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Removes visual shape data when a body gets removed.

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Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.

Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
This commit is contained in:
Tigran Gasparian 2018-08-31 15:12:28 +02:00
parent 4bf846822f
commit c062bfc2d5
1 changed files with 32 additions and 56 deletions
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88
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@ -67,7 +67,8 @@ struct TinyRendererVisualShapeConverterInternalData
btHashMap<btHashInt,TinyRendererObjectArray*> m_swRenderInstances;
btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
// Maps bodyUniqueId to a list of visual shapes belonging to the body.
btHashMap<btHashInt,btAlignedObjectArray<b3VisualShapeData>> m_visualShapesMap;
int m_upAxis;
int m_swWidth;
@ -710,82 +711,56 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_tinyRendererTextureId = m_data->m_textures.size();
m_data->m_textures.push_back(textures[i]);
}
m_data->m_visualShapes.push_back(visualShape);
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[visualShape.m_objectUniqueId];
if (!shapes) {
m_data->m_visualShapesMap.insert(visualShape.m_objectUniqueId, btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape.m_objectUniqueId];
}
shapes->push_back(visualShape);
}
}
}
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{
int start = -1;
//find first one, then count how many
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
start = i;
break;
}
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
if (shapes) {
return shapes->size();
}
int count = 0;
if (start >= 0)
{
for (int i = start; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
count++;
}
else
{
//storage of each visual shape for a given body unique id assumed to be contiguous
break;
}
}
}
return count;
return 0;
}
int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
{
int start = -1;
//find first one, then count how many
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId)
{
start = i;
break;
}
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
if (!shapes) {
return 0;
}
//int count = 0;
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
*shapeData = m_data->m_visualShapes[start + shapeIndex];
return 1;
}
if (shapes->size() <= shapeIndex) {
return 0;
}
return 0;
*shapeData = shapes->at(shapeIndex);
return 1;
}
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
{
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
if (!shapes) {
return;
}
int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++)
for (int i = 0; i < shapes->size(); i++)
{
if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
if (shapes->at(i).m_linkIndex == linkIndex)
{
m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0];
m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
shapes->at(i).m_rgbaColor[0] = rgbaColor[0];
shapes->at(i).m_rgbaColor[1] = rgbaColor[1];
shapes->at(i).m_rgbaColor[2] = rgbaColor[2];
shapes->at(i).m_rgbaColor[3] = rgbaColor[3];
}
}
@ -1143,6 +1118,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
TinyRendererObjectArray* ptr = *ptrptr;
if (ptr)
{
m_data->m_visualShapesMap.remove(ptr->m_objectUniqueId);
for (int o=0;o<ptr->m_renderObjects.size();o++)
{
delete ptr->m_renderObjects[o];
@ -1182,7 +1158,7 @@ void TinyRendererVisualShapeConverter::resetAll()
}
m_data->m_textures.clear();
m_data->m_swRenderInstances.clear();
m_data->m_visualShapes.clear();
m_data->m_visualShapesMap.clear();
}