BulletAllHitsRayCallback.cpp

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#include <cmath>

#include <QScopedPointer>
#include <QString>
#include <QVector>


#include "BulletAllHitsRayCallback.h"
#include "Constants.h"
#include "IException.h"
#include "SurfacePoint.h"

#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"

namespace Isis {


  BulletAllHitsRayCallback::BulletAllHitsRayCallback() : 
    btCollisionWorld::AllHitsRayResultCallback(btVector3(0,0,0), btVector3(0,0,0)),
    m_rayHits() {
    m_flags = (btTriangleRaycastCallback::kF_KeepUnflippedNormal |
               btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest);
  }


  BulletAllHitsRayCallback::BulletAllHitsRayCallback(const btVector3 &observer, 
                                                     const btVector3 &lookdir,
                                                     const bool cullBackfacers) : 
                            btCollisionWorld::AllHitsRayResultCallback(observer, lookdir),
                            m_rayHits() {
    m_flags = (btTriangleRaycastCallback::kF_KeepUnflippedNormal |
               btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest);
    if ( cullBackfacers ) {
      m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
    }
  }


  BulletAllHitsRayCallback::~BulletAllHitsRayCallback() { }


  bool BulletAllHitsRayCallback::isValid() const {
    return ( hasHit() );
  }


  int BulletAllHitsRayCallback::size() const {
    return ( m_rayHits.size() );
  }


  btVector3 BulletAllHitsRayCallback::observer() const {
    return ( AllHitsRayResultCallback::m_rayFromWorld );
  }


  btVector3 BulletAllHitsRayCallback::lookdir() const {
    return ( AllHitsRayResultCallback::m_rayToWorld );
  }


  const BulletClosestRayCallback &BulletAllHitsRayCallback::hit(const int &index) const {
    btAssert( index >= 0 );
    btAssert( index < size() );
    return ( m_rayHits[index]);
  }


  btScalar BulletAllHitsRayCallback::addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace) {
    btCollisionWorld::AllHitsRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
    m_rayHits.push_back(BulletClosestRayCallback(observer(), lookdir(), *this, rayResult, normalInWorldSpace));
    return (rayResult.m_hitFraction);
  }
} // namespace Isis