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allow incremental refitting of the quantized aabb tree

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ejcoumans
2007-04-10 21:40:43 +00:00
parent 853bafb7ae
commit 2cf026aae3
6 changed files with 153 additions and 55 deletions
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34
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
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@@ -83,3 +83,37 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
}
}
void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax)
{
struct AabbCalculationCallback : public btInternalTriangleIndexCallback
{
btVector3 m_aabbMin;
btVector3 m_aabbMax;
AabbCalculationCallback()
{
m_aabbMin.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_aabbMax.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
m_aabbMin.setMin(triangle[0]);
m_aabbMax.setMax(triangle[0]);
m_aabbMin.setMin(triangle[1]);
m_aabbMax.setMax(triangle[1]);
m_aabbMin.setMin(triangle[2]);
m_aabbMax.setMax(triangle[2]);
}
};
//first calculate the total aabb for all triangles
AabbCalculationCallback aabbCallback;
aabbMin.setValue(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
aabbMax.setValue(btScalar(1e30),btScalar(1e30),btScalar(1e30));
InternalProcessAllTriangles(&aabbCallback,aabbMin,aabbMax);
aabbMin = aabbCallback.m_aabbMin;
aabbMax = aabbCallback.m_aabbMax;
}