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heightfield: Add range constructor and overlaps

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This commit is contained in:
Gleb Mazovetskiy
2021-03-03 00:07:51 +00:00
parent bb838dbec0
commit 8f5a00dd1e
2 changed files with 20 additions and 25 deletions
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35
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -232,19 +232,6 @@ getQuantized(
return (int)(x + 0.5);
}
static btHeightfieldTerrainShape::Range makeRange(btScalar min, btScalar max)
{
btHeightfieldTerrainShape::Range result;
result.min = min;
result.max = max;
return result;
}
static bool rangesHaveOverlap(const btHeightfieldTerrainShape::Range& a, const btHeightfieldTerrainShape::Range& b)
{
return !(a.min > b.max || a.max < b.min);
}
// Equivalent to std::minmax({a, b, c}).
// Performs at most 3 comparisons.
static btHeightfieldTerrainShape::Range minmaxRange(btScalar a, btScalar b, btScalar c)
@@ -252,20 +239,20 @@ static btHeightfieldTerrainShape::Range minmaxRange(btScalar a, btScalar b, btSc
if (a > b)
{
if (b > c)
return makeRange(c, a);
return btHeightfieldTerrainShape::Range(c, a);
else if (a > c)
return makeRange(b, a);
return btHeightfieldTerrainShape::Range(b, a);
else
return makeRange(b, c);
return btHeightfieldTerrainShape::Range(b, c);
}
else
{
if (a > c)
return makeRange(c, b);
return btHeightfieldTerrainShape::Range(c, b);
else if (b > c)
return makeRange(a, b);
return btHeightfieldTerrainShape::Range(a, b);
else
return makeRange(a, c);
return btHeightfieldTerrainShape::Range(a, c);
}
}
@@ -372,7 +359,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
// TODO If m_vboundsGrid is available, use it to determine if we really need to process this area
const Range aabbUpRange = makeRange(aabbMin[m_upAxis], aabbMax[m_upAxis]);
const Range aabbUpRange(aabbMin[m_upAxis], aabbMax[m_upAxis]);
for (int j = startJ; j < endJ; j++)
{
for (int x = startX; x < endX; x++)
@@ -394,7 +381,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
// Skip triangle processing if the triangle is out-of-AABB.
Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
if (rangesHaveOverlap(upRange, aabbUpRange))
if (upRange.overlaps(aabbUpRange))
callback->processTriangle(vertices, 2 * x, j);
// already set: getVertex(x, j, vertices[indices[0]])
@@ -406,7 +393,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
if (rangesHaveOverlap(upRange, aabbUpRange))
if (upRange.overlaps(aabbUpRange))
callback->processTriangle(vertices, 2 * x + 1, j);
}
else
@@ -418,7 +405,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
// Skip triangle processing if the triangle is out-of-AABB.
Range upRange = minmaxRange(vertices[0][m_upAxis], vertices[1][m_upAxis], vertices[2][m_upAxis]);
if (rangesHaveOverlap(upRange, aabbUpRange))
if (upRange.overlaps(aabbUpRange))
callback->processTriangle(vertices, 2 * x, j);
// already set: getVertex(x, j + 1, vertices[indices[1]]);
@@ -430,7 +417,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
upRange.min = btMin(upRange.min, vertices[indices[2]][m_upAxis]);
upRange.max = btMax(upRange.max, vertices[indices[2]][m_upAxis]);
if (rangesHaveOverlap(upRange, aabbUpRange))
if (upRange.overlaps(aabbUpRange))
callback->processTriangle(vertices, 2 * x + 1, j);
}
}

10
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -75,6 +75,14 @@ btHeightfieldTerrainShape : public btConcaveShape
public:
struct Range
{
Range() {}
Range(btScalar min, btScalar max) : min(min), max(max) {}
bool overlaps(const Range& other) const
{
return !(min > other.max || max < other.min);
}
btScalar min;
btScalar max;
};
@@ -218,4 +226,4 @@ public:
}
};
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H