Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Use consistent rayFrom/rayTo API for rayTest for btDbvt and btSoftBody, instead of rayCast/collideRAY(origin,direction). This means RayFromToCaster has a fraction [0..1] instead of distance [0..INF]

Browse Source 
Renamed collideRay -> rayTest to reflect change to (rayFrom,rayTo) interface.
Re-use btRayAabb2 function from src/LinearMath/btAabbUtil2.h in btDbvt instead of duplicated implementation.
This commit is contained in:
erwin.coumans
2008-10-15 18:30:35 +00:00
parent 81fcd03af5
commit cac172d422
8 changed files with 157 additions and 142 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
Demos/SoftDemo/SoftDemo.cpp
View File

@@ -1322,7 +1322,7 @@ void SoftDemo::clientResetScene()
m_autocam = false;
m_raycast = false;
m_cutting = false;
m_results.time = SIMD_INFINITY;
m_results.fraction = 1.f;
demofncs[current_demo](this);
}
@@ -1364,14 +1364,16 @@ void SoftDemo::renderme()
const btScalar dist=10;
btTransform trs;
trs.setOrigin(ps);
btScalar rayLength = 1000.f;
const btScalar angle=m_animtime*0.2;
trs.setRotation(btQuaternion(angle,SIMD_PI/4,0));
const btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
btVector3 dir=trs.getBasis()*btVector3(0,-1,0);
trs.setOrigin(ps-dir*dist);
btAlignedObjectArray<btVector3> origins;
btAlignedObjectArray<btScalar> times;
btAlignedObjectArray<btScalar> fractions;
origins.resize(res*res);
times.resize(res*res,SIMD_INFINITY);
fractions.resize(res*res,1.f);
for(int y=0;y<res;++y)
{
for(int x=0;x<res;++x)
@@ -1383,20 +1385,22 @@ void SoftDemo::renderme()
/* Cast rays */
{
m_clock.reset();
const btVector3* org=&origins[0];
btScalar* mint=&times[0];
btVector3* org=&origins[0];
btScalar* fraction=&fractions[0];
btSoftBody** psbs=&sbs[0];
btSoftBody::sRayCast results;
for(int i=0,ni=origins.size(),nb=sbs.size();i<ni;++i)
{
for(int ib=0;ib<nb;++ib)
{
if(psbs[ib]->rayCast(*org,dir,results,*mint))
btVector3 rayFrom = *org;
btVector3 rayTo = rayFrom+dir*rayLength;
if(psbs[ib]->rayTest(rayFrom,rayTo,results))
{
*mint=results.time;
*fraction=results.fraction;
}
}
++org;++mint;
++org;++fraction;
}
long ms=btMax<long>(m_clock.getTimeMilliseconds(),1);
long rayperseconds=(1000*(origins.size()*sbs.size()))/ms;
@@ -1413,15 +1417,15 @@ void SoftDemo::renderme()
idraw->drawLine(c[2],c[0],btVector3(0,0,0));
for(int i=0,ni=origins.size();i<ni;++i)
{
const btScalar tim=times[i];
const btScalar fraction=fractions[i];
const btVector3& org=origins[i];
if(tim<SIMD_INFINITY)
if(fraction<1.f)
{
idraw->drawLine(org,org+dir*tim,btVector3(1,0,0));
idraw->drawLine(org,org+dir*rayLength*fraction,btVector3(1,0,0));
}
else
{
idraw->drawLine(org,org-dir*0.1,btVector3(0,0,0));
idraw->drawLine(org,org-dir*rayLength*0.1,btVector3(0,0,0));
}
}
#undef RES
@@ -1490,7 +1494,7 @@ void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
//
void SoftDemo::mouseMotionFunc(int x,int y)
{
if(m_node&&(m_results.time<SIMD_INFINITY))
if(m_node&&(m_results.fraction<1.f))
{
if(!m_drag)
{
@@ -1522,7 +1526,7 @@ if(button==0)
{
case 0:
{
m_results.time=SIMD_INFINITY;
m_results.fraction=1.f;
DemoApplication::mouseFunc(button,state,x,y);
if(!m_pickConstraint)
{
@@ -1534,14 +1538,14 @@ if(button==0)
{
btSoftBody* psb=sbs[ib];
btSoftBody::sRayCast res;
if(psb->rayCast(rayFrom,rayDir,res,m_results.time))
if(psb->rayTest(rayFrom,rayTo,res))
{
m_results=res;
}
}
if(m_results.time<SIMD_INFINITY)
if(m_results.fraction<1.f)
{
m_impact = rayFrom+rayDir*m_results.time;
m_impact = rayFrom+(rayTo-rayFrom)*m_results.fraction;
m_drag = false;
m_lastmousepos[0] = x;
m_lastmousepos[1] = y;
@@ -1570,14 +1574,14 @@ if(button==0)
}
break;
case 1:
if((!m_drag)&&m_cutting&&(m_results.time<SIMD_INFINITY))
if((!m_drag)&&m_cutting&&(m_results.fraction<1.f))
{
ImplicitSphere isphere(m_impact,1);
printf("Mass before: %f\r\n",m_results.body->getTotalMass());
m_results.body->refine(&isphere,0.0001,true);
printf("Mass after: %f\r\n",m_results.body->getTotalMass());
}
m_results.time=SIMD_INFINITY;
m_results.fraction=1.f;
m_drag=false;
DemoApplication::mouseFunc(button,state,x,y);
break;