opal-commits

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31248/src/ODE

Modified Files:
	ODESimulator.cpp 
Log Message:
made changes to collision detection "early out" cases to make things faster

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.96
retrieving revision 1.97
diff -C2 -d -r1.96 -r1.97
*** ODESimulator.cpp	6 Apr 2005 04:48:44 -0000	1.96
--- ODESimulator.cpp	9 Apr 2005 06:23:58 -0000	1.97
***************
*** 299,325 ****
  
  				// The following is a set of special cases where we might 
! 				// not want to do collision detection (but not all are 
  				// enforced here for various reasons): 
! 				// 1. Two static Solids (neither geom has a body): this is 
! 				//    not enforced because sometimes you might want two 
! 				//    static Solids to generate collision events.
  				// 2. Two Shapes that are part of the same Solid (they 
  				//    share a body): this is not enforced because ODE 
  				//    already takes care of it.
  				// 3. Two sleeping Solids (note: both must have bodies to 
! 				//	  check this): this is enforced.  ODE should handle 
! 				//	  this, but it doesn't.
  				// 4. Two Solids connected by a fixed Joint: this is 
  				//    enforced.
  				// 5. Two Solids connected by a Joint (besides ODE 
! 				//    contact joints, which never generate 
! 				//    contacts) with contacts disabled; (note: both must have 
  				//    bodies to check this): this is enforced.
! 				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
! 				//    because sometimes you might want to wake up a sleeping 
! 				//    Solid with a static Solid.
! 				// 7. Solid1 is static and Solid0 is sleeping: not enforced 
! 				//    because sometimes you might want to wake up a sleeping 
! 				//    Solid with a static Solid.
  				// 8. The two Solids' contact groups do not generate 
  				//    contacts when they collide AND neither Solid has a 
--- 299,327 ----
  
  				// The following is a set of special cases where we might 
! 				// want to skip collision detection (but not all are 
  				// enforced here for various reasons): 
! 				// 1. Two static Solids (neither geom has a body) AND 
! 				//    neither Solid has a CollisionEventHandler: this is 
! 				//    enforced.
  				// 2. Two Shapes that are part of the same Solid (they 
  				//    share a body): this is not enforced because ODE 
  				//    already takes care of it.
  				// 3. Two sleeping Solids (note: both must have bodies to 
! 				//	  check this): this is enforced.  (ODE should handle 
! 				//	  this, but it doesn't.)
  				// 4. Two Solids connected by a fixed Joint: this is 
  				//    enforced.
  				// 5. Two Solids connected by a Joint (besides ODE 
! 				//    contact joints, which should never generate more 
! 				//    contacts) with contacts disabled (note: both must have 
  				//    bodies to check this): this is enforced.
! 				// 6. Solid0 is static, Solid1 is sleeping, 
! 				//    static-to-sleeping contacts are ignored by the 
! 				//    Simulator, and neither Solid has a 
! 				//    CollisionEventHandler: this is enforced.
! 				// 7. Solid1 is static, Solid0 is sleeping, 
! 				//    static-to-sleeping contacts are ignored by the 
! 				//    Simulator, and neither Solid has a 
! 				//    CollisionEventHandler: this is enforced.
  				// 8. The two Solids' contact groups do not generate 
  				//    contacts when they collide AND neither Solid has a 
***************
*** 329,332 ****
--- 331,336 ----
  				dBodyID o0BodyID = dGeomGetBody(o0);
  				dBodyID o1BodyID = dGeomGetBody(o1);
+ 				bool solid0Static = (0 == o0BodyID);
+ 				bool solid1Static = (0 == o1BodyID);
  
  				// Check if both Solids are dynamic (i.e. have ODE bodies).
***************
*** 364,367 ****
--- 368,376 ----
  					shape0->contactGroup, shape1->contactGroup);
  
+ 				// Find out whether the Simulator has static-to-sleeping 
+ 				// contacts disabled.
+ 				bool ignoreStaticSleepingContacts = 
+ 					!sim->areStaticSleepingContactsEnabled();
+ 
  				// Get pointers to the geoms' Solids.
  				Solid* solid0 = geomData0->solid;
***************
*** 376,390 ****
  					solid1->getCollisionEventHandler();
  
! 				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
  					//|| (o0BodyID == o1BodyID) //case 2
! 					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
! 						!dBodyIsEnabled(o1BodyID)) //case 3
  					|| (commonJoint && 
  						commonJoint->getType() == FIXED_JOINT) // case 4
! 					|| (commonJoint && 
! 						!commonJoint->areContactsEnabled()) // case 5
! 					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
! 					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
! 					|| (!makeContacts && !(handler0 || handler1))
  					)
  				{
--- 385,408 ----
  					solid1->getCollisionEventHandler();
  
! 				bool neitherHasEventHandler = !(handler0 || handler1);
! 
! 				// It is important here that we don't check if a static body 
! 				// is disabled (sleeping) because that crashes ODE.
! 				if ((neitherHasEventHandler 
! 						&& solid0Static && solid1Static) //case 1
  					//|| (o0BodyID == o1BodyID) //case 2
! 					|| (bothHaveBodies && !dBodyIsEnabled(o0BodyID) 
! 						&& !dBodyIsEnabled(o1BodyID)) //case 3
  					|| (commonJoint && 
  						commonJoint->getType() == FIXED_JOINT) // case 4
! 					|| (commonJoint 
! 						&& !commonJoint->areContactsEnabled()) // case 5
! 					|| (solid0Static && !dBodyIsEnabled(o1BodyID) 
! 						&& ignoreStaticSleepingContacts 
! 						&& neitherHasEventHandler) //case 6
! 					|| (solid1Static && !dBodyIsEnabled(o0BodyID) 
! 						&& ignoreStaticSleepingContacts 
! 						&& neitherHasEventHandler) //case 7
! 					|| (!makeContacts && neitherHasEventHandler) // case 8
  					)
  				{
***************
*** 433,437 ****
  					if (handler0)
  					{
! 						handler0->handleCollisionEvent(e);
  					}
  
--- 451,455 ----
  					if (handler0)
  					{
! 						handler0->internal_pushCollisionEvent(e);
  					}
  
***************
*** 443,447 ****
  						e.thisSolid = solid1;
  						e.otherSolid = solid0;
! 						handler1->handleCollisionEvent(e);
  					}
  				}
--- 461,465 ----
  						e.thisSolid = solid1;
  						e.otherSolid = solid0;
! 						handler1->internal_pushCollisionEvent(e);
  					}
  				}