Re: RaycastVehicle falls through the bvhTriangleMeshShape

2022-03-22T06:11:42+00:00

this was stupid question, I just don't apply quaternion rotation.

Statistics: Posted by kcjsend2 — Tue Mar 22, 2022 6:11 am

RaycastVehicle falls through the bvhTriangleMeshShape

2022-03-22T03:59:08+00:00

I make Mesh Shape from Track meshes, and gather it by compound shape like this :

Code:

void Mesh::CreateMeshShape(const std::vector& targetVertices, const std::vector& targetIndices){mTriangleVertexArray = new btTriangleIndexVertexArray();btIndexedMesh tempMesh;mTriangleVertexArray->addIndexedMesh(tempMesh, PHY_FLOAT);btIndexedMesh& mesh = mTriangleVertexArray->getIndexedMeshArray()[0];const int32_t VERTICES_PER_TRIANGLE = 3;size_t numIndices = targetIndices.size();mesh.m_numTriangles = numIndices / VERTICES_PER_TRIANGLE;if (numIndices < std::numeric_limits::max()){mesh.m_triangleIndexBase = new unsigned char[sizeof(int16_t) * (size_t)numIndices];mesh.m_indexType = PHY_SHORT;mesh.m_triangleIndexStride = VERTICES_PER_TRIANGLE * sizeof(int16_t);}else{mesh.m_triangleIndexBase = new unsigned char[sizeof(int32_t) * (size_t)numIndices];mesh.m_indexType = PHY_INTEGER;mesh.m_triangleIndexStride = VERTICES_PER_TRIANGLE * sizeof(int32_t);}mesh.m_numVertices = targetVertices.size();mesh.m_vertexBase = new unsigned char[VERTICES_PER_TRIANGLE * sizeof(btScalar) * (size_t)mesh.m_numVertices];mesh.m_vertexStride = VERTICES_PER_TRIANGLE * sizeof(btScalar);btScalar* vertexData = static_cast((void*)(mesh.m_vertexBase));for (int32_t i = 0; i < mesh.m_numVertices; ++i){int32_t j = i * VERTICES_PER_TRIANGLE;const XMFLOAT3& point = targetVertices[i].Position;vertexData[j] = point.x;vertexData[j + 1] = point.y;vertexData[j + 2] = point.z;}if (numIndices < std::numeric_limits::max()){int16_t* indices = static_cast((void*)(mesh.m_triangleIndexBase));for (int32_t i = 0; i < numIndices; ++i) {indices[i] = (int16_t)targetIndices[i];}}else{int32_t* indices = static_cast((void*)(mesh.m_triangleIndexBase));for (int32_t i = 0; i < numIndices; ++i){indices[i] = targetIndices[i];}}const bool USE_QUANTIZED_AABB_COMPRESSION = true;mMeshShape = std::make_shared(mTriangleVertexArray, USE_QUANTIZED_AABB_COMPRESSION);}//Create RigidBodywhile(*mesh read end*){for (int i = 0; i < obj->GetMeshCount(); ++i){if (meshes[i]->GetMeshShape()){btTransform btLocalTransform;btLocalTransform.setIdentity();btLocalTransform.setOrigin(btVector3(pos.x, pos.y, pos.z));compound->addChildShape(btLocalTransform, meshes[i]->GetMeshShape().get());}}}btTransform btObjectTransform;btObjectTransform.setIdentity();btObjectTransform.setOrigin(btVector3(0, 0, 0));mTrackRigidBody = physics->CreateRigidBody(0.0f, btObjectTransform, compound);

At first, it looks like it's working well, but when the vehicle moves few minute, it breaks through the track.

There seems to be no problem with the code, but is there anything wrong?

Statistics: Posted by kcjsend2 — Tue Mar 22, 2022 3:59 am

Real-Time Physics Simulation Forum

Re: RaycastVehicle falls through the bvhTriangleMeshShape

RaycastVehicle falls through the bvhTriangleMeshShape