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87 lines
3.2 KiB
C++
87 lines
3.2 KiB
C++
#include "trace.h"
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#include <components/misc/convert.hpp>
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#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
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#include <BulletCollision/CollisionShapes/btConvexShape.h>
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#include "collisiontype.hpp"
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#include "actor.hpp"
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#include "closestnotmeconvexresultcallback.hpp"
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namespace MWPhysics
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{
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void ActorTracer::doTrace(const btCollisionObject *actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
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{
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const btVector3 btstart = Misc::Convert::toBullet(start);
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const btVector3 btend = Misc::Convert::toBullet(end);
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const btTransform &trans = actor->getWorldTransform();
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btTransform from(trans);
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btTransform to(trans);
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from.setOrigin(btstart);
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to.setOrigin(btend);
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const btVector3 motion = btstart-btend;
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ClosestNotMeConvexResultCallback newTraceCallback(actor, motion, btScalar(0.0), world);
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// Inherit the actor's collision group and mask
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newTraceCallback.m_collisionFilterGroup = actor->getBroadphaseHandle()->m_collisionFilterGroup;
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newTraceCallback.m_collisionFilterMask = actor->getBroadphaseHandle()->m_collisionFilterMask;
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const btCollisionShape *shape = actor->getCollisionShape();
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assert(shape->isConvex());
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world->convexSweepTest(static_cast<const btConvexShape*>(shape), from, to, newTraceCallback);
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// Copy the hit data over to our trace results struct:
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if(newTraceCallback.hasHit())
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{
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mFraction = newTraceCallback.m_closestHitFraction;
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mPlaneNormal = Misc::Convert::toOsg(newTraceCallback.m_hitNormalWorld);
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mEndPos = (end-start)*mFraction + start;
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mHitPoint = Misc::Convert::toOsg(newTraceCallback.m_hitPointWorld);
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mHitObject = newTraceCallback.m_hitCollisionObject;
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}
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else
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{
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mEndPos = end;
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mPlaneNormal = osg::Vec3f(0.0f, 0.0f, 1.0f);
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mFraction = 1.0f;
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mHitPoint = end;
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mHitObject = nullptr;
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}
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}
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void ActorTracer::findGround(const Actor* actor, const osg::Vec3f& start, const osg::Vec3f& end, const btCollisionWorld* world)
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{
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const btVector3 btstart = Misc::Convert::toBullet(start);
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const btVector3 btend = Misc::Convert::toBullet(end);
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const btTransform &trans = actor->getCollisionObject()->getWorldTransform();
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btTransform from(trans.getBasis(), btstart);
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btTransform to(trans.getBasis(), btend);
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const btVector3 motion = btstart-btend;
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ClosestNotMeConvexResultCallback newTraceCallback(actor->getCollisionObject(), motion, btScalar(0.0), world);
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// Inherit the actor's collision group and mask
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newTraceCallback.m_collisionFilterGroup = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterGroup;
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newTraceCallback.m_collisionFilterMask = actor->getCollisionObject()->getBroadphaseHandle()->m_collisionFilterMask;
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newTraceCallback.m_collisionFilterMask &= ~CollisionType_Actor;
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world->convexSweepTest(actor->getConvexShape(), from, to, newTraceCallback);
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if(newTraceCallback.hasHit())
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{
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mFraction = newTraceCallback.m_closestHitFraction;
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mPlaneNormal = Misc::Convert::toOsg(newTraceCallback.m_hitNormalWorld);
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mEndPos = (end-start)*mFraction + start;
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}
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else
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{
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mEndPos = end;
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mPlaneNormal = osg::Vec3f(0.0f, 0.0f, 1.0f);
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mFraction = 1.0f;
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}
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}
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}
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