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support diamondsubdivision (thanks Jay for contribution)

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support user-defined broadphase collision filtering (thanks Marten)
make sure btSimpeDynamicsWorld doesn't use cache friendly optimization in the solver (added an assert, and updated BasicDemo)
This commit is contained in:
ejcoumans
2007-06-29 22:13:15 +00:00
parent e33f5390dd
commit 5f8873c339
7 changed files with 72 additions and 32 deletions
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48
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -26,7 +26,8 @@ m_heightfieldDataUnknown(heightfieldData),
m_maxHeight(maxHeight),
m_upAxis(upAxis),
m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges)
m_flipQuadEdges(flipQuadEdges),
m_useDiamondSubdivision(false)
{
@@ -282,38 +283,37 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
for(int j=startJ; j<endJ; j++)
{
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
if (!m_flipQuadEdges)
if (m_flipQuadEdges || (m_useDiamondSubdivision && ((j+x) & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}

3
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -38,6 +38,7 @@ protected:
bool m_useFloatData;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
int m_upAxis;
@@ -62,6 +63,8 @@ public:
virtual ~btHeightfieldTerrainShape();
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
virtual int getShapeType() const
{
return TERRAIN_SHAPE_PROXYTYPE;