diff options
author | Sergej Reich <sergej.reich@googlemail.com> | 2013-04-21 23:53:40 +0400 |
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committer | Sergej Reich <sergej.reich@googlemail.com> | 2013-04-21 23:53:40 +0400 |
commit | ed191088913b6e36ad0749b7f487906ad7b80198 (patch) | |
tree | 94e1872b2da3b236795afe0b9c4b4856d3b96fcc /intern/rigidbody | |
parent | edab8151374cbdbd877c2727170163a1ab33e8d8 (diff) |
rigidbody: Add function to perform convex sweep test
This is a experimental collision detection function, so the API might
change in the future.
Note: The simulation needs to be stepped before this function can be
used, otherwise the rigid body world might not be valid.
Patch [#34989] Bullet Convex sweep test API
by Vilem Novak (pildanovak), thanks!
Diffstat (limited to 'intern/rigidbody')
-rw-r--r-- | intern/rigidbody/RBI_api.h | 6 | ||||
-rw-r--r-- | intern/rigidbody/rb_bullet_api.cpp | 50 |
2 files changed, 56 insertions, 0 deletions
diff --git a/intern/rigidbody/RBI_api.h b/intern/rigidbody/RBI_api.h index e7c88d96873..7a04961f99d 100644 --- a/intern/rigidbody/RBI_api.h +++ b/intern/rigidbody/RBI_api.h @@ -110,6 +110,12 @@ extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int co /* Remove RigidBody from dynamics world */ extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body); +/* Collision detection */ + +void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object, + const float loc_start[3], const float loc_end[3], + float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit); + /* ............ */ /* Create new RigidBody instance */ diff --git a/intern/rigidbody/rb_bullet_api.cpp b/intern/rigidbody/rb_bullet_api.cpp index e9e5e2a5e32..7bc480b1583 100644 --- a/intern/rigidbody/rb_bullet_api.cpp +++ b/intern/rigidbody/rb_bullet_api.cpp @@ -242,6 +242,56 @@ void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *object) world->dynamicsWorld->removeRigidBody(body); } +/* Collision detection */ + +void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object, const float loc_start[3], const float loc_end[3], float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit) +{ + btRigidBody *body = object->body; + btCollisionShape *collisionShape = body->getCollisionShape(); + /* only convex shapes are supported, but user can specify a non convex shape */ + if (collisionShape->isConvex()) { + btCollisionWorld::ClosestConvexResultCallback result(btVector3(loc_start[0], loc_start[1], loc_start[2]), btVector3(loc_end[0], loc_end[1], loc_end[2])); + + btQuaternion obRot = body->getWorldTransform().getRotation(); + + btTransform rayFromTrans; + rayFromTrans.setIdentity(); + rayFromTrans.setRotation(obRot); + rayFromTrans.setOrigin(btVector3(loc_start[0], loc_start[1], loc_start[2])); + + btTransform rayToTrans; + rayToTrans.setIdentity(); + rayToTrans.setRotation(obRot); + rayToTrans.setOrigin(btVector3(loc_end[0], loc_end[1], loc_end[2])); + + world->dynamicsWorld->convexSweepTest((btConvexShape*) collisionShape, rayFromTrans, rayToTrans, result, 0); + + if (result.hasHit()) { + *r_hit = 1; + + v_location[0] = result.m_convexFromWorld[0]+(result.m_convexToWorld[0]-result.m_convexFromWorld[0])*result.m_closestHitFraction; + v_location[1] = result.m_convexFromWorld[1]+(result.m_convexToWorld[1]-result.m_convexFromWorld[1])*result.m_closestHitFraction; + v_location[2] = result.m_convexFromWorld[2]+(result.m_convexToWorld[2]-result.m_convexFromWorld[2])*result.m_closestHitFraction; + + v_hitpoint[0] = result.m_hitPointWorld[0]; + v_hitpoint[1] = result.m_hitPointWorld[1]; + v_hitpoint[2] = result.m_hitPointWorld[2]; + + v_normal[0] = result.m_hitNormalWorld[0]; + v_normal[1] = result.m_hitNormalWorld[1]; + v_normal[2] = result.m_hitNormalWorld[2]; + + } + else { + *r_hit = 0; + } + } + else{ + /* we need to return a value if user passes non convex body, to report */ + *r_hit = -2; + } +} + /* ............ */ rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4]) |