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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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7
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
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@@ -41,13 +41,13 @@ subject to the following restrictions:
struct btDbvtProxy : btBroadphaseProxy
{
/* Fields */
btDbvtAabbMm aabb;
//btDbvtAabbMm aabb;
btDbvtNode* leaf;
btDbvtProxy* links[2];
int stage;
/* ctor */
btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask)
btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
{
links[0]=links[1]=0;
}
@@ -105,6 +105,7 @@ void optimize();
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void calculateOverlappingPairs(btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache();
const btOverlappingPairCache* getOverlappingPairCache() const;