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some more work on bullet raycast

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This commit is contained in:
Erwin Coumans 2005-08-08 17:08:42 +00:00
parent 7f98c960b5
commit 29f06ad76e
7 changed files with 116 additions and 106 deletions
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17
extern/bullet/Bullet/Bullet3_vc8.vcproj vendored
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@ -4,6 +4,7 @@
Version="8.00"
Name="Bullet3ContinuousCollision"
ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
SignManifests="true"
>
<Platforms>
<Platform
@ -276,6 +277,14 @@
RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
>
@ -428,14 +437,6 @@
RelativePath=".\CollisionShapes\TriangleCallback.h"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMesh.cpp"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMesh.h"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
>

22
extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp vendored
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@ -16,17 +16,18 @@ RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to)
m_from(from),
m_to(to),
m_hitFraction(1.f),
m_hitProxy(0)
m_hitProxy(0),
m_hitFound(false)
{
}
#include <stdio.h>
void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
{
int hits_found=0;
const SimdVector3 &vert0=triangle[0];
const SimdVector3 &vert1=triangle[1];
const SimdVector3 &vert2=triangle[2];
@ -53,8 +54,11 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
// Add an epsilon as a tolerance for the raycast,
// in case the ray hits exacly on the edge of the triangle.
// It must be scaled for the triangle size.
if(distance < m_hitFraction)
{
float edge_tolerance =triangleNormal.length2();
edge_tolerance *= -0.0001f;
SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
@ -65,6 +69,8 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance)
{
SimdVector3 v2p; v2p = vert2 - point;
SimdVector3 cp1;
cp1 = v1p.cross( v2p);
@ -72,23 +78,23 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
{
SimdVector3 cp2;
cp2 = v2p.cross(v0p);
if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance)
{
m_hitFraction = distance;
if ( dist_a > 0 )
{
m_hitNormalWorld = triangleNormal;
m_hitNormalLocal = triangleNormal;
}
else
{
m_hitNormalWorld = -triangleNormal;
m_hitNormalLocal = -triangleNormal;
}
hits_found = 1;
m_hitFound= true;
}
}
}
}
}
//return hits_found;
}

4
extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.h vendored
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@ -27,8 +27,8 @@ public:
BroadphaseProxy* m_hitProxy;
//output
SimdVector3 m_hitNormalWorld;
SimdVector3 m_hitNormalLocal;
bool m_hitFound;
RaycastCallback(const SimdVector3& from,const SimdVector3& to);

10
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -45,9 +45,19 @@ void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool l
CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
}
void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
printf("he1\n");
float rotval[12];
drot.getValue(rotval);
printf("hi\n");
CcdPhysicsController::RelativeRotate(rotval,local);
}
void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
}

31
source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
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@ -116,9 +116,38 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc
}
void CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
void CcdPhysicsController::RelativeRotate(const float rotval[12],bool local)
{
if (m_body )
{
SimdMatrix3x3 drotmat( rotval[0],rotval[1],rotval[2],
rotval[4],rotval[5],rotval[6],
rotval[8],rotval[9],rotval[10]);
SimdMatrix3x3 currentOrn;
GetWorldOrientation(currentOrn);
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setBasis(xform.getBasis()*(local ?
drotmat : (currentOrn.inverse() * drotmat * currentOrn)));
printf("hi\n");
m_body->setCenterOfMassTransform(xform);
}
}
void CcdPhysicsController::GetWorldOrientation(SimdMatrix3x3& mat)
{
float orn[4];
m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
SimdQuaternion quat(orn[0],orn[1],orn[2],orn[3]);
mat.setRotation(quat);
}
void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
}

6
source/gameengine/Physics/Bullet/CcdPhysicsController.h
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@ -8,6 +8,8 @@
/// It contains the IMotionState and IDeformableMesh Interfaces.
#include "SimdVector3.h"
#include "SimdScalar.h"
#include "SimdMatrix3x3.h"
class CollisionShape;
extern float gDeactivationTime;
@ -87,7 +89,7 @@ class CcdPhysicsController : public PHY_IPhysicsController
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
virtual void RelativeRotate(const float drot[9],bool local);
virtual void RelativeRotate(const float rotval[12],bool local);
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
virtual void setPosition(float posX,float posY,float posZ);
@ -130,6 +132,8 @@ class CcdPhysicsController : public PHY_IPhysicsController
void SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
void GetWorldOrientation(SimdMatrix3x3& mat);
};

132
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
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@ -301,11 +301,12 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
{
// printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
if (timeStep == 0.f)
return true;
printf("CcdPhysicsEnvironment::proceedDeltaTime\n");
//clamp hardcoded for now
if (timeStep > 0.02)
timeStep = 0.02;
@ -313,8 +314,8 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
//this is needed because scaling is not known in advance, and scaling has to propagate to the shape
if (!m_scalingPropagated)
{
//SyncMotionStates(timeStep);
//m_scalingPropagated = true;
SyncMotionStates(timeStep);
m_scalingPropagated = true;
}
@ -708,89 +709,7 @@ void CcdPhysicsEnvironment::setGravity(float x,float y,float z)
}
}
#ifdef DASHDASJKHASDJK
class RaycastingQueryBox : public QueryBox
{
SimdVector3 m_aabbMin;
SimdVector3 m_aabbMax;
public:
RaycastCallback m_raycastCallback;
RaycastingQueryBox(QueryBoxConstructionInfo& ci,const SimdVector3& from,const SimdVector3& to)
: QueryBox(ci),
m_raycastCallback(from,to)
{
for (int i=0;i<3;i++)
{
float fromI = from[i];
float toI = to[i];
if (fromI < toI)
{
m_aabbMin[i] = fromI;
m_aabbMax[i] = toI;
} else
{
m_aabbMin[i] = toI;
m_aabbMax[i] = fromI;
}
}
}
virtual void AddCollider( BroadphaseProxy* proxy)
{
//perform raycast if wanted, and update the m_hitFraction
if (proxy->GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
//do it
RigidBody* body = (RigidBody*)proxy->m_clientObject;
TriangleMeshInterface* meshInterface = (TriangleMeshInterface*)
body->m_minkowski1;
//if the hit is closer, record the proxy!
float curFraction = m_raycastCallback.m_hitFraction;
meshInterface->ProcessAllTriangles(&m_raycastCallback,m_aabbMin,m_aabbMax);
if (m_raycastCallback.m_hitFraction < curFraction)
{
m_raycastCallback.m_hitProxy = proxy;
}
}
}
};
struct InternalVehicleRaycaster : public VehicleRaycaster
{
CcdPhysicsEnvironment* m_env;
public:
InternalVehicleRaycaster(CcdPhysicsEnvironment* env)
: m_env(env)
{
}
virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result)
{
return 0;
}
};
#endif
int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ)
@ -856,10 +775,12 @@ void CcdPhysicsEnvironment::removeConstraint(int constraintid)
}
}
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)
{
printf("raytest\n");
int minFraction = 1.f;
SimdTransform rayFromTrans,rayToTrans;
@ -879,13 +800,17 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
CcdPhysicsController* ctrl = (*i);
if (ctrl == ignoreClient)
continue;
RigidBody* body = ctrl->GetRigidBody();
if (body->GetCollisionShape()->IsConvex())
{
ConvexCast::CastResult rayResult;
rayResult.m_fraction = 1.f;
rayResult.m_fraction = minFraction;
ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape();
VoronoiSimplexSolver simplexSolver;
@ -906,6 +831,41 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
hitZ = rayResult.m_hitTransformA.getOrigin().getZ();
}
}
} else
{
if (body->GetCollisionShape()->IsConcave())
{
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)body->GetCollisionShape();
SimdTransform worldToBody = body->getCenterOfMassTransform().inverse();
SimdVector3 rayFromLocal = worldToBody * rayFromTrans.getOrigin();
SimdVector3 rayToLocal = worldToBody * rayToTrans.getOrigin();
RaycastCallback rcb(rayFromLocal,rayToLocal);
rcb.m_hitFraction = minFraction;
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
triangleMesh->ProcessAllTriangles(&rcb,-aabbMax,aabbMax);
if (rcb.m_hitFound && (rcb.m_hitFraction < minFraction))
{
printf("hit %f\n",rcb.m_hitFraction);
nearestHit = ctrl;
minFraction = rcb.m_hitFraction;
SimdVector3 hitNormalWorld = body->getCenterOfMassTransform()(rcb.m_hitNormalLocal);
normalX = hitNormalWorld.getX();
normalY = hitNormalWorld.getY();
normalZ = hitNormalWorld.getZ();
SimdVector3 hitWorld;
hitWorld.setInterpolate3(rayFromTrans.getOrigin(),rayToTrans.getOrigin(),rcb.m_hitFraction);
hitX = hitWorld.getX();
hitY = hitWorld.getY();
hitZ = hitWorld.getZ();
}
}
}
}