From ed191088913b6e36ad0749b7f487906ad7b80198 Mon Sep 17 00:00:00 2001 From: Sergej Reich Date: Sun, 21 Apr 2013 19:53:40 +0000 Subject: 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! --- intern/rigidbody/RBI_api.h | 6 +++++ intern/rigidbody/rb_bullet_api.cpp | 50 ++++++++++++++++++++++++++++++++++++++ 2 files changed, 56 insertions(+) (limited to 'intern') 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]) -- cgit v1.2.3