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add fractionEpsilon to filter rays with similar hit fraction

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remove debug printf
This commit is contained in:
Erwin Coumans
2020-05-09 02:42:47 -07:00
parent b154bf75b8
commit 53b65b795f
5 changed files with 53 additions and 14 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+30 -10
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@@ -5961,13 +5961,15 @@ struct FilteredClosestRayResultCallback : public btCollisionWorld::ClosestRayRes
struct FilteredAllHitsRayResultCallback: public btCollisionWorld::AllHitsRayResultCallback
{
FilteredAllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, int collisionFilterMask)
FilteredAllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, int collisionFilterMask, btScalar fractionEpsilon)
: btCollisionWorld::AllHitsRayResultCallback(rayFromWorld, rayToWorld),
m_collisionFilterMask(collisionFilterMask)
m_collisionFilterMask(collisionFilterMask),
m_fractionEpsilon(fractionEpsilon)
{
}
int m_collisionFilterMask;
btScalar m_fractionEpsilon;
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace)
{
@@ -5977,6 +5979,25 @@ struct FilteredAllHitsRayResultCallback: public btCollisionWorld::AllHitsRayResu
if (!collides)
return m_closestHitFraction;
}
//remove duplicate hits:
//same collision object, link index and hit fraction
bool isDuplicate = false;
for (int i = 0; i < m_collisionObjects.size(); i++)
{
if (m_collisionObjects[i] == rayResult.m_collisionObject)
{
btScalar diffFraction = m_hitFractions[i]-rayResult.m_hitFraction;
if (btEqual(diffFraction, m_fractionEpsilon))
{
isDuplicate = true;
break;
}
}
}
if (isDuplicate)
return m_closestHitFraction;
return btCollisionWorld::AllHitsRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
}
};
@@ -5991,10 +6012,12 @@ struct BatchRayCaster
int m_numRays;
int m_reportHitNumber;
int m_collisionFilterMask;
btScalar m_fractionEpsilon;
BatchRayCaster(b3ThreadPool* threadPool, const btCollisionWorld* world, const b3RayData* rayInputBuffer, b3RayHitInfo* hitInfoOutputBuffer, int numRays, int reportHitNumber, int collisionFilterMask)
BatchRayCaster(b3ThreadPool* threadPool, const btCollisionWorld* world, const b3RayData* rayInputBuffer, b3RayHitInfo* hitInfoOutputBuffer, int numRays, int reportHitNumber, int collisionFilterMask, btScalar fractionEpsilon)
: m_threadPool(threadPool), m_world(world), m_rayInputBuffer(rayInputBuffer), m_hitInfoOutputBuffer(hitInfoOutputBuffer), m_numRays(numRays), m_reportHitNumber(reportHitNumber),
m_collisionFilterMask(collisionFilterMask)
m_collisionFilterMask(collisionFilterMask),
m_fractionEpsilon(fractionEpsilon)
{
m_syncInfo = new CastSyncInfo;
}
@@ -6051,10 +6074,6 @@ struct BatchRayCaster
{
for (int i = 0; i < m_numRays; i++)
{
if (i == 17)
{
printf("!\n");
}
processRay(i);
}
}
@@ -6072,7 +6091,7 @@ struct BatchRayCaster
if (m_reportHitNumber >= 0)
{
//compute all hits, and select the m_reportHitNumber, if available
FilteredAllHitsRayResultCallback allResultsCallback(rayFromWorld, rayToWorld, m_collisionFilterMask);
FilteredAllHitsRayResultCallback allResultsCallback(rayFromWorld, rayToWorld, m_collisionFilterMask, m_fractionEpsilon);
allResultsCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
m_world->rayTest(rayFromWorld, rayToWorld, allResultsCallback);
if (allResultsCallback.m_collisionObjects.size() > m_reportHitNumber)
@@ -6165,6 +6184,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
int numThreads = clientCmd.m_requestRaycastIntersections.m_numThreads;
int reportHitNumber = clientCmd.m_requestRaycastIntersections.m_reportHitNumber;
int collisionFilterMask = clientCmd.m_requestRaycastIntersections.m_collisionFilterMask;
btScalar fractionEpsilon = clientCmd.m_requestRaycastIntersections.m_fractionEpsilon;
if (numThreads == 0)
{
// When 0 is specified, Bullet can decide how many threads to use.
@@ -6233,7 +6253,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
}
}
BatchRayCaster batchRayCaster(m_data->m_threadPool, m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo*)bufferServerToClient, totalRays, reportHitNumber, collisionFilterMask);
BatchRayCaster batchRayCaster(m_data->m_threadPool, m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo*)bufferServerToClient, totalRays, reportHitNumber, collisionFilterMask, fractionEpsilon);
batchRayCaster.castRays(numThreads);
serverStatusOut.m_numDataStreamBytes = totalRays * sizeof(b3RayData);