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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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52
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -61,7 +61,6 @@ subject to the following restrictions:
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
:btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
m_constraintSolver(constraintSolver),
m_debugDrawer(0),
m_gravity(0,-10,0),
m_localTime(btScalar(1.)/btScalar(60.)),
m_profileTimings(0)
@@ -303,10 +302,6 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep)
PROFILE("internalSingleStepSimulation");
///update aabbs information
updateAabbs();
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
@@ -640,53 +635,6 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
}
void btDiscreteDynamicsWorld::updateAabbs()
{
PROFILE("updateAabbs");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
//only update aabb of active objects
if (body->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(body->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
body->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");
}
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
{