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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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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);
}