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.

ChangeLog.txt

@@ -1,6 +1,10 @@
 Bullet Continuous Collision Detection and Physics Library
 Erwin Coumans
 
+
+2007 Feb 25
+	- Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
+	
 2007 Feb 24
 	- Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices. 
 	  Should be faster and smaller then original version (quantized aabb check is done in integer space)

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -153,6 +153,7 @@ void	ConcaveDemo::initPhysics()
 	btCollisionShape* trimeshShape  = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
 
 
+
 //	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
 	btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
 	btVector3 worldMin(-1000,-1000,-1000);

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -100,7 +100,9 @@ void	UserCollisionAlgorithm::initPhysics()
 	
 	delete[] gVertices;
 
-	btCollisionShape* trimeshShape  = new btBvhTriangleMeshShape(trimesh);
+	bool useQuantizedBvhTree = false;
+//	btTriangleMesh uses a subpart for each triangle, this is not compatible with compressed quantized bvh node
+	btCollisionShape* trimeshShape  = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);
 		
 	//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
 	

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);

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp

@@ -124,6 +124,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
 btScalar btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
 {
 
+
 	btContactSolverInfo info = infoGlobal;
 
 	int numiter = infoGlobal.m_numIterations;

src/LinearMath/btMatrix3x3.h

@@ -45,12 +45,12 @@ class btMatrix3x3 {
 					 zx, zy, zz);
 		}
 		
-		btVector3 getColumn(int i) const
+		SIMD_FORCE_INLINE btVector3 getColumn(int i) const
 		{
 			return btVector3(m_el[0][i],m_el[1][i],m_el[2][i]);
 		}
 
-		const btVector3& getRow(int i) const
+		SIMD_FORCE_INLINE const btVector3& getRow(int i) const
 		{
 			return m_el[i];
 		}
@@ -58,13 +58,13 @@ class btMatrix3x3 {
 
 		SIMD_FORCE_INLINE btVector3&  operator[](int i)
 		{ 
-			assert(0 <= i && i < 3);
+			btFullAssert(0 <= i && i < 3);
 			return m_el[i]; 
 		}
 		
-		const btVector3& operator[](int i) const
+		SIMD_FORCE_INLINE const btVector3& operator[](int i) const
 		{
-			assert(0 <= i && i < 3);
+			btFullAssert(0 <= i && i < 3);
 			return m_el[i]; 
 		}
 		
@@ -102,7 +102,7 @@ class btMatrix3x3 {
 		void setRotation(const btQuaternion& q) 
 		{
 			btScalar d = q.length2();
-			assert(d != btScalar(0.0));
+			btFullAssert(d != btScalar(0.0));
 			btScalar s = btScalar(2.0) / d;
 			btScalar xs = q[0] * s,   ys = q[1] * s,   zs = q[2] * s;
 			btScalar wx = q[3] * xs,  wy = q[3] * ys,  wz = q[3] * zs;
@@ -323,7 +323,7 @@ class btMatrix3x3 {
 	{
 		btVector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1));
 		btScalar det = (*this)[0].dot(co);
-		assert(det != btScalar(0.0));
+		btFullAssert(det != btScalar(0.0));
 		btScalar s = btScalar(1.0) / det;
 		return btMatrix3x3(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
 								 co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,

src/LinearMath/btScalar.h

@@ -38,6 +38,8 @@ subject to the following restrictions:
 
 		#include <assert.h>
 		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert
 #else
 	
 	//non-windows systems
@@ -48,6 +50,8 @@ subject to the following restrictions:
 		#include <assert.h>
 		#endif
 		#define btAssert assert
+		//btFullAssert is optional, slows down a lot
+		#define btFullAssert
 #endif
 
 /// older compilers (gcc 3.x) and Sun needs double version of sqrt etc.

src/LinearMath/btTransformUtil.h

@@ -74,9 +74,9 @@ public:
 		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
 //	#define QUATERNION_DERIVATIVE
 	#ifdef QUATERNION_DERIVATIVE
-		btQuaternion orn = curTrans.getRotation();
-		orn += (angvel * orn) * (timeStep * btScalar(0.5));
-		orn.normalize();
+		btQuaternion predictedOrn = curTrans.getRotation();
+		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
+		predictedOrn.normalize();
 	#else
 		//exponential map
 		btVector3 axis;
@@ -101,6 +101,7 @@ public:
 		btQuaternion orn0 = curTrans.getRotation();
 
 		btQuaternion predictedOrn = dorn * orn0;
+		predictedOrn.normalize();
 	#endif
 		predictedTransform.setRotation(predictedOrn);
 	}

src/LinearMath/btVector3.h

@@ -64,7 +64,7 @@ public:
 
 	SIMD_FORCE_INLINE btVector3& operator/=(const btScalar& s) 
 	{
-		assert(s != btScalar(0.0));
+		btFullAssert(s != btScalar(0.0));
 		return *this *= btScalar(1.0) / s;
 	}
 
@@ -99,7 +99,7 @@ public:
 	SIMD_FORCE_INLINE btScalar angle(const btVector3& v) const 
 	{
 		btScalar s = btSqrt(length2() * v.length2());
-		assert(s != btScalar(0.0));
+		btFullAssert(s != btScalar(0.0));
 		return btAcos(dot(v) / s);
 	}
 
@@ -213,7 +213,7 @@ operator*(const btScalar& s, const btVector3& v)
 SIMD_FORCE_INLINE btVector3
 operator/(const btVector3& v, const btScalar& s)
 {
-	assert(s != btScalar(0.0));
+	btFullAssert(s != btScalar(0.0));
 	return v * (btScalar(1.0) / s);
 }