GUD improvements

src/source/ode/collision_trimesh_ray.cpp

@@ -0,0 +1,126 @@
+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001-2003 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+// TriMesh code by Erwin de Vries.
+
+#include <ode/collision.h>
+#include <ode/matrix.h>
+#include <ode/rotation.h>
+#include <ode/odemath.h>
+#include "collision_util.h"
+
+#define TRIMESH_INTERNAL
+#include "collision_trimesh_internal.h"
+
+int dCollideRTL(dxGeom* g1, dxGeom* RayGeom, int Flags, dContactGeom* Contacts, int Stride){
+	dxTriMesh* TriMesh = (dxTriMesh*)g1;
+
+	const dVector3& TLPosition = *(const dVector3*)dGeomGetPosition(TriMesh);
+	const dMatrix3& TLRotation = *(const dMatrix3*)dGeomGetRotation(TriMesh);
+
+	RayCollider& Collider = TriMesh->_RayCollider;
+
+	dReal Length = dGeomRayGetLength(RayGeom);
+
+	int FirstContact, BackfaceCull;
+	dGeomRayGetParams(RayGeom, &FirstContact, &BackfaceCull);
+	int ClosestHit = dGeomRayGetClosestHit(RayGeom);
+
+	Collider.SetFirstContact(FirstContact != 0);
+	Collider.SetClosestHit(ClosestHit != 0);
+	Collider.SetCulling(BackfaceCull != 0);
+	Collider.SetMaxDist(Length);
+
+	dVector3 Origin, Direction;
+	dGeomRayGet(RayGeom, Origin, Direction);
+
+	/* Make Ray */
+	Ray WorldRay;
+	WorldRay.mOrig.x = Origin[0];
+	WorldRay.mOrig.y = Origin[1];
+	WorldRay.mOrig.z = Origin[2];
+	WorldRay.mDir.x = Direction[0];
+	WorldRay.mDir.y = Direction[1];
+	WorldRay.mDir.z = Direction[2];
+
+	/* Intersect */
+	Matrix4x4 amatrix;
+        int TriCount = 0;
+        if (Collider.Collide(WorldRay, TriMesh->Data->BVTree, &MakeMatrix(TLPosition, TLRotation, amatrix))) {
+                TriCount = TriMesh->Faces.GetNbFaces();
+        }
+
+        if (TriCount == 0) {
+                return 0;
+        }
+	
+	const CollisionFace* Faces = TriMesh->Faces.GetFaces();
+
+	int OutTriCount = 0;
+	for (int i = 0; i < TriCount; i++) {
+		if (OutTriCount == (Flags & 0xffff)) {
+			break;
+		}
+		if (TriMesh->RayCallback == null ||
+                    TriMesh->RayCallback(TriMesh, RayGeom, Faces[i].mFaceID,
+                                         Faces[i].mU, Faces[i].mV)) {
+			const int& TriIndex = Faces[i].mFaceID;
+			if (!Callback(TriMesh, RayGeom, TriIndex)) {
+                                continue;
+                        }
+
+			dContactGeom* Contact = SAFECONTACT(Flags, Contacts, OutTriCount, Stride);
+
+			dVector3 dv[3];
+			FetchTriangle(TriMesh, TriIndex, TLPosition, TLRotation, dv);
+
+			float T = Faces[i].mDistance;
+			Contact->pos[0] = Origin[0] + (Direction[0] * T);
+			Contact->pos[1] = Origin[1] + (Direction[1] * T);
+			Contact->pos[2] = Origin[2] + (Direction[2] * T);
+			Contact->pos[3] = REAL(0.0);
+				
+			dVector3 vu;
+			vu[0] = dv[1][0] - dv[0][0];
+			vu[1] = dv[1][1] - dv[0][1];
+			vu[2] = dv[1][2] - dv[0][2];
+			vu[3] = REAL(0.0);
+				
+			dVector3 vv;
+			vv[0] = dv[2][0] - dv[0][0];
+			vv[1] = dv[2][1] - dv[0][1];
+			vv[2] = dv[2][2] - dv[0][2];
+			vv[3] = REAL(0.0);
+
+			dCROSS(Contact->normal, =, vv, vu);	// Reversed
+
+			dNormalize3(Contact->normal);
+
+			Contact->depth = T;
+			Contact->g1 = TriMesh;
+			Contact->g2 = RayGeom;
+				
+			OutTriCount++;
+		}
+	}
+	return OutTriCount;
+}