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some rayTest improvements in btDbvt::rayTestInternal, it avoids/reduces memory allocations during stack allocation (by sharing a persistent m_stack)

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and rayTestInternal re-uses precomputed invRayDirection/signs.
also did some performance comparison with different ray-AABB test, from 
http://jgt.akpeters.com/papers/EisemannEtAl07/

In short: it is faster, but it is not clear how to cull ray segments using ray slopes: when rays starts inside the AABB, we get a negative t value, but negatives also get false t-values...
This commit is contained in:
erwin.coumans
2008-10-16 20:00:47 +00:00
parent 60ce828419
commit 675c45f42d
4 changed files with 203 additions and 27 deletions
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12
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -229,14 +229,22 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
BroadphaseRayTester callback(rayCallback);
m_sets[0].rayTest( m_sets[0].m_root,
m_sets[0].rayTestInternal( m_sets[0].m_root,
rayFrom,
rayTo,
rayCallback.m_rayDirectionInverse,
rayCallback.m_signs,
rayCallback.m_lambda_max,
rayCallback.m_ray,
callback);
m_sets[1].rayTest( m_sets[1].m_root,
m_sets[1].rayTestInternal( m_sets[1].m_root,
rayFrom,
rayTo,
rayCallback.m_rayDirectionInverse,
rayCallback.m_signs,
rayCallback.m_lambda_max,
rayCallback.m_ray,
callback);
}