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Accelerated terrain raycast using "Bresenham" traversal and optional chunks

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This commit is contained in:
Marc Gilleron
2019-01-16 20:57:21 +00:00
parent c993175a58
commit e96505d4c2
3 changed files with 490 additions and 39 deletions
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51
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -413,6 +414,18 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
}
else if (collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
{
///optimized version for btHeightfieldTerrainShape
btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
}
else
{
//generic (slower) case
@@ -423,44 +436,6 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
btTriangleRaycastCallback(from, to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
&shapeInfo,
hitNormalWorld,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;