Blender  V3.3
btRaycastCallback.cpp
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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 
24 #include "btRaycastCallback.h"
25 
27  : m_from(from),
28  m_to(to),
29  //@BP Mod
30  m_flags(flags),
32 {
33 }
34 
35 void btTriangleRaycastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
36 {
37  const btVector3& vert0 = triangle[0];
38  const btVector3& vert1 = triangle[1];
39  const btVector3& vert2 = triangle[2];
40 
41  btVector3 v10;
42  v10 = vert1 - vert0;
43  btVector3 v20;
44  v20 = vert2 - vert0;
45 
46  btVector3 triangleNormal;
47  triangleNormal = v10.cross(v20);
48 
49  const btScalar dist = vert0.dot(triangleNormal);
50  btScalar dist_a = triangleNormal.dot(m_from);
51  dist_a -= dist;
52  btScalar dist_b = triangleNormal.dot(m_to);
53  dist_b -= dist;
54 
55  if (dist_a * dist_b >= btScalar(0.0))
56  {
57  return; // same sign
58  }
59 
60  if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a <= btScalar(0.0)))
61  {
62  // Backface, skip check
63  return;
64  }
65 
66  const btScalar proj_length = dist_a - dist_b;
67  const btScalar distance = (dist_a) / (proj_length);
68  // Now we have the intersection point on the plane, we'll see if it's inside the triangle
69  // Add an epsilon as a tolerance for the raycast,
70  // in case the ray hits exacly on the edge of the triangle.
71  // It must be scaled for the triangle size.
72 
73  if (distance < m_hitFraction)
74  {
75  btScalar edge_tolerance = triangleNormal.length2();
76  edge_tolerance *= btScalar(-0.0001);
78  point.setInterpolate3(m_from, m_to, distance);
79  {
80  btVector3 v0p;
81  v0p = vert0 - point;
82  btVector3 v1p;
83  v1p = vert1 - point;
84  btVector3 cp0;
85  cp0 = v0p.cross(v1p);
86 
87  if ((btScalar)(cp0.dot(triangleNormal)) >= edge_tolerance)
88  {
89  btVector3 v2p;
90  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 btTriangleConvexcastCallback::btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
121 {
122  m_convexShape = convexShape;
123  m_convexShapeFrom = convexShapeFrom;
124  m_convexShapeTo = convexShapeTo;
125  m_triangleToWorld = triangleToWorld;
126  m_hitFraction = 1.0f;
127  m_triangleCollisionMargin = triangleCollisionMargin;
128  m_allowedPenetration = 0.f;
129 }
130 
131 void btTriangleConvexcastCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
132 {
133  btTriangleShape triangleShape(triangle[0], triangle[1], triangle[2]);
134  triangleShape.setMargin(m_triangleCollisionMargin);
135 
136  btVoronoiSimplexSolver simplexSolver;
137  btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
138 
139 //#define USE_SUBSIMPLEX_CONVEX_CAST 1
140 //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
141 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
142  btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
143 #else
144  //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
145  btContinuousConvexCollision convexCaster(m_convexShape, &triangleShape, &simplexSolver, &gjkEpaPenetrationSolver);
146 #endif //#USE_SUBSIMPLEX_CONVEX_CAST
147 
148  btConvexCast::CastResult castResult;
149  castResult.m_fraction = btScalar(1.);
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 }
in reality light always falls off quadratically Particle Retrieve the data of the particle that spawned the object for example to give variation to multiple instances of an object Point Retrieve information about points in a point cloud Retrieve the edges of an object as it appears to Cycles topology will always appear triangulated Convert a blackbody temperature to an RGB value Normal Generate a perturbed normal from an RGB normal map image Typically used for faking highly detailed surfaces Generate an OSL shader from a file or text data block Image Sample an image file as a texture Sky Generate a procedural sky texture Noise Generate fractal Perlin noise Wave Generate procedural bands or rings with noise Voronoi Generate Worley noise based on the distance to random points Typically used to generate textures such as or biological cells Brick Generate a procedural texture producing bricks Texture Retrieve multiple types of texture coordinates nTypically used as inputs for texture nodes Vector Convert a point
btScalar m_hitFraction
time of impact calculation
int m_flags
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTriangleShape()
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
btVoronoiSimplexSolver
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
virtual btScalar reportHit(const btVector3 &hitNormalLocal, const btVector3 &hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)=0
const btConvexShape * m_convexShape
btTriangleConvexcastCallback(const btConvexShape *convexShape, const btTransform &convexShapeFrom, const btTransform &convexShapeTo, const btTransform &triangleToWorld, const btScalar triangleCollisionMargin)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
btTriangleRaycastCallback(const btVector3 &from, const btVector3 &to, unsigned int flags=0)
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)=0
StackEntry * from
T distance(const T &a, const T &b)