diff options
Diffstat (limited to 'extern/bullet2/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp | 175 |
1 files changed, 0 insertions, 175 deletions
diff --git a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp deleted file mode 100644 index cdb1d22444d..00000000000 --- a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp +++ /dev/null @@ -1,175 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. 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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -//#include <stdio.h> - -#include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/CollisionShapes/btTriangleShape.h" -#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" -#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" -#include "btRaycastCallback.h" - -btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags) - : - m_from(from), - m_to(to), - //@BP Mod - m_flags(flags), - m_hitFraction(btScalar(1.)) -{ - -} - - - -void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) -{ - const btVector3 &vert0=triangle[0]; - const btVector3 &vert1=triangle[1]; - const btVector3 &vert2=triangle[2]; - - btVector3 v10; v10 = vert1 - vert0 ; - btVector3 v20; v20 = vert2 - vert0 ; - - btVector3 triangleNormal; triangleNormal = v10.cross( v20 ); - - const btScalar dist = vert0.dot(triangleNormal); - btScalar dist_a = triangleNormal.dot(m_from) ; - dist_a-= dist; - btScalar dist_b = triangleNormal.dot(m_to); - dist_b -= dist; - - if ( dist_a * dist_b >= btScalar(0.0) ) - { - return ; // same sign - } - //@BP Mod - Backface filtering - if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0))) - { - // Backface, skip check - return; - } - - const btScalar proj_length=dist_a-dist_b; - const btScalar 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) - { - - - btScalar edge_tolerance =triangleNormal.length2(); - edge_tolerance *= btScalar(-0.0001); - btVector3 point; point.setInterpolate3( m_from, m_to, distance); - { - btVector3 v0p; v0p = vert0 - point; - btVector3 v1p; v1p = vert1 - point; - btVector3 cp0; cp0 = v0p.cross( v1p ); - - if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) - { - - - btVector3 v2p; v2p = vert2 - point; - btVector3 cp1; - cp1 = v1p.cross( v2p); - if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) - { - btVector3 cp2; - cp2 = v2p.cross(v0p); - - if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) - { - //@BP Mod - // Triangle normal isn't normalized - triangleNormal.normalize(); - - //@BP Mod - Allow for unflipped normal when raycasting against backfaces - if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0))) - { - m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex); - } - else - { - m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex); - } - } - } - } - } - } -} - - -btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin) -{ - m_convexShape = convexShape; - m_convexShapeFrom = convexShapeFrom; - m_convexShapeTo = convexShapeTo; - m_triangleToWorld = triangleToWorld; - m_hitFraction = 1.0; - m_triangleCollisionMargin = triangleCollisionMargin; -} - -void -btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex) -{ - btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]); - triangleShape.setMargin(m_triangleCollisionMargin); - - btVoronoiSimplexSolver simplexSolver; - btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; - -//#define USE_SUBSIMPLEX_CONVEX_CAST 1 -//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below -#ifdef USE_SUBSIMPLEX_CONVEX_CAST - btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver); -#else - //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver); - btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver); -#endif //#USE_SUBSIMPLEX_CONVEX_CAST - - btConvexCast::CastResult castResult; - castResult.m_fraction = btScalar(1.); - if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult)) - { - //add hit - if (castResult.m_normal.length2() > btScalar(0.0001)) - { - if (castResult.m_fraction < m_hitFraction) - { -/* btContinuousConvexCast's normal is already in world space */ -/* -#ifdef USE_SUBSIMPLEX_CONVEX_CAST - //rotate normal into worldspace - castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal; -#endif //USE_SUBSIMPLEX_CONVEX_CAST -*/ - castResult.m_normal.normalize(); - - reportHit (castResult.m_normal, - castResult.m_hitPoint, - castResult.m_fraction, - partId, - triangleIndex); - } - } - } -} |