diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp | 68 |
1 files changed, 65 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp index 31b91467777..a70a3ae56c4 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp @@ -13,7 +13,14 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ - +//#include <stdio.h> + +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "btRaycastCallback.h" btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to) @@ -29,8 +36,6 @@ btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) { - - const btVector3 &vert0=triangle[0]; const btVector3 &vert1=triangle[1]; const btVector3 &vert2=triangle[2]; @@ -99,3 +104,60 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, } } } + + +btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin) +{ + m_convexShape = convexShape; + m_convexShapeFrom = convexShapeFrom; + m_convexShapeTo = convexShapeTo; + m_triangleToWorld = triangleToWorld; + m_hitFraction = 1.0; + m_triangleCollisionMargin = triangleCollisionMargin; +} + +void +btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex) +{ + btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]); + triangleShape.setMargin(m_triangleCollisionMargin); + + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + +//#define USE_SUBSIMPLEX_CONVEX_CAST 1 +//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver); +#else + //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver); + btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver); +#endif //#USE_SUBSIMPLEX_CONVEX_CAST + + btConvexCast::CastResult castResult; + castResult.m_fraction = btScalar(1.); + if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < m_hitFraction) + { +/* btContinuousConvexCast's normal is already in world space */ +/* +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST +*/ + castResult.m_normal.normalize(); + + reportHit (castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction, + partId, + triangleIndex); + } + } + } +} |