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https://github.com/bulletphysics/bullet3
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102 lines
2.9 KiB
C++
102 lines
2.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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 "RaycastCallback.h"
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TriangleRaycastCallback::TriangleRaycastCallback(const SimdVector3& from,const SimdVector3& to)
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:
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m_from(from),
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m_to(to),
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m_hitFraction(1.f)
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{
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}
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void TriangleRaycastCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
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{
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const SimdVector3 &vert0=triangle[0];
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const SimdVector3 &vert1=triangle[1];
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const SimdVector3 &vert2=triangle[2];
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SimdVector3 v10; v10 = vert1 - vert0 ;
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SimdVector3 v20; v20 = vert2 - vert0 ;
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SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
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const float dist = vert0.dot(triangleNormal);
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float dist_a = triangleNormal.dot(m_from) ;
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dist_a-= dist;
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float dist_b = triangleNormal.dot(m_to);
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dist_b -= dist;
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if ( dist_a * dist_b >= 0.0f)
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{
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return ; // same sign
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}
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const float proj_length=dist_a-dist_b;
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const float distance = (dist_a)/(proj_length);
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// Now we have the intersection point on the plane, we'll see if it's inside the triangle
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// Add an epsilon as a tolerance for the raycast,
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// in case the ray hits exacly on the edge of the triangle.
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// It must be scaled for the triangle size.
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if(distance < m_hitFraction)
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{
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float edge_tolerance =triangleNormal.length2();
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edge_tolerance *= -0.0001f;
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SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
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{
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SimdVector3 v0p; v0p = vert0 - point;
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SimdVector3 v1p; v1p = vert1 - point;
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SimdVector3 cp0; cp0 = v0p.cross( v1p );
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if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance)
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{
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SimdVector3 v2p; v2p = vert2 - point;
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SimdVector3 cp1;
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cp1 = v1p.cross( v2p);
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if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance)
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{
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SimdVector3 cp2;
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cp2 = v2p.cross(v0p);
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if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance)
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{
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if ( dist_a > 0 )
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{
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m_hitFraction = ReportHit(triangleNormal,distance,partId,triangleIndex);
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}
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else
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{
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m_hitFraction = ReportHit(-triangleNormal,distance,partId,triangleIndex);
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}
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}
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}
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}
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}
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}
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}
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