ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,440 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2011 Advanced Micro Devices, Inc. http://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
+
17
+ ///This file was written by Erwin Coumans
18
+ ///Separating axis rest based on work from Pierre Terdiman, see
19
+ ///And contact clipping based on work from Simon Hobbs
20
+
21
+
22
+ #include "btPolyhedralContactClipping.h"
23
+ #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
24
+
25
+ #include <float.h> //for FLT_MAX
26
+
27
+ int gExpectedNbTests=0;
28
+ int gActualNbTests = 0;
29
+ bool gUseInternalObject = true;
30
+
31
+ // Clips a face to the back of a plane
32
+ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
33
+ {
34
+
35
+ int ve;
36
+ btScalar ds, de;
37
+ int numVerts = pVtxIn.size();
38
+ if (numVerts < 2)
39
+ return;
40
+
41
+ btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
42
+ btVector3 endVertex = pVtxIn[0];
43
+
44
+ ds = planeNormalWS.dot(firstVertex)+planeEqWS;
45
+
46
+ for (ve = 0; ve < numVerts; ve++)
47
+ {
48
+ endVertex=pVtxIn[ve];
49
+
50
+ de = planeNormalWS.dot(endVertex)+planeEqWS;
51
+
52
+ if (ds<0)
53
+ {
54
+ if (de<0)
55
+ {
56
+ // Start < 0, end < 0, so output endVertex
57
+ ppVtxOut.push_back(endVertex);
58
+ }
59
+ else
60
+ {
61
+ // Start < 0, end >= 0, so output intersection
62
+ ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
63
+ }
64
+ }
65
+ else
66
+ {
67
+ if (de<0)
68
+ {
69
+ // Start >= 0, end < 0 so output intersection and end
70
+ ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
71
+ ppVtxOut.push_back(endVertex);
72
+ }
73
+ }
74
+ firstVertex = endVertex;
75
+ ds = de;
76
+ }
77
+ }
78
+
79
+
80
+ static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
81
+ {
82
+ btScalar Min0,Max0;
83
+ btScalar Min1,Max1;
84
+ hullA.project(transA,sep_axis, Min0, Max0);
85
+ hullB.project(transB, sep_axis, Min1, Max1);
86
+
87
+ if(Max0<Min1 || Max1<Min0)
88
+ return false;
89
+
90
+ btScalar d0 = Max0 - Min1;
91
+ assert(d0>=0.0f);
92
+ btScalar d1 = Max1 - Min0;
93
+ assert(d1>=0.0f);
94
+ depth = d0<d1 ? d0:d1;
95
+ return true;
96
+ }
97
+
98
+
99
+
100
+ static int gActualSATPairTests=0;
101
+
102
+ inline bool IsAlmostZero(const btVector3& v)
103
+ {
104
+ if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
105
+ return true;
106
+ }
107
+
108
+ #ifdef TEST_INTERNAL_OBJECTS
109
+
110
+ inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
111
+ {
112
+ // This version is ~11.000 cycles (4%) faster overall in one of the tests.
113
+ // IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
114
+ // IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
115
+ // IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
116
+ p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
117
+ p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
118
+ p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
119
+ }
120
+
121
+ void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
122
+ {
123
+ const btMatrix3x3& rot = tr.getBasis();
124
+ const btVector3& r0 = rot[0];
125
+ const btVector3& r1 = rot[1];
126
+ const btVector3& r2 = rot[2];
127
+
128
+ const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
129
+ const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
130
+ const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
131
+
132
+ out.setValue(x, y, z);
133
+ }
134
+
135
+ bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
136
+ {
137
+ const btScalar dp = delta_c.dot(axis);
138
+
139
+ btVector3 localAxis0;
140
+ InverseTransformPoint3x3(localAxis0, axis,trans0);
141
+ btVector3 localAxis1;
142
+ InverseTransformPoint3x3(localAxis1, axis,trans1);
143
+
144
+ btScalar p0[3];
145
+ BoxSupport(convex0.m_extents, localAxis0, p0);
146
+ btScalar p1[3];
147
+ BoxSupport(convex1.m_extents, localAxis1, p1);
148
+
149
+ const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
150
+ const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
151
+
152
+ const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
153
+ const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
154
+
155
+ const btScalar MinMaxRadius = MaxRadius + MinRadius;
156
+ const btScalar d0 = MinMaxRadius + dp;
157
+ const btScalar d1 = MinMaxRadius - dp;
158
+
159
+ const btScalar depth = d0<d1 ? d0:d1;
160
+ if(depth>dmin)
161
+ return false;
162
+ return true;
163
+ }
164
+ #endif //TEST_INTERNAL_OBJECTS
165
+
166
+
167
+ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
168
+ {
169
+ gActualSATPairTests++;
170
+
171
+ //#ifdef TEST_INTERNAL_OBJECTS
172
+ const btVector3 c0 = transA * hullA.m_localCenter;
173
+ const btVector3 c1 = transB * hullB.m_localCenter;
174
+ const btVector3 DeltaC2 = c0 - c1;
175
+ //#endif
176
+
177
+ btScalar dmin = FLT_MAX;
178
+ int curPlaneTests=0;
179
+
180
+ int numFacesA = hullA.m_faces.size();
181
+ // Test normals from hullA
182
+ for(int i=0;i<numFacesA;i++)
183
+ {
184
+ const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
185
+ const btVector3 faceANormalWS = transA.getBasis() * Normal;
186
+ if (DeltaC2.dot(faceANormalWS)<0)
187
+ continue;
188
+
189
+ curPlaneTests++;
190
+ #ifdef TEST_INTERNAL_OBJECTS
191
+ gExpectedNbTests++;
192
+ if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
193
+ continue;
194
+ gActualNbTests++;
195
+ #endif
196
+
197
+ btScalar d;
198
+ if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
199
+ return false;
200
+
201
+ if(d<dmin)
202
+ {
203
+ dmin = d;
204
+ sep = faceANormalWS;
205
+ }
206
+ }
207
+
208
+ int numFacesB = hullB.m_faces.size();
209
+ // Test normals from hullB
210
+ for(int i=0;i<numFacesB;i++)
211
+ {
212
+ const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
213
+ const btVector3 WorldNormal = transB.getBasis() * Normal;
214
+ if (DeltaC2.dot(WorldNormal)<0)
215
+ continue;
216
+
217
+ curPlaneTests++;
218
+ #ifdef TEST_INTERNAL_OBJECTS
219
+ gExpectedNbTests++;
220
+ if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
221
+ continue;
222
+ gActualNbTests++;
223
+ #endif
224
+
225
+ btScalar d;
226
+ if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
227
+ return false;
228
+
229
+ if(d<dmin)
230
+ {
231
+ dmin = d;
232
+ sep = WorldNormal;
233
+ }
234
+ }
235
+
236
+ btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
237
+
238
+ int curEdgeEdge = 0;
239
+ // Test edges
240
+ for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
241
+ {
242
+ const btVector3 edge0 = hullA.m_uniqueEdges[e0];
243
+ const btVector3 WorldEdge0 = transA.getBasis() * edge0;
244
+ for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
245
+ {
246
+ const btVector3 edge1 = hullB.m_uniqueEdges[e1];
247
+ const btVector3 WorldEdge1 = transB.getBasis() * edge1;
248
+
249
+ btVector3 Cross = WorldEdge0.cross(WorldEdge1);
250
+ curEdgeEdge++;
251
+ if(!IsAlmostZero(Cross))
252
+ {
253
+ Cross = Cross.normalize();
254
+ if (DeltaC2.dot(Cross)<0)
255
+ continue;
256
+
257
+
258
+ #ifdef TEST_INTERNAL_OBJECTS
259
+ gExpectedNbTests++;
260
+ if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
261
+ continue;
262
+ gActualNbTests++;
263
+ #endif
264
+
265
+ btScalar dist;
266
+ if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
267
+ return false;
268
+
269
+ if(dist<dmin)
270
+ {
271
+ dmin = dist;
272
+ sep = Cross;
273
+ }
274
+ }
275
+ }
276
+
277
+ }
278
+
279
+ const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
280
+ if((deltaC.dot(sep))>0.0f)
281
+ sep = -sep;
282
+
283
+ return true;
284
+ }
285
+
286
+ void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
287
+ {
288
+ btVertexArray worldVertsB2;
289
+ btVertexArray* pVtxIn = &worldVertsB1;
290
+ btVertexArray* pVtxOut = &worldVertsB2;
291
+ pVtxOut->reserve(pVtxIn->size());
292
+
293
+ int closestFaceA=-1;
294
+ {
295
+ btScalar dmin = FLT_MAX;
296
+ for(int face=0;face<hullA.m_faces.size();face++)
297
+ {
298
+ const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
299
+ const btVector3 faceANormalWS = transA.getBasis() * Normal;
300
+
301
+ btScalar d = faceANormalWS.dot(separatingNormal);
302
+ if (d < dmin)
303
+ {
304
+ dmin = d;
305
+ closestFaceA = face;
306
+ }
307
+ }
308
+ }
309
+ if (closestFaceA<0)
310
+ return;
311
+
312
+ const btFace& polyA = hullA.m_faces[closestFaceA];
313
+
314
+ // clip polygon to back of planes of all faces of hull A that are adjacent to witness face
315
+ int numContacts = pVtxIn->size();
316
+ int numVerticesA = polyA.m_indices.size();
317
+ for(int e0=0;e0<numVerticesA;e0++)
318
+ {
319
+ const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
320
+ const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
321
+ const btVector3 edge0 = a - b;
322
+ const btVector3 WorldEdge0 = transA.getBasis() * edge0;
323
+ btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
324
+
325
+ btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
326
+ btVector3 worldA1 = transA*a;
327
+ btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
328
+
329
+ //int otherFace=0;
330
+ #ifdef BLA1
331
+ int otherFace = polyA.m_connectedFaces[e0];
332
+ btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
333
+ btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
334
+
335
+ btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
336
+ btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
337
+ #else
338
+ btVector3 planeNormalWS = planeNormalWS1;
339
+ btScalar planeEqWS=planeEqWS1;
340
+
341
+ #endif
342
+ //clip face
343
+
344
+ clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
345
+ btSwap(pVtxIn,pVtxOut);
346
+ pVtxOut->resize(0);
347
+ }
348
+
349
+
350
+
351
+ //#define ONLY_REPORT_DEEPEST_POINT
352
+
353
+ btVector3 point;
354
+
355
+
356
+ // only keep points that are behind the witness face
357
+ {
358
+ btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
359
+ btScalar localPlaneEq = polyA.m_plane[3];
360
+ btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
361
+ btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
362
+ for (int i=0;i<pVtxIn->size();i++)
363
+ {
364
+
365
+ btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
366
+ if (depth <=minDist)
367
+ {
368
+ // printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
369
+ depth = minDist;
370
+ }
371
+
372
+ if (depth <=maxDist)
373
+ {
374
+ btVector3 point = pVtxIn->at(i);
375
+ #ifdef ONLY_REPORT_DEEPEST_POINT
376
+ curMaxDist = depth;
377
+ #else
378
+ #if 0
379
+ if (depth<-3)
380
+ {
381
+ printf("error in btPolyhedralContactClipping depth = %f\n", depth);
382
+ printf("likely wrong separatingNormal passed in\n");
383
+ }
384
+ #endif
385
+ resultOut.addContactPoint(separatingNormal,point,depth);
386
+ #endif
387
+ }
388
+ }
389
+ }
390
+ #ifdef ONLY_REPORT_DEEPEST_POINT
391
+ if (curMaxDist<maxDist)
392
+ {
393
+ resultOut.addContactPoint(separatingNormal,point,curMaxDist);
394
+ }
395
+ #endif //ONLY_REPORT_DEEPEST_POINT
396
+
397
+ }
398
+
399
+
400
+ void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
401
+ {
402
+
403
+ btVector3 separatingNormal = separatingNormal1.normalized();
404
+ const btVector3 c0 = transA * hullA.m_localCenter;
405
+ const btVector3 c1 = transB * hullB.m_localCenter;
406
+ const btVector3 DeltaC2 = c0 - c1;
407
+
408
+
409
+ btScalar curMaxDist=maxDist;
410
+ int closestFaceB=-1;
411
+ btScalar dmax = -FLT_MAX;
412
+ {
413
+ for(int face=0;face<hullB.m_faces.size();face++)
414
+ {
415
+ const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
416
+ const btVector3 WorldNormal = transB.getBasis() * Normal;
417
+ btScalar d = WorldNormal.dot(separatingNormal);
418
+ if (d > dmax)
419
+ {
420
+ dmax = d;
421
+ closestFaceB = face;
422
+ }
423
+ }
424
+ }
425
+ btVertexArray worldVertsB1;
426
+ {
427
+ const btFace& polyB = hullB.m_faces[closestFaceB];
428
+ const int numVertices = polyB.m_indices.size();
429
+ for(int e0=0;e0<numVertices;e0++)
430
+ {
431
+ const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
432
+ worldVertsB1.push_back(transB*b);
433
+ }
434
+ }
435
+
436
+
437
+ if (closestFaceB>=0)
438
+ clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
439
+
440
+ }
@@ -0,0 +1,46 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2011 Advanced Micro Devices, Inc. http://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
+
17
+ ///This file was written by Erwin Coumans
18
+
19
+
20
+ #ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
21
+ #define BT_POLYHEDRAL_CONTACT_CLIPPING_H
22
+
23
+
24
+ #include "LinearMath/btAlignedObjectArray.h"
25
+ #include "LinearMath/btTransform.h"
26
+ #include "btDiscreteCollisionDetectorInterface.h"
27
+
28
+ class btConvexPolyhedron;
29
+
30
+ typedef btAlignedObjectArray<btVector3> btVertexArray;
31
+
32
+ // Clips a face to the back of a plane
33
+ struct btPolyhedralContactClipping
34
+ {
35
+ static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
36
+ static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
37
+
38
+ static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
39
+
40
+ ///the clipFace method is used internally
41
+ static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
42
+
43
+ };
44
+
45
+ #endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
46
+
@@ -0,0 +1,177 @@
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
+ //#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
+ :
28
+ m_from(from),
29
+ m_to(to),
30
+ //@BP Mod
31
+ m_flags(flags),
32
+ m_hitFraction(btScalar(1.))
33
+ {
34
+
35
+ }
36
+
37
+
38
+
39
+ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
40
+ {
41
+ const btVector3 &vert0=triangle[0];
42
+ const btVector3 &vert1=triangle[1];
43
+ const btVector3 &vert2=triangle[2];
44
+
45
+ btVector3 v10; v10 = vert1 - vert0 ;
46
+ btVector3 v20; v20 = vert2 - vert0 ;
47
+
48
+ btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
49
+
50
+ const btScalar dist = vert0.dot(triangleNormal);
51
+ btScalar dist_a = triangleNormal.dot(m_from) ;
52
+ dist_a-= dist;
53
+ btScalar dist_b = triangleNormal.dot(m_to);
54
+ dist_b -= dist;
55
+
56
+ if ( dist_a * dist_b >= btScalar(0.0) )
57
+ {
58
+ return ; // same sign
59
+ }
60
+ //@BP Mod - Backface filtering
61
+ if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
62
+ {
63
+ // Backface, skip check
64
+ return;
65
+ }
66
+
67
+ const btScalar proj_length=dist_a-dist_b;
68
+ const btScalar distance = (dist_a)/(proj_length);
69
+ // Now we have the intersection point on the plane, we'll see if it's inside the triangle
70
+ // Add an epsilon as a tolerance for the raycast,
71
+ // in case the ray hits exacly on the edge of the triangle.
72
+ // It must be scaled for the triangle size.
73
+
74
+ if(distance < m_hitFraction)
75
+ {
76
+
77
+
78
+ btScalar edge_tolerance =triangleNormal.length2();
79
+ edge_tolerance *= btScalar(-0.0001);
80
+ btVector3 point; point.setInterpolate3( m_from, m_to, distance);
81
+ {
82
+ btVector3 v0p; v0p = vert0 - point;
83
+ btVector3 v1p; v1p = vert1 - point;
84
+ btVector3 cp0; cp0 = v0p.cross( v1p );
85
+
86
+ if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance)
87
+ {
88
+
89
+
90
+ btVector3 v2p; 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
+
121
+ btTriangleConvexcastCallback::btTriangleConvexcastCallback (const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin)
122
+ {
123
+ m_convexShape = convexShape;
124
+ m_convexShapeFrom = convexShapeFrom;
125
+ m_convexShapeTo = convexShapeTo;
126
+ m_triangleToWorld = triangleToWorld;
127
+ m_hitFraction = 1.0f;
128
+ m_triangleCollisionMargin = triangleCollisionMargin;
129
+ m_allowedPenetration = 0.f;
130
+ }
131
+
132
+ void
133
+ btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
134
+ {
135
+ btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
136
+ triangleShape.setMargin(m_triangleCollisionMargin);
137
+
138
+ btVoronoiSimplexSolver simplexSolver;
139
+ btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
140
+
141
+ //#define USE_SUBSIMPLEX_CONVEX_CAST 1
142
+ //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
143
+ #ifdef USE_SUBSIMPLEX_CONVEX_CAST
144
+ btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
145
+ #else
146
+ //btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
147
+ btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
148
+ #endif //#USE_SUBSIMPLEX_CONVEX_CAST
149
+
150
+ btConvexCast::CastResult castResult;
151
+ castResult.m_fraction = btScalar(1.);
152
+ castResult.m_allowedPenetration = m_allowedPenetration;
153
+ if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
154
+ {
155
+ //add hit
156
+ if (castResult.m_normal.length2() > btScalar(0.0001))
157
+ {
158
+ if (castResult.m_fraction < m_hitFraction)
159
+ {
160
+ /* btContinuousConvexCast's normal is already in world space */
161
+ /*
162
+ #ifdef USE_SUBSIMPLEX_CONVEX_CAST
163
+ //rotate normal into worldspace
164
+ castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
165
+ #endif //USE_SUBSIMPLEX_CONVEX_CAST
166
+ */
167
+ castResult.m_normal.normalize();
168
+
169
+ reportHit (castResult.m_normal,
170
+ castResult.m_hitPoint,
171
+ castResult.m_fraction,
172
+ partId,
173
+ triangleIndex);
174
+ }
175
+ }
176
+ }
177
+ }