void
btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
{
//BTREVIEW 0.6%
btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
triangleShape.setMargin(m_triangleCollisionMargin);
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);
castResult.m_allowedPenetration = m_allowedPenetration;
if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.normalize();
reportHit (castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction,
partId,
triangleIndex);
}
}
}
}
void btTriangleRaycastCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
const btVector3 &vert0=triangle[0];
const btVector3 &vert1=triangle[1];
const btVector3 &vert2=triangle[2];
btVector3 v10; v10 = vert1 - vert0 ;
btVector3 v20; v20 = vert2 - vert0 ;
btVector3 triangleNormal; triangleNormal = v10.cross( v20 );
const btScalar dist = vert0.dot(triangleNormal);
btScalar dist_a = triangleNormal.dot(m_from) ;
dist_a-= dist;
btScalar dist_b = triangleNormal.dot(m_to);
dist_b -= dist;
if ( dist_a * dist_b >= btScalar(0.0) )
{
return ; // same sign
}
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);
// 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 < m_hitFraction)
{
btScalar edge_tolerance =triangleNormal.length2();
edge_tolerance *= btScalar(-0.0001);
btVector3 point; point.setInterpolate3( m_from, m_to, distance);
{
btVector3 v0p; v0p = vert0 - point;
btVector3 v1p; v1p = vert1 - point;
btVector3 cp0; cp0 = v0p.cross( v1p );
if ( (btScalar)(cp0.dot(triangleNormal)) >=edge_tolerance)
{
btVector3 v2p; v2p = vert2 - point;
btVector3 cp1;
cp1 = v1p.cross( v2p);
if ( (btScalar)(cp1.dot(triangleNormal)) >=edge_tolerance)
{
btVector3 cp2;
cp2 = v2p.cross(v0p);
if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance)
{
//@BP Mod
// Triangle normal isn't normalized
triangleNormal.normalize();
//@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);
}
else
{
m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
}
}
}
}
}
}
}
int main(int argc, char *argv[])
{
int sockfd, portno, n;
struct sockaddr_in serv_addr;
struct hostent *server;
char buffer[256];
if (argc < 3) {
fprintf(stderr,"usage %s hostname port\n", argv[0]);
exit(0);
}
portno = atoi(argv[2]);
sockfd = socket(AF_INET, SOCK_STREAM, 0);
if (sockfd < 0)
error("ERROR opening socket");
server = gethostbyname(argv[1]);
if (server == NULL) {
fprintf(stderr,"ERROR, no such host\n");
exit(0);
}
bzero((char *) &serv_addr, sizeof(serv_addr));
serv_addr.sin_family = AF_INET;
bcopy((char *)server->h_addr,
(char *)&serv_addr.sin_addr.s_addr,
server->h_length);
serv_addr.sin_port = htons(portno);
if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0)
error("ERROR connecting");
printf("Please enter gun number: ");
bzero(buffer,256);
fgets(buffer,255,stdin);
n = write(sockfd,buffer,strlen(buffer));
if (n < 0)
error("ERROR writing to socket");
int choice;
while(choice != 0)
{
printf("\n1. quit\n");
printf("2. report shot\n");
printf("3. report hit\n");
/* printf("4. report error\n"); */
printf("selection: ");
scanf("%d",&choice);
switch(choice)
{
case 1:
return 0;
break;
case 2:
reportShot(buffer, sockfd, n);
break;
case 3:
reportHit(buffer, sockfd, n);
break;
case 4:
reportError(buffer, sockfd, n);
break;
default:
printf("\nBAD OPTION! Please choose again!");
}
/* bzero(buffer,256); */
/* n = read(sockfd,buffer,255); */
/* if (n < 0) */
/* error("ERROR reading from socket"); */
/* printf("%s\n",buffer); */
/* printf("\nPlease enter a command: "); */
/* bzero(buffer,256); */
/* fgets(buffer,255,stdin); */
/* n = write(sockfd,buffer,strlen(buffer)); */
/* if (n < 0) */
/* error("ERROR writing to socket"); */
}
close(sockfd);
return 0;
}
