mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Remove dynamic memory allocation of ContactPointInfo instances during narrow-phase

Browse Source
This commit is contained in:
Daniel Chappuis 2015-10-12 18:37:18 +02:00
parent c7846d4a29
commit 3acdeb8cd2
6 changed files with 22 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
src/collision/CollisionDetection.cpp
View File

@ -413,37 +413,30 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
} }
// Called by a narrow-phase collision algorithm when a new contact has been found // Called by a narrow-phase collision algorithm when a new contact has been found
void CollisionDetection::notifyContact(OverlappingPair* overlappingPair, ContactPointInfo* contactInfo) { void CollisionDetection::notifyContact(OverlappingPair* overlappingPair, const ContactPointInfo& contactInfo) {
assert(contactInfo != NULL); assert(contactInfo != NULL);
// If it is the first contact since the pairs are overlapping // If it is the first contact since the pairs are overlapping
if (overlappingPair->getNbContactPoints() == 0) { if (overlappingPair->getNbContactPoints() == 0) {
// Trigger a callback event // Trigger a callback event
if (mWorld->mEventListener != NULL) mWorld->mEventListener->beginContact(*contactInfo); if (mWorld->mEventListener != NULL) mWorld->mEventListener->beginContact(contactInfo);
} }
// TODO : Try not to allocate ContactPointInfo dynamically
// Create a new contact // Create a new contact
createContact(overlappingPair, contactInfo); createContact(overlappingPair, contactInfo);
// Trigger a callback event for the new contact // Trigger a callback event for the new contact
if (mWorld->mEventListener != NULL) mWorld->mEventListener->newContact(*contactInfo); if (mWorld->mEventListener != NULL) mWorld->mEventListener->newContact(contactInfo);
// Delete and remove the contact info from the memory allocator
contactInfo->~ContactPointInfo();
mWorld->mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
} }
// Create a new contact // Create a new contact
void CollisionDetection::createContact(OverlappingPair* overlappingPair, void CollisionDetection::createContact(OverlappingPair* overlappingPair,
const ContactPointInfo* contactInfo) { const ContactPointInfo& contactInfo) {
// Create a new contact // Create a new contact
ContactPoint* contact = new (mWorld->mMemoryAllocator.allocate(sizeof(ContactPoint))) ContactPoint* contact = new (mWorld->mMemoryAllocator.allocate(sizeof(ContactPoint)))
ContactPoint(*contactInfo); ContactPoint(contactInfo);
assert(contact != NULL);
// Add the contact to the contact manifold set of the corresponding overlapping pair // Add the contact to the contact manifold set of the corresponding overlapping pair
overlappingPair->addContact(contact); overlappingPair->addContact(contact);

4
src/collision/CollisionDetection.h
View File

@ -204,10 +204,10 @@ class CollisionDetection : public NarrowPhaseCallback {
MemoryAllocator& getWorldMemoryAllocator(); MemoryAllocator& getWorldMemoryAllocator();
/// Called by a narrow-phase collision algorithm when a new contact has been found /// Called by a narrow-phase collision algorithm when a new contact has been found
virtual void notifyContact(OverlappingPair* overlappingPair, ContactPointInfo* contactInfo); virtual void notifyContact(OverlappingPair* overlappingPair, const ContactPointInfo& contactInfo);
/// Create a new contact /// Create a new contact
void createContact(OverlappingPair* overlappingPair, const ContactPointInfo* contactInfo); void createContact(OverlappingPair* overlappingPair, const ContactPointInfo& contactInfo);
// -------------------- Friendship -------------------- // // -------------------- Friendship -------------------- //

5
src/collision/narrowphase/EPA/EPAAlgorithm.cpp
View File

@ -427,9 +427,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
assert(penetrationDepth > 0.0); assert(penetrationDepth > 0.0);
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal, normal, penetrationDepth, pALocal, pBLocal);
penetrationDepth, pALocal, pBLocal);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);

20
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
View File

@ -147,9 +147,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false; if (penetrationDepth <= 0.0) return false;
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal, normal, penetrationDepth, pA, pB);
penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -181,9 +180,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false; if (penetrationDepth <= 0.0) return false;
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal, normal, penetrationDepth, pA, pB);
penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -213,9 +211,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false; if (penetrationDepth <= 0.0) return false;
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal, normal, penetrationDepth, pA, pB);
penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -252,9 +249,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false; if (penetrationDepth <= 0.0) return false;
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal, normal, penetrationDepth, pA, pB);
penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);

3
src/collision/narrowphase/NarrowPhaseAlgorithm.h
View File

@ -48,7 +48,8 @@ class NarrowPhaseCallback {
public: public:
/// Called by a narrow-phase collision algorithm when a new contact has been found /// Called by a narrow-phase collision algorithm when a new contact has been found
virtual void notifyContact(OverlappingPair* overlappingPair, ContactPointInfo* contactInfo)=0; virtual void notifyContact(OverlappingPair* overlappingPair,
const ContactPointInfo& contactInfo)=0;
}; };

7
src/collision/narrowphase/SphereVsSphereAlgorithm.cpp
View File

@ -70,10 +70,9 @@ bool SphereVsSphereAlgorithm::testCollision(const CollisionShapeInfo& shape1Info
decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters); decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
// Create the contact info object // Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo))) ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, vectorBetweenCenters.getUnit(), penetrationDepth,
vectorBetweenCenters.getUnit(), penetrationDepth, intersectionOnBody1, intersectionOnBody2);
intersectionOnBody1, intersectionOnBody2);
// Notify about the new contact // Notify about the new contact
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo); narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);