Cr8-xyz/blender
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

rigidbody: Add function to perform convex sweep test

Browse Source 
This is a experimental collision detection function, so the API might
change in the future.

Note: The simulation needs to be stepped before this function can be
used, otherwise the rigid body world might not be valid.

Patch [#34989]  Bullet Convex sweep test API
by Vilem Novak (pildanovak), thanks!
This commit is contained in:
Sergej Reich
2013-04-21 19:53:40 +00:00
parent edab815137
commit ed19108891
3 changed files with 109 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

50
intern/rigidbody/rb_bullet_api.cpp
View File

@@ -242,6 +242,56 @@ void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *object)
world->dynamicsWorld->removeRigidBody(body);
}
/* Collision detection */
void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object, const float loc_start[3], const float loc_end[3], float v_location[3], float v_hitpoint[3], float v_normal[3], int *r_hit)
{
btRigidBody *body = object->body;
btCollisionShape *collisionShape = body->getCollisionShape();
/* only convex shapes are supported, but user can specify a non convex shape */
if (collisionShape->isConvex()) {
btCollisionWorld::ClosestConvexResultCallback result(btVector3(loc_start[0], loc_start[1], loc_start[2]), btVector3(loc_end[0], loc_end[1], loc_end[2]));
btQuaternion obRot = body->getWorldTransform().getRotation();
btTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setRotation(obRot);
rayFromTrans.setOrigin(btVector3(loc_start[0], loc_start[1], loc_start[2]));
btTransform rayToTrans;
rayToTrans.setIdentity();
rayToTrans.setRotation(obRot);
rayToTrans.setOrigin(btVector3(loc_end[0], loc_end[1], loc_end[2]));
world->dynamicsWorld->convexSweepTest((btConvexShape*) collisionShape, rayFromTrans, rayToTrans, result, 0);
if (result.hasHit()) {
*r_hit = 1;
v_location[0] = result.m_convexFromWorld[0]+(result.m_convexToWorld[0]-result.m_convexFromWorld[0])*result.m_closestHitFraction;
v_location[1] = result.m_convexFromWorld[1]+(result.m_convexToWorld[1]-result.m_convexFromWorld[1])*result.m_closestHitFraction;
v_location[2] = result.m_convexFromWorld[2]+(result.m_convexToWorld[2]-result.m_convexFromWorld[2])*result.m_closestHitFraction;
v_hitpoint[0] = result.m_hitPointWorld[0];
v_hitpoint[1] = result.m_hitPointWorld[1];
v_hitpoint[2] = result.m_hitPointWorld[2];
v_normal[0] = result.m_hitNormalWorld[0];
v_normal[1] = result.m_hitNormalWorld[1];
v_normal[2] = result.m_hitNormalWorld[2];
}
else {
*r_hit = 0;
}
}
else{
/* we need to return a value if user passes non convex body, to report */
*r_hit = -2;
}
}
/* ............ */
rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4])