forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
101 lines
2.4 KiB
C++
101 lines
2.4 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "RaycastCallback.h"
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RaycastCallback::RaycastCallback(const SimdVector3& from,const SimdVector3& to)
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:
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m_from(from),
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m_to(to),
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m_hitFraction(1.f),
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m_hitProxy(0),
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m_hitFound(false)
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{
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}
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void RaycastCallback::ProcessTriangle(SimdVector3* triangle)
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{
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const SimdVector3 &vert0=triangle[0];
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const SimdVector3 &vert1=triangle[1];
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const SimdVector3 &vert2=triangle[2];
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SimdVector3 v10; v10 = vert1 - vert0 ;
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SimdVector3 v20; v20 = vert2 - vert0 ;
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SimdVector3 triangleNormal; triangleNormal = v10.cross( v20 );
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const float dist = vert0.dot(triangleNormal);
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float dist_a = triangleNormal.dot(m_from) ;
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dist_a-= dist;
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float dist_b = triangleNormal.dot(m_to);
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dist_b -= dist;
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if ( dist_a * dist_b >= 0.0f)
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{
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return ; // same sign
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}
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const float proj_length=dist_a-dist_b;
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const float distance = (dist_a)/(proj_length);
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// Now we have the intersection point on the plane, we'll see if it's inside the triangle
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// Add an epsilon as a tolerance for the raycast,
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// in case the ray hits exacly on the edge of the triangle.
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// It must be scaled for the triangle size.
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if(distance < m_hitFraction)
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{
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float edge_tolerance =triangleNormal.length2();
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edge_tolerance *= -0.0001f;
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SimdVector3 point; point.setInterpolate3( m_from, m_to, distance);
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{
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SimdVector3 v0p; v0p = vert0 - point;
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SimdVector3 v1p; v1p = vert1 - point;
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SimdVector3 cp0; cp0 = v0p.cross( v1p );
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if ( (float)(cp0.dot(triangleNormal)) >=edge_tolerance)
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{
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SimdVector3 v2p; v2p = vert2 - point;
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SimdVector3 cp1;
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cp1 = v1p.cross( v2p);
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if ( (float)(cp1.dot(triangleNormal)) >=edge_tolerance)
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{
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SimdVector3 cp2;
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cp2 = v2p.cross(v0p);
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if ( (float)(cp2.dot(triangleNormal)) >=edge_tolerance)
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{
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m_hitFraction = distance;
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if ( dist_a > 0 )
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{
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m_hitNormalLocal = triangleNormal;
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}
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else
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{
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m_hitNormalLocal = -triangleNormal;
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}
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m_hitFound= true;
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}
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}
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}
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}
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}
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}
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