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updated version, added 'singleObjectQuery' preliminary collision query (convex cast etc)

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added filtering for raycast, thanks Jacky_J
const propagated through a few files
added btHeightfieldTerrainShape.cpp to cmake buildsystem
This commit is contained in:
ejcoumans
2007-07-03 05:10:20 +00:00
parent 485677513b
commit cdc8485db9
11 changed files with 78 additions and 51 deletions
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1
src/BulletCollision/CMakeLists.txt
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@@ -33,6 +33,7 @@ ADD_LIBRARY(LibBulletCollision
CollisionShapes/btConvexTriangleMeshShape.cpp
CollisionShapes/btCylinderShape.cpp
CollisionShapes/btEmptyShape.cpp
CollisionShapes/btHeightfieldTerrainShape.cpp
CollisionShapes/btMinkowskiSumShape.cpp
CollisionShapes/btMultiSphereShape.cpp
CollisionShapes/btOptimizedBvh.cpp

60
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -17,6 +17,8 @@ subject to the following restrictions:
#include "btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
@@ -179,12 +181,27 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
RayResultCallback& resultCallback,short int collisionFilterMask)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
collisionObject,
collisionShape,
colObjWorldTransform,
resultCallback,collisionFilterMask);
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback,short int collisionFilterMask)
{
if (collisionShape->isConvex())
{
btConvexCast::CastResult castResult;
@@ -192,9 +209,9 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
@@ -292,11 +309,11 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
rayTestSingle(rayFromTrans,rayToTrans,
objectQuerySingle(castShape, rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback);
resultCallback, collisionFilterMask);
}
@@ -306,7 +323,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
}
}
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback)
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
{
@@ -323,21 +340,22 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback);
}
}
}

16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -53,9 +53,9 @@ subject to the following restrictions:
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2006 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren.
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
*
*/
@@ -66,6 +66,7 @@ subject to the following restrictions:
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
#include "../../LinearMath/btVector3.h"
#include "../../LinearMath/btTransform.h"
@@ -208,7 +209,7 @@ public:
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@@ -217,7 +218,14 @@ public:
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback);
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);

2
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btMinkowskiSumShape.h"
btMinkowskiSumShape::btMinkowskiSumShape(btConvexShape* shapeA,btConvexShape* shapeB)
btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
:m_shapeA(shapeA),
m_shapeB(shapeB)
{

6
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
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@@ -25,12 +25,12 @@ class btMinkowskiSumShape : public btConvexShape
btTransform m_transA;
btTransform m_transB;
btConvexShape* m_shapeA;
btConvexShape* m_shapeB;
const btConvexShape* m_shapeA;
const btConvexShape* m_shapeB;
public:
btMinkowskiSumShape(btConvexShape* shapeA,btConvexShape* shapeB);
btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

2
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
btSubsimplexConvexCast::btSubsimplexConvexCast (btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),m_convexB(convexB)
{

6
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
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@@ -28,12 +28,12 @@ class btConvexShape;
class btSubsimplexConvexCast : public btConvexCast
{
btSimplexSolverInterface* m_simplexSolver;
btConvexShape* m_convexA;
btConvexShape* m_convexB;
const btConvexShape* m_convexA;
const btConvexShape* m_convexB;
public:
btSubsimplexConvexCast (btConvexShape* shapeA,btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver);
btSubsimplexConvexCast (const btConvexShape* shapeA,const btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver);
//virtual ~btSubsimplexConvexCast();
///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.