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Fix/improve raycast performance for btBvhTriangleMeshShape (btQuantizedBvh, btOptimizedBvh)

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Add raycast acceleration for btAxisSweep3, using btDbvtBroadphase, providing large speedup. Can be disabled in constructor to safe memory.
This commit is contained in:
erwin.coumans
2008-10-14 20:24:28 +00:00
parent fffca75e9f
commit e6c850f13b
7 changed files with 207 additions and 61 deletions
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46
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -32,6 +32,9 @@ subject to the following restrictions:
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
//#define USE_BRUTEFORCE_RAYBROADPHASE 1
//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
//#define RECALCULATE_AABB_RAYCAST 1
//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -630,27 +633,30 @@ struct btSingleRayCallback : public btBroadphaseRayCallback
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
//collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#ifdef RECALCULATE_AABB
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
#endif
btScalar hitLambda = m_resultCallback.m_closestHitFraction;
btVector3 hitNormal;
if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObject->getBroadphaseHandle()->m_aabbMin,collisionObject->getBroadphaseHandle()->m_aabbMax,hitLambda,hitNormal))
{
btTransform rayFromTrans,rayToTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(m_rayFromWorld);
rayToTrans.setIdentity();
rayToTrans.setOrigin(m_rayToWorld);
m_world->rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
m_resultCallback);
}
btTransform rayFromTrans,rayToTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(m_rayFromWorld);
rayToTrans.setIdentity();
rayToTrans.setOrigin(m_rayToWorld);
m_world->rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
m_resultCallback);
}
}
return true;
@@ -662,7 +668,15 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
BT_PROFILE("rayTest");
/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
#else
for (int i=0;i<this->getNumCollisionObjects();i++)
{
rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}