Simple ray casting query - Revision history

imported>Jazztickets: more clean up

2019-03-24T21:28:02Z

more clean up

← Older revision		Revision as of 14:28, 24 March 2019
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	dGeomID Ray = dCreateRay(0, Length);		dGeomID Ray = dCreateRay(0, Length);
	dGeomRaySet(Ray, Start[0], Start[1], Start[2], Direction[0], Direction[1], Direction[2]);		dGeomRaySet(Ray, Start[0], Start[1], Start[2], Direction[0], Direction[1], Direction[2]);
	~~dGeomSetCategoryBits(Ray, 0);~~
	~~dGeomSetCollideBits(Ray, _Physics::FILTER_CAMERA);~~

	// Check collisions		// Check collisions

imported>Jazztickets: cleaned up code

2019-03-24T19:27:16Z

cleaned up code

← Older revision		Revision as of 12:27, 24 March 2019
Line 1:		Line 1:
	Unlike most physics engines, ODE has no built-in ray casting query function. However, you can easily create one using dSpaceCollide2. Other modifications could be made to include the hit geometry, for example.		Unlike most physics engines, ODE has no built-in ray casting query function. However, you can easily create one using dSpaceCollide2. Other modifications could be made to include the hit geometry, for example.
			#include <ode/odemath.h>
			#include <ode/collision.h>
			#include <ode/objects.h>

	const int MAX_CONTACTS = 32;		const int MAX_CONTACTS = 32;

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	// Check depth against current closest hit		// Check depth against current closest hit
	if(Contacts[i].geom.depth < HitPosition[3]) {		if(Contacts[i].geom.depth < HitPosition[3]) {
	HitPosition~~[0] = Contacts[i].geom.pos[0];~~		dCopyVector3(HitPosition, Contacts[i].geom.pos);
	~~HitPosition[1] =~~ Contacts[i].geom.pos~~[1];~~
	~~HitPosition[2] = Contacts[i].geom.pos[2]~~;
	HitPosition[3] = Contacts[i].geom.depth;		HitPosition[3] = Contacts[i].geom.depth;
	}		}
	}		}
	}		}

	// Performs raycasting on a space and returns the point of collision. Return false for no hit.		// Performs raycasting on a space and returns the point of collision. Return false for no hit.
	bool RaycastQuery(dSpaceID Space, const dVector3 Start, dVector3 End) {		bool RaycastQuery(dSpaceID Space, const dVector3 Start, dVector3 End) {
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	// Calculate direction		// Calculate direction
	dVector3 Direction;		dVector3 Direction;
	Direction~~[0] =~~ End~~[0] -~~ Start~~[0];~~		dSubtractVectors3(Direction, End, Start);
	~~Direction[1] = End[1] - Start[1];~~
	~~Direction[2] = End[2] - Start[2]~~;

	// Get length		// Get length
	dReal Length = ~~dSqrt~~(Direction~~[0] * Direction[0] + Direction[1] * Direction[1] + Direction[2] * Direction[2]~~);		dReal Length = dCalcVectorLength3(Direction);
	dReal InverseLength = dRecip(Length);		dReal InverseLength = dRecip(Length);

	// Normalize		// Normalize
	Direction~~[0] *= InverseLength;~~		dScaleVector3(Direction, InverseLength);
	~~Direction[1] *= InverseLength;~~
	~~Direction[2] *=~~ InverseLength;

	// Create ray		// Create ray
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	// Check for hit		// Check for hit
	if(HitPosition[3] != dInfinity) {		if(HitPosition[3] != dInfinity) {
	End~~[0] =~~ HitPosition~~[0];~~		dCopyVector3(End, HitPosition);
	~~End[1] = HitPosition[1];~~
	~~End[2] = HitPosition[2]~~;

	return true;		return true;

imported>Jazztickets: Created page with "Unlike most physics engines, ODE has no built-in ray casting query function. However, you can easily create one using dSpaceCollide2. Other modifications could be made to incl..."

2019-03-24T17:30:48Z

Created page with "Unlike most physics engines, ODE has no built-in ray casting query function. However, you can easily create one using dSpaceCollide2. Other modifications could be made to incl..."

New page

Unlike most physics engines, ODE has no built-in ray casting query function. However, you can easily create one using dSpaceCollide2. Other modifications could be made to include the hit geometry, for example.

const int MAX_CONTACTS = 32;

// Check ray collision against a space
void RayCallback(void *Data, dGeomID Geometry1, dGeomID Geometry2) {
dReal *HitPosition = (dReal *)Data;

// Check collisions
dContact Contacts[MAX_CONTACTS];
int Count = dCollide(Geometry1, Geometry2, MAX_CONTACTS, &Contacts[0].geom, sizeof(dContact));
for(int i = 0; i < Count; i++) {

// Check depth against current closest hit
if(Contacts[i].geom.depth < HitPosition[3]) {
HitPosition[0] = Contacts[i].geom.pos[0];
HitPosition[1] = Contacts[i].geom.pos[1];
HitPosition[2] = Contacts[i].geom.pos[2];
HitPosition[3] = Contacts[i].geom.depth;
}
}
}

// Performs raycasting on a space and returns the point of collision. Return false for no hit.
bool RaycastQuery(dSpaceID Space, const dVector3 Start, dVector3 End) {

// Calculate direction
dVector3 Direction;
Direction[0] = End[0] - Start[0];
Direction[1] = End[1] - Start[1];
Direction[2] = End[2] - Start[2];

// Get length
dReal Length = dSqrt(Direction[0] * Direction[0] + Direction[1] * Direction[1] + Direction[2] * Direction[2]);
dReal InverseLength = dRecip(Length);

// Normalize
Direction[0] *= InverseLength;
Direction[1] *= InverseLength;
Direction[2] *= InverseLength;

// Create ray
dGeomID Ray = dCreateRay(0, Length);
dGeomRaySet(Ray, Start[0], Start[1], Start[2], Direction[0], Direction[1], Direction[2]);
dGeomSetCategoryBits(Ray, 0);
dGeomSetCollideBits(Ray, _Physics::FILTER_CAMERA);

// Check collisions
dVector4 HitPosition;
HitPosition[3] = dInfinity;
dSpaceCollide2(Ray, (dGeomID)Space, HitPosition, &RayCallback);

// Cleanup
dGeomDestroy(Ray);

// Check for hit
if(HitPosition[3] != dInfinity) {
End[0] = HitPosition[0];
End[1] = HitPosition[1];
End[2] = HitPosition[2];

return true;
}

return false;
}