From 45e571dd02cfed91b8a4c7e954b7693fd1b11617 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Thu, 26 Oct 2017 08:16:41 -0700 Subject: [PATCH 1/4] cleanup ShapeInfo::getHash() --- libraries/physics/src/ShapeManager.cpp | 8 +- libraries/physics/src/ShapeManager.h | 10 +- libraries/shared/src/HashKey.cpp | 67 +++++++++++++ libraries/shared/src/HashKey.h | 52 ++++++++++ libraries/shared/src/ShapeInfo.cpp | 119 +++++------------------ libraries/shared/src/ShapeInfo.h | 6 +- tests/physics/src/ShapeInfoTests.cpp | 129 +++++++++---------------- tests/physics/src/ShapeInfoTests.h | 4 - 8 files changed, 202 insertions(+), 193 deletions(-) create mode 100644 libraries/shared/src/HashKey.cpp create mode 100644 libraries/shared/src/HashKey.h diff --git a/libraries/physics/src/ShapeManager.cpp b/libraries/physics/src/ShapeManager.cpp index 77716f671b..97b9e5dab1 100644 --- a/libraries/physics/src/ShapeManager.cpp +++ b/libraries/physics/src/ShapeManager.cpp @@ -32,7 +32,7 @@ const btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) { if (info.getType() == SHAPE_TYPE_NONE) { return nullptr; } - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); ShapeReference* shapeRef = _shapeMap.find(key); if (shapeRef) { shapeRef->refCount++; @@ -50,7 +50,7 @@ const btCollisionShape* ShapeManager::getShape(const ShapeInfo& info) { } // private helper method -bool ShapeManager::releaseShapeByKey(const DoubleHashKey& key) { +bool ShapeManager::releaseShapeByKey(const HashKey& key) { ShapeReference* shapeRef = _shapeMap.find(key); if (shapeRef) { if (shapeRef->refCount > 0) { @@ -88,7 +88,7 @@ bool ShapeManager::releaseShape(const btCollisionShape* shape) { void ShapeManager::collectGarbage() { int numShapes = _pendingGarbage.size(); for (int i = 0; i < numShapes; ++i) { - DoubleHashKey& key = _pendingGarbage[i]; + HashKey& key = _pendingGarbage[i]; ShapeReference* shapeRef = _shapeMap.find(key); if (shapeRef && shapeRef->refCount == 0) { ShapeFactory::deleteShape(shapeRef->shape); @@ -99,7 +99,7 @@ void ShapeManager::collectGarbage() { } int ShapeManager::getNumReferences(const ShapeInfo& info) const { - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); const ShapeReference* shapeRef = _shapeMap.find(key); if (shapeRef) { return shapeRef->refCount; diff --git a/libraries/physics/src/ShapeManager.h b/libraries/physics/src/ShapeManager.h index ed81b5e8f8..6ec3573b53 100644 --- a/libraries/physics/src/ShapeManager.h +++ b/libraries/physics/src/ShapeManager.h @@ -17,7 +17,7 @@ #include -#include "DoubleHashKey.h" +#include "HashKey.h" class ShapeManager { public: @@ -41,18 +41,18 @@ public: bool hasShape(const btCollisionShape* shape) const; private: - bool releaseShapeByKey(const DoubleHashKey& key); + bool releaseShapeByKey(const HashKey& key); class ShapeReference { public: int refCount; const btCollisionShape* shape; - DoubleHashKey key; + HashKey key; ShapeReference() : refCount(0), shape(nullptr) {} }; - btHashMap _shapeMap; - btAlignedObjectArray _pendingGarbage; + btHashMap _shapeMap; + btAlignedObjectArray _pendingGarbage; }; #endif // hifi_ShapeManager_h diff --git a/libraries/shared/src/HashKey.cpp b/libraries/shared/src/HashKey.cpp new file mode 100644 index 0000000000..488eccb1bf --- /dev/null +++ b/libraries/shared/src/HashKey.cpp @@ -0,0 +1,67 @@ +// +// HashKey.cpp +// libraries/shared/src +// +// Created by Andrew Meadows 2017.10.25 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#include "HashKey.h" + +#include "NumericalConstants.h" + + +const uint8_t NUM_PRIMES = 64; +const uint64_t PRIMES[] = { + 4194301UL, 4194287UL, 4194277UL, 4194271UL, 4194247UL, 4194217UL, 4194199UL, 4194191UL, + 4194187UL, 4194181UL, 4194173UL, 4194167UL, 4194143UL, 4194137UL, 4194131UL, 4194107UL, + 4194103UL, 4194023UL, 4194011UL, 4194007UL, 4193977UL, 4193971UL, 4193963UL, 4193957UL, + 4193939UL, 4193929UL, 4193909UL, 4193869UL, 4193807UL, 4193803UL, 4193801UL, 4193789UL, + 4193759UL, 4193753UL, 4193743UL, 4193701UL, 4193663UL, 4193633UL, 4193573UL, 4193569UL, + 4193551UL, 4193549UL, 4193531UL, 4193513UL, 4193507UL, 4193459UL, 4193447UL, 4193443UL, + 4193417UL, 4193411UL, 4193393UL, 4193389UL, 4193381UL, 4193377UL, 4193369UL, 4193359UL, + 4193353UL, 4193327UL, 4193309UL, 4193303UL, 4193297UL, 4193279UL, 4193269UL, 4193263UL +}; + + +// this hash function inspired by Squirrel Eiserloh's GDC2017 talk: "Noise-Based RNG" +uint64_t squirrel3_64(uint64_t data, uint8_t primeIndex) { + constexpr uint64_t BIT_NOISE1 = 2760725261486592643UL; + constexpr uint64_t BIT_NOISE2 = 6774464464027632833UL; + constexpr uint64_t BIT_NOISE3 = 5545331650366059883UL; + + // blend prime numbers into the hash to prevent dupes + // when hashing the same set of numbers in a different order + uint64_t hash = PRIMES[primeIndex % NUM_PRIMES] * data; + hash *= BIT_NOISE1; + hash ^= (hash >> 16); + hash += BIT_NOISE2; + hash ^= (hash << 16); + hash *= BIT_NOISE3; + return hash ^ (hash >> 16); +} + +constexpr float QUANTIZED_VALUES_PER_METER = 250.0f; + +// static +float HashKey::getNumQuantizedValuesPerMeter() { + return QUANTIZED_VALUES_PER_METER; +} + +void HashKey::hashUint64(uint64_t data) { + _hash += squirrel3_64(data, ++_hashCount); +} + +void HashKey::hashFloat(float data) { + _hash += squirrel3_64((uint64_t)((int64_t)(data * QUANTIZED_VALUES_PER_METER)), ++_hashCount); +} + +void HashKey::hashVec3(const glm::vec3& data) { + _hash += squirrel3_64((uint64_t)((int64_t)(data[0] * QUANTIZED_VALUES_PER_METER)), ++_hashCount); + _hash *= squirrel3_64((uint64_t)((int64_t)(data[1] * QUANTIZED_VALUES_PER_METER)), ++_hashCount); + _hash ^= squirrel3_64((uint64_t)((int64_t)(data[2] * QUANTIZED_VALUES_PER_METER)), ++_hashCount); +} + diff --git a/libraries/shared/src/HashKey.h b/libraries/shared/src/HashKey.h new file mode 100644 index 0000000000..5fce182084 --- /dev/null +++ b/libraries/shared/src/HashKey.h @@ -0,0 +1,52 @@ +// +// HashKey.h +// libraries/shared/src +// +// Created by Andrew Meadows 2017.10.25 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#ifndef hifi_HashKey_h +#define hifi_HashKey_h + +#include +#include + +#include + + +// HashKey for use with btHashMap which requires a particular API for its keys. In particular it +// requires its Key to implement these methods: +// +// bool Key::equals() +// int32_t Key::getHash() +// +// The important thing about the HashKey implementation is that while getHash() returns 32-bits, +// internally HashKey stores a 64-bit hash which is used for the equals() comparison. This allows +// btHashMap to insert "dupe" 32-bit keys to different "values". + +class HashKey { +public: + static float getNumQuantizedValuesPerMeter(); + + // These two methods are required by btHashMap. + bool equals(const HashKey& other) const { return _hash == other._hash; } + int32_t getHash() const { return (int32_t)((uint32_t)_hash); } + + void clear() { _hash = _hashCount = 0; } + bool isNull() const { return _hash == 0 && _hashCount == 0; } + void hashUint64(uint64_t data); + void hashFloat(float data); + void hashVec3(const glm::vec3& data); + + uint64_t getHash64() const { return _hash; } // for debug/test purposes + +private: + uint64_t _hash { 0 }; + uint8_t _hashCount { 0 }; +}; + +#endif // hifi_HashKey_h diff --git a/libraries/shared/src/ShapeInfo.cpp b/libraries/shared/src/ShapeInfo.cpp index 36ce38335a..8cdc4bcf14 100644 --- a/libraries/shared/src/ShapeInfo.cpp +++ b/libraries/shared/src/ShapeInfo.cpp @@ -53,7 +53,7 @@ void ShapeInfo::clear() { _triangleIndices.clear(); _halfExtents = glm::vec3(0.0f); _offset = glm::vec3(0.0f); - _doubleHashKey.clear(); + _hashKey.clear(); _type = SHAPE_TYPE_NONE; } @@ -87,14 +87,14 @@ void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString default: break; } - _doubleHashKey.clear(); + _hashKey.clear(); } void ShapeInfo::setBox(const glm::vec3& halfExtents) { _url = ""; _type = SHAPE_TYPE_BOX; setHalfExtents(halfExtents); - _doubleHashKey.clear(); + _hashKey.clear(); } void ShapeInfo::setSphere(float radius) { @@ -102,12 +102,12 @@ void ShapeInfo::setSphere(float radius) { _type = SHAPE_TYPE_SPHERE; radius = glm::max(radius, MIN_HALF_EXTENT); _halfExtents = glm::vec3(radius); - _doubleHashKey.clear(); + _hashKey.clear(); } void ShapeInfo::setPointCollection(const ShapeInfo::PointCollection& pointCollection) { _pointCollection = pointCollection; - _doubleHashKey.clear(); + _hashKey.clear(); } void ShapeInfo::setCapsuleY(float radius, float halfHeight) { @@ -116,12 +116,12 @@ void ShapeInfo::setCapsuleY(float radius, float halfHeight) { radius = glm::max(radius, MIN_HALF_EXTENT); halfHeight = glm::max(halfHeight, 0.0f); _halfExtents = glm::vec3(radius, halfHeight, radius); - _doubleHashKey.clear(); + _hashKey.clear(); } void ShapeInfo::setOffset(const glm::vec3& offset) { _offset = offset; - _doubleHashKey.clear(); + _hashKey.clear(); } uint32_t ShapeInfo::getNumSubShapes() const { @@ -256,119 +256,46 @@ bool ShapeInfo::contains(const glm::vec3& point) const { } } -const DoubleHashKey& ShapeInfo::getHash() const { +const HashKey& ShapeInfo::getHash() const { // NOTE: we cache the key so we only ever need to compute it once for any valid ShapeInfo instance. - if (_doubleHashKey.isNull() && _type != SHAPE_TYPE_NONE) { - bool useOffset = glm::length2(_offset) > MIN_SHAPE_OFFSET * MIN_SHAPE_OFFSET; + if (_hashKey.isNull() && _type != SHAPE_TYPE_NONE) { // The key is not yet cached therefore we must compute it. - // compute hash1 - // TODO?: provide lookup table for hash/hash2 of _type rather than recompute? - uint32_t primeIndex = 0; - _doubleHashKey.computeHash((uint32_t)_type, primeIndex++); - + _hashKey.hashUint64((uint64_t)_type); if (_type != SHAPE_TYPE_SIMPLE_HULL) { - // compute hash1 - uint32_t hash = _doubleHashKey.getHash(); - for (int j = 0; j < 3; ++j) { - // NOTE: 0.49f is used to bump the float up almost half a millimeter - // so the cast to int produces a round() effect rather than a floor() - hash ^= DoubleHashKey::hashFunction( - (uint32_t)(_halfExtents[j] * MILLIMETERS_PER_METER + copysignf(1.0f, _halfExtents[j]) * 0.49f), - primeIndex++); - if (useOffset) { - hash ^= DoubleHashKey::hashFunction( - (uint32_t)(_offset[j] * MILLIMETERS_PER_METER + copysignf(1.0f, _offset[j]) * 0.49f), - primeIndex++); - } - } - _doubleHashKey.setHash(hash); - - // compute hash2 - hash = _doubleHashKey.getHash2(); - for (int j = 0; j < 3; ++j) { - // NOTE: 0.49f is used to bump the float up almost half a millimeter - // so the cast to int produces a round() effect rather than a floor() - uint32_t floatHash = DoubleHashKey::hashFunction2( - (uint32_t)(_halfExtents[j] * MILLIMETERS_PER_METER + copysignf(1.0f, _halfExtents[j]) * 0.49f)); - if (useOffset) { - floatHash ^= DoubleHashKey::hashFunction2( - (uint32_t)(_offset[j] * MILLIMETERS_PER_METER + copysignf(1.0f, _offset[j]) * 0.49f)); - } - hash += ~(floatHash << 17); - hash ^= (floatHash >> 11); - hash += (floatHash << 4); - hash ^= (floatHash >> 7); - hash += ~(floatHash << 10); - hash = (hash << 16) | (hash >> 16); - } - _doubleHashKey.setHash2(hash); + _hashKey.hashVec3(_halfExtents); + _hashKey.hashVec3(_offset); } else { - + // TODO: we could avoid hashing all of these points if we were to supply the ShapeInfo with a unique + // descriptive string. Shapes that are uniquely described by their type and URL could just put their + // url in the description. assert(_pointCollection.size() == (size_t)1); const PointList & points = _pointCollection.back(); const int numPoints = (int)points.size(); - uint32_t hash = _doubleHashKey.getHash(); - uint32_t hash2 = _doubleHashKey.getHash2(); - for (int pointIndex = 0; pointIndex < numPoints; ++pointIndex) { - // compute hash1 & 2 - const glm::vec3 &curPoint = points[pointIndex]; - for (int vecCompIndex = 0; vecCompIndex < 3; ++vecCompIndex) { - - // NOTE: 0.49f is used to bump the float up almost half a millimeter - // so the cast to int produces a round() effect rather than a floor() - uint32_t valueToHash = (uint32_t)(curPoint[vecCompIndex] * MILLIMETERS_PER_METER + copysignf(1.0f, curPoint[vecCompIndex]) * 0.49f); - - hash ^= DoubleHashKey::hashFunction(valueToHash, primeIndex++); - uint32_t floatHash = DoubleHashKey::hashFunction2(valueToHash); - - if (useOffset) { - - const uint32_t offsetValToHash = (uint32_t)(_offset[vecCompIndex] * MILLIMETERS_PER_METER + copysignf(1.0f, _offset[vecCompIndex])* 0.49f); - - hash ^= DoubleHashKey::hashFunction(offsetValToHash, primeIndex++); - floatHash ^= DoubleHashKey::hashFunction2(offsetValToHash); - } - - hash2 += ~(floatHash << 17); - hash2 ^= (floatHash >> 11); - hash2 += (floatHash << 4); - hash2 ^= (floatHash >> 7); - hash2 += ~(floatHash << 10); - hash2 = (hash2 << 16) | (hash2 >> 16); - } + for (int i = 0; i < numPoints; ++i) { + _hashKey.hashVec3(points[i]); } - - _doubleHashKey.setHash(hash); - _doubleHashKey.setHash2(hash2); } QString url = _url.toString(); if (!url.isEmpty()) { - // fold the urlHash into both parts QByteArray baUrl = url.toLocal8Bit(); uint32_t urlHash = qChecksum(baUrl.data(), baUrl.size()); - _doubleHashKey.setHash(_doubleHashKey.getHash() ^ urlHash); - _doubleHashKey.setHash2(_doubleHashKey.getHash2() ^ urlHash); + _hashKey.hashUint64((uint64_t)urlHash); } - uint32_t numHulls = 0; if (_type == SHAPE_TYPE_COMPOUND || _type == SHAPE_TYPE_SIMPLE_COMPOUND) { - numHulls = (uint32_t)_pointCollection.size(); + uint64_t numHulls = (uint64_t)_pointCollection.size(); + _hashKey.hashUint64(numHulls); } else if (_type == SHAPE_TYPE_SIMPLE_HULL) { - numHulls = 1; - } - if (numHulls > 0) { - uint32_t hash = DoubleHashKey::hashFunction(numHulls, primeIndex++); - _doubleHashKey.setHash(_doubleHashKey.getHash() ^ hash); - hash = DoubleHashKey::hashFunction2(numHulls); - _doubleHashKey.setHash2(_doubleHashKey.getHash2() ^ hash); + _hashKey.hashUint64(1); } } - return _doubleHashKey; + return _hashKey; } void ShapeInfo::setHalfExtents(const glm::vec3& halfExtents) { _halfExtents = glm::max(halfExtents, glm::vec3(MIN_HALF_EXTENT)); + _hashKey.clear(); } diff --git a/libraries/shared/src/ShapeInfo.h b/libraries/shared/src/ShapeInfo.h index d658b936a3..069241e29d 100644 --- a/libraries/shared/src/ShapeInfo.h +++ b/libraries/shared/src/ShapeInfo.h @@ -18,7 +18,7 @@ #include #include -#include "DoubleHashKey.h" +#include "HashKey.h" const float MIN_SHAPE_OFFSET = 0.001f; // offsets less than 1mm will be ignored @@ -89,7 +89,7 @@ public: /// For compound shapes it will only return whether it is inside the bounding box bool contains(const glm::vec3& point) const; - const DoubleHashKey& getHash() const; + const HashKey& getHash() const; protected: void setHalfExtents(const glm::vec3& halfExtents); @@ -99,7 +99,7 @@ protected: TriangleIndices _triangleIndices; glm::vec3 _halfExtents = glm::vec3(0.0f); glm::vec3 _offset = glm::vec3(0.0f); - mutable DoubleHashKey _doubleHashKey; + mutable HashKey _hashKey; ShapeType _type = SHAPE_TYPE_NONE; }; diff --git a/tests/physics/src/ShapeInfoTests.cpp b/tests/physics/src/ShapeInfoTests.cpp index c6a19084a2..79d0092dc3 100644 --- a/tests/physics/src/ShapeInfoTests.cpp +++ b/tests/physics/src/ShapeInfoTests.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include #include #include #include @@ -23,108 +23,78 @@ QTEST_MAIN(ShapeInfoTests) +// Enable this to manually run testHashCollisions +// (NOT a regular unit test; takes ~40 secs to run on an i7) +//#define MANUAL_TEST true + void ShapeInfoTests::testHashFunctions() { #if MANUAL_TEST int maxTests = 10000000; ShapeInfo info; - btHashMap hashes; + btHashMap hashes; - uint32_t bits[32]; - uint32_t masks[32]; - for (int i = 0; i < 32; ++i) { + const int32_t NUM_HASH_BITS = 32; + uint32_t bits[NUM_HASH_BITS]; + uint32_t masks[NUM_HASH_BITS]; + for (int i = 0; i < NUM_HASH_BITS; ++i) { bits[i] = 0; - masks[i] = 1U << i; + masks[i] = 1UL << i; } - float deltaLength = 0.002f; - float endLength = 100.0f; + float deltaLength = 1.0f / (HashKey::getNumQuantizedValuesPerMeter() - 3.0f); + float endLength = 2000.0f * deltaLength; int numSteps = (int)(endLength / deltaLength); int testCount = 0; int numCollisions = 0; btClock timer; - for (int x = 1; x < numSteps && testCount < maxTests; ++x) { - float radiusX = (float)x * deltaLength; + for (int i = 1; i < numSteps && testCount < maxTests; ++i) { + float radiusX = (float)i * deltaLength; + int32_t* hashPtr; // test sphere info.setSphere(radiusX); ++testCount; - DoubleHashKey key = info.getHash(); - uint32_t* hashPtr = hashes.find(key.getHash()); - if (hashPtr && *hashPtr == key.getHash2()) { - std::cout << testCount << " hash collision radiusX = " << radiusX - << " h1 = 0x" << std::hex << key.getHash() - << " h2 = 0x" << std::hex << key.getHash2() - << std::endl; + HashKey key = info.getHash(); + hashPtr = hashes.find(key); + if (hashPtr) { + std::cout << testCount << " hash collision sphere radius = " << radiusX + << " h = 0x" << std::hex << key.getHash() << " : 0x" << *hashPtr + << std::dec << std::endl; ++numCollisions; assert(false); } else { - hashes.insert(key.getHash(), key.getHash2()); + hashes.insert(key, key.getHash()); } - for (int k = 0; k < 32; ++k) { - if (masks[k] & key.getHash2()) { - ++bits[k]; + // track bit distribution counts to evaluate hash function randomness + for (int j = 0; j < NUM_HASH_BITS; ++j) { + if (masks[j] & key.getHash()) { + ++bits[j]; } } for (int y = 1; y < numSteps && testCount < maxTests; ++y) { float radiusY = (float)y * deltaLength; - /* TODO: reimplement Cylinder and Capsule shapes - // test cylinder and capsule - int types[] = { CYLINDER_SHAPE_PROXYTYPE, CAPSULE_SHAPE_PROXYTYPE }; - for (int i = 0; i < 2; ++i) { - switch(types[i]) { - case CYLINDER_SHAPE_PROXYTYPE: { - info.setCylinder(radiusX, radiusY); - break; - } - case CAPSULE_SHAPE_PROXYTYPE: { - info.setCapsuleY(radiusX, radiusY); - break; - } - } - - ++testCount; - key = info.getHash(); - hashPtr = hashes.find(key.getHash()); - if (hashPtr && *hashPtr == key.getHash2()) { - std::cout << testCount << " hash collision radiusX = " << radiusX << " radiusY = " << radiusY - << " h1 = 0x" << std::hex << key.getHash() - << " h2 = 0x" << std::hex << key.getHash2() - << std::endl; - ++numCollisions; - assert(false); - } else { - hashes.insert(key.getHash(), key.getHash2()); - } - for (int k = 0; k < 32; ++k) { - if (masks[k] & key.getHash2()) { - ++bits[k]; - } - } - } - */ - for (int z = 1; z < numSteps && testCount < maxTests; ++z) { float radiusZ = (float)z * deltaLength; // test box info.setBox(glm::vec3(radiusX, radiusY, radiusZ)); ++testCount; - DoubleHashKey key = info.getHash(); - hashPtr = hashes.find(key.getHash()); - if (hashPtr && *hashPtr == key.getHash2()) { - std::cout << testCount << " hash collision radiusX = " << radiusX - << " radiusY = " << radiusY << " radiusZ = " << radiusZ - << " h1 = 0x" << std::hex << key.getHash() - << " h2 = 0x" << std::hex << key.getHash2() - << std::endl; + HashKey key = info.getHash(); + hashPtr = hashes.find(key); + if (hashPtr) { + std::cout << testCount << " hash collision box dimensions = < " << radiusX + << ", " << radiusY << ", " << radiusZ << " >" + << " h = 0x" << std::hex << key.getHash() << " : 0x" << *hashPtr << " : 0x" << key.getHash64() + << std::dec << std::endl; ++numCollisions; assert(false); } else { - hashes.insert(key.getHash(), key.getHash2()); + hashes.insert(key, key.getHash()); } - for (int k = 0; k < 32; ++k) { - if (masks[k] & key.getHash2()) { + // track bit distribution counts to evaluate hash function randomness + for (int k = 0; k < NUM_HASH_BITS; ++k) { + if (masks[k] & key.getHash()) { ++bits[k]; } } @@ -135,7 +105,8 @@ void ShapeInfoTests::testHashFunctions() { std::cout << msec << " msec with " << numCollisions << " collisions out of " << testCount << " hashes" << std::endl; // print out distribution of bits - for (int i = 0; i < 32; ++i) { + // ideally the numbers in each bin will be about the same + for (int i = 0; i < NUM_HASH_BITS; ++i) { std::cout << "bit 0x" << std::hex << masks[i] << std::dec << " = " << bits[i] << std::endl; } QCOMPARE(numCollisions, 0); @@ -146,15 +117,14 @@ void ShapeInfoTests::testBoxShape() { ShapeInfo info; glm::vec3 halfExtents(1.23f, 4.56f, 7.89f); info.setBox(halfExtents); - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); const btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info); QCOMPARE(shape != nullptr, true); ShapeInfo otherInfo = info; - DoubleHashKey otherKey = otherInfo.getHash(); + HashKey otherKey = otherInfo.getHash(); QCOMPARE(key.getHash(), otherKey.getHash()); - QCOMPARE(key.getHash2(), otherKey.getHash2()); delete shape; } @@ -163,15 +133,14 @@ void ShapeInfoTests::testSphereShape() { ShapeInfo info; float radius = 1.23f; info.setSphere(radius); - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); const btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info); QCOMPARE(shape != nullptr, true); ShapeInfo otherInfo = info; - DoubleHashKey otherKey = otherInfo.getHash(); + HashKey otherKey = otherInfo.getHash(); QCOMPARE(key.getHash(), otherKey.getHash()); - QCOMPARE(key.getHash2(), otherKey.getHash2()); delete shape; } @@ -182,15 +151,14 @@ void ShapeInfoTests::testCylinderShape() { float radius = 1.23f; float height = 4.56f; info.setCylinder(radius, height); - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info); QCOMPARE(shape != nullptr, true); ShapeInfo otherInfo = info; - DoubleHashKey otherKey = otherInfo.getHash(); + HashKey otherKey = otherInfo.getHash(); QCOMPARE(key.getHash(), otherKey.getHash()); - QCOMPARE(key.getHash2(), otherKey.getHash2()); delete shape; */ @@ -202,15 +170,14 @@ void ShapeInfoTests::testCapsuleShape() { float radius = 1.23f; float height = 4.56f; info.setCapsule(radius, height); - DoubleHashKey key = info.getHash(); + HashKey key = info.getHash(); btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info); QCOMPARE(shape != nullptr, true); ShapeInfo otherInfo = info; - DoubleHashKey otherKey = otherInfo.getHash(); + HashKey otherKey = otherInfo.getHash(); QCOMPARE(key.getHash(), otherKey.getHash()); - QCOMPARE(key.getHash2(), otherKey.getHash2()); delete shape; */ diff --git a/tests/physics/src/ShapeInfoTests.h b/tests/physics/src/ShapeInfoTests.h index fbd89a13a8..1f6054dd1a 100644 --- a/tests/physics/src/ShapeInfoTests.h +++ b/tests/physics/src/ShapeInfoTests.h @@ -18,10 +18,6 @@ //#include "BulletTestUtils.h" //#include "../QTestExtensions.h" -// Enable this to manually run testHashCollisions -// (NOT a regular unit test; takes ~17 secs to run on an i7) -#define MANUAL_TEST false - class ShapeInfoTests : public QObject { Q_OBJECT private slots: From b00d15834255f9ad1f8d1e6359e104efbfb72698 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Thu, 26 Oct 2017 09:00:42 -0700 Subject: [PATCH 2/4] remove DoubleHashKey: it is no longer used --- libraries/shared/src/DoubleHashKey.cpp | 48 ------------------------- libraries/shared/src/DoubleHashKey.h | 49 -------------------------- 2 files changed, 97 deletions(-) delete mode 100644 libraries/shared/src/DoubleHashKey.cpp delete mode 100644 libraries/shared/src/DoubleHashKey.h diff --git a/libraries/shared/src/DoubleHashKey.cpp b/libraries/shared/src/DoubleHashKey.cpp deleted file mode 100644 index ded2f073eb..0000000000 --- a/libraries/shared/src/DoubleHashKey.cpp +++ /dev/null @@ -1,48 +0,0 @@ -// -// DoubleHashKey.cpp -// libraries/shared/src -// -// Created by Andrew Meadows 2014.11.02 -// Copyright 2014 High Fidelity, Inc. -// -// Distributed under the Apache License, Version 2.0. -// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html -// - -#include "DoubleHashKey.h" - -const uint32_t NUM_PRIMES = 64; -const uint32_t PRIMES[] = { - 4194301U, 4194287U, 4194277U, 4194271U, 4194247U, 4194217U, 4194199U, 4194191U, - 4194187U, 4194181U, 4194173U, 4194167U, 4194143U, 4194137U, 4194131U, 4194107U, - 4194103U, 4194023U, 4194011U, 4194007U, 4193977U, 4193971U, 4193963U, 4193957U, - 4193939U, 4193929U, 4193909U, 4193869U, 4193807U, 4193803U, 4193801U, 4193789U, - 4193759U, 4193753U, 4193743U, 4193701U, 4193663U, 4193633U, 4193573U, 4193569U, - 4193551U, 4193549U, 4193531U, 4193513U, 4193507U, 4193459U, 4193447U, 4193443U, - 4193417U, 4193411U, 4193393U, 4193389U, 4193381U, 4193377U, 4193369U, 4193359U, - 4193353U, 4193327U, 4193309U, 4193303U, 4193297U, 4193279U, 4193269U, 4193263U -}; - -uint32_t DoubleHashKey::hashFunction(uint32_t value, uint32_t primeIndex) { - uint32_t hash = PRIMES[primeIndex % NUM_PRIMES] * (value + 1U); - hash += ~(hash << 15); - hash ^= (hash >> 10); - hash += (hash << 3); - hash ^= (hash >> 6); - hash += ~(hash << 11); - return hash ^ (hash >> 16); -} - -uint32_t DoubleHashKey::hashFunction2(uint32_t value) { - uint32_t hash = 0x811c9dc5U; - for (uint32_t i = 0; i < 4; i++ ) { - uint32_t byte = (value << (i * 8)) >> (24 - i * 8); - hash = ( hash ^ byte ) * 0x01000193U; - } - return hash; -} - -void DoubleHashKey::computeHash(uint32_t value, uint32_t primeIndex) { - _hash = DoubleHashKey::hashFunction(value, primeIndex); - _hash2 = DoubleHashKey::hashFunction2(value); -} diff --git a/libraries/shared/src/DoubleHashKey.h b/libraries/shared/src/DoubleHashKey.h deleted file mode 100644 index ca92a7197f..0000000000 --- a/libraries/shared/src/DoubleHashKey.h +++ /dev/null @@ -1,49 +0,0 @@ -// -// DoubleHashKey.h -// libraries/shared/src -// -// Created by Andrew Meadows 2014.11.02 -// Copyright 2014 High Fidelity, Inc. -// -// Distributed under the Apache License, Version 2.0. -// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html -// - -#ifndef hifi_DoubleHashKey_h -#define hifi_DoubleHashKey_h - -#include - -// DoubleHashKey for use with btHashMap -class DoubleHashKey { -public: - static uint32_t hashFunction(uint32_t value, uint32_t primeIndex); - static uint32_t hashFunction2(uint32_t value); - - DoubleHashKey() : _hash(0), _hash2(0) { } - - DoubleHashKey(uint32_t value, uint32_t primeIndex = 0) : - _hash(hashFunction(value, primeIndex)), - _hash2(hashFunction2(value)) { - } - - void clear() { _hash = 0; _hash2 = 0; } - bool isNull() const { return _hash == 0 && _hash2 == 0; } - - bool equals(const DoubleHashKey& other) const { - return _hash == other._hash && _hash2 == other._hash2; - } - - void computeHash(uint32_t value, uint32_t primeIndex = 0); - uint32_t getHash() const { return _hash; } - uint32_t getHash2() const { return _hash2; } - - void setHash(uint32_t hash) { _hash = hash; } - void setHash2(uint32_t hash2) { _hash2 = hash2; } - -private: - uint32_t _hash; - uint32_t _hash2; -}; - -#endif // hifi_DoubleHashKey_h From d45febf1db706a7f8855004818816d9220a9f823 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Fri, 27 Oct 2017 08:55:41 -0700 Subject: [PATCH 3/4] add description of ShapeManager in comments --- libraries/physics/src/ShapeManager.h | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/libraries/physics/src/ShapeManager.h b/libraries/physics/src/ShapeManager.h index 6ec3573b53..d75bb1dc4a 100644 --- a/libraries/physics/src/ShapeManager.h +++ b/libraries/physics/src/ShapeManager.h @@ -19,6 +19,28 @@ #include "HashKey.h" +// The ShapeManager handles the ref-counting on shared shapes: +// +// Each object added to the physics simulation gets a corresponding btRigidBody. +// The body has a btCollisionShape that represents the contours of its collision +// surface. Multiple bodies may have the same shape. Rather than create a unique +// btCollisionShape instance for every body with a particular shape we can instead +// use a single shape instance for all of the bodies. This is called "shape +// sharing". +// +// When body needs a new shape a description of ths shape (ShapeInfo) is assembled +// and a request is sent to the ShapeManager for a corresponding btCollisionShape +// pointer. The ShapeManager will compute a hash of the ShapeInfo's data and use +// that to find the shape in its map. If it finds one it increments the ref-count +// and returns the pointer. If not it asks the ShapeFactory to create it, adds an +// entry in the map with a ref-count of 1, and returns the pointer. +// +// When a body stops using a shape the ShapeManager must be informed so it can +// decrement its ref-count. When a ref-count drops to zero the ShapeManager +// doesn't delete it right away. Instead it puts the shape's key on a list delete +// later. When that list grows big enough the ShapeManager will remove any matching +// entries that still have zero ref-count. + class ShapeManager { public: @@ -51,6 +73,7 @@ private: ShapeReference() : refCount(0), shape(nullptr) {} }; + // btHashMap is required because it supports memory alignment of the btCollisionShapes btHashMap _shapeMap; btAlignedObjectArray _pendingGarbage; }; From 137fccbd91b46c20fddc891e52915824bd440f72 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Fri, 27 Oct 2017 08:56:26 -0700 Subject: [PATCH 4/4] cleanup ShapeFactory implementation --- libraries/physics/src/ShapeFactory.cpp | 63 ++++++++++++++------------ libraries/physics/src/ShapeFactory.h | 16 +------ 2 files changed, 35 insertions(+), 44 deletions(-) diff --git a/libraries/physics/src/ShapeFactory.cpp b/libraries/physics/src/ShapeFactory.cpp index cd0fba848a..f484f32fdf 100644 --- a/libraries/physics/src/ShapeFactory.cpp +++ b/libraries/physics/src/ShapeFactory.cpp @@ -16,6 +16,40 @@ #include "ShapeFactory.h" #include "BulletUtil.h" + +class StaticMeshShape : public btBvhTriangleMeshShape { +public: + StaticMeshShape() = delete; + + StaticMeshShape(btTriangleIndexVertexArray* dataArray) + : btBvhTriangleMeshShape(dataArray, true), _dataArray(dataArray) { + assert(_dataArray); + } + + ~StaticMeshShape() { + assert(_dataArray); + IndexedMeshArray& meshes = _dataArray->getIndexedMeshArray(); + for (int32_t i = 0; i < meshes.size(); ++i) { + btIndexedMesh mesh = meshes[i]; + mesh.m_numTriangles = 0; + delete [] mesh.m_triangleIndexBase; + mesh.m_triangleIndexBase = nullptr; + mesh.m_numVertices = 0; + delete [] mesh.m_vertexBase; + mesh.m_vertexBase = nullptr; + } + meshes.clear(); + delete _dataArray; + _dataArray = nullptr; + } + +private: + // the StaticMeshShape owns its vertex/index data + btTriangleIndexVertexArray* _dataArray; +}; + +// the dataArray must be created before we create the StaticMeshShape + // These are the same normalized directions used by the btShapeHull class. // 12 points for the face centers of a dodecahedron plus another 30 points // for the midpoints the edges, for a total of 42. @@ -230,23 +264,6 @@ btTriangleIndexVertexArray* createStaticMeshArray(const ShapeInfo& info) { return dataArray; } -// util method -void deleteStaticMeshArray(btTriangleIndexVertexArray* dataArray) { - assert(dataArray); - IndexedMeshArray& meshes = dataArray->getIndexedMeshArray(); - for (int32_t i = 0; i < meshes.size(); ++i) { - btIndexedMesh mesh = meshes[i]; - mesh.m_numTriangles = 0; - delete [] mesh.m_triangleIndexBase; - mesh.m_triangleIndexBase = nullptr; - mesh.m_numVertices = 0; - delete [] mesh.m_vertexBase; - mesh.m_vertexBase = nullptr; - } - meshes.clear(); - delete dataArray; -} - const btCollisionShape* ShapeFactory::createShapeFromInfo(const ShapeInfo& info) { btCollisionShape* shape = NULL; int type = info.getType(); @@ -431,7 +448,6 @@ void ShapeFactory::deleteShape(const btCollisionShape* shape) { assert(shape); // ShapeFactory is responsible for deleting all shapes, even the const ones that are stored // in the ShapeManager, so we must cast to non-const here when deleting. - // so we cast to non-const here when deleting memory. btCollisionShape* nonConstShape = const_cast(shape); if (nonConstShape->getShapeType() == (int)COMPOUND_SHAPE_PROXYTYPE) { btCompoundShape* compoundShape = static_cast(nonConstShape); @@ -448,14 +464,3 @@ void ShapeFactory::deleteShape(const btCollisionShape* shape) { } delete nonConstShape; } - -// the dataArray must be created before we create the StaticMeshShape -ShapeFactory::StaticMeshShape::StaticMeshShape(btTriangleIndexVertexArray* dataArray) -: btBvhTriangleMeshShape(dataArray, true), _dataArray(dataArray) { - assert(dataArray); -} - -ShapeFactory::StaticMeshShape::~StaticMeshShape() { - deleteStaticMeshArray(_dataArray); - _dataArray = nullptr; -} diff --git a/libraries/physics/src/ShapeFactory.h b/libraries/physics/src/ShapeFactory.h index 2bf79f390c..704a7804b3 100644 --- a/libraries/physics/src/ShapeFactory.h +++ b/libraries/physics/src/ShapeFactory.h @@ -17,25 +17,11 @@ #include -// translates between ShapeInfo and btShape +// The ShapeFactory assembles and correctly disassembles btCollisionShapes. namespace ShapeFactory { const btCollisionShape* createShapeFromInfo(const ShapeInfo& info); void deleteShape(const btCollisionShape* shape); - - //btTriangleIndexVertexArray* createStaticMeshArray(const ShapeInfo& info); - //void deleteStaticMeshArray(btTriangleIndexVertexArray* dataArray); - - class StaticMeshShape : public btBvhTriangleMeshShape { - public: - StaticMeshShape() = delete; - StaticMeshShape(btTriangleIndexVertexArray* dataArray); - ~StaticMeshShape(); - - private: - // the StaticMeshShape owns its vertex/index data - btTriangleIndexVertexArray* _dataArray; - }; }; #endif // hifi_ShapeFactory_h