hierarchical bounding boxes

[damiench]

Hi,

Is there a "hierarchical bounding boxes" mechanism in Bullet?

I read at:
http://bulletphysics.org/mediawiki-1.5. ... hysics_FAQ
That there is a midphase in Bullet. Is that midphase based on "hierarchical bounding boxes"?
Does it have to be specified or is it activate by default?

Is there some function in Bullet for profiling? I would be interested in knowing the amount of collision test that are made or avoid by the broadphase.

Thank you

Damien

[Erwin Coumans]

Bullet has a few different AABB tree implementations that are most suitable for their usage. They are automatically used.

This includes a btOptimizedBvh, used for static / environment triangle meshes in btBvhTriangleMeshShape.
Another one is btDbvt, a dynamic AABB tree that can deal with change in topology, used for broadphase (btDbvtBroadphase), soft bodies and btCompoundShape.

The link to that wiki page is very old, and needs updating.
Thanks,
Erwin

[damiench]

Is there a way to make from profiling?
For example to know at each step the amount of computation done / the amount of collision test done or avoid?

Thanks