diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2005-08-17 23:52:56 +0400 |
---|---|---|
committer | Erwin Coumans <blender@erwincoumans.com> | 2005-08-17 23:52:56 +0400 |
commit | c99c7fbcb3cd9e21c107147f18514afc16d61f8e (patch) | |
tree | a0373ae8ca8cab27412d38ac910837f811f0175b /extern | |
parent | 829cb52ac671ab776b56e4b5f859d9baa0368664 (diff) |
some more fixes in the raycast/mouse over
Diffstat (limited to 'extern')
8 files changed, 85 insertions, 90 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp index fb7b364b1e6..c09599f39b1 100644 --- a/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/TriangleMeshShape.cpp @@ -15,7 +15,7 @@ #include "AabbUtil2.h" #include "NarrowPhaseCollision/CollisionMargin.h" - +#include "stdio.h" TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface) : m_meshInterface(meshInterface), @@ -143,6 +143,7 @@ void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const Sim { //check aabb in triangle-space, before doing this callback->ProcessTriangle(triangle); + } } diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp index 418e0a7e241..98eb1067063 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp @@ -23,11 +23,9 @@ RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to) } -#include <stdio.h> + void RaycastCallback::ProcessTriangle(SimdVector3* triangle) { - - const SimdVector3 &vert0=triangle[0]; const SimdVector3 &vert1=triangle[1]; const SimdVector3 &vert2=triangle[2]; diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp index 80fea519887..a280c031a27 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp @@ -114,6 +114,8 @@ bool SubsimplexConvexCast::calcTimeOfImpact( int numiter = MAX_ITERATIONS - maxIter; // printf("number of iterations: %d", numiter); + + //printf("lambd%f",lambda); result.m_fraction = lambda; result.m_normal = n; diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp index a6f6a4df5a4..d3f40077963 100644 --- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp @@ -38,7 +38,8 @@ ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm() BoxTriangleCallback::BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1): m_boxProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher), m_timeStep(0.f), - m_stepCount(-1) + m_stepCount(-1), + m_triangleCount(0) { m_triangleProxy.SetClientObjectType(TRIANGLE_SHAPE_PROXYTYPE); @@ -70,6 +71,9 @@ void BoxTriangleCallback::ClearCache() void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle) { + //just for debugging purposes + //printf("triangle %d",m_triangleCount++); + RigidBody* triangleBody = (RigidBody*)m_triangleProxy.m_clientObject; @@ -101,6 +105,7 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle) void BoxTriangleCallback::SetTimeStepAndCounters(float timeStep,int stepCount,float collisionMarginTriangle,bool useContinuous) { + m_triangleCount = 0; m_timeStep = timeStep; m_stepCount = stepCount; m_useContinuous = useContinuous; diff --git a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h index 10ff0718d92..ad4c96c0ab4 100644 --- a/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h +++ b/extern/bullet/BulletDynamics/CollisionDispatch/ConvexConcaveCollisionAlgorithm.h @@ -36,7 +36,8 @@ class BoxTriangleCallback : public TriangleCallback float m_collisionMarginTriangle; public: - +int m_triangleCount; + PersistentManifold* m_manifoldPtr; BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1); diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp index 03c9cab53bf..5ddacd05d05 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp @@ -120,9 +120,36 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc } -void CcdPhysicsController::RelativeRotate(const float drot[9],bool local) +void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { + if (m_body ) + { + SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2], + rotval[4],rotval[5],rotval[6], + rotval[8],rotval[9],rotval[10]); + + + SimdMatrix3x3 currentOrn; + GetWorldOrientation(currentOrn); + + SimdTransform xform = m_body->getCenterOfMassTransform(); + + xform.setBasis(xform.getBasis()*(local ? + drotmat : (currentOrn.inverse() * drotmat * currentOrn))); + + m_body->setCenterOfMassTransform(xform); + } + +} + +void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat) +{ + float orn[4]; + m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]); + SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]); + mat.setRotation(quat); } + void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal) { diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h index 728a439866d..4f189b7f324 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h @@ -8,6 +8,8 @@ /// It contains the IMotionState and IDeformableMesh Interfaces. #include "SimdVector3.h" #include "SimdScalar.h" +#include "SimdMatrix3x3.h" + class CollisionShape; extern float gDeactivationTime; @@ -54,6 +56,8 @@ class CcdPhysicsController : public PHY_IPhysicsController CollisionShape* m_collisionShape; void* m_newClientInfo; + void GetWorldOrientation(SimdMatrix3x3& mat); + public: int m_collisionDelay; diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp index 5c117301ffb..b68e730b4c6 100644 --- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp +++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp @@ -717,89 +717,7 @@ void CcdPhysicsEnvironment::setGravity(float x,float y,float z) } } -#ifdef DASHDASJKHASDJK -class RaycastingQueryBox : public QueryBox -{ - - SimdVector3 m_aabbMin; - - SimdVector3 m_aabbMax; - - - -public: - - RaycastCallback m_raycastCallback; - - - RaycastingQueryBox(QueryBoxConstructionInfo& ci,const SimdVector3& from,const SimdVector3& to) - : QueryBox(ci), - m_raycastCallback(from,to) - { - for (int i=0;i<3;i++) - { - float fromI = from[i]; - float toI = to[i]; - if (fromI < toI) - { - m_aabbMin[i] = fromI; - m_aabbMax[i] = toI; - } else - { - m_aabbMin[i] = toI; - m_aabbMax[i] = fromI; - } - } - - } - virtual void AddCollider( BroadphaseProxy* proxy) - { - //perform raycast if wanted, and update the m_hitFraction - - if (proxy->GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) - { - //do it - RigidBody* body = (RigidBody*)proxy->m_clientObject; - TriangleMeshInterface* meshInterface = (TriangleMeshInterface*) - body->m_minkowski1; - - //if the hit is closer, record the proxy! - float curFraction = m_raycastCallback.m_hitFraction; - - meshInterface->ProcessAllTriangles(&m_raycastCallback,m_aabbMin,m_aabbMax); - - if (m_raycastCallback.m_hitFraction < curFraction) - { - m_raycastCallback.m_hitProxy = proxy; - } - - } - - } -}; -struct InternalVehicleRaycaster : public VehicleRaycaster -{ - - CcdPhysicsEnvironment* m_env; - -public: - - InternalVehicleRaycaster(CcdPhysicsEnvironment* env) - : m_env(env) - { - - } - - virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result) - { - - return 0; - } - -}; - -#endif int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ) @@ -869,7 +787,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) { - int minFraction = 1.f; + float minFraction = 1.f; SimdTransform rayFromTrans,rayToTrans; rayFromTrans.setIdentity(); @@ -899,12 +817,15 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape(); VoronoiSimplexSolver simplexSolver; SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); + if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,body->getCenterOfMassTransform(),body->getCenterOfMassTransform(),rayResult)) { //add hit rayResult.m_normal.normalize(); if (rayResult.m_fraction < minFraction) { + + minFraction = rayResult.m_fraction; nearestHit = ctrl; normalX = rayResult.m_normal.getX(); @@ -916,6 +837,42 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i } } } + else + { + if (body->GetCollisionShape()->IsConcave()) + { + + TriangleMeshShape* triangleMesh = (TriangleMeshShape*)body->GetCollisionShape(); + + SimdTransform worldToBody = body->getCenterOfMassTransform().inverse(); + + SimdVector3 rayFromLocal = worldToBody * rayFromTrans.getOrigin(); + SimdVector3 rayToLocal = worldToBody * rayToTrans.getOrigin(); + + RaycastCallback rcb(rayFromLocal,rayToLocal); + rcb.m_hitFraction = minFraction; + + SimdVector3 aabbMax(1e30f,1e30f,1e30f); + + triangleMesh->ProcessAllTriangles(&rcb,-aabbMax,aabbMax); + if (rcb.m_hitFound)// && (rcb.m_hitFraction < minFraction)) + { + nearestHit = ctrl; + minFraction = rcb.m_hitFraction; + SimdVector3 hitNormalWorld = body->getCenterOfMassTransform()(rcb.m_hitNormalLocal); + + normalX = hitNormalWorld.getX(); + normalY = hitNormalWorld.getY(); + normalZ = hitNormalWorld.getZ(); + SimdVector3 hitWorld; + hitWorld.setInterpolate3(rayFromTrans.getOrigin(),rayToTrans.getOrigin(),rcb.m_hitFraction); + hitX = hitWorld.getX(); + hitY = hitWorld.getY(); + hitZ = hitWorld.getZ(); + + } + } + } } return nearestHit; |