Bullet patch: option to return true face normal, complete triangle information and broad phase filter. This patch is needed to support enhanced ray cast function in the BGE. I have proposed it to the Bullet forum for inclusion in the next Bullet version.

2 files changed, 5 insertions, 4 deletions

diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index 31b91467777..68ac93ec3cc 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -16,10 +16,11 @@ subject to the following restrictions:
 
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to,bool faceNormal)
 	:
 	m_from(from),
 	m_to(to),
+	m_faceNormal(faceNormal),
 	m_hitFraction(btScalar(1.))
 {
 
@@ -84,8 +85,7 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
 					
 					if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
 					{
-
-						if ( dist_a > 0 )
+						if (m_faceNormal || dist_a > 0)
 						{
 							m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
 						}
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
index a0bbc9f8fe9..71ed9fead49 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
@@ -27,10 +27,11 @@ public:
 		//input
 	btVector3 m_from;
 	btVector3 m_to;
+	bool m_faceNormal;
 
 	btScalar	m_hitFraction;
 
-	btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
+	btTriangleRaycastCallback(const btVector3& from,const btVector3& to,bool faceNormal);
 	
 	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);