move updateAabbs from dynamics world to collision world

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -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)
+	updateAabbs();
-	{
+
-		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);
-		}
-	}
 	{
 		PROFILE("calculateOverlappingPairs");
 		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -91,6 +91,9 @@ protected:
 	btStackAlloc*	m_stackAlloc;
 
 	btBroadphaseInterface*	m_broadphasePairCache;
+
+	btIDebugDraw*	m_debugDrawer;
+
 	
 public:
 
@@ -116,6 +119,19 @@ public:
 		return m_dispatcher1;
 	}
 
+	virtual void	updateAabbs();
+
+	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
+	{
+			m_debugDrawer = debugDrawer;
+	}
+
+	virtual btIDebugDraw*	getDebugDrawer()
+	{
+		return m_debugDrawer;
+	}
+
+
 	///LocalShapeInfo gives extra information for complex shapes
 	///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
 	struct	LocalShapeInfo

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -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)
 {

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -42,7 +42,6 @@ protected:
 
 	btAlignedObjectArray<btTypedConstraint*> m_constraints;
 
-	btIDebugDraw*	m_debugDrawer;
 
 	btVector3	m_gravity;
 
@@ -93,7 +92,6 @@ public:
 	///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's
 	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
 
-	virtual void	updateAabbs();
 
 	void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
 
@@ -118,15 +116,6 @@ public:
 		return this;
 	}
 
-	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer)
-	{
-			m_debugDrawer = debugDrawer;
-	}
-
-	virtual btIDebugDraw*	getDebugDrawer()
-	{
-		return m_debugDrawer;
-	}
 
 	virtual void	setGravity(const btVector3& gravity);
 

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -1,91 +1,84 @@
-/*
+/*
-Bullet Continuous Collision Detection and Physics Library
+Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
+
-This software is provided 'as-is', without any express or implied warranty.
+This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
+In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
+Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
+subject to the following restrictions:
-
+
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
+3. This notice may not be removed or altered from any source distribution.
-*/
+*/
-
+
-#ifndef BT_DYNAMICS_WORLD_H
+#ifndef BT_DYNAMICS_WORLD_H
-#define BT_DYNAMICS_WORLD_H
+#define BT_DYNAMICS_WORLD_H
-
+
-#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
-class btTypedConstraint;
+class btTypedConstraint;
-class btRaycastVehicle;
+class btRaycastVehicle;
-class btConstraintSolver;
+class btConstraintSolver;
-
+
-
+
 enum btDynamicsWorldType
 {
 	BT_SIMPLE_DYNAMICS_WORLD=1,
 	BT_DISCRETE_DYNAMICS_WORLD=2,
 	BT_CONTINUOUS_DYNAMICS_WORLD=3
-};
+};
-
+
-///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
+///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
-class btDynamicsWorld : public btCollisionWorld
+class btDynamicsWorld : public btCollisionWorld
-{
+{
-	public:
+	public:
-		
+		
-
+
-		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
+		btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase,btCollisionConfiguration* collisionConfiguration)
-		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
+		:btCollisionWorld(dispatcher,broadphase,collisionConfiguration)
-		{
+		{
-		}
+		}
-
+
-		virtual ~btDynamicsWorld()
+		virtual ~btDynamicsWorld()
-		{
+		{
-		}
+		}
-		
+		
-		///stepSimulation proceeds the simulation over timeStep units
+		///stepSimulation proceeds the simulation over timeStep units
-		///if maxSubSteps > 0, it will interpolate time steps
+		///if maxSubSteps > 0, it will interpolate time steps
-		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
+		virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
-			
+			
-		virtual void	updateAabbs() = 0;
+		virtual void	debugDrawWorld() = 0;
-
+				
-		virtual void	debugDrawWorld() = 0;
+		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
-				
+
-		virtual void	addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
+		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
-
+
-		virtual void	removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
+		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
-
+
-		virtual void	addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
+		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
-
+
-		virtual void	removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
+		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
-
+		//existing rigidbodies in the world get gravity assigned too, during this method
-
+		virtual void	setGravity(const btVector3& gravity) = 0;
-		virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) = 0;
+
-
+		virtual void	addRigidBody(btRigidBody* body) = 0;
-		virtual btIDebugDraw*	getDebugDrawer() = 0;
+
-
+		virtual void	removeRigidBody(btRigidBody* body) = 0;
-		//once a rigidbody is added to the dynamics world, it will get this gravity assigned
+
-		//existing rigidbodies in the world get gravity assigned too, during this method
+		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
-		virtual void	setGravity(const btVector3& gravity) = 0;
+
-
+		virtual btConstraintSolver* getConstraintSolver() = 0;
-		virtual void	addRigidBody(btRigidBody* body) = 0;
+		
-
+		virtual	int		getNumConstraints() const {	return 0;		}
-		virtual void	removeRigidBody(btRigidBody* body) = 0;
+		
-
+		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
-		virtual void	setConstraintSolver(btConstraintSolver* solver) = 0;
+		
-
+		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
-		virtual btConstraintSolver* getConstraintSolver() = 0;
+
-		
+		virtual btDynamicsWorldType	getWorldType() const=0;
-		virtual	int		getNumConstraints() const {	return 0;		}
+
-		
+};
-		virtual btTypedConstraint* getConstraint(int index)		{	(void)index;		return 0;		}
+
-		
+#endif //BT_DYNAMICS_WORLD_H
-		virtual const btTypedConstraint* getConstraint(int index) const	{	(void)index;	return 0;	}
+
-
-		virtual btDynamicsWorldType	getWorldType() const=0;
-
-};
-
-#endif //BT_DYNAMICS_WORLD_H
-

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp

@@ -36,7 +36,6 @@ btSimpleDynamicsWorld::btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadpha
 :btDynamicsWorld(dispatcher,pairCache,collisionConfiguration),
 m_constraintSolver(constraintSolver),
 m_ownsConstraintSolver(false),
-m_debugDrawer(0),
 m_gravity(0,0,-10)
 {
 

src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h

@@ -32,8 +32,6 @@ protected:
 
 	bool	m_ownsConstraintSolver;
 
-	btIDebugDraw*	m_debugDrawer;
-
 	void	predictUnconstraintMotion(btScalar timeStep);
 	
 	void	integrateTransforms(btScalar timeStep);
@@ -52,16 +50,6 @@ public:
 	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
 	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
 
-	virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) 
-	{
-		m_debugDrawer = debugDrawer;
-	};
-
-	virtual btIDebugDraw*	getDebugDrawer()
-	{
-		return m_debugDrawer;
-	}
-
 	virtual void	setGravity(const btVector3& gravity);
 
 	virtual void	addRigidBody(btRigidBody* body);