diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2007-07-06 07:12:31 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2007-07-06 07:12:31 +0400 |
commit | 376be529bb932f867b01466592c33899ee5ec2c8 (patch) | |
tree | e89c72da658f04ed4aa816ada6adabfb5d938b74 /extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | |
parent | cff039bc58fe2ed54d4dad0828f5dede0b26a206 (diff) |
synchronized to latest version of Bullet. added btConeTwistConstraint (useful for ragdolls etc)
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 62 |
1 files changed, 40 insertions, 22 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 49f35c2cc90..b49036a5b50 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -17,6 +17,8 @@ subject to the following restrictions: #include "btCollisionDispatcher.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" + #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" @@ -179,12 +181,27 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback) + RayResultCallback& resultCallback,short int collisionFilterMask) { btSphereShape pointShape(btScalar(0.0)); pointShape.setMargin(0.f); + objectQuerySingle(&pointShape,rayFromTrans,rayToTrans, + collisionObject, + collisionShape, + colObjWorldTransform, + resultCallback,collisionFilterMask); +} + +void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans, + btCollisionObject* collisionObject, + const btCollisionShape* collisionShape, + const btTransform& colObjWorldTransform, + RayResultCallback& resultCallback,short int collisionFilterMask) +{ + + if (collisionShape->isConvex()) { btConvexCast::CastResult castResult; @@ -192,9 +209,9 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; - btSubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); - //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); - //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); + btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); + //GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); + //ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) { @@ -292,11 +309,11 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btTransform childTrans = compoundShape->getChildTransform(i); const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); btTransform childWorldTrans = colObjWorldTransform * childTrans; - rayTestSingle(rayFromTrans,rayToTrans, + objectQuerySingle(castShape, rayFromTrans,rayToTrans, collisionObject, childCollisionShape, childWorldTrans, - resultCallback); + resultCallback, collisionFilterMask); } @@ -306,7 +323,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask) { @@ -323,21 +340,22 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r for (i=0;i<m_collisionObjects.size();i++) { btCollisionObject* collisionObject= m_collisionObjects[i]; - - //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); - btVector3 collisionObjectAabbMin,collisionObjectAabbMax; - collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - - btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing - btVector3 hitNormal; - if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) - { - rayTestSingle(rayFromTrans,rayToTrans, - collisionObject, - collisionObject->getCollisionShape(), - collisionObject->getWorldTransform(), - resultCallback); - + //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 = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback); + } } } |