From b1934cfd0db97646d044b3c3b7c9d1f9d6aa1d07 Mon Sep 17 00:00:00 2001 From: Andrea Catania Date: Wed, 20 Feb 2019 15:29:57 +0100 Subject: [PATCH] Optimized area check --- modules/bullet/space_bullet.cpp | 63 +++++++++++++-------------------- 1 file changed, 24 insertions(+), 39 deletions(-) diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp index c93220fc174..5a6579a4133 100644 --- a/modules/bullet/space_bullet.cpp +++ b/modules/bullet/space_bullet.cpp @@ -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(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(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