Revision: 16758
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16758
Author: erwin
Date: 2008-09-27 01:20:31 +0200 (Sat, 27 Sep 2008)
Log Message:
-----------
fixed some outstanding issues with Bullet soft bodies:
1) re-allocate a pool allocator, if one of the soft body collision algorithms
is larger than max pool element size
2) manage child shapes properly, and call RemoveReferences on the m_sparsesdf
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
trunk/blender/extern/bullet2/src/LinearMath/btPoolAllocator.h
Modified:
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
2008-09-26 22:49:54 UTC (rev 16757)
+++
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
2008-09-26 23:20:31 UTC (rev 16758)
@@ -48,6 +48,8 @@
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
+protected:
+
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
@@ -56,6 +58,7 @@
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
+
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
Modified: trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
===================================================================
--- trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
2008-09-26 22:49:54 UTC (rev 16757)
+++ trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBody.h
2008-09-26 23:20:31 UTC (rev 16758)
@@ -609,6 +609,11 @@
btAlignedObjectArray<int> m_userIndexMapping;
+ btSoftBodyWorldInfo* getWorldInfo()
+ {
+ return m_worldInfo;
+ }
+
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
//don't do anything, due to the internal shape hack: todo: fix
this
Modified:
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
2008-09-26 22:49:54 UTC (rev 16757)
+++
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
2008-09-26 23:20:31 UTC (rev 16758)
@@ -74,35 +74,23 @@
void btSoftBodyTriangleCallback::clearCache()
{
- //m_dispatcher->clearManifold(m_manifoldPtr);
+ for (int i=0;i<m_shapeCache.size();i++)
+ {
+ btTriIndex* tmp = m_shapeCache.getAtIndex(i);
+ btAssert(tmp);
+ btAssert(tmp->m_childShape);
+
m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
+ delete tmp->m_childShape;
+ }
+ m_shapeCache.clear();
};
-static const int maxParts = 1;
-static const int maxTriangleIndex = 100*100;
-
-btCollisionShape* shapeCache[maxParts][maxTriangleIndex];
-
-
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
- static bool hackedFirst = true;
- if (hackedFirst)
- {
- hackedFirst = false;
- int i,j;
- for (i=0;i<maxParts;i++)
- {
- for (j=0;j<maxTriangleIndex;j++)
- {
- shapeCache[i][j]=0;
- }
- }
- }
-
- //just for debugging purposes
+ //just for debugging purposes
//printf("triangle %d",m_triangleCount++);
-btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
@@ -114,18 +102,17 @@
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
-
- //btVector3 center = triangle[0] + triangle[1]+triangle[2];
- //center *= btScalar(0.333333);
-
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
-
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
-
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
-
}
- if (shapeCache[partId][triangleIndex])
+ btTriIndex triIndex(partId,triangleIndex,0);
+ btHashKey<btTriIndex> triKey(triIndex.getUid());
+
+
+ btTriIndex* shapeIndex = m_shapeCache[triKey];
+ if (shapeIndex)
{
- btCollisionShape* tm = shapeCache[partId][triangleIndex];
+ btCollisionShape* tm = shapeIndex->m_childShape;
+ btAssert(tm);
//copy over user pointers to temporary shape
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
@@ -145,13 +132,6 @@
//aabb filter is already applied!
-
-
-
-
-
-
-
//btCollisionObject* colObj =
static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
@@ -194,11 +174,12 @@
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
+
+
ob->internalSetTemporaryCollisionShape( tmpShape );
-// delete tm;
+ triIndex.m_childShape = tm;
+ m_shapeCache.insert(triKey,triIndex);
- shapeCache[partId][triangleIndex] = tm;
-
}
Modified:
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
2008-09-26 22:49:54 UTC (rev 16757)
+++
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
2008-09-26 23:20:31 UTC (rev 16758)
@@ -25,7 +25,40 @@
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btSoftBody;
+class btCollisionShape;
+#include "LinearMath/btHashMap.h"
+
+#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for
definition of MAX_NUM_PARTS_IN_BITS
+
+struct btTriIndex
+{
+ int m_PartIdTriangleIndex;
+ class btCollisionShape* m_childShape;
+
+ btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
+ {
+ m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) |
triangleIndex;
+ m_childShape = shape;
+ }
+
+ int getTriangleIndex() const
+ {
+ // Get only the lower bits where the triangle index is stored
+ return
(m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
+ }
+ int getPartId() const
+ {
+ // Get only the highest bits where the part index is stored
+ return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
+ }
+ int getUid() const
+ {
+ return m_PartIdTriangleIndex;
+ }
+};
+
+
///For each triangle in the concave mesh that overlaps with the AABB of a soft
body (m_softBody), processTriangle is called.
class btSoftBodyTriangleCallback : public btTriangleCallback
{
@@ -40,6 +73,8 @@
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle;
+
+ btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
public:
int m_triangleCount;
Modified:
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
===================================================================
---
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
2008-09-26 22:49:54 UTC (rev 16757)
+++
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
2008-09-26 23:20:31 UTC (rev 16758)
@@ -18,6 +18,8 @@
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"
+#include "LinearMath/btPoolAllocator.h"
+
#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const
btDefaultCollisionConstructionInfo& constructionInfo)
@@ -44,6 +46,31 @@
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
#endif
+ //replace pool by a new one, with potential larger size
+
+ if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
+ {
+ int curElemSize = m_collisionAlgorithmPool->getElementSize();
+ ///calculate maximum element size, big enough to fit any
collision algorithm in the memory pool
+
+
+ int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
+ int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
+ int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
+
+ int collisionAlgorithmMaxElementSize =
btMax(maxSize0,maxSize1);
+ collisionAlgorithmMaxElementSize =
btMax(collisionAlgorithmMaxElementSize,maxSize2);
+ if (collisionAlgorithmMaxElementSize > curElemSize)
+ {
+ btAlignedFree(m_collisionAlgorithmPool);
+ void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
+ m_collisionAlgorithmPool = new(mem)
btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
+ }
+ }
+
+
+
+
}
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
Modified: trunk/blender/extern/bullet2/src/LinearMath/btPoolAllocator.h
===================================================================
--- trunk/blender/extern/bullet2/src/LinearMath/btPoolAllocator.h
2008-09-26 22:49:54 UTC (rev 16757)
+++ trunk/blender/extern/bullet2/src/LinearMath/btPoolAllocator.h
2008-09-26 23:20:31 UTC (rev 16758)
@@ -91,7 +91,12 @@
}
}
+ int getElementSize() const
+ {
+ return m_elemSize;
+ }
+
};
#endif //_BT_POOL_ALLOCATOR_H
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