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Bullet: rework softbody raytest patch after approval by Erwin.

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This commit is contained in:
Benoit Bolsee 2010-01-06 08:46:04 +00:00
parent 042c2b2aa5
commit b38a727da3
4 changed files with 150 additions and 26 deletions
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25
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
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@ -412,31 +412,6 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
} else {
if (collisionShape->isSoftBody()) {
btSoftBody* softBody = static_cast<btSoftBody*>(collisionObject);
btSoftBody::sRayCast softResult;
if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = 0;
shapeInfo.m_triangleIndex = softResult.index;
// get the normal
btVector3 normal = softBody->m_faces[softResult.index].m_normal;
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
if (normal.dot(rayDir) > 0) {
// normal always point toward origin of the ray
normal = -normal;
}
btCollisionWorld::LocalRayResult rayResult
(collisionObject,
&shapeInfo,
normal,
softResult.fraction);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(rayResult,normalInWorldSpace);
}
}
}
}
}

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h vendored
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@ -354,7 +354,7 @@ 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) const;
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast 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 return by the callback.

138
extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp vendored
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@ -22,6 +22,7 @@ subject to the following restrictions:
#include "btSoftBodyHelpers.h"
//#define USE_BRUTEFORCE_RAYBROADPHASE 1
@ -140,3 +141,140 @@ void btSoftRigidDynamicsWorld::debugDrawWorld()
}
}
}
struct btSoftSingleRayCallback : public btBroadphaseRayCallback
{
btVector3 m_rayFromWorld;
btVector3 m_rayToWorld;
btTransform m_rayFromTrans;
btTransform m_rayToTrans;
btVector3 m_hitNormal;
const btSoftRigidDynamicsWorld* m_world;
btCollisionWorld::RayResultCallback& m_resultCallback;
btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftRigidDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld),
m_world(world),
m_resultCallback(resultCallback)
{
m_rayFromTrans.setIdentity();
m_rayFromTrans.setOrigin(m_rayFromWorld);
m_rayToTrans.setIdentity();
m_rayToTrans.setOrigin(m_rayToWorld);
btVector3 rayDir = (rayToWorld-rayFromWorld);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/1e30
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
}
virtual bool process(const btBroadphaseProxy* proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
return false;
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
//only perform raycast if filterMask matches
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
#if 0
#ifdef RECALCULATE_AABB
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
#endif
#endif
//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
//culling already done by broadphase
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
{
m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
m_resultCallback);
}
}
return true;
}
};
void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
BT_PROFILE("rayTest");
/// use the broadphase to accelerate the search for objects, based on their aabb
/// and for each object with ray-aabb overlap, perform an exact ray test
btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
#else
for (int i=0;i<this->getNumCollisionObjects();i++)
{
rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}
void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
if (collisionShape->isSoftBody()) {
btSoftBody* softBody = btSoftBody::upcast(collisionObject);
if (softBody) {
btSoftBody::sRayCast softResult;
if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
{
if (softResult.fraction<= resultCallback.m_closestHitFraction)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = 0;
shapeInfo.m_triangleIndex = softResult.index;
// get the normal
btVector3 normal = softBody->m_faces[softResult.index].m_normal;
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
if (normal.dot(rayDir) > 0) {
// normal must always point toward origin of the ray
normal = -normal;
}
btCollisionWorld::LocalRayResult rayResult
(collisionObject,
&shapeInfo,
normal,
softResult.fraction);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(rayResult,normalInWorldSpace);
}
}
}
}
else {
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
}
}

11
extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h vendored
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@ -77,6 +77,17 @@ public:
return m_softBodies;
}
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
/// 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.
/// This allows more customization.
static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback);
};
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H