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free memory for btShapeHulls, keep track of it in GL_ShapeDrawer.

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move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)
This commit is contained in:
ejcoumans
2008-02-13 07:14:19 +00:00
parent 98006e5607
commit eeb78b8d45
31 changed files with 188 additions and 117 deletions
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18
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -182,20 +182,16 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point) const
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint );// * m_quantization;
// SMJ - Add 0.5 in the correct direction before doing the int conversion.
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
out[0] = (unsigned short)(((unsigned short)v.getX() & 0xffffffe) | isMax);
out[1] = (unsigned short)(((unsigned short)v.getY() & 0xffffffe) | isMax);
out[2] = (unsigned short)(((unsigned short)v.getZ() & 0xffffffe) | isMax);
}
@@ -214,8 +210,8 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
quantizeWithClamp(quantizedAabbMin, localAabbMin);
quantizeWithClamp(quantizedAabbMax, localAabbMax);
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);