void ActorTracer::doTrace(btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end, const PhysicEngine *enginePass)
{
const btVector3 btstart(start.x, start.y, start.z);
const btVector3 btend(end.x, end.y, end.z);
const btTransform &trans = actor->getWorldTransform();
btTransform from(trans);
btTransform to(trans);
from.setOrigin(btstart);
to.setOrigin(btend);
ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
newTraceCallback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap |
CollisionType_Actor;
btCollisionShape *shape = actor->getCollisionShape();
assert(shape->isConvex());
enginePass->dynamicsWorld->convexSweepTest(static_cast<btConvexShape*>(shape),
from, to, newTraceCallback);
// Copy the hit data over to our trace results struct:
if(newTraceCallback.hasHit())
{
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
mFraction = newTraceCallback.m_closestHitFraction;
mPlaneNormal = Ogre::Vector3(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
mEndPos = (end-start)*mFraction + start;
}
else
{
mEndPos = end;
mPlaneNormal = Ogre::Vector3(0.0f, 0.0f, 1.0f);
mFraction = 1.0f;
}
}
void ActorTracer::findGround(const Actor* actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
{
const btVector3 btstart(start.x(), start.y(), start.z());
const btVector3 btend(end.x(), end.y(), end.z());
const btTransform &trans = actor->getCollisionObject()->getWorldTransform();
btTransform from(trans.getBasis(), btstart);
btTransform to(trans.getBasis(), btend);
ClosestNotMeConvexResultCallback newTraceCallback(actor->getCollisionObject(), btstart-btend, btScalar(0.0));
// Inherit the actor's collision group and mask
newTraceCallback.m_collisionFilterGroup = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
newTraceCallback.m_collisionFilterMask = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
newTraceCallback.m_collisionFilterMask &= ~CollisionType_Actor;
world->convexSweepTest(actor->getConvexShape(), from, to, newTraceCallback);
if(newTraceCallback.hasHit())
{
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
mFraction = newTraceCallback.m_closestHitFraction;
mPlaneNormal = osg::Vec3f(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
mEndPos = (end-start)*mFraction + start;
}
else
{
mEndPos = end;
mPlaneNormal = osg::Vec3f(0.0f, 0.0f, 1.0f);
mFraction = 1.0f;
}
}
void ActorTracer::doTrace(const btCollisionObject *actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
{
const btVector3 btstart = toBullet(start);
const btVector3 btend = toBullet(end);
const btTransform &trans = actor->getWorldTransform();
btTransform from(trans);
btTransform to(trans);
from.setOrigin(btstart);
to.setOrigin(btend);
ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
// Inherit the actor's collision group and mask
newTraceCallback.m_collisionFilterGroup = actor->getBroadphaseHandle()->m_collisionFilterGroup;
newTraceCallback.m_collisionFilterMask = actor->getBroadphaseHandle()->m_collisionFilterMask;
const btCollisionShape *shape = actor->getCollisionShape();
assert(shape->isConvex());
world->convexSweepTest(static_cast<const btConvexShape*>(shape),
from, to, newTraceCallback);
// Copy the hit data over to our trace results struct:
if(newTraceCallback.hasHit())
{
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
mFraction = newTraceCallback.m_closestHitFraction;
mPlaneNormal = osg::Vec3f(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
mEndPos = (end-start)*mFraction + start;
mHitPoint = toOsg(newTraceCallback.m_hitPointWorld);
mHitObject = newTraceCallback.m_hitCollisionObject;
}
else
{
mEndPos = end;
mPlaneNormal = osg::Vec3f(0.0f, 0.0f, 1.0f);
mFraction = 1.0f;
mHitPoint = end;
mHitObject = nullptr;
}
}
void ActorTracer::findGround(btCollisionObject *actor, const Ogre::Vector3 &start, const Ogre::Vector3 &end, const PhysicEngine *enginePass)
{
const btVector3 btstart(start.x, start.y, start.z+1.0f);
const btVector3 btend(end.x, end.y, end.z+1.0f);
const btTransform &trans = actor->getWorldTransform();
btTransform from(trans.getBasis(), btstart);
btTransform to(trans.getBasis(), btend);
ClosestNotMeConvexResultCallback newTraceCallback(actor, btstart-btend, btScalar(0.0));
newTraceCallback.m_collisionFilterMask = CollisionType_World | CollisionType_HeightMap |
CollisionType_Actor;
const btBoxShape *shape = dynamic_cast<btBoxShape*>(actor->getCollisionShape());
assert(shape);
btVector3 halfExtents = shape->getHalfExtentsWithMargin();
halfExtents[2] = 1.0f;
btBoxShape box(halfExtents);
enginePass->dynamicsWorld->convexSweepTest(&box, from, to, newTraceCallback);
if(newTraceCallback.hasHit())
{
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
mFraction = newTraceCallback.m_closestHitFraction;
mPlaneNormal = Ogre::Vector3(tracehitnormal.x(), tracehitnormal.y(), tracehitnormal.z());
mEndPos = (end-start)*mFraction + start;
mEndPos[2] += 1.0f;
}
else
{
mEndPos = end;
mPlaneNormal = Ogre::Vector3(0.0f, 0.0f, 1.0f);
mFraction = 1.0f;
}
}
const bool NewPhysicsTrace(NewPhysTraceResults* const out, const Ogre::Vector3& start, const Ogre::Vector3& end,
const Ogre::Vector3& BBHalfExtents, const Ogre::Vector3& rotation, bool isInterior, OEngine::Physic::PhysicEngine* enginePass)
{
//if (!traceobj->incellptr)
// return false;
//if(enginePass->dynamicsWorld->getCollisionObjectArray().at(60)->getCollisionShape()->isConvex())
// std::cout << "It's convex\n";
const btVector3 btstart(start.x, start.y, start.z);
const btVector3 btend(end.x, end.y, end.z);
const btQuaternion btrot(rotation.y, rotation.x, rotation.z); //y, x, z
const btBoxShape newshape(btVector3(BBHalfExtents.x, BBHalfExtents.y, BBHalfExtents.z));
const btTransform from(btrot, btstart);
const btTransform to(btrot, btend);
// warning: unused variable ...
/*
float x = from.getOrigin().getX();
float y = from.getOrigin().getY();
float z = from.getOrigin().getZ();
float x2 = to.getOrigin().getX();
float y2 = to.getOrigin().getY();
float z2 = to.getOrigin().getZ();
*/
//std::cout << "BtFrom: " << x << "," << y << "," << z << "\n";
//std::cout << "BtTo: " << x2 << "," << y2 << "," << z2 << "\n";
//std::cout << "BtTo: " << to.getOrigin().getX() << "," << to.getOrigin().getY() << "," << to.getOrigin().getZ() << "\n";
btCollisionWorld::ClosestConvexResultCallback
newTraceCallback(btstart, btend);
newTraceCallback.m_collisionFilterMask = (traceType == collisionWorldTrace) ? Only_Collision : Only_Pickup;
enginePass->dynamicsWorld->convexSweepTest(&newshape, from, to, newTraceCallback);
//newTraceCallback.
//std::cout << "NUM: " << enginePass->dynamicsWorld->getNumCollisionObjects() << "\n";
// Copy the hit data over to our trace results struct:
out->fraction = newTraceCallback.m_closestHitFraction;
Ogre::Vector3& outhitnormal = out->hitNormal;
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
outhitnormal.x = tracehitnormal.x();
outhitnormal.y = tracehitnormal.y();
outhitnormal.z = tracehitnormal.z();
Ogre::Vector3& outhitpos = out->endPos;
const btVector3& tracehitpos = newTraceCallback.m_hitPointWorld;
outhitpos.x = tracehitpos.x();
outhitpos.y = tracehitpos.y();
outhitpos.z= tracehitpos.z();
// StartSolid test:
{
out->startSolid = false;
//btCollisionObject collision;
//collision.setCollisionShape(const_cast<btBoxShape* const>(&newshape) );
//CustomContactCallback crb;
//world.world->contactTest(&collision, crb);
//out->startSolid = crb.hit;
// If outside and underground, we're solid
if (!isInterior) //Check if we are interior
{
}
// If inside and out of the tree, we're solid
else
{
btVector3 aabbMin, aabbMax;
enginePass->broadphase->getBroadphaseAabb(aabbMin, aabbMax);
//std::cout << "AABBMIN" << aabbMin.getX() <<"," <<aabbMin.getY() << "," << aabbMin.getZ() << "\n";
//std::cout << "AABBMAX" << aabbMax.getX() <<"," <<aabbMax.getY() << "," << aabbMax.getZ() << "\n";
//std::cout << "AABBMAX" << aabbMax << "\n";
if (!TestPointAgainstAabb2(aabbMin, aabbMax, *(const btVector3* const)&(start) ) )
{
//We're solid
out->startSolid = true;
}
}
}
const bool hasHit = newTraceCallback.hasHit();
return hasHit;
}
