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bugfix: for btCompoundShape::getChildTransform: return (const) reference to btTransform, not a copy.

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added btCompoundShape::updateChildTransform
Thanks to ejtttje, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2831
This commit is contained in:
erwin.coumans
2008-11-10 09:04:04 +00:00
parent 463a1b74c1
commit 8865e38e5b
2 changed files with 39 additions and 11 deletions
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33
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape()
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_collisionMargin(btScalar(0.)),
@@ -25,9 +25,13 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0)
{
m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
if (enableDynamicAabbTree)
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
}
}
@@ -76,6 +80,23 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
{
m_children[childIndex].m_transform = newChildTransform;
if (m_dynamicAabbTree)
{
///update the dynamic aabb tree
btVector3 localAabbMin,localAabbMax;
m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
int index = m_children.size()-1;
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
}
recalculateLocalAabb();
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
{
btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
@@ -88,6 +109,8 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
// Find the children containing the shape specified, and remove those children.
@@ -99,6 +122,8 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape)
m_children.swap(i,m_children.size()-1);
m_children.pop_back();
//remove it from the m_dynamicAabbTree too
//@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
//so effectively, removeChildShape is broken at the moment
//m_dynamicAabbTree->remove(m_aabbProxies[i]);
//m_aabbProxies.swap(i,m_children.size()-1);
//m_aabbProxies.pop_back();