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+ Internal improvements for collision shapes

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1) add AabbCaching versions of btPolyhedralConvexShape and btMultiSphereShape (this speeds up btMultiSphereShape 'getAabb', and reduces size of btBoxShape)
2) btCylinderShape doesn't derive from btBoxShape anymore
+ Minor fixes in drawing for btMultiSphereShape, btBoxShape.
+ Don't re-generate btDebugFont every frame
+ Disabled velocity prediction for btDbvtBroadphase. Previous default can be restored using btDbvtBroadphase->setVelocityPrediction(1./2.);
This commit is contained in:
erwin.coumans
2009-05-22 01:03:45 +00:00
parent c680791ce9
commit 2f1014268b
25 changed files with 380 additions and 90 deletions
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115
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -34,6 +34,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
///
#include "BulletCollision/CollisionShapes/btShapeHull.h"
@@ -269,6 +272,34 @@ public:
}
};
void GL_ShapeDrawer::drawSphere(btScalar r, int lats, int longs)
{
int i, j;
for(i = 0; i <= lats; i++) {
btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
btScalar z0 = sin(lat0);
btScalar zr0 = cos(lat0);
btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
btScalar z1 = sin(lat1);
btScalar zr1 = cos(lat1);
glBegin(GL_QUAD_STRIP);
for(j = 0; j <= longs; j++) {
btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
}
glEnd();
}
}
void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
{
@@ -538,30 +569,66 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
int shapetype=shape->getShapeType();
switch (shapetype)
{
#if 0
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
break;
}
case SPHERE_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
drawSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
static int indices[36] = {
0,1,2,
3,2,1,
4,0,6,
6,0,2,
5,1,4,
4,1,0,
7,3,1,
7,1,5,
5,4,7,
7,4,6,
7,2,3,
7,6,2};
static btVector3 vertices[8]={ btVector3(1,1,1),btVector3(-1,1,1), btVector3(1,-1,1), btVector3(-1,-1,1), btVector3(1,1,-1), btVector3(-1,1,-1), btVector3(1,-1,-1), btVector3(-1,-1,-1)};
glBegin (GL_TRIANGLES);
int si=36;
for (int i=0;i<si;i+=3)
{
btVector3 v1 = vertices[indices[i]]*halfExtent;
btVector3 v2 = vertices[indices[i+1]]*halfExtent;
btVector3 v3 = vertices[indices[i+2]]*halfExtent;
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd();
useWireframeFallback = false;
break;
}
#if 0
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
@@ -630,6 +697,26 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
btSphereShape sc(multiSphereShape->getSphereRadius(i));
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
btScalar childMat[16];
childTransform.getOpenGLMatrix(childMat);
drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
}
break;
}
default:
{