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Added btGhostObject and btPairCachingGhostObject functionality.

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It is a fast way to keep track of overlapping objects in an area, and doing rayTest and convexSweepTest for overlapping objects, instead of btCollisionWorld::rayTest/convexSweepTest.

Updated KinematicCharacterController to use btPairCachingGhostObject.
This commit is contained in:
erwin.coumans
2008-10-18 01:33:23 +00:00
parent 7f52613c45
commit 4cbb3f2e7b
14 changed files with 488 additions and 569 deletions
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20
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@@ -33,7 +33,8 @@ int gFindPairs =0;
btHashedOverlappingPairCache::btHashedOverlappingPairCache():
m_overlapFilterCallback(0),
m_blockedForChanges(false)
m_blockedForChanges(false),
m_ghostPairCallback(0)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
@@ -238,6 +239,11 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expand();
//this is where we add an actual pair, so also call the 'ghost'
if (m_ghostPairCallback)
m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
int newCapacity = m_overlappingPairArray.capacity();
if (oldCapacity < newCapacity)
@@ -317,6 +323,9 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
int lastPairIndex = m_overlappingPairArray.size() - 1;
if (m_ghostPairCallback)
m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
// If the removed pair is the last pair, we are done.
if (lastPairIndex == pairIndex)
{
@@ -399,6 +408,8 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
btBroadphasePair& pair = m_overlappingPairArray[findIndex];
void* userData = pair.m_userInfo;
cleanOverlappingPair(pair,dispatcher);
if (m_ghostPairCallback)
m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
m_overlappingPairArray.pop_back();
@@ -426,8 +437,12 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
void* mem = &m_overlappingPairArray.expand();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;
gAddedPairs++;
if (m_ghostPairCallback)
m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
return pair;
}
@@ -493,7 +508,8 @@ void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
btSortedOverlappingPairCache::btSortedOverlappingPairCache():
m_blockedForChanges(false),
m_hasDeferredRemoval(true),
m_overlapFilterCallback(0)
m_overlapFilterCallback(0),
m_ghostPairCallback(0)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);