diff options
Diffstat (limited to 'extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp')
| -rw-r--r-- | extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp index f27801d224b..418e0a7e241 100644 --- a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp +++ b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp @@ -16,17 +16,18 @@ RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to) m_from(from), m_to(to), m_hitFraction(1.f), - m_hitProxy(0) + m_hitProxy(0), + m_hitFound(false) { } - +#include <stdio.h> void RaycastCallback::ProcessTriangle(SimdVector3* triangle) { + - int hits_found=0; const SimdVector3 &vert0=triangle[0]; const SimdVector3 &vert1=triangle[1]; const SimdVector3 &vert2=triangle[2]; @@ -53,8 +54,11 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle) // Add an epsilon as a tolerance for the raycast, // in case the ray hits exacly on the edge of the triangle. // It must be scaled for the triangle size. + if(distance < m_hitFraction) { + + float edge_tolerance =triangleNormal.length2(); edge_tolerance *= -0.0001f; SimdVector3 point; point.setInterpolate3( m_from, m_to, distance); @@ -65,6 +69,8 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle) if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance) { + + SimdVector3 v2p; v2p = vert2 - point; SimdVector3 cp1; cp1 = v1p.cross( v2p); @@ -72,23 +78,23 @@ void RaycastCallback::ProcessTriangle(SimdVector3* triangle) { SimdVector3 cp2; cp2 = v2p.cross(v0p); + if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance) { m_hitFraction = distance; if ( dist_a > 0 ) { - m_hitNormalWorld = triangleNormal; + m_hitNormalLocal = triangleNormal; } else { - m_hitNormalWorld = -triangleNormal; + m_hitNormalLocal = -triangleNormal; } - hits_found = 1; + + m_hitFound= true; } } } } } - //return hits_found; - } |