Bullet ray tracing callback for closest hit on target surface. More...

#include <BulletClosestRayCallback.h>

Inheritance diagram for Isis::BulletClosestRayCallback:

Collaboration diagram for Isis::BulletClosestRayCallback:

Public Member Functions
	BulletClosestRayCallback ()
	Default constructor. More...

	BulletClosestRayCallback (const BulletClosestRayCallback &result, const btVector3 &point, const btVector3 &normal)
	Construct a callback from another callback, an intersection point, and a surface normal. More...

	BulletClosestRayCallback (const btVector3 &observer, const btVector3 &lookdir)
	Construct a callback from a ray start and end. More...

	BulletClosestRayCallback (const btVector3 &observer, const btVector3 &lookdir, const btCollisionWorld::RayResultCallback &source, btCollisionWorld::LocalRayResult &rayResult, bool nornmalInWorldSpace)
	This constructor is used to create a single ray hit. More...

virtual	~BulletClosestRayCallback ()
	Destory a callback. More...

bool	isValid () const
	Checks if the callback is valid/has a valid intersection. More...

btVector3	observer () const
	Return the beginning of the ray. More...

btVector3	lookdir () const
	Return the end of the ray. More...

btScalar	fraction () const
	Return the intersection hit fraction or fractional distance along the ray of the intersection. More...

btVector3	point () const
	Return the intersection point, if one exists. More...

btVector3	normal () const
	Return the local surface normal at the intersection, if an intersection exists. More...

int	triangleIndex () const
	Return the 0-based index of the intersected triangle. More...

int	partId () const
	Return the Bullet ID of the intersected collision object. More...

btScalar	distance () const
	Returns the distance from the intersection point to the beginning of the ray. More...

btScalar	distance (const BulletClosestRayCallback &other) const
	Returns the distance from the intersection point of this callback to the intersection point of another callback. More...

btScalar	distance (const btVector3 &other) const
	Returns the distance from the intersection point to another point. More...

bool	operator== (const BulletClosestRayCallback &other) const
	Equality operator to check if this callback is equivalent to another callback. More...

bool	isVisible (const BulletClosestRayCallback &other, const btScalar tolerance=DBL_MAX) const
	Check if the intersection in this is visible based on another callback. More...

const BulletTargetShape *	body () const
	@breif Return pointer to target shape More...

Protected Member Functions
virtual btScalar	addSingleResult (btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace)
	! The Bullet ID of the intersected collision object. More...

Protected Attributes
btVector3	m_point

btVector3	m_normal
	! The intersection point in body fixed (x, y, z) kilometers. More...

int	m_triangleIndex
	! The local surface normal at the intersection point in body fixed (x, y, z). More...

int	m_partId
	! The 0-based index of the intersected triangle. More...

Detailed Description

Bullet ray tracing callback for closest hit on target surface.

Stores the results of a raycast to find the closest intersection to the start of a ray. If no raycast has been preformed, or a raycast was unsuccessful, then the callback will be flagged as invalid.

Author: 2017-03-17 Kris Becker

Constructor & Destructor Documentation

◆ BulletClosestRayCallback() [1/4]

Isis::BulletClosestRayCallback::BulletClosestRayCallback ( )

Default constructor.

The ray beginning and end, intersection point, and normal default to the origin. The triangle index and part ID default to -1.

◆ BulletClosestRayCallback() [2/4]

Isis::BulletClosestRayCallback::BulletClosestRayCallback	(	const BulletClosestRayCallback &	result,
		const btVector3 &	point,
		const btVector3 &	normal
	)

Construct a callback from another callback, an intersection point, and a surface normal.

Parameters

result	The callback to to construct a copy of. The intersection point and normal will not be copied.
point	The intersection point to store.
normal	The surface normal to store.

References m_normal, m_point, normal(), and point().

◆ BulletClosestRayCallback() [3/4]

Isis::BulletClosestRayCallback::BulletClosestRayCallback	(	const btVector3 &	observer,
		const btVector3 &	lookdir
	)

Construct a callback from a ray start and end.

Parameters

observer	The beginning of the ray.
lookdir	The end of the ray.

◆ BulletClosestRayCallback() [4/4]

Isis::BulletClosestRayCallback::BulletClosestRayCallback	(	const btVector3 &	observer,
		const btVector3 &	lookdir,
		const btCollisionWorld::RayResultCallback &	source,
		btCollisionWorld::LocalRayResult &	rayResult,
		bool	normalInWorldSpace
	)

This constructor is used to create a single ray hit.

This constructor is intended to be used in a multi-ray hit environment such as the BulletAllRayHitsRayCallback object to provide the same features provided in this single hit object.

Author: 2017-03-17 Kris Becker

Parameters

observer	The beginning of the ray.
lookdir	The end of the ray.
source	The original callback this is being created from.
rayResult	The local intersection result.
normalInWorldSpace	Is the normal in the local result in the local coordinate system or the world coordinate system?

References addSingleResult().

◆ ~BulletClosestRayCallback()

Isis::BulletClosestRayCallback::~BulletClosestRayCallback ( )

virtual

Destory a callback.

Member Function Documentation

◆ addSingleResult()

btScalar Isis::BulletClosestRayCallback::addSingleResult	(	btCollisionWorld::LocalRayResult &	rayResult,
		bool	normalInWorldSpace
	)

protectedvirtual

! The Bullet ID of the intersected collision object.

Add a local intersection result to this callback during ray casting.

Because this callback only stores the single closest result, this overwrites any currently stored result.

Note: This method is called automatically by btCollisionWorld::rayTest.

Parameters

rayResult	The local intersection result for the ray cast.
normalInWorldSpace	If the normal stored in the local result is in local coordinates or world coordinates.

Returns: btScalar The hit fraction, fractional distance along the ray, of the intersections

References m_normal, m_partId, m_point, and m_triangleIndex.

Referenced by BulletClosestRayCallback().

◆ body()

const BulletTargetShape * Isis::BulletClosestRayCallback::body ( ) const

@breif Return pointer to target shape

This method assumes the creators have properly set the user pointer in (at least) the btCollisionObject.

Author: 2017-03-17 Kris Becker

Returns: const BulletClosestRayCallback::BulletTargetShape*

References isValid().

◆ distance() [1/3]

btScalar Isis::BulletClosestRayCallback::distance ( ) const

Returns the distance from the intersection point to the beginning of the ray.

Returns: btScalar Distance between observer and point in kilometers. If no intersection exists, then DBL_MAX is returned.

References isValid(), observer(), and point().

Referenced by distance(), and isVisible().

◆ distance() [2/3]

btScalar Isis::BulletClosestRayCallback::distance ( const btVector3 & other ) const

Returns the distance from the intersection point to another point.

Parameters

other The point to calculate the distance to.

Returns: btScalar Distance between intersection and point in kilometers. If no intersection exists, then DBL_MAX is returned.

References distance(), isValid(), and point().

◆ distance() [3/3]

btScalar Isis::BulletClosestRayCallback::distance ( const BulletClosestRayCallback & other ) const

Returns the distance from the intersection point of this callback to the intersection point of another callback.

Parameters

other The other callback to find the distance to.

Returns: btScalar Distance between the intersection point and the other callback's intersection point in kilometers. If this callback or the other callback does not have an intersection, then DBL_MAX is returned.

References distance(), isValid(), and point().

◆ fraction()

btScalar Isis::BulletClosestRayCallback::fraction ( ) const

Return the intersection hit fraction or fractional distance along the ray of the intersection.

This is where along the ray the intersection was found. If the hit fraction is 0, then the intersection was found at the very beginning of the ray. If the hit fraction is 1, then the intersection was found at the very end of the ray. The intersection point can be calculates as:

(1 - hitFraction) * rayStart + hitFraction * rayEnd

Returns: @btScalar The closest intersection hit fraction.

◆ isValid()

bool Isis::BulletClosestRayCallback::isValid ( ) const

Checks if the callback is valid/has a valid intersection.

Returns: bool If there is a valid intersection.

See also: ClosestRayResultCallback::hasHit()

Referenced by body(), distance(), isVisible(), Isis::BulletShapeModel::isVisibleFrom(), and operator==().

◆ isVisible()

bool Isis::BulletClosestRayCallback::isVisible	(	const BulletClosestRayCallback &	other,
		const btScalar	tolerance = `DBL_MAX`
	)		const

Check if the intersection in this is visible based on another callback.

Three things are checked to confirm visibility. First, both callbacks must intersect the same triangle on the same collision object. Second, the angle between this callback's local normal and the vector from the other callback's beginning to this callback's intersection must be less than or equal to 90 degrees. Finally, the distance between the intersections of the two callbacks must be less than the tolerance.

Parameters

other	The callback for checking visibility. This should represent the observer's look ray.
tolerance	The tolerance for the final check of the distance between intersection points.

Returns: bool If the intersection in this callback is visible.

References distance(), isValid(), partId(), and triangleIndex().

Referenced by Isis::BulletShapeModel::isVisibleFrom().

◆ lookdir()

btVector3 Isis::BulletClosestRayCallback::lookdir ( ) const

Return the end of the ray.

Returns: btVector3 The end of the ray.

◆ normal()

btVector3 Isis::BulletClosestRayCallback::normal ( ) const

Return the local surface normal at the intersection, if an intersection exists.

Returns: btVector3 The local surface normal in body fixed (x, y, z).

References _FILEINFO_, m_normal, and Isis::IException::Programmer.

Referenced by BulletClosestRayCallback(), Isis::BulletShapeModel::isVisibleFrom(), and Isis::BulletShapeModel::setLocalNormalFromIntercept().

◆ observer()

btVector3 Isis::BulletClosestRayCallback::observer ( ) const

Return the beginning of the ray.

Returns: btVector3 The beginning of the ray.

Referenced by distance().

◆ operator==()

bool Isis::BulletClosestRayCallback::operator== ( const BulletClosestRayCallback & other ) const

Equality operator to check if this callback is equivalent to another callback.

Parameters

other The callback to compare with.

Returns: bool If both callbacks are valid and intersected the same triangle on the same collision body.

References isValid(), partId(), and triangleIndex().

◆ partId()

int Isis::BulletClosestRayCallback::partId ( ) const

Return the Bullet ID of the intersected collision object.

Returns: int The Bullet ID of the intersected collision object.

References m_partId.

Referenced by isVisible(), and operator==().

◆ point()

btVector3 Isis::BulletClosestRayCallback::point ( ) const

Return the intersection point, if one exists.

Returns: btVector3 The intersection point in body fixed (x, y, z) kilometers.

References _FILEINFO_, m_point, and Isis::IException::Programmer.

Referenced by BulletClosestRayCallback(), distance(), Isis::BulletShapeModel::isVisibleFrom(), and Isis::BulletShapeModel::localRadius().

◆ triangleIndex()

int Isis::BulletClosestRayCallback::triangleIndex ( ) const

Return the 0-based index of the intersected triangle.

Returns: int The 0-based index of the intersected triangle.

References m_triangleIndex.

Referenced by isVisible(), and operator==().

Member Data Documentation

◆ m_normal

btVector3 Isis::BulletClosestRayCallback::m_normal

protected

! The intersection point in body fixed (x, y, z) kilometers.

Referenced by addSingleResult(), BulletClosestRayCallback(), and normal().

◆ m_partId

int Isis::BulletClosestRayCallback::m_partId

protected

! The 0-based index of the intersected triangle.

Referenced by addSingleResult(), and partId().

◆ m_point

btVector3 Isis::BulletClosestRayCallback::m_point

protected

Referenced by addSingleResult(), BulletClosestRayCallback(), and point().

◆ m_triangleIndex

int Isis::BulletClosestRayCallback::m_triangleIndex

protected

! The local surface normal at the intersection point in body fixed (x, y, z).

Referenced by addSingleResult(), and triangleIndex().

The documentation for this class was generated from the following files:

/home/isis3mgr/repos/ISIS3/isis/src/base/objs/BulletShapeModel/BulletClosestRayCallback.h
/home/isis3mgr/repos/ISIS3/isis/src/base/objs/BulletShapeModel/BulletClosestRayCallback.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletClosestRayCallback() [1/4]

◆ BulletClosestRayCallback() [2/4]

◆ BulletClosestRayCallback() [3/4]

◆ BulletClosestRayCallback() [4/4]

◆ ~BulletClosestRayCallback()

Member Function Documentation

◆ addSingleResult()

◆ body()

◆ distance() [1/3]

◆ distance() [2/3]

◆ distance() [3/3]

◆ fraction()

◆ isValid()

◆ isVisible()

◆ lookdir()

◆ normal()

◆ observer()

◆ operator==()

◆ partId()

◆ point()

◆ triangleIndex()

Member Data Documentation

◆ m_normal

◆ m_partId

◆ m_point

◆ m_triangleIndex