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Performance optimization for btCompoundShape::setLocalScaling

Browse Source 
Thanks to Mirza, See Issue 487

backward compatibility fix for recent improvement in btRaycastVehicle 'rollinfluence'
Thanks to Mihail, See Issue 468
This commit is contained in:
erwin.coumans
2011-03-04 20:16:50 +00:00
parent b167f69ca2
commit fd4ae96697
3 changed files with 11 additions and 6 deletions
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13
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -85,7 +85,7 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform,bool shouldRecalculateLocalAabb)
{
m_children[childIndex].m_transform = newChildTransform;
@@ -99,7 +99,10 @@ void btCompoundShape::updateChildTransform(int childIndex, const btTransform& ne
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
}
recalculateLocalAabb();
if (shouldRecalculateLocalAabb)
{
recalculateLocalAabb();
}
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
@@ -283,10 +286,12 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling)
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin())*scaling);
updateChildTransform(i, childTrans);
recalculateLocalAabb();
updateChildTransform(i, childTrans,false);
}
m_localScaling = scaling;
recalculateLocalAabb();
}

2
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -106,7 +106,7 @@ public:
}
///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
void updateChildTransform(int childIndex, const btTransform& newChildTransform);
void updateChildTransform(int childIndex, const btTransform& newChildTransform, bool shouldRecalculateLocalAabb = true);
btCompoundShapeChild* getChildList()

2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -699,7 +699,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(1);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * wheelInfo.m_rollInfluence);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
#else
rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
#endif