125 lines
4.0 KiB
C++
125 lines
4.0 KiB
C++
/*
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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* KX_MouseFocusSensor determines mouse in/out/over events.
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*/
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/** \file gameengine/Ketsji/KX_RayCast.cpp
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* \ingroup ketsji
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include "KX_RayCast.h"
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#include "MT_Point3.h"
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#include "MT_Vector3.h"
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#include "KX_IPhysicsController.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "PHY_IPhysicsController.h"
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KX_RayCast::KX_RayCast(KX_IPhysicsController* ignoreController, bool faceNormal, bool faceUV)
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:PHY_IRayCastFilterCallback(dynamic_cast<PHY_IPhysicsController*>(ignoreController), faceNormal, faceUV)
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{
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}
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void KX_RayCast::reportHit(PHY_RayCastResult* result)
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{
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m_hitFound = true;
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m_hitPoint.setValue((const float*)result->m_hitPoint);
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m_hitNormal.setValue((const float*)result->m_hitNormal);
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m_hitUVOK = result->m_hitUVOK;
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m_hitUV.setValue((const float*)result->m_hitUV);
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m_hitMesh = result->m_meshObject;
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m_hitPolygon = result->m_polygon;
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}
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bool KX_RayCast::RayTest(PHY_IPhysicsEnvironment* physics_environment, const MT_Point3& _frompoint, const MT_Point3& topoint, KX_RayCast& callback)
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{
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if(physics_environment==NULL) return false; /* prevents crashing in some cases */
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// Loops over all physics objects between frompoint and topoint,
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// calling callback.RayHit for each one.
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//
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// callback.RayHit should return true to stop looking, or false to continue.
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//
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// returns true if an object was found, false if not.
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MT_Point3 frompoint(_frompoint);
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const MT_Vector3 todir( (topoint - frompoint).safe_normalized() );
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MT_Point3 prevpoint(_frompoint+todir*(-1.f));
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PHY_IPhysicsController* hit_controller;
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while((hit_controller = physics_environment->rayTest(callback,
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frompoint.x(),frompoint.y(),frompoint.z(),
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topoint.x(),topoint.y(),topoint.z())) != NULL)
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{
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KX_ClientObjectInfo* info = static_cast<KX_ClientObjectInfo*>(hit_controller->getNewClientInfo());
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if (!info)
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{
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printf("no info!\n");
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MT_assert(info && "Physics controller with no client object info");
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break;
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}
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// The biggest danger to endless loop, prevent this by checking that the
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// hit point always progresses along the ray direction..
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prevpoint -= callback.m_hitPoint;
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if (prevpoint.length2() < MT_EPSILON)
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break;
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if (callback.RayHit(info))
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// caller may decide to stop the loop and still cancel the hit
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return callback.m_hitFound;
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// Skip past the object and keep tracing.
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// Note that retrieving in a single shot multiple hit points would be possible
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// but it would require some change in Bullet.
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prevpoint = callback.m_hitPoint;
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/* We add 0.001 of fudge, so that if the margin && radius == 0., we don't endless loop. */
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MT_Scalar marg = 0.001 + hit_controller->GetMargin();
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marg *= 2.f;
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/* Calculate the other side of this object */
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MT_Scalar h = MT_abs(todir.dot(callback.m_hitNormal));
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if (h <= 0.01)
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// the normal is almost orthogonal to the ray direction, cannot compute the other side
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break;
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marg /= h;
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frompoint = callback.m_hitPoint + marg * todir;
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// verify that we are not passed the to point
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if ((topoint - frompoint).dot(todir) < 0.f)
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break;
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}
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return false;
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}
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