1 files changed, 115 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs
new file mode 100644
index 0000000..c127460
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs
@@ -0,0 +1,115 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  1. 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.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        public abstract class TriangleRaycastCallback : ITriangleCallback
+        {
+                private Vector3 _from;
+                private Vector3 _to;
+                private float _hitFraction;
+                public TriangleRaycastCallback(Vector3 from, Vector3 to)
+                {
+                        _from = from;
+                        _to = to;
+                        _hitFraction = 1;
+                }
+                public Vector3 From { get { return _from; } set { _from = value; } }
+                public Vector3 To { get { return _to; } set { _to = value; } }
+                public float HitFraction { get { return _hitFraction; } set { _hitFraction = value; } }
+                public abstract float ReportHit(Vector3 hitNormalLocal, float hitFraction, int partId, int triangleIndex);
+                #region ITriangleCallback Members
+                public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
+                {
+                        Vector3 vertA = triangle[0];
+                        Vector3 vertB = triangle[1];
+                        Vector3 vertC = triangle[2];
+                        Vector3 vBA = vertB - vertA;
+                        Vector3 vCA = vertC - vertA;
+                        Vector3 triangleNormal = Vector3.Cross(vBA, vCA);
+                        float dist = Vector3.Dot(vertA, triangleNormal);
+                        float distA = Vector3.Dot(triangleNormal, _from);
+                        distA -= dist;
+                        float distB = Vector3.Dot(triangleNormal, _to);
+                        distB -= dist;
+                        if (distA * distB >= 0.0f)
+                        {
+                                return; // same sign
+                        }
+                        float projLength = distA - distB;
+                        float distance = (distA) / (projLength);
+                        // Now we have the intersection point on the plane, we'll see if it's inside the triangle
+                        // Add an epsilon as a tolerance for the raycast,
+                        // in case the ray hits exacly on the edge of the triangle.
+                        // It must be scaled for the triangle size.
+                        if (distance < _hitFraction)
+                        {
+                                float edgeTolerance = triangleNormal.LengthSquared();
+                                edgeTolerance *= -0.0001f;
+                                Vector3 point = new Vector3();
+                                MathHelper.SetInterpolate3(_from, _to, distance, ref point);
+                                Vector3 vertexAPoint = vertA - point;
+                                Vector3 vertexBPoint = vertB - point;
+                                Vector3 contactPointA = Vector3.Cross(vertexAPoint, vertexBPoint);
+                                if (Vector3.Dot(contactPointA, triangleNormal) >= edgeTolerance)
+                                {
+                                        Vector3 vertexCPoint = vertC - point;
+                                        Vector3 contactPointB = Vector3.Cross(vertexBPoint, vertexCPoint);
+                                        if (Vector3.Dot(contactPointB, triangleNormal) >= edgeTolerance)
+                                        {
+                                                Vector3 contactPointC = Vector3.Cross(vertexCPoint, vertexAPoint);
+                                                if (Vector3.Dot(contactPointC, triangleNormal) >= edgeTolerance)
+                                                {
+                                                        if (distA > 0)
+                                                        {
+                                                                _hitFraction = ReportHit(triangleNormal, distance, partID, triangleIndex);
+                                                        }
+                                                        else
+                                                        {
+                                                                _hitFraction = ReportHit(-triangleNormal, distance, partID, triangleIndex);
+                                                        }
+                                                }
+                                        }
+                                }
+                        }
+                }
+                #endregion
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs new file mode 100644 index 0000000..c127460 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/TriangleRaycastCallback.cs
@@ -0,0 +1,115 @@
	1	/*
	2	Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
	3	Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
	4
	5	This software is provided 'as-is', without any express or implied
	6	warranty. In no event will the authors be held liable for any damages
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	13	1. The origin of this software must not be misrepresented; you must not
	14	claim that you wrote the original software. If you use this software
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	public abstract class TriangleRaycastCallback : ITriangleCallback
	30	{
	31	private Vector3 _from;
	32	private Vector3 _to;
	33	private float _hitFraction;
	34
	35	public TriangleRaycastCallback(Vector3 from, Vector3 to)
	36	{
	37	_from = from;
	38	_to = to;
	39	_hitFraction = 1;
	40	}
	41
	42	public Vector3 From { get { return _from; } set { _from = value; } }
	43	public Vector3 To { get { return _to; } set { _to = value; } }
	44	public float HitFraction { get { return _hitFraction; } set { _hitFraction = value; } }
	45
	46	public abstract float ReportHit(Vector3 hitNormalLocal, float hitFraction, int partId, int triangleIndex);
	47
	48	#region ITriangleCallback Members
	49
	50	public void ProcessTriangle(Vector3[] triangle, int partID, int triangleIndex)
	51	{
	52	Vector3 vertA = triangle[0];
	53	Vector3 vertB = triangle[1];
	54	Vector3 vertC = triangle[2];
	55
	56	Vector3 vBA = vertB - vertA;
	57	Vector3 vCA = vertC - vertA;
	58
	59	Vector3 triangleNormal = Vector3.Cross(vBA, vCA);
	60
	61	float dist = Vector3.Dot(vertA, triangleNormal);
	62	float distA = Vector3.Dot(triangleNormal, _from);
	63	distA -= dist;
	64	float distB = Vector3.Dot(triangleNormal, _to);
	65	distB -= dist;
	66
	67	if (distA * distB >= 0.0f)
	68	{
	69	return; // same sign
	70	}
	71
	72	float projLength = distA - distB;
	73	float distance = (distA) / (projLength);
	74	// Now we have the intersection point on the plane, we'll see if it's inside the triangle
	75	// Add an epsilon as a tolerance for the raycast,
	76	// in case the ray hits exacly on the edge of the triangle.
	77	// It must be scaled for the triangle size.
	78
	79	if (distance < _hitFraction)
	80	{
	81	float edgeTolerance = triangleNormal.LengthSquared();
	82	edgeTolerance *= -0.0001f;
	83	Vector3 point = new Vector3();
	84	MathHelper.SetInterpolate3(_from, _to, distance, ref point);
	85
	86	Vector3 vertexAPoint = vertA - point;
	87	Vector3 vertexBPoint = vertB - point;
	88	Vector3 contactPointA = Vector3.Cross(vertexAPoint, vertexBPoint);
	89
	90	if (Vector3.Dot(contactPointA, triangleNormal) >= edgeTolerance)
	91	{
	92	Vector3 vertexCPoint = vertC - point;
	93	Vector3 contactPointB = Vector3.Cross(vertexBPoint, vertexCPoint);
	94	if (Vector3.Dot(contactPointB, triangleNormal) >= edgeTolerance)
	95	{
	96	Vector3 contactPointC = Vector3.Cross(vertexCPoint, vertexAPoint);
	97
	98	if (Vector3.Dot(contactPointC, triangleNormal) >= edgeTolerance)
	99	{
	100	if (distA > 0)
	101	{
	102	_hitFraction = ReportHit(triangleNormal, distance, partID, triangleIndex);
	103	}
	104	else
	105	{
	106	_hitFraction = ReportHit(-triangleNormal, distance, partID, triangleIndex);
	107	}
	108	}
	109	}
	110	}
	111	}
	112	}
	113	#endregion
	114	}
	115	}