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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,