GoalCI(btScalar goal_width, btScalar goal_depth, btScalar goal_height,
btScalar wall_width)
: btRigidBodyCI(0, nullptr, &goal_shape, {0, 0, 0}),
wall_side{
{goal_depth / 2 + wall_width / 2, wall_width / 2, goal_height / 2}},
wall_rear{{wall_width / 2, goal_width / 2, goal_height / 2}},
goal_shape{} {
goal_shape.addChildShape(
btTransform({0, 0, 0, 1},
{-goal_depth / 2 - wall_width / 2,
-goal_width / 2 - wall_width / 2, goal_height / 2}),
&wall_side);
goal_shape.addChildShape(
btTransform({0, 0, 0, 1},
{-goal_depth / 2 - wall_width / 2,
+goal_width / 2 + wall_width / 2, goal_height / 2}),
&wall_side);
goal_shape.addChildShape(
btTransform({0, 0, 0, 1},
{-goal_depth - wall_width / 2, 0, goal_height / 2}),
&wall_rear);
}
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);
}
virtual void processTriangle(btVector3* triangleVerts, int partId, int triangleIndex)
{
if (!m_oncePerSphere)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(m_curSpherePos);
btTriangleShape triangleShape(triangleVerts[0],triangleVerts[1],triangleVerts[2]);
SphereTriangleDetector detector(m_sphereChildShape,&triangleShape,0.);
btVector3 hitPos,hitNormal;
btScalar hitDepth,timeOfImpact;
if (detector.collide(m_curSpherePos,hitPos,hitNormal,hitDepth,timeOfImpact,0.))
{
m_oncePerSphere = true;
m_bunnyCompound->addChildShape(tr,m_sphereChildShape);
}
}
}
