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Enable btHeightfieldShape in VehicleDemo, so it is tested (using heightfield128x128)

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(converted raw data to .cpp so it doesn't need to be loaded from disk)
Some optimizations for btHeightfieldShape, thanks to Danny Chapman
 Quick check on AABB (was not done) and reduce calls to 'getVertex'
This commit is contained in:
erwin.coumans@gmail.com
2013-09-10 00:57:00 +00:00
parent 197e17780a
commit 2bb26cbb7d
6 changed files with 1680 additions and 18 deletions
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22
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -76,15 +76,25 @@ void btConvexTriangleCallback::clearCache()
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//aabb filter is already applied!
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
//aabb filter NOT is already applied (thanks to Danny Chapman)
// Quick check on AABB
// const btTransform& tr = ob->getWorldTransform();
if ( triangle[0].getZ() < m_aabbMin.getZ() &&
triangle[1].getZ() < m_aabbMin.getZ() &&
triangle[2].getZ() < m_aabbMin.getZ() )
{
return;
}
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;