Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Based on feedback from another professional game company, there are several improvements, including some API change...

Browse Source 
Some dynamic memory allocations have been replace by pool allocation or stack allocations.
quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360)
Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change):
Example:
	btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
	m_dispatcher = new	btCollisionDispatcher(collisionConfiguration);
This commit is contained in:
ejcoumans
2007-09-08 05:40:01 +00:00
parent 30b1887f40
commit 87df3d0f32
67 changed files with 1116 additions and 972 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -66,8 +66,8 @@ btCollisionWorld::~btCollisionWorld()
//
// only clear the cached algorithms
//
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp);
getBroadphase()->destroyProxy(bp);
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
getBroadphase()->destroyProxy(bp,m_dispatcher1);
}
}
@@ -137,7 +137,7 @@ void btCollisionWorld::performDiscreteCollisionDetection()
m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax);
}
m_broadphasePairCache->calculateOverlappingPairs();
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
END_PROFILE("perform Broadphase Collision Detection");
@@ -145,7 +145,7 @@ void btCollisionWorld::performDiscreteCollisionDetection()
btDispatcher* dispatcher = getDispatcher();
if (dispatcher)
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo);
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
END_PROFILE("performDiscreteCollisionDetection");
@@ -166,8 +166,8 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
//
// only clear the cached algorithms
//
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp);
getBroadphase()->destroyProxy(bp);
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
getBroadphase()->destroyProxy(bp,m_dispatcher1);
collisionObject->setBroadphaseHandle(0);
}
}
@@ -212,19 +212,28 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
castResult.m_normal.normalize();
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,