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

refit tree needs an aabbMin/aabbMax

Browse Source 
improved unquantization for quantized trees
reverted heightfield quantize
This commit is contained in:
ejcoumans
2008-02-28 02:55:25 +00:00
parent 94586390b6
commit 3d3d24afa9
9 changed files with 118 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
View File

@@ -132,8 +132,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax,1);
m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -221,8 +221,8 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin,0);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax,1);
quantize(&quantizedQueryAabbMin[0],aabbMin,0);
quantize(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
@@ -328,8 +328,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax,1);
quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
@@ -370,17 +370,14 @@ void btOptimizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
m_bvhAabbMin = bvhAabbMin - clampValue;
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65535.0),btScalar(65535.0),btScalar(65535.0)) / aabbSize;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
}
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface)
void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
{
if (m_useQuantization)
{
//calculate new aabb
btVector3 aabbMin,aabbMax;
meshInterface->calculateAabbBruteForce(aabbMin,aabbMax);
setQuantizationValues(aabbMin,aabbMax);
@@ -446,8 +443,8 @@ void btOptimizedBvh::buildTree (int startIndex,int endIndex)
int internalNodeIndex = m_curNodeIndex;
setInternalNodeAabbMax(m_curNodeIndex,btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)));
setInternalNodeAabbMin(m_curNodeIndex,btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30)));
setInternalNodeAabbMax(m_curNodeIndex,m_bvhAabbMin);
setInternalNodeAabbMin(m_curNodeIndex,m_bvhAabbMax);
for (i=startIndex;i<endIndex;i++)
{