368 lines
12 KiB
C++
368 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btCollisionWorld.h"
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#include "btCollisionDispatcher.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btStackAlloc.h"
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//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, int stackSize)
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:m_dispatcher1(dispatcher),
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m_broadphasePairCache(pairCache),
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m_ownsDispatcher(false),
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m_ownsBroadphasePairCache(false)
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{
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m_stackAlloc = new btStackAlloc(stackSize);
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m_dispatchInfo.m_stackAllocator = m_stackAlloc;
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}
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btCollisionWorld::~btCollisionWorld()
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{
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m_stackAlloc->destroy();
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delete m_stackAlloc;
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//clean up remaining objects
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int i;
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for (i=0;i<m_collisionObjects.size();i++)
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{
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btCollisionObject* collisionObject= m_collisionObjects[i];
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp);
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getBroadphase()->destroyProxy(bp);
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}
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}
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if (m_ownsDispatcher)
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delete m_dispatcher1;
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if (m_ownsBroadphasePairCache)
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delete m_broadphasePairCache;
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}
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void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
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{
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//check that the object isn't already added
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btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
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m_collisionObjects.push_back(collisionObject);
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//calculate new AABB
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btTransform trans = collisionObject->getWorldTransform();
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btVector3 minAabb;
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btVector3 maxAabb;
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collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
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int type = collisionObject->getCollisionShape()->getShapeType();
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collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
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minAabb,
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maxAabb,
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type,
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collisionObject,
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collisionFilterGroup,
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collisionFilterMask
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)) ;
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}
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void btCollisionWorld::performDiscreteCollisionDetection()
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{
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btDispatcherInfo& dispatchInfo = getDispatchInfo();
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BEGIN_PROFILE("perform Broadphase Collision Detection");
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//update aabb (of all moved objects)
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btVector3 aabbMin,aabbMax;
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for (int i=0;i<m_collisionObjects.size();i++)
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{
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m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax);
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m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax);
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}
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m_broadphasePairCache->calculateOverlappingPairs();
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END_PROFILE("perform Broadphase Collision Detection");
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BEGIN_PROFILE("performDiscreteCollisionDetection");
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btDispatcher* dispatcher = getDispatcher();
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if (dispatcher)
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dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo);
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END_PROFILE("performDiscreteCollisionDetection");
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}
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void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
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{
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//bool removeFromBroadphase = false;
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{
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp);
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getBroadphase()->destroyProxy(bp);
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collisionObject->setBroadphaseHandle(0);
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}
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}
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//swapremove
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m_collisionObjects.remove(collisionObject);
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}
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void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback,short int collisionFilterMask)
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{
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btSphereShape pointShape(btScalar(0.0));
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pointShape.setMargin(0.f);
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objectQuerySingle(&pointShape,rayFromTrans,rayToTrans,
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collisionObject,
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collisionShape,
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colObjWorldTransform,
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resultCallback,collisionFilterMask);
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}
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void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback,short int collisionFilterMask)
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{
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if (collisionShape->isConvex())
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{
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btConvexCast::CastResult castResult;
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castResult.m_fraction = btScalar(1.);//??
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btConvexShape* convexShape = (btConvexShape*) collisionShape;
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
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//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
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//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
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{
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//add hit
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if (castResult.m_normal.length2() > btScalar(0.0001))
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{
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castResult.m_normal.normalize();
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if (castResult.m_fraction < resultCallback.m_closestHitFraction)
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{
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btCollisionWorld::LocalRayResult localRayResult
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(
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collisionObject,
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0,
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castResult.m_normal,
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castResult.m_fraction
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);
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bool normalInWorldSpace = true;
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resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
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}
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}
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}
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}
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else
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{
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if (collisionShape->isConcave())
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{
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btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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btCollisionObject* m_collisionObject;
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btTriangleMeshShape* m_triangleMesh;
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BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
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btTriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btCollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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bool normalInWorldSpace = false;
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return m_resultCallback->AddSingleResult(rayResult,normalInWorldSpace);
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}
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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btVector3 rayAabbMinLocal = rayFromLocal;
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rayAabbMinLocal.setMin(rayToLocal);
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btVector3 rayAabbMaxLocal = rayFromLocal;
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rayAabbMaxLocal.setMax(rayToLocal);
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triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
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} else
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{
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//todo: use AABB tree or other BVH acceleration structure!
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if (collisionShape->isCompound())
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{
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
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int i=0;
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for (i=0;i<compoundShape->getNumChildShapes();i++)
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
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btTransform childWorldTrans = colObjWorldTransform * childTrans;
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objectQuerySingle(castShape, rayFromTrans,rayToTrans,
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collisionObject,
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childCollisionShape,
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childWorldTrans,
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resultCallback, collisionFilterMask);
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}
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}
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}
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}
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}
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void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask)
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{
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btTransform rayFromTrans,rayToTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFromWorld);
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rayToTrans.setIdentity();
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rayToTrans.setOrigin(rayToWorld);
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/// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD)
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int i;
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for (i=0;i<m_collisionObjects.size();i++)
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{
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btCollisionObject* collisionObject= m_collisionObjects[i];
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//only perform raycast if filterMask matches
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if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) {
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//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
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btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
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collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
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btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
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btVector3 hitNormal;
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if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
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{
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rayTestSingle(rayFromTrans,rayToTrans,
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collisionObject,
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collisionObject->getCollisionShape(),
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collisionObject->getWorldTransform(),
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resultCallback);
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}
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}
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}
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}
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