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rename HasHit method to hasHit

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rename AddSingleResult to addSingleResult
moved collision filtering for btCollisionWorld::rayTest and btCollisionWorld::convexSweepTest from argument to the callback needsCollision
This commit is contained in:
erwin.coumans
2008-07-09 23:30:21 +00:00
parent 9996da6f2d
commit b66e5350d0
18 changed files with 108 additions and 70 deletions
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2
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -79,7 +79,7 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
KinematicFilter = 4,
DebrisFilter = 8,
SensorTrigger = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
//Usually the client btCollisionObject or Rigidbody class

2
src/BulletCollision/BroadphaseCollision/btDbvt.cpp
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@@ -1162,4 +1162,4 @@ if(cfgBenchmark15_Enable)
}
printf("\r\n\r\n");
}
#endif
#endif

6
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -191,7 +191,7 @@ struct btDbvt
// Constants
enum {
SIMPLE_STACKSIZE = 64,
DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2,
DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2
};
// Fields
@@ -759,7 +759,7 @@ if(root)
const int inside=(1<<count)-1;
btAlignedObjectArray<sStkNP> stack;
int signs[sizeof(unsigned)*8];
btAssert(count<(sizeof(signs)/sizeof(signs[0])));
btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
for(int i=0;i<count;++i)
{
signs[i]= ((normals[i].x()>=0)?1:0)+
@@ -821,7 +821,7 @@ if(root)
btAlignedObjectArray<int> ifree;
btAlignedObjectArray<int> stack;
int signs[sizeof(unsigned)*8];
btAssert(count<(sizeof(signs)/sizeof(signs[0])));
btAssert(count<int (sizeof(signs)/sizeof(signs[0])));
for(int i=0;i<count;++i)
{
signs[i]= ((normals[i].x()>=0)?1:0)+

31
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -213,7 +213,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
@@ -256,7 +256,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
}
}
@@ -302,7 +302,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
@@ -350,7 +350,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
@@ -383,7 +383,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback, collisionFilterMask);
resultCallback);
}
}
@@ -395,7 +395,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration,short int collisionFilterMask)
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
if (collisionShape->isConvex())
{
@@ -435,7 +435,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localConvexResult, normalInWorldSpace);
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
@@ -487,7 +487,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
bool normalInWorldSpace = true;
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
@@ -542,7 +542,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
bool normalInWorldSpace = false;
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
@@ -577,14 +577,14 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback, allowedPenetration,collisionFilterMask);
resultCallback, allowedPenetration);
}
}
}
}
}
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask) const
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
@@ -606,7 +606,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
@@ -627,7 +627,7 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
}
void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback,short int collisionFilterMask) const
void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const
{
btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld;
@@ -650,7 +650,7 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
{
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
@@ -664,8 +664,7 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback,
getDispatchInfo().m_allowedCcdPenetration,
collisionFilterMask);
getDispatchInfo().m_allowedCcdPenetration);
}
}
}

59
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -177,21 +177,34 @@ public:
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
virtual ~RayResultCallback()
{
}
bool HasHit()
bool hasHit()
{
return (m_collisionObject != 0);
}
RayResultCallback()
:m_closestHitFraction(btScalar(1.)),
m_collisionObject(0)
m_collisionObject(0),
m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter)
{
}
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
};
struct ClosestRayResultCallback : public RayResultCallback
@@ -208,7 +221,7 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
@@ -255,20 +268,36 @@ public:
///RayResultCallback is used to report new raycast results
struct ConvexResultCallback
{
btScalar m_closestHitFraction;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.)),
m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter)
{
}
virtual ~ConvexResultCallback()
{
}
btScalar m_closestHitFraction;
bool HasHit()
bool hasHit()
{
return (m_closestHitFraction < btScalar(1.));
}
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.))
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
};
struct ClosestConvexResultCallback : public ConvexResultCallback
@@ -287,7 +316,7 @@ public:
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
@@ -314,11 +343,11 @@ public:
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1) const;
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, short int collisionFilterMask=-1) const;
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const;
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
@@ -328,16 +357,16 @@ public:
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
RayResultCallback& resultCallback);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration, short int collisionFilterMask=-1);
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
btCollisionObjectArray& getCollisionObjectArray()
{