Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Optimize rayTest with btScaledBvhTriangleMeshShape

Browse Source
This commit is contained in:
David Ávila Membrives
2017-10-19 22:55:18 +02:00
parent 723c206d0f
commit 2cc9ff2176
1 changed files with 16 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -407,6 +408,21 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
rcb.m_hitFraction = resultCallback.m_closestHitFraction; rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} }
else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btScaledBvhTriangleMeshShape
btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
//scale the ray positions
btVector3 scale = scaledTriangleMesh->getLocalScaling();
btVector3 rayFromLocalScaled = rayFromLocal / scale;
btVector3 rayToLocalScaled = rayToLocal / scale;
BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
}
else else
{ {
//generic (slower) case //generic (slower) case