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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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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);