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added aabb overlap check for multi SAP broadphase

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This commit is contained in:
ejcoumans
2007-08-03 01:48:34 +00:00
parent b6cd61a5e1
commit 7c0abad041
2 changed files with 17 additions and 1 deletions
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16
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -16,6 +16,7 @@ subject to the following restrictions:
#include "btMultiSapBroadphase.h"
#include "btSimpleBroadphase.h"
#include "LinearMath/btAabbUtil2.h"
/// btSapBroadphaseArray m_sapBroadphases;
@@ -84,6 +85,9 @@ void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy)
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
{
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
multiProxy->m_aabbMin = aabbMin;
multiProxy->m_aabbMax = aabbMax;
for (int i=0;i<multiProxy->m_childProxies.size();i++)
{
btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
@@ -126,7 +130,7 @@ void btMultiSapBroadphase::calculateOverlappingPairs()
if (!isDuplicate)
{
bool hasOverlap = true;//testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
@@ -170,3 +174,13 @@ void btMultiSapBroadphase::calculateOverlappingPairs()
}
bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
{
btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
}