Commit 3fe37965 authored by Jesse Mapel's avatar Jesse Mapel
Browse files

PROG: corrected occlusion check order in BulletShapeModel. 

git-svn-id: http://subversion.wr.usgs.gov/repos/prog/isis3/trunk@8091 41f8697f-d340-4b68-9986-7bafba869bb8
parent 2da0cd66

isis/src/base/objs/BulletShapeModel/BulletClosestRayCallback.cpp

+0 −5
Original line number Diff line number Diff line
@@ -310,11 +310,6 @@ namespace Isis { 
    if ( triangleIndex() != other.triangleIndex() ) return (false);

    if ( partId() != other.partId() ) return (false);

    

    // Check the emission angle from other.observer to this.point

    btVector3 psB = (other.observer() - point()).normalized();

    btScalar  angle = std::acos( normal().dot( psB ) ) * RAD2DEG;

    if ( std::fabs( angle ) > 90.0 ) return (false);

    

    // How close are the two intercept points?

    if ( distance( other ) > tolerance ) return ( false );

isis/src/base/objs/BulletShapeModel/BulletShapeModel.cpp

+18 −0
Original line number Diff line number Diff line
@@ -346,6 +346,14 @@ namespace Isis { 
      return true;

    }

    

    // Check if the emission angle is greater than 90 degrees

    // If true, then it is occluded, if false then unknown

    btVector3 psB = (observer - hit.point()).normalized();

    btScalar  angle = std::acos( hit.normal().dot( psB ) ) * RAD2DEG;

    if ( std::fabs( angle ) > 90.0 - DBL_MIN) {

      return true;

    }



    // Ray cast from the observer to the intersection

    //   If we have an intersection, test for occlusion

    BulletClosestRayCallback results( observer, hit.point() );
@@ -461,8 +469,18 @@ namespace Isis { 
   */

  bool BulletShapeModel::isVisibleFrom(const std::vector<double> observerPos,

                                       const std::vector<double> lookDirection)  {



    if ( !m_intercept.isValid() ) return (false);



    // Check if the emission angle is greater than 90 degrees

    // If true, then it is occluded, if false then unknown

    btVector3 observer(observerPos[0], observerPos[1], observerPos[2]);

    btVector3 psB = (observer - m_intercept.point()).normalized();

    btScalar  angle = std::acos( m_intercept.normal().dot( psB ) ) * RAD2DEG;

    if ( std::fabs( angle ) > 90.0 - DBL_MIN) {

      return false;

    }



    btVector3 rayEnd = castLookDir( observer,  btVector3(lookDirection[0], lookDirection[1], lookDirection[2]) );

    BulletClosestRayCallback results(observer, rayEnd);

    (void) m_model->raycast(observer, rayEnd, results);