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Use the add support for double and float triangle vertices. If it has a bad impact on performance, we can hide it behind an #ifdef for double precision vertex support.

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Fix btConvexTriangleMeshShape::calculatePrincipalAxisTransform
Both thanks to Ole.

Use our own union to extract a scalar value from an SSE intrinsic (instead of relying on MSVC-only m128_u32
Thanks to BlindSide
This commit is contained in:
erwin.coumans
2008-10-27 21:36:36 +00:00
parent 876009b053
commit 1ff6420ffb
4 changed files with 71 additions and 30 deletions
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52
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -143,10 +143,19 @@ void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
}
/* Perform ray vs. triangle collision here */
@@ -204,9 +213,18 @@ void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
}
/* Perform ray vs. triangle collision here */
@@ -281,12 +299,24 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
#ifdef DEBUG_TRIANGLE_MESH
printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
#ifdef DEBUG_TRIANGLE_MESH
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
#endif //DEBUG_TRIANGLE_MESH