Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added convex cast query to collision world.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

60
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@@ -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
{