ilikecats/stk-code_catmod
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Added display of normals at the vertices of the triangles the kart is driving on

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to the debug display, which is useful to find why interpolated normals are wrong.
This commit is contained in:
hiker 2015-04-15 07:44:50 +10:00
parent 8f090525fb
commit e8b8bbdd3b
4 changed files with 38 additions and 10 deletions
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2
lib/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h
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@ -25,6 +25,8 @@ virtual ~btVehicleRaycaster()
btVector3 m_hitPointInWorld;
btVector3 m_hitNormalInWorld;
btScalar m_distFraction;
/** If a triangle mesh, the index of the triangle, otherwise -1. */
int m_triangle_index;
};
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;

1
lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h
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@ -48,6 +48,7 @@ struct btWheelInfo
btVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
int m_triangle_index; // if a triangle mesh was hit, the index of the triangle.
};
RaycastInfo m_raycastInfo;

43
src/physics/btKart.cpp
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@ -23,6 +23,9 @@
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
#include "karts/kart.hpp"
#include "modes/world.hpp"
#include "physics/triangle_mesh.hpp"
#include "tracks/track.hpp"
#define ROLLING_INFLUENCE_FIX
@ -260,6 +263,7 @@ btScalar btKart::rayCast(unsigned int index)
wheel.m_raycastInfo.m_contactNormalWS.normalize();
wheel.m_raycastInfo.m_isInContact = true;
///@todo for driving on dynamic/movable objects!;
wheel.m_raycastInfo.m_triangle_index = rayResults.m_triangle_index;;
wheel.m_raycastInfo.m_groundObject = &getFixedBody();
wheel.m_raycastInfo.m_suspensionLength = depth - wheel.m_wheelsRadius;
@ -975,7 +979,8 @@ void btKart::debugDraw(btIDebugDraw* debugDrawer)
for (int v=0;v<getNumWheels();v++)
{
btVector3 wheelColor(0,1,1);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
const btWheelInfo &w = getWheelInfo(v);
if (w.m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,1);
} else
@ -983,23 +988,40 @@ void btKart::debugDraw(btIDebugDraw* debugDrawer)
wheelColor.setValue(1,0,1);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 wheelPosWS = w.m_worldTransform.getOrigin();
btVector3 axle = btVector3(
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
w.m_worldTransform.getBasis()[0][getRightAxis()],
w.m_worldTransform.getBasis()[1][getRightAxis()],
w.m_worldTransform.getBasis()[2][getRightAxis()]);
//debug wheels (cylinders)
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
debugDrawer->drawLine(wheelPosWS,
getWheelInfo(v).m_raycastInfo.m_contactPointWS,
w.m_raycastInfo.m_contactPointWS,
wheelColor);
// Draw the (interpolated) normal of the ground at the wheel position
debugDrawer->drawLine(getWheelInfo(v).m_raycastInfo.m_contactPointWS,
getWheelInfo(v).m_raycastInfo.m_contactPointWS+
getWheelInfo(v).m_raycastInfo.m_contactNormalWS,
btVector3(1.0f, 1.0f, 1.0f));
btVector3 white(1.0f, 1.0f, 1.0f);
debugDrawer->drawLine(w.m_raycastInfo.m_contactPointWS,
w.m_raycastInfo.m_contactPointWS+
w.m_raycastInfo.m_contactNormalWS,
white);
int n = w.m_raycastInfo.m_triangle_index;
if (n > -1)
{
const TriangleMesh &tm = World::getWorld()->getTrack()->getTriangleMesh();
btVector3 *p1, *p2, *p3;
tm.getTriangle(n, &p1, &p2, &p3);
const btVector3 *n1, *n2, *n3;
tm.getNormals(n, &n1, &n2, &n3);
// Draw the normals at the vertices
debugDrawer->drawLine(*p1, *p1 + *n1, white);
debugDrawer->drawLine(*p2, *p2 + *n2, white);
debugDrawer->drawLine(*p3, *p3 + *n3, white);
// Also draw the triangle in white, it can make it easier
// to identify which triangle a wheel is on
debugDrawer->drawTriangle(*p1, *p2, *p3, white, 1.0f);
}
} // for i < getNumWheels
btVector3 yellow(1.0f, 1.0f, 0.0f);
@ -1070,6 +1092,7 @@ btScalar btKart::rayCast(btWheelInfo& wheel, const btVector3& ray)
wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_isInContact = true;
wheel.m_raycastInfo.m_triangle_index = rayResults.m_triangle_index;
}
return depth;

2
src/physics/btKartRaycast.cpp
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@ -70,6 +70,7 @@ void* btKartRaycaster::castRay(const btVector3& from, const btVector3& to,
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
result.m_hitNormalInWorld.normalize();
result.m_distFraction = rayCallback.m_closestHitFraction;
result.m_triangle_index = -1;
const TriangleMesh &tm =
World::getWorld()->getTrack()->getTriangleMesh();
if(m_smooth_normals &&
@ -79,6 +80,7 @@ void* btKartRaycaster::castRay(const btVector3& from, const btVector3& to,
#ifdef DEBUG_NORMALS
btVector3 n=result.m_hitNormalInWorld;
#endif
result.m_triangle_index = rayCallback.getTriangleIndex();
result.m_hitNormalInWorld =
tm.getInterpolatedNormal(rayCallback.getTriangleIndex(),
result.m_hitPointInWorld);