Bullet Collision Detection & Physics Library
btCompoundFromGimpact.h
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1 #ifndef BT_COMPOUND_FROM_GIMPACT
2 #define BT_COMPOUND_FROM_GIMPACT
3 
5 #include "btGImpactShape.h"
7 
9 {
10 public:
12 
14  {
15  /*delete all the btBU_Simplex1to4 ChildShapes*/
16  for (int i = 0; i < m_children.size(); i++)
17  {
18  delete m_children[i].m_childShape;
19  }
20  }
21 
22 };
23 
25  {
28 
29 
30  MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
31  :btTriangleRaycastCallback(from,to),
32  m_ignorePart(ignorePart),
33  m_ignoreTriangleIndex(ignoreTriangleIndex)
34  {
35 
36  }
37  virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
38  {
39  if (partId!=m_ignorePart || triangleIndex!=m_ignoreTriangleIndex)
40  {
41  if (hitFraction < m_hitFraction)
42  return hitFraction;
43  }
44 
45  return m_hitFraction;
46  }
47  };
49  {
53 
55  :m_colShape(colShape),
56  m_gimpactShape(meshShape),
57  m_depth(depth)
58  {
59  }
60 
61  virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
62  {
63  btVector3 scale = m_gimpactShape->getLocalScaling();
64  btVector3 v0=triangle[0]*scale;
65  btVector3 v1=triangle[1]*scale;
66  btVector3 v2=triangle[2]*scale;
67 
68  btVector3 centroid = (v0+v1+v2)/3;
69  btVector3 normal = (v1-v0).cross(v2-v0);
70  normal.normalize();
71  btVector3 rayFrom = centroid;
72  btVector3 rayTo = centroid-normal*m_depth;
73 
74  MyCallback cb(rayFrom,rayTo,partId,triangleIndex);
75 
76  m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo);
77  if (cb.m_hitFraction<1)
78  {
79  rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction);
80  //rayTo = cb.m_from;
81  //rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
82  //gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
83  }
84 
85 
86 
87  btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
88  btTransform ident;
89  ident.setIdentity();
90  m_colShape->addChildShape(ident,tet);
91  }
92  };
93 
95 {
97 
98  btTransform tr;
99  tr.setIdentity();
100 
101  MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth);
102  btVector3 aabbMin,aabbMax;
103  gimpactMesh->getAabb(tr,aabbMin,aabbMax);
104  gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax);
105 
106  return colShape;
107 }
108 
109 #endif //BT_COMPOUND_FROM_GIMPACT
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
const btGImpactMeshShape * m_gimpactShape
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btCompoundShape * btCreateCompoundFromGimpactShape(const btGImpactMeshShape *gimpactMesh, btScalar depth)
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
This class manages a mesh supplied by the btStridingMeshInterface interface.
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
If the Bounding box is not updated, then this class attemps to calculate it.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
btStridingMeshInterface * getMeshInterface()
virtual void processAllTrianglesRay(btTriangleCallback *callback, const btVector3 &rayFrom, const btVector3 &rayTo) const
Function for retrieve triangles.
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
MyInternalTriangleIndexCallback(btCompoundShape *colShape, const btGImpactMeshShape *meshShape, btScalar depth)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
virtual const btVector3 & getLocalScaling() const
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
Definition: btVector3.h:503
MyCallback(const btVector3 &from, const btVector3 &to, int ignorePart, int ignoreTriangleIndex)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const