Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels.

Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.

src/BulletCollision/CollisionShapes/btConvexHullShape.cpp

@@ -30,6 +30,8 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
 		btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
 		m_points[i] = point[0];
 	}
+
+	recalcLocalAabb();
 }
 
 btVector3	btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -37,6 +37,7 @@ public:
 	void addPoint(const btPoint3& point)
 	{
 		m_points.push_back(point);
+		recalcLocalAabb();
 	}
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec)const;
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -43,6 +43,7 @@ protected:
 	
 	btScalar	m_collisionMargin;
 
+
 public:
 	btConvexShape();
 

src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp

@@ -22,6 +22,7 @@ subject to the following restrictions:
 btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
 :m_stridingMesh(meshInterface)
 {
+	recalcLocalAabb();
 }
 
 
@@ -189,5 +190,7 @@ bool btConvexTriangleMeshShape::isInside(const btPoint3& pt,btScalar tolerance)
 void	btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
 {
 	m_stridingMesh->setScaling(scaling);
+	
+	recalcLocalAabb();
 }
 

src/BulletCollision/CollisionShapes/btCylinderShape.cpp

@@ -18,21 +18,28 @@ subject to the following restrictions:
 btCylinderShape::btCylinderShape (const btVector3& halfExtents)
 :btBoxShape(halfExtents)
 {
-
+	recalcLocalAabb();
 }
 
 
 btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
 :btCylinderShape(halfExtents)
 {
+	recalcLocalAabb();
 }
 
 
 btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
 :btCylinderShape(halfExtents)
 {
+	recalcLocalAabb();
 }
 
+void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	//skip the box 'getAabb'
+	btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
+}
 
 
 inline btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) 

src/BulletCollision/CollisionShapes/btCylinderShape.h

@@ -29,10 +29,7 @@ public:
 	btCylinderShape (const btVector3& halfExtents);
 	
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
-	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
-	{
-		getAabbSlow(t,aabbMin,aabbMax);
-	}
+	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 
 	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp

@@ -16,7 +16,10 @@ subject to the following restrictions:
 #include <BulletCollision/CollisionShapes/btPolyhedralConvexShape.h>
 
 btPolyhedralConvexShape::btPolyhedralConvexShape()
-:m_optionalHull(0)
+:m_optionalHull(0),
+m_localAabbMin(1,1,1),
+m_localAabbMax(-1,-1,-1),
+m_isLocalAabbValid(false)
 {
 
 }
@@ -116,3 +119,48 @@ void	btPolyhedralConvexShape::calculateLocalInertia(btScalar mass,btVector3& ine
 
 }
 
+void btPolyhedralConvexShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+
+	//lazy evaluation of local aabb
+	btAssert(m_isLocalAabbValid);
+
+	btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
+	btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
+	btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
+
+
+	btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+	btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+	
+	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	btPoint3 center = trans(localCenter);
+
+	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
+		   abs_b[1].dot(localHalfExtents),
+		  abs_b[2].dot(localHalfExtents));
+	extent += btVector3(getMargin(),getMargin(),getMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+	
+}
+
+void	btPolyhedralConvexShape::recalcLocalAabb()
+{
+	m_isLocalAabbValid = true;
+
+	for (int i=0;i<3;i++)
+	{
+		btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
+		vec[i] = btScalar(1.);
+		btVector3 tmp = localGetSupportingVertex(vec);
+		m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+		vec[i] = btScalar(-1.);
+		tmp = localGetSupportingVertex(vec);
+		m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+	}
+}
+	

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -25,6 +25,10 @@ subject to the following restrictions:
 class btPolyhedralConvexShape : public btConvexShape
 {
 
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	bool		m_isLocalAabbValid;
+
 public:
 
 	btPolyhedralConvexShape();
@@ -36,6 +40,8 @@ public:
 	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
 
 
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+	void	recalcLocalAabb();
 
 	virtual int	getNumVertices() const = 0 ;
 	virtual int getNumEdges() const = 0;

src/BulletCollision/CollisionShapes/btTetrahedronShape.cpp

@@ -58,6 +58,8 @@ btBU_Simplex1to4::btBU_Simplex1to4(const btPoint3& pt0,const btPoint3& pt1,const
 void btBU_Simplex1to4::addVertex(const btPoint3& pt)
 {
 	m_vertices[m_numVertices++] = pt;
+
+	recalcLocalAabb();
 }
 
 

src/BulletCollision/CollisionShapes/btTriangleShape.h

@@ -57,6 +57,7 @@ public:
 		getVertex((i+1)%3,pb);
 	}
 
+
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const 
 	{
 //		btAssert(0);