diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 95 |
1 files changed, 71 insertions, 24 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index d8e05fab839..a34c70143e5 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -709,35 +709,51 @@ void CcdPhysicsEnvironment::removeConstraint(int constraintId) struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResultCallback { - PHY_IPhysicsController* m_ignoreClient; + PHY_IRayCastFilterCallback& m_phyRayFilter; + const btCollisionShape* m_hitTriangleShape; + int m_hitTriangleIndex; - FilterClosestRayResultCallback (PHY_IPhysicsController* ignoreClient,const btVector3& rayFrom,const btVector3& rayTo) + FilterClosestRayResultCallback (PHY_IRayCastFilterCallback& phyRayFilter,const btVector3& rayFrom,const btVector3& rayTo) : btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), - m_ignoreClient(ignoreClient) + m_phyRayFilter(phyRayFilter), + m_hitTriangleShape(NULL), + m_hitTriangleIndex(0) { - } virtual ~FilterClosestRayResultCallback() { } + virtual bool NeedRayCast(btCollisionObject* object) + { + CcdPhysicsController* phyCtrl = static_cast<CcdPhysicsController*>(object->getUserPointer()); + if (phyCtrl != m_phyRayFilter.m_ignoreController) + { + return m_phyRayFilter.needBroadphaseRayCast(phyCtrl); + } + return false; + } + virtual float AddSingleResult( btCollisionWorld::LocalRayResult& rayResult) { CcdPhysicsController* curHit = static_cast<CcdPhysicsController*>(rayResult.m_collisionObject->getUserPointer()); - //ignore client... - if (curHit != m_ignoreClient) - { - //if valid - return ClosestRayResultCallback::AddSingleResult(rayResult); + // save shape information as ClosestRayResultCallback::AddSingleResult() does not do it + if (rayResult.m_localShapeInfo) + { + m_hitTriangleShape = rayResult.m_localShapeInfo->m_triangleShape; + m_hitTriangleIndex = rayResult.m_localShapeInfo->m_triangleIndex; + } else + { + m_hitTriangleShape = NULL; + m_hitTriangleIndex = 0; } - return m_closestHitFraction; + return ClosestRayResultCallback::AddSingleResult(rayResult); } }; -PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ) +PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { @@ -751,18 +767,21 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i //Either Ray Cast with or without filtering //btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); - FilterClosestRayResultCallback rayCallback(ignoreClient,rayFrom,rayTo); + FilterClosestRayResultCallback rayCallback(filterCallback,rayFrom,rayTo); - PHY_IPhysicsController* nearestHit = 0; + PHY_RayCastResult result; + memset(&result, 0, sizeof(result)); + // don't collision with sensor object - m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback, CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter); + m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback, CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::SensorFilter,filterCallback.m_faceNormal); if (rayCallback.HasHit()) { - nearestHit = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer()); - hitX = rayCallback.m_hitPointWorld.getX(); - hitY = rayCallback.m_hitPointWorld.getY(); - hitZ = rayCallback.m_hitPointWorld.getZ(); + CcdPhysicsController* controller = static_cast<CcdPhysicsController*>(rayCallback.m_collisionObject->getUserPointer()); + result.m_controller = controller; + result.m_hitPoint[0] = rayCallback.m_hitPointWorld.getX(); + result.m_hitPoint[1] = rayCallback.m_hitPointWorld.getY(); + result.m_hitPoint[2] = rayCallback.m_hitPointWorld.getZ(); if (rayCallback.m_hitNormalWorld.length2() > (SIMD_EPSILON*SIMD_EPSILON)) { @@ -771,14 +790,42 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i { rayCallback.m_hitNormalWorld.setValue(1,0,0); } - normalX = rayCallback.m_hitNormalWorld.getX(); - normalY = rayCallback.m_hitNormalWorld.getY(); - normalZ = rayCallback.m_hitNormalWorld.getZ(); - + result.m_hitNormal[0] = rayCallback.m_hitNormalWorld.getX(); + result.m_hitNormal[1] = rayCallback.m_hitNormalWorld.getY(); + result.m_hitNormal[2] = rayCallback.m_hitNormalWorld.getZ(); + if (rayCallback.m_hitTriangleShape != NULL) + { + // identify the mesh polygon + CcdShapeConstructionInfo* shapeInfo = controller->m_shapeInfo; + if (shapeInfo) + { + btCollisionShape* shape = controller->GetRigidBody()->getCollisionShape(); + if (shape->isCompound()) + { + btCompoundShape* compoundShape = (btCompoundShape*)shape; + CcdShapeConstructionInfo* compoundShapeInfo = shapeInfo; + // need to search which sub-shape has been hit + for (int i=0; i<compoundShape->getNumChildShapes(); i++) + { + shapeInfo = compoundShapeInfo->GetChildShape(i); + shape=compoundShape->getChildShape(i); + if (shape == rayCallback.m_hitTriangleShape) + break; + } + } + if (shape == rayCallback.m_hitTriangleShape && + rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size()) + { + result.m_meshObject = shapeInfo->m_meshObject; + result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex); + } + } + } + filterCallback.reportHit(&result); } - return nearestHit; + return result.m_controller; } |