OgreNewt_RayCast.h

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/* 
    OgreNewt Library
 
    Ogre implementation of Newton Game Dynamics SDK
 
    OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
 
        by Walaber
        some changes by melven
 
*/
 
#ifndef _INCLUDE_OGRENEWT_RAYCAST
#define _INCLUDE_OGRENEWT_RAYCAST
 
 
#include "OgreNewt_Prerequisites.h"
#include "OgreNewt_CollisionPrimitives.h"
 
// OgreNewt namespace.  all functions and classes use this namespace.
namespace OgreNewt
{
 
 
 
class _OgreNewtExport Raycast
{
public:
 
    Raycast();
    
    virtual ~Raycast();
 
 
    void go( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt );
 
 
 
    virtual bool userPreFilterCallback( OgreNewt::Body* body ) { return true; }
 
 
    virtual bool userCallback( OgreNewt::Body* body, Ogre::Real distance, const Ogre::Vector3& normal, dLong collisionID ) = 0;
 
    //Newton >= 2.30
    friend dFloat CollisionPrimitives::TreeCollision::newtonRayCastCallback(const NewtonBody* const body, const NewtonCollision* const treeCollision, dFloat distance, dFloat *normal, int faceId, void *userData);
    //friend float CollisionPrimitives::TreeCollision::newtonRayCastCallback(float distance, float *normal, int faceId, void *userData);
protected:
    OgreNewt::Body *m_treecollisioncallback_lastbody;
 
    bool m_treecollisioncallback_bodyalreadyadded;
 
private:
 
    static float newtonRaycastFilter(const NewtonBody* body, const NewtonCollision* const shapeHit, const dFloat* const hitContact, const dFloat* hitNormal, dLong collisionID, void* userData, dFloat intersectParam);
 
    static unsigned newtonRaycastPreFilter( const NewtonBody* body, const NewtonCollision* collision, void* userData);
};
 
 
 
 
 
class _OgreNewtExport BasicRaycast : public Raycast
{
public:
    class _OgreNewtExport BasicRaycastInfo
    {
    public:
                BasicRaycastInfo();
        ~BasicRaycastInfo();
 
                Ogre::Real getDistance() { return mDistance; };
                OgreNewt::Body* getBody() { return mBody; };
                dLong getCollisionId() { return mCollisionID; };
                Ogre::Vector3 getNormal() { return mNormal; };
                Ogre::Quaternion getNormalOrientation() { return OgreNewt::Converters::grammSchmidt(mNormal); };
 
        Ogre::Real        mDistance;     
        OgreNewt::Body*   mBody;         
        dLong             mCollisionID;  
        Ogre::Vector3     mNormal;       
        
        bool operator<(const BasicRaycastInfo& rhs) const
        {
            return mDistance < rhs.mDistance;
        }
    };
 
 
    BasicRaycast();
 
 
    BasicRaycast( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt, bool sorted);
 
 
    void go( const OgreNewt::World* world, const Ogre::Vector3& startpt, const Ogre::Vector3& endpt, bool sorted);
    
    ~BasicRaycast();
 
    bool userCallback( Body* body, Ogre::Real distance, const Ogre::Vector3& normal, dLong collisionID );
 
    // ------------------------------------------------------
    // the following functions can be used to retrieve information about the bodies collided by the ray.
    
    int getHitCount() const;
 
    BasicRaycastInfo getInfoAt( unsigned int hitnum ) const;
 
    BasicRaycastInfo getFirstHit() const;
 
private:
 
 
    // container for results.
    typedef std::vector<BasicRaycastInfo> RaycastInfoList;
 
    RaycastInfoList mRayList;
};
 
 
}    // end NAMESPACE OgreNewt
    
 
 
 
 
#endif    // _INCLUDE_OGRENEWT_RAYCAST