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updated Raytracer demo, to enable non-world ray test

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disable USE_WORLD_RAYCAST to see low level method to do ray testing, using one of the convex casting methods (tracing a point against a convex)
This commit is contained in:
ejcoumans 2007-10-26 21:40:57 +00:00
parent fd1e672fcb
commit 1b7e5ad638
1 changed files with 31 additions and 17 deletions
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48
Demos/Raytracer/Raytracer.cpp
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@ -108,7 +108,7 @@ static const int numObjects = 1;
/// simplex contains the vertices, and some extra code to draw and debug
static GL_Simplex1to4 simplex;
static btCollisionShape* shapePtr[maxNumObjects];
static btConvexShape* shapePtr[maxNumObjects];
static btTransform transforms[maxNumObjects];
renderTexture* raytracePicture = 0;
@ -329,7 +329,11 @@ void Raytracer::displayCallback()
}
// btConvexCast::CastResult rayResult;
#define USE_WORLD_RAYCAST 1
#ifndef USE_WORLD_RAYCAST
btConvexCast::CastResult rayResult;
#endif
btTransform rayToTrans;
rayToTrans.setIdentity();
btVector3 rayTo;
@ -362,28 +366,38 @@ void Raytracer::displayCallback()
if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
{
#ifdef USE_WORLD_RAYCAST
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
&tmpObj,
shapePtr[s],
transforms[s],
resultCallback);
//choose the continuous collision detection method
//btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
if (resultCallback.HasHit())
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
resultCallback.m_hitNormalWorld.normalize();//.m_normal.normalize();
btVector3 worldNormal = resultCallback.m_hitNormalWorld;
#else //use USE_WORLD_RAYCAST
//reset previous result
//rayResult.m_fraction = 1.f;
if (resultCallback.HasHit())
// if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
resultCallback.m_hitNormalWorld.normalize();//.m_normal.normalize();
rayResult.m_fraction = 1.f;
//choose the continuous collision detection method
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//btGjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//btContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
btVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
worldNormal.normalize();
#endif // USE_WORLD_RAYCAST
//
btVector3 worldNormal = resultCallback.m_hitNormalWorld;
// worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));