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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);

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -92,6 +92,9 @@ protected:
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
@@ -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

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)
{

11
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
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@@ -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);

7
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -48,8 +48,6 @@ class btDynamicsWorld : public btCollisionWorld
///if maxSubSteps > 0, it will interpolate time steps
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 addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
@@ -60,11 +58,6 @@ class btDynamicsWorld : public btCollisionWorld
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
virtual btIDebugDraw* getDebugDrawer() = 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 setGravity(const btVector3& gravity) = 0;

1
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -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)
{

12
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
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@@ -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);