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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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3
Demos/RaytestDemo/RaytestDemo.cpp
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@@ -68,6 +68,9 @@ void RaytestDemo::castRays()
sDebugDraw.drawLine(from,to,btVector4(0,0,0,1)); sDebugDraw.drawLine(from,to,btVector4(0,0,0,1));
btCollisionWorld::AllHitsRayResultCallback allResults(from,to); btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal; allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
//optional kF_UseGjkConvexRaytest flag enabled a slightly more accurate and slightly slower algorithm
allResults.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexRaytest;
m_dynamicsWorld->rayTest(from,to,allResults); m_dynamicsWorld->rayTest(from,to,allResults);
for (int i=0;i<allResults.m_hitFractions.size();i++) for (int i=0;i<allResults.m_hitFractions.size();i++)

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; btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver; btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1 btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); //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)) if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{ {

2
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
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@@ -35,7 +35,7 @@ public:
kF_None = 0, kF_None = 0,
kF_FilterBackfaces = 1 << 0, kF_FilterBackfaces = 1 << 0,
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
kF_UseGjkConvexRaytest = 1 << 2, // Uses a more accurate but slightly slower ray versus convex algorithm
kF_Terminator = 0xFFFFFFFF kF_Terminator = 0xFFFFFFFF
}; };
unsigned int m_flags; unsigned int m_flags;