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Final 2.68 from Nathanael Presson, mainly soft body related. Added raycast support for soft bodies (press comma-key in the soft body demos to toggle ray cast tests)

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erwin.coumans
2008-04-14 06:24:56 +00:00
parent 912b4ccd29
commit be2490e4fb
11 changed files with 472 additions and 279 deletions
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57
src/BulletSoftBody/btDbvt.cpp
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@@ -1,10 +1,5 @@
#include "btDbvt.h"
#include <stdio.h>
namespace btdbvt_internals
{
//
typedef btAlignedObjectArray<btDbvt::Node*> tNodeArray;
@@ -23,7 +18,6 @@ Merge(a,b,res);
return(res);
}
// volume+edge lengths
static inline btScalar size(const btDbvt::Aabb& a)
{
@@ -266,14 +260,20 @@ if(leafs.size()>1)
tNodeArray sets[2];
int bestaxis=-1;
int bestmidp=leafs.size();
sets[0].reserve(leafs.size());
sets[1].reserve(leafs.size());
int splitcount[3][2]={0,0,0,0,0,0};
for(int i=0;i<leafs.size();++i)
{
const btVector3 x=leafs[i]->box.Center()-org;
for(int j=0;j<3;++j)
{
++splitcount[j][dot(x,axis[j])>0?1:0];
}
}
for(int i=0;i<3;++i)
{
split(leafs,sets[0],sets[1],org,axis[i]);
if((sets[0].size()>0)&&(sets[1].size()>0))
if((splitcount[i][0]>0)&&(splitcount[i][1]>0))
{
const int midp=abs(sets[0].size()-sets[1].size());
const int midp=abs(splitcount[i][0]-splitcount[i][1]);
if(midp<bestmidp)
{
bestaxis=i;
@@ -283,12 +283,14 @@ if(leafs.size()>1)
}
if(bestaxis>=0)
{
sets[0].reserve(splitcount[bestaxis][0]);
sets[1].reserve(splitcount[bestaxis][1]);
split(leafs,sets[0],sets[1],org,axis[bestaxis]);
}
else
{
sets[0].resize(0);
sets[1].resize(0);
sets[0].reserve(leafs.size()/2+1);
sets[1].reserve(leafs.size()/2);
for(int i=0,ni=leafs.size();i<ni;++i)
{
sets[i&1].push_back(leafs[i]);
@@ -331,11 +333,6 @@ if(parent)
}
return(node);
}
}
using namespace btdbvt_internals;
//
// Api
@@ -438,14 +435,12 @@ removeleaf(this,leaf);
deletenode(this,leaf);
}
//
void btDbvt::collide(btDbvt* tree,
ICollide* icollide) const
{
if(tree->m_root&&m_root)
{
btAlignedObjectArray<sStkElm> stack;
stack.reserve(128);
stack.push_back(sStkElm(m_root,tree->m_root));
@@ -524,9 +519,23 @@ if(m_root)
}
//
void btDbvt::collide(const btVector3& org,
const btVector3& dir,
ICollide* icollide) const
void btDbvt::collide(ICollide* icollide) const
{
/* not implemented */
if(m_root)
{
btAlignedObjectArray<const Node*> stack;
stack.reserve(64);
stack.push_back(m_root);
do {
const Node* n=stack[stack.size()-1];
stack.pop_back();
if(icollide->Descent(n))
{
if(n->isinternal())
{ stack.push_back(n->childs[0]);stack.push_back(n->childs[1]); }
else
{ icollide->Process(n); }
}
} while(stack.size()>0);
}
}