diff options
Diffstat (limited to 'src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 51 |
1 files changed, 38 insertions, 13 deletions
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 8b5a4c307..782e9efaf 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -22,7 +22,6 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" @@ -414,18 +413,6 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled); } - else if (collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE) - { - ///optimized version for btHeightfieldTerrainShape - btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape; - btTransform worldTocollisionObject = colObjWorldTransform.inverse(); - btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); - btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); - - BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform); - rcb.m_hitFraction = resultCallback.m_closestHitFraction; - heightField->performRaycast(&rcb, rayFromLocal, rayToLocal); - } else { //generic (slower) case @@ -436,6 +423,44 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + //ConvexCast::CastResult + + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + const btCollisionObject* m_collisionObject; + btConcaveShape* m_triangleMesh; + + btTransform m_colObjWorldTransform; + + BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod + btTriangleRaycastCallback(from, to, resultCallback->m_flags), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh), + m_colObjWorldTransform(colObjWorldTransform) + { + } + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal; + + btCollisionWorld::LocalRayResult rayResult(m_collisionObject, + &shapeInfo, + hitNormalWorld, + hitFraction); + + bool normalInWorldSpace = true; + return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace); + } + }; + BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform); rcb.m_hitFraction = resultCallback.m_closestHitFraction; |