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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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10
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -148,8 +148,8 @@ public:
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
@@ -264,12 +264,11 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::setAabb(btBroadphaseProxy* proxy,cons
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
{
if (m_raycastAccelerator)
{
m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback);
m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback,aabbMin,aabbMax);
} else
{
//choose axis?
@@ -286,6 +285,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{

2
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
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@@ -52,7 +52,7 @@ public:
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback) = 0;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;

8
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -336,6 +336,8 @@ struct btDbvt
const btVector3& rayDirectionInverse,
unsigned int signs[3],
btScalar lambda_max,
const btVector3& aabbMin,
const btVector3& aabbMax,
DBVT_IPOLICY) const;
DBVT_PREFIX
@@ -955,6 +957,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
const btVector3& rayDirectionInverse,
unsigned int signs[3],
btScalar lambda_max,
const btVector3& aabbMin,
const btVector3& aabbMax,
DBVT_IPOLICY) const
{
DBVT_CHECKTYPE
@@ -971,8 +975,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
do
{
const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins();
bounds[1] = node->volume.Maxs();
bounds[0] = node->volume.Mins()+aabbMin;
bounds[1] = node->volume.Maxs()+aabbMax;
btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);

6
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -210,7 +210,7 @@ void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, b
aabbMax = proxy->m_aabbMax;
}
void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
{
struct BroadphaseRayTester : btDbvt::ICollide
@@ -235,6 +235,8 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
rayCallback.m_rayDirectionInverse,
rayCallback.m_signs,
rayCallback.m_lambda_max,
aabbMin,
aabbMax,
callback);
m_sets[1].rayTestInternal( m_sets[1].m_root,
@@ -243,6 +245,8 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
rayCallback.m_rayDirectionInverse,
rayCallback.m_signs,
rayCallback.m_lambda_max,
aabbMin,
aabbMax,
callback);
}

2
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
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@@ -105,7 +105,7 @@ struct btDbvtBroadphase : btBroadphaseInterface
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void calculateOverlappingPairs(btDispatcher* dispatcher);

6
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -156,7 +156,7 @@ void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin,
aabbMax = multiProxy->m_aabbMax;
}
void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
{
for (int i=0;i<m_multiSapProxies.size();i++)
{
@@ -224,7 +224,9 @@ void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aab
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
if (m_optimizedAabbTree)
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
int i;
for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)

3
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@@ -26,6 +26,7 @@ class btSimpleBroadphase;
typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
@@ -110,7 +111,7 @@ public:
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);

2
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -152,7 +152,7 @@ void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbM
sbp->m_aabbMax = aabbMax;
}
void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
{
for (int i=0; i <= m_LastHandleIndex; i++)
{

2
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -132,7 +132,7 @@ public:
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
btOverlappingPairCache* getOverlappingPairCache()
{