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DanielChappuisDanielChappuis
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Fix issue with raycasting the HeightFieldShape with a scaling factor
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8 files changed

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‎CHANGELOG.md

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@@ -4,6 +4,7 @@
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### Fixed
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- Issue [#378](https://github.com/DanielChappuis/reactphysics3d/issues/378) Fix issue with raycasting of HeightFieldShape
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- Fix crash within testbed application in raycasting scene
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## [0.10.0] - 2024-03-10

‎include/reactphysics3d/collision/HeightField.h

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@@ -124,7 +124,7 @@ class HeightField {
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/// Raycast method with feedback information
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bool raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, TriangleRaycastSide testSide,
127-
MemoryAllocator& allocator, const Vector3& scale) const;
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MemoryAllocator& allocator) const;
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/// Compute the min/max grid coords corresponding to the intersection of the AABB of the height field and the AABB to collide
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void computeMinMaxGridCoordinates(uint32* minCoords, uint32* maxCoords, const AABB& aabbToCollide) const;

‎include/reactphysics3d/collision/shapes/AABB.h

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@@ -28,6 +28,7 @@
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// Libraries
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#include <reactphysics3d/mathematics/mathematics.h>
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#include <reactphysics3d/configuration.h>>
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
@@ -101,7 +102,7 @@ class AABB {
101102
bool contains(const AABB& aabb) const;
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/// Return true if a point is inside the AABB
104-
bool contains(const Vector3& point) const;
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bool contains(const Vector3& point, decimal epsilon = MACHINE_EPSILON) const;
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/// Return true if the AABB of a triangle intersects the AABB
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bool testCollisionTriangleAABB(const Vector3* trianglePoints) const;
@@ -206,11 +207,11 @@ RP3D_FORCE_INLINE bool AABB::testCollisionTriangleAABB(const Vector3* trianglePo
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}
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// Return true if a point is inside the AABB
209-
RP3D_FORCE_INLINE bool AABB::contains(const Vector3& point) const {
210+
RP3D_FORCE_INLINE bool AABB::contains(const Vector3& point, decimal epsilon) const {
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211-
return (point.x >= mMinCoordinates.x - MACHINE_EPSILON && point.x <= mMaxCoordinates.x + MACHINE_EPSILON &&
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point.y >= mMinCoordinates.y - MACHINE_EPSILON && point.y <= mMaxCoordinates.y + MACHINE_EPSILON &&
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point.z >= mMinCoordinates.z - MACHINE_EPSILON && point.z <= mMaxCoordinates.z + MACHINE_EPSILON);
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return (point.x >= mMinCoordinates.x - epsilon && point.x <= mMaxCoordinates.x + epsilon &&
213+
point.y >= mMinCoordinates.y - epsilon && point.y <= mMaxCoordinates.y + epsilon &&
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point.z >= mMinCoordinates.z - epsilon && point.z <= mMaxCoordinates.z + epsilon);
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}
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// Apply a scale factor to the AABB

‎include/reactphysics3d/collision/shapes/ConcaveMeshShape.h

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -78,7 +78,6 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback {
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const Ray& mRay;
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bool mIsHit;
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MemoryAllocator& mAllocator;
81-
const Vector3& mMeshScale;
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#ifdef IS_RP3D_PROFILING_ENABLED
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@@ -91,9 +90,9 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback {
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// Constructor
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ConcaveMeshRaycastCallback(const ConcaveMeshShape& concaveMeshShape,
94-
Collider* collider, RaycastInfo& raycastInfo, const Ray& ray, const Vector3& meshScale, MemoryAllocator& allocator)
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Collider* collider, RaycastInfo& raycastInfo, const Ray& ray, MemoryAllocator& allocator)
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: mHitAABBNodes(allocator), mConcaveMeshShape(concaveMeshShape), mCollider(collider),
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mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator), mMeshScale(meshScale) {
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mRaycastInfo(raycastInfo), mRay(ray), mIsHit(false), mAllocator(allocator) {
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}
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‎src/collision/HeightField.cpp

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -256,7 +256,7 @@ void HeightField::computeMinMaxGridCoordinates(uint32* minCoords, uint32* maxCoo
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/// Note that only the first triangle hit by the ray in the mesh will be returned, even if
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/// the ray hits many triangles.
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bool HeightField::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* collider, TriangleRaycastSide testSide,
259-
MemoryAllocator& allocator, const Vector3& scale) const {
259+
MemoryAllocator& allocator) const {
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261261
RP3D_PROFILE("HeightField::raycast()", mProfiler);
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@@ -290,10 +290,10 @@ bool HeightField::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collider* co
290290
while (i >= 0 && i < nbCellsI && j >= 0 && j < nbCellsJ) {
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// Compute the four point of the current quad
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const Vector3 p1 = getVertexAt(i, j) * scale;
294-
const Vector3 p2 = getVertexAt(i, j + 1) * scale;
295-
const Vector3 p3 = getVertexAt(i + 1, j) * scale;
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const Vector3 p4 = getVertexAt(i + 1, j + 1) * scale;
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const Vector3 p1 = getVertexAt(i, j);
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const Vector3 p2 = getVertexAt(i, j + 1);
295+
const Vector3 p3 = getVertexAt(i + 1, j);
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const Vector3 p4 = getVertexAt(i + 1, j + 1);
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// Raycast against the first triangle of the cell
299299
uint32 shapeId = computeTriangleShapeId(i, j, 0);
@@ -403,7 +403,7 @@ Vector3 HeightField::getVertexAt(uint32 x, uint32 y) const {
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const Vector3 vertex = Vector3(-mWidth * decimal(0.5) + x, mHeightOrigin + height, -mLength * decimal(0.5) + y);
405405

406-
assert(mBounds.contains(vertex));
406+
assert(mBounds.contains(vertex, decimal(0.0001)));
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408408
return vertex;
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}

‎src/collision/shapes/ConcaveMeshShape.cpp

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -186,7 +186,7 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide
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Ray scaledRay(ray.point1 * inverseScale, ray.point2 * inverseScale, ray.maxFraction);
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// Create the callback object that will compute ray casting against triangles
189-
ConcaveMeshRaycastCallback raycastCallback(*this, collider, raycastInfo, scaledRay, mScale, allocator);
189+
ConcaveMeshRaycastCallback raycastCallback(*this, collider, raycastInfo, ray, allocator);
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191191
#ifdef IS_RP3D_PROFILING_ENABLED
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@@ -197,7 +197,8 @@ bool ConcaveMeshShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide
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// Ask the Dynamic AABB Tree to report all AABB nodes that are hit by the ray.
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// The raycastCallback object will then compute ray casting against the triangles
200-
// in the hit AABBs.
200+
// in the hit AABBs. Note that we use the inverse scaled ray here because AABBs of the TriangleMesh
201+
// are stored without scaling
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mTriangleMesh->raycast(scaledRay, raycastCallback);
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raycastCallback.raycastTriangles();
@@ -239,7 +240,6 @@ void ConcaveMeshRaycastCallback::raycastTriangles() {
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240241
#ifdef IS_RP3D_PROFILING_ENABLED
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243243
// Set the profiler to the triangle shape
244244
triangleShape.setProfiler(mProfiler);
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@@ -257,7 +257,7 @@ void ConcaveMeshRaycastCallback::raycastTriangles() {
257257
mRaycastInfo.body = raycastInfo.body;
258258
mRaycastInfo.collider = raycastInfo.collider;
259259
mRaycastInfo.hitFraction = raycastInfo.hitFraction;
260-
mRaycastInfo.worldPoint = raycastInfo.worldPoint * mMeshScale;
260+
mRaycastInfo.worldPoint = raycastInfo.worldPoint;
261261
mRaycastInfo.worldNormal = raycastInfo.worldNormal;
262262
mRaycastInfo.triangleIndex = data;
263263

‎src/collision/shapes/HeightFieldShape.cpp

Lines changed: 10 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -77,12 +77,20 @@ bool HeightFieldShape::raycast(const Ray& ray, RaycastInfo& raycastInfo, Collide
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7878
RP3D_PROFILE("HeightFieldShape::raycast()", mProfiler);
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80-
// Apply the collision shape inverse scaling factor because the height-field is stored without scaling
80+
// Apply the height-field scale inverse scale factor because the mesh is stored without scaling
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// inside the dynamic AABB tree
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const Vector3 inverseScale(decimal(1.0) / mScale.x, decimal(1.0) / mScale.y, decimal(1.0) / mScale.z);
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Ray scaledRay(ray.point1 * inverseScale, ray.point2 * inverseScale, ray.maxFraction);
8484

85-
return mHeightField->raycast(scaledRay, raycastInfo, collider, getRaycastTestType(), allocator, mScale);
85+
if (mHeightField->raycast(scaledRay, raycastInfo, collider, getRaycastTestType(), allocator)) {
86+
87+
// Scale back the contact point because we used a ray scale with inverse height-field scale
88+
raycastInfo.worldPoint = raycastInfo.worldPoint * mScale;
89+
90+
return true;
91+
}
92+
93+
return false;
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}
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// Return the string representation of the shape

‎src/systems/BroadPhaseSystem.cpp

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Original file line numberDiff line numberDiff line change
@@ -73,10 +73,6 @@ void BroadPhaseSystem::raycast(const Ray& ray, RaycastTest& raycastTest, unsigne
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7474
BroadPhaseRaycastCallback broadPhaseRaycastCallback(mDynamicAABBTree, raycastWithCategoryMaskBits, raycastTest);
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76-
// Compute the inverse ray direction
77-
const Vector3 rayDirection = ray.point2 - ray.point1;
78-
const Vector3 rayDirectionInverse(decimal(1.0) / rayDirection.x, decimal(1.0) / rayDirection.y, decimal(1.0) / rayDirection.z);
79-
8076
mDynamicAABBTree.raycast(ray, broadPhaseRaycastCallback);
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}
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