Changeset 2882 for code/trunk/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp (modified) (3 diffs)

code/trunk/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

@@ -24 +24 @@
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
         :
         m_from(from),
         m_to(to),
+   //@BP Mod
+   m_flags(flags),
         m_hitFraction(btScalar(1.))
 {
@@ -56 +58 @@
                 return ; // same sign
         }
+   //@BP Mod - Backface filtering
+   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
+   {
+      // Backface, skip check
+      return;
+   }
         
         const btScalar proj_length=dist_a-dist_b;
@@ -90 +98 @@
                                         if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
                                         {
+                  //@BP Mod
+                  // Triangle normal isn't normalized
+                                      triangleNormal.normalize();
 
-                                                if ( dist_a > 0 )
+                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
                                                 {
-                                                        m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
                                                 }
                                                 else
                                                 {
-                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
+                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
                                                 }
                                         }