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fix the raycasting bug

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This commit is contained in:
gugus 2011-03-22 21:28:18 +01:00
parent 8f9b8749d4
commit 1ce6405e2b
1 changed files with 28 additions and 17 deletions
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39
bullet/physic.cpp
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@ -38,7 +38,7 @@ namespace Physic
btScalar externalCapsuleWidth = 16;
externalCollisionShape = new btCapsuleShapeZ( externalCapsuleWidth, externalCapsuleHeight );
externalCollisionShape->setMargin( 0.05 );
externalCollisionShape->setMargin( 0.1 );
externalGhostObject->setCollisionShape( externalCollisionShape );
externalGhostObject->setCollisionFlags( btCollisionObject::CF_CHARACTER_OBJECT );
@ -51,12 +51,12 @@ namespace Physic
btScalar internalCapsuleWidth = 15;
internalCollisionShape = new btCapsuleShapeZ( internalCapsuleWidth, internalCapsuleHeight );
internalCollisionShape->setMargin( 0.05 );
internalCollisionShape->setMargin( 0.1 );
internalGhostObject->setCollisionShape( internalCollisionShape );
internalGhostObject->setCollisionFlags( btCollisionObject::CF_CHARACTER_OBJECT );
mCharacter = new btKinematicCharacterController( externalGhostObject,internalGhostObject,btScalar( 10 ),1,9.8,20,9.8,0.2 );
mCharacter = new btKinematicCharacterController( externalGhostObject,internalGhostObject,btScalar( 40 ),1,4,20,9.8,0.2 );
mCharacter->setUpAxis(btKinematicCharacterController::Z_AXIS);
mCharacter->setUseGhostSweepTest(false);
@ -273,7 +273,7 @@ namespace Physic
void PhysicEngine::stepSimulation(double deltaT)
{
dynamicsWorld->stepSimulation(deltaT,1,1/30.);
dynamicsWorld->stepSimulation(deltaT,1,1/50.);
if(isDebugCreated)
{
mDebugDrawer->step();
@ -315,22 +315,33 @@ namespace Physic
std::pair<std::string,float> PhysicEngine::rayTest(btVector3& from,btVector3& to)
{
std::string name = "";
float d = -1.;
btCollisionWorld::ClosestRayResultCallback resultCallback(from, to);
dynamicsWorld->rayTest(from, to, resultCallback);
float d = -1;
if (resultCallback.hasHit())
float d1 = 10000.;
btCollisionWorld::ClosestRayResultCallback resultCallback1(from, to);
resultCallback1.m_collisionFilterMask = COL_WORLD;
dynamicsWorld->rayTest(from, to, resultCallback1);
if (resultCallback1.hasHit())
{
if(resultCallback.m_collisionFilterGroup == COL_WORLD)
name = static_cast<RigidBody&>(*resultCallback1.m_collisionObject).mName;
d1 = resultCallback1.m_closestHitFraction;
d = d1;
}
btCollisionWorld::ClosestRayResultCallback resultCallback2(from, to);
resultCallback2.m_collisionFilterMask = COL_ACTOR_INTERNAL|COL_ACTOR_EXTERNAL;
dynamicsWorld->rayTest(from, to, resultCallback2);
float d2 = 10000.;
if (resultCallback2.hasHit())
{
name = dynamic_cast<RigidBody&>(*resultCallback.m_collisionObject).mName;
}
if(resultCallback.m_collisionFilterGroup == COL_ACTOR_EXTERNAL || resultCallback.m_collisionFilterGroup == COL_ACTOR_INTERNAL)
d2 = resultCallback1.m_closestHitFraction;
if(d2<=d1)
{
name = dynamic_cast<PairCachingGhostObject&>(*resultCallback.m_collisionObject).mName;
name = static_cast<PairCachingGhostObject&>(*resultCallback2.m_collisionObject).mName;
d = d2;
}
d = resultCallback.m_closestHitFraction;
}
return std::pair<std::string,float>(name,d);
}
}};