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Bullet patch: option to return true face normal, complete triangle information and broad phase filter. This patch is needed to support enhanced ray cast function in the BGE. I have proposed it to the Bullet forum for inclusion in the next Bullet version.

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This commit is contained in:
Benoit Bolsee 2008-08-27 19:16:21 +00:00
parent c6acbc3047
commit f6bdba8351
4 changed files with 43 additions and 23 deletions
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39
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
View File

@ -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);
}
}
}
}

18
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h vendored
View File

@ -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);

6
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp vendored
View File

@ -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);
}

3
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h vendored
View File

@ -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);