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added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb

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This commit is contained in:
ejcoumans
2006-11-09 04:43:18 +00:00
parent 6d47d9492e
commit 5102b7ac60
4 changed files with 124 additions and 80 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -320,15 +320,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
rayToTrans.setOrigin(rayToWorld);
//do culling based on aabb (rayFrom/rayTo)
btVector3 rayAabbMin = rayFromWorld;
btVector3 rayAabbMax = rayFromWorld;
rayAabbMin.setMin(rayToWorld);
rayAabbMax.setMax(rayToWorld);
/// brute force go over all objects. Once there is a broadphase, use that, or
/// add a raycast against aabb first.
/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
std::vector<btCollisionObject*>::iterator iter;
@@ -342,11 +334,9 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap
float hitLambda = 1.f;
float hitLambda = 1.f; //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,

99
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -118,45 +118,84 @@ void btDiscreteDynamicsWorld::saveKinematicState(float timeStep)
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
//debug vehicle wheels
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
for (unsigned int i=0;i<this->m_vehicles.size();i++)
{
btVector3 color(255.f,255.f,255.f);
switch(colObj->getActivationState())
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f); break;
case ISLAND_SLEEPING:
color = btVector3(0.f,255.f,0.f);break;
case WANTS_DEACTIVATION:
color = btVector3(0.f,255.f,255.f);break;
case DISABLE_DEACTIVATION:
color = btVector3(255.f,0.f,0.f);break;
case DISABLE_SIMULATION:
color = btVector3(255.f,255.f,0.f);break;
default:
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
color = btVector3(255.f,0.f,0.f);
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
{
if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicles[i]->updateWheelTransform(v);
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(255.f,255.f,255.f);
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(255.f,255.f,255.f); break;
case ISLAND_SLEEPING:
color = btVector3(0.f,255.f,0.f);break;
case WANTS_DEACTIVATION:
color = btVector3(0.f,255.f,255.f);break;
case DISABLE_DEACTIVATION:
color = btVector3(255.f,0.f,0.f);break;
case DISABLE_SIMULATION:
color = btVector3(255.f,255.f,0.f);break;
default:
{
color = btVector3(255.f,0.f,0.f);
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState() && !body->isStaticOrKinematicObject())
{
if (body->getActivationState() != ISLAND_SLEEPING)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime,interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
}
}
}

1
src/LinearMath/btAabbUtil2.h
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@@ -66,6 +66,7 @@ SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
}
SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& aabbMin,