diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 782e9efaf1..71184f36ac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -22,6 +22,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" @@ -413,6 +414,20 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled); } + else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0) + && collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE + ) + { + ///optimized version for btHeightfieldTerrainShape + btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + heightField->performRaycast(&rcb, rayFromLocal, rayToLocal); + } else { //generic (slower) case |