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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp @ 7479

Last change on this file since 7479 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 5.9 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16//#include <stdio.h>
17
18#include "BulletCollision/CollisionShapes/btConvexShape.h"
19#include "BulletCollision/CollisionShapes/btTriangleShape.h"
20#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
21#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
22#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
23#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
24#include "btRaycastCallback.h"
25
26btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
27        :
28        m_from(from),
29        m_to(to),
30   //@BP Mod
31   m_flags(flags),
32        m_hitFraction(btScalar(1.))
33{
34
35}
36
37
38
39void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
40{
41        const btVector3 &vert0=triangle[0];
42        const btVector3 &vert1=triangle[1];
43        const btVector3 &vert2=triangle[2];
44
45        btVector3 v10; v10 = vert1 - vert0 ;
46        btVector3 v20; v20 = vert2 - vert0 ;
47
48        btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
49       
50        const btScalar dist = vert0.dot(triangleNormal);
51        btScalar dist_a = triangleNormal.dot(m_from) ;
52        dist_a-= dist;
53        btScalar dist_b = triangleNormal.dot(m_to);
54        dist_b -= dist;
55
56        if ( dist_a * dist_b >= btScalar(0.0) )
57        {
58                return ; // same sign
59        }
60   //@BP Mod - Backface filtering
61   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
62   {
63      // Backface, skip check
64      return;
65   }
66       
67        const btScalar proj_length=dist_a-dist_b;
68        const btScalar distance = (dist_a)/(proj_length);
69        // Now we have the intersection point on the plane, we'll see if it's inside the triangle
70        // Add an epsilon as a tolerance for the raycast,
71        // in case the ray hits exacly on the edge of the triangle.
72        // It must be scaled for the triangle size.
73       
74        if(distance < m_hitFraction)
75        {
76               
77
78                btScalar edge_tolerance =triangleNormal.length2();             
79                edge_tolerance *= btScalar(-0.0001);
80                btVector3 point; point.setInterpolate3( m_from, m_to, distance);
81                {
82                        btVector3 v0p; v0p = vert0 - point;
83                        btVector3 v1p; v1p = vert1 - point;
84                        btVector3 cp0; cp0 = v0p.cross( v1p );
85
86                        if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) 
87                        {
88                                               
89
90                                btVector3 v2p; v2p = vert2 -  point;
91                                btVector3 cp1;
92                                cp1 = v1p.cross( v2p);
93                                if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) 
94                                {
95                                        btVector3 cp2;
96                                        cp2 = v2p.cross(v0p);
97                                       
98                                        if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
99                                        {
100                  //@BP Mod
101                  // Triangle normal isn't normalized
102                                      triangleNormal.normalize();
103
104                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
105                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
106                                                {
107                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
108                                                }
109                                                else
110                                                {
111                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
112                                                }
113                                        }
114                                }
115                        }
116                }
117        }
118}
119
120
121btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
122{
123        m_convexShape = convexShape;
124        m_convexShapeFrom = convexShapeFrom;
125        m_convexShapeTo = convexShapeTo;
126        m_triangleToWorld = triangleToWorld;
127        m_hitFraction = 1.0;
128    m_triangleCollisionMargin = triangleCollisionMargin;
129}
130
131void
132btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
133{
134        btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
135    triangleShape.setMargin(m_triangleCollisionMargin);
136
137        btVoronoiSimplexSolver  simplexSolver;
138        btGjkEpaPenetrationDepthSolver  gjkEpaPenetrationSolver;
139
140//#define  USE_SUBSIMPLEX_CONVEX_CAST 1
141//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
142#ifdef USE_SUBSIMPLEX_CONVEX_CAST
143        btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
144#else
145        //btGjkConvexCast       convexCaster(m_convexShape,&triangleShape,&simplexSolver);
146        btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
147#endif //#USE_SUBSIMPLEX_CONVEX_CAST
148       
149        btConvexCast::CastResult castResult;
150        castResult.m_fraction = btScalar(1.);
151        if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
152        {
153                //add hit
154                if (castResult.m_normal.length2() > btScalar(0.0001))
155                {                                       
156                        if (castResult.m_fraction < m_hitFraction)
157                        {
158/* btContinuousConvexCast's normal is already in world space */
159/*
160#ifdef USE_SUBSIMPLEX_CONVEX_CAST
161                                //rotate normal into worldspace
162                                castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
163#endif //USE_SUBSIMPLEX_CONVEX_CAST
164*/
165                                castResult.m_normal.normalize();
166
167                                reportHit (castResult.m_normal,
168                                                        castResult.m_hitPoint,
169                                                        castResult.m_fraction,
170                                                        partId,
171                                                        triangleIndex);
172                        }
173                }
174        }
175}
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