void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
{
BT_PROFILE("convexSweepTest");
/// 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
/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
btVector3 castShapeAabbMin, castShapeAabbMax;
/* Compute AABB that encompasses angular movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
btVector3 zeroLinVel;
zeroLinVel.setValue(0,0,0);
btTransform R;
R.setIdentity ();
R.setRotation (convexFromTrans.getRotation());
castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
}
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);
m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);
#else
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= m_collisionObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback,
allowedCcdPenetration);
}
}
}
#endif //USE_BRUTEFORCE_RAYBROADPHASE
}
void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
{
btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
btVector3 castShapeAabbMin, castShapeAabbMax;
/* Compute AABB that encompasses angular movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
btTransform R;
R.setIdentity ();
R.setRotation (convexFromTrans.getRotation());
castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
}
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
// do a ray-shape query using convexCaster (CCD)
int i;
for (i=0;i<m_overlappingObjects.size();i++)
{
btCollisionObject* collisionObject= m_overlappingObjects[i];
//only perform raycast if filterMask matches
if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
btVector3 hitNormal;
if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),
resultCallback,
allowedCcdPenetration);
}
}
}
}