Bullet Collision Detection & Physics Library: btRaycastCallback.h Source File

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btRaycastCallback.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_RAYCAST_TRI_CALLBACK_H
17#define BT_RAYCAST_TRI_CALLBACK_H
18
19#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
20#include "LinearMath/btTransform.h"
21struct btBroadphaseProxy;
22class btConvexShape;
23
24 class btTriangleRaycastCallback : public btTriangleCallback
25{
26public:
27 //input
28 btVector3 m_from;
29 btVector3 m_to;
30
31 //@BP Mod - allow backface filtering and unflipped normals
32 enum EFlags
33 {
34 kF_None = 0,
35 kF_FilterBackfaces = 1 << 0,
36 kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
38 kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
39 kF_UseGjkConvexCastRaytest = 1 << 3,
40 kF_DisableHeightfieldAccelerator = 1 << 4, //don't use the heightfield raycast accelerator. See https://github.com/bulletphysics/bullet3/pull/2062
41 kF_Terminator = 0xFFFFFFFF
42 };
43 unsigned int m_flags;
44
45 btScalar m_hitFraction;
46
47 btTriangleRaycastCallback(const btVector3& from, const btVector3& to, unsigned int flags = 0);
48
49 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
50
51 virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
52};
53
54 class btTriangleConvexcastCallback : public btTriangleCallback
55{
56public:
57 const btConvexShape* m_convexShape;
58 btTransform m_convexShapeFrom;
59 btTransform m_convexShapeTo;
60 btTransform m_triangleToWorld;
61 btScalar m_hitFraction;
62 btScalar m_triangleCollisionMargin;
63 btScalar m_allowedPenetration;
64
65 btTriangleConvexcastCallback(const btConvexShape* convexShape, const btTransform& convexShapeFrom, const btTransform& convexShapeTo, const btTransform& triangleToWorld, const btScalar triangleCollisionMargin);
66
67 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
68
69 virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex) = 0;
70};
71
72#endif //BT_RAYCAST_TRI_CALLBACK_H
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btTransform.h
btTriangleCallback.h
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition btTriangleCallback.h:24
btTriangleConvexcastCallback
Definition btRaycastCallback.h:55
btTriangleConvexcastCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition btRaycastCallback.cpp:131
btTriangleConvexcastCallback::m_hitFraction
btScalar m_hitFraction
Definition btRaycastCallback.h:61
btTriangleConvexcastCallback::m_triangleToWorld
btTransform m_triangleToWorld
Definition btRaycastCallback.h:60
btTriangleConvexcastCallback::m_convexShapeTo
btTransform m_convexShapeTo
Definition btRaycastCallback.h:59
btTriangleConvexcastCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, const btVector3 &hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btTriangleConvexcastCallback::m_convexShape
const btConvexShape * m_convexShape
Definition btRaycastCallback.h:57
btTriangleConvexcastCallback::m_convexShapeFrom
btTransform m_convexShapeFrom
Definition btRaycastCallback.h:58
btTriangleConvexcastCallback::m_triangleCollisionMargin
btScalar m_triangleCollisionMargin
Definition btRaycastCallback.h:62
btTriangleConvexcastCallback::m_allowedPenetration
btScalar m_allowedPenetration
Definition btRaycastCallback.h:63
btTriangleConvexcastCallback::btTriangleConvexcastCallback
btTriangleConvexcastCallback(const btConvexShape *convexShape, const btTransform &convexShapeFrom, const btTransform &convexShapeTo, const btTransform &triangleToWorld, const btScalar triangleCollisionMargin)
Definition btRaycastCallback.cpp:120
btTriangleRaycastCallback
Definition btRaycastCallback.h:25
btTriangleRaycastCallback::m_hitFraction
btScalar m_hitFraction
Definition btRaycastCallback.h:45
btTriangleRaycastCallback::EFlags
EFlags
Definition btRaycastCallback.h:33
btTriangleRaycastCallback::kF_None
@ kF_None
Definition btRaycastCallback.h:34
btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest
@ kF_UseSubSimplexConvexCastRaytest
SubSimplexConvexCastRaytest is the default, even if kF_None is set.
Definition btRaycastCallback.h:38
btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator
@ kF_DisableHeightfieldAccelerator
Definition btRaycastCallback.h:40
btTriangleRaycastCallback::kF_Terminator
@ kF_Terminator
Definition btRaycastCallback.h:41
btTriangleRaycastCallback::kF_FilterBackfaces
@ kF_FilterBackfaces
Definition btRaycastCallback.h:35
btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest
@ kF_UseGjkConvexCastRaytest
Definition btRaycastCallback.h:39
btTriangleRaycastCallback::kF_KeepUnflippedNormal
@ kF_KeepUnflippedNormal
Definition btRaycastCallback.h:36
btTriangleRaycastCallback::m_flags
unsigned int m_flags
Definition btRaycastCallback.h:43
btTriangleRaycastCallback::m_to
btVector3 m_to
Definition btRaycastCallback.h:29
btTriangleRaycastCallback::m_from
btVector3 m_from
Definition btRaycastCallback.h:28
btTriangleRaycastCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition btRaycastCallback.cpp:35
btTriangleRaycastCallback::btTriangleRaycastCallback
btTriangleRaycastCallback(const btVector3 &from, const btVector3 &to, unsigned int flags=0)
Definition btRaycastCallback.cpp:26
btTriangleRaycastCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition btBroadphaseProxy.h:86