dali-physics/third-party/bullet3/src/BulletCollision/Gimpact/btCompoundFromGimpact.h

   1 #ifndef BT_COMPOUND_FROM_GIMPACT
   2 #define BT_COMPOUND_FROM_GIMPACT
   3
   4 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
   5 #include "btGImpactShape.h"
   6 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
   7
   8 ATTRIBUTE_ALIGNED16(class)
   9 btCompoundFromGimpactShape : public btCompoundShape
  10 {
  11 public:
  12         BT_DECLARE_ALIGNED_ALLOCATOR();
  13
  14         virtual ~btCompoundFromGimpactShape()
  15         {
  16                 /*delete all the btBU_Simplex1to4 ChildShapes*/
  17                 for (int i = 0; i < m_children.size(); i++)
  18                 {
  19                         delete m_children[i].m_childShape;
  20                 }
  21         }
  22 };
  23
  24 struct MyCallback : public btTriangleRaycastCallback
  25 {
  26         int m_ignorePart;
  27         int m_ignoreTriangleIndex;
  28
  29         MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
  30                 : btTriangleRaycastCallback(from, to),
  31                   m_ignorePart(ignorePart),
  32                   m_ignoreTriangleIndex(ignoreTriangleIndex)
  33         {
  34         }
  35         virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
  36         {
  37                 if (partId != m_ignorePart || triangleIndex != m_ignoreTriangleIndex)
  38                 {
  39                         if (hitFraction < m_hitFraction)
  40                                 return hitFraction;
  41                 }
  42
  43                 return m_hitFraction;
  44         }
  45 };
  46 struct MyInternalTriangleIndexCallback : public btInternalTriangleIndexCallback
  47 {
  48         const btGImpactMeshShape* m_gimpactShape;
  49         btCompoundShape* m_colShape;
  50         btScalar m_depth;
  51
  52         MyInternalTriangleIndexCallback(btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
  53                 : m_colShape(colShape),
  54                   m_gimpactShape(meshShape),
  55                   m_depth(depth)
  56         {
  57         }
  58
  59         virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
  60         {
  61                 btVector3 scale = m_gimpactShape->getLocalScaling();
  62                 btVector3 v0 = triangle[0] * scale;
  63                 btVector3 v1 = triangle[1] * scale;
  64                 btVector3 v2 = triangle[2] * scale;
  65
  66                 btVector3 centroid = (v0 + v1 + v2) / 3;
  67                 btVector3 normal = (v1 - v0).cross(v2 - v0);
  68                 normal.normalize();
  69                 btVector3 rayFrom = centroid;
  70                 btVector3 rayTo = centroid - normal * m_depth;
  71
  72                 MyCallback cb(rayFrom, rayTo, partId, triangleIndex);
  73
  74                 m_gimpactShape->processAllTrianglesRay(&cb, rayFrom, rayTo);
  75                 if (cb.m_hitFraction < 1)
  76                 {
  77                         rayTo.setInterpolate3(cb.m_from, cb.m_to, cb.m_hitFraction);
  78                         //rayTo = cb.m_from;
  79                         //rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
  80                         //gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
  81                 }
  82
  83                 btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0, v1, v2, rayTo);
  84                 btTransform ident;
  85                 ident.setIdentity();
  86                 m_colShape->addChildShape(ident, tet);
  87         }
  88 };
  89
  90 btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
  91 {
  92         btCompoundShape* colShape = new btCompoundFromGimpactShape();
  93
  94         btTransform tr;
  95         tr.setIdentity();
  96
  97         MyInternalTriangleIndexCallback cb(colShape, gimpactMesh, depth);
  98         btVector3 aabbMin, aabbMax;
  99         gimpactMesh->getAabb(tr, aabbMin, aabbMax);
 100         gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb, aabbMin, aabbMax);
 101
 102         return colShape;
 103 }
 104
 105 #endif  //BT_COMPOUND_FROM_GIMPACT