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Remove dynamic memory allocation of ContactPointInfo instances during narrow-phase

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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
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17
src/collision/CollisionDetection.cpp
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@ -413,37 +413,30 @@ void CollisionDetection::removeProxyCollisionShape(ProxyShape* proxyShape) {
}
// 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);
// If it is the first contact since the pairs are overlapping
if (overlappingPair->getNbContactPoints() == 0) {
// 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
createContact(overlappingPair, contactInfo);
// Trigger a callback event for the new contact
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));
if (mWorld->mEventListener != NULL) mWorld->mEventListener->newContact(contactInfo);
}
// Create a new contact
void CollisionDetection::createContact(OverlappingPair* overlappingPair,
const ContactPointInfo* contactInfo) {
const ContactPointInfo& contactInfo) {
// Create a new contact
ContactPoint* contact = new (mWorld->mMemoryAllocator.allocate(sizeof(ContactPoint)))
ContactPoint(*contactInfo);
assert(contact != NULL);
ContactPoint(contactInfo);
// Add the contact to the contact manifold set of the corresponding overlapping pair
overlappingPair->addContact(contact);

4
src/collision/CollisionDetection.h
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@ -204,10 +204,10 @@ class CollisionDetection : public NarrowPhaseCallback {
MemoryAllocator& getWorldMemoryAllocator();
/// 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
void createContact(OverlappingPair* overlappingPair, const ContactPointInfo* contactInfo);
void createContact(OverlappingPair* overlappingPair, const ContactPointInfo& contactInfo);
// -------------------- Friendship -------------------- //

5
src/collision/narrowphase/EPA/EPAAlgorithm.cpp
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@ -427,9 +427,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
assert(penetrationDepth > 0.0);
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal,
penetrationDepth, pALocal, pBLocal);
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
normal, penetrationDepth, pALocal, pBLocal);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);

20
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
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@ -147,9 +147,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false;
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal,
penetrationDepth, pA, pB);
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
normal, penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -181,9 +180,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false;
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal,
penetrationDepth, pA, pB);
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
normal, penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -213,9 +211,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false;
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal,
penetrationDepth, pA, pB);
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
normal, penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);
@ -252,9 +249,8 @@ bool GJKAlgorithm::testCollision(const CollisionShapeInfo& shape1Info,
if (penetrationDepth <= 0.0) return false;
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape, normal,
penetrationDepth, pA, pB);
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
normal, penetrationDepth, pA, pB);
narrowPhaseCallback->notifyContact(shape1Info.overlappingPair, contactInfo);

3
src/collision/narrowphase/NarrowPhaseAlgorithm.h
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@ -48,7 +48,8 @@ class NarrowPhaseCallback {
public:
/// 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;
};

3
src/collision/narrowphase/SphereVsSphereAlgorithm.cpp
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@ -70,8 +70,7 @@ bool SphereVsSphereAlgorithm::testCollision(const CollisionShapeInfo& shape1Info
decimal penetrationDepth = sumRadius - std::sqrt(squaredDistanceBetweenCenters);
// Create the contact info object
ContactPointInfo* contactInfo = new (mMemoryAllocator->allocate(sizeof(ContactPointInfo)))
ContactPointInfo(shape1Info.proxyShape, shape2Info.proxyShape,
ContactPointInfo contactInfo(shape1Info.proxyShape, shape2Info.proxyShape,
vectorBetweenCenters.getUnit(), penetrationDepth,
intersectionOnBody1, intersectionOnBody2);