Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

30
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
View File

@@ -41,6 +41,7 @@ public:
btVector3 direction[NUMRAYS_IN_BAR]; btVector3 direction[NUMRAYS_IN_BAR];
btVector3 hit_com[NUMRAYS_IN_BAR]; btVector3 hit_com[NUMRAYS_IN_BAR];
btVector3 hit_surface[NUMRAYS_IN_BAR]; btVector3 hit_surface[NUMRAYS_IN_BAR];
btScalar hit_fraction[NUMRAYS_IN_BAR];
btVector3 normal[NUMRAYS_IN_BAR]; btVector3 normal[NUMRAYS_IN_BAR];
int frame_counter; int frame_counter;
@@ -154,17 +155,24 @@ public:
for (int i = 0; i < NUMRAYS_IN_BAR; i++) for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{ {
btCollisionWorld::ClosestConvexResultCallback cb(source[i], dest[i]); btCollisionWorld::ClosestConvexResultCallback cb(source[i], dest[i]);
btQuaternion qFrom;
cw->convexTest (&boxShape, source[i], dest[i], cb); 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 ()) if (cb.HasHit ())
{ {
hit_surface[i] = cb.m_hitPointWorld; hit_surface[i] = cb.m_hitPointWorld;
hit_com[i].setInterpolate3(source[i], dest[i], cb.m_closestHitFraction); hit_com[i].setInterpolate3(source[i], dest[i], cb.m_closestHitFraction);
hit_fraction[i] = cb.m_closestHitFraction;
normal[i] = cb.m_hitNormalWorld; normal[i] = cb.m_hitNormalWorld;
normal[i].normalize (); normal[i].normalize ();
} else { } else {
hit_com[i] = dest[i]; hit_com[i] = dest[i];
hit_surface[i] = dest[i]; hit_surface[i] = dest[i];
hit_fraction[i] = 1.0f;
normal[i] = btVector3(1.0, 0.0, 0.0); 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 (); glPushMatrix ();
glTranslatef (com[0], com[1], com[2]); glMultMatrixf (&m[0]);
glScalef (2.0 * boxShapeHalfExtents[0], 2.0 * boxShapeHalfExtents[1], 2.0 * boxShapeHalfExtents[2]); glScalef (2.0 * boxShapeHalfExtents[0], 2.0 * boxShapeHalfExtents[1], 2.0 * boxShapeHalfExtents[2]);
glutSolidCube (1.0); glutSolidCube (1.0);
glPopMatrix (); glPopMatrix ();
@@ -216,9 +226,19 @@ public:
} }
glEnd (); glEnd ();
glColor3f (0.0, 1.0, 1.0); 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++) 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); glEnable (GL_LIGHTING);
} }

19
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -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; btTransform convexFromTrans,convexToTrans;
convexFromTrans.setIdentity(); convexFromTrans = convexFromWorld;
convexFromTrans.setOrigin(convexFromWorld); convexToTrans = convexToWorld;
convexToTrans.setIdentity();
convexToTrans.setOrigin(convexToWorld);
btVector3 castShapeAabbMin, castShapeAabbMax; btVector3 castShapeAabbMin, castShapeAabbMax;
btTransform I; /* Compute AABB that encompasses movement */
I.setIdentity(); {
castShape->getAabb (I, castShapeAabbMin, castShapeAabbMax); 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, /// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD) // 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); AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal; btVector3 hitNormal;
if (btRayAabb(convexFromWorld,convexToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{ {
objectQuerySingle(castShape, convexFromTrans,convexToTrans, objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject, collisionObject,

5
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -307,9 +307,10 @@ public:
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. /// 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); 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. // 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. /// 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. /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.

2
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
View File

@@ -46,7 +46,7 @@ btScalar btCollisionShape::getAngularMotionDisc() const
return disc; 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 //start with static aabb
getAabb(curTrans,temporalAabbMin,temporalAabbMax); getAabb(curTrans,temporalAabbMin,temporalAabbMax);

2
src/BulletCollision/CollisionShapes/btCollisionShape.h
View File

@@ -45,7 +45,7 @@ public:
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) ///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative ///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__ #ifndef __SPU__