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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);

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;
}
};

2
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -174,6 +174,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
result.m_fraction = lastLambda;
n = pointCollector.m_normalOnBInWorld;
result.m_normal=n;//.setValue(1,1,1);// = n;
result.m_hitPoint = pointCollector.m_pointInWorld;
return true;
}
c = pointCollector.m_pointInWorld;
@@ -189,6 +190,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
result.m_fraction = lambda;
result.m_normal = n;
result.m_hitPoint = c;
return true;
}

1
src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
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@@ -50,6 +50,7 @@ public:
virtual ~CastResult() {};
btVector3 m_normal;
btVector3 m_hitPoint;
btScalar m_fraction;
btTransform m_hitTransformA;
btTransform m_hitTransformB;

2
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
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@@ -148,6 +148,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
//degeneracy, report a hit
result.m_fraction = lastLambda;
result.m_normal = n;
result.m_hitPoint = pointCollector.m_pointInWorld;
return true;
}
c = pointCollector.m_pointInWorld;
@@ -165,6 +166,7 @@ bool btGjkConvexCast::calcTimeOfImpact(
result.m_fraction = lastLambda;
result.m_normal = n;
result.m_hitPoint = c;
return true;
}
}

2
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -148,7 +148,7 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
castResult.m_normal.normalize();
reportHit (castResult.m_normal,
btVector3(6,6,6),
castResult.m_hitPoint,
castResult.m_fraction,
partId,
triangleIndex);