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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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21
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -378,13 +378,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
@@ -404,7 +398,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
collisionObject,
0,
castResult.m_normal,
btVector3(6,6,6), // FIXME need real hitpoint
castResult.m_hitPoint,
castResult.m_fraction
);
@@ -423,9 +417,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
btTransform rotationXform;
rotationXform.setIdentity (); // FIXME!!!
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
@@ -480,9 +473,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
btTransform rotationXform;
rotationXform.setIdentity (); // FIXME!!!
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
@@ -518,7 +510,6 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -262,23 +262,23 @@ public:
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& rayResult,bool normalInWorldSpace)
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_hitCollisionObject = rayResult.m_hitCollisionObject;
m_closestHitFraction = convexResult.m_hitFraction;
m_hitCollisionObject = convexResult.m_hitCollisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
m_hitNormalWorld = convexResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_convexFromWorld,m_convexToWorld,rayResult.m_hitFraction);
return rayResult.m_hitFraction;
m_hitPointWorld = convexResult.m_hitPointLocal;
return convexResult.m_hitFraction;
}
};