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

Got btMultiSapBroadphase in a working state. Now tuning/optimizations can be started.

Browse Source 
Added getBroadphaseAabb to btBroadphaseInterface.
This commit is contained in:
erwin.coumans
2008-03-15 08:59:26 +00:00
parent 2478591e13
commit 44186898af
5 changed files with 316 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -151,6 +151,16 @@ public:
{
return m_userPairCallback;
}
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin = m_worldAabbMin;
aabbMax = m_worldAabbMax;
}
};
////////////////////////////////////////////////////////////////////
@@ -216,7 +226,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,cons
template <typename BP_FP_INT_TYPE>
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE maxHandles, btOverlappingPairCache* pairCache )
btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
:m_bpHandleMask(handleMask),
m_handleSentinel(handleSentinel),
m_pairCache(pairCache),
@@ -224,6 +234,8 @@ m_userPairCallback(0),
m_ownsPairCache(false),
m_invalidPair(0)
{
BP_FP_INT_TYPE maxHandles = userMaxHandles+1;//need to add one sentinel handle
if (!m_pairCache)
{
void* ptr = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
@@ -411,8 +423,10 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
//explicitly remove the pairs containing the proxy
//we could do it also in the sortMinUp (passing true)
//todo: compare performance
m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
if (!m_pairCache->hasDeferredRemoval())
{
m_pairCache->removeOverlappingPairsContainingProxy(pHandle,dispatcher);
}
// compute current limit of edge arrays
int limit = m_numHandles * 2;