Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added raycast against trianglemesh. Will be extended to object cast soon.

Browse Source 
Thanks John Rowe (JMC)
This commit is contained in:
ejcoumans
2007-11-29 21:24:51 +00:00
parent 174f6009bb
commit f2c9588969
8 changed files with 238 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@@ -18,7 +18,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
@@ -92,6 +91,66 @@ btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
}
}
void btBvhTriangleMeshShape::performRaycast (btTriangleRaycastCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleRaycastCallback* m_callback;
MyNodeOverlapCallback(btTriangleRaycastCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
}
//perform bvh tree traversal and report overlapping triangles to 'callback'
void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{