b6d9fbf0db
added raycast support for bullet (no triangle-mesh support, soon) added python methods for 'getHitObject', getRayDirection, getHitPosition and getHitNormal for mouse over sensor, which makes it easy for a shootout.blend demo :)
102 lines
3.4 KiB
C++
102 lines
3.4 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
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* KX_MouseFocusSensor determines mouse in/out/over events.
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*/
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#include <stdlib.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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bool KX_RayCast::RayTest(KX_IPhysicsController* ignore_controller, PHY_IPhysicsEnvironment* physics_environment, const MT_Point3& _frompoint, const MT_Point3& topoint, MT_Point3& result_point, MT_Vector3& result_normal, const KX_RayCast& callback)
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{
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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).normalized() );
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PHY_IPhysicsController* hit_controller;
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PHY__Vector3 phy_pos;
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PHY__Vector3 phy_normal;
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while((hit_controller = physics_environment->rayTest(dynamic_cast<PHY_IPhysicsController*>(ignore_controller),
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frompoint.x(),frompoint.y(),frompoint.z(),
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topoint.x(),topoint.y(),topoint.z(),
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phy_pos[0],phy_pos[1],phy_pos[2],
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phy_normal[0],phy_normal[1],phy_normal[2])))
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{
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result_point = MT_Point3(phy_pos);
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result_normal = MT_Vector3(phy_normal);
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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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return false;
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}
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if (callback.RayHit(info, result_point, result_normal))
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return true;
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// skip past the object and keep tracing
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/* We add 0.01 of fudge, so that if the margin && radius == 0., we don't endless loop. */
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MT_Scalar marg = 0.01 + hit_controller->GetMargin();
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marg += 2.f * hit_controller->GetMargin();
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/* Calculate the other side of this object */
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PHY__Vector3 hitpos;
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hit_controller->getPosition(hitpos);
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MT_Point3 hitObjPos(hitpos);
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MT_Vector3 hitvector = hitObjPos - result_point;
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if (hitvector.dot(hitvector) > MT_EPSILON)
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{
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hitvector.normalize();
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marg *= 2.*todir.dot(hitvector);
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}
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frompoint = result_point + marg * todir;
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}
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return hit_controller;
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}
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