73 lines
3.0 KiB
C++
73 lines
3.0 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_RAYCAST_TRI_CALLBACK_H
|
|
#define BT_RAYCAST_TRI_CALLBACK_H
|
|
|
|
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
|
#include "LinearMath/btTransform.h"
|
|
struct btBroadphaseProxy;
|
|
class btConvexShape;
|
|
|
|
class btTriangleRaycastCallback : public btTriangleCallback
|
|
{
|
|
public:
|
|
//input
|
|
btVector3 m_from;
|
|
btVector3 m_to;
|
|
|
|
//@BP Mod - allow backface filtering and unflipped normals
|
|
enum EFlags
|
|
{
|
|
kF_None = 0,
|
|
kF_FilterBackfaces = 1 << 0,
|
|
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
|
|
///SubSimplexConvexCastRaytest is the default, even if kF_None is set.
|
|
kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
|
|
kF_UseGjkConvexCastRaytest = 1 << 3,
|
|
kF_DisableHeightfieldAccelerator = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062
|
|
kF_Terminator = 0xFFFFFFFF
|
|
};
|
|
unsigned int m_flags;
|
|
|
|
btScalar m_hitFraction;
|
|
|
|
btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
|
|
|
|
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
|
|
};
|
|
|
|
class btTriangleConvexcastCallback : public btTriangleCallback
|
|
{
|
|
public:
|
|
const btConvexShape* m_convexShape;
|
|
btTransform m_convexShapeFrom;
|
|
btTransform m_convexShapeTo;
|
|
btTransform m_triangleToWorld;
|
|
btScalar m_hitFraction;
|
|
btScalar m_triangleCollisionMargin;
|
|
btScalar m_allowedPenetration;
|
|
|
|
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);
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
|
|
};
|
|
|
|
#endif //BT_RAYCAST_TRI_CALLBACK_H
|