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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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30
src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
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@@ -16,20 +16,20 @@ subject to the following restrictions:
#include "btTetrahedronShape.h"
#include "LinearMath/btMatrix3x3.h"
btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4() : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
}
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
addVertex(pt0);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -37,7 +37,7 @@ m_numVertices(0)
addVertex(pt1);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -46,7 +46,7 @@ m_numVertices(0)
addVertex(pt2);
}
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexShape (),
btBU_Simplex1to4::btBU_Simplex1to4(const btVector3& pt0,const btVector3& pt1,const btVector3& pt2,const btVector3& pt3) : btPolyhedralConvexAabbCachingShape (),
m_numVertices(0)
{
m_shapeType = TETRAHEDRAL_SHAPE_PROXYTYPE;
@@ -57,13 +57,31 @@ m_numVertices(0)
}
void btBU_Simplex1to4::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
#if 1
btPolyhedralConvexAabbCachingShape::getAabb(t,aabbMin,aabbMax);
#else
aabbMin.setValue(1e30f,1e30f,1e30f);
aabbMax.setValue(-1e30f,-1e30f,-1e30f);
//just transform the vertices in worldspace, and take their AABB
for (int i=0;i<m_numVertices;i++)
{
btVector3 worldVertex = t(m_vertices[i]);
aabbMin.setMin(worldVertex);
aabbMax.setMax(worldVertex);
}
#endif
}
void btBU_Simplex1to4::addVertex(const btVector3& pt)
{
m_vertices[m_numVertices++] = pt;
recalcLocalAabb();
}