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Merge pull request #1394 from davilovick/master

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Optimize rayTest with btScaledBvhTriangleMeshShape
This commit is contained in:
erwincoumans
2017-10-24 00:33:07 +00:00
committed by GitHub
parent 931cee06fc 88758e44cb
commit d05ad4b821
1 changed files with 17 additions and 0 deletions
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17
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -407,6 +408,22 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
}
else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btScaledBvhTriangleMeshShape
btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
//scale the ray positions
btVector3 scale = scaledTriangleMesh->getLocalScaling();
btVector3 rayFromLocalScaled = rayFromLocal / scale;
btVector3 rayToLocalScaled = rayToLocal / scale;
//perform raycast in the underlying btBvhTriangleMeshShape
BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
}
else
{
//generic (slower) case