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Add void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

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The user should derive its own class from ContactResultCallback and implement the following callback (similar to the gContactAddedCallback):

virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
This commit is contained in:
erwin.coumans
2010-02-11 08:45:41 +00:00
parent 70c70bf681
commit 5907f81774
3 changed files with 145 additions and 3 deletions
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111
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -26,7 +26,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
@@ -908,6 +908,115 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
struct btBridgedManifoldResult : public btManifoldResult
{
btCollisionWorld::ContactResultCallback& m_resultCallback;
btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
:btManifoldResult(obj0,obj1),
m_resultCallback(resultCallback)
{
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA;
btVector3 localB;
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
newPt.m_positionWorldOnA = pointA;
newPt.m_positionWorldOnB = pointInWorld;
//BP mod, store contact triangles.
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
} else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
}
};
struct btSingleContactCallback : public btBroadphaseRayCallback
{
btCollisionObject* m_collisionObject;
btCollisionWorld* m_world;
btCollisionWorld::ContactResultCallback& m_resultCallback;
btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback)
:m_collisionObject(collisionObject),
m_world(world),
m_resultCallback(resultCallback)
{
}
virtual bool process(const btBroadphaseProxy* proxy)
{
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
if (collisionObject == m_collisionObject)
return true;
//only perform raycast if filterMask matches
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
if (algorithm)
{
btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
//discrete collision detection query
algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
algorithm->~btCollisionAlgorithm();
m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
}
}
return true;
}
};
///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)
{
btVector3 aabbMin,aabbMax;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);
btSingleContactCallback contactCB(colObj,this,resultCallback);
m_broadphasePairCache->rayTest(colObj->getWorldTransform().getOrigin(),colObj->getWorldTransform().getOrigin(),contactCB,aabbMin,aabbMax);
}
class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
{