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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>