dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp

   1 #include "btSdfCollisionShape.h"
   2 #include "btMiniSDF.h"
   3 #include "LinearMath/btAabbUtil2.h"
   4
   5 ATTRIBUTE_ALIGNED16(struct)
   6 btSdfCollisionShapeInternalData
   7 {
   8         BT_DECLARE_ALIGNED_ALLOCATOR();
   9
  10         btVector3 m_localScaling;
  11         btScalar m_margin;
  12         btMiniSDF m_sdf;
  13
  14         btSdfCollisionShapeInternalData()
  15                 : m_localScaling(1, 1, 1),
  16                   m_margin(0)
  17         {
  18         }
  19 };
  20
  21 bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
  22 {
  23         bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
  24         return valid;
  25 }
  26 btSdfCollisionShape::btSdfCollisionShape()
  27 {
  28         m_shapeType = SDF_SHAPE_PROXYTYPE;
  29         m_data = new btSdfCollisionShapeInternalData();
  30
  31         //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
  32         /*unsigned int field_id=0;
  33         Eigen::Vector3d x (1,10,1);
  34         Eigen::Vector3d gradient;
  35         double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
  36         printf("dist=%g\n", dist);
  37         */
  38 }
  39 btSdfCollisionShape::~btSdfCollisionShape()
  40 {
  41         delete m_data;
  42 }
  43
  44 void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
  45 {
  46         btAssert(m_data->m_sdf.isValid());
  47         btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
  48         btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
  49         btScalar margin(0);
  50         btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
  51 }
  52
  53 void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
  54 {
  55         m_data->m_localScaling = scaling;
  56 }
  57 const btVector3& btSdfCollisionShape::getLocalScaling() const
  58 {
  59         return m_data->m_localScaling;
  60 }
  61 void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
  62 {
  63         inertia.setValue(0, 0, 0);
  64 }
  65 const char* btSdfCollisionShape::getName() const
  66 {
  67         return "btSdfCollisionShape";
  68 }
  69 void btSdfCollisionShape::setMargin(btScalar margin)
  70 {
  71         m_data->m_margin = margin;
  72 }
  73 btScalar btSdfCollisionShape::getMargin() const
  74 {
  75         return m_data->m_margin;
  76 }
  77
  78 void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
  79 {
  80         //not yet
  81 }
  82
  83 bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
  84 {
  85         int field = 0;
  86         btVector3 grad;
  87         double dist;
  88         bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
  89         if (hasResult)
  90         {
  91                 normal.setValue(grad[0], grad[1], grad[2]);
  92                 distOut = dist;
  93         }
  94         return hasResult;
  95 }