- fix issue with convex cast: results further away (larger hitfraction) could overwrite closer results
- minor naming convention thing (variables start with lower case) - renamed MotorDemo - added ConcaveConvexcastDemo, Thanks John McCutchan (JMC)
This commit is contained in:
ejcoumans
@@ -238,49 +238,110 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
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} else {
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if (collisionShape->isConcave())
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{
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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///optimized version for btBvhTriangleMeshShape
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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};
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
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} else
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{
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btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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};
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 rayAabbMinLocal = rayFromLocal;
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rayAabbMinLocal.setMin(rayToLocal);
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btVector3 rayAabbMaxLocal = rayFromLocal;
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rayAabbMaxLocal.setMax(rayToLocal);
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triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
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}
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} else {
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//todo: use AABB tree or other BVH acceleration structure!
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if (collisionShape->isCompound())
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@@ -356,55 +417,69 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
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} else {
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if (collisionShape->isConcave())
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{
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
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btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
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btTransform rotationXform;
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rotationXform.setIdentity (); // FIXME!!!
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//ConvexCast::CastResult
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struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
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if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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btCollisionWorld::ConvexResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
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btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
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btTransform rotationXform;
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BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
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btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
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btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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rotationXform.setIdentity (); // FIXME!!!
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//ConvexCast::CastResult
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struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
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{
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btCollisionWorld::ConvexResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
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btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
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btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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if (hitFraction <= m_resultCallback->m_closestHitFraction)
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{
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btCollisionWorld::LocalConvexResult convexResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitPointLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
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}
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return hitFraction;
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}
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};
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virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalConvexResult convexResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitPointLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
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}
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};
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
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tccb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 boxMinLocal, boxMaxLocal;
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castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
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triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
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tccb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 boxMinLocal, boxMaxLocal;
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castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
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triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
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} else
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{
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//currently there is no convex cast support for concave shapes other then btBvhTriangleMeshShape
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//not yet
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btAssert(0);
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}
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} else {
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//todo: use AABB tree or other BVH acceleration structure!
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if (collisionShape->isCompound())
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