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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]

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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
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95
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btAabbUtil2.h"
//
// Compile time configuration
@@ -156,10 +157,7 @@ DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btTransform& xform);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& b);
DBVT_INLINE friend bool Intersect( const btDbvtAabbMm& a,
const btVector3& org,
const btVector3& invdir,
const unsigned* signs);
DBVT_INLINE friend btScalar Proximity( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE friend int Select( const btDbvtAabbMm& o,
@@ -317,9 +315,9 @@ struct btDbvt
const btDbvtVolume& volume,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideRAY( const btDbvtNode* root,
const btVector3& origin,
const btVector3& direction,
static void rayTest( const btDbvtNode* root,
const btVector3& rayFrom,
const btVector3& rayTo,
DBVT_IPOLICY);
DBVT_PREFIX
static void collideKDOP(const btDbvtNode* root,
@@ -539,37 +537,12 @@ return( (b.x()>=a.mi.x())&&
(b.z()<=a.mx.z()));
}
//
DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
const btVector3& org,
const btVector3& invdir,
const unsigned* signs)
{
#if 0
const btVector3 b0((a.mi-org)*invdir);
const btVector3 b1((a.mx-org)*invdir);
const btVector3 tmin(btMin(b0[0],b1[0]),btMin(b0[1],b1[1]),btMin(b0[2],b1[2]));
const btVector3 tmax(btMax(b0[0],b1[0]),btMax(b0[1],b1[1]),btMax(b0[2],b1[2]));
const btScalar tin=btMax(tmin[0],btMax(tmin[1],tmin[2]));
const btScalar tout=btMin(tmax[0],btMin(tmax[1],tmax[2]));
return(tin<tout);
#else
const btVector3* bounds[2]={&a.mi,&a.mx};
btScalar txmin=(bounds[ signs[0]]->x()-org[0])*invdir[0];
btScalar txmax=(bounds[1-signs[0]]->x()-org[0])*invdir[0];
const btScalar tymin=(bounds[ signs[1]]->y()-org[1])*invdir[1];
const btScalar tymax=(bounds[1-signs[1]]->y()-org[1])*invdir[1];
if((txmin>tymax)||(tymin>txmax)) return(false);
if(tymin>txmin) txmin=tymin;
if(tymax<txmax) txmax=tymax;
const btScalar tzmin=(bounds[ signs[2]]->z()-org[2])*invdir[2];
const btScalar tzmax=(bounds[1-signs[2]]->z()-org[2])*invdir[2];
if((txmin>tzmax)||(tzmin>txmax)) return(false);
if(tzmin>txmin) txmin=tzmin;
if(tzmax<txmax) txmax=tzmax;
return(txmax>0);
#endif
}
//////////////////////////////////////
//
DBVT_INLINE btScalar Proximity( const btDbvtAabbMm& a,
@@ -875,31 +848,51 @@ if(root)
}
}
//
DBVT_PREFIX
inline void btDbvt::collideRAY( const btDbvtNode* root,
const btVector3& origin,
const btVector3& direction,
inline void btDbvt::rayTest( const btDbvtNode* root,
const btVector3& rayFrom,
const btVector3& rayTo,
DBVT_IPOLICY)
{
DBVT_CHECKTYPE
if(root)
if(root)
{
const btVector3 normal=direction.normalized();
const btVector3 invdir( 1/normal.x(),
1/normal.y(),
1/normal.z());
const unsigned signs[]={ direction.x()<0,
direction.y()<0,
direction.z()<0};
btVector3 rayDir = (rayTo-rayFrom);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
btVector3 rayDirectionInverse;
rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
unsigned int signs[3] = { rayDirectionInverse[0] < 0.0, rayDirectionInverse[1] < 0.0, rayDirectionInverse[2] < 0.0};
btVector3 resultNormal;
btAlignedObjectArray<const btDbvtNode*> stack;
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(root);
do {
const btDbvtNode* node=stack[stack.size()-1];
stack.pop_back();
if(Intersect(node->volume,origin,invdir,signs))
{
btVector3 bounds[2] = {node->volume.Mins(),node->volume.Maxs()};
btScalar lambda_max = rayDir.dot(rayTo-rayFrom);
btScalar tmin=1.f,lambda_min=0.f;
bool result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
#ifdef COMPARE_BTRAY_AABB2
btScalar param=1.f;
bool result2 = btRayAabb(rayFrom,rayTo,node->volume.Mins(),node->volume.Maxs(),param,resultNormal);
btAssert(result1 == result2);
#endif //TEST_BTRAY_AABB2
if(result1)
{
if(node->isinternal())
{
stack.push_back(node->childs[0]);