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Add btBroadphaseInterface::aabbTest. btDbvtBroadphase and btAxisSweep3 should perform well, as long as the raycast accelerator is enabled.

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This should fix the btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

Thanks to Ola for the report!
This commit is contained in:
erwin.coumans
2010-02-11 18:25:50 +00:00
parent 7a175fb65e
commit bb8d1b11df
8 changed files with 115 additions and 7 deletions
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27
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
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@@ -150,6 +150,8 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
@@ -285,6 +287,31 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
}
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
if (m_raycastAccelerator)
{
m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
} else
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
{
if (m_pEdges[axis][i].IsMax())
{
Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
{
callback.process(handle);
}
}
}
}
}
template <typename BP_FP_INT_TYPE>

12
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
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@@ -26,7 +26,14 @@ class btOverlappingPairCache;
struct btBroadphaseRayCallback
struct btBroadphaseAabbCallback
{
virtual ~btBroadphaseAabbCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
{
///added some cached data to accelerate ray-AABB tests
btVector3 m_rayDirectionInverse;
@@ -34,7 +41,6 @@ struct btBroadphaseRayCallback
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
#include "LinearMath/btVector3.h"
@@ -54,6 +60,8 @@ public:
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;

26
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -251,6 +251,32 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
}
struct BroadphaseAabbTester : btDbvt::ICollide
{
btBroadphaseAabbCallback& m_aabbCallback;
BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
:m_aabbCallback(orgCallback)
{
}
void Process(const btDbvtNode* leaf)
{
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
m_aabbCallback.process(proxy);
}
};
void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
{
BroadphaseAabbTester callback(aabbCallback);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
//process all children, that overlap with the given AABB bounds
m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
}
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,

1
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
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@@ -108,6 +108,7 @@ struct btDbvtBroadphase : btBroadphaseInterface
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);

19
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include <new>
extern int gOverlappingPairs;
@@ -166,6 +168,23 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
}
void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
for (int i=0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
if(!proxy->m_clientObject)
{
continue;
}
if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
{
callback.process(proxy);
}
}
}

1
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -136,6 +136,7 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
btOverlappingPairCache* getOverlappingPairCache()
{