diff options
Diffstat (limited to 'src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 51 |
1 files changed, 13 insertions, 38 deletions
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 782e9efaf..8b5a4c307 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -22,6 +22,7 @@ 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" @@ -413,6 +414,18 @@ 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 @@ -423,44 +436,6 @@ 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; |