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fixes in btCollisionWorld and Raytracer, to allow 'all hits' (work in progress)

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This commit is contained in:
ejcoumans
2007-12-11 03:00:53 +00:00
parent c1c01ff1a0
commit a537fb68b6
5 changed files with 286 additions and 135 deletions
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9
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -230,7 +230,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
if (collisionShape->isConvex())
{
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);//??
castResult.m_fraction = resultCallback.m_closestHitFraction;
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
@@ -602,6 +602,10 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (resultCallback.m_closestHitFraction == btScalar(0.f))
break;
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
@@ -609,7 +613,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btScalar hitLambda = resultCallback.m_closestHitFraction;
btVector3 hitNormal;
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
@@ -620,6 +624,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
resultCallback);
}
}
}
}

20
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -166,17 +166,20 @@ public:
///RayResultCallback is used to report new raycast results
struct RayResultCallback
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
virtual ~RayResultCallback()
{
}
btScalar m_closestHitFraction;
bool HasHit()
{
return (m_closestHitFraction < btScalar(1.));
return (m_collisionObject != 0);
}
RayResultCallback()
:m_closestHitFraction(btScalar(1.))
:m_closestHitFraction(btScalar(1.)),
m_collisionObject(0)
{
}
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
@@ -186,8 +189,7 @@ public:
{
ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld),
m_collisionObject(0)
m_rayToWorld(rayToWorld)
{
}
@@ -196,13 +198,11 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_collisionObject;
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
assert(rayResult.m_hitFraction <= m_closestHitFraction);
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;