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/*
* 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),
m_hitFound(false)
{
}
void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
{
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_hitNormalLocal = triangleNormal;
}
else
{
m_hitNormalLocal = -triangleNormal;
}
m_hitFound= true;
}
}
}
}
}
}
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