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Add aabbMin/aabbMax to broadphase proxy, and improve rayTest performance.

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Todo: use broadphase acceleration structure (btDbvtBroadphase etc) for ray test
This commit is contained in:
erwin.coumans
2008-10-10 17:32:52 +00:00
parent a42b7d93f1
commit 9ad17dda22
13 changed files with 137 additions and 44 deletions
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12
Extras/BulletMultiThreaded/SpuRaycastTask/SpuRaycastTask.cpp
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@@ -681,16 +681,17 @@ void processRaycastTask(void* userPtr, void* lsMemory)
//spu_printf("in processRaycastTask %d\n", taskDesc.numSpuCollisionObjectWrappers);
/* for each object */
RaycastGatheredObjectData gatheredObjectData;
for (int objectId = 0; objectId < taskDesc.numSpuCollisionObjectWrappers; objectId++)
{
//spu_printf("%d / %d\n", objectId, taskDesc.numSpuCollisionObjectWrappers);
RaycastGatheredObjectData gatheredObjectData;
/* load initial collision shape */
GatherCollisionObjectAndShapeData (&gatheredObjectData, localMemory, (ppu_address_t)&cows[objectId]);
if (btBroadphaseProxy::isConcave (gatheredObjectData.m_shapeType))
{
SpuRaycastTaskWorkUnitOut tWorkUnitsOut[taskDesc.numWorkUnits];
SpuRaycastTaskWorkUnitOut tWorkUnitsOut[SPU_RAYCAST_WORK_UNITS_PER_TASK];
for (int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
tWorkUnitsOut[rayId].hitFraction = 1.0;
@@ -721,12 +722,13 @@ void processRaycastTask(void* userPtr, void* lsMemory)
cellDmaWaitTagStatusAll(DMA_MASK(1));
}
} else if (btBroadphaseProxy::isConvex (gatheredObjectData.m_shapeType)) {
btVector3 objectBoxMin, objectBoxMax;
computeAabb (objectBoxMin, objectBoxMax, (btConvexInternalShape*)gatheredObjectData.m_spuCollisionShape, gatheredObjectData.m_collisionShape, gatheredObjectData.m_shapeType, gatheredObjectData.m_worldTransform);
for (unsigned int rayId = 0; rayId < taskDesc.numWorkUnits; rayId++)
{
const SpuRaycastTaskWorkUnit& workUnit = taskDesc.workUnits[rayId];
btVector3 objectBoxMin, objectBoxMax;
computeAabb (objectBoxMin, objectBoxMax, (btConvexInternalShape*)gatheredObjectData.m_spuCollisionShape, gatheredObjectData.m_collisionShape, gatheredObjectData.m_shapeType, gatheredObjectData.m_worldTransform);
btScalar ignored_param = 1.0;
btVector3 ignored_normal;
if (btRayAabb(workUnit.rayFrom, workUnit.rayTo, objectBoxMin, objectBoxMax, ignored_param, ignored_normal))