- physics: change broadphase box checks to improve colldet performance

Author: SoapyMan

shared/physics/eqPhysics.cpp

@@ -960,16 +960,19 @@ void CEqPhysicsWorld::DetectCollisionsSingle(CEqRigidBody* body)
 	body->UpdateBoundingBoxTransform();
 	const BoundingBox aabb = body->m_aabb_transformed;
 
+	const bool disabledCollisionChecks = (body->m_flags & COLLOBJ_DISABLE_COLLISION_CHECK);
+	int objectTypeTesting = EQPHYS_FILTER_FLAG_STATICOBJECTS | EQPHYS_FILTER_FLAG_DYNAMICOBJECTS;
+	if(disabledCollisionChecks)
+		objectTypeTesting = EQPHYS_FILTER_FLAG_STATICOBJECTS;
+
+	// TODO: optimize broadphase with pairs
+	// right now it is O^2
 	auto broadphaseCb = [this, body](CEqCollisionObject* collObj) {
 		if (collObj == body)
 			return;
 
-		const bool disabledCollisionChecks = (body->m_flags & COLLOBJ_DISABLE_COLLISION_CHECK);
 		if (collObj->IsDynamic())
 		{
-			if (disabledCollisionChecks)
-				return;
-
 			DetectBodyCollisions(body, static_cast<CEqRigidBody*>(collObj), body->GetLastFrameTime());
 		}
 		else // purpose for triggers
@@ -980,7 +983,7 @@ void CEqPhysicsWorld::DetectCollisionsSingle(CEqRigidBody* body)
 
 	{
 		Threading::CScopedReadLocker m(s_eqPhysDynamicRWLock);
-		m_broadphase->BoxTest(aabb, broadphaseCb);
+		m_broadphase->BoxTest(aabb, broadphaseCb, objectTypeTesting);
 	}
 }
 
@@ -1171,8 +1174,9 @@ void CEqPhysicsWorld::SimulateStep(float deltaTime, int iteration, FNSIMULATECAL
 		}
 	}
 
-	Array<CEqRigidBody*> movingMoveables{ PP_SL };
-	movingMoveables.resize(m_moveable.numElem());
+	static Array<CEqRigidBody*> simMovingMoveables{ PP_SL };
+	simMovingMoveables.clear();
+	simMovingMoveables.reserve(m_moveable.numElem());
 
 	{
 		PROF_EVENT("Moving Bodies PreSim");
@@ -1198,7 +1202,7 @@ void CEqPhysicsWorld::SimulateStep(float deltaTime, int iteration, FNSIMULATECAL
 			IntegrateSingle(body);
 
 			if (!body->IsFrozen())
-				movingMoveables.append(body);
+				simMovingMoveables.append(body);
 		}
 	}
 
@@ -1209,23 +1213,24 @@ void CEqPhysicsWorld::SimulateStep(float deltaTime, int iteration, FNSIMULATECAL
 
 	{
 		PROF_EVENT("Moving Bodies CollDet");
+
 		// calculate collisions
-		for (CEqRigidBody* body : movingMoveables)
+		for (CEqRigidBody* body : simMovingMoveables)
 			DetectCollisionsSingle(body);
 	}
 
 	{
 		PROF_EVENT("Moving Bodies Update");
 		// solve positions
-		for (CEqRigidBody* body : movingMoveables)
+		for (CEqRigidBody* body : simMovingMoveables)
 			body->Update(m_fDt);
 	}
 
 	{
 		PROF_EVENT("Moving Bodies Process Contact Pairs");
 
 		// process generated contact pairs
-		for (CEqRigidBody* body : movingMoveables)
+		for (CEqRigidBody* body : simMovingMoveables)
 		{
 			for (eqContactPair& pair : body->m_contactPairs)
 				ProcessContactPair(pair);

shared/physics/eqPhysics_Broadphase.cpp

@@ -158,17 +158,23 @@ void CEqPhysicsBroadphase::RayTest(const Vector3D& rayFrom, const Vector3D& rayT
 	}
 }
 
-void CEqPhysicsBroadphase::BoxTest(const BoundingBox& bbox, const EqFunction<void(CEqCollisionObject* collObj)>& processFunc)
+void CEqPhysicsBroadphase::BoxTest(const BoundingBox& bbox, const EqFunction<void(CEqCollisionObject* collObj)>& processFunc, int physFilterFlags)
 {
 	using namespace EqBulletUtils;
 
+	if(!physFilterFlags)
+		return;
+
 	btDbvtVolume dbvtBox;
 	ConvertDKToBulletVectors(dbvtBox.tMins(), bbox.minPoint);
 	ConvertDKToBulletVectors(dbvtBox.tMaxs(), bbox.maxPoint);
 
 	AABBTester aabbTester(processFunc);
 
 	// process all children, that overlap with  the given AABB bounds
-	m_sets[FIXED_SET].collideTV(m_sets[1].m_root, dbvtBox, aabbTester);
-	m_sets[DYNAMIC_SET].collideTV(m_sets[0].m_root, dbvtBox, aabbTester);
+	if (physFilterFlags & EQPHYS_FILTER_FLAG_STATICOBJECTS)
+		m_sets[FIXED_SET].collideTV(m_sets[1].m_root, dbvtBox, aabbTester);
+	
+	if (physFilterFlags & EQPHYS_FILTER_FLAG_DYNAMICOBJECTS)
+		m_sets[DYNAMIC_SET].collideTV(m_sets[0].m_root, dbvtBox, aabbTester);
 }

shared/physics/eqPhysics_Broadphase.h

@@ -28,7 +28,7 @@ class CEqPhysicsBroadphase
 	void SetAabb(eqPhysBroadphaseUnit* unit, const BoundingBox& bbox);
 
 	void RayTest(const Vector3D& rayFrom, const Vector3D& rayTo, const ProcessObjectFunc& processFunc, int physFilterFlags, const BoundingBox& shapeBox = BoundingBox(0, 0));
-	void BoxTest(const BoundingBox& bbox, const ProcessObjectFunc& processFunc);
+	void BoxTest(const BoundingBox& bbox, const ProcessObjectFunc& processFunc, int physFilterFlags);
 
 private:
 	enum