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Optimization

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This commit is contained in:
Daniel Chappuis 2020-09-02 23:33:12 +02:00
parent 7774b6f0cd
commit f17941b708
2 changed files with 19 additions and 12 deletions
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3
include/reactphysics3d/systems/CollisionDetectionSystem.h
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@ -159,6 +159,9 @@ class CollisionDetectionSystem {
/// Pointer to the contact points of the current frame (either mContactPoints1 or mContactPoints2)
List<ContactPoint>* mCurrentContactPoints;
/// Array with the indices of all the contact pairs that have at least one CollisionBody
List<uint32> mCollisionBodyContactPairsIndices;
#ifdef IS_RP3D_PROFILING_ENABLED
/// Pointer to the profiler

28
src/systems/CollisionDetectionSystem.cpp
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@ -67,7 +67,7 @@ CollisionDetectionSystem::CollisionDetectionSystem(PhysicsWorld* world, Collider
mContactManifolds1(mMemoryManager.getPoolAllocator()), mContactManifolds2(mMemoryManager.getPoolAllocator()),
mPreviousContactManifolds(&mContactManifolds1), mCurrentContactManifolds(&mContactManifolds2),
mContactPoints1(mMemoryManager.getPoolAllocator()), mContactPoints2(mMemoryManager.getPoolAllocator()),
mPreviousContactPoints(&mContactPoints1), mCurrentContactPoints(&mContactPoints2) {
mPreviousContactPoints(&mContactPoints1), mCurrentContactPoints(&mContactPoints2), mCollisionBodyContactPairsIndices(mMemoryManager.getSingleFrameAllocator()) {
#ifdef IS_RP3D_PROFILING_ENABLED
@ -623,13 +623,23 @@ void CollisionDetectionSystem::addContactPairsToBodies() {
ContactPair& contactPair = (*mCurrentContactPairs)[p];
const bool isBody1Rigid = mRigidBodyComponents.hasComponent(contactPair.body1Entity);
const bool isBody2Rigid = mRigidBodyComponents.hasComponent(contactPair.body2Entity);
// Add the associated contact pair to both bodies of the pair (used to create islands later)
if (mRigidBodyComponents.hasComponent(contactPair.body1Entity)) {
if (isBody1Rigid) {
mRigidBodyComponents.addContacPair(contactPair.body1Entity, p);
}
if (mRigidBodyComponents.hasComponent(contactPair.body2Entity)) {
if (isBody2Rigid) {
mRigidBodyComponents.addContacPair(contactPair.body2Entity, p);
}
// If at least of body is a CollisionBody
if (!isBody1Rigid || !isBody2Rigid) {
// Add the pair index to the array of pairs with CollisionBody
mCollisionBodyContactPairsIndices.add(p);
}
}
}
@ -814,15 +824,7 @@ void CollisionDetectionSystem::createContacts() {
// We go through all the contact pairs and add the pairs with a least a CollisionBody at the end of the
// mProcessContactPairsOrderIslands array because those pairs have not been added during the islands
// creation (only the pairs with two RigidBodies are added during island creation)
Set<uint32> processedContactPairsIndices(mMemoryManager.getSingleFrameAllocator(), mCurrentContactPairs->size());
for (uint32 i=0; i < mWorld->mProcessContactPairsOrderIslands.size(); i++) {
processedContactPairsIndices.add(mWorld->mProcessContactPairsOrderIslands[i]);
}
for (uint32 i=0; i < mCurrentContactPairs->size(); i++) {
if (!processedContactPairsIndices.contains(i)) {
mWorld->mProcessContactPairsOrderIslands.add(i);
}
}
mWorld->mProcessContactPairsOrderIslands.addRange(mCollisionBodyContactPairsIndices);
assert(mWorld->mProcessContactPairsOrderIslands.size() == (*mCurrentContactPairs).size());
@ -883,6 +885,8 @@ void CollisionDetectionSystem::createContacts() {
// Compute the map from contact pairs ids to contact pair for the next frame
computeMapPreviousContactPairs();
mCollisionBodyContactPairsIndices.clear(true);
mNarrowPhaseInput.clear();
}