1 files changed, 40 insertions, 83 deletions

diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 5c117301ffb..b68e730b4c6 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -717,89 +717,7 @@ void		CcdPhysicsEnvironment::setGravity(float x,float y,float z)
 	}
 }
 
-#ifdef DASHDASJKHASDJK
-class RaycastingQueryBox : public QueryBox
-{
-	
-	SimdVector3 m_aabbMin;
-	
-	SimdVector3 m_aabbMax;
-	
-	
-	
-public:
-	
-	RaycastCallback	m_raycastCallback;
-	
-	
-	RaycastingQueryBox(QueryBoxConstructionInfo& ci,const SimdVector3& from,const SimdVector3& to)
-		: QueryBox(ci),
-		m_raycastCallback(from,to)
-	{
-		for (int i=0;i<3;i++)
-		{
-			float fromI = from[i];
-			float toI = to[i];
-			if (fromI < toI)
-			{
-				m_aabbMin[i] = fromI;
-				m_aabbMax[i] = toI;
-			} else
-			{
-				m_aabbMin[i] = toI;
-				m_aabbMax[i] = fromI;
-			}
-		}
-		
-	}
-	virtual void AddCollider( BroadphaseProxy* proxy)
-	{
-		//perform raycast if wanted, and update the m_hitFraction
-		
-		if (proxy->GetClientObjectType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-		{
-			//do it
-			RigidBody* body = (RigidBody*)proxy->m_clientObject;
-			TriangleMeshInterface* meshInterface = (TriangleMeshInterface*)
-				body->m_minkowski1;
-			
-			//if the hit is closer, record the proxy!
-			float curFraction = m_raycastCallback.m_hitFraction;
-			
-			meshInterface->ProcessAllTriangles(&m_raycastCallback,m_aabbMin,m_aabbMax);
-			
-			if (m_raycastCallback.m_hitFraction < curFraction)
-			{
-				m_raycastCallback.m_hitProxy = proxy;
-			}
-			
-		}
-		
-	}
-};
 
-struct InternalVehicleRaycaster : public VehicleRaycaster
-{
-	
-	CcdPhysicsEnvironment* m_env;
-	
-public:
-	
-	InternalVehicleRaycaster(CcdPhysicsEnvironment* env)
-		:	m_env(env)
-	{
-		
-	}
-	
-	virtual void* CastRay(const SimdVector3& from,const SimdVector3& to, VehicleRaycasterResult& result)
-	{
-
-		return 0;
-	}
-	
-};
-
-#endif 
 int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl0,class PHY_IPhysicsController* ctrl1,PHY_ConstraintType type,
 														float pivotX,float pivotY,float pivotZ,
 														float axisX,float axisY,float axisZ)
@@ -869,7 +787,7 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 								float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)
 {
 
-	int minFraction = 1.f;
+	float minFraction = 1.f;
 
 	SimdTransform	rayFromTrans,rayToTrans;
 	rayFromTrans.setIdentity();
@@ -899,12 +817,15 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 			ConvexShape* convexShape = (ConvexShape*) body->GetCollisionShape();
 			VoronoiSimplexSolver	simplexSolver;
 			SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
+			
 			if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,body->getCenterOfMassTransform(),body->getCenterOfMassTransform(),rayResult))
 			{
 				//add hit
 				rayResult.m_normal.normalize();
 				if (rayResult.m_fraction < minFraction)
 				{
+
+
 					minFraction = rayResult.m_fraction;
 					nearestHit = ctrl;
 					normalX = rayResult.m_normal.getX();
@@ -916,6 +837,42 @@ PHY_IPhysicsController* CcdPhysicsEnvironment::rayTest(PHY_IPhysicsController* i
 				}
 			}
 		}
+		else
+		{
+				if (body->GetCollisionShape()->IsConcave())
+				{
+
+					TriangleMeshShape* triangleMesh = (TriangleMeshShape*)body->GetCollisionShape();
+					
+					SimdTransform worldToBody = body->getCenterOfMassTransform().inverse();
+
+					SimdVector3 rayFromLocal = worldToBody * rayFromTrans.getOrigin();
+					SimdVector3 rayToLocal = worldToBody * rayToTrans.getOrigin();
+
+					RaycastCallback	rcb(rayFromLocal,rayToLocal);
+					rcb.m_hitFraction = minFraction;
+
+					SimdVector3 aabbMax(1e30f,1e30f,1e30f);
+
+					triangleMesh->ProcessAllTriangles(&rcb,-aabbMax,aabbMax);
+					if (rcb.m_hitFound)// && (rcb.m_hitFraction < minFraction))
+					{
+						nearestHit = ctrl;
+						minFraction = rcb.m_hitFraction;
+						SimdVector3 hitNormalWorld = body->getCenterOfMassTransform()(rcb.m_hitNormalLocal);
+
+						normalX = hitNormalWorld.getX();
+						normalY = hitNormalWorld.getY();
+						normalZ = hitNormalWorld.getZ();
+						SimdVector3 hitWorld;
+						hitWorld.setInterpolate3(rayFromTrans.getOrigin(),rayToTrans.getOrigin(),rcb.m_hitFraction);
+						hitX = hitWorld.getX();
+						hitY = hitWorld.getY();
+						hitZ = hitWorld.getZ();
+						
+					}
+				}
+		}
 	}
 
 	return nearestHit;