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Add backface culling and option to keep unflipped hit normal in case a ray hits a back-facing triangle.

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Usage: set RayResultCallback.m_flags to kF_FilterBackfaces, optionally combined with kF_KeepUnflippedNormal.
Thanks Andy O'Neil for the patch!

Remove the force_inline for some internal constraint solver methods, it makes re-use easier.
Workaround/avoid MSVC 2005 compiler error in LibXML/trionan.c
This commit is contained in:
erwin.coumans
2009-02-28 01:25:23 +00:00
parent a216ce4bf6
commit 210fe36106
6 changed files with 48 additions and 14 deletions
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20
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
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@@ -23,10 +23,12 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#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.))
{
@@ -55,6 +57,12 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
{
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;
const btScalar distance = (dist_a)/(proj_length);
@@ -89,14 +97,18 @@ void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId,
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);
}
}
}