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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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2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -125,6 +125,7 @@ void btDiscreteDynamicsWorld::saveKinematicState(btScalar timeStep)
void btDiscreteDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("debugDrawWorld");
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
@@ -253,6 +254,7 @@ void btDiscreteDynamicsWorld::applyGravity()
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
BT_PROFILE("synchronizeMotionStates");
{
//todo: iterate over awake simulation islands!
for ( int i=0;i<m_collisionObjects.size();i++)