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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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187
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -189,24 +189,9 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
collisionObject,
collisionShape,
colObjWorldTransform,
resultCallback,collisionFilterMask);
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
{
const btConvexShape* castShape = &pointShape;
if (collisionShape->isConvex())
{
@@ -228,7 +213,6 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
@@ -251,9 +235,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
}
}
}
}
else
{
} else {
if (collisionShape->isConcave())
{
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
@@ -299,8 +281,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
{
} else {
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
@@ -311,15 +292,136 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
objectQuerySingle(castShape, rayFromTrans,rayToTrans,
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback, collisionFilterMask);
}
}
}
}
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback,short int collisionFilterMask)
{
if (collisionShape->isConvex())
{
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);//??
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = convexFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
0,
castResult.m_normal,
btVector3(6,6,6), // FIXME need real hitpoint
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localConvexResult, normalInWorldSpace);
}
}
}
} else {
if (collisionShape->isConcave())
{
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
btTransform rotationXform;
rotationXform.setIdentity (); // FIXME!!!
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else {
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback, collisionFilterMask);
}
}
}
}
@@ -362,3 +464,42 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
}
}
void btCollisionWorld::convexTest(const btConvexShape* castShape, const btVector3& convexFromWorld, const btVector3& convexToWorld, ConvexResultCallback& resultCallback,short int collisionFilterMask)
{
btTransform convexFromTrans,convexToTrans;
convexFromTrans.setIdentity();
convexFromTrans.setOrigin(convexFromWorld);
convexToTrans.setIdentity();
convexToTrans.setOrigin(convexToWorld);
btVector3 castShapeAabbMin, castShapeAabbMax;
btTransform I;
I.setIdentity();
castShape->getAabb (I, castShapeAabbMin, castShapeAabbMax);
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(convexFromWorld,convexToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
}
}
}
}

82
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -204,7 +204,83 @@ public:
};
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
const btVector3& hitPointLocal,
btScalar hitFraction
)
:m_hitCollisionObject(hitCollisionObject),
m_localShapeInfo(localShapeInfo),
m_hitNormalLocal(hitNormalLocal),
m_hitPointLocal(hitPointLocal),
m_hitFraction(hitFraction)
{
}
btCollisionObject* m_hitCollisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btVector3 m_hitPointLocal;
btScalar m_hitFraction;
};
///RayResultCallback is used to report new raycast results
struct ConvexResultCallback
{
virtual ~ConvexResultCallback()
{
}
btScalar m_closestHitFraction;
bool HasHit()
{
return (m_closestHitFraction < btScalar(1.));
}
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.))
{
}
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
};
struct ClosestConvexResultCallback : public ConvexResultCallback
{
ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld)
:m_convexFromWorld(convexFromWorld),
m_convexToWorld(convexToWorld),
m_hitCollisionObject(0)
{
}
btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_convexToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
assert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_hitCollisionObject = rayResult.m_hitCollisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_convexFromWorld,m_convexToWorld,rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
int getNumCollisionObjects() const
{
@@ -215,6 +291,10 @@ public:
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
// convexTest performs a linear convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexTest (const btConvexShape* castShape, const btVector3& from, const btVector3& to, ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
/// This allows more customization.
@@ -229,7 +309,7 @@ public:
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);

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
{

1
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
View File

@@ -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
View File

@@ -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
View File

@@ -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
{

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);
}
}
}
}

19
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
View File

@@ -17,8 +17,9 @@ subject to the following restrictions:
#define RAYCAST_TRI_CALLBACK_H
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "LinearMath/btTransform.h"
struct btBroadphaseProxy;
class btConvexShape;
class btTriangleRaycastCallback: public btTriangleCallback
{
@@ -38,5 +39,21 @@ public:
};
class btTriangleConvexcastCallback : public btTriangleCallback
{
public:
const btConvexShape* m_convexShape;
btTransform m_convexShapeFrom;
btTransform m_convexShapeTo;
btTransform m_triangleToWorld;
btScalar m_hitFraction;
btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld);
virtual void processTriangle (btVector3* triangle, int partId, int triangleIndex);
virtual btScalar reportHit (const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
};
#endif //RAYCAST_TRI_CALLBACK_H

9
src/LinearMath/btAabbUtil2.h
View File

@@ -20,7 +20,14 @@ subject to the following restrictions:
#include "btVector3.h"
#include "btMinMax.h"
SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
btVector3& aabbMax,
const btVector3& expansionMin,
const btVector3& expansionMax)
{
aabbMin = aabbMin + expansionMin;
aabbMax = aabbMax + expansionMax;
}
/// conservative test for overlap between two aabbs