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set linear/angular velocity to zero when objects are asleep

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Thanks to  http://code.google.com/p/bullet/issues/detail?id=73
improve performance of btConvexTriangleMeshShape::recalcLocalAabb
Thanks to fullmetalcoder, http://code.google.com/p/bullet/issues/detail?id=67#makechanges
This commit is contained in:
erwin.coumans
2008-08-29 05:30:50 +00:00
parent 8340a77aa8
commit 80f80df7e3
4 changed files with 44 additions and 3 deletions
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33
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -132,6 +132,37 @@ void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMi
void btPolyhedralConvexShape::recalcLocalAabb()
{
m_isLocalAabbValid = true;
#if 1
static const btVector3 _directions[] =
{
btVector3( 1., 0., 0.),
btVector3( 0., 1., 0.),
btVector3( 0., 0., 1.),
btVector3( -1., 0., 0.),
btVector3( 0., -1., 0.),
btVector3( 0., 0., -1.)
};
btVector3 _supporting[] =
{
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.)
};
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
for ( int i = 0; i < 3; ++i )
{
m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
}
#else
for (int i=0;i<3;i++)
{
@@ -143,6 +174,8 @@ void btPolyhedralConvexShape::recalcLocalAabb()
tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin;
}
#endif
}