[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [56195] trunk/blender: rigidbody: Add function to perform convex sweep test
Sergej Reich
sergej.reich at googlemail.com
Sun Apr 21 21:53:41 CEST 2013
Revision: 56195
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=56195
Author: sergof
Date: 2013-04-21 19:53:40 +0000 (Sun, 21 Apr 2013)
Log Message:
-----------
rigidbody: Add function to perform convex sweep test
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!
Modified Paths:
--------------
trunk/blender/intern/rigidbody/RBI_api.h
trunk/blender/intern/rigidbody/rb_bullet_api.cpp
trunk/blender/source/blender/makesrna/intern/rna_rigidbody.c
Modified: trunk/blender/intern/rigidbody/RBI_api.h
===================================================================
--- trunk/blender/intern/rigidbody/RBI_api.h 2013-04-21 19:04:04 UTC (rev 56194)
+++ trunk/blender/intern/rigidbody/RBI_api.h 2013-04-21 19:53:40 UTC (rev 56195)
@@ -110,6 +110,12 @@
/* Remove RigidBody from dynamics world */
extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *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);
+
/* ............ */
/* Create new RigidBody instance */
Modified: trunk/blender/intern/rigidbody/rb_bullet_api.cpp
===================================================================
--- trunk/blender/intern/rigidbody/rb_bullet_api.cpp 2013-04-21 19:04:04 UTC (rev 56194)
+++ trunk/blender/intern/rigidbody/rb_bullet_api.cpp 2013-04-21 19:53:40 UTC (rev 56195)
@@ -242,6 +242,56 @@
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])
Modified: trunk/blender/source/blender/makesrna/intern/rna_rigidbody.c
===================================================================
--- trunk/blender/source/blender/makesrna/intern/rna_rigidbody.c 2013-04-21 19:04:04 UTC (rev 56194)
+++ trunk/blender/source/blender/makesrna/intern/rna_rigidbody.c 2013-04-21 19:53:40 UTC (rev 56195)
@@ -594,14 +594,33 @@
#endif
}
+/* Sweep test */
+static void rna_RigidBodyWorld_convex_sweep_test(RigidBodyWorld *rbw, ReportList *reports, Object *object, float ray_start[3], float ray_end[3], float r_location[3], float r_hitpoint[3], float r_normal[3], int *r_hit)
+{
+#ifdef WITH_BULLET
+ RigidBodyOb *rob = object->rigidbody_object;
+ if (rbw->physics_world != NULL && rob->physics_object != NULL) {
+ RB_world_convex_sweep_test(rbw->physics_world, rob->physics_object, ray_start, ray_end, r_location, r_hitpoint, r_normal, r_hit);
+ if (*r_hit == -2) {
+ BKE_report(reports, RPT_ERROR, "A non convex collision shape was passed to the function. Use only convex collision shapes.");
+ }
+ }
+ else {
+ *r_hit=-1;
+ BKE_report(reports, RPT_ERROR, "Rigidbody world was not properly initialized, need to step the simulation first");
+ }
+#endif
+}
+
#else
static void rna_def_rigidbody_world(BlenderRNA *brna)
{
StructRNA *srna;
PropertyRNA *prop;
-
+ FunctionRNA *func;
+
srna = RNA_def_struct(brna, "RigidBodyWorld", NULL);
RNA_def_struct_sdna(srna, "RigidBodyWorld");
RNA_def_struct_ui_text(srna, "Rigid Body World", "Self-contained rigid body simulation environment and settings");
@@ -678,6 +697,39 @@
RNA_def_property_struct_type(prop, "EffectorWeights");
RNA_def_property_clear_flag(prop, PROP_EDITABLE);
RNA_def_property_ui_text(prop, "Effector Weights", "");
+
+ /* Sweep test */
+ func = RNA_def_function(srna, "convex_sweep_test", "rna_RigidBodyWorld_convex_sweep_test");
+ RNA_def_function_ui_description(func, "Sweep test convex rigidbody against the current rigidbody world");
+ RNA_def_function_flag(func, FUNC_USE_REPORTS);
+
+ prop = RNA_def_pointer(func, "object", "Object", "", "Rigidbody object with a convex collision shape");
+ RNA_def_property_flag(prop, PROP_REQUIRED | PROP_NEVER_NULL);
+ RNA_def_property_clear_flag(prop, PROP_THICK_WRAP);
+
+ /* ray start and end */
+ prop = RNA_def_float_vector(func, "start", 3, NULL, -FLT_MAX, FLT_MAX, "", "", -1e4, 1e4);
+ RNA_def_property_flag(prop, PROP_REQUIRED);
+ prop = RNA_def_float_vector(func, "end", 3, NULL, -FLT_MAX, FLT_MAX, "", "", -1e4, 1e4);
+ RNA_def_property_flag(prop, PROP_REQUIRED);
+
+ prop = RNA_def_float_vector(func, "object_location", 3, NULL, -FLT_MAX, FLT_MAX, "Location",
+ "The hit location of this sweep test", -1e4, 1e4);
+ RNA_def_property_flag(prop, PROP_THICK_WRAP);
+ RNA_def_function_output(func, prop);
+
+ prop = RNA_def_float_vector(func, "hitpoint", 3, NULL, -FLT_MAX, FLT_MAX, "Hitpoint",
+ "The hit location of this sweep test", -1e4, 1e4);
+ RNA_def_property_flag(prop, PROP_THICK_WRAP);
+ RNA_def_function_output(func, prop);
+
+ prop = RNA_def_float_vector(func, "normal", 3, NULL, -FLT_MAX, FLT_MAX, "Normal",
+ "The face normal at the sweep test hit location", -1e4, 1e4);
+ RNA_def_property_flag(prop, PROP_THICK_WRAP);
+ RNA_def_function_output(func, prop);
+
+ prop = RNA_def_int(func, "has_hit", 0, 0, 0, "", "If the function has found collision point, value is 1, otherwise 0", 0, 0);
+ RNA_def_function_output(func, prop);
}
static void rna_def_rigidbody_object(BlenderRNA *brna)
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