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add option for slightly more accurate, and slightly slower algorithm for ray versus convex, used in btCollisionWorld::rayTest.

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rayResult.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
See Demos/RaytestDemo/RaytestDemo.cpp for usage
This fixes issue 146, longest outstanding from 2008.
This commit is contained in:
erwin.coumans
2013-09-12 20:25:06 +00:00
parent e792f0e549
commit fa2276f1ca
3 changed files with 16 additions and 7 deletions
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18
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -287,13 +287,19 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
bool condition = true;
btConvexCast* convexCasterPtr = 0;
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexRaytest)
convexCasterPtr = &gjkConvexCaster;
else
convexCasterPtr = &subSimplexConvexCaster;
btConvexCast& convexCaster = *convexCasterPtr;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{