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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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27
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -226,6 +226,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
if (collisionShape->isConvex())
{
BT_PROFILE("rayTestConvex");
btConvexCast::CastResult castResult;
castResult.m_fraction = resultCallback.m_closestHitFraction;
@@ -269,6 +270,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
} else {
if (collisionShape->isConcave())
{
BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
@@ -374,6 +376,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
BT_PROFILE("rayTestCompound");
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
@@ -598,6 +601,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
BT_PROFILE("rayTest");
btTransform rayFromTrans,rayToTrans;
@@ -618,20 +622,25 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
//collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
btScalar hitLambda = resultCallback.m_closestHitFraction;
btVector3 hitNormal;
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
if (btRayAabb(rayFromWorld,rayToWorld,collisionObject->getBroadphaseHandle()->m_aabbMin,collisionObject->getBroadphaseHandle()->m_aabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
}
}
}