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Added convex cast query to collision world.

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Thanks to John McCutchan (JMC)
This commit is contained in:
ejcoumans
2007-12-06 00:51:24 +00:00
parent d2973ed48a
commit 1245995c84
9 changed files with 497 additions and 121 deletions
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60
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -151,6 +151,66 @@ void btBvhTriangleMeshShape::performRaycast (btTriangleRaycastCallback* callback
m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
}
void btBvhTriangleMeshShape::performConvexcast (btTriangleConvexcastCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleConvexcastCallback* m_callback;
MyNodeOverlapCallback(btTriangleConvexcastCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
}
//perform bvh tree traversal and report overlapping triangles to 'callback'
void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{

3
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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@@ -28,7 +28,7 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
btOptimizedBvh* m_bvh;
bool m_useQuantizedAabbCompression;
bool m_ownsBvh;
bool m_ownsBvh;
bool m_pad[11];////need padding due to alignment
public:
@@ -53,6 +53,7 @@ public:
void performRaycast (btTriangleRaycastCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
void performConvexcast (btTriangleConvexcastCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;

27
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -741,7 +741,7 @@ void btOptimizedBvh::walkRecursiveQuantizedTreeAgainstQueryAabb(const btQuantize
void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, int startNodeIndex,int endNodeIndex) const
void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const
{
btAssert(m_useQuantization);
@@ -776,6 +776,10 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
rayAabbMin.setMin(rayTarget);
rayAabbMax.setMax(rayTarget);
/* Add box cast extents to bounding box */
rayAabbMin += aabbMin;
rayAabbMax += aabbMax;
unsigned short int quantizedQueryAabbMin[3];
unsigned short int quantizedQueryAabbMax[3];
quantizeWithClamp(quantizedQueryAabbMin,rayAabbMin);
@@ -815,6 +819,9 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
btVector3 bounds[2];
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
btVector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
@@ -831,6 +838,7 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
#endif
}
RayBoxOverlap = true;
if (isLeafNode && RayBoxOverlap)
{
nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
@@ -946,7 +954,7 @@ void btOptimizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallb
bool fast_path = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
if (fast_path)
{
walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, 0, m_curNodeIndex);
walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, btVector3(0, 0, 0), btVector3(0, 0, 0), 0, m_curNodeIndex);
} else {
/* Otherwise fallback to AABB overlap test */
btVector3 aabbMin = raySource;
@@ -958,13 +966,16 @@ void btOptimizedBvh::reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallb
}
void btOptimizedBvh::reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const
void btOptimizedBvh::reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const
{
(void)nodeCallback;
(void)aabbMin;
(void)aabbMax;
//not yet, please use aabb
btAssert(0);
bool supported = m_useQuantization && m_traversalMode == TRAVERSAL_STACKLESS;
if (supported)
{
walkStacklessQuantizedTreeAgainstRay(nodeCallback, raySource, rayTarget, aabbMin, aabbMax, 0, m_curNodeIndex);
} else {
//not yet, please implement different paths
btAssert("Box cast on this type of Bvh Tree is not supported yet" && 0);
}
}

4
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
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@@ -286,7 +286,7 @@ protected:
void walkStacklessTree(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, int startNodeIndex,int endNodeIndex) const;
void walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax, int startNodeIndex,int endNodeIndex) const;
void walkStacklessQuantizedTree(btNodeOverlapCallback* nodeCallback,unsigned short int* quantizedQueryAabbMin,unsigned short int* quantizedQueryAabbMax,int startNodeIndex,int endNodeIndex) const;
///tree traversal designed for small-memory processors like PS3 SPU
@@ -331,7 +331,7 @@ public:
void reportAabbOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportRayOverlappingNodex (btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget) const;
void reportSphereOverlappingNodex(btNodeOverlapCallback* nodeCallback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void reportBoxCastOverlappingNodex(btNodeOverlapCallback* nodeCallback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin,const btVector3& aabbMax) const;
SIMD_FORCE_INLINE void quantizeWithClamp(unsigned short* out, const btVector3& point) const
{