diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 55 |
1 files changed, 25 insertions, 30 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index fa1561973fb..49f35c2cc90 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -31,7 +31,6 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" -#include <algorithm> btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize) :m_dispatcher1(dispatcher), @@ -50,13 +49,10 @@ btCollisionWorld::~btCollisionWorld() delete m_stackAlloc; //clean up remaining objects - std::vector<btCollisionObject*>::iterator i; - - for (i=m_collisionObjects.begin(); - !(i==m_collisionObjects.end()); i++) - + int i; + for (i=0;i<m_collisionObjects.size();i++) { - btCollisionObject* collisionObject= (*i); + btCollisionObject* collisionObject= m_collisionObjects[i]; btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); if (bp) @@ -89,9 +85,7 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho { //check that the object isn't already added - std::vector<btCollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject); - assert(i == m_collisionObjects.end()); - + btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size()); m_collisionObjects.push_back(collisionObject); @@ -125,13 +119,13 @@ void btCollisionWorld::performDiscreteCollisionDetection() { btDispatcherInfo& dispatchInfo = getDispatchInfo(); - BEGIN_PROFILE("performDiscreteCollisionDetection"); + BEGIN_PROFILE("perform Broadphase Collision Detection"); //update aabb (of all moved objects) btVector3 aabbMin,aabbMax; - for (size_t i=0;i<m_collisionObjects.size();i++) + for (int i=0;i<m_collisionObjects.size();i++) { m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax); m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax); @@ -139,6 +133,11 @@ void btCollisionWorld::performDiscreteCollisionDetection() m_broadphasePairCache->refreshOverlappingPairs(); + + END_PROFILE("perform Broadphase Collision Detection"); + + BEGIN_PROFILE("performDiscreteCollisionDetection"); + btDispatcher* dispatcher = getDispatcher(); if (dispatcher) dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache,dispatchInfo); @@ -169,15 +168,13 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) } - std::vector<btCollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject); - - if (!(i == m_collisionObjects.end())) - { - std::swap(*i, m_collisionObjects.back()); - m_collisionObjects.pop_back(); - } + //swapremove + m_collisionObjects.remove(collisionObject); + } + + void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, @@ -185,12 +182,13 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra RayResultCallback& resultCallback) { - btSphereShape pointShape(0.0f); + btSphereShape pointShape(btScalar(0.0)); + pointShape.setMargin(0.f); if (collisionShape->isConvex()) { btConvexCast::CastResult castResult; - castResult.m_fraction = 1.f;//?? + castResult.m_fraction = btScalar(1.);//?? btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; @@ -201,7 +199,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) { //add hit - if (castResult.m_normal.length2() > 0.0001f) + if (castResult.m_normal.length2() > btScalar(0.0001)) { castResult.m_normal.normalize(); if (castResult.m_fraction < resultCallback.m_closestHitFraction) @@ -252,7 +250,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra } - virtual float reportHit(const btVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex ) + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) { btCollisionWorld::LocalShapeInfo shapeInfo; shapeInfo.m_shapePart = partId; @@ -321,19 +319,16 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r /// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD) - std::vector<btCollisionObject*>::iterator iter; - - for (iter=m_collisionObjects.begin(); - !(iter==m_collisionObjects.end()); iter++) + int i; + for (i=0;i<m_collisionObjects.size();i++) { - - btCollisionObject* collisionObject= (*iter); + btCollisionObject* collisionObject= m_collisionObjects[i]; //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - float hitLambda = 1.f; //could use resultCallback.m_closestHitFraction, but needs testing + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing btVector3 hitNormal; if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) { |