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Some changes in rendering, to get shadows for trimeshes

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Add dynamic aabb tree (btDbvt) optimization for btCompoundShape/btCompoundCollisionAlgorithm
Add btTransformAabb util, todo: deploy it throughout the codebase
This commit is contained in:
erwin.coumans
2008-09-10 05:20:04 +00:00
parent aad1d574ef
commit 93d1d24234
10 changed files with 773 additions and 572 deletions
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15
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -21,20 +21,7 @@ subject to the following restrictions:
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
}

213
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -14,23 +14,29 @@ subject to the following restrictions:
*/
#include "btCompoundShape.h"
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape()
:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_aabbTree(0),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0)
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
}
btCompoundShape::~btCompoundShape()
{
if (m_dynamicAabbTree)
{
m_dynamicAabbTree->~btDbvt();
btAlignedFree(m_dynamicAabbTree);
}
}
void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
@@ -60,68 +66,85 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
}
if (m_dynamicAabbTree)
{
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
int index = m_children.size()-1;
child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
}
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
{
btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
if (m_dynamicAabbTree)
{
m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
}
m_children.swap(childShapeIndex,m_children.size()-1);
m_children.pop_back();
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
bool done_removing;
// Find the children containing the shape specified, and remove those children.
do
{
done_removing = true;
for(int i = 0; i < m_children.size(); i++)
{
if(m_children[i].m_childShape == shape)
{
m_children.remove(m_children[i]);
done_removing = false; // Do another iteration pass after removing from the vector
break;
}
}
}
while (!done_removing);
recalculateLocalAabb();
// Find the children containing the shape specified, and remove those children.
//note: there might be multiple children using the same shape!
for(int i = m_children.size()-1; i >= 0 ; i--)
{
if(m_children[i].m_childShape == shape)
{
m_children.swap(i,m_children.size()-1);
m_children.pop_back();
//remove it from the m_dynamicAabbTree too
//m_dynamicAabbTree->remove(m_aabbProxies[i]);
//m_aabbProxies.swap(i,m_children.size()-1);
//m_aabbProxies.pop_back();
}
}
recalculateLocalAabb();
}
void btCompoundShape::recalculateLocalAabb()
{
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
if (m_localAabbMax[i] < localAabbMax[i])
m_localAabbMax[i] = localAabbMax[i];
}
}
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
if (m_localAabbMax[i] < localAabbMax[i])
m_localAabbMax[i] = localAabbMax[i];
}
}
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMin = center-extent;
aabbMax = center+extent;
@@ -134,9 +157,9 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
ident.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
@@ -152,57 +175,57 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
{
int n = m_children.size();
int n = m_children.size();
btScalar totalMass = 0;
btVector3 center(0, 0, 0);
for (int k = 0; k < n; k++)
{
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
center /= totalMass;
principal.setOrigin(center);
btScalar totalMass = 0;
btVector3 center(0, 0, 0);
for (int k = 0; k < n; k++)
{
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
center /= totalMass;
principal.setOrigin(center);
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
for (int k = 0; k < n; k++)
{
btVector3 i;
m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
for (int k = 0; k < n; k++)
{
btVector3 i;
m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
const btTransform& t = m_children[k].m_transform;
btVector3 o = t.getOrigin() - center;
//compute inertia tensor in coordinate system of compound shape
btMatrix3x3 j = t.getBasis().transpose();
j[0] *= i[0];
j[1] *= i[1];
j[2] *= i[2];
j = t.getBasis() * j;
//add inertia tensor
tensor[0] += j[0];
tensor[1] += j[1];
tensor[2] += j[2];
const btTransform& t = m_children[k].m_transform;
btVector3 o = t.getOrigin() - center;
//compute inertia tensor of pointmass at o
btScalar o2 = o.length2();
j[0].setValue(o2, 0, 0);
j[1].setValue(0, o2, 0);
j[2].setValue(0, 0, o2);
j[0] += o * -o.x();
j[1] += o * -o.y();
j[2] += o * -o.z();
//compute inertia tensor in coordinate system of compound shape
btMatrix3x3 j = t.getBasis().transpose();
j[0] *= i[0];
j[1] *= i[1];
j[2] *= i[2];
j = t.getBasis() * j;
//add inertia tensor of pointmass
tensor[0] += masses[k] * j[0];
tensor[1] += masses[k] * j[1];
tensor[2] += masses[k] * j[2];
}
//add inertia tensor
tensor[0] += j[0];
tensor[1] += j[1];
tensor[2] += j[2];
tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
//compute inertia tensor of pointmass at o
btScalar o2 = o.length2();
j[0].setValue(o2, 0, 0);
j[1].setValue(0, o2, 0);
j[2].setValue(0, 0, o2);
j[0] += o * -o.x();
j[1] += o * -o.y();
j[2] += o * -o.z();
//add inertia tensor of pointmass
tensor[0] += masses[k] * j[0];
tensor[1] += masses[k] * j[1];
tensor[2] += masses[k] * j[2];
}
tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
}

34
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -24,8 +24,8 @@ subject to the following restrictions:
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedObjectArray.h"
class btOptimizedBvh;
//class btOptimizedBvh;
struct btDbvt;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
@@ -35,14 +35,15 @@ ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
btCollisionShape* m_childShape;
int m_childShapeType;
btScalar m_childMargin;
struct btDbvtNode* m_node;
};
SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
{
return ( c1.m_transform == c2.m_transform &&
c1.m_childShape == c2.m_childShape &&
c1.m_childShapeType == c2.m_childShapeType &&
c1.m_childMargin == c2.m_childMargin );
return ( c1.m_transform == c2.m_transform &&
c1.m_childShape == c2.m_childShape &&
c1.m_childShapeType == c2.m_childShapeType &&
c1.m_childMargin == c2.m_childMargin );
}
/// btCompoundShape allows to store multiple other btCollisionShapes
@@ -55,7 +56,8 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
btOptimizedBvh* m_aabbTree;
//btOptimizedBvh* m_aabbTree;
btDbvt* m_dynamicAabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -66,11 +68,11 @@ public:
void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
/** Remove all children shapes that contain the specified shape. */
/// Remove all children shapes that contain the specified shape
virtual void removeChildShape(btCollisionShape* shape);
void removeChildShapeByIndex(int childShapeindex);
int getNumChildShapes() const
{
@@ -103,9 +105,9 @@ public:
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
/** Re-calculate the local Aabb. Is called at the end of removeChildShapes.
Use this yourself if you modify the children or their transforms. */
/** Re-calculate the local Aabb. Is called at the end of removeChildShapes.
Use this yourself if you modify the children or their transforms. */
virtual void recalculateLocalAabb();
virtual void setLocalScaling(const btVector3& scaling)
@@ -118,7 +120,7 @@ public:
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
virtual void setMargin(btScalar margin)
@@ -137,9 +139,9 @@ public:
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void createAabbTreeFromChildren();
const btOptimizedBvh* getAabbTree() const
btDbvt* getDynamicAabbTree()
{
return m_aabbTree;
return m_dynamicAabbTree;
}
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia

24
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btPoint3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include "btConvexInternalShape.h"
@@ -46,28 +47,7 @@ public:
//lazy evaluation of local aabb
btAssert(m_isLocalAabbValid);
btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents+= btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMin = center-extent;
aabbMax = center+extent;
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
}