Demos/FractureDemo/btFractureBody.h

   1 \r
   2 #ifndef BT_FRACTURE_BODY\r
   3 #define BT_FRACTURE_BODY\r
   4 \r
   5 class btCollisionShape;\r
   6 class btDynamicsWorld;\r
   7 class btCollisionWorld;\r
   8 class btCompoundShape;\r
   9 class btManifoldPoint;\r
  10 \r
  11 #include "LinearMath/btAlignedObjectArray.h"\r
  12 #include "BulletDynamics/Dynamics/btRigidBody.h"\r
  13 \r
  14 #define CUSTOM_FRACTURE_TYPE (btRigidBody::CO_USER_TYPE+1)\r
  15 \r
  16 \r
  17 struct btConnection\r
  18 {\r
  19         \r
  20         btCollisionShape*       m_childShape0;\r
  21         btCollisionShape*       m_childShape1;\r
  22         int     m_childIndex0;\r
  23         int     m_childIndex1;\r
  24         btScalar        m_strength;\r
  25 };\r
  26 \r
  27 class btFractureBody : public btRigidBody\r
  28 {\r
  29         //connections\r
  30 public:\r
  31 \r
  32         btDynamicsWorld*        m_world;\r
  33         btAlignedObjectArray<btScalar>  m_masses;\r
  34         btAlignedObjectArray<btConnection>      m_connections;\r
  35 \r
  36 \r
  37 \r
  38         btFractureBody( const btRigidBodyConstructionInfo& constructionInfo, btDynamicsWorld*   world)\r
  39                 :btRigidBody(constructionInfo),\r
  40                 m_world(world)\r
  41         {\r
  42                 m_masses.push_back(constructionInfo.m_mass);\r
  43                 m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;\r
  44         }\r
  45 \r
  46 \r
  47 \r
  48         ///btRigidBody constructor for backwards compatibility. \r
  49         ///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)\r
  50         btFractureBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia, btScalar* masses, int numMasses, btDynamicsWorld*   world)\r
  51                 :btRigidBody(mass,motionState,collisionShape,localInertia),\r
  52                 m_world(world)\r
  53         {\r
  54 \r
  55                 for (int i=0;i<numMasses;i++)\r
  56                         m_masses.push_back(masses[i]);\r
  57 \r
  58                 m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;\r
  59         }\r
  60 \r
  61         \r
  62 \r
  63         void    recomputeConnectivity(btCollisionWorld* world);\r
  64         \r
  65 \r
  66         static btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia);\r
  67         \r
  68         static btCompoundShape* shiftTransformDistributeMass(btCompoundShape* boxCompound,btScalar mass,btTransform& shift);\r
  69         \r
  70         static bool collisionCallback(btManifoldPoint& cp,      const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);\r
  71 \r
  72 };\r
  73 \r
  74 \r
  75 void fractureCallback(btDynamicsWorld* world, btScalar timeStep);\r
  76 void glueCallback(btDynamicsWorld* world, btScalar timeStep);\r
  77 \r
  78 #endif //BT_FRACTURE_BODY\r