||
++it;
|
||||
|
|
|
@ -30,14 +30,12 @@
|
|||
#include "collision/ContactManifoldSet.h"
|
||||
#include "collision/ProxyShape.h"
|
||||
#include "collision/shapes/CollisionShape.h"
|
||||
#include <map>
|
||||
#include "containers/Map.h"
|
||||
#include "containers/containers_common.h"
|
||||
|
||||
/// ReactPhysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
||||
// Type for the overlapping pair ID
|
||||
using overlappingpairid = std::pair<uint, uint>;
|
||||
|
||||
// Structure LastFrameCollisionInfo
|
||||
/**
|
||||
* This structure contains collision info about the last frame.
|
||||
|
@ -95,6 +93,38 @@ struct LastFrameCollisionInfo {
|
|||
*/
|
||||
class OverlappingPair {
|
||||
|
||||
public:
|
||||
|
||||
/// Pair of shape ids
|
||||
struct ShapeIdPair {
|
||||
|
||||
uint shapeIdBody1;
|
||||
uint shapeIdBody2;
|
||||
|
||||
/// Constructor
|
||||
ShapeIdPair(uint id1, uint id2) : shapeIdBody1(id1), shapeIdBody2(id2) {}
|
||||
|
||||
/// Equality operator
|
||||
bool operator==(const ShapeIdPair& pair) const {
|
||||
return shapeIdBody1 == pair.shapeIdBody1 && shapeIdBody2 == pair.shapeIdBody2;
|
||||
}
|
||||
};
|
||||
|
||||
/// Pair of broad-phase ids
|
||||
struct OverlappingPairId {
|
||||
|
||||
uint body1Id;
|
||||
uint body2Id;
|
||||
|
||||
/// Constructor
|
||||
OverlappingPairId(uint id1, uint id2) : body1Id(id1), body2Id(id2) {}
|
||||
|
||||
/// Equality operator
|
||||
bool operator==(const OverlappingPairId& pair) const {
|
||||
return body1Id == pair.body1Id && body2Id == pair.body2Id;
|
||||
}
|
||||
};
|
||||
|
||||
private:
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
@ -102,13 +132,6 @@ class OverlappingPair {
|
|||
/// Set of persistent contact manifolds
|
||||
ContactManifoldSet mContactManifoldSet;
|
||||
|
||||
/// Temporal coherence collision data for each overlapping collision shapes of this pair.
|
||||
/// Temporal coherence data store collision information about the last frame.
|
||||
/// If two convex shapes overlap, we have a single collision data but if one shape is concave,
|
||||
/// we might have collision data for several overlapping triangles. The key in the map is the
|
||||
/// shape Ids of the two collision shapes.
|
||||
std::map<std::pair<uint, uint>, LastFrameCollisionInfo*> mLastFrameCollisionInfos;
|
||||
|
||||
/// Linked-list of potential contact manifold
|
||||
ContactManifoldInfo* mPotentialContactManifolds;
|
||||
|
||||
|
@ -118,6 +141,13 @@ class OverlappingPair {
|
|||
/// Memory allocator used to allocated memory for the ContactManifoldInfo and ContactPointInfo
|
||||
MemoryAllocator& mTempMemoryAllocator;
|
||||
|
||||
/// Temporal coherence collision data for each overlapping collision shapes of this pair.
|
||||
/// Temporal coherence data store collision information about the last frame.
|
||||
/// If two convex shapes overlap, we have a single collision data but if one shape is concave,
|
||||
/// we might have collision data for several overlapping triangles. The key in the map is the
|
||||
/// shape Ids of the two collision shapes.
|
||||
Map<ShapeIdPair, LastFrameCollisionInfo*> mLastFrameCollisionInfos;
|
||||
|
||||
public:
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
@ -142,7 +172,7 @@ class OverlappingPair {
|
|||
ProxyShape* getShape2() const;
|
||||
|
||||
/// Return the last frame collision info
|
||||
LastFrameCollisionInfo* getLastFrameCollisionInfo(std::pair<uint, uint> shapeIds);
|
||||
LastFrameCollisionInfo* getLastFrameCollisionInfo(ShapeIdPair& shapeIds);
|
||||
|
||||
/// Return the a reference to the contact manifold set
|
||||
const ContactManifoldSet& getContactManifoldSet();
|
||||
|
@ -193,7 +223,7 @@ class OverlappingPair {
|
|||
void makeLastFrameCollisionInfosObsolete();
|
||||
|
||||
/// Return the pair of bodies index
|
||||
static overlappingpairid computeID(ProxyShape* shape1, ProxyShape* shape2);
|
||||
static OverlappingPairId computeID(ProxyShape* shape1, ProxyShape* shape2);
|
||||
|
||||
/// Return the pair of bodies index of the pair
|
||||
static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2);
|
||||
|
@ -219,8 +249,8 @@ inline void OverlappingPair::addContactManifold(const ContactManifoldInfo* conta
|
|||
}
|
||||
|
||||
// Return the last frame collision info for a given shape id or nullptr if none is found
|
||||
inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(std::pair<uint, uint> shapeIds) {
|
||||
std::map<std::pair<uint, uint>, LastFrameCollisionInfo*>::iterator it = mLastFrameCollisionInfos.find(shapeIds);
|
||||
inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(ShapeIdPair& shapeIds) {
|
||||
Map<ShapeIdPair, LastFrameCollisionInfo*>::Iterator it = mLastFrameCollisionInfos.find(shapeIds);
|
||||
if (it != mLastFrameCollisionInfos.end()) {
|
||||
return it->second;
|
||||
}
|
||||
|
@ -240,14 +270,14 @@ inline void OverlappingPair::makeContactsObsolete() {
|
|||
}
|
||||
|
||||
// Return the pair of bodies index
|
||||
inline overlappingpairid OverlappingPair::computeID(ProxyShape* shape1, ProxyShape* shape2) {
|
||||
inline OverlappingPair::OverlappingPairId OverlappingPair::computeID(ProxyShape* shape1, ProxyShape* shape2) {
|
||||
assert(shape1->mBroadPhaseID >= 0 && shape2->mBroadPhaseID >= 0);
|
||||
|
||||
// Construct the pair of body index
|
||||
overlappingpairid pairID = shape1->mBroadPhaseID < shape2->mBroadPhaseID ?
|
||||
std::make_pair(shape1->mBroadPhaseID, shape2->mBroadPhaseID) :
|
||||
std::make_pair(shape2->mBroadPhaseID, shape1->mBroadPhaseID);
|
||||
assert(pairID.first != pairID.second);
|
||||
OverlappingPairId pairID = shape1->mBroadPhaseID < shape2->mBroadPhaseID ?
|
||||
OverlappingPairId(shape1->mBroadPhaseID, shape2->mBroadPhaseID) :
|
||||
OverlappingPairId(shape2->mBroadPhaseID, shape1->mBroadPhaseID);
|
||||
assert(pairID.body1Id != pairID.body2Id);
|
||||
return pairID;
|
||||
}
|
||||
|
||||
|
@ -296,10 +326,38 @@ inline void OverlappingPair::reduceContactManifolds() {
|
|||
|
||||
// Return the last frame collision info for a given pair of shape ids
|
||||
inline LastFrameCollisionInfo* OverlappingPair::getLastFrameCollisionInfo(uint shapeId1, uint shapeId2) const {
|
||||
return mLastFrameCollisionInfos.at(std::make_pair(shapeId1, shapeId2));
|
||||
return mLastFrameCollisionInfos[ShapeIdPair(shapeId1, shapeId2)];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// Hash function for struct ShapeIdPair
|
||||
namespace std {
|
||||
|
||||
template <> struct hash<reactphysics3d::OverlappingPair::ShapeIdPair> {
|
||||
|
||||
size_t operator()(const reactphysics3d::OverlappingPair::ShapeIdPair& pair) const {
|
||||
|
||||
std::size_t seed = 0;
|
||||
reactphysics3d::hash_combine<uint>(seed, pair.shapeIdBody1);
|
||||
reactphysics3d::hash_combine<uint>(seed, pair.shapeIdBody2);
|
||||
|
||||
return seed;
|
||||
}
|
||||
};
|
||||
|
||||
template <> struct hash<reactphysics3d::OverlappingPair::OverlappingPairId> {
|
||||
|
||||
size_t operator()(const reactphysics3d::OverlappingPair::OverlappingPairId& pair) const {
|
||||
|
||||
std::size_t seed = 0;
|
||||
reactphysics3d::hash_combine<uint>(seed, pair.body1Id);
|
||||
reactphysics3d::hash_combine<uint>(seed, pair.body2Id);
|
||||
|
||||
return seed;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
|
|
@ -211,23 +211,21 @@ class TestRaycast : public Test {
|
|||
mCapsuleShape = new CapsuleShape(2, 5);
|
||||
mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
|
||||
|
||||
// TODO : Create convex mesh shape with new way (polyhedron mesh) to add test again
|
||||
// Box of extents (2, 3, 4)
|
||||
mPolyhedronVertices[0] = Vector3(-2, -3, -4);
|
||||
mPolyhedronVertices[1] = Vector3(2, -3, -4);
|
||||
mPolyhedronVertices[2] = Vector3(2, -3, 4);
|
||||
mPolyhedronVertices[3] = Vector3(-2, -3, 4);
|
||||
mPolyhedronVertices[4] = Vector3(-2, 3, -4);
|
||||
mPolyhedronVertices[0] = Vector3(-2, -3, 4);
|
||||
mPolyhedronVertices[1] = Vector3(2, -3, 4);
|
||||
mPolyhedronVertices[2] = Vector3(2, 3, 4);
|
||||
mPolyhedronVertices[3] = Vector3(-2, 3, 4);
|
||||
mPolyhedronVertices[4] = Vector3(2, -3, -4);
|
||||
mPolyhedronVertices[5] = Vector3(2, 3, -4);
|
||||
mPolyhedronVertices[6] = Vector3(2, 3, 4);
|
||||
mPolyhedronVertices[7] = Vector3(-2, 3, 4);
|
||||
mPolyhedronVertices[6] = Vector3(-2, 3, -4);
|
||||
mPolyhedronVertices[7] = Vector3(-2, -3, -4);
|
||||
|
||||
mPolyhedronIndices[0] = 0; mPolyhedronIndices[1] = 1; mPolyhedronIndices[2] = 2; mPolyhedronIndices[3] = 3;
|
||||
mPolyhedronIndices[4] = 1; mPolyhedronIndices[5] = 5; mPolyhedronIndices[6] = 6; mPolyhedronIndices[7] = 2;
|
||||
mPolyhedronIndices[8] = 0; mPolyhedronIndices[9] = 4; mPolyhedronIndices[10] = 5; mPolyhedronIndices[11] = 1;
|
||||
mPolyhedronIndices[12] = 0; mPolyhedronIndices[13] = 3; mPolyhedronIndices[14] = 7; mPolyhedronIndices[15] = 4;
|
||||
mPolyhedronIndices[16] = 3; mPolyhedronIndices[17] = 2; mPolyhedronIndices[18] = 6; mPolyhedronIndices[19] = 7;
|
||||
mPolyhedronIndices[20] = 2; mPolyhedronIndices[21] = 5; mPolyhedronIndices[22] = 4; mPolyhedronIndices[23] = 7;
|
||||
mPolyhedronIndices[4] = 1; mPolyhedronIndices[5] = 4; mPolyhedronIndices[6] = 5; mPolyhedronIndices[7] = 2;
|
||||
mPolyhedronIndices[8] = 4; mPolyhedronIndices[9] = 7; mPolyhedronIndices[10] = 6; mPolyhedronIndices[11] = 5;
|
||||
mPolyhedronIndices[12] = 0; mPolyhedronIndices[13] = 3; mPolyhedronIndices[14] = 6; mPolyhedronIndices[15] = 7;
|
||||
mPolyhedronIndices[16] = 2; mPolyhedronIndices[17] = 5; mPolyhedronIndices[18] = 6; mPolyhedronIndices[19] = 3;
|
||||
mPolyhedronIndices[20] = 1; mPolyhedronIndices[21] = 0; mPolyhedronIndices[22] = 7; mPolyhedronIndices[23] = 4;
|
||||
|
||||
// Polygon faces descriptions for the polyhedron
|
||||
for (int f=0; f < 8; f++) {
|
||||
|
|
|
@ -31,6 +31,30 @@
|
|||
#include "containers/Map.h"
|
||||
#include "memory/DefaultAllocator.h"
|
||||
|
||||
// Key to test map with always same hash values
|
||||
namespace reactphysics3d {
|
||||
struct TestKey {
|
||||
int key;
|
||||
|
||||
TestKey(int k) :key(k) {}
|
||||
|
||||
bool operator==(const TestKey& testKey) const {
|
||||
return key == testKey.key;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
// Hash function for struct VerticesPair
|
||||
namespace std {
|
||||
|
||||
template <> struct hash<reactphysics3d::TestKey> {
|
||||
|
||||
size_t operator()(const reactphysics3d::TestKey& key) const {
|
||||
return 1;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
/// Reactphysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
||||
|
@ -82,7 +106,6 @@ class TestMap : public Test {
|
|||
test(map2.size() == 0);
|
||||
|
||||
// ----- Copy Constructors ----- //
|
||||
/*
|
||||
Map<int, std::string> map3(map1);
|
||||
test(map3.capacity() == map1.capacity());
|
||||
test(map3.size() == map1.size());
|
||||
|
@ -100,7 +123,6 @@ class TestMap : public Test {
|
|||
test(map5[1] == 10);
|
||||
test(map5[2] == 20);
|
||||
test(map5[3] == 30);
|
||||
*/
|
||||
}
|
||||
|
||||
void testReserve() {
|
||||
|
@ -123,8 +145,6 @@ class TestMap : public Test {
|
|||
|
||||
void testAddRemoveClear() {
|
||||
|
||||
// TODO : ADD test with values with same hash for keys but different keys
|
||||
|
||||
// ----- Test add() ----- //
|
||||
|
||||
Map<int, int> map1(mAllocator);
|
||||
|
@ -151,21 +171,32 @@ class TestMap : public Test {
|
|||
test(map1.size() == 3);
|
||||
test(map1[1] == 10);
|
||||
|
||||
map1.add(std::make_pair(56, 34));
|
||||
test(map1[56] == 34);
|
||||
test(map1.size() == 4);
|
||||
map1.add(std::make_pair(56, 13), true);
|
||||
test(map1[56] == 13);
|
||||
test(map1.size() == 4);
|
||||
|
||||
// ----- Test remove() ----- //
|
||||
|
||||
map1.remove(1);
|
||||
test(!map1.containsKey(1));
|
||||
test(map1.containsKey(8));
|
||||
test(map1.containsKey(13));
|
||||
test(map1.size() == 2);
|
||||
test(map1.size() == 3);
|
||||
|
||||
map1.remove(13);
|
||||
test(map1.containsKey(8));
|
||||
test(!map1.containsKey(13));
|
||||
test(map1.size() == 1);
|
||||
test(map1.size() == 2);
|
||||
|
||||
map1.remove(8);
|
||||
test(!map1.containsKey(8));
|
||||
test(map1.size() == 1);
|
||||
|
||||
map1.remove(56);
|
||||
test(!map1.containsKey(56));
|
||||
test(map1.size() == 0);
|
||||
|
||||
isValid = true;
|
||||
|
@ -184,6 +215,16 @@ class TestMap : public Test {
|
|||
map3.remove(i);
|
||||
}
|
||||
|
||||
map3.add(std::make_pair(1, 10));
|
||||
map3.add(std::make_pair(2, 20));
|
||||
map3.add(std::make_pair(3, 30));
|
||||
test(map3.size() == 3);
|
||||
auto it = map3.begin();
|
||||
map3.remove(it++);
|
||||
test(!map3.containsKey(1));
|
||||
test(map3.size() == 2);
|
||||
test(it->second == 20);
|
||||
|
||||
// ----- Test clear() ----- //
|
||||
|
||||
Map<int, int> map4(mAllocator);
|
||||
|
@ -201,6 +242,24 @@ class TestMap : public Test {
|
|||
Map<int, int> map5(mAllocator);
|
||||
map5.clear();
|
||||
test(map5.size() == 0);
|
||||
|
||||
// ----- Test map with always same hash value for keys ----- //
|
||||
|
||||
Map<TestKey, int> map6(mAllocator);
|
||||
for (int i=0; i < 1000; i++) {
|
||||
map6.add(std::make_pair(TestKey(i), i));
|
||||
}
|
||||
bool isTestValid = true;
|
||||
for (int i=0; i < 1000; i++) {
|
||||
if (map6[TestKey(i)] != i) {
|
||||
isTestValid = false;
|
||||
}
|
||||
}
|
||||
test(isTestValid);
|
||||
for (int i=0; i < 1000; i++) {
|
||||
map6.remove(TestKey(i));
|
||||
}
|
||||
test(map6.size() == 0);
|
||||
}
|
||||
|
||||
void testContainsKey() {
|
||||
|
|
Loading…
Reference in New Issue
Block a user