dali-physics/third-party/bullet3/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   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         : m_from(from),
  28           m_to(to),
  29           //@BP Mod
  30           m_flags(flags),
  31           m_hitFraction(btScalar(1.))
  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);
  77                 btVector3 point;
  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.);
 150         castResult.m_allowedPenetration = m_allowedPenetration;
 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 }