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https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
allow Z as up-axis for raycast acceleration in btHeightfieldTerrainShape
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@ -678,8 +678,9 @@ public:
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sum_ms = 0;
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}
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btRaycastBar3(btScalar ray_length, btScalar z, btScalar max_y, struct GUIHelperInterface* guiHelper)
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btRaycastBar3(btScalar ray_length, btScalar z, btScalar max_y, struct GUIHelperInterface* guiHelper, int upAxisIndex)
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{
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m_guiHelper = guiHelper;
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frame_counter = 0;
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ms = 0;
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@ -697,14 +698,24 @@ public:
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{
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btScalar alpha = dalpha * i;
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// rotate around by alpha degrees y
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btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
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btVector3 upAxis(0, 0, 0);
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upAxis[upAxisIndex] = 1;
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btQuaternion q(upAxis, alpha);
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direction[i] = btVector3(1.0, 0.0, 0.0);
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direction[i] = quatRotate(q, direction[i]);
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direction[i] = direction[i] * ray_length;
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source[i] = btVector3(min_x, max_y, z);
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if (upAxisIndex == 1)
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{
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source[i] = btVector3(min_x, max_y, z);
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}
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else
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{
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source[i] = btVector3(min_x, z, max_y);
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}
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dest[i] = source[i] + direction[i];
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dest[i][1] = -1000;
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dest[i][upAxisIndex] = -1000;
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normal[i] = btVector3(1.0, 0.0, 0.0);
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}
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}
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@ -922,10 +933,12 @@ void HeightfieldExample::initPhysics()
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createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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raycastBar = btRaycastBar3(2500.0, 0, 2.0, m_guiHelper);
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// set up basic state
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m_upAxis = 1; // start with Y-axis as "up"
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m_upAxis = 2; // start with Y-axis as "up"
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m_guiHelper->setUpAxis(m_upAxis);
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raycastBar = btRaycastBar3(2500.0, 0, 2.0, m_guiHelper, m_upAxis);
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// set up basic state
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m_type = PHY_FLOAT;// SHORT;
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m_model = gHeightfieldType;
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@ -970,7 +983,9 @@ void HeightfieldExample::resetPhysics(void)
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m_minHeight, m_maxHeight,
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m_upAxis, m_type, flipQuadEdges);
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btAssert(m_heightfieldShape && "null heightfield");
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if (m_upAxis == 2)
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m_heightfieldShape->setFlipTriangleWinding(true);
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//buildAccelerator is optional, it may not support all features.
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m_heightfieldShape->buildAccelerator();
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@ -415,8 +415,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
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triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
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}
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else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0)
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&& collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE &&
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(((btHeightfieldTerrainShape*)collisionShape)->getUpAxis()==1)//accelerator only supports Y axis at the moment
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&& collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE
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)
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{
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///optimized version for btHeightfieldTerrainShape
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@ -71,6 +71,7 @@ void btHeightfieldTerrainShape::initialize(
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m_flipQuadEdges = flipQuadEdges;
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m_useDiamondSubdivision = false;
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m_useZigzagSubdivision = false;
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m_flipTriangleWinding = false;
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m_upAxis = upAxis;
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m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
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@ -335,30 +336,37 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
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for (int x = startX; x < endX; x++)
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{
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btVector3 vertices[3];
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int indices[3] = { 0, 1, 2 };
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if (m_flipTriangleWinding)
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{
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indices[0] = 2;
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indices[2] = 0;
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}
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if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j + x) & 1)) || (m_useZigzagSubdivision && !(j & 1)))
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{
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//first triangle
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getVertex(x, j, vertices[0]);
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getVertex(x, j + 1, vertices[1]);
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getVertex(x + 1, j + 1, vertices[2]);
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getVertex(x, j, vertices[indices[0]]);
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getVertex(x, j + 1, vertices[indices[1]]);
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getVertex(x + 1, j + 1, vertices[indices[2]]);
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callback->processTriangle(vertices, x, j);
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//second triangle
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// getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
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getVertex(x + 1, j + 1, vertices[1]);
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getVertex(x + 1, j, vertices[2]);
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getVertex(x + 1, j + 1, vertices[indices[1]]);
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getVertex(x + 1, j, vertices[indices[2]]);
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callback->processTriangle(vertices, x, j);
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}
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else
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{
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//first triangle
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getVertex(x, j, vertices[0]);
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getVertex(x, j + 1, vertices[1]);
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getVertex(x + 1, j, vertices[2]);
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getVertex(x, j, vertices[indices[0]]);
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getVertex(x, j + 1, vertices[indices[1]]);
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getVertex(x + 1, j, vertices[indices[2]]);
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callback->processTriangle(vertices, x, j);
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//second triangle
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getVertex(x + 1, j, vertices[0]);
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getVertex(x + 1, j, vertices[indices[0]]);
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//getVertex(x,j+1,vertices[1]);
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getVertex(x + 1, j + 1, vertices[2]);
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getVertex(x + 1, j + 1, vertices[indices[2]]);
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callback->processTriangle(vertices, x, j);
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}
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}
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@ -401,7 +409,7 @@ namespace
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/// and executes an action on each cell intersecting the given segment, ordered from begin to end.
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/// Initially inspired by http://www.cse.yorku.ca/~amana/research/grid.pdf
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template <typename Action_T>
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void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector3& endPos)
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void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector3& endPos, int indices[3])
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{
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GridRaycastState rs;
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rs.maxDistance3d = beginPos.distance(endPos);
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@ -410,9 +418,10 @@ void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector
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// Consider the ray is too small to hit anything
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return;
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}
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btScalar rayDirectionFlatX = endPos[0] - beginPos[0];
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btScalar rayDirectionFlatZ = endPos[2] - beginPos[2];
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btScalar rayDirectionFlatX = endPos[indices[0]] - beginPos[indices[0]];
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btScalar rayDirectionFlatZ = endPos[indices[2]] - beginPos[indices[2]];
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rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ);
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if (rs.maxDistanceFlat < 0.0001)
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@ -444,11 +453,11 @@ void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector
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{
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if (xiStep == 1)
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{
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paramCrossX = (ceil(beginPos[0]) - beginPos[0]) * paramDeltaX;
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paramCrossX = (ceil(beginPos[indices[0]]) - beginPos[indices[0]]) * paramDeltaX;
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}
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else
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{
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paramCrossX = (beginPos[0] - floor(beginPos[0])) * paramDeltaX;
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paramCrossX = (beginPos[indices[0]] - floor(beginPos[indices[0]])) * paramDeltaX;
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}
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}
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else
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@ -461,11 +470,11 @@ void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector
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{
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if (ziStep == 1)
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{
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paramCrossZ = (ceil(beginPos[2]) - beginPos[2]) * paramDeltaZ;
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paramCrossZ = (ceil(beginPos[indices[2]]) - beginPos[indices[2]]) * paramDeltaZ;
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}
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else
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{
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paramCrossZ = (beginPos[2] - floor(beginPos[2])) * paramDeltaZ;
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paramCrossZ = (beginPos[indices[2]] - floor(beginPos[indices[2]])) * paramDeltaZ;
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}
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}
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else
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@ -473,8 +482,8 @@ void gridRaycast(Action_T& quadAction, const btVector3& beginPos, const btVector
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paramCrossZ = infinite; // Will never cross on Z
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}
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rs.x = static_cast<int>(floor(beginPos[0]));
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rs.z = static_cast<int>(floor(beginPos[2]));
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rs.x = static_cast<int>(floor(beginPos[indices[0]]));
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rs.z = static_cast<int>(floor(beginPos[indices[2]]));
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// Workaround cases where the ray starts at an integer position
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if (paramCrossX == 0.0)
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@ -603,10 +612,12 @@ struct ProcessVBoundsAction
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btVector3 rayEnd;
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btVector3 rayDir;
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int* m_indices;
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ProcessTrianglesAction processTriangles;
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ProcessVBoundsAction(const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& bnd)
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: vbounds(bnd)
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ProcessVBoundsAction(const btAlignedObjectArray<btHeightfieldTerrainShape::Range>& bnd, int* indices)
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: vbounds(bnd),
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m_indices(indices)
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{
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}
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void operator()(const GridRaycastState& rs) const
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@ -634,11 +645,11 @@ struct ProcessVBoundsAction
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// We did enter the flat projection of the AABB,
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// but we have to check if we intersect it on the vertical axis
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if (enterPos[1] > chunk.max && exitPos[1] > chunk.max)
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if (enterPos[1] > chunk.max && exitPos[m_indices[1]] > chunk.max)
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{
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return;
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}
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if (enterPos[1] < chunk.min && exitPos[1] < chunk.min)
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if (enterPos[1] < chunk.min && exitPos[m_indices[1]] < chunk.min)
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{
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return;
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}
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@ -651,7 +662,7 @@ struct ProcessVBoundsAction
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exitPos = rayEnd;
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}
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gridRaycast(processTriangles, enterPos, exitPos);
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gridRaycast(processTriangles, enterPos, exitPos, m_indices);
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// Note: it could be possible to have more than one grid at different levels,
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// to do this there would be a branch using a pointer to another ProcessVBoundsAction
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}
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@ -677,10 +688,16 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con
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processTriangles.length = m_heightStickLength - 1;
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// TODO Transform vectors to account for m_upAxis
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int iBeginX = static_cast<int>(floor(beginPos[0]));
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int iBeginZ = static_cast<int>(floor(beginPos[2]));
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int iEndX = static_cast<int>(floor(endPos[0]));
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int iEndZ = static_cast<int>(floor(endPos[2]));
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int indices[3] = { 0, 1, 2 };
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if (m_upAxis == 2)
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{
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indices[1] = 2;
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indices[2] = 1;
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}
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int iBeginX = static_cast<int>(floor(beginPos[indices[0]]));
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int iBeginZ = static_cast<int>(floor(beginPos[indices[2]]));
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int iEndX = static_cast<int>(floor(endPos[indices[0]]));
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int iEndZ = static_cast<int>(floor(endPos[indices[2]]));
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if (iBeginX == iEndX && iBeginZ == iEndZ)
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{
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@ -691,22 +708,24 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con
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return;
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}
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if (m_vboundsGrid.size()==0)
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{
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// Process all quads intersecting the flat projection of the ray
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gridRaycast(processTriangles, beginPos, endPos);
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gridRaycast(processTriangles, beginPos, endPos, &indices[0]);
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}
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else
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{
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btVector3 rayDiff = endPos - beginPos;
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btScalar flatDistance2 = rayDiff[0] * rayDiff[0] + rayDiff[2] * rayDiff[2];
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btScalar flatDistance2 = rayDiff[indices[0]] * rayDiff[indices[0]] + rayDiff[indices[2]] * rayDiff[indices[2]];
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if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize)
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{
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// Don't use chunks, the ray is too short in the plane
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gridRaycast(processTriangles, beginPos, endPos);
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gridRaycast(processTriangles, beginPos, endPos, &indices[0]);
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}
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ProcessVBoundsAction processVBounds(m_vboundsGrid);
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ProcessVBoundsAction processVBounds(m_vboundsGrid, &indices[0]);
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processVBounds.width = m_vboundsGridWidth;
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processVBounds.length = m_vboundsGridLength;
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processVBounds.rayBegin = beginPos;
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@ -715,7 +734,7 @@ void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, con
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processVBounds.processTriangles = processTriangles;
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processVBounds.chunkSize = m_vboundsChunkSize;
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// The ray is long, run raycast on a higher-level grid
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gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize);
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gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize, indices);
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}
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}
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@ -103,7 +103,7 @@ protected:
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bool m_flipQuadEdges;
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bool m_useDiamondSubdivision;
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bool m_useZigzagSubdivision;
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bool m_flipTriangleWinding;
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int m_upAxis;
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btVector3 m_localScaling;
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@ -158,6 +158,10 @@ public:
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///could help compatibility with Ogre heightfields. See https://code.google.com/p/bullet/issues/detail?id=625
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void setUseZigzagSubdivision(bool useZigzagSubdivision = true) { m_useZigzagSubdivision = useZigzagSubdivision; }
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void setFlipTriangleWinding(bool flipTriangleWinding)
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{
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m_flipTriangleWinding = flipTriangleWinding;
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}
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virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
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virtual void processAllTriangles(btTriangleCallback * callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
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