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Copy the cached local AABB for ConvexHullShape instead of recomputing it.

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This commit is contained in:
john.mccutchan
2008-10-08 16:59:55 +00:00
parent 37f6b006af
commit e499a13572
1 changed files with 25 additions and 8 deletions
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33
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -386,8 +386,8 @@ void SpuConvexConvexCollisionAlgorithm (SpuCollisionPairInput& collisionPairInpu
SpuInternalConvexHull* shape0Points, SpuInternalConvexHull* shape0Points,
SpuInternalConvexHull* shape1Points) SpuInternalConvexHull* shape1Points)
{ {
btConvexPointCloudShape shape0ConvexHull (NULL, 0); btConvexPointCloudShape shape0ConvexHull (NULL, 0, false);
btConvexPointCloudShape shape1ConvexHull (NULL, 0); btConvexPointCloudShape shape1ConvexHull (NULL, 0, false);
btConvexShape* shape0; btConvexShape* shape0;
btConvexShape* shape1; btConvexShape* shape1;
btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr; btPersistentManifold* manifold = (btPersistentManifold*)collisionPairInput.m_persistentManifoldPtr;
@@ -397,7 +397,13 @@ void SpuConvexConvexCollisionAlgorithm (SpuCollisionPairInput& collisionPairInpu
#endif #endif
if (collisionPairInput.m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) if (collisionPairInput.m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE )
{ {
shape0ConvexHull.setPoints (shape0Points->m_points, shape0Points->m_numPoints); shape0ConvexHull.setPoints (shape0Points->m_points, shape0Points->m_numPoints, false);
{
btVector3 aabbMin, aabbMax;
btPolyhedralConvexShape* pcs = (btPolyhedralConvexShape*)shape0Internal->m_convexShape;
pcs->getCachedLocalAabb (aabbMin, aabbMax);
shape0ConvexHull.setCachedLocalAabb (aabbMin, aabbMax);
}
shape0 = &shape0ConvexHull; shape0 = &shape0ConvexHull;
} else { } else {
shape0 = shape0Internal->m_convexShape; shape0 = shape0Internal->m_convexShape;
@@ -405,7 +411,13 @@ void SpuConvexConvexCollisionAlgorithm (SpuCollisionPairInput& collisionPairInpu
if (collisionPairInput.m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE ) if (collisionPairInput.m_shapeType1 == CONVEX_HULL_SHAPE_PROXYTYPE )
{ {
shape1ConvexHull.setPoints (shape1Points->m_points, shape1Points->m_numPoints); shape1ConvexHull.setPoints (shape1Points->m_points, shape1Points->m_numPoints, false);
{
btVector3 aabbMin, aabbMax;
btPolyhedralConvexShape* pcs = (btPolyhedralConvexShape*)shape1Internal->m_convexShape;
pcs->getCachedLocalAabb (aabbMin, aabbMax);
shape1ConvexHull.setCachedLocalAabb (aabbMin, aabbMax);
}
shape1 = &shape1ConvexHull; shape1 = &shape1ConvexHull;
} else { } else {
shape1 = shape1Internal->m_convexShape; shape1 = shape1Internal->m_convexShape;
@@ -417,7 +429,7 @@ void SpuConvexConvexCollisionAlgorithm (SpuCollisionPairInput& collisionPairInpu
{ {
btVoronoiSimplexSolver vsSolver; btVoronoiSimplexSolver vsSolver;
btConvexPenetrationDepthSolver* penetrationSolver = NULL; btConvexPenetrationDepthSolver* penetrationSolver = NULL;
#define SPU_ENABLE_EPA 1 //#define SPU_ENABLE_EPA 1
#ifdef SPU_ENABLE_EPA #ifdef SPU_ENABLE_EPA
btGjkEpaPenetrationDepthSolver epaPenetrationSolver; btGjkEpaPenetrationDepthSolver epaPenetrationSolver;
btMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver; btMinkowskiPenetrationDepthSolver minkowskiPenetrationSolver;
@@ -570,7 +582,7 @@ void SpuConvexConcaveCollisionAlgorithm (SpuCollisionPairInput& collisionPairInp
SpuInternalConvexHull* shape0Points, SpuInternalConvexHull* shape0Points,
SpuInternalConvexHull* shape1Points) SpuInternalConvexHull* shape1Points)
{ {
btConvexPointCloudShape shape0ConvexHull (NULL, 0); btConvexPointCloudShape shape0ConvexHull (NULL, 0, false);
btConvexShape* shape0; btConvexShape* shape0;
#ifdef DEBUG_SPU_COLLISION_DETECTION #ifdef DEBUG_SPU_COLLISION_DETECTION
@@ -578,7 +590,13 @@ void SpuConvexConcaveCollisionAlgorithm (SpuCollisionPairInput& collisionPairInp
#endif #endif
if (collisionPairInput.m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE ) if (collisionPairInput.m_shapeType0== CONVEX_HULL_SHAPE_PROXYTYPE )
{ {
shape0ConvexHull.setPoints (shape0Points->m_points, shape0Points->m_numPoints); shape0ConvexHull.setPoints (shape0Points->m_points, shape0Points->m_numPoints, false);
{
btVector3 aabbMin, aabbMax;
btPolyhedralConvexShape* pcs = (btPolyhedralConvexShape*)shape0Internal->m_convexShape;
pcs->getCachedLocalAabb (aabbMin, aabbMax);
shape0ConvexHull.setCachedLocalAabb (aabbMin, aabbMax);
}
shape0 = &shape0ConvexHull; shape0 = &shape0ConvexHull;
} else { } else {
shape0 = shape0Internal->m_convexShape; shape0 = shape0Internal->m_convexShape;
@@ -981,7 +999,6 @@ void handleCollisionPair(SpuCollisionPairInput& collisionPairInput, CollisionTas
void processCollisionTask(void* userPtr, void* lsMemPtr) void processCollisionTask(void* userPtr, void* lsMemPtr)
{ {
SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr; SpuGatherAndProcessPairsTaskDesc* taskDescPtr = (SpuGatherAndProcessPairsTaskDesc*)userPtr;
SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr; SpuGatherAndProcessPairsTaskDesc& taskDesc = *taskDescPtr;
CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr; CollisionTask_LocalStoreMemory* colMemPtr = (CollisionTask_LocalStoreMemory*)lsMemPtr;