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This commit is contained in:
Xuchen Han
2020-03-11 11:29:22 -07:00
parent f43c40f694
commit 4730dab4bb
3 changed files with 50 additions and 55 deletions
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59
examples/CommonInterfaces/CommonDeformableBodyBase.h
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@@ -14,6 +14,7 @@
#include "CommonWindowInterface.h"
#include "CommonCameraInterface.h"
#include "CommonMultiBodyBase.h"
#include "BulletSoftBody/btSoftBody.h"
struct CommonDeformableBodyBase : public CommonMultiBodyBase
{
@@ -38,12 +39,49 @@ struct CommonDeformableBodyBase : public CommonMultiBodyBase
{
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
struct ClosestRayResultCallbackWithInfo : public btCollisionWorld::ClosestRayResultCallback
{
ClosestRayResultCallbackWithInfo(const btVector3& rayFromWorld, const btVector3& rayToWorld)
: ClosestRayResultCallback(rayFromWorld, rayToWorld)
{
}
int m_faceId;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
if (rayResult.m_localShapeInfo)
{
m_faceId = rayResult.m_localShapeInfo->m_triangleIndex;
}
else
{
m_faceId = -1;
}
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
}
else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (getDeformableDynamicsWorld() == 0)
return false;
btCollisionWorld::ClosestRayResultCallbackWithInfo rayCallback(rayFromWorld, rayToWorld);
ClosestRayResultCallbackWithInfo rayCallback(rayFromWorld, rayToWorld);
getDeformableDynamicsWorld()->rayTest(rayFromWorld, rayToWorld, rayCallback);
if (rayCallback.hasHit())
{
@@ -68,13 +106,16 @@ struct CommonDeformableBodyBase : public CommonMultiBodyBase
}
else if (psb)
{
int face_id = rayCallback.m_localShapeInfo->m_triangleIndex;
m_pickedSoftBody = psb;
psb->setActivationState(DISABLE_DEACTIVATION);
const btSoftBody::Face& f = psb->m_faces[face_id];
btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(100, 0.2, f, m_hitPos, m_maxPickingForce);
m_mouseForce = mouse_force;
getDeformableDynamicsWorld()->addForce(psb, mouse_force);
int face_id = rayCallback.m_faceId;
if (face_id >= 0 && face_id < psb->m_faces.size())
{
m_pickedSoftBody = psb;
psb->setActivationState(DISABLE_DEACTIVATION);
const btSoftBody::Face& f = psb->m_faces[face_id];
btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(100, 0.2, f, m_hitPos, m_maxPickingForce);
m_mouseForce = mouse_force;
getDeformableDynamicsWorld()->addForce(psb, mouse_force);
}
}
else
{

16
examples/CommonInterfaces/CommonRigidBodyBase.h
View File

@@ -7,7 +7,6 @@
#include "CommonGUIHelperInterface.h"
#include "CommonRenderInterface.h"
#include "CommonCameraInterface.h"
#include "BulletSoftBody/btSoftBody.h"
#include "CommonGraphicsAppInterface.h"
#include "CommonWindowInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
@@ -343,21 +342,6 @@ struct CommonRigidBodyBase : public CommonExampleInterface
p2p->m_setting.m_tau = 0.001f;
}
}
btSoftBody* psb = (btSoftBody*)btSoftBody::upcast(rayCallback.m_collisionObject);
if (psb)
{
m_savedState = psb->getActivationState();
m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
m_dynamicsWorld->addConstraint(p2p, true);
m_pickedConstraint = p2p;
btScalar mousePickClamping = 30.f;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
}
// pickObject(pickPos, rayCallback.m_collisionObject);
m_oldPickingPos = rayToWorld;

30
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -263,36 +263,6 @@ public:
return rayResult.m_hitFraction;
}
};
struct ClosestRayResultCallbackWithInfo : public ClosestRayResultCallback
{
ClosestRayResultCallbackWithInfo(const btVector3& rayFromWorld, const btVector3& rayToWorld)
: ClosestRayResultCallback(rayFromWorld, rayToWorld)
{
}
LocalShapeInfo* m_localShapeInfo;
virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
m_localShapeInfo = rayResult.m_localShapeInfo;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
}
else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
struct AllHitsRayResultCallback : public RayResultCallback
{