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Remove method to get last frame info from NarrowPhaseInfoBatch class

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This commit is contained in:
Daniel Chappuis 2018-10-10 20:33:42 +02:00
parent b62c0cf100
commit f0fe97a41b
8 changed files with 13 additions and 15 deletions
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2
src/collision/CollisionDetection.cpp
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@ -248,7 +248,7 @@ void CollisionDetection::computeNarrowPhase() {
// If there is no collision algorithm between those two kinds of shapes, skip it
if (narrowPhaseAlgorithm != nullptr) {
LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastCollisionFrameInfo = mNarrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
// Use the narrow-phase collision detection algorithm to check
// if there really is a collision. If a collision occurs, the

5
src/collision/NarrowPhaseInfoBatch.cpp
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@ -35,7 +35,7 @@ using namespace reactphysics3d;
NarrowPhaseInfoBatch::NarrowPhaseInfoBatch(MemoryAllocator& allocator)
: mMemoryAllocator(allocator), overlappingPairs(allocator), collisionShapes1(allocator), collisionShapes2(allocator),
shape1ToWorldTransforms(allocator), shape2ToWorldTransforms(allocator),
isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator) {
isColliding(allocator), contactPoints(allocator), collisionShapeAllocators(allocator), lastFrameCollisionInfos(allocator) {
}
@ -60,6 +60,8 @@ void NarrowPhaseInfoBatch::addNarrowPhaseInfo(OverlappingPair* pair, CollisionSh
// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
pair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
lastFrameCollisionInfos.add(pair->getLastFrameCollisionInfo(shape1->getId(), shape2->getId()));
}
// Add a new contact point
@ -125,6 +127,7 @@ void NarrowPhaseInfoBatch::clear() {
shape1ToWorldTransforms.clear();
shape2ToWorldTransforms.clear();
collisionShapeAllocators.clear();
lastFrameCollisionInfos.clear();
isColliding.clear();
contactPoints.clear();
}

11
src/collision/NarrowPhaseInfoBatch.h
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@ -78,6 +78,9 @@ struct NarrowPhaseInfoBatch {
/// Memory allocators for the collision shape (Used to release TriangleShape memory in destructor)
List<MemoryAllocator*> collisionShapeAllocators;
/// Collision infos of the previous frame
List<LastFrameCollisionInfo*> lastFrameCollisionInfos;
/// Constructor
NarrowPhaseInfoBatch(MemoryAllocator& allocator);
@ -101,9 +104,6 @@ struct NarrowPhaseInfoBatch {
/// Clear all the objects in the batch
void clear();
/// Get the last collision frame info for temporal coherence
LastFrameCollisionInfo* getLastFrameCollisionInfo(uint index) const;
};
/// Return the number of objects in the batch
@ -111,11 +111,6 @@ inline uint NarrowPhaseInfoBatch::getNbObjects() const {
return overlappingPairs.size();
}
// Get the last collision frame info for temporal coherence
inline LastFrameCollisionInfo* NarrowPhaseInfoBatch::getLastFrameCollisionInfo(uint index) const {
return overlappingPairs[index]->getLastFrameCollisionInfo(collisionShapes1[index]->getId(), collisionShapes2[index]->getId());
}
}
#endif

2
src/collision/narrowphase/CapsuleVsConvexPolyhedronAlgorithm.cpp
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@ -64,7 +64,7 @@ void CapsuleVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& nar
for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) {
// Get the last frame collision info
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
lastFrameCollisionInfo->wasUsingGJK = true;
lastFrameCollisionInfo->wasUsingSAT = false;

2
src/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.cpp
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@ -54,7 +54,7 @@ void ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoB
for (uint batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) {
// Get the last frame collision info
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
lastFrameCollisionInfo->wasUsingSAT = true;
lastFrameCollisionInfo->wasUsingGJK = false;

2
src/collision/narrowphase/GJK/GJKAlgorithm.cpp
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@ -92,7 +92,7 @@ void GJKAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uin
VoronoiSimplex simplex;
// Get the last collision frame info
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
// Get the previous point V (last cached separating axis)
Vector3 v;

2
src/collision/narrowphase/SAT/SATAlgorithm.cpp
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@ -494,7 +494,7 @@ void SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
Vector3 minEdgeVsEdgeSeparatingAxisPolyhedron2Space;
bool isShape1Triangle = polyhedron1->getName() == CollisionShapeName::TRIANGLE;
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
// If the last frame collision info is valid and was also using SAT algorithm
if (lastFrameCollisionInfo->isValid && lastFrameCollisionInfo->wasUsingSAT) {

2
src/collision/narrowphase/SphereVsConvexPolyhedronAlgorithm.cpp
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@ -62,7 +62,7 @@ void SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narr
narrowPhaseInfoBatch.collisionShapes2[batchIndex]->getType() == CollisionShapeType::SPHERE);
// Get the last frame collision info
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.getLastFrameCollisionInfo(batchIndex);
LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
lastFrameCollisionInfo->wasUsingGJK = true;
lastFrameCollisionInfo->wasUsingSAT = false;