[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [25767] trunk/blender/extern/bullet2/src: Bullet: rework softbody raytest patch after approval by Erwin.
Benoit Bolsee
benoit.bolsee at online.be
Wed Jan 6 09:46:04 CET 2010
Revision: 25767
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=25767
Author: ben2610
Date: 2010-01-06 09:46:04 +0100 (Wed, 06 Jan 2010)
Log Message:
-----------
Bullet: rework softbody raytest patch after approval by Erwin.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
Modified: trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
===================================================================
--- trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp 2010-01-06 08:44:10 UTC (rev 25766)
+++ trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp 2010-01-06 08:46:04 UTC (rev 25767)
@@ -412,31 +412,6 @@
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
- } else {
- if (collisionShape->isSoftBody()) {
- btSoftBody* softBody = static_cast<btSoftBody*>(collisionObject);
- btSoftBody::sRayCast softResult;
- if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
- {
- btCollisionWorld::LocalShapeInfo shapeInfo;
- shapeInfo.m_shapePart = 0;
- shapeInfo.m_triangleIndex = softResult.index;
- // get the normal
- btVector3 normal = softBody->m_faces[softResult.index].m_normal;
- btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
- if (normal.dot(rayDir) > 0) {
- // normal always point toward origin of the ray
- normal = -normal;
- }
- btCollisionWorld::LocalRayResult rayResult
- (collisionObject,
- &shapeInfo,
- normal,
- softResult.fraction);
- bool normalInWorldSpace = true;
- resultCallback.addSingleResult(rayResult,normalInWorldSpace);
- }
- }
}
}
}
Modified: trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
===================================================================
--- trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h 2010-01-06 08:44:10 UTC (rev 25766)
+++ trunk/blender/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h 2010-01-06 08:46:04 UTC (rev 25767)
@@ -354,7 +354,7 @@
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
- void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
+ virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
Modified: trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
===================================================================
--- trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp 2010-01-06 08:44:10 UTC (rev 25766)
+++ trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp 2010-01-06 08:46:04 UTC (rev 25767)
@@ -22,6 +22,7 @@
#include "btSoftBodyHelpers.h"
+//#define USE_BRUTEFORCE_RAYBROADPHASE 1
@@ -140,3 +141,140 @@
}
}
}
+
+
+struct btSoftSingleRayCallback : public btBroadphaseRayCallback
+{
+ btVector3 m_rayFromWorld;
+ btVector3 m_rayToWorld;
+ btTransform m_rayFromTrans;
+ btTransform m_rayToTrans;
+ btVector3 m_hitNormal;
+
+ const btSoftRigidDynamicsWorld* m_world;
+ btCollisionWorld::RayResultCallback& m_resultCallback;
+
+ btSoftSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btSoftRigidDynamicsWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
+ :m_rayFromWorld(rayFromWorld),
+ m_rayToWorld(rayToWorld),
+ m_world(world),
+ m_resultCallback(resultCallback)
+ {
+ m_rayFromTrans.setIdentity();
+ m_rayFromTrans.setOrigin(m_rayFromWorld);
+ m_rayToTrans.setIdentity();
+ m_rayToTrans.setOrigin(m_rayToWorld);
+
+ btVector3 rayDir = (rayToWorld-rayFromWorld);
+
+ rayDir.normalize ();
+ ///what about division by zero? --> just set rayDirection[i] to INF/1e30
+ m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0];
+ m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1];
+ m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2];
+ m_signs[0] = m_rayDirectionInverse[0] < 0.0;
+ m_signs[1] = m_rayDirectionInverse[1] < 0.0;
+ m_signs[2] = m_rayDirectionInverse[2] < 0.0;
+
+ m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
+
+ }
+
+
+
+ virtual bool process(const btBroadphaseProxy* proxy)
+ {
+ ///terminate further ray tests, once the closestHitFraction reached zero
+ if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
+ return false;
+
+ btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
+
+ //only perform raycast if filterMask matches
+ if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
+ {
+ //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
+ //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
+#if 0
+#ifdef RECALCULATE_AABB
+ btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
+ collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
+#else
+ //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
+ const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
+ const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
+#endif
+#endif
+ //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
+ //culling already done by broadphase
+ //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
+ {
+ m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
+ collisionObject,
+ collisionObject->getCollisionShape(),
+ collisionObject->getWorldTransform(),
+ m_resultCallback);
+ }
+ }
+ return true;
+ }
+};
+
+void btSoftRigidDynamicsWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
+{
+ BT_PROFILE("rayTest");
+ /// use the broadphase to accelerate the search for objects, based on their aabb
+ /// and for each object with ray-aabb overlap, perform an exact ray test
+ btSoftSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);
+
+#ifndef USE_BRUTEFORCE_RAYBROADPHASE
+ m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);
+#else
+ for (int i=0;i<this->getNumCollisionObjects();i++)
+ {
+ rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
+ }
+#endif //USE_BRUTEFORCE_RAYBROADPHASE
+
+}
+
+
+void btSoftRigidDynamicsWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+ btCollisionObject* collisionObject,
+ const btCollisionShape* collisionShape,
+ const btTransform& colObjWorldTransform,
+ RayResultCallback& resultCallback)
+{
+ if (collisionShape->isSoftBody()) {
+ btSoftBody* softBody = btSoftBody::upcast(collisionObject);
+ if (softBody) {
+ btSoftBody::sRayCast softResult;
+ if (softBody->rayTest(rayFromTrans.getOrigin(), rayToTrans.getOrigin(), softResult))
+ {
+ if (softResult.fraction<= resultCallback.m_closestHitFraction)
+ {
+ btCollisionWorld::LocalShapeInfo shapeInfo;
+ shapeInfo.m_shapePart = 0;
+ shapeInfo.m_triangleIndex = softResult.index;
+ // get the normal
+ btVector3 normal = softBody->m_faces[softResult.index].m_normal;
+ btVector3 rayDir = rayToTrans.getOrigin() - rayFromTrans.getOrigin();
+ if (normal.dot(rayDir) > 0) {
+ // normal must always point toward origin of the ray
+ normal = -normal;
+ }
+ btCollisionWorld::LocalRayResult rayResult
+ (collisionObject,
+ &shapeInfo,
+ normal,
+ softResult.fraction);
+ bool normalInWorldSpace = true;
+ resultCallback.addSingleResult(rayResult,normalInWorldSpace);
+ }
+ }
+ }
+ }
+ else {
+ btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,collisionObject,collisionShape,colObjWorldTransform,resultCallback);
+ }
+}
Modified: trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h
===================================================================
--- trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h 2010-01-06 08:44:10 UTC (rev 25766)
+++ trunk/blender/extern/bullet2/src/BulletSoftBody/btSoftRigidDynamicsWorld.h 2010-01-06 08:46:04 UTC (rev 25767)
@@ -77,6 +77,17 @@
return m_softBodies;
}
+ virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
+
+ /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
+ /// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
+ /// This allows more customization.
+ static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
+ btCollisionObject* collisionObject,
+ const btCollisionShape* collisionShape,
+ const btTransform& colObjWorldTransform,
+ RayResultCallback& resultCallback);
+
};
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
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