How to clear all pairs in btOverlappingPairCache ?

[johnny_sun]

In calculateOverlappingPairs process, addOverlappingPair or removeOverlappingPair must first findPair, whether directly clear pairCache before calculateOverlappingPairs ?

[Mr.Orange]

Hi johnny_sun!

I'm not sure if I got your question properly, but If you want to clear your overlapping pair cache, you can iterate over your collision objects and delete them from the proxy:

Code: Select all

for (unsigned int i=0; i<rigidBodies.size(); i++) // get the number of rigid bodies of your simulation somehow, i store their references in an array...
{
   btRigidBody* currentRigidBody = rigidBodies[i];
   if (dynamicsWorld->getBroadphase()->getOverlappingPairCache())
			dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(currentRigidBody->getBroadphaseHandle(),dynamicsWorld->getDispatcher());
}

Hope I could help!
Cya,
Mr.Orange

[johnny_sun]

Hi, Mr.Orange.

Your code can achieve the functions I need. I mean the beginning of each loop empty the overlappingPairCache, can avoid a lot of times findPair, may be able to improve efficiency.

Thank you very much.

[Erwin Coumans]

Bullet keeps information in the pairs, such as contact points and warm starting information for the constraint solver (previous frames applied impulse). So generally it is not a good idea to clear the pair cache.

Thanks,
Erwin