void b3GpuDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
{
b3AlignedObjectArray<b3RayInfo> rays;
b3RayInfo ray;
ray.m_from = (const b3Vector3&)rayFromWorld;
ray.m_to = (const b3Vector3&)rayToWorld;
rays.push_back(ray);
b3AlignedObjectArray<b3RayHit> hitResults;
b3RayHit hit;
hit.m_hitFraction = 1.f;
hitResults.push_back(hit);
m_rigidBodyPipeline->castRays(rays,hitResults);
b3Printf("hit = %f\n", hitResults[0].m_hitFraction);
if (hitResults[0].m_hitFraction<1.f)
{
b3Assert(hitResults[0].m_hitBody >=0);
b3Assert(hitResults[0].m_hitBody < m_collisionObjects.size());
b3Vector3 hitNormalLocal = hitResults[0].m_hitNormal;
btCollisionObject* colObj = m_collisionObjects[hitResults[0].m_hitBody];
LocalRayResult rayResult(colObj,0,(btVector3&)hitNormalLocal,hitResults[0].m_hitFraction);
rayResult.m_hitFraction = hitResults[0].m_hitFraction;
resultCallback.addSingleResult(rayResult,true);
}
}
void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
if (collisionShape->isSoftBody())
{
btSoftBody* softBody = btSoftBody::upcast(collisionObject);
if (softBody)
{
btSoftBody::sRayCast softResult;
if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
{
if (softResult.fraction <= resultCallback.m_closestHitFraction)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = 0;
shapeInfo.m_triangleIndex = softResult.index;
// get the normal
btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
btVector3 normal = -rayDir;
normal.normalize();
if (softResult.feature == btSoftBody::eFeature::Face)
{
normal = softBody->m_faces[softResult.index].m_normal;
if (normal.dot(rayDir) > 0)
{
// normal always point toward origin of the ray
normal = -normal;
}
}
btCollisionWorld::LocalRayResult rayResult(collisionObject,
&shapeInfo,
normal,
softResult.fraction);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(rayResult, normalInWorldSpace);
}
}
}
}
else
{
btCollisionWorld::rayTestSingle(rayFromTrans, rayToTrans, collisionObject, collisionShape, colObjWorldTransform, resultCallback);
}
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
elfList* elfGetRayCastResults(elfPhysicsWorld* world, float x, float y, float z, float dx, float dy, float dz)
{
elfList* list;
list = elfCreateList();
MultipleRayResultCallback rayResult(btVector3(x, y, z), btVector3(dx, dy, dz), list);
world->world->getCollisionWorld()->rayTest(btVector3(x, y, z), btVector3(dx, dy, dz), rayResult);
if(!rayResult.hasHit())
{
elfDestroyList(list);
return NULL;
}
return list;
}
elfCollision* elfGetRayCastResult(elfPhysicsWorld* world, float x, float y, float z, float dx, float dy, float dz)
{
elfCollision* collision;
btCollisionWorld::ClosestRayResultCallback rayResult(btVector3(x, y, z), btVector3(dx, dy, dz));
world->world->getCollisionWorld()->rayTest(btVector3(x, y, z), btVector3(dx, dy, dz), rayResult);
if(!rayResult.hasHit()) return NULL;
collision = elfCreateCollision();
collision->position.x = rayResult.m_hitPointWorld.x();
collision->position.y = rayResult.m_hitPointWorld.y();
collision->position.z = rayResult.m_hitPointWorld.z();
collision->normal.x = rayResult.m_hitNormalWorld.x();
collision->normal.y = rayResult.m_hitNormalWorld.y();
collision->normal.z = rayResult.m_hitNormalWorld.z();
collision->actor = ((elfPhysicsObject*)((btRigidBody*)rayResult.m_collisionObject)->getUserPointer())->actor;
elfIncRef((elfObject*)collision->actor);
return collision;
}
