2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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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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#ifndef BT_RAYCAST_TRI_CALLBACK_H
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#define BT_RAYCAST_TRI_CALLBACK_H
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#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
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#include "LinearMath/btTransform.h"
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struct btBroadphaseProxy;
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class btConvexShape;
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class btTriangleRaycastCallback : public btTriangleCallback
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{
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public:
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//input
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btVector3 m_from;
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btVector3 m_to;
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//@BP Mod - allow backface filtering and unflipped normals
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enum EFlags
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{
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kF_None = 0,
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kF_FilterBackfaces = 1 << 0,
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kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
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///SubSimplexConvexCastRaytest is the default, even if kF_None is set.
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kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
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kF_UseGjkConvexCastRaytest = 1 << 3,
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kF_DisableHeightfieldAccelerator = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062
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kF_Terminator = 0xFFFFFFFF
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};
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unsigned int m_flags;
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btScalar m_hitFraction;
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btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
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};
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class btTriangleConvexcastCallback : public btTriangleCallback
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{
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public:
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const btConvexShape* m_convexShape;
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btTransform m_convexShapeFrom;
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btTransform m_convexShapeTo;
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btTransform m_triangleToWorld;
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btScalar m_hitFraction;
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btScalar m_triangleCollisionMargin;
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btScalar m_allowedPenetration;
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btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
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virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
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};
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#endif //BT_RAYCAST_TRI_CALLBACK_H
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