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

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This commit is contained in:
ejcoumans
2007-03-27 21:02:45 +00:00
parent 7adc0742e3
commit 9546633ade
9 changed files with 295 additions and 134 deletions
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33
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -545,37 +545,6 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
}
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* btScalar(0.5);
btVector3 center = (to+from) *btScalar(0.5);
int i,j;
btVector3 edgecoord(btScalar(1.),btScalar(1.),btScalar(1.)),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]*=btScalar(-1.);
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
debugDrawer->drawLine(pa,pb,color);
}
edgecoord = btVector3(btScalar(-1.),btScalar(-1.),btScalar(-1.));
if (i<3)
edgecoord[i]*=btScalar(-1.);
}
}
void btDiscreteDynamicsWorld::updateAabbs()
{
@@ -620,7 +589,7 @@ void btDiscreteDynamicsWorld::updateAabbs()
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,colorvec);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
}