Bullet Collision Detection & Physics Library: btCompoundFromGimpact.h Source File

Bullet Collision Detection & Physics Library

btCompoundFromGimpact.h
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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) btCompoundFromGimpactShape : public btCompoundShape
9 {
10 public:
11 BT_DECLARE_ALIGNED_ALLOCATOR();
12
13 virtual ~btCompoundFromGimpactShape()
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
24 struct MyCallback : public btTriangleRaycastCallback
25 {
26 int m_ignorePart;
27 int m_ignoreTriangleIndex;
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 };
48 struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback
49 {
50 const btGImpactMeshShape* m_gimpactShape;
51 btCompoundShape* m_colShape;
52 btScalar m_depth;
53
54 MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
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
94 btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
95 {
96 btCompoundShape* colShape = new btCompoundFromGimpactShape();
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
btGImpactShapeInterface::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btGImpactShape.h:169
MyCallback::m_ignoreTriangleIndex
int m_ignoreTriangleIndex
Definition: btCompoundFromGimpact.h:27
btTriangleRaycastCallback
Definition: btRaycastCallback.h:24
MyInternalTriangleIndexCallback::internalProcessTriangleIndex
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
Definition: btCompoundFromGimpact.h:61
btStridingMeshInterface::InternalProcessAllTriangles
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btStridingMeshInterface.cpp:25
MyInternalTriangleIndexCallback::m_gimpactShape
const btGImpactMeshShape * m_gimpactShape
Definition: btCompoundFromGimpact.h:50
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btGImpactMeshShape::processAllTrianglesRay
virtual void processAllTrianglesRay(btTriangleCallback *callback, const btVector3 &rayFrom, const btVector3 &rayTo) const
Function for retrieve triangles.
Definition: btGImpactShape.cpp:264
btCreateCompoundFromGimpactShape
btCompoundShape * btCreateCompoundFromGimpactShape(const btGImpactMeshShape *gimpactMesh, btScalar depth)
Definition: btCompoundFromGimpact.h:94
btRaycastCallback.h
btGImpactShape.h
MyInternalTriangleIndexCallback
Definition: btCompoundFromGimpact.h:48
btCompoundShape::addChildShape
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
Definition: btCompoundShape.cpp:51
btGImpactMeshShape
This class manages a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:890
btInternalTriangleIndexCallback
Definition: btTriangleCallback.h:32
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
MyCallback
Definition: btCompoundFromGimpact.h:24
btGImpactShapeInterface::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
If the Bounding box is not updated, then this class attemps to calculate it.
Definition: btGImpactShape.h:134
btGImpactMeshShape::getMeshInterface
btStridingMeshInterface * getMeshInterface()
Definition: btGImpactShape.h:936
btBU_Simplex1to4
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
Definition: btTetrahedronShape.h:25
MyInternalTriangleIndexCallback::m_colShape
btCompoundShape * m_colShape
Definition: btCompoundFromGimpact.h:51
btTriangleRaycastCallback::m_to
btVector3 m_to
Definition: btRaycastCallback.h:30
btTriangleRaycastCallback::m_from
btVector3 m_from
Definition: btRaycastCallback.h:29
MyInternalTriangleIndexCallback::m_depth
btScalar m_depth
Definition: btCompoundFromGimpact.h:52
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
MyInternalTriangleIndexCallback::MyInternalTriangleIndexCallback
MyInternalTriangleIndexCallback(btCompoundShape *colShape, const btGImpactMeshShape *meshShape, btScalar depth)
Definition: btCompoundFromGimpact.h:54
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btCompoundFromGimpactShape::~btCompoundFromGimpactShape
virtual ~btCompoundFromGimpactShape()
Definition: btCompoundFromGimpact.h:13
MyCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
Definition: btCompoundFromGimpact.h:37
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:54
btCompoundShape.h
MyCallback::m_ignorePart
int m_ignorePart
Definition: btCompoundFromGimpact.h:26
btVector3::setInterpolate3
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
Definition: btVector3.h:503
MyCallback::MyCallback
MyCallback(const btVector3 &from, const btVector3 &to, int ignorePart, int ignoreTriangleIndex)
Definition: btCompoundFromGimpact.h:30
btCompoundFromGimpactShape
Definition: btCompoundFromGimpact.h:8
btTriangleRaycastCallback::m_hitFraction
btScalar m_hitFraction
Definition: btRaycastCallback.h:45
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292