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- fix issue with convex cast: results further away (larger hitfraction) could overwrite closer results

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- minor naming convention thing (variables start with lower case)
- renamed MotorDemo
- added ConcaveConvexcastDemo, Thanks John McCutchan (JMC)
This commit is contained in:
ejcoumans
2007-12-06 02:54:29 +00:00
parent 35d2ae870c
commit 6f80b98a67
10 changed files with 855 additions and 101 deletions
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19
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -754,8 +754,8 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
bool isLeafNode;
//PCK: unsigned instead of bool
unsigned BoxBoxOverlap = 0;
unsigned RayBoxOverlap = 0;
unsigned boxBoxOverlap = 0;
unsigned rayBoxOverlap = 0;
btScalar lambda_max = 1.0;
#define RAYAABB2
@@ -811,10 +811,10 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
//PCK: unsigned instead of bool
// only interested if this is closer than any previous hit
btScalar param = 1.0;
RayBoxOverlap = 0;
BoxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
rayBoxOverlap = 0;
boxBoxOverlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,rootNode->m_quantizedAabbMin,rootNode->m_quantizedAabbMax);
isLeafNode = rootNode->isLeafNode();
if (BoxBoxOverlap)
if (boxBoxOverlap)
{
btVector3 bounds[2];
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
@@ -832,20 +832,19 @@ void btOptimizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
}
#endif
#ifdef RAYAABB2
RayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
rayBoxOverlap = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
#else
RayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
rayBoxOverlap = btRayAabb(raySource, rayTarget, bounds[0], bounds[1], param, normal);
#endif
}
RayBoxOverlap = true;
if (isLeafNode && RayBoxOverlap)
if (isLeafNode && rayBoxOverlap)
{
nodeCallback->processNode(rootNode->getPartId(),rootNode->getTriangleIndex());
}
//PCK: unsigned instead of bool
if ((RayBoxOverlap != 0) || isLeafNode)
if ((rayBoxOverlap != 0) || isLeafNode)
{
rootNode++;
curIndex++;