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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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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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28
src/LinearMath/btIDebugDraw.h
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@@ -64,9 +64,37 @@ class btIDebugDraw
virtual int getDebugMode() const = 0;
inline void 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;
}
}
};
#endif //IDEBUG_DRAW__H