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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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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,