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bugfix: for btCompoundShape::getChildTransform: return (const) reference to btTransform, not a copy.

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added btCompoundShape::updateChildTransform
Thanks to ejtttje, see http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2831
This commit is contained in:
erwin.coumans 2008-11-10 09:04:04 +00:00
parent 463a1b74c1
commit 8865e38e5b
2 changed files with 39 additions and 11 deletions
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33
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape()
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
: m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_collisionMargin(btScalar(0.)),
@ -25,9 +25,13 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0)
{
m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
if (enableDynamicAabbTree)
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
}
}
@ -76,6 +80,23 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
void btCompoundShape::updateChildTransform(int childIndex, const btTransform& newChildTransform)
{
m_children[childIndex].m_transform = newChildTransform;
if (m_dynamicAabbTree)
{
///update the dynamic aabb tree
btVector3 localAabbMin,localAabbMax;
m_children[childIndex].m_childShape->getAabb(newChildTransform,localAabbMin,localAabbMax);
ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
int index = m_children.size()-1;
m_dynamicAabbTree->update(m_children[childIndex].m_node,bounds);
}
recalculateLocalAabb();
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
{
btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
@ -88,6 +109,8 @@ void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
// Find the children containing the shape specified, and remove those children.
@ -99,6 +122,8 @@ void btCompoundShape::removeChildShape(btCollisionShape* shape)
m_children.swap(i,m_children.size()-1);
m_children.pop_back();
//remove it from the m_dynamicAabbTree too
//@todo: this leads to problems due to caching in the btCompoundCollisionAlgorithm
//so effectively, removeChildShape is broken at the moment
//m_dynamicAabbTree->remove(m_aabbProxies[i]);
//m_aabbProxies.swap(i,m_children.size()-1);
//m_aabbProxies.pop_back();

17
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@ -46,23 +46,23 @@ SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompou
c1.m_childMargin == c2.m_childMargin );
}
/// btCompoundShape allows to store multiple other btCollisionShapes
/// The btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for moving concave collision objects. This is more general then the static concave btBvhTriangleMeshShape.
/// It has an (optional) dynamic aabb tree to accelerate early rejection tests.
/// @todo: This aabb tree can also be use to speed up ray tests on btCompoundShape, see http://code.google.com/p/bullet/issues/detail?id=25
/// Currently, removal of child shapes is only supported when disabling the aabb tree (pass 'false' in the constructor of btCompoundShape)
ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
{
//btAlignedObjectArray<btTransform> m_childTransforms;
//btAlignedObjectArray<btCollisionShape*> m_childShapes;
btAlignedObjectArray<btCompoundShapeChild> m_children;
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
//btOptimizedBvh* m_aabbTree;
btDbvt* m_dynamicAabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCompoundShape();
btCompoundShape(bool enableDynamicAabbTree = true);
virtual ~btCompoundShape();
@ -88,15 +88,18 @@ public:
return m_children[index].m_childShape;
}
btTransform getChildTransform(int index)
btTransform& getChildTransform(int index)
{
return m_children[index].m_transform;
}
const btTransform getChildTransform(int index) const
const btTransform& getChildTransform(int index) const
{
return m_children[index].m_transform;
}
///set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
void updateChildTransform(int childIndex, const btTransform& newChildTransform);
btCompoundShapeChild* getChildList()
{