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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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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);
}