// Ray
//-------------------------------------------------------------------------------------------------------------------------------
bool COLLISION_WORLD::CastRay(
const MATHVECTOR <float, 3> & origin,
const MATHVECTOR <float, 3> & direction,
const float length,
const btCollisionObject * caster,
COLLISION_CONTACT & contact,
int* pOnRoad) const
{
btVector3 from = ToBulletVector(origin);
btVector3 to = ToBulletVector(origin + direction * length);
MyRayResultCallback rayCallback(from, to, caster);
MATHVECTOR <float, 3> p, n; float d;
const TRACKSURFACE * s = TRACKSURFACE::None();
const BEZIER * b = NULL;
btCollisionObject * c = NULL;
// track geometry collision
world->rayTest(from, to, rayCallback);
bool geometryHit = rayCallback.hasHit();
if (geometryHit)
{
p = ToMathVector<float>(rayCallback.m_hitPointWorld);
n = ToMathVector<float>(rayCallback.m_hitNormalWorld);
d = rayCallback.m_closestHitFraction * length;
c = rayCallback.m_collisionObject;
if (c->isStaticObject() /*&& (c->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE == 0)*/)
{
void * ptr = c->getCollisionShape()->getUserPointer();
if (ptr == (void*)7777) // road
{
s = trackSurface[0];
*pOnRoad = 1;
}
if (ptr == (void*)7788) // pipe
{
s = trackSurface[0];
*pOnRoad = 2;
}
else if (ptr == 0)
{
*pOnRoad = 0;
void * ptr = c->getUserPointer();
if (ptr != NULL)
{
const TRACK_OBJECT * const obj = reinterpret_cast <const TRACK_OBJECT * const> (ptr);
assert(obj);
s = obj->GetSurface();
}
else //track geometry
{
int shapeId = rayCallback.m_shapeId;
//assert(shapeId >= 0 && shapeId < trackSurface.size());
if (shapeId >= trackSurface.size() || shapeId < 0) shapeId = 0; //crash hf-
//if (trackSurface.size() > 0)
s = trackSurface[shapeId];
}
}
}
// track bezierpatch collision
if (track != NULL)
{
MATHVECTOR <float, 3> bezierspace_raystart(origin[1], origin[2], origin[0]);
MATHVECTOR <float, 3> bezierspace_dir(direction[1], direction[2], direction[0]);
MATHVECTOR <float, 3> colpoint, colnormal;
const BEZIER * colpatch = NULL;
bool bezierHit = track->CastRay(bezierspace_raystart, bezierspace_dir, length, colpoint, colpatch, colnormal);
if (bezierHit)
{
p = MATHVECTOR <float, 3> (colpoint[2], colpoint[0], colpoint[1]);
n = MATHVECTOR <float, 3> (colnormal[2], colnormal[0], colnormal[1]);
d = (colpoint - bezierspace_raystart).Magnitude();
s = track->GetRoadSurface();
b = colpatch;
c = NULL;
*pOnRoad = 1;
}
}
contact.Set(p, n, d, s, b, c);
return true;
}
// should only happen on vehicle rollover
contact.Set(origin + direction * length, -direction, length, s, b, c);
return false;
}
//--------------------------------------------------------------------------------------------------------------------------------
// Ray
///-------------------------------------------------------------------------------------------------------------------------------
bool COLLISION_WORLD::CastRay(
const MATHVECTOR<float,3> & origin,
const MATHVECTOR<float,3> & direction, const float length,
const btCollisionObject * caster,
COLLISION_CONTACT & contact, //out
CARDYNAMICS* cd, int w, //out pCarDyn, nWheel
bool ignoreCars, bool camTilt, bool camDist) const
{
btVector3 from = ToBulletVector(origin);
btVector3 to = ToBulletVector(origin + direction * length);
MyRayResultCallback res(from, to, caster, ignoreCars, camTilt, camDist);
// data to set
MATHVECTOR<float,3> pos, norm; float dist;
const TRACKSURFACE * surf = TRACKSURFACE::None();
btCollisionObject * col = NULL; const BEZIER * bzr = NULL;
world->rayTest(from, to, res);
bool geometryHit = res.hasHit();
if (geometryHit)
{
pos = ToMathVector<float>(res.m_hitPointWorld);
norm = ToMathVector<float>(res.m_hitNormalWorld);
dist = res.m_closestHitFraction * length;
col = res.m_collisionObject;
const TerData& td = pApp->scn->sc->td;
if (col->isStaticObject() /*&& (c->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE == 0)*/)
{
long long ptrU = (long long)col->getCollisionShape()->getUserPointer(),
su = ptrU & 0xFF00, mtr = ptrU & 0xFF; //void*
/// set surface, basing on shape type -----------------
if (ptrU)
switch (su)
{
case SU_Road: // road
{
int id = td.layerRoad.surfId; // Road[mtr].
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 1; cd->whRoadMtr[w] = mtr; cd->whTerMtr[w] = 0; }
} break;
case SU_Pipe: // pipe
{
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 2; cd->whRoadMtr[w] = mtr+30; cd->whTerMtr[w] = 0; }
} break;
case SU_Terrain: // Terrain get surface from blendmap mtr
{
int t = pApp->blendMapSize;
float tws = td.fTerWorldSize;
int mx = (pos[0] + 0.5*tws)/tws*t; mx = std::max(0,std::min(t-1, mx));
int my = (pos[1] + 0.5*tws)/tws*t; my = std::max(0,std::min(t-1, t-1-my));
int mtr = pApp->blendMtr[my*t + mx];
int id = td.layersAll[td.layers[mtr]].surfId;
surf = &pApp->pGame->surfaces[id];
if (cd) // mtr 0 = not on terrain
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 60; cd->whTerMtr[w] = mtr + 1; }
} break;
//case SU_RoadWall: //case SU_RoadColumn:
//case SU_Vegetation: case SU_Border:
//case SU_ObjectStatic: //case SU_ObjectDynamic:
default:
{
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 80; cd->whTerMtr[w] = 0; }
} break;
}
else //if (ptrU == 0)
{
int id = td.layersAll[0].surfId; //0 only 1st
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 0; cd->whRoadMtr[w] = 0; cd->whTerMtr[w] = 1; }
/*void * ptr = col->getUserPointer();
if (ptr != NULL)
{
const TRACK_OBJECT * const obj = reinterpret_cast <const TRACK_OBJECT * const> (ptr);
assert(obj);
surf = obj->GetSurface();
}
else // track geometry
{
int shapeId = res.m_shapeId;
//assert(shapeId >= 0 && shapeId < trackSurface.size());
if (shapeId >= trackSurface.size() || shapeId < 0) shapeId = 0; //crash hf-
if (trackSurface.size() > 0)
surf = 0;//trackSurface[shapeId];
}*/
}
}
// track bezierpatch collision
if (track != NULL)
{
MATHVECTOR<float,3> bs_pos(origin[1], origin[2], origin[0]); //bezierspace
MATHVECTOR<float,3> bs_dir(direction[1], direction[2], direction[0]);
MATHVECTOR<float,3> colpos, colnorm;
const BEZIER * colpatch = NULL;
bool bezierHit = track->CastRay(bs_pos, bs_dir, length, colpos, colpatch, colnorm);
if (bezierHit)
{
pos = MATHVECTOR<float,3> (colpos[2], colpos[0], colpos[1]);
norm = MATHVECTOR<float,3> (colnorm[2], colnorm[0], colnorm[1]);
dist = (colpos - bs_pos).Magnitude();
//surf = 0;//track->GetRoadSurface();
bzr = colpatch; col = NULL;
int id = td.layerRoad.surfId;
surf = &pApp->pGame->surfaces[id];
if (cd)
{ cd->iWhOnRoad[w] = 1; cd->whRoadMtr[w] = 0; cd->whTerMtr[w] = 0; }
}
}
contact.Set(pos, norm, dist, surf, bzr, col);
return true;
}
// should only happen on vehicle rollover
contact.Set(origin + direction * length, -direction, length, surf, bzr, col);
return false;
}