52 lines
1.9 KiB
Diff
52 lines
1.9 KiB
Diff
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
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+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -23,6 +23,7 @@ subject to the following restrictions:
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btMotionState.h"
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+#include "LinearMath/btHashMap.h"
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#include "LinearMath/btAlignedObjectArray.h"
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@@ -115,7 +115,8 @@ class btCollisionObject
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{
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private:
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- btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
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+ btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck; // for serialization
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+ btHashMap<btHashPtr, bool> m_ignoreSet; // O(1) membership index
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public:
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@@ -235,7 +237,7 @@ public:
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void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
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{
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if (ignoreCollisionCheck)
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{
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- //int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
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- //if (index == m_objectsWithoutCollisionCheck.size())
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- //{
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+ if (!m_ignoreSet.find(btHashPtr(co)))
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+ {
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m_objectsWithoutCollisionCheck.push_back(co);
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- //}
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+ m_ignoreSet.insert(btHashPtr(co), true);
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+ }
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}
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else
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{
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m_objectsWithoutCollisionCheck.remove(co);
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+ m_ignoreSet.remove(btHashPtr(co));
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}
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m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
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}
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@@ -266,10 +268,8 @@ public:
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virtual bool checkCollideWithOverride(const btCollisionObject* co) const
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{
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- int index = m_objectsWithoutCollisionCheck.findLinearSearch(co); // O(N)
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- if (index < m_objectsWithoutCollisionCheck.size())
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- {
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- return false;
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- }
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- return true;
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+ // O(1) hash lookup — replaces O(N) findLinearSearch
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+ return !m_ignoreSet.find(btHashPtr(co));
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}
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