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ShapeManager has improved HashMap
This commit is contained in:
Andrew Meadows
parent
f3ead98624
commit
b1b6188bb8
4 changed files with 101 additions and 338 deletions
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@ -15,7 +15,20 @@
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#include "ShapeInfo.h"
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void ShapeInfo::getInfo(const btCollisionShape* shape) {
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// prime numbers larger than 1e6
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const int NUM_PRIMES = 64;
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const unsigned int PRIMES[] = {
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4194301U, 4194287U, 4194277U, 4194271U, 4194247U, 4194217U, 4194199U, 4194191U,
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4194187U, 4194181U, 4194173U, 4194167U, 4194143U, 4194137U, 4194131U, 4194107U,
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4194103U, 4194023U, 4194011U, 4194007U, 4193977U, 4193971U, 4193963U, 4193957U,
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4193939U, 4193929U, 4193909U, 4193869U, 4193807U, 4193803U, 4193801U, 4193789U,
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4193759U, 4193753U, 4193743U, 4193701U, 4193663U, 4193633U, 4193573U, 4193569U,
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4193551U, 4193549U, 4193531U, 4193513U, 4193507U, 4193459U, 4193447U, 4193443U,
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4193417U, 4193411U, 4193393U, 4193389U, 4193381U, 4193377U, 4193369U, 4193359U,
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4193353U, 4193327U, 4193309U, 4193303U, 4193297U, 4193279U, 4193269U, 4193263U
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};
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void ShapeInfo::collectInfo(const btCollisionShape* shape) {
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_data.clear();
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if (shape) {
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_type = (unsigned int)(shape->getShapeType());
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@ -80,61 +93,87 @@ void ShapeInfo::setCapsule(float radius, float height) {
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_data.push_back(btVector3(radius, 0.5f * height, 0.0f));
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}
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unsigned int ShapeInfo::hashFunction(unsigned int value, int primeIndex) {
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unsigned int hash = PRIMES[primeIndex % NUM_PRIMES] * (value + 1U);
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hash += ~(hash << 15);
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hash ^= (hash >> 10);
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hash += (hash << 3);
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hash ^= (hash >> 6);
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hash += ~(hash << 11);
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return hash ^ (hash >> 16);
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}
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unsigned int ShapeInfo::hashFunction2(unsigned int value) {
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unsigned hash = 0x811c9dc5U;
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for (int i = 0; i < 4; i++ ) {
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unsigned int byte = (value << (i * 8)) >> (24 - i * 8);
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hash = ( hash ^ byte ) * 0x01000193U;
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}
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return hash;
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}
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const float MILLIMETERS_PER_METER = 1000.0f;
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int ShapeInfo::computeHash() const {
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// This hash algorithm works well for shapes that have dimensions less than about 256m.
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// At larger values the likelihood of hash collision goes up because of the most
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// significant bits are pushed off the top and the result could be the same as for smaller
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// dimensions (truncation).
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//
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// The algorithm may produce collisions for shapes whose dimensions differ by less than
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// ~1/256 m, however this is by design -- we don't expect collision differences smaller
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// than 1 mm to be noticable.
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unsigned int key = 0;
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btVector3 tempData;
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// scramble the bits of the type
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// TODO?: provide lookup table for hash of _type?
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int primeIndex = 0;
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unsigned int hash = ShapeInfo::hashFunction((unsigned int)_type, primeIndex++);
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btVector3 tmpData;
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int numData = _data.size();
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for (int i = 0; i < numData; ++i) {
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// Successively multiply components of each vec3 by primes near 512 and convert to U32
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// to spread the data across more bits. Note that all dimensions are at half-value
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// (half extents, radius, etc) which is why we multiply by primes near 512 rather
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// than 256.
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tempData = _data[i];
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key += (unsigned int)(509.0f * (tempData.getZ() + 0.01f))
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+ 509 * (unsigned int)(521.0f * (tempData.getY() + 0.01f))
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+ (509 * 521) * (unsigned int)(523.0f * (tempData.getX() + 0.01f));
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// avalanch the bits
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key += ~(key << 15);
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key ^= (key >> 10);
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key += (key << 3);
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key ^= (key >> 6);
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key += ~(key << 11);
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key ^= (key >> 16);
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tmpData = _data[i];
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for (int j = 0; j < 3; ++j) {
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// multiply these mm by a new prime
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unsigned int floatHash = ShapeInfo::hashFunction((unsigned int)(tmpData[j] * MILLIMETERS_PER_METER + 0.49f), primeIndex++);
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hash ^= floatHash;
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}
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}
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// finally XOR with type
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return (int)(key ^ _type);
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return hash;
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}
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int ShapeInfo::computeHash2() const {
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// scramble the bits of the type
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// TODO?: provide lookup table for hash of _type?
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unsigned int hash = ShapeInfo::hashFunction2((unsigned int)_type);
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btVector3 tmpData;
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int numData = _data.size();
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for (int i = 0; i < numData; ++i) {
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tmpData = _data[i];
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for (int j = 0; j < 3; ++j) {
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unsigned int floatHash = ShapeInfo::hashFunction2((unsigned int)(tmpData[j] * MILLIMETERS_PER_METER + 0.49f));
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hash += ~(floatHash << 17);
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hash ^= (floatHash >> 11);
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hash += (floatHash << 4);
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hash ^= (floatHash >> 7);
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hash += ~(floatHash << 10);
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hash = (hash << 16) | (hash >> 16);
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}
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}
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return hash;
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}
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btCollisionShape* ShapeInfo::createShape() const {
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btCollisionShape* shape = NULL;
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int numData = _data.size();
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switch(_type) {
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case BOX_SHAPE_PROXYTYPE:
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{
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case BOX_SHAPE_PROXYTYPE: {
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if (numData > 0) {
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btVector3 halfExtents = _data[0];
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shape = new btBoxShape(halfExtents);
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}
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}
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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case SPHERE_SHAPE_PROXYTYPE: {
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if (numData > 0) {
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float radius = _data[0].getZ();
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shape = new btSphereShape(radius);
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}
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}
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break;
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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case CYLINDER_SHAPE_PROXYTYPE: {
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if (numData > 0) {
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btVector3 halfExtents = _data[0];
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// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
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@ -143,8 +182,7 @@ btCollisionShape* ShapeInfo::createShape() const {
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}
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}
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break;
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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case CAPSULE_SHAPE_PROXYTYPE: {
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if (numData > 0) {
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float radius = _data[0].getX();
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float height = 2.0f * _data[0].getY();
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@ -17,167 +17,31 @@
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#include <btBulletDynamicsCommon.h>
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#include <LinearMath/btHashMap.h>
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const float DEFAULT_MARGIN = 0.04f;
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class ShapeInfo {
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public:
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ShapeInfo() : _type(INVALID_SHAPE_PROXYTYPE) {}
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ShapeInfo(const btCollisionShape* shape) : _type(INVALID_SHAPE_PROXYTYPE) {
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getInfo(shape);
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collectInfo(shape);
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}
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// BOOKMARK -- move ShapeInfo to its own files
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void getInfo(const btCollisionShape* shape);
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/*{
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_data.clear();
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if (shape) {
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_type = (unsigned int)(shape->getShapeType());
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switch(_type) {
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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_data.push_back(boxShape->getHalfExtentsWithMargin());
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}
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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_data.push_back(btVector3(0.0f, 0.0f, sphereShape->getRadius()));
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}
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break;
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinderShape = static_cast<const btCylinderShape*>(shape);
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_data.push_back(cylinderShape->getHalfExtentsWithMargin());
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}
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break;
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
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_data.push_back(btVector3(capsuleShape->getRadius(), capsuleShape->getHalfHeight(), 0.0f));
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// NOTE: we only support capsules with axis along yAxis
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}
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break;
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default:
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_type = INVALID_SHAPE_PROXYTYPE;
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break;
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}
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} else {
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_type = INVALID_SHAPE_PROXYTYPE;
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}
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}*/
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void collectInfo(const btCollisionShape* shape);
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void setBox(const btVector3& halfExtents);
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/*{
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_type = BOX_SHAPE_PROXYTYPE;
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_data.clear();
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_data.push_back(halfExtents);
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}*/
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void setSphere(float radius);
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/* {
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_type = SPHERE_SHAPE_PROXYTYPE;
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_data.clear();
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_data.push_back(btVector3(0.0f, 0.0f, radius));
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}*/
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void setCylinder(float radius, float height);
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/*{
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_type = CYLINDER_SHAPE_PROXYTYPE;
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_data.clear();
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// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
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// halfExtents = btVector3(radius, halfHeight, unused)
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_data.push_back(btVector3(radius, 0.5f * height, radius));
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}*/
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void setCapsule(float radius, float height);
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/*{
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_type = CAPSULE_SHAPE_PROXYTYPE;
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_data.clear();
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_data.push_back(btVector3(radius, 0.5f * height, 0.0f));
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}*/
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int computeHash() const;
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/*{
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// This hash algorithm works well for shapes that have dimensions less than about 256m.
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// At larger values the likelihood of hash collision goes up because of the most
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// significant bits are pushed off the top and the result could be the same as for smaller
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// dimensions (truncation).
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//
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// The algorithm may produce collisions for shapes whose dimensions differ by less than
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// ~1/256 m, however this is by design -- we don't expect collision differences smaller
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// than 1 mm to be noticable.
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unsigned int key = 0;
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btVector3 tempData;
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int numData = _data.size();
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for (int i = 0; i < numData; ++i) {
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// Successively multiply components of each vec3 by primes near 512 and convert to U32
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// to spread the data across more bits. Note that all dimensions are at half-value
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// (half extents, radius, etc) which is why we multiply by primes near 512 rather
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// than 256.
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tempData = _data[i];
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key += (unsigned int)(509.0f * (tempData.getZ() + 0.01f))
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+ 509 * (unsigned int)(521.0f * (tempData.getY() + 0.01f))
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+ (509 * 521) * (unsigned int)(523.0f * (tempData.getX() + 0.01f));
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// avalanch the bits
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key += ~(key << 15);
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key ^= (key >> 10);
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key += (key << 3);
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key ^= (key >> 6);
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key += ~(key << 11);
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key ^= (key >> 16);
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}
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// finally XOR with type
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return (int)(key ^ _type);
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}*/
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int computeHash2() const;
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static unsigned int hashFunction(unsigned int value, int primeIndex);
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static unsigned int hashFunction2(unsigned int value);
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private:
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friend class ShapeManager;
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btCollisionShape* createShape() const;
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/*{
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btCollisionShape* shape = NULL;
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int numData = _data.size();
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switch(_type) {
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case BOX_SHAPE_PROXYTYPE:
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{
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if (numData > 0) {
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btVector3 halfExtents = _data[0];
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shape = new btBoxShape(halfExtents);
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}
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}
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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if (numData > 0) {
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float radius = _data[0].getZ();
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shape = new btSphereShape(radius);
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}
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}
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break;
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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if (numData > 0) {
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btVector3 halfExtents = _data[0];
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// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
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// halfExtents = btVector3(radius, halfHeight, unused)
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shape = new btCylinderShape(halfExtents);
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}
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}
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break;
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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if (numData > 0) {
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float radius = _data[0].getX();
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float height = 2.0f * _data[0].getY();
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shape = new btCapsuleShape(radius, height);
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}
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}
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break;
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}
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return shape;
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}*/
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int _type;
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btAlignedObjectArray<btVector3> _data;
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@ -21,11 +21,12 @@ ShapeManager::~ShapeManager() {
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ShapeReference* shapeRef = _shapeMap.getAtIndex(i);
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delete shapeRef->_shape;
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}
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_shapeMap.clear();
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}
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btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
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int key = info.computeHash();
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ShapeKey key(info);
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ShapeReference* shapeRef = _shapeMap.find(key);
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if (shapeRef) {
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shapeRef->_refCount++;
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@ -43,7 +44,7 @@ btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) {
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}
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bool ShapeManager::releaseShape(const ShapeInfo& info) {
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int key = info.computeHash();
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ShapeKey key(info);
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ShapeReference* shapeRef = _shapeMap.find(key);
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if (shapeRef) {
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if (shapeRef->_refCount > 0) {
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@ -71,7 +72,7 @@ bool ShapeManager::releaseShape(const ShapeInfo& info) {
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bool ShapeManager::releaseShape(const btCollisionShape* shape) {
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// when the number of shapes is high it's probably cheaper to try to construct a ShapeInfo
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// and then compute the hash rather than walking the list in search of the pointer.
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int key = info.computeHash();
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ShapeKey key(info);
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ShapeReference* shapeRef = _shapeMap.find(key);
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if (shapeRef) {
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if (shapeRef->_refCount > 0) {
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@ -99,10 +100,9 @@ bool ShapeManager::releaseShape(const btCollisionShape* shape) {
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void ShapeManager::collectGarbage() {
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int numShapes = _pendingGarbage.size();
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for (int i = 0; i < numShapes; ++i) {
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int key = _pendingGarbage[i];
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ShapeKey& key = _pendingGarbage[i];
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ShapeReference* shapeRef = _shapeMap.find(key);
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assert(shapeRef != NULL);
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if (shapeRef->_refCount == 0) {
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if (shapeRef && shapeRef->_refCount == 0) {
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delete shapeRef->_shape;
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_shapeMap.remove(key);
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}
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@ -111,7 +111,7 @@ void ShapeManager::collectGarbage() {
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}
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int ShapeManager::getNumReferences(const ShapeInfo& info) const {
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int key = info.computeHash();
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ShapeKey key(info);
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const ShapeReference* shapeRef = _shapeMap.find(key);
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if (shapeRef) {
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return shapeRef->_refCount;
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@ -19,164 +19,25 @@
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#include "ShapeInfo.h"
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/*
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struct ShapeInfo {
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int _type;
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btAlignedObjectArray<btVector3> _data;
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//btVector3 _scale;
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ShapeInfo() : _type(INVALID_SHAPE_PROXYTYPE) {}
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ShapeInfo(const btCollisionShape* shape) : _type(INVALID_SHAPE_PROXYTYPE) {
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getInfo(shape);
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class ShapeKey
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{
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public:
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ShapeKey(const ShapeInfo& info) : _hash(0), _hash2(0) {
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_hash = info.computeHash();
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_hash2 = info.computeHash2();
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}
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// BOOKMARK -- move ShapeInfo to its own files
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void getInfo(const btCollisionShape* shape) {
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_data.clear();
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if (shape) {
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_type = (unsigned int)(shape->getShapeType());
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switch(_type) {
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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_data.push_back(boxShape->getHalfExtentsWithMargin());
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}
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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_data.push_back(btVector3(0.0f, 0.0f, sphereShape->getRadius()));
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}
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break;
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinderShape = static_cast<const btCylinderShape*>(shape);
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_data.push_back(cylinderShape->getHalfExtentsWithMargin());
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}
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break;
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
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_data.push_back(btVector3(capsuleShape->getRadius(), capsuleShape->getHalfHeight(), 0.0f));
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// NOTE: we only support capsules with axis along yAxis
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}
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break;
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default:
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_type = INVALID_SHAPE_PROXYTYPE;
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break;
|
||||
}
|
||||
} else {
|
||||
_type = INVALID_SHAPE_PROXYTYPE;
|
||||
}
|
||||
bool equals(const ShapeKey& other) const {
|
||||
return _hash == other._hash && _hash2 == other._hash2;
|
||||
}
|
||||
|
||||
void setBox(const btVector3& halfExtents) {
|
||||
_type = BOX_SHAPE_PROXYTYPE;
|
||||
_data.clear();
|
||||
_data.push_back(halfExtents);
|
||||
}
|
||||
|
||||
void setSphere(float radius) {
|
||||
_type = SPHERE_SHAPE_PROXYTYPE;
|
||||
_data.clear();
|
||||
_data.push_back(btVector3(0.0f, 0.0f, radius));
|
||||
}
|
||||
|
||||
void setCylinder(float radius, float height) {
|
||||
_type = CYLINDER_SHAPE_PROXYTYPE;
|
||||
_data.clear();
|
||||
// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
|
||||
// halfExtents = btVector3(radius, halfHeight, unused)
|
||||
_data.push_back(btVector3(radius, 0.5f * height, radius));
|
||||
}
|
||||
|
||||
void setCapsule(float radius, float height) {
|
||||
_type = CAPSULE_SHAPE_PROXYTYPE;
|
||||
_data.clear();
|
||||
_data.push_back(btVector3(radius, 0.5f * height, 0.0f));
|
||||
}
|
||||
|
||||
virtual int computeHash() const {
|
||||
// This hash algorithm works well for shapes that have dimensions less than about 256m.
|
||||
// At larger values the likelihood of hash collision goes up because of the most
|
||||
// significant bits are pushed off the top and the result could be the same as for smaller
|
||||
// dimensions (truncation).
|
||||
//
|
||||
// The algorithm may produce collisions for shapes whose dimensions differ by less than
|
||||
// ~1/256 m, however this is by design -- we don't expect collision differences smaller
|
||||
// than 1 mm to be noticable.
|
||||
unsigned int key = 0;
|
||||
btVector3 tempData;
|
||||
int numData = _data.size();
|
||||
for (int i = 0; i < numData; ++i) {
|
||||
// Successively multiply components of each vec3 by primes near 512 and convert to U32
|
||||
// to spread the data across more bits. Note that all dimensions are at half-value
|
||||
// (half extents, radius, etc) which is why we multiply by primes near 512 rather
|
||||
// than 256.
|
||||
tempData = _data[i];
|
||||
key += (unsigned int)(509.0f * (tempData.getZ() + 0.01f))
|
||||
+ 509 * (unsigned int)(521.0f * (tempData.getY() + 0.01f))
|
||||
+ (509 * 521) * (unsigned int)(523.0f * (tempData.getX() + 0.01f));
|
||||
// avalanch the bits
|
||||
key += ~(key << 15);
|
||||
key ^= (key >> 10);
|
||||
key += (key << 3);
|
||||
key ^= (key >> 6);
|
||||
key += ~(key << 11);
|
||||
key ^= (key >> 16);
|
||||
}
|
||||
// finally XOR with type
|
||||
return (int)(key ^ _type);
|
||||
}
|
||||
unsigned int getHash() const { return (unsigned int)_hash; }
|
||||
|
||||
private:
|
||||
friend class ShapeManager;
|
||||
|
||||
virtual btCollisionShape* createShape() const {
|
||||
btCollisionShape* shape = NULL;
|
||||
int numData = _data.size();
|
||||
switch(_type) {
|
||||
case BOX_SHAPE_PROXYTYPE:
|
||||
{
|
||||
if (numData > 0) {
|
||||
btVector3 halfExtents = _data[0];
|
||||
shape = new btBoxShape(halfExtents);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case SPHERE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
if (numData > 0) {
|
||||
float radius = _data[0].getZ();
|
||||
shape = new btSphereShape(radius);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case CYLINDER_SHAPE_PROXYTYPE:
|
||||
{
|
||||
if (numData > 0) {
|
||||
btVector3 halfExtents = _data[0];
|
||||
// NOTE: default cylinder has (UpAxis = 1) axis along yAxis and radius stored in X
|
||||
// halfExtents = btVector3(radius, halfHeight, unused)
|
||||
shape = new btCylinderShape(halfExtents);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case CAPSULE_SHAPE_PROXYTYPE:
|
||||
{
|
||||
if (numData > 0) {
|
||||
float radius = _data[0].getX();
|
||||
float height = 2.0f * _data[0].getY();
|
||||
shape = new btCapsuleShape(radius, height);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
return shape;
|
||||
}
|
||||
int _hash;
|
||||
int _hash2;
|
||||
};
|
||||
*/
|
||||
|
||||
|
||||
class ShapeManager {
|
||||
public:
|
||||
|
|
@ -205,8 +66,8 @@ private:
|
|||
ShapeReference() : _refCount(0), _shape(NULL) {}
|
||||
};
|
||||
|
||||
btHashMap<btHashInt, ShapeReference> _shapeMap;
|
||||
btAlignedObjectArray<int> _pendingGarbage;
|
||||
btHashMap<ShapeKey, ShapeReference> _shapeMap;
|
||||
btAlignedObjectArray<ShapeKey> _pendingGarbage;
|
||||
};
|
||||
|
||||
#endif // USE_BULLET_PHYSICS
|
||||
|
|
|
|||
Loading…
Reference in a new issue