diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp | 171 |
1 files changed, 128 insertions, 43 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 3d1fa6fc180..477a2c35d4f 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -974,6 +974,7 @@ struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul const btCollisionShape* m_hitTriangleShape; int m_hitTriangleIndex; + FilterClosestRayResultCallback (PHY_IRayCastFilterCallback& phyRayFilter,const btVector3& rayFrom,const btVector3& rayTo) : btCollisionWorld::ClosestRayResultCallback(rayFrom,rayTo), m_phyRayFilter(phyRayFilter), @@ -1017,6 +1018,56 @@ struct FilterClosestRayResultCallback : public btCollisionWorld::ClosestRayResul }; +static bool GetHitTriangle(btCollisionShape* shape, CcdShapeConstructionInfo* shapeInfo, int hitTriangleIndex, btVector3 triangle[]) +{ + // this code is copied from Bullet + const unsigned char *vertexbase; + int numverts; + PHY_ScalarType type; + int stride; + const unsigned char *indexbase; + int indexstride; + int numfaces; + PHY_ScalarType indicestype; + btStridingMeshInterface* meshInterface = NULL; + btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape(); + + if (triangleShape) + meshInterface = triangleShape->getMeshInterface(); + else + { + // other possibility is gImpact + if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) + meshInterface = (static_cast<btGImpactMeshShape*>(shape))->getMeshInterface(); + } + if (!meshInterface) + return false; + + meshInterface->getLockedReadOnlyVertexIndexBase( + &vertexbase, + numverts, + type, + stride, + &indexbase, + indexstride, + numfaces, + indicestype, + 0); + + unsigned int* gfxbase = (unsigned int*)(indexbase+hitTriangleIndex*indexstride); + const btVector3& meshScaling = shape->getLocalScaling(); + for (int j=2;j>=0;j--) + { + int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; + + btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); + + triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + } + meshInterface->unLockReadOnlyVertexBase(0); + return true; +} + PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ) { btVector3 rayFrom(fromX,fromY,fromZ); @@ -1069,64 +1120,98 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IRayCastFilterCallbac if (shape == rayCallback.m_hitTriangleShape && rayCallback.m_hitTriangleIndex < shapeInfo->m_polygonIndexArray.size()) { + // save original collision shape triangle for soft body + int hitTriangleIndex = rayCallback.m_hitTriangleIndex; + result.m_meshObject = shapeInfo->GetMesh(); - // note for softbody: this assumes that the softbody shape uses the same triangle numbering - // than the triangle mesh shape that was used to build it + if (shape->isSoftBody()) + { + // soft body using different face numbering because of randomization + // hopefully we have stored the original face number in m_tag + btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject); + if (softBody->m_faces[hitTriangleIndex].m_tag != 0) + { + rayCallback.m_hitTriangleIndex = (int)((uintptr_t)(softBody->m_faces[hitTriangleIndex].m_tag)-1); + } + } + // retrieve the original mesh polygon (in case of quad->tri conversion) result.m_polygon = shapeInfo->m_polygonIndexArray.at(rayCallback.m_hitTriangleIndex); - + // hit triangle in world coordinate, for face normal and UV coordinate + btVector3 triangle[3]; + bool triangleOK = false; + if (filterCallback.m_faceUV && (3*rayCallback.m_hitTriangleIndex) < shapeInfo->m_triFaceUVcoArray.size()) + { + // interpolate the UV coordinate of the hit point + CcdShapeConstructionInfo::UVco* uvCo = &shapeInfo->m_triFaceUVcoArray[3*rayCallback.m_hitTriangleIndex]; + // 1. get the 3 coordinate of the triangle in world space + btVector3 v1, v2, v3; + if (shape->isSoftBody()) + { + // soft body give points directly in world coordinate + btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject); + v1 = softBody->m_faces[hitTriangleIndex].m_n[0]->m_x; + v2 = softBody->m_faces[hitTriangleIndex].m_n[1]->m_x; + v3 = softBody->m_faces[hitTriangleIndex].m_n[2]->m_x; + } else + { + // for rigid body we must apply the world transform + triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle); + if (!triangleOK) + // if we cannot get the triangle, no use to continue + goto SKIP_UV_NORMAL; + v1 = rayCallback.m_collisionObject->getWorldTransform()(triangle[0]); + v2 = rayCallback.m_collisionObject->getWorldTransform()(triangle[1]); + v3 = rayCallback.m_collisionObject->getWorldTransform()(triangle[2]); + } + // 2. compute barycentric coordinate of the hit point + btVector3 v = v2-v1; + btVector3 w = v3-v1; + btVector3 u = v.cross(w); + btScalar A = u.length(); + + v = v2-rayCallback.m_hitPointWorld; + w = v3-rayCallback.m_hitPointWorld; + u = v.cross(w); + btScalar A1 = u.length(); + + v = rayCallback.m_hitPointWorld-v1; + w = v3-v1; + u = v.cross(w); + btScalar A2 = u.length(); + + btVector3 baryCo; + baryCo.setX(A1/A); + baryCo.setY(A2/A); + baryCo.setZ(1.0f-baryCo.getX()-baryCo.getY()); + // 3. compute UV coordinate + result.m_hitUV[0] = baryCo.getX()*uvCo[0].uv[0] + baryCo.getY()*uvCo[1].uv[0] + baryCo.getZ()*uvCo[2].uv[0]; + result.m_hitUV[1] = baryCo.getX()*uvCo[0].uv[1] + baryCo.getY()*uvCo[1].uv[1] + baryCo.getZ()*uvCo[2].uv[1]; + result.m_hitUVOK = 1; + } + // Bullet returns the normal from "outside". // If the user requests the real normal, compute it now if (filterCallback.m_faceNormal) { - // mesh shapes are shared and stored in the shapeInfo - btTriangleMeshShape* triangleShape = shapeInfo->GetMeshShape(); - if (shape->isSoftBody()) { // we can get the real normal directly from the body btSoftBody* softBody = static_cast<btSoftBody*>(rayCallback.m_collisionObject); - rayCallback.m_hitNormalWorld = softBody->m_faces[rayCallback.m_hitTriangleIndex].m_normal; - } else if (triangleShape) + rayCallback.m_hitNormalWorld = softBody->m_faces[hitTriangleIndex].m_normal; + } else { - // this code is copied from Bullet - btVector3 triangle[3]; - const unsigned char *vertexbase; - int numverts; - PHY_ScalarType type; - int stride; - const unsigned char *indexbase; - int indexstride; - int numfaces; - PHY_ScalarType indicestype; - btStridingMeshInterface* meshInterface = triangleShape->getMeshInterface(); - - meshInterface->getLockedReadOnlyVertexIndexBase( - &vertexbase, - numverts, - type, - stride, - &indexbase, - indexstride, - numfaces, - indicestype, - 0); - - unsigned int* gfxbase = (unsigned int*)(indexbase+rayCallback.m_hitTriangleIndex*indexstride); - const btVector3& meshScaling = shape->getLocalScaling(); - for (int j=2;j>=0;j--) + if (!triangleOK) + triangleOK = GetHitTriangle(shape, shapeInfo, hitTriangleIndex, triangle); + if (triangleOK) { - int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j]; - - btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride); - - triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ()); + btVector3 triangleNormal; + triangleNormal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); + rayCallback.m_hitNormalWorld = rayCallback.m_collisionObject->getWorldTransform().getBasis()*triangleNormal; } - meshInterface->unLockReadOnlyVertexBase(0); - btVector3 triangleNormal; - triangleNormal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); - rayCallback.m_hitNormalWorld = rayCallback.m_collisionObject->getWorldTransform().getBasis()*triangleNormal; } } + SKIP_UV_NORMAL: + ; } } } |