Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

19
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@@ -88,7 +88,7 @@ btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin,
btAssert(0);
return 0; //should never happen, but don't let the game crash ;-)
}
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int newHandleIndex = allocHandle();
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
@@ -137,11 +137,18 @@ void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher*
}
void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
aabbMin = sbp->m_aabbMin;
aabbMax = sbp->m_aabbMax;
}
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_min = aabbMin;
sbp->m_max = aabbMax;
sbp->m_aabbMin = aabbMin;
sbp->m_aabbMax = aabbMax;
}
@@ -154,9 +161,9 @@ void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbM
bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
{
return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] &&
proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
}