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more compounds work, the basics work. now some stackless tree-tree traversal is needed to speedup compound versus compound.

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This commit is contained in:
ejcoumans
2006-07-24 23:06:59 +00:00
parent fdaa3a7abc
commit 50a2694c5b
12 changed files with 92 additions and 24 deletions
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1
Bullet/CollisionDispatch/CollisionObject.cpp
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@@ -25,6 +25,7 @@ CollisionObject::CollisionObject()
m_ccdSweptShereRadius(0.f),
m_ccdSquareMotionTreshold(0.f)
{
m_cachedInvertedWorldTransform.setIdentity();
}

4
Bullet/CollisionDispatch/CollisionObject.h
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@@ -38,7 +38,9 @@ struct CollisionObject
//m_interpolationWorldTransform is used for CCD and interpolation
//it can be either previous or future (predicted) transform
SimdTransform m_interpolationWorldTransform;
SimdTransform m_cachedInvertedWorldTransform;
enum CollisionFlags
{
isStatic = 1,

9
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
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@@ -72,11 +72,20 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
//temporarily exchange parent CollisionShape with childShape, and recurse
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
//backup
SimdTransform orgTrans = colObj->m_worldTransform;
CollisionShape* orgShape = colObj->m_collisionShape;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
}
}

8
Bullet/CollisionDispatch/ManifoldResult.cpp
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@@ -31,8 +31,12 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
if (depth > m_manifoldPtr->GetContactBreakingTreshold())
return;
SimdTransform transAInv = m_body0->m_worldTransform.inverse();
SimdTransform transBInv= m_body1->m_worldTransform.inverse();
SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
SimdVector3 localA = transAInv(pointA );
SimdVector3 localB = transBInv(pointInWorld);

3
Bullet/CollisionDispatch/SimulationIslandManager.cpp
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@@ -113,6 +113,7 @@ void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorl
//
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
@@ -128,8 +129,10 @@ void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,Coll
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;

1
Bullet/CollisionShapes/CompoundShape.cpp
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@@ -77,6 +77,7 @@ void CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
//approximation: take the inertia from the aabb for now
SimdTransform ident;
ident.setIdentity();
SimdVector3 aabbMin,aabbMax;
GetAabb(ident,aabbMin,aabbMax);