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

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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
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46
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@@ -19,11 +19,12 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "btOverlappingPairCache.h"
class btAxisSweep3;
class btBroadphaseInterface;
class btSimpleBroadphase;
typedef btAlignedObjectArray<btAxisSweep3*> btSapBroadphaseArray;
typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
///multi SAP broadphase
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
@@ -36,40 +37,43 @@ class btMultiSapBroadphase :public btBroadphaseInterface
btOverlappingPairCache* m_overlappingPairs;
class btOptimizedBvh* m_optimizedAabbTree;
bool m_ownsPairCache;
btOverlapFilterCallback* m_filterCallback;
int m_invalidPair;
struct btChildProxy
struct btBridgeProxy
{
btBroadphaseProxy* m_proxy;
btBroadphaseProxy* m_childProxy;
btBroadphaseInterface* m_childBroadphase;
};
public:
struct btMultiSapProxy : public btBroadphaseProxy
{
///array with all the entries that this proxy belongs to
btAlignedObjectArray<btChildProxy*> m_childProxies;
btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
int m_shapeType;
void* m_userPtr;
/* void* m_userPtr;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
*/
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
:m_aabbMin(aabbMin),
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_shapeType(shapeType),
m_userPtr(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
m_shapeType(shapeType)
{
}
@@ -79,18 +83,21 @@ public:
protected:
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
public:
btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
btSapBroadphaseArray getBroadphaseArray()
btSapBroadphaseArray& getBroadphaseArray()
{
return m_sapBroadphases;
}
const btSapBroadphaseArray getBroadphaseArray() const
const btSapBroadphaseArray& getBroadphaseArray() const
{
return m_sapBroadphases;
}
@@ -114,6 +121,17 @@ public:
{
return m_overlappingPairs;
}
///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.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
};
#endif //BT_MULTI_SAP_BROADPHASE