17a214a2b3
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out. - Fixed memoryleak in the ConstraintDemo and Raytracer demo. - fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation. Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780 - Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this. - Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this). User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
661 lines
23 KiB
C++
661 lines
23 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btCollisionWorld.h"
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#include "btCollisionDispatcher.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btStackAlloc.h"
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//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
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btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
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:m_dispatcher1(dispatcher),
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m_broadphasePairCache(pairCache),
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m_debugDrawer(0)
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{
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m_stackAlloc = collisionConfiguration->getStackAllocator();
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m_dispatchInfo.m_stackAllocator = m_stackAlloc;
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}
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btCollisionWorld::~btCollisionWorld()
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{
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//clean up remaining objects
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int i;
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for (i=0;i<m_collisionObjects.size();i++)
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{
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btCollisionObject* collisionObject= m_collisionObjects[i];
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
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getBroadphase()->destroyProxy(bp,m_dispatcher1);
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}
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}
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}
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void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
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{
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//check that the object isn't already added
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btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
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m_collisionObjects.push_back(collisionObject);
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//calculate new AABB
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btTransform trans = collisionObject->getWorldTransform();
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btVector3 minAabb;
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btVector3 maxAabb;
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collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
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int type = collisionObject->getCollisionShape()->getShapeType();
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collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
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minAabb,
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maxAabb,
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type,
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collisionObject,
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collisionFilterGroup,
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collisionFilterMask,
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m_dispatcher1
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)) ;
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}
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void btCollisionWorld::updateAabbs()
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{
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BT_PROFILE("updateAabbs");
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btTransform predictedTrans;
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for ( int i=0;i<m_collisionObjects.size();i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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//only update aabb of active objects
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if (colObj->isActive())
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{
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btPoint3 minAabb,maxAabb;
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colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
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btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
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//moving objects should be moderately sized, probably something wrong if not
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if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
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{
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bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
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} else
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{
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//something went wrong, investigate
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//this assert is unwanted in 3D modelers (danger of loosing work)
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colObj->setActivationState(DISABLE_SIMULATION);
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static bool reportMe = true;
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if (reportMe && m_debugDrawer)
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{
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reportMe = false;
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m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
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m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
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m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
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m_debugDrawer->reportErrorWarning("Thanks.\n");
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}
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}
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}
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}
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}
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void btCollisionWorld::performDiscreteCollisionDetection()
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{
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BT_PROFILE("performDiscreteCollisionDetection");
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btDispatcherInfo& dispatchInfo = getDispatchInfo();
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updateAabbs();
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{
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m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
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}
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btDispatcher* dispatcher = getDispatcher();
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{
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BT_PROFILE("dispatchAllCollisionPairs");
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if (dispatcher)
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dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
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}
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}
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void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
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{
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//bool removeFromBroadphase = false;
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{
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
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getBroadphase()->destroyProxy(bp,m_dispatcher1);
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collisionObject->setBroadphaseHandle(0);
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}
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}
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//swapremove
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m_collisionObjects.remove(collisionObject);
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}
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void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback,short int collisionFilterMask)
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{
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btSphereShape pointShape(btScalar(0.0));
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pointShape.setMargin(0.f);
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const btConvexShape* castShape = &pointShape;
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if (collisionShape->isConvex())
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{
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btConvexCast::CastResult castResult;
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castResult.m_fraction = resultCallback.m_closestHitFraction;
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btConvexShape* convexShape = (btConvexShape*) collisionShape;
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btVoronoiSimplexSolver simplexSolver;
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#define USE_SUBSIMPLEX_CONVEX_CAST 1
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
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#else
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//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
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//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
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#endif //#USE_SUBSIMPLEX_CONVEX_CAST
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
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{
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//add hit
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if (castResult.m_normal.length2() > btScalar(0.0001))
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{
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if (castResult.m_fraction < resultCallback.m_closestHitFraction)
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{
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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//rotate normal into worldspace
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castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
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#endif //USE_SUBSIMPLEX_CONVEX_CAST
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castResult.m_normal.normalize();
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btCollisionWorld::LocalRayResult localRayResult
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(
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collisionObject,
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0,
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castResult.m_normal,
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castResult.m_fraction
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);
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bool normalInWorldSpace = true;
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resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
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}
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}
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}
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} else {
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if (collisionShape->isConcave())
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{
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if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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///optimized version for btBvhTriangleMeshShape
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
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} else
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{
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btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 rayAabbMinLocal = rayFromLocal;
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rayAabbMinLocal.setMin(rayToLocal);
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btVector3 rayAabbMaxLocal = rayFromLocal;
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rayAabbMaxLocal.setMax(rayToLocal);
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triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
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}
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} else {
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//todo: use AABB tree or other BVH acceleration structure!
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if (collisionShape->isCompound())
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{
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
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int i=0;
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for (i=0;i<compoundShape->getNumChildShapes();i++)
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
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btTransform childWorldTrans = colObjWorldTransform * childTrans;
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rayTestSingle(rayFromTrans,rayToTrans,
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collisionObject,
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childCollisionShape,
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childWorldTrans,
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resultCallback, collisionFilterMask);
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}
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}
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}
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}
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}
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void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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ConvexResultCallback& resultCallback,short int collisionFilterMask)
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{
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if (collisionShape->isConvex())
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{
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btConvexCast::CastResult castResult;
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castResult.m_fraction = btScalar(1.);//??
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btConvexShape* convexShape = (btConvexShape*) collisionShape;
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btVoronoiSimplexSolver simplexSolver;
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btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
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{
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//add hit
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if (castResult.m_normal.length2() > btScalar(0.0001))
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{
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if (castResult.m_fraction < resultCallback.m_closestHitFraction)
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{
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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//rotate normal into worldspace
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castResult.m_normal = convexFromTrans.getBasis() * castResult.m_normal;
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#endif //USE_SUBSIMPLEX_CONVEX_CAST
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castResult.m_normal.normalize();
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btCollisionWorld::LocalConvexResult localConvexResult
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(
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collisionObject,
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0,
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castResult.m_normal,
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castResult.m_hitPoint,
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castResult.m_fraction
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);
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bool normalInWorldSpace = true;
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resultCallback.AddSingleResult(localConvexResult, normalInWorldSpace);
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}
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}
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}
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} else {
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if (collisionShape->isConcave())
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{
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if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
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btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
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// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
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btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
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//ConvexCast::CastResult
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struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
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{
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btCollisionWorld::ConvexResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
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btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
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btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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if (hitFraction <= m_resultCallback->m_closestHitFraction)
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{
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btCollisionWorld::LocalConvexResult convexResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitPointLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
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}
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return hitFraction;
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}
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};
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BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
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tccb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 boxMinLocal, boxMaxLocal;
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castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
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triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
|
|
} else
|
|
{
|
|
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
|
|
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
|
|
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
|
|
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
|
|
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
|
|
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
|
|
|
|
//ConvexCast::CastResult
|
|
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
|
|
{
|
|
btCollisionWorld::ConvexResultCallback* m_resultCallback;
|
|
btCollisionObject* m_collisionObject;
|
|
btTriangleMeshShape* m_triangleMesh;
|
|
|
|
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
|
|
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
|
|
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld),
|
|
m_resultCallback(resultCallback),
|
|
m_collisionObject(collisionObject),
|
|
m_triangleMesh(triangleMesh)
|
|
{
|
|
}
|
|
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = partId;
|
|
shapeInfo.m_triangleIndex = triangleIndex;
|
|
if (hitFraction <= m_resultCallback->m_closestHitFraction)
|
|
{
|
|
|
|
btCollisionWorld::LocalConvexResult convexResult
|
|
(m_collisionObject,
|
|
&shapeInfo,
|
|
hitNormalLocal,
|
|
hitPointLocal,
|
|
hitFraction);
|
|
|
|
bool normalInWorldSpace = false;
|
|
|
|
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);
|
|
}
|
|
return hitFraction;
|
|
}
|
|
|
|
};
|
|
|
|
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
|
|
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
|
|
btVector3 boxMinLocal, boxMaxLocal;
|
|
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
|
|
|
|
btVector3 rayAabbMinLocal = convexFromLocal;
|
|
rayAabbMinLocal.setMin(convexToLocal);
|
|
btVector3 rayAabbMaxLocal = convexFromLocal;
|
|
rayAabbMaxLocal.setMax(convexToLocal);
|
|
rayAabbMinLocal += boxMinLocal;
|
|
rayAabbMaxLocal += boxMaxLocal;
|
|
triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
|
|
}
|
|
} else {
|
|
//todo: use AABB tree or other BVH acceleration structure!
|
|
if (collisionShape->isCompound())
|
|
{
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
|
|
int i=0;
|
|
for (i=0;i<compoundShape->getNumChildShapes();i++)
|
|
{
|
|
btTransform childTrans = compoundShape->getChildTransform(i);
|
|
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
|
|
btTransform childWorldTrans = colObjWorldTransform * childTrans;
|
|
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
|
|
collisionObject,
|
|
childCollisionShape,
|
|
childWorldTrans,
|
|
resultCallback, collisionFilterMask);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
|
|
{
|
|
|
|
|
|
btTransform rayFromTrans,rayToTrans;
|
|
rayFromTrans.setIdentity();
|
|
rayFromTrans.setOrigin(rayFromWorld);
|
|
rayToTrans.setIdentity();
|
|
|
|
rayToTrans.setOrigin(rayToWorld);
|
|
|
|
/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
|
|
|
|
int i;
|
|
for (i=0;i<m_collisionObjects.size();i++)
|
|
{
|
|
///terminate further ray tests, once the closestHitFraction reached zero
|
|
if (resultCallback.m_closestHitFraction == btScalar(0.f))
|
|
break;
|
|
|
|
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);
|
|
|
|
btScalar hitLambda = resultCallback.m_closestHitFraction;
|
|
btVector3 hitNormal;
|
|
if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
|
|
{
|
|
rayTestSingle(rayFromTrans,rayToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
resultCallback);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
void btCollisionWorld::convexTest(const btConvexShape* castShape, const btVector3& convexFromWorld, const btVector3& convexToWorld, ConvexResultCallback& resultCallback,short int collisionFilterMask)
|
|
{
|
|
btTransform convexFromTrans,convexToTrans;
|
|
convexFromTrans.setIdentity();
|
|
convexFromTrans.setOrigin(convexFromWorld);
|
|
convexToTrans.setIdentity();
|
|
convexToTrans.setOrigin(convexToWorld);
|
|
btVector3 castShapeAabbMin, castShapeAabbMax;
|
|
btTransform I;
|
|
I.setIdentity();
|
|
castShape->getAabb (I, castShapeAabbMin, castShapeAabbMax);
|
|
|
|
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
|
|
// do a ray-shape query using convexCaster (CCD)
|
|
int i;
|
|
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);
|
|
AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
|
|
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
|
|
btVector3 hitNormal;
|
|
if (btRayAabb(convexFromWorld,convexToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
|
|
{
|
|
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
resultCallback);
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|