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

59
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
View File

@@ -13,7 +13,14 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include <stdio.h>
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "btRaycastCallback.h"
btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
@@ -97,3 +104,55 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
}
}
}
btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld)
{
m_convexShape = convexShape;
m_convexShapeFrom = convexShapeFrom;
m_convexShapeTo = convexShapeTo;
m_triangleToWorld = triangleToWorld;
m_hitFraction = 1.0;
}
void
btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
{
btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
btVoronoiSimplexSolver simplexSolver;
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,NULL);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);
if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < m_hitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
reportHit (castResult.m_normal,
btVector3(6,6,6),
castResult.m_fraction,
partId,
triangleIndex);
}
}
}
}