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allow Z as up-axis for raycast acceleration in btHeightfieldTerrainShape

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This commit is contained in:
erwincoumans
2019-04-16 10:34:59 -07:00
parent 6912290080
commit a8d1c121fd
4 changed files with 81 additions and 44 deletions
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31
examples/Heightfield/HeightfieldExample.cpp
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@@ -678,8 +678,9 @@ public:
sum_ms = 0;
}
btRaycastBar3(btScalar ray_length, btScalar z, btScalar max_y, struct GUIHelperInterface* guiHelper)
btRaycastBar3(btScalar ray_length, btScalar z, btScalar max_y, struct GUIHelperInterface* guiHelper, int upAxisIndex)
{
m_guiHelper = guiHelper;
frame_counter = 0;
ms = 0;
@@ -697,14 +698,24 @@ public:
{
btScalar alpha = dalpha * i;
// rotate around by alpha degrees y
btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
btVector3 upAxis(0, 0, 0);
upAxis[upAxisIndex] = 1;
btQuaternion q(upAxis, alpha);
direction[i] = btVector3(1.0, 0.0, 0.0);
direction[i] = quatRotate(q, direction[i]);
direction[i] = direction[i] * ray_length;
source[i] = btVector3(min_x, max_y, z);
if (upAxisIndex == 1)
{
source[i] = btVector3(min_x, max_y, z);
}
else
{
source[i] = btVector3(min_x, z, max_y);
}
dest[i] = source[i] + direction[i];
dest[i][1] = -1000;
dest[i][upAxisIndex] = -1000;
normal[i] = btVector3(1.0, 0.0, 0.0);
}
}
@@ -922,10 +933,12 @@ void HeightfieldExample::initPhysics()
createEmptyDynamicsWorld();
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
raycastBar = btRaycastBar3(2500.0, 0, 2.0, m_guiHelper);
// set up basic state
m_upAxis = 1; // start with Y-axis as "up"
m_upAxis = 2; // start with Y-axis as "up"
m_guiHelper->setUpAxis(m_upAxis);
raycastBar = btRaycastBar3(2500.0, 0, 2.0, m_guiHelper, m_upAxis);
// set up basic state
m_type = PHY_FLOAT;// SHORT;
m_model = gHeightfieldType;
@@ -970,7 +983,9 @@ void HeightfieldExample::resetPhysics(void)
m_minHeight, m_maxHeight,
m_upAxis, m_type, flipQuadEdges);
btAssert(m_heightfieldShape && "null heightfield");
if (m_upAxis == 2)
m_heightfieldShape->setFlipTriangleWinding(true);
//buildAccelerator is optional, it may not support all features.
m_heightfieldShape->buildAccelerator();