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

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Moved some asserts into 'btFullAssert', which is disabled by default (see btScalar.h to enable them). This is to speed-up debugging.
This commit is contained in:
ejcoumans
2007-02-26 04:59:05 +00:00
parent 559c4e85d8
commit b73900bc60
18 changed files with 102 additions and 21 deletions
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50
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -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;
}
}