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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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38
src/BulletSoftBody/btSoftBody.h
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@@ -134,7 +134,7 @@ public:
btSoftBody* body; /// soft body
eFeature::_ feature; /// feature type
int index; /// feature index
btScalar time; /// time of impact (rayorg+raydir*time)
btScalar fraction; /// time of impact fraction (rayorg+(rayto-rayfrom)*fraction)
};
/* ImplicitFn */
@@ -532,18 +532,21 @@ public:
btScalar radmrg; // radial margin
btScalar updmrg; // Update margin
};
/* RayCaster */
struct RayCaster : btDbvt::ICollide
/// RayFromToCaster takes a ray from, ray to (instead of direction!)
struct RayFromToCaster : btDbvt::ICollide
{
btVector3 o;
btVector3 d;
btScalar mint;
Face* face;
int tests;
RayCaster(const btVector3& org,const btVector3& dir,btScalar mxt);
btVector3 m_rayFrom;
btVector3 m_rayTo;
btVector3 m_rayNormalizedDirection;
btScalar m_mint;
Face* m_face;
int m_tests;
RayFromToCaster(const btVector3& rayFrom,const btVector3& rayTo,btScalar mxt);
void Process(const btDbvtNode* leaf);
static inline btScalar rayTriangle(const btVector3& org,
const btVector3& dir,
static inline btScalar rayFromToTriangle(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& rayNormalizedDirection,
const btVector3& a,
const btVector3& b,
const btVector3& c,
@@ -744,11 +747,11 @@ public:
/* CutLink */
bool cutLink(int node0,int node1,btScalar position);
bool cutLink(const Node* node0,const Node* node1,btScalar position);
/* Ray casting */
bool rayCast(const btVector3& org,
const btVector3& dir,
sRayCast& results,
btScalar maxtime=SIMD_INFINITY);
///Ray casting using rayFrom and rayTo in worldspace, (not direction!)
bool rayTest(const btVector3& rayFrom,
const btVector3& rayTo,
sRayCast& results);
/* Solver presets */
void setSolver(eSolverPresets::_ preset);
/* predictMotion */
@@ -798,7 +801,8 @@ public:
//
void pointersToIndices();
void indicesToPointers(const int* map=0);
int rayCast(const btVector3& org,const btVector3& dir,
int rayTest(const btVector3& rayFrom,const btVector3& rayTo,
btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
void initializeFaceTree();
btVector3 evaluateCom() const;