first attempt: hit detection with a sphere (not finished)

apps/openmw/mwworld/physicssystem.cpp

@@ -268,6 +268,7 @@ namespace MWWorld
         std::pair <std::string, float> result;
         /*auto*/ result = mEngine->rayTest(origin, dest);
         result.second *= queryDistance;
+
         return std::make_pair (result.second, result.first);
     }
 
@@ -316,7 +317,11 @@ namespace MWWorld
 
         std::pair<std::string,float> result = mEngine->rayTest(origin, dest);
         result.second *= queryDistance;
-        return result;
+
+        std::pair<std::string,btVector3> result2 = mEngine->sphereTest(queryDistance,origin);
+        std::cout << "physic system: getFacedHandle" << result2.first << result2.second.length();
+        return std::make_pair (result2.first,result2.second.length());
+        //return result;
     }
 
 

libs/openengine/bullet/physic.cpp

@@ -545,15 +545,63 @@ namespace Physic
             if (body && !(col0->getBroadphaseHandle()->m_collisionFilterGroup
                           & CollisionType_Raycasting))
                 mResult.push_back(body->mName);
+
             return 0.f;
         }
 #endif
     };
 
+    struct AabbResultCallback : public btBroadphaseAabbCallback {
+        std::vector<RigidBody*> hits;
+        //AabbResultCallback(){}
+        virtual bool process(const btBroadphaseProxy* proxy) {
+            RigidBody* collisionObject = static_cast<RigidBody*>(proxy->m_clientObject);
+            if(proxy->m_collisionFilterGroup == CollisionType_Actor && (collisionObject->mName != "player"))
+                this->hits.push_back(collisionObject);
+            return true;
+        }
+    };
+
 
-    std::string PhysicEngine::sphereTest(float radius,btVector3& pos)
+    std::pair<std::string,btVector3> PhysicEngine::sphereTest(float radius,btVector3& pos)
     {
+        AabbResultCallback callback;
+        /*btDefaultMotionState* newMotionState =
+            new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),pos));
+        btCollisionShape * shape = new btSphereShape(radius);
+        btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
+                (0,newMotionState, shape);
+        RigidBody* body = new RigidBody(CI,"hitDetectionShpere__");
+        btTransform tr = body->getWorldTransform();
+        tr.setOrigin(pos);
+        body->setWorldTransform(tr);
+        dynamicsWorld->addRigidBody(body,CollisionType_Actor,CollisionType_World|CollisionType_World);
+        body->setWorldTransform(tr);*/
 
+        btVector3 aabbMin = pos - radius*btVector3(1.0f, 1.0f, 1.0f);
+        btVector3 aabbMax = pos + radius*btVector3(1.0f, 1.0f, 1.0f);
+
+        broadphase->aabbTest(aabbMin,aabbMax,callback);
+        for(int i=0;i<callback.hits.size();i++)
+        {
+            if((callback.hits[i]->getWorldTransform().getOrigin()-pos).length()<radius)
+            {
+                return std::make_pair(callback.hits[i]->mName,callback.hits[i]->getWorldTransform().getOrigin());
+            }
+        }
+        //ContactTestResultCallback callback;
+        //dynamicsWorld->contactTest(body, callback);
+        //dynamicsWorld->removeRigidBody(body);
+        //delete body;
+        //delete shape;
+        //if(callback.mResultName.empty()) return std::make_pair(std::string(""),btVector3(0,0,0));
+        /*for(int i=0;i<callback.mResultName.size();i++)
+        {
+            //TODO: raycasting
+            if(callback.mResultName[i] != "hitDetectionShpere__")
+                return std::pair<std::string,btVector3>(callback.mResultName[i],callback.mResultContact[i]);
+        */
+        return std::make_pair(std::string(""),btVector3(0,0,0));
     }
 
     std::vector<std::string> PhysicEngine::getCollisions(const std::string& name)

libs/openengine/bullet/physic.hpp

@@ -307,7 +307,7 @@ public:
         std::pair<bool, float> sphereCast (float radius, btVector3& from, btVector3& to);
         ///< @return (hit, relative distance)
 
-        std::string sphereTest(float radius,btVector3& pos);
+        std::pair<std::string,btVector3> sphereTest(float radius,btVector3& pos);
 
         std::vector<std::string> getCollisions(const std::string& name);