diff options
Diffstat (limited to 'extern')
4 files changed, 43 insertions, 23 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index b49036a5b50..7dc7d8d2f68 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -181,7 +181,9 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback,short int collisionFilterMask) + RayResultCallback& resultCallback, + short int collisionFilterMask, + bool faceNormal) { btSphereShape pointShape(btScalar(0.0)); @@ -191,14 +193,16 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra collisionObject, collisionShape, colObjWorldTransform, - resultCallback,collisionFilterMask); + resultCallback,collisionFilterMask,faceNormal); } 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) + RayResultCallback& resultCallback, + short int collisionFilterMask, + bool faceNormal) { @@ -257,9 +261,9 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt btCollisionObject* m_collisionObject; btTriangleMeshShape* m_triangleMesh; - BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, - btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,bool faceNormal, + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): + btTriangleRaycastCallback(from,to,faceNormal), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) @@ -272,6 +276,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt btCollisionWorld::LocalShapeInfo shapeInfo; shapeInfo.m_shapePart = partId; shapeInfo.m_triangleIndex = triangleIndex; + shapeInfo.m_triangleShape = m_triangleMesh; btCollisionWorld::LocalRayResult rayResult (m_collisionObject, @@ -287,7 +292,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt }; - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,faceNormal,&resultCallback,collisionObject,triangleMesh); rcb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 rayAabbMinLocal = rayFromLocal; @@ -313,7 +318,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt collisionObject, childCollisionShape, childWorldTrans, - resultCallback, collisionFilterMask); + resultCallback, collisionFilterMask, faceNormal); } @@ -323,7 +328,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask) +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask, bool faceNormal) { @@ -350,11 +355,17 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r btVector3 hitNormal; if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) { - rayTestSingle(rayFromTrans,rayToTrans, - collisionObject, - collisionObject->getCollisionShape(), - collisionObject->getWorldTransform(), - resultCallback); + // before testing this object, verify that it is not filtered out + if (resultCallback.NeedRayCast(collisionObject)) + { + rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + collisionFilterMask, + faceNormal); + } } } } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index b6d80233ab7..ed41232ece3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -125,8 +125,8 @@ public: { int m_shapePart; int m_triangleIndex; - - //const btCollisionShape* m_shapeTemp; + // needed in case of compound shape + const btCollisionShape* m_triangleShape; //const btTransform* m_shapeLocalTransform; }; @@ -166,6 +166,10 @@ public: :m_closestHitFraction(btScalar(1.)) { } + virtual bool NeedRayCast(btCollisionObject* object) + { + return true; + } virtual btScalar AddSingleResult(LocalRayResult& rayResult) = 0; }; @@ -209,7 +213,7 @@ public: /// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback /// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback. - void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1); + void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1, bool faceNormal=false); /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. @@ -218,14 +222,18 @@ public: btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, short int collisionFilterMask=-1); + RayResultCallback& resultCallback, + short int collisionFilterMask=-1, + bool faceNormal=false); /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, short int collisionFilterMask=-1); + RayResultCallback& resultCallback, + short int collisionFilterMask=-1, + bool faceNormal=false); void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1); diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp index 31b91467777..68ac93ec3cc 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp @@ -16,10 +16,11 @@ subject to the following restrictions: #include "btRaycastCallback.h" -btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to) +btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to,bool faceNormal) : m_from(from), m_to(to), + m_faceNormal(faceNormal), m_hitFraction(btScalar(1.)) { @@ -84,8 +85,7 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) { - - if ( dist_a > 0 ) + if (m_faceNormal || dist_a > 0) { m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex); } diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h index a0bbc9f8fe9..71ed9fead49 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -27,10 +27,11 @@ public: //input btVector3 m_from; btVector3 m_to; + bool m_faceNormal; btScalar m_hitFraction; - btTriangleRaycastCallback(const btVector3& from,const btVector3& to); + btTriangleRaycastCallback(const btVector3& from,const btVector3& to,bool faceNormal); virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); |