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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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24
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -132,8 +132,8 @@ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantized
aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
}
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedTree->quantizeWithClamp(&node.m_quantizedAabbMax[0],aabbMax,1);
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
@@ -221,8 +221,8 @@ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const b
unsigned short quantizedQueryAabbMin[3];
unsigned short quantizedQueryAabbMax[3];
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax);
quantizeWithClamp(&quantizedQueryAabbMin[0],aabbMin,0);
quantizeWithClamp(&quantizedQueryAabbMax[0],aabbMax,1);
int i;
for (i=0;i<this->m_SubtreeHeaders.size();i++)
@@ -328,8 +328,8 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax);
quantizeWithClamp(&curNode.m_quantizedAabbMin[0],aabbMin,0);
quantizeWithClamp(&curNode.m_quantizedAabbMax[0],aabbMax,1);
} else
{
@@ -613,8 +613,8 @@ void btOptimizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallb
///quantize query AABB
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,aabbMin);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax);
quantizeWithClamp(quantizedQueryAabbMin,aabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,aabbMax,1);
switch (m_traversalMode)
{
@@ -783,8 +783,8 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax);
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin,0);
quantizeWithClamp(quantizedQueryAabbMax,rayAabbMax,1);
while (curIndex < endNodeIndex)
{
@@ -833,11 +833,11 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
}
#endif
#ifdef RAYAABB2
///disable this check: need to check division by zero (above) and fix the unQuantize method
///careful with this check: need to check division by zero (above) and fix the unQuantize method
///thanks Joerg/hiker for the reproduction case!
///http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1858
rayBoxOverlap = true;//btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0f, lambda_max);
#else
rayBoxOverlap = true;//btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif