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Rename btCollisionWorld::convexTest to btCollisionWorld::convexSweepTest. The new test sweeps the convex shape against all objects in the world taking into account the orientation specified in the from and to transformations.

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This commit is contained in:
johnmccutchan
2008-01-11 20:18:29 +00:00
parent 702323f27a
commit 15cdd9de8e
5 changed files with 40 additions and 18 deletions
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30
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -41,6 +41,7 @@ public:
btVector3 direction[NUMRAYS_IN_BAR];
btVector3 hit_com[NUMRAYS_IN_BAR];
btVector3 hit_surface[NUMRAYS_IN_BAR];
btScalar hit_fraction[NUMRAYS_IN_BAR];
btVector3 normal[NUMRAYS_IN_BAR];
int frame_counter;
@@ -154,17 +155,24 @@ public:
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
btCollisionWorld::ClosestConvexResultCallback cb(source[i], dest[i]);
cw->convexTest (&boxShape, source[i], dest[i], cb);
btQuaternion qFrom;
btQuaternion qTo;
qFrom.setRotation (btVector3(1.0, 0.0, 0.0), 0.0);
qTo.setRotation (btVector3(1.0, 0.0, 0.0), 0.7);
btTransform from(qFrom, source[i]);
btTransform to(qTo, dest[i]);
cw->convexSweepTest (&boxShape, from, to, cb);
if (cb.HasHit ())
{
hit_surface[i] = cb.m_hitPointWorld;
hit_com[i].setInterpolate3(source[i], dest[i], cb.m_closestHitFraction);
hit_fraction[i] = cb.m_closestHitFraction;
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = btVector3(1.0, 0.0, 0.0);
}
@@ -187,10 +195,12 @@ public:
}
void drawCube (const btVector3& com)
void drawCube (const btTransform& T)
{
btScalar m[16];
T.getOpenGLMatrix (&m[0]);
glPushMatrix ();
glTranslatef (com[0], com[1], com[2]);
glMultMatrixf (&m[0]);
glScalef (2.0 * boxShapeHalfExtents[0], 2.0 * boxShapeHalfExtents[1], 2.0 * boxShapeHalfExtents[2]);
glutSolidCube (1.0);
glPopMatrix ();
@@ -216,9 +226,19 @@ public:
}
glEnd ();
glColor3f (0.0, 1.0, 1.0);
btQuaternion qFrom;
btQuaternion qTo;
qFrom.setRotation (btVector3(1.0, 0.0, 0.0), 0.0);
qTo.setRotation (btVector3(1.0, 0.0, 0.0), 0.7);
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
drawCube (hit_com[i]);
btTransform from(qFrom, source[i]);
btTransform to(qTo, dest[i]);
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (from, to, 1.0, linVel, angVel);
btTransform T;
btTransformUtil::integrateTransform (from, linVel, angVel, hit_fraction[i], T);
drawCube (T);
}
glEnable (GL_LIGHTING);
}

19
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -620,17 +620,18 @@ 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)
void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback,short int collisionFilterMask)
{
btTransform convexFromTrans,convexToTrans;
convexFromTrans.setIdentity();
convexFromTrans.setOrigin(convexFromWorld);
convexToTrans.setIdentity();
convexToTrans.setOrigin(convexToWorld);
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
btVector3 castShapeAabbMin, castShapeAabbMax;
btTransform I;
I.setIdentity();
castShape->getAabb (I, castShapeAabbMin, castShapeAabbMax);
/* Compute AABB that encompasses movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
castShape->calculateTemporalAabb (convexFromTrans, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
}
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
@@ -646,7 +647,7 @@ void btCollisionWorld::convexTest(const btConvexShape* castShape, const btVector
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))
if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,

5
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -307,9 +307,10 @@ 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
// convexTest performs a swept 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);
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& 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.

2
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
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@@ -46,7 +46,7 @@ btScalar btCollisionShape::getAngularMotionDisc() const
return disc;
}
void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax)
void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
{
//start with static aabb
getAabb(curTrans,temporalAabbMin,temporalAabbMax);

2
src/BulletCollision/CollisionShapes/btCollisionShape.h
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@@ -45,7 +45,7 @@ public:
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax);
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
#ifndef __SPU__