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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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89
src/BulletSoftBody/btSoftBody.cpp
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@@ -1222,17 +1222,19 @@ return(done);
}
//
bool btSoftBody::rayCast(const btVector3& org,
const btVector3& dir,
sRayCast& results,
btScalar maxtime)
{
if(m_faces.size()&&m_fdbvt.empty()) initializeFaceTree();
results.body = this;
results.time = maxtime;
results.feature = eFeature::None;
results.index = -1;
return(rayCast(org,dir,results.time,results.feature,results.index,false)!=0);
bool btSoftBody::rayTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results)
{
if(m_faces.size()&&m_fdbvt.empty())
initializeFaceTree();
results.body = this;
results.fraction = 1.f;
results.feature = eFeature::None;
results.index = -1;
return(rayTest(rayFrom,rayTo,results.fraction,results.feature,results.index,false)!=0);
}
//
@@ -1497,31 +1499,36 @@ void btSoftBody::integrateMotion()
}
//
btSoftBody::RayCaster::RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt)
btSoftBody::RayFromToCaster::RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt)
{
o = org;
d = dir;
mint = mxt;
face = 0;
tests = 0;
m_rayFrom = rayFrom;
m_rayNormalizedDirection = (rayTo-rayFrom);
m_rayTo = rayTo;
m_mint = mxt;
m_face = 0;
m_tests = 0;
}
//
void btSoftBody::RayCaster::Process(const btDbvtNode* leaf)
void btSoftBody::RayFromToCaster::Process(const btDbvtNode* leaf)
{
btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data;
const btScalar t=rayTriangle( o,d,
f.m_n[0]->m_x,
f.m_n[1]->m_x,
f.m_n[2]->m_x,
mint);
if((t>0)&&(t<mint)) { mint=t;face=&f; }
++tests;
btSoftBody::Face& f=*(btSoftBody::Face*)leaf->data;
const btScalar t=rayFromToTriangle( m_rayFrom,m_rayTo,m_rayNormalizedDirection,
f.m_n[0]->m_x,
f.m_n[1]->m_x,
f.m_n[2]->m_x,
m_mint);
if((t>0)&&(t<m_mint))
{
m_mint=t;m_face=&f;
}
++m_tests;
}
//
btScalar btSoftBody::RayCaster::rayTriangle( const btVector3& org,
const btVector3& dir,
btScalar btSoftBody::RayFromToCaster::rayFromToTriangle( const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& rayNormalizedDirection,
const btVector3& a,
const btVector3& b,
const btVector3& c,
@@ -1529,16 +1536,17 @@ btScalar btSoftBody::RayCaster::rayTriangle( const btVector3& org,
{
static const btScalar ceps=-SIMD_EPSILON*10;
static const btScalar teps=SIMD_EPSILON*10;
const btVector3 n=cross(b-a,c-a);
const btScalar d=dot(a,n);
const btScalar den=dot(dir,n);
const btScalar den=dot(rayNormalizedDirection,n);
if(!btFuzzyZero(den))
{
const btScalar num=dot(org,n)-d;
const btScalar num=dot(rayFrom,n)-d;
const btScalar t=-num/den;
if((t>teps)&&(t<maxt))
{
const btVector3 hit=org+dir*t;
const btVector3 hit=rayFrom+rayNormalizedDirection*t;
if( (dot(n,cross(a-hit,b-hit))>ceps) &&
(dot(n,cross(b-hit,c-hit))>ceps) &&
(dot(n,cross(c-hit,a-hit))>ceps))
@@ -1638,16 +1646,20 @@ void btSoftBody::indicesToPointers(const int* map)
}
//
int btSoftBody::rayCast(const btVector3& org,const btVector3& dir,
int btSoftBody::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const
{
int cnt=0;
if(bcountonly||m_fdbvt.empty())
{/* Full search */
btVector3 dir = rayTo-rayFrom;
dir.normalize();
for(int i=0,ni=m_faces.size();i<ni;++i)
{
const btSoftBody::Face& f=m_faces[i];
const btScalar t=RayCaster::rayTriangle( org,dir,
const btScalar t=RayFromToCaster::rayFromToTriangle( rayFrom,rayTo,dir,
f.m_n[0]->m_x,
f.m_n[1]->m_x,
f.m_n[2]->m_x,
@@ -1666,13 +1678,14 @@ int btSoftBody::rayCast(const btVector3& org,const btVector3& dir,
}
else
{/* Use dbvt */
RayCaster collider(org,dir,mint);
btDbvt::collideRAY(m_fdbvt.m_root,org,dir,collider);
if(collider.face)
RayFromToCaster collider(rayFrom,rayTo,mint);
btDbvt::rayTest(m_fdbvt.m_root,rayFrom,rayTo,collider);
if(collider.m_face)
{
mint=collider.mint;
mint=collider.m_mint;
feature=btSoftBody::eFeature::Face;
index=(int)(collider.face-&m_faces[0]);
index=(int)(collider.m_face-&m_faces[0]);
cnt=1;
}
}