void Process(int i) { const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i); const btTransform& childTrans = m_compoundShape->getChildTransform(i); btTransform childWorldTrans = m_colObjWorldTransform * childTrans; // replace collision shape so that callback can determine the triangle btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape(); m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); LocalInfoAdder2 my_cb(i, &m_resultCallback); rayTestSingle( m_rayFromTrans, m_rayToTrans, m_collisionObject, childCollisionShape, childWorldTrans, my_cb); // restore m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); }
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask) { btTransform rayFromTrans,rayToTrans; rayFromTrans.setIdentity(); rayFromTrans.setOrigin(rayFromWorld); rayToTrans.setIdentity(); rayToTrans.setOrigin(rayToWorld); /// go over all objects, and if the ray intersects their 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(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing btVector3 hitNormal; if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) { rayTestSingle(rayFromTrans,rayToTrans, collisionObject, collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), resultCallback); } } } }
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, RayResultCallback& resultCallback) { btSphereShape pointShape(btScalar(0.0)); pointShape.setMargin(0.f); const btConvexShape* castShape = &pointShape; if (collisionShape->isConvex()) { // BT_PROFILE("rayTestConvex"); btConvexCast::CastResult castResult; castResult.m_fraction = resultCallback.m_closestHitFraction; btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; #define USE_SUBSIMPLEX_CONVEX_CAST 1 #ifdef USE_SUBSIMPLEX_CONVEX_CAST btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); #else //btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); #endif //#USE_SUBSIMPLEX_CONVEX_CAST if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) { //add hit if (castResult.m_normal.length2() > btScalar(0.0001)) { if (castResult.m_fraction < resultCallback.m_closestHitFraction) { #ifdef USE_SUBSIMPLEX_CONVEX_CAST //rotate normal into worldspace castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal; #endif //USE_SUBSIMPLEX_CONVEX_CAST castResult.m_normal.normalize(); btCollisionWorld::LocalRayResult localRayResult ( collisionObject, 0, castResult.m_normal, castResult.m_fraction ); bool normalInWorldSpace = true; resultCallback.addSingleResult(localRayResult, normalInWorldSpace); } } } } else { if (collisionShape->isConcave()) { // BT_PROFILE("rayTestConcave"); if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { ///optimized version for btBvhTriangleMeshShape btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); //ConvexCast::CastResult struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback { btCollisionWorld::RayResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; btTriangleMeshShape* m_triangleMesh; BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): btTriangleRaycastCallback(from,to), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) { } 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); } }; BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); } else { //generic (slower) case btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); //ConvexCast::CastResult struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback { btCollisionWorld::RayResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; btConcaveShape* m_triangleMesh; BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh): btTriangleRaycastCallback(from,to), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) { } 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); } }; BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape); rcb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 rayAabbMinLocal = rayFromLocal; rayAabbMinLocal.setMin(rayToLocal); btVector3 rayAabbMaxLocal = rayFromLocal; rayAabbMaxLocal.setMax(rayToLocal); concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); } } else { // BT_PROFILE("rayTestCompound"); ///@todo: use AABB tree or other BVH acceleration structure, see btDbvt if (collisionShape->isCompound()) { const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); int i=0; for (i=0;i<compoundShape->getNumChildShapes();i++) { btTransform childTrans = compoundShape->getChildTransform(i); const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); btTransform childWorldTrans = colObjWorldTransform * childTrans; // replace collision shape so that callback can determine the triangle btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape(); collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); rayTestSingle(rayFromTrans,rayToTrans, collisionObject, childCollisionShape, childWorldTrans, resultCallback); // restore collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); } } } } }