1 files changed, 94 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
new file mode 100644
index 00000000000..f27801d224b
--- /dev/null
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/RaycastCallback.cpp
@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#include "RaycastCallback.h"
+
+RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to)
+	:
+	m_from(from),
+	m_to(to),
+	m_hitFraction(1.f),
+	m_hitProxy(0)
+{
+
+}
+
+
+
+void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
+{
+
+	int hits_found=0;
+	const SimdVector3 &vert0=triangle[0];
+	const SimdVector3 &vert1=triangle[1];
+	const SimdVector3 &vert2=triangle[2];
+
+	SimdVector3 v10; v10 = vert1 - vert0 ;
+	SimdVector3 v20; v20 = vert2 - vert0 ;
+
+	SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
+	
+	const float dist = vert0.dot(triangleNormal);
+	float dist_a = triangleNormal.dot(m_from) ;
+	dist_a-= dist;
+	float dist_b = triangleNormal.dot(m_to);
+	dist_b -= dist;
+
+	if ( dist_a * dist_b >= 0.0f)
+	{
+		return ; // same sign
+	}
+	
+	const float proj_length=dist_a-dist_b;
+	const float distance = (dist_a)/(proj_length);
+	// Now we have the intersection point on the plane, we'll see if it's inside the 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);
+		{
+			SimdVector3 v0p; v0p = vert0 - point;
+			SimdVector3 v1p; v1p = vert1 - point;
+			SimdVector3 cp0; cp0 = v0p.cross( v1p );
+
+			if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance) 
+			{
+				SimdVector3 v2p; v2p = vert2 -  point;
+				SimdVector3 cp1;
+				cp1 = v1p.cross( v2p);
+				if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance) 
+				{
+					SimdVector3 cp2;
+					cp2 = v2p.cross(v0p);
+					if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance) 
+					{
+						m_hitFraction = distance;
+						if ( dist_a > 0 )
+						{
+							m_hitNormalWorld = triangleNormal;
+						}
+						else
+						{
+							m_hitNormalWorld = -triangleNormal;
+						}
+						hits_found = 1;
+					}
+				}
+			}
+		}
+	}
+	//return hits_found;
+
+}