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Revert "Revert "Implemented terrain raycast acceleration"" #28928

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May 16, 2019
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Revert "Revert "Implemented terrain raycast acceleration"" #28928

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8 changes: 7 additions & 1 deletion modules/bullet/shape_bullet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,13 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
const bool flipQuadEdges = false;
const void *heightsPtr = p_heights.read().ptr();

return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));

// The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
if (heightsPtr)
heightfield->buildAccelerator(16);

return heightfield;
}

btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {
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19 changes: 16 additions & 3 deletions thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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Expand Up @@ -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"
Expand Down Expand Up @@ -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
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