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Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp135
1 files changed, 66 insertions, 69 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
index 786efd1820..3d11e5bce5 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
@@ -23,39 +23,38 @@ subject to the following restrictions:
#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.))
+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)
+void btTriangleRaycastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
- const btVector3 &vert0=triangle[0];
- const btVector3 &vert1=triangle[1];
- const btVector3 &vert2=triangle[2];
+ 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 v10; v10 = vert1 - vert0 ;
- btVector3 v20; v20 = vert2 - vert0 ;
+ btVector3 triangleNormal;
+ triangleNormal = v10.cross(v20);
- btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
-
const btScalar dist = vert0.dot(triangleNormal);
- btScalar dist_a = triangleNormal.dot(m_from) ;
- dist_a-= dist;
+ 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) )
+ if (dist_a * dist_b >= btScalar(0.0))
{
- return ; // same sign
+ return; // same sign
}
if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
@@ -64,52 +63,52 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
return;
}
-
- const btScalar proj_length=dist_a-dist_b;
- const btScalar distance = (dist_a)/(proj_length);
+ 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();
+ if (distance < m_hitFraction)
+ {
+ btScalar edge_tolerance = triangleNormal.length2();
edge_tolerance *= btScalar(-0.0001);
- btVector3 point; point.setInterpolate3( m_from, m_to, distance);
+ 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 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 v2p;
+ v2p = vert2 - point;
btVector3 cp1;
- cp1 = v1p.cross( v2p);
- if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance)
+ cp1 = v1p.cross(v2p);
+ if ((btScalar)(cp1.dot(triangleNormal)) >= edge_tolerance)
{
btVector3 cp2;
cp2 = v2p.cross(v0p);
-
- if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance)
+
+ if ((btScalar)(cp2.dot(triangleNormal)) >= edge_tolerance)
{
- //@BP Mod
- // Triangle normal isn't normalized
- triangleNormal.normalize();
+ //@BP Mod
+ // Triangle normal isn't normalized
+ triangleNormal.normalize();
- //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+ //@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);
+ m_hitFraction = reportHit(-triangleNormal, distance, partId, triangleIndex);
}
else
{
- m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+ m_hitFraction = reportHit(triangleNormal, distance, partId, triangleIndex);
}
}
}
@@ -118,8 +117,7 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
}
}
-
-btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
+btTriangleConvexcastCallback::btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
{
m_convexShape = convexShape;
m_convexShapeFrom = convexShapeFrom;
@@ -130,14 +128,13 @@ btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape*
m_allowedPenetration = 0.f;
}
-void
-btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
+void btTriangleConvexcastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
- btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
- triangleShape.setMargin(m_triangleCollisionMargin);
+ btTriangleShape triangleShape(triangle[0], triangle[1], triangle[2]);
+ triangleShape.setMargin(m_triangleCollisionMargin);
- btVoronoiSimplexSolver simplexSolver;
- btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
+ btVoronoiSimplexSolver simplexSolver;
+ btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
@@ -145,21 +142,21 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
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
-
+ btContinuousConvexCollision convexCaster(m_convexShape, &triangleShape, &simplexSolver, &gjkEpaPenetrationSolver);
+#endif //#USE_SUBSIMPLEX_CONVEX_CAST
+
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);
castResult.m_allowedPenetration = m_allowedPenetration;
- if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
+ 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 */
-/*
+ /* 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;
@@ -167,11 +164,11 @@ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId,
*/
castResult.m_normal.normalize();
- reportHit (castResult.m_normal,
- castResult.m_hitPoint,
- castResult.m_fraction,
- partId,
- triangleIndex);
+ reportHit(castResult.m_normal,
+ castResult.m_hitPoint,
+ castResult.m_fraction,
+ partId,
+ triangleIndex);
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-13 03:02:05 +0000