Bullet Collision Detection & Physics Library: btRaycastCallback.h Source File

Bullet Collision Detection & Physics Library

btRaycastCallback.h
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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 #ifndef BT_RAYCAST_TRI_CALLBACK_H
17 #define BT_RAYCAST_TRI_CALLBACK_H
18
19 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
20 #include "LinearMath/btTransform.h"
21 struct btBroadphaseProxy;
22 class btConvexShape;
23
24 class btTriangleRaycastCallback : public btTriangleCallback
25 {
26 public:
27 //input
28 btVector3 m_from;
29 btVector3 m_to;
30
31 //@BP Mod - allow backface filtering and unflipped normals
32 enum EFlags
33 {
34 kF_None = 0,
35 kF_FilterBackfaces = 1 << 0,
36 kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
38 kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
39 kF_UseGjkConvexCastRaytest = 1 << 3,
40 kF_Terminator = 0xFFFFFFFF
41 };
42 unsigned int m_flags;
43
44 btScalar m_hitFraction;
45
46 btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
47
48 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
49
50 virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
51 };
52
53 class btTriangleConvexcastCallback : public btTriangleCallback
54 {
55 public:
56 const btConvexShape* m_convexShape;
57 btTransform m_convexShapeFrom;
58 btTransform m_convexShapeTo;
59 btTransform m_triangleToWorld;
60 btScalar m_hitFraction;
61 btScalar m_triangleCollisionMargin;
62 btScalar m_allowedPenetration;
63
64 btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
65
66 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
67
68 virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
69 };
70
71 #endif //BT_RAYCAST_TRI_CALLBACK_H
btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest
SubSimplexConvexCastRaytest is the default, even if kF_None is set.
Definition: btRaycastCallback.h:38
btTriangleRaycastCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btRaycastCallback.cpp:35
btTriangleRaycastCallback
Definition: btRaycastCallback.h:24
btTriangleConvexcastCallback::m_triangleCollisionMargin
btScalar m_triangleCollisionMargin
Definition: btRaycastCallback.h:61
btTriangleRaycastCallback::kF_None
Definition: btRaycastCallback.h:34
btTransform.h
btTriangleConvexcastCallback::btTriangleConvexcastCallback
btTriangleConvexcastCallback(const btConvexShape *convexShape, const btTransform &convexShapeFrom, const btTransform &convexShapeTo, const btTransform &triangleToWorld, const btScalar triangleCollisionMargin)
Definition: btRaycastCallback.cpp:120
btTriangleConvexcastCallback::m_hitFraction
btScalar m_hitFraction
Definition: btRaycastCallback.h:60
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btTriangleConvexcastCallback::m_convexShapeFrom
btTransform m_convexShapeFrom
Definition: btRaycastCallback.h:57
btTriangleCallback.h
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:23
btTriangleConvexcastCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, const btVector3 &hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btTriangleRaycastCallback::m_to
btVector3 m_to
Definition: btRaycastCallback.h:29
btTriangleRaycastCallback::kF_Terminator
Definition: btRaycastCallback.h:40
btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest
Definition: btRaycastCallback.h:39
btTriangleRaycastCallback::m_from
btVector3 m_from
Definition: btRaycastCallback.h:28
btTriangleRaycastCallback::EFlags
EFlags
Definition: btRaycastCallback.h:32
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btTriangleRaycastCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btTriangleConvexcastCallback::m_triangleToWorld
btTransform m_triangleToWorld
Definition: btRaycastCallback.h:59
btTriangleConvexcastCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btRaycastCallback.cpp:131
btTriangleRaycastCallback::btTriangleRaycastCallback
btTriangleRaycastCallback(const btVector3 &from, const btVector3 &to, unsigned int flags=0)
Definition: btRaycastCallback.cpp:26
btTriangleConvexcastCallback::m_convexShape
const btConvexShape * m_convexShape
Definition: btRaycastCallback.h:56
btTriangleRaycastCallback::kF_KeepUnflippedNormal
Definition: btRaycastCallback.h:36
btTriangleRaycastCallback::m_hitFraction
btScalar m_hitFraction
Definition: btRaycastCallback.h:44
btTriangleConvexcastCallback::m_allowedPenetration
btScalar m_allowedPenetration
Definition: btRaycastCallback.h:62
btTriangleConvexcastCallback::m_convexShapeTo
btTransform m_convexShapeTo
Definition: btRaycastCallback.h:58
btTriangleRaycastCallback::m_flags
unsigned int m_flags
Definition: btRaycastCallback.h:42
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btTriangleRaycastCallback::kF_FilterBackfaces
Definition: btRaycastCallback.h:35
btTriangleConvexcastCallback
Definition: btRaycastCallback.h:53