void WorldLinearCastMultithreadedDemo::displayRootCdPoint( hkpWorld* world, const hkpRootCdPoint& cp )
{
displayRootCdBody( world, cp.m_rootCollidableB, cp.m_shapeKeyB );
// Display contact point
HK_DISPLAY_ARROW( cp.m_contact.getPosition(), cp.m_contact.getNormal(), hkColor::YELLOW );
}
void ShapeQueryDemo::worldGetPenetrations( hkpWorld* world, hkReal time, hkArray<QueryObject>& queryObjects )
{
hkpAllCdBodyPairCollector collector[10];
// Next we batch query the system (that is ask for the penetrations N times before processing the results).
// This follows our usual core loop:
for ( int i = 0; i < queryObjects.getSize(); i++ )
{
QueryObject& qo = queryObjects[i];
// create a new position: all objects move in a circle
hkReal t = time + HK_REAL_PI * 2 * i / queryObjects.getSize();
hkVector4 pos( hkMath::sin( t ) * 10.0f, 0.0f, hkMath::cos( t ) * 10.0f );
qo.m_transform->setTranslation(pos);
//
// Query for intersecting objects
//
for (int j = 0; j < NUM_ITER; j++ )
{
MY_TIMER_BEGIN(i);
collector[i].reset();
world->getPenetrations( qo.m_collidable, *world->getCollisionInput(), collector[i] );
MY_TIMER_END();
}
}
// Next up is the display update, first we highlight any overlapping triangles or objects:
{
for ( int i = 0; i < queryObjects.getSize(); i++ )
{
// iterate over each individual hit
for (int j = 0; j < collector[i].getHits().getSize(); j++ )
{
displayRootCdBody( world, collector[i].getHits()[j].m_rootCollidableB, collector[i].getHits()[j].m_shapeKeyB );
}
}
}
// Followed by a geometry update for our QO:
{
for ( int i = 0; i < queryObjects.getSize(); i++ )
{
QueryObject& qo = queryObjects[i];
hkDebugDisplay::getInstance().updateGeometry( qo.m_collidable->getTransform(), (hkUlong)qo.m_collidable, 0);
}
}
}
void ShapeQueryDemo::displayRayHit( hkpWorld* world, const hkpWorldRayCastInput& in, const hkpWorldRayCastOutput& out )
{
// Display hit shape
// This demo has a hardcoded knowledge of the shape hierarchy. It could be more generalized
// by using the hkpShapeContainer interface.
int key = out.m_shapeKeys[0];
for(int i = 0; out.m_shapeKeys[i] != HK_INVALID_SHAPE_KEY; ++i )
{
key = out.m_shapeKeys[i];
}
displayRootCdBody( world, out.m_rootCollidable, key );
// Display contact point
{
hkVector4 pos; pos.setInterpolate4( in.m_from, in.m_to, out.m_hitFraction );
HK_DISPLAY_ARROW( pos, out.m_normal, hkColor::YELLOW);
}
}
