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Add better support for btCollisionWorld::convexSweepTest for btStaticPlaneShape, now using the btContinuousConvexCollision directly.

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Bugfix in btKinematicCharacterController, using an uninitialized variable
This commit is contained in:
erwin.coumans
2011-04-01 16:33:55 +00:00
parent 08a93b28f0
commit b1f21a7e6a
4 changed files with 154 additions and 74 deletions
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139
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -662,68 +662,103 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
btContinuousConvexCollision convexCaster1(castShape,planeShape);
btConvexCast* castPtr = &convexCaster1;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction
);
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
return hitFraction;
}
};
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
{
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
}
}
} else {
///@todo : use AABB tree or other BVH acceleration structure!