== SoC Bullet - Bullet Upgrade to 2.76 ==
[blender.git] / extern / bullet2 / BulletCollision / NarrowPhaseCollision / btRaycastCallback.cpp
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 //#include <stdio.h>
17
18 #include "BulletCollision/CollisionShapes/btConvexShape.h"
19 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
20 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
21 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
22 #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
23 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
24 #include "btRaycastCallback.h"
25
26 btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
27         :
28         m_from(from),
29         m_to(to),
30    //@BP Mod
31    m_flags(flags),
32         m_hitFraction(btScalar(1.))
33 {
34
35 }
36
37
38
39 void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
40 {
41         const btVector3 &vert0=triangle[0];
42         const btVector3 &vert1=triangle[1];
43         const btVector3 &vert2=triangle[2];
44
45         btVector3 v10; v10 = vert1 - vert0 ;
46         btVector3 v20; v20 = vert2 - vert0 ;
47
48         btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
49         
50         const btScalar dist = vert0.dot(triangleNormal);
51         btScalar dist_a = triangleNormal.dot(m_from) ;
52         dist_a-= dist;
53         btScalar dist_b = triangleNormal.dot(m_to);
54         dist_b -= dist;
55
56         if ( dist_a * dist_b >= btScalar(0.0) )
57         {
58                 return ; // same sign
59         }
60    //@BP Mod - Backface filtering
61    if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
62    {
63       // Backface, skip check
64       return;
65    }
66         
67         const btScalar proj_length=dist_a-dist_b;
68         const btScalar distance = (dist_a)/(proj_length);
69         // Now we have the intersection point on the plane, we'll see if it's inside the triangle
70         // Add an epsilon as a tolerance for the raycast,
71         // in case the ray hits exacly on the edge of the triangle.
72         // It must be scaled for the triangle size.
73         
74         if(distance < m_hitFraction)
75         {
76                 
77
78                 btScalar edge_tolerance =triangleNormal.length2();              
79                 edge_tolerance *= btScalar(-0.0001);
80                 btVector3 point; point.setInterpolate3( m_from, m_to, distance);
81                 {
82                         btVector3 v0p; v0p = vert0 - point;
83                         btVector3 v1p; v1p = vert1 - point;
84                         btVector3 cp0; cp0 = v0p.cross( v1p );
85
86                         if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance) 
87                         {
88                                                 
89
90                                 btVector3 v2p; v2p = vert2 -  point;
91                                 btVector3 cp1;
92                                 cp1 = v1p.cross( v2p);
93                                 if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance) 
94                                 {
95                                         btVector3 cp2;
96                                         cp2 = v2p.cross(v0p);
97                                         
98                                         if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
99                                         {
100                   //@BP Mod
101                   // Triangle normal isn't normalized
102                                       triangleNormal.normalize();
103
104                   //@BP Mod - Allow for unflipped normal when raycasting against backfaces
105                   if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
106                                                 {
107                                                         m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
108                                                 }
109                                                 else
110                                                 {
111                      m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
112                                                 }
113                                         }
114                                 }
115                         }
116                 }
117         }
118 }
119
120
121 btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
122 {
123         m_convexShape = convexShape;
124         m_convexShapeFrom = convexShapeFrom;
125         m_convexShapeTo = convexShapeTo;
126         m_triangleToWorld = triangleToWorld;
127         m_hitFraction = 1.0;
128     m_triangleCollisionMargin = triangleCollisionMargin;
129 }
130
131 void
132 btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
133 {
134         btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
135     triangleShape.setMargin(m_triangleCollisionMargin);
136
137         btVoronoiSimplexSolver  simplexSolver;
138         btGjkEpaPenetrationDepthSolver  gjkEpaPenetrationSolver;
139
140 //#define  USE_SUBSIMPLEX_CONVEX_CAST 1
141 //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
142 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
143         btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
144 #else
145         //btGjkConvexCast       convexCaster(m_convexShape,&triangleShape,&simplexSolver);
146         btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
147 #endif //#USE_SUBSIMPLEX_CONVEX_CAST
148         
149         btConvexCast::CastResult castResult;
150         castResult.m_fraction = btScalar(1.);
151         if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
152         {
153                 //add hit
154                 if (castResult.m_normal.length2() > btScalar(0.0001))
155                 {                                       
156                         if (castResult.m_fraction < m_hitFraction)
157                         {
158 /* btContinuousConvexCast's normal is already in world space */
159 /*
160 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
161                                 //rotate normal into worldspace
162                                 castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
163 #endif //USE_SUBSIMPLEX_CONVEX_CAST
164 */
165                                 castResult.m_normal.normalize();
166
167                                 reportHit (castResult.m_normal,
168                                                         castResult.m_hitPoint,
169                                                         castResult.m_fraction,
170                                                         partId,
171                                                         triangleIndex);
172                         }
173                 }
174         }
175 }