Added 'cache friendly' tree traversal format, and traversal. Array of subtrees with specified maximum size. This is useful to fit tree traversals on SPU.

Demos/ConcaveDemo/ConcaveDemo.h

@@ -21,8 +21,15 @@ subject to the following restrictions:
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
 class ConcaveDemo : public DemoApplication
 {
+
+	bool	m_animatedMesh;
+
 	public:
 
+	ConcaveDemo() : m_animatedMesh(false)
+	{
+
+	}
 	void	initPhysics();
 
 	virtual void clientMoveAndDisplay();
@@ -32,6 +39,7 @@ class ConcaveDemo : public DemoApplication
 	//to show refit works
 	void	setVertexPositions(float waveheight, float offset);
 	
+	virtual void keyboardCallback(unsigned char key, int x, int y);
 };
 
 #endif //CONCAVE_DEMO_H

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -22,7 +22,7 @@ subject to the following restrictions:
 
 
 GLDebugDrawer	debugDrawer;
-
+class btIDebugDraw* debugDrawerPtr=0;
 
 btVector3*	gVertices=0;
 int*	gIndices=0;
@@ -123,6 +123,27 @@ void	ConcaveDemo::setVertexPositions(float waveheight, float offset)
 		}
 	}
 }
+
+void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
+{
+	if (key == 'g')
+	{
+		m_animatedMesh = !m_animatedMesh;
+		if (m_animatedMesh)
+		{
+			staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+			staticBody->setActivationState(DISABLE_DEACTIVATION);
+		} else
+		{
+			staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
+			staticBody->forceActivationState(ACTIVE_TAG);
+		}
+	}
+
+	DemoApplication::keyboardCallback(key,x,y);
+
+}
+
 void	ConcaveDemo::initPhysics()
 {
 	#define TRISIZE 10.f
@@ -173,6 +194,7 @@ void	ConcaveDemo::initPhysics()
 	btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
 	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
+	debugDrawerPtr = &debugDrawer;
 	
 	float mass = 0.f;
 	btTransform	startTransform;
@@ -204,18 +226,18 @@ void ConcaveDemo::clientMoveAndDisplay()
 	float dt = m_clock.getTimeMicroseconds() * 0.000001f;
 	m_clock.reset();
 
-	
-	
+	if (m_animatedMesh)
+	{
+		static float offset=0.f;
+		offset+=0.01f;
 
-	static float offset=0.f;
-	offset+=0.01f;
+		setVertexPositions(waveheight,offset);
 
-	setVertexPositions(waveheight,offset);
+		trimeshShape->refitTree();
 
-	trimeshShape->refitTree();
-
-	//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
-	m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(staticBody->getBroadphaseHandle());
+		//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
+		m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(staticBody->getBroadphaseHandle());
+	}
 
 	m_dynamicsWorld->stepSimulation(dt);
 	

Demos/OpenGL/DemoApplication.cpp

@@ -509,6 +509,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 		{
 			if (state==0)
 			{
+
 				shootBox(rayTo);
 			}
 			break;
@@ -519,6 +520,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 
 			if (state==0)
 			{
+				
 
 				//apply an impulse
 				if (m_dynamicsWorld)
@@ -554,6 +556,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 		{
 			if (state==0)
 			{
+		
 
 				//add a point to point constraint for picking
 				if (m_dynamicsWorld)
@@ -829,13 +832,12 @@ void DemoApplication::renderme()
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				yStart += yIncr;
 
-
-			/*	
+				
 				glRasterPos3f(xOffset,yStart,0);
-				sprintf(buf,"a to draw temporal AABBs");
+				sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				yStart += yIncr;
-			*/
+			
 
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"h to toggle help text");

Demos/OpenGL/GLDebugDrawer.cpp

@@ -68,35 +68,5 @@ void	GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3&
 }
 
 
-void GLDebugDrawer::drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
-{
-
-	btVector3 halfExtents = (to-from)* 0.5f;
-	btVector3 center = (to+from) *0.5f;
-	int i,j;
-
-	btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
-	for (i=0;i<4;i++)
-	{
-		for (j=0;j<3;j++)
-		{
-			pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
-				edgecoord[2]*halfExtents[2]);
-			pa+=center;
-
-			int othercoord = j%3;
-			edgecoord[othercoord]*=-1.f;
-			pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
-				edgecoord[2]*halfExtents[2]);
-			pb+=center;
-
-			drawLine(pa,pb,color);
-		}
-		edgecoord = btVector3(-1.f,-1.f,-1.f);
-		if (i<3)
-			edgecoord[i]*=-1.f;
-	}
 
 
-}
-

Demos/OpenGL/GLDebugDrawer.h

@@ -13,7 +13,6 @@ public:
 
 	GLDebugDrawer();
 
-	void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color);
 
 	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color);