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35 lines
1.3 KiB
C++
35 lines
1.3 KiB
C++
#include "closestnotmeconvexresultcallback.hpp"
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#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
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namespace MWPhysics
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{
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ClosestNotMeConvexResultCallback::ClosestNotMeConvexResultCallback(const btCollisionObject *me, const btVector3 &motion, btScalar minCollisionDot)
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: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0)),
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mMe(me), mMotion(motion), mMinCollisionDot(minCollisionDot)
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{
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}
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btScalar ClosestNotMeConvexResultCallback::addSingleResult(btCollisionWorld::LocalConvexResult& convexResult,bool normalInWorldSpace)
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{
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if (convexResult.m_hitCollisionObject == mMe)
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return btScalar(1);
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btVector3 hitNormalWorld;
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if (normalInWorldSpace)
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hitNormalWorld = convexResult.m_hitNormalLocal;
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else
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{
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///need to transform normal into worldspace
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hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
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}
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// dot product of the motion vector against the collision contact normal
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btScalar dotCollision = mMotion.dot(hitNormalWorld);
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if (dotCollision <= mMinCollisionDot)
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return btScalar(1);
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return ClosestConvexResultCallback::addSingleResult(convexResult, normalInWorldSpace);
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}
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}
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