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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
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -22,8 +22,6 @@ subject to the following restrictions:
struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
btVector3 m_min;
btVector3 m_max;
int m_nextFree;
// int m_handleId;
@@ -32,8 +30,7 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
m_min(minpt),m_max(maxpt)
:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
{
(void)shapeType;
}
@@ -95,6 +92,12 @@ protected:
return proxy0;
}
inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
{
const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
return proxy0;
}
void validate();
@@ -117,6 +120,7 @@ public:
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
btOverlappingPairCache* getOverlappingPairCache()
{