Changeset 3358

Timestamp:

02/02/10 12:29:21 (5 weeks ago)

Author:

Azaezel

Message:

crosscheck likely needed: implements raycasts

Location:

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src

Files:

• PhysicsZone.cpp (modified) (2 diffs)
• PhysicsZone.hpp (modified) (2 diffs)

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsZone.cpp

@@ -249 +249 @@
 
 //-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
-//see http://www.newtondynamics.com/wiki/index.php5?title=btDiscreteDynamicsWorldRayCast
+//see http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4152&hilit=raytest
 //for reference
 void 
@@ -259 +259 @@
     Math::Point3 endpoint = _ray.getOrigin() + offset;
 
-    RayCastResult rayCastQuery(_maxDistance, _visitor);
-    btDiscreteDynamicsWorldRayCast(m_pZone, _ray.getOrigin().m_array, endpoint.m_array, rayCastFilter, &rayCastQuery, rayCastPrefilter);
-}
-
-//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
-//implement a ray cast filter
-Zen::Math::Real 
-PhysicsZone::rayCastFilter(const btRigidBody* _pBody, const Zen::Math::Real* _pNormal, int _collisionID, void* _pUserData, Zen::Math::Real _intersectDistance)
-{
-    PhysicsZone::RayCastResult* pCastquery = static_cast<PhysicsZone::RayCastResult*>(_pUserData);
-    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(_pBody->getUserPointer());
-    assert(pCastquery != NULL);
-    assert(pRawPhysicsActor != NULL);
-
-    Math::Vector3 normal(
-        static_cast<const Math::Real*>(_pNormal)
-    );
-
-    return (pCastquery->m_visitor.visit(
-                pRawPhysicsActor->getSelfReference().lock(), 
-                normal, 
-                (Math::Real)_intersectDistance * pCastquery->m_distance
-            )) ? 1.0f : 0.0f;
-}
-//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
-//newton 1.53 Tutorial_06_UtilityFuntionality says:
-// implement a ray cast pre-filter
-unsigned int
-PhysicsZone::rayCastPrefilter(const btRigidBody* _pBody, const btCollisionShape* _pCollision, void* _pUserData)
-{
-    PhysicsZone::RayCastResult* pCastquery = static_cast<PhysicsZone::RayCastResult*>(_pUserData);
-    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(_pBody->getUserPointer());
-    assert(pCastquery != NULL);
-    assert(pRawPhysicsActor != NULL);
-
-    Math::Point3 position;
-    position = pRawPhysicsActor->getPosition();
-
-    return (pCastquery->m_visitor.filter(pRawPhysicsActor->getSelfReference().lock())) ? 1 : 0;
+    //(m_pZone, _ray.getOrigin().m_array, endpoint.m_array, rayCastFilter, &rayCastQuery, rayCastPrefilter);
+
+    btVector3 tquatFrom = btVector3(_ray.getOrigin().m_x,_ray.getOrigin().m_y,_ray.getOrigin().m_z);
+    btVector3 tquatTo = btVector3(_ray.getOrigin().m_x,_ray.getOrigin().m_y,_ray.getOrigin().m_z);
+
+        RayResultCallback       resultCallback(tquatFrom,tquatTo);
+   
+        m_pZone->rayTest(tquatFrom,tquatTo,resultCallback);
+}
+
+//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
+float
+PhysicsZone::RayResultCallback::addSingleResult(btCollisionWorld::LocalRayResult& _rayResult,bool _normalInWorldSpace)
+{
+    //caller already does the filter on the m_closestHitFraction
+    btAssert(_rayResult.m_hitFraction <= m_closestHitFraction);
+    
+    m_closestHitFraction = _rayResult.m_hitFraction;
+    m_collisionObject = _rayResult.m_collisionObject;
+    if (_normalInWorldSpace)
+    {
+        m_hitNormalWorld = _rayResult.m_hitNormalLocal;
+    } else
+    {
+        ///need to transform normal into worldspace
+        m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*_rayResult.m_hitNormalLocal;
+    }
+    m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,_rayResult.m_hitFraction);
+
+    PhysicsZone::RayCastResult* pCastquery;
+    PhysicsActor* pRawPhysicsActor = static_cast<PhysicsActor*>(m_collisionObject->getUserPointer());
+
+    pCastquery->m_distance = m_closestHitFraction;
+
+    Math::Vector3 normal = Math::Vector3(m_hitNormalWorld.getX(),m_hitNormalWorld.getY(),m_hitNormalWorld.getZ());
+    if (pCastquery->m_visitor.filter(pRawPhysicsActor->getSelfReference().lock()))
+    {
+        return (pCastquery->m_visitor.visit(
+            pRawPhysicsActor->getSelfReference().lock(), 
+            normal, 
+            pCastquery->m_distance
+        )) ? 1.0f : 0.0f;
+    }
+
+    return 1.f;
 }
 

plugins/branches/0185_GEN_PHYSICS_REFACTOR_2/ZBullet/src/PhysicsZone.hpp

@@ -144 +144 @@
     /// @{
 public:
-private:
-    static Zen::Math::Real rayCastFilter(const btRigidBody* _pBody, const Zen::Math::Real* _pNormal, int _collisionId, void* _pUserData, Zen::Math::Real _intersectDistance);
-    static unsigned int rayCastPrefilter(const btRigidBody* _pBody, const btCollisionShape* _pCollision, void* _pUserData);
     /// @}
 
@@ -155 +152 @@
     virtual ~PhysicsZone();
     /// @}
+        struct  RayResultCallback : public btCollisionWorld::RayResultCallback
+        {
+                RayResultCallback(const btVector3&      _rayFromWorld,const btVector3&  _rayToWorld)
+                :m_rayFromWorld(_rayFromWorld),
+                m_rayToWorld(_rayToWorld)
+                {
+                }
+
+                btVector3       m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
+                btVector3       m_rayToWorld;
+
+                btVector3       m_hitNormalWorld;
+                btVector3       m_hitPointWorld;
+        
+                virtual btScalar        addSingleResult(btCollisionWorld::LocalRayResult& _rayResult,bool _normalInWorldSpace);
+        };
+
 
     /// @name Member Variables