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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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52
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -17,7 +17,6 @@ subject to the following restrictions:
#define BU_SHAPE
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include "btConvexInternalShape.h"
@@ -26,10 +25,7 @@ class btPolyhedralConvexShape : public btConvexInternalShape
{
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
bool m_isLocalAabbValid;
public:
btPolyhedralConvexShape();
@@ -38,10 +34,32 @@ public:
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getNumVertices() const = 0 ;
virtual int getNumEdges() const = 0;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
virtual void getVertex(int i,btVector3& vtx) const = 0;
virtual int getNumPlanes() const = 0;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
// virtual int getIndex(int i) const = 0 ;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
};
///The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape
class btPolyhedralConvexAabbCachingShape : public btPolyhedralConvexShape
{
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
bool m_isLocalAabbValid;
protected:
void setCachedLocalAabb (const btVector3& aabbMin, const btVector3& aabbMax)
{
@@ -57,6 +75,10 @@ public:
aabbMax = m_localAabbMax;
}
public:
btPolyhedralConvexAabbCachingShape();
inline void getNonvirtualAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax, btScalar margin) const
{
@@ -65,26 +87,12 @@ public:
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
void recalcLocalAabb();
virtual int getNumVertices() const = 0 ;
virtual int getNumEdges() const = 0;
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const = 0;
virtual void getVertex(int i,btVector3& vtx) const = 0;
virtual int getNumPlanes() const = 0;
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const = 0;
// virtual int getIndex(int i) const = 0 ;
virtual bool isInside(const btVector3& pt,btScalar tolerance) const = 0;
/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
class Hull* m_optionalHull;
};
#endif //BU_SHAPE