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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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33
src/LinearMath/btAabbUtil2.h
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#ifndef AABB_UTIL2
#define AABB_UTIL2
#include "btTransform.h"
#include "btVector3.h"
#include "btMinMax.h"
@@ -163,6 +164,38 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
}
SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
{
btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
abs_b[1].dot(halfExtentsWithMargin),
abs_b[2].dot(halfExtentsWithMargin));
aabbMinOut = center - extent;
aabbMaxOut = center + extent;
};
SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
{
btAssert(localAabbMin.getX() <= localAabbMax.getX());
btAssert(localAabbMin.getY() <= localAabbMax.getY());
btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
localHalfExtents+=btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMinOut = center-extent;
aabbMaxOut = center+extent;
}
#endif