Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp (modified) (6 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -13 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
+
 ///btDbvtBroadphase implementation by Nathanael Presson
 
@@ -124 +125 @@
         m_needcleanup           =       true;
         m_releasepaircache      =       (paircache!=0)?false:true;
-        m_prediction            =       1/(btScalar)2;
+        m_prediction            =       0;
         m_stageCurrent          =       0;
         m_fixedleft                     =       0;
@@ -250 +251 @@
 }
 
+
+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,
@@ -315 +344 @@
                 }       
         }
+}
+
+
+//
+void                                                    btDbvtBroadphase::setAabbForceUpdate(           btBroadphaseProxy* absproxy,
+                                                                                                                  const btVector3& aabbMin,
+                                                                                                                  const btVector3& aabbMax,
+                                                                                                                  btDispatcher* /*dispatcher*/)
+{
+        btDbvtProxy*                                            proxy=(btDbvtProxy*)absproxy;
+        ATTRIBUTE_ALIGNED16(btDbvtVolume)       aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
+        bool    docollide=false;
+        if(proxy->stage==STAGECOUNT)
+        {/* fixed -> dynamic set        */ 
+                m_sets[1].remove(proxy->leaf);
+                proxy->leaf=m_sets[0].insert(aabb,proxy);
+                docollide=true;
+        }
+        else
+        {/* dynamic set                         */ 
+                ++m_updates_call;
+                /* Teleporting                  */ 
+                m_sets[0].update(proxy->leaf,aabb);
+                ++m_updates_done;
+                docollide=true;
+        }
+        listremove(proxy,m_stageRoots[proxy->stage]);
+        proxy->m_aabbMin = aabbMin;
+        proxy->m_aabbMax = aabbMax;
+        proxy->stage    =       m_stageCurrent;
+        listappend(proxy,m_stageRoots[m_stageCurrent]);
+        if(docollide)
+        {
+                m_needcleanup=true;
+                if(!m_deferedcollide)
+                {
+                        btDbvtTreeCollider      collider(this);
+                        m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
+                        m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
+                }
+        }       
 }
 
@@ -572 +642 @@
                 m_deferedcollide        =       false;
                 m_needcleanup           =       true;
-                m_prediction            =       1/(btScalar)2;
                 m_stageCurrent          =       0;
                 m_fixedleft                     =       0;