Examples of com.bulletphysics.collision.narrowphase.SubsimplexConvexCast

Package com.bulletphysics.collision.narrowphase

Examples of com.bulletphysics.collision.narrowphase.SubsimplexConvexCast

com.bulletphysics.collision.narrowphase.SubsimplexConvexCast
SubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" GJK based Ray Cast, optimized version Objects should not start in overlap, otherwise results are not defined. @author jezek2

      CastResult castResult = new CastResult();
      castResult.fraction = hitFraction;
      SphereShape pointShape = new SphereShape(ccdSphereRadius);
      TriangleShape triShape = new TriangleShape(triangle[0], triangle[1], triangle[2]);
      VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
      SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(pointShape, triShape, simplexSolver);
      //GjkConvexCast  convexCaster(&pointShape,convexShape,&simplexSolver);
      //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
      //local space?


      if (convexCaster.calcTimeOfImpact(ccdSphereFromTrans, ccdSphereToTrans, ident, ident, castResult)) {
        if (hitFraction > castResult.fraction) {
          hitFraction = castResult.fraction;
        }
      }
    }

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      ConvexShape convexShape = (ConvexShape) collisionShape;
      VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();


      //#define USE_SUBSIMPLEX_CONVEX_CAST 1
      //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
      SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(castShape, convexShape, simplexSolver);
      //#else
      //btGjkConvexCast  convexCaster(castShape,convexShape,&simplexSolver);
      //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
      //#endif //#USE_SUBSIMPLEX_CONVEX_CAST


      if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult)) {
        //add hit
        if (castResult.normal.lengthSquared() > 0.0001f) {
          if (castResult.fraction < resultCallback.closestHitFraction) {
            //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
            //rotate normal into worldspace

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Related Classes of com.bulletphysics.collision.narrowphase.SubsimplexConvexCast

com.bulletphysics.collision.dispatch.CollisionWorld

com.bulletphysics.collision.dispatch.ConvexConcaveCollisionAlgorithm$LocalTriangleSphereCastCallback

com.bulletphysics.linearmath.Transform

javax.vecmath.Vector3f

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