Examples with SubsimplexConvexCast com.bulletphysics.collision.narrowphase.SubsimplexConvexCast used on opensource projects

Example 1 with SubsimplexConvexCast

use of com.bulletphysics.collision.narrowphase.SubsimplexConvexCast in project bdx by GoranM.

the class CollisionWorld method rayTestSingle.

// TODO
public static void rayTestSingle(Transform rayFromTrans, Transform rayToTrans, CollisionObject collisionObject, CollisionShape collisionShape, Transform colObjWorldTransform, RayResultCallback resultCallback) {
    Stack stack = Stack.enter();
    SphereShape pointShape = new SphereShape(0f);
    pointShape.setMargin(0f);
    ConvexShape castShape = pointShape;
    if (collisionShape.isConvex()) {
        CastResult castResult = new CastResult();
        castResult.fraction = resultCallback.closestHitFraction;
        ConvexShape convexShape = (ConvexShape) collisionShape;
        VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
        //#define USE_SUBSIMPLEX_CONVEX_CAST 1
        //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
        SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(castShape, convexShape, simplexSolver);
        if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult)) {
            //add hit
            if (castResult.normal.lengthSquared() > 0.0001f) {
                if (castResult.fraction < resultCallback.closestHitFraction) {
                    //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
                    //rotate normal into worldspace
                    rayFromTrans.basis.transform(castResult.normal);
                    //#endif //USE_SUBSIMPLEX_CONVEX_CAST
                    castResult.normal.normalize();
                    LocalRayResult localRayResult = new LocalRayResult(collisionObject, null, castResult.normal, castResult.fraction);
                    boolean normalInWorldSpace = true;
                    resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
                }
            }
        }
    } else {
        if (collisionShape.isConcave()) {
            if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
                // optimized version for BvhTriangleMeshShape
                BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                triangleMesh.performRaycast(rcb, rayFromLocal, rayToLocal);
            } else {
                ConcaveShape triangleMesh = (ConcaveShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                Vector3f rayAabbMinLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMin(rayAabbMinLocal, rayToLocal);
                Vector3f rayAabbMaxLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMax(rayAabbMaxLocal, rayToLocal);
                triangleMesh.processAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
            }
        } else {
            // todo: use AABB tree or other BVH acceleration structure!
            if (collisionShape.isCompound()) {
                CompoundShape compoundShape = (CompoundShape) collisionShape;
                int i = 0;
                Transform childTrans = stack.allocTransform();
                for (i = 0; i < compoundShape.getNumChildShapes(); i++) {
                    compoundShape.getChildTransform(i, childTrans);
                    CollisionShape childCollisionShape = compoundShape.getChildShape(i);
                    Transform childWorldTrans = stack.alloc(colObjWorldTransform);
                    childWorldTrans.mul(childTrans);
                    // replace collision shape so that callback can determine the triangle
                    CollisionShape saveCollisionShape = collisionObject.getCollisionShape();
                    collisionObject.internalSetTemporaryCollisionShape(childCollisionShape);
                    rayTestSingle(rayFromTrans, rayToTrans, collisionObject, childCollisionShape, childWorldTrans, resultCallback);
                    // restore
                    collisionObject.internalSetTemporaryCollisionShape(saveCollisionShape);
                }
            }
        }
    }
    stack.leave();
}