BGE: ray casting works on soft body, the hit polygon is also returned. The modifications to Bullet have been reported to Bullet forum. Note: welding is completely disabled on soft body as it breaks the relationship between the soft body collision shape and the graphics mesh without bringing any additional stability (the reverse actually).

3 files changed, 34 insertions, 0 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index be261ec4080..a9f3223798b 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -152,6 +152,10 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
 	{
 		return (proxyType == STATIC_PLANE_PROXYTYPE);
 	}
+	static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
+	{
+		return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
+	}
 	
 }
 ;
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 10e880e2523..7159f552829 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -31,6 +31,7 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
+#include "BulletSoftBody/btSoftBody.h"
 
 //#define USE_BRUTEFORCE_RAYBROADPHASE 1
 //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
@@ -411,6 +412,31 @@ void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
 					// restore
 					collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
 				}
+			} else {
+				if (collisionShape->isSoftBody()) {
+					btSoftBody* softBody = static_cast<btSoftBody*>(collisionObject);
+					btSoftBody::sRayCast softResult;
+					if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult)) 
+					{
+						btCollisionWorld::LocalShapeInfo shapeInfo;
+						shapeInfo.m_shapePart = 0;
+						shapeInfo.m_triangleIndex = softResult.index;
+						// get the normal
+						btVector3 normal = softBody->m_faces[softResult.index].m_normal;
+						btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
+						if (normal.dot(rayDir) > 0) {
+							// normal always point toward origin of the ray
+							normal = -normal;
+						}
+						btCollisionWorld::LocalRayResult rayResult
+							(collisionObject,
+							 &shapeInfo,
+							 normal,
+							 softResult.fraction);
+						bool	normalInWorldSpace = true;
+						resultCallback.addSingleResult(rayResult,normalInWorldSpace);
+					}
+				}
 			}
 		}
 	}
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
index 1f4b9bec647..b6374e64153 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCollisionShape.h
@@ -72,6 +72,10 @@ public:
 	{
 		return btBroadphaseProxy::isCompound(getShapeType());
 	}
+	SIMD_FORCE_INLINE bool	isSoftBody() const
+	{
+		return btBroadphaseProxy::isSoftBody(getShapeType());
+	}
 
 	///isInfinite is used to catch simulation error (aabb check)
 	SIMD_FORCE_INLINE bool isInfinite() const