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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -25,8 +25,7 @@ btCollisionObject::btCollisionObject()
m_ccdSweptShereRadius(0.f),
m_ccdSquareMotionTreshold(0.f)
{
m_cachedInvertedWorldTransform.setIdentity();
}

2
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -41,8 +41,6 @@ struct btCollisionObject
//it can be either previous or future (predicted) transform
btTransform m_interpolationWorldTransform;
btTransform m_cachedInvertedWorldTransform;
enum CollisionFlags
{
isStatic = 1,

1
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -123,7 +123,6 @@ void btCollisionWorld::performDiscreteCollisionDetection()
btVector3 aabbMin,aabbMax;
for (size_t i=0;i<m_collisionObjects.size();i++)
{
m_collisionObjects[i]->m_cachedInvertedWorldTransform = m_collisionObjects[i]->m_worldTransform.inverse();
m_collisionObjects[i]->m_collisionShape->getAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
m_broadphasePairCache->setAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
}

10
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -133,7 +133,7 @@ public:
struct LocalRayResult
{
LocalRayResult(const btCollisionObject* collisionObject,
LocalRayResult(btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
float hitFraction)
@@ -144,7 +144,7 @@ public:
{
}
const btCollisionObject* m_collisionObject;
btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
const btVector3& m_hitNormalLocal;
float m_hitFraction;
@@ -167,7 +167,7 @@ public:
:m_closestHitFraction(1.f)
{
}
virtual float AddSingleResult(const LocalRayResult& rayResult) = 0;
virtual float AddSingleResult(LocalRayResult& rayResult) = 0;
};
struct ClosestRayResultCallback : public RayResultCallback
@@ -184,9 +184,9 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
const btCollisionObject* m_collisionObject;
btCollisionObject* m_collisionObject;
virtual float AddSingleResult(const LocalRayResult& rayResult)
virtual float AddSingleResult(LocalRayResult& rayResult)
{
//caller already does the filter on the m_closestHitFraction

5
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -217,8 +217,9 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
btTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
btTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
btTransform worldToLocalTrimesh = triBody->m_worldTransform.inverse();
btTransform convexFromLocal = worldToLocalTrimesh * convexbody->m_worldTransform;
btTransform convexToLocal = worldToLocalTrimesh * convexbody->m_interpolationWorldTransform;
struct LocalTriangleSphereCastCallback : public btTriangleCallback
{

4
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -57,8 +57,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
return;
btTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
btTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
btTransform transAInv = m_body0->m_worldTransform.inverse();
btTransform transBInv= m_body1->m_worldTransform.inverse();
//transAInv = m_body0->m_worldTransform.inverse();
//transBInv= m_body1->m_worldTransform.inverse();

2
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
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@@ -148,14 +148,12 @@ btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& v
int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
assert(0);
return 0;
}
int btConvexTriangleMeshShape::getNumEdges() const
{
assert(0);
return 0;
}

4
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
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@@ -13,6 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#define BT_TRIANGLE_INDEX_VERTEX_ARRAY_H
#include "btStridingMeshInterface.h"
#include <vector>
@@ -76,3 +79,4 @@ public:
};
#endif //BT_TRIANGLE_INDEX_VERTEX_ARRAY_H