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Fixes in raycast (against sphere), point 2 point constraint

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Picking test works, holding shift in App_BasicGpuDemo_*
This commit is contained in:
erwin coumans
2013-06-18 19:33:45 -07:00
parent a81d847c24
commit 481d54967f
8 changed files with 106 additions and 27 deletions
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31
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -87,7 +87,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
b3Vector3 rayTo = rays[r].m_to;
float hitFraction = hitResults[r].m_hitFraction;
int sphereHit = -1;
int hitBodyIndex= -1;
for (int b=0;b<numBodies;b++)
{
@@ -95,20 +95,35 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
const b3Vector3& pos = bodies[b].m_pos;
const b3Quaternion& orn = bodies[b].m_quat;
b3Scalar radius = 1;
if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
{
sphereHit = b;
case SHAPE_SPHERE:
{
b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
{
hitBodyIndex = b;
}
}
default:
{
static bool once=true;
if (once)
{
once=false;
b3Warning("Raytest: unsupported shape type\n");
}
}
}
}
if (sphereHit>=0)
if (hitBodyIndex>=0)
{
hitResults[r].m_hitFraction = hitFraction;
hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
hitResults[r].m_hitNormal = (hitResults[r].m_hitPoint-bodies[sphereHit].m_pos).normalize();
hitResults[r].m_hitResult0 = sphereHit;
hitResults[r].m_hitNormal = (hitResults[r].m_hitPoint-bodies[hitBodyIndex].m_pos).normalize();
hitResults[r].m_hitResult0 = hitBodyIndex;
}
}