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| author | Rémi Verschelde <rverschelde@gmail.com> | 2019-05-16 10:38:31 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-05-16 10:38:31 +0200 |
| commit | 4a2506508993cf5918736d321c3a53ebcdbcd635 (patch) | |
| tree | b4d9a0ace5bbd666f0ffd5bee9c8b18d27fd7b71 /thirdparty/bullet/BulletCollision/CollisionDispatch | |
| parent | eded8d52e3f11357451214ab4d957ed1f7a31b18 (diff) | |
| parent | c38d9180df3763dbb6b13af45fcc07b8bddc5819 (diff) | |
Merge pull request #28928 from godotengine/revert-28328-revert-25543-optimize_bullet_heightfield_raycast2
Revert "Revert "Implemented terrain raycast acceleration""
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 19 |
1 files changed, 16 insertions, 3 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 782e9efaf1..b30ce03164 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -19,9 +19,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" @@ -413,6 +414,18 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled); } + else if (collisionShape->getShapeType()==TERRAIN_SHAPE_PROXYTYPE) + { + ///optimized version for btHeightfieldTerrainShape + btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),heightField,colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + heightField->performRaycast(&rcb, rayFromLocal, rayToLocal); + } else { //generic (slower) case |