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Code Issues Releases Wiki Activity

Add backface culling and option to keep unflipped hit normal in case a ray hits a back-facing triangle.

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Usage: set RayResultCallback.m_flags to kF_FilterBackfaces, optionally combined with kF_KeepUnflippedNormal.
Thanks Andy O'Neil for the patch!

Remove the force_inline for some internal constraint solver methods, it makes re-use easier.
Workaround/avoid MSVC 2005 compiler error in LibXML/trionan.c
This commit is contained in:
erwin.coumans 2009-02-28 01:25:23 +00:00
parent a216ce4bf6
commit 210fe36106
6 changed files with 48 additions and 14 deletions
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9
Extras/LibXML/trionan.c
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@ -174,11 +174,16 @@ trio_make_double
TRIO_ARGS1((values),
TRIO_CONST unsigned char *values)
{
TRIO_VOLATILE double result;
//remove the TRI_VOLATILE, because MSVC 2005 compiles crashes
// fatal error C1001: An internal error has occurred in the compiler.
// (compiler file 'f:\rtm\vctools\compiler\utc\src\P2\main.c[0x00498D00:0x00498D00]', line 182)
double result;
int i;
for (i = 0; i < (int)sizeof(double); i++) {
((TRIO_VOLATILE unsigned char *)&result)[TRIO_DOUBLE_INDEX(i)] = values[i];
(( unsigned char *)&result)[TRIO_DOUBLE_INDEX(i)] = values[i];
}
return result;
}

6
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@ -298,7 +298,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh):
btTriangleRaycastCallback(from,to),
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
@ -347,7 +348,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh):
btTriangleRaycastCallback(from,to),
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)

6
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@ -186,6 +186,8 @@ public:
btCollisionObject* m_collisionObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
unsigned int m_flags;
virtual ~RayResultCallback()
{
@ -199,7 +201,9 @@ public:
:m_closestHitFraction(btScalar(1.)),
m_collisionObject(0),
m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter)
m_collisionFilterMask(btBroadphaseProxy::AllFilter),
//@BP Mod
m_flags(0)
{
}

20
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
View File

@ -23,10 +23,12 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "btRaycastCallback.h"
btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
:
m_from(from),
m_to(to),
//@BP Mod
m_flags(flags),
m_hitFraction(btScalar(1.))
{
@ -55,6 +57,12 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
{
return ; // same sign
}
//@BP Mod - Backface filtering
if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
{
// Backface, skip check
return;
}
const btScalar proj_length=dist_a-dist_b;
const btScalar distance = (dist_a)/(proj_length);
@ -89,14 +97,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance)
{
//@BP Mod
// Triangle normal isn't normalized
triangleNormal.normalize();
if ( dist_a > 0 )
//@BP Mod - Allow for unflipped normal when raycasting against backfaces
if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
{
m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
}
else
{
m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
}
}
}

13
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
View File

@ -29,9 +29,20 @@ public:
btVector3 m_from;
btVector3 m_to;
//@BP Mod - allow backface filtering and unflipped normals
enum EFlags
{
kF_None = 0,
kF_FilterBackfaces = 1 << 0,
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
kF_Terminator = 0xFFFFFFFF
};
unsigned int m_flags;
btScalar m_hitFraction;
btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0);
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);

8
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@ -55,7 +55,7 @@ static inline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 )
#endif//USE_SIMD
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
@ -89,7 +89,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
}
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);
@ -120,7 +120,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
}
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
#ifdef USE_SIMD
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
@ -151,7 +151,7 @@ SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstra
}
// Project Gauss Seidel or the equivalent Sequential Impulse
SIMD_FORCE_INLINE void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity);