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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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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);