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Update to btDbvt and btDbvtBroadphase, thanks to Nathanael Presson

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erwin.coumans
2008-07-09 22:45:01 +00:00
parent b9bc96e22b
commit 9996da6f2d
7 changed files with 1558 additions and 681 deletions
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26
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -1,3 +1,19 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///btDbvtBroadphase implementation by Nathanael Presson
#include "btDbvtBroadphase.h"
//
@@ -120,7 +136,9 @@ void Process(const btDbvt::Node* na,const btDbvt::Node* nb)
//
btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
{
btDbvt::benchmark();
m_releasepaircache = (paircache!=0)?false:true;
m_predictedframes = 2;
m_stageCurrent = 0;
m_fupdates = 1;
m_dupdates = 1;
@@ -198,9 +216,9 @@ if(proxy->stage==STAGECOUNT)
{/* Moving */
const btVector3 delta=(aabbMin+aabbMax)/2-proxy->aabb.Center();
#ifdef DBVT_BP_MARGIN
m_sets[0].update(proxy->leaf,aabb,delta*PREDICTED_FRAMES,DBVT_BP_MARGIN);
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes,DBVT_BP_MARGIN);
#else
m_sets[0].update(proxy->leaf,aabb,delta*PREDICTED_FRAMES);
m_sets[0].update(proxy->leaf,aabb,delta*m_predictedframes);
#endif
}
else
@@ -246,8 +264,8 @@ void btDbvtBroadphase::collide(btDispatcher* dispatcher)
{
SPC(m_profiling.m_total);
/* optimize */
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leafs*m_dupdates)/100);
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leafs*m_fupdates)/100);
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
/* dynamic -> fixed set */
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
btDbvtProxy* current=m_stageRoots[m_stageCurrent];