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Optimized area check

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This commit is contained in:
Andrea Catania 2019-02-20 15:29:57 +01:00
parent 29fd942dd6
commit b1934cfd0d
1 changed files with 24 additions and 39 deletions
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63
modules/bullet/space_bullet.cpp
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@ -650,7 +650,6 @@ void SpaceBullet::check_ghost_overlaps() {
/// Algorithm support variables
btCollisionShape *other_body_shape;
btConvexShape *area_shape;
btGjkPairDetector::ClosestPointInput gjk_input;
AreaBullet *area;
int x(-1), i(-1), y(-1), z(-1), indexOverlap(-1);
@ -704,10 +703,6 @@ void SpaceBullet::check_ghost_overlaps() {
btTransform area_shape_treansform(area->get_bt_shape_transform(y));
area_shape_treansform.getOrigin() *= area_scale;
gjk_input.m_transformA =
area->get_transform__bullet() *
area_shape_treansform;
area_shape = static_cast<btConvexShape *>(area->get_bt_shape(y));
// For each other object shape
@ -721,45 +716,35 @@ void SpaceBullet::check_ghost_overlaps() {
btTransform other_shape_transform(otherObject->get_bt_shape_transform(z));
other_shape_transform.getOrigin() *= other_body_scale;
gjk_input.m_transformB =
otherObject->get_transform__bullet() *
other_shape_transform;
btCollisionObjectWrapper obA(
NULL,
area_shape,
area->get_bt_ghost(),
area->get_transform__bullet() * area_shape_treansform,
-1,
y);
btCollisionObjectWrapper obB(
NULL,
other_body_shape,
otherObject->get_bt_collision_object(),
otherObject->get_transform__bullet() * other_shape_transform,
-1,
z);
if (other_body_shape->isConvex()) {
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
btPointCollector result;
btGjkPairDetector gjk_pair_detector(
area_shape,
static_cast<btConvexShape *>(other_body_shape),
gjk_simplex_solver,
gjk_epa_pen_solver);
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (!algorithm)
continue;
if (0 >= result.m_distance) {
hasOverlap = true;
goto collision_found;
}
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
} else {
algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(algorithm);
btCollisionObjectWrapper obA(NULL, area_shape, area->get_bt_ghost(), gjk_input.m_transformA, -1, y);
btCollisionObjectWrapper obB(NULL, other_body_shape, otherObject->get_bt_collision_object(), gjk_input.m_transformB, -1, z);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CONTACT_POINT_ALGORITHMS);
if (!algorithm)
continue;
GodotDeepPenetrationContactResultCallback contactPointResult(&obA, &obB);
algorithm->processCollision(&obA, &obB, dynamicsWorld->getDispatchInfo(), &contactPointResult);
algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
hasOverlap = true;
goto collision_found;
}
if (contactPointResult.hasHit()) {
hasOverlap = true;
goto collision_found;
}
} // ~For each other object shape