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move updateAabbs from dynamics world to collision world

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This commit is contained in:
ejcoumans
2007-12-10 02:59:04 +00:00
parent f1be4ab221
commit a45912e39c
7 changed files with 140 additions and 173 deletions
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56
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -41,7 +41,8 @@ subject to the following restrictions:
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache)
m_broadphasePairCache(pairCache),
m_debugDrawer(0)
{
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
@@ -112,6 +113,47 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho
}
void btCollisionWorld::updateAabbs()
{
PROFILE("updateAabbs");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
//only update aabb of active objects
if (colObj->isActive())
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe && m_debugDrawer)
{
reportMe = false;
m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer->reportErrorWarning("Thanks.\n");
}
}
}
}
END_PROFILE("updateAabbs");
}
@@ -124,16 +166,8 @@ void btCollisionWorld::performDiscreteCollisionDetection()
BEGIN_PROFILE("perform Broadphase Collision Detection");
//update aabb (of all moved objects)
{
PROFILE("setAabb");
btVector3 aabbMin,aabbMax;
for (int i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax,m_dispatcher1);
}
}
updateAabbs();
{
PROFILE("calculateOverlappingPairs");
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);