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fix ray test kF_FilterBackfaces and kF_KeepUnflippedNormal flags

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add Demos/RaytestDemo to show/test rayTest
fix premake batch files
This commit is contained in:
erwin.coumans
2012-09-12 23:19:05 +00:00
parent 73082e995c
commit c2f9d927c2
13 changed files with 596 additions and 24 deletions
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12
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -208,6 +208,11 @@ void btCollisionWorld::updateAabbs()
}
void btCollisionWorld::computeOverlappingPairs()
{
BT_PROFILE("calculateOverlappingPairs");
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}
void btCollisionWorld::performDiscreteCollisionDetection()
{
@@ -217,11 +222,7 @@ void btCollisionWorld::performDiscreteCollisionDetection()
updateAabbs();
{
BT_PROFILE("calculateOverlappingPairs");
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}
computeOverlappingPairs();
btDispatcher* dispatcher = getDispatcher();
{
@@ -456,6 +457,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
: m_userCallback(user), m_i(i)
{
m_closestHitFraction = m_userCallback->m_closestHitFraction;
m_flags = m_userCallback->m_flags;
}
virtual bool needsCollision(btBroadphaseProxy* p) const
{

13
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -144,6 +144,11 @@ public:
void updateSingleAabb(btCollisionObject* colObj);
virtual void updateAabbs();
///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
///it can be useful to use if you perform ray tests without collision detection/simulation
virtual void computeOverlappingPairs();
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
@@ -198,8 +203,8 @@ public:
const btCollisionObject* m_collisionObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
unsigned int m_flags;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
unsigned int m_flags;
virtual ~RayResultCallback()
{
@@ -214,8 +219,8 @@ public:
m_collisionObject(0),
m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter),
//@BP Mod
m_flags(0)
//@BP Mod
m_flags(0)
{
}

23
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
View File

@@ -57,12 +57,13 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
{
return ; // same sign
}
//@BP Mod - Backface filtering
if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
{
// Backface, skip check
return;
}
if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
{
// Backface, skip check
return;
}
const btScalar proj_length=dist_a-dist_b;
const btScalar distance = (dist_a)/(proj_length);
@@ -97,18 +98,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance)
{
//@BP Mod
// Triangle normal isn't normalized
//@BP Mod
// Triangle normal isn't normalized
triangleNormal.normalize();
//@BP Mod - Allow for unflipped normal when raycasting against backfaces
if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
//@BP Mod - Allow for unflipped normal when raycasting against backfaces
if (((m_flags & kF_KeepUnflippedNormal) == 0) && (dist_a <= btScalar(0.0)))
{
m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
}
else
{
m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
}
}
}