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Add support for broadphase acceleration of convex cast (re-use rayTest implementation with an added aabb min/max, zero for rays)

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Add Concave Convexcast demo back in AllBulletDemos, and tweaked it a bit.
Fix view frustum of ForkLiftDemo (caused picking to fail)
Removed innerloop profiling for ray and convex casts, it hurts performance.
Set default #aabb's in CDTestFramework to 8192
This commit is contained in:
erwin.coumans
2008-11-19 00:38:29 +00:00
parent cb03329d06
commit 50344c4a23
18 changed files with 176 additions and 54 deletions
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42
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -21,6 +21,8 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#define NUM_DYNAMIC_BOXES_X 30
#define NUM_DYNAMIC_BOXES_Y 30
static btVector3* gVertices=0;
static int* gIndices=0;
@@ -74,7 +76,7 @@ public:
sum_ms = 0;
}
btConvexcastBatch (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y = -10, btScalar max_y = 10) : boxShape(btVector3(0.0, 0.0, 0.0))
btConvexcastBatch (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y , btScalar max_y ) : boxShape(btVector3(0.0, 0.0, 0.0))
{
boxShapeHalfExtents = btVector3(1.0, 1.0, 1.0);
boxShape = btBoxShape(boxShapeHalfExtents);
@@ -302,6 +304,7 @@ void ConcaveConvexcastDemo::initPhysics()
{
#define TRISIZE 10.f
setCameraDistance(100.f);
int vertStride = sizeof(btVector3);
@@ -366,10 +369,11 @@ void ConcaveConvexcastDemo::initPhysics()
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
for (int j=0;j<NUM_DYNAMIC_BOXES_X;j++)
for (int i=0;i<NUM_DYNAMIC_BOXES_Y;i++)
{
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
startTransform.setOrigin(btVector3(2*i,10,1));
startTransform.setOrigin(btVector3(5*(i-NUM_DYNAMIC_BOXES_X/2),10,5*(j-NUM_DYNAMIC_BOXES_Y/2)));
localCreateRigidBody(1, startTransform,colShape);
}
}
@@ -383,7 +387,7 @@ void ConcaveConvexcastDemo::initPhysics()
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexcastBatch = btConvexcastBatch (40.0, 0.0, -10.0);
convexcastBatch = btConvexcastBatch (40.0, 0.0, -10.0,80.0);
//convexcastBatch = btConvexcastBatch (true, 40.0, -50.0, 50.0);
}
@@ -398,12 +402,34 @@ void ConcaveConvexcastDemo::clientMoveAndDisplay()
static float offset=0.f;
offset+=0.01f;
setVertexPositions(waveheight,offset);
int i;
int j;
btVector3 aabbMin(1e30,1e30,1e30);
btVector3 aabbMax(-1e30,-1e30,-1e30);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
{
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
}
}
trimeshShape->partialRefitTree(aabbMin,aabbMax);
trimeshShape->refitTree(worldMin,worldMax);
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());