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Viewing changes to extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Khashayar Naderehvandi, Khashayar Naderehvandi, Alessio Treglia
  • Date: 2009-01-22 16:53:59 UTC
  • mfrom: (14.1.1 experimental)
  • Revision ID: james.westby@ubuntu.com-20090122165359-v0996tn7fbit64ni
Tags: 2.48a+dfsg-1ubuntu1
https://launchpad.net/bugs/320045
[ Khashayar Naderehvandi ]
* Merge from debian experimental (LP: #320045), Ubuntu remaining changes:
  - Add patch correcting header file locations.
  - Add libvorbis-dev and libgsm1-dev to Build-Depends.
  - Use avcodec_decode_audio2() in source/blender/src/hddaudio.c

[ Alessio Treglia ]
* Add missing previous changelog entries.

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extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#include <stdio.h>
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
 
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
 
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
 
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
 
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
 
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "btRaycastCallback.h"
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btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
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void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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        const btVector3 &vert0=triangle[0];
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        const btVector3 &vert1=triangle[1];
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        const btVector3 &vert2=triangle[2];
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                }
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        }
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}
 
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btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
 
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{
 
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        m_convexShape = convexShape;
 
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        m_convexShapeFrom = convexShapeFrom;
 
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        m_convexShapeTo = convexShapeTo;
 
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        m_triangleToWorld = triangleToWorld;
 
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        m_hitFraction = 1.0;
 
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    m_triangleCollisionMargin = triangleCollisionMargin;
 
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}
 
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void
 
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btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
 
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{
 
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        btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
 
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    triangleShape.setMargin(m_triangleCollisionMargin);
 
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        btVoronoiSimplexSolver  simplexSolver;
 
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        btGjkEpaPenetrationDepthSolver  gjkEpaPenetrationSolver;
 
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//#define  USE_SUBSIMPLEX_CONVEX_CAST 1
 
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//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
 
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
 
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        btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
 
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#else
 
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        //btGjkConvexCast       convexCaster(m_convexShape,&triangleShape,&simplexSolver);
 
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        btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
 
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#endif //#USE_SUBSIMPLEX_CONVEX_CAST
 
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        btConvexCast::CastResult castResult;
 
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        castResult.m_fraction = btScalar(1.);
 
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        if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
 
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        {
 
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                //add hit
 
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                if (castResult.m_normal.length2() > btScalar(0.0001))
 
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                {                                       
 
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                        if (castResult.m_fraction < m_hitFraction)
 
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                        {
 
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/* btContinuousConvexCast's normal is already in world space */
 
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/*
 
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
 
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                                //rotate normal into worldspace
 
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                                castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
 
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#endif //USE_SUBSIMPLEX_CONVEX_CAST
 
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*/
 
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                                castResult.m_normal.normalize();
 
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                                reportHit (castResult.m_normal,
 
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                                                        castResult.m_hitPoint,
 
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                                                        castResult.m_fraction,
 
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                                                        partId,
 
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                                                        triangleIndex);
 
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                        }
 
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                }
 
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        }
 
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}