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Use proper rotation for computing local aabb for convex cast shape.

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Propagate hit point from convex caster to world callback [work in progress].
This commit is contained in:
johnmccutchan
2007-12-07 21:22:38 +00:00
parent 68af58c09d
commit 513a055035
7 changed files with 33 additions and 32 deletions
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19
Demos/ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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@@ -39,7 +39,8 @@ public:
btVector3 source[NUMRAYS_IN_BAR];
btVector3 dest[NUMRAYS_IN_BAR];
btVector3 direction[NUMRAYS_IN_BAR];
btVector3 hit[NUMRAYS_IN_BAR];
btVector3 hit_com[NUMRAYS_IN_BAR];
btVector3 hit_surface[NUMRAYS_IN_BAR];
btVector3 normal[NUMRAYS_IN_BAR];
int frame_counter;
@@ -153,11 +154,13 @@ public:
cw->convexTest (&boxShape, source[i], dest[i], cb);
if (cb.HasHit ())
{
hit[i] = cb.m_hitPointWorld;
hit_surface[i] = cb.m_hitPointWorld;
hit_com[i].setInterpolate3(source[i], dest[i], cb.m_closestHitFraction);
normal[i] = cb.m_hitNormalWorld;
normal[i].normalize ();
} else {
hit[i] = dest[i];
hit_com[i] = dest[i];
hit_surface[i] = dest[i];
normal[i] = btVector3(1.0, 0.0, 0.0);
}
@@ -195,20 +198,21 @@ public:
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (source[i][0], source[i][1], source[i][2]);
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
glVertex3f (hit_com[i][0], hit_com[i][1], hit_com[i][2]);
}
glColor3f (1.0, 1.0, 1.0);
glBegin (GL_LINES);
btScalar normal_scale = 10.0; // easier to see if this is big
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
glVertex3f (hit_surface[i][0], hit_surface[i][1], hit_surface[i][2]);
glVertex3f (hit_surface[i][0] + normal_scale * normal[i][0], hit_surface[i][1] + normal_scale * normal[i][1], hit_surface[i][2] + normal_scale * normal[i][2]);
}
glEnd ();
glColor3f (0.0, 1.0, 1.0);
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
{
drawCube (hit[i]);
drawCube (hit_com[i]);
}
glEnable (GL_LIGHTING);
}
@@ -339,6 +343,7 @@ void ConcaveConvexcastDemo::initPhysics()
}
startTransform.setIdentity();
//startTransform = btTransform(btQuaternion (btVector3(1,1,1), 1.5));
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);