AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2025-01-10 09:20:10 +00:00
Code Issues Releases Wiki Activity

Add btBroadphaseInterface::aabbTest. btDbvtBroadphase and btAxisSweep3 should perform well, as long as the raycast accelerator is enabled.

Browse Source 
This should fix the btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

Thanks to Ola for the report!
This commit is contained in:
erwin.coumans 2010-02-11 18:25:50 +00:00
parent 7a175fb65e
commit bb8d1b11df
8 changed files with 115 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
View File

@ -83,11 +83,10 @@ void CollisionInterfaceDemo::initPhysics()
collisionWorld->setDebugDrawer(&debugDrawer);
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
collisionWorld->addCollisionObject(&objects[0]);
// collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
}
@ -103,7 +102,24 @@ void CollisionInterfaceDemo::clientMoveAndDisplay()
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
struct btDrawingResult : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(0, 0, 0);
btVector3 ptA = cp.getPositionWorldOnA();
btVector3 ptB = cp.getPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
return 0;
}
};
void CollisionInterfaceDemo::displayCallback(void) {
@ -166,12 +182,20 @@ void CollisionInterfaceDemo::displayCallback(void) {
}
#else
glDisable(GL_TEXTURE_2D);
for (i=0;i<numObjects;i++)
{
collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
}
btDrawingResult renderCallback;
//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
collisionWorld->contactTest(&objects[0],renderCallback);
#if 0
//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
@ -210,6 +234,8 @@ void CollisionInterfaceDemo::displayCallback(void) {
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
#endif
#endif

27
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@ -150,6 +150,8 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
@ -285,6 +287,31 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
}
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
if (m_raycastAccelerator)
{
m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
} else
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
{
if (m_pEdges[axis][i].IsMax())
{
Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
{
callback.process(handle);
}
}
}
}
}
template <typename BP_FP_INT_TYPE>

12
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
View File

@ -26,7 +26,14 @@ class btOverlappingPairCache;
struct btBroadphaseRayCallback
struct btBroadphaseAabbCallback
{
virtual ~btBroadphaseAabbCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
{
///added some cached data to accelerate ray-AABB tests
btVector3 m_rayDirectionInverse;
@ -34,7 +41,6 @@ struct btBroadphaseRayCallback
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
#include "LinearMath/btVector3.h"
@ -54,6 +60,8 @@ public:
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;

26
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View File

@ -251,6 +251,32 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
}
struct BroadphaseAabbTester : btDbvt::ICollide
{
btBroadphaseAabbCallback& m_aabbCallback;
BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
:m_aabbCallback(orgCallback)
{
}
void Process(const btDbvtNode* leaf)
{
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
m_aabbCallback.process(proxy);
}
};
void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
{
BroadphaseAabbTester callback(aabbCallback);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
//process all children, that overlap with the given AABB bounds
m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
}
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,

1
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
View File

@ -108,6 +108,7 @@ struct btDbvtBroadphase : btBroadphaseInterface
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);

19
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include <new>
extern int gOverlappingPairs;
@ -166,6 +168,23 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
}
void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
for (int i=0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
if(!proxy->m_clientObject)
{
continue;
}
if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
{
callback.process(proxy);
}
}
}

1
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
View File

@ -136,6 +136,7 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
btOverlappingPairCache* getOverlappingPairCache()
{

6
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@ -965,7 +965,7 @@ struct btBridgedManifoldResult : public btManifoldResult
struct btSingleContactCallback : public btBroadphaseRayCallback
struct btSingleContactCallback : public btBroadphaseAabbCallback
{
btCollisionObject* m_collisionObject;
@ -1012,8 +1012,8 @@ void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
btVector3 aabbMin,aabbMax;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
btSingleContactCallback contactCB(colObj,this,resultCallback);
m_broadphasePairCache->rayTest(colObj->getWorldTransform().getOrigin(),colObj->getWorldTransform().getOrigin(),contactCB,aabbMin,aabbMax);
m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);
}