rigidbody: Add function to perform convex sweep test
authorSergej Reich <sergej.reich@googlemail.com>
Sun, 21 Apr 2013 19:53:40 +0000 (19:53 +0000)
committerSergej Reich <sergej.reich@googlemail.com>
Sun, 21 Apr 2013 19:53:40 +0000 (19:53 +0000)
This is a experimental collision detection function, so the API might
change in the future.

Note: The simulation needs to be stepped before this function can be
used, otherwise the rigid body world might not be valid.

Patch [#34989]  Bullet Convex sweep test API
by Vilem Novak (pildanovak), thanks!

intern/rigidbody/RBI_api.h
intern/rigidbody/rb_bullet_api.cpp
source/blender/makesrna/intern/rna_rigidbody.c

index e7c88d9..7a04961 100644 (file)
@@ -110,6 +110,12 @@ extern void RB_dworld_add_body(rbDynamicsWorld *world, rbRigidBody *body, int co
 /* Remove RigidBody from dynamics world */
 extern void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *body);
 
+/* Collision detection */
+
+void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object,
+                                                               const float loc_start[3], const float loc_end[3],
+                                   float v_location[3],  float v_hitpoint[3],  float v_normal[3], int *r_hit);
+
 /* ............ */
 
 /* Create new RigidBody instance */
index e9e5e2a..7bc480b 100644 (file)
@@ -242,6 +242,56 @@ void RB_dworld_remove_body(rbDynamicsWorld *world, rbRigidBody *object)
        world->dynamicsWorld->removeRigidBody(body);
 }
 
+/* Collision detection */
+
+void RB_world_convex_sweep_test(rbDynamicsWorld *world, rbRigidBody *object, const float loc_start[3], const float loc_end[3], float v_location[3],  float v_hitpoint[3],  float v_normal[3], int *r_hit)
+{
+       btRigidBody *body = object->body;
+       btCollisionShape *collisionShape = body->getCollisionShape();
+       /* only convex shapes are supported, but user can specify a non convex shape */
+       if (collisionShape->isConvex()) {
+               btCollisionWorld::ClosestConvexResultCallback result(btVector3(loc_start[0], loc_start[1], loc_start[2]), btVector3(loc_end[0], loc_end[1], loc_end[2]));
+
+               btQuaternion obRot = body->getWorldTransform().getRotation();
+               
+               btTransform rayFromTrans;
+               rayFromTrans.setIdentity();
+               rayFromTrans.setRotation(obRot);
+               rayFromTrans.setOrigin(btVector3(loc_start[0], loc_start[1], loc_start[2]));
+
+               btTransform rayToTrans;
+               rayToTrans.setIdentity();
+               rayToTrans.setRotation(obRot);
+               rayToTrans.setOrigin(btVector3(loc_end[0], loc_end[1], loc_end[2]));
+               
+               world->dynamicsWorld->convexSweepTest((btConvexShape*) collisionShape, rayFromTrans, rayToTrans, result, 0);
+               
+               if (result.hasHit()) {
+                       *r_hit = 1;
+                       
+                       v_location[0] = result.m_convexFromWorld[0]+(result.m_convexToWorld[0]-result.m_convexFromWorld[0])*result.m_closestHitFraction;
+                       v_location[1] = result.m_convexFromWorld[1]+(result.m_convexToWorld[1]-result.m_convexFromWorld[1])*result.m_closestHitFraction;
+                       v_location[2] = result.m_convexFromWorld[2]+(result.m_convexToWorld[2]-result.m_convexFromWorld[2])*result.m_closestHitFraction;
+                       
+                       v_hitpoint[0] = result.m_hitPointWorld[0];
+                       v_hitpoint[1] = result.m_hitPointWorld[1];
+                       v_hitpoint[2] = result.m_hitPointWorld[2];
+                       
+                       v_normal[0] = result.m_hitNormalWorld[0];
+                       v_normal[1] = result.m_hitNormalWorld[1];
+                       v_normal[2] = result.m_hitNormalWorld[2];
+                       
+               }
+               else {
+                       *r_hit = 0;
+               }
+       }
+       else{
+               /* we need to return a value if user passes non convex body, to report */
+               *r_hit = -2;
+       }
+}
+
 /* ............ */
 
 rbRigidBody *RB_body_new(rbCollisionShape *shape, const float loc[3], const float rot[4])
index daa1287..23c098d 100644 (file)
@@ -594,6 +594,24 @@ static void rna_RigidBodyCon_motor_ang_target_velocity_set(PointerRNA *ptr, floa
 #endif
 }
 
+/* Sweep test */
+static void rna_RigidBodyWorld_convex_sweep_test(RigidBodyWorld *rbw, ReportList *reports, Object *object,  float ray_start[3], float ray_end[3], float r_location[3], float r_hitpoint[3], float r_normal[3], int *r_hit)
+{
+#ifdef WITH_BULLET
+       RigidBodyOb *rob = object->rigidbody_object;
+
+       if (rbw->physics_world != NULL && rob->physics_object != NULL) {
+               RB_world_convex_sweep_test(rbw->physics_world, rob->physics_object, ray_start, ray_end, r_location, r_hitpoint, r_normal, r_hit);
+               if (*r_hit == -2) {
+                       BKE_report(reports, RPT_ERROR, "A non convex collision shape was passed to the function. Use only convex collision shapes.");
+               }
+       }
+       else {
+               *r_hit=-1;
+               BKE_report(reports, RPT_ERROR, "Rigidbody world was not properly initialized, need to step the simulation first");
+       }
+#endif
+}
 
 #else
 
@@ -601,7 +619,8 @@ static void rna_def_rigidbody_world(BlenderRNA *brna)
 {
        StructRNA *srna;
        PropertyRNA *prop;
-       
+       FunctionRNA *func;
+
        srna = RNA_def_struct(brna, "RigidBodyWorld", NULL);
        RNA_def_struct_sdna(srna, "RigidBodyWorld");
        RNA_def_struct_ui_text(srna, "Rigid Body World", "Self-contained rigid body simulation environment and settings");
@@ -678,6 +697,39 @@ static void rna_def_rigidbody_world(BlenderRNA *brna)
        RNA_def_property_struct_type(prop, "EffectorWeights");
        RNA_def_property_clear_flag(prop, PROP_EDITABLE);
        RNA_def_property_ui_text(prop, "Effector Weights", "");
+
+       /* Sweep test */
+       func = RNA_def_function(srna, "convex_sweep_test", "rna_RigidBodyWorld_convex_sweep_test");
+       RNA_def_function_ui_description(func, "Sweep test convex rigidbody against the current rigidbody world");
+       RNA_def_function_flag(func, FUNC_USE_REPORTS);
+
+       prop = RNA_def_pointer(func, "object", "Object", "", "Rigidbody object with a convex collision shape");
+       RNA_def_property_flag(prop, PROP_REQUIRED | PROP_NEVER_NULL);
+       RNA_def_property_clear_flag(prop, PROP_THICK_WRAP);
+
+       /* ray start and end */
+       prop = RNA_def_float_vector(func, "start", 3, NULL, -FLT_MAX, FLT_MAX, "", "", -1e4, 1e4);
+       RNA_def_property_flag(prop, PROP_REQUIRED);
+       prop = RNA_def_float_vector(func, "end", 3, NULL, -FLT_MAX, FLT_MAX, "", "", -1e4, 1e4);
+       RNA_def_property_flag(prop, PROP_REQUIRED);
+
+       prop = RNA_def_float_vector(func, "object_location", 3, NULL, -FLT_MAX, FLT_MAX, "Location",
+                                                               "The hit location of this sweep test", -1e4, 1e4);
+       RNA_def_property_flag(prop, PROP_THICK_WRAP);
+       RNA_def_function_output(func, prop);
+
+       prop = RNA_def_float_vector(func, "hitpoint", 3, NULL, -FLT_MAX, FLT_MAX, "Hitpoint",
+                                                               "The hit location of this sweep test", -1e4, 1e4);
+       RNA_def_property_flag(prop, PROP_THICK_WRAP);
+       RNA_def_function_output(func, prop);
+
+       prop = RNA_def_float_vector(func, "normal", 3, NULL, -FLT_MAX, FLT_MAX, "Normal",
+                                                               "The face normal at the sweep test hit location", -1e4, 1e4);
+       RNA_def_property_flag(prop, PROP_THICK_WRAP);
+       RNA_def_function_output(func, prop);
+
+       prop = RNA_def_int(func, "has_hit", 0, 0, 0, "", "If the function has found collision point, value is 1, otherwise 0", 0, 0);
+       RNA_def_function_output(func, prop);
 }
 
 static void rna_def_rigidbody_object(BlenderRNA *brna)