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/*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
* KX_MouseFocusSensor determines mouse in/out/over events.
*/
/** \file gameengine/Ketsji/KX_RayCast.cpp
* \ingroup ketsji
*/
#include <stdlib.h>
#include <stdio.h>
#include "KX_RayCast.h"
#include "MT_Point3.h"
#include "MT_Vector3.h"
#include "KX_IPhysicsController.h"
#include "PHY_IPhysicsEnvironment.h"
#include "PHY_IPhysicsController.h"
KX_RayCast::KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV)
:PHY_IRayCastFilterCallback(dynamic_cast<PHY_IPhysicsController*>(ignoreController), faceNormal, faceUV)
{
}
void KX_RayCast::reportHit(PHY_RayCastResult* result)
{
m_hitFound = true;
m_hitPoint = MT_Vector3(result->m_hitPoint);
m_hitNormal = MT_Vector3(result->m_hitNormal);
m_hitUVOK = result->m_hitUVOK;
m_hitUV = MT_Vector2(result->m_hitUV);
m_hitMesh = result->m_meshObject;
m_hitPolygon = result->m_polygon;
}
bool KX_RayCast::RayTest(PHY_IPhysicsEnvironment* physics_environment, const MT_Point3& _frompoint, const MT_Point3& topoint, KX_RayCast& callback)
{
if (physics_environment==NULL) return false; /* prevents crashing in some cases */
// Loops over all physics objects between frompoint and topoint,
// calling callback.RayHit for each one.
//
// callback.RayHit should return true to stop looking, or false to continue.
//
// returns true if an object was found, false if not.
MT_Point3 frompoint(_frompoint);
const MT_Vector3 todir( (topoint - frompoint).safe_normalized() );
MT_Point3 prevpoint(_frompoint+todir*(-1.f));
PHY_IPhysicsController* hit_controller;
while ((hit_controller = physics_environment->rayTest(callback,
frompoint.x(),frompoint.y(),frompoint.z(),
topoint.x(),topoint.y(),topoint.z())) != NULL)
{
KX_ClientObjectInfo *info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo());
if (!info)
{
printf("no info!\n");
MT_assert(info && "Physics controller with no client object info");
break;
}
// The biggest danger to endless loop, prevent this by checking that the
// hit point always progresses along the ray direction..
prevpoint -= callback.m_hitPoint;
if (prevpoint.length2() < MT_EPSILON)
break;
if (callback.RayHit(info))
// caller may decide to stop the loop and still cancel the hit
return callback.m_hitFound;
// Skip past the object and keep tracing.
// Note that retrieving in a single shot multiple hit points would be possible
// but it would require some change in Bullet.
prevpoint = callback.m_hitPoint;
/* We add 0.001 of fudge, so that if the margin && radius == 0.0, we don't endless loop. */
MT_Scalar marg = 0.001 + hit_controller->GetMargin();
marg *= 2.f;
/* Calculate the other side of this object */
MT_Scalar h = MT_abs(todir.dot(callback.m_hitNormal));
if (h <= 0.01)
// the normal is almost orthogonal to the ray direction, cannot compute the other side
break;
marg /= h;
frompoint = callback.m_hitPoint + marg * todir;
// verify that we are not passed the to point
if ((topoint - frompoint).dot(todir) < 0.f)
break;
}
return false;
}
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