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Use btContinuousConvexCollision instead of btGjkConvexCast (has issues in btCollisionWorld::objectQuerySingle)

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Fixes in btHeightfieldTerrainShape, thanks Jay Lee.
This commit is contained in:
ejcoumans
2007-12-11 00:38:13 +00:00
parent a45912e39c
commit c1c01ff1a0
3 changed files with 117 additions and 113 deletions
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2
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -412,7 +412,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{

48
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -18,9 +18,11 @@ subject to the following restrictions:
#include "LinearMath/btTransformUtil.h"
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int width,int length,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
:m_width(width),
m_length(length),
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
: m_heightStickWidth(heightStickWidth),
m_heightStickLength(heightStickLength),
m_width((btScalar)heightStickWidth-1),
m_length((btScalar)heightStickLength-1),
m_maxHeight(maxHeight),
m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
@@ -44,7 +46,7 @@ m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
halfExtents.setValue(
btScalar(m_maxHeight),
btScalar(m_width),
btScalar(m_width), //?? don't know if this should change
btScalar(m_length));
break;
}
@@ -114,11 +116,11 @@ btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
btScalar val = 0.f;
if (m_useFloatData)
{
val = m_heightfieldDataFloat[(y*m_width)+x];
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
} else
{
//assume unsigned short int
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_width)+x];
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
val = heightFieldValue* (m_maxHeight/btScalar(65535));
}
return val;
@@ -133,8 +135,8 @@ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
btAssert(x>=0);
btAssert(y>=0);
btAssert(x<m_width);
btAssert(y<m_length);
btAssert(x<m_heightStickWidth);
btAssert(y<m_heightStickLength);
btScalar height = getHeightFieldValue(x,y);
@@ -218,18 +220,18 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
int startX=0;
int endX=m_width-1;
int endX=m_heightStickWidth-1;
int startJ=0;
int endJ=m_length-1;
int endJ=m_heightStickLength-1;
switch (m_upAxis)
{
case 0:
{
quantizedAabbMin[1]+=m_width/2-1;
quantizedAabbMax[1]+=m_width/2+1;
quantizedAabbMin[2]+=m_length/2-1;
quantizedAabbMax[2]+=m_length/2+1;
quantizedAabbMin[1]+=m_heightStickWidth/2-1;
quantizedAabbMax[1]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
@@ -243,10 +245,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
}
case 1:
{
quantizedAabbMin[0]+=m_width/2-1;
quantizedAabbMax[0]+=m_width/2+1;
quantizedAabbMin[2]+=m_length/2-1;
quantizedAabbMax[2]+=m_length/2+1;
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
@@ -260,10 +262,10 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
};
case 2:
{
quantizedAabbMin[0]+=m_width/2-1;
quantizedAabbMax[0]+=m_width/2+1;
quantizedAabbMin[1]+=m_length/2-1;
quantizedAabbMax[1]+=m_length/2+1;
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[1]+=m_heightStickLength/2-1;
quantizedAabbMax[1]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
@@ -290,7 +292,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
if (m_flipQuadEdges || (m_useDiamondSubdivision && ((j+x) & 1)))
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);

8
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
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@@ -26,9 +26,11 @@ protected:
btVector3 m_localAabbMax;
///terrain data
int m_width;
int m_length;
int m_heightStickWidth;
int m_heightStickLength;
btScalar m_maxHeight;
btScalar m_width;
btScalar m_length;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
@@ -58,7 +60,7 @@ protected:
}
public:
btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();