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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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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);
}
}