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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 "btMultiSapBroadphase.h"
#include "btSimpleBroadphase.h" #include "btSimpleBroadphase.h"
#include "LinearMath/btAabbUtil2.h"
/// btSapBroadphaseArray m_sapBroadphases; /// btSapBroadphaseArray m_sapBroadphases;
@@ -84,6 +85,9 @@ void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy)
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax) void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
{ {
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy); btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
multiProxy->m_aabbMin = aabbMin;
multiProxy->m_aabbMax = aabbMax;
for (int i=0;i<multiProxy->m_childProxies.size();i++) for (int i=0;i<multiProxy->m_childProxies.size();i++)
{ {
btChildProxy* childProxyRef = multiProxy->m_childProxies[i]; btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
@@ -126,7 +130,7 @@ void btMultiSapBroadphase::calculateOverlappingPairs()
if (!isDuplicate) if (!isDuplicate)
{ {
bool hasOverlap = true;//testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap) 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);
}

2
src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
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@@ -98,6 +98,8 @@ public:
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(); virtual void calculateOverlappingPairs();
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
virtual btOverlappingPairCache* getOverlappingPairCache() virtual btOverlappingPairCache* getOverlappingPairCache()
{ {
return m_overlappingPairs; return m_overlappingPairs;