Bullet Collision Detection & Physics Library
btSdfCollisionShape.cpp
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1 #include "btSdfCollisionShape.h"
2 #include "btMiniSDF.h"
4 
7 {
9 
13 
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 }
27 {
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 }
40 {
41  delete m_data;
42 }
43 
44 void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
45 {
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 
54 {
55  m_data->m_localScaling = scaling;
56 }
58 {
59  return m_data->m_localScaling;
60 }
62 {
63  inertia.setValue(0, 0, 0);
64 }
65 const char* btSdfCollisionShape::getName() const
66 {
67  return "btSdfCollisionShape";
68 }
70 {
71  m_data->m_margin = margin;
72 }
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 }
btMiniSDF::load
bool load(const char *data, int size)
Definition: btMiniSDF.cpp:45
btSdfCollisionShapeInternalData::m_margin
btScalar m_margin
Definition: btSdfCollisionShape.cpp:11
btSdfCollisionShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btSdfCollisionShape.cpp:69
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btMiniSDF.h
btSdfCollisionShape::btSdfCollisionShape
btSdfCollisionShape()
Definition: btSdfCollisionShape.cpp:26
btSdfCollisionShapeInternalData::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSdfCollisionShapeInternalData::btSdfCollisionShapeInternalData
btSdfCollisionShapeInternalData()
Definition: btSdfCollisionShape.cpp:14
btMiniSDF
Definition: btMiniSDF.h:91
btSdfCollisionShape::getName
virtual const char * getName() const
Definition: btSdfCollisionShape.cpp:65
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btAssert
#define btAssert(x)
Definition: btScalar.h:153
SDF_SHAPE_PROXYTYPE
@ SDF_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:68
btMiniSDF::interpolate
bool interpolate(unsigned int field_id, double &dist, btVector3 const &x, btVector3 *gradient) const
Definition: btMiniSDF.cpp:442
btSdfCollisionShape::queryPoint
bool queryPoint(const btVector3 &ptInSDF, btScalar &distOut, btVector3 &normal)
Definition: btSdfCollisionShape.cpp:83
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btSdfCollisionShape::~btSdfCollisionShape
virtual ~btSdfCollisionShape()
Definition: btSdfCollisionShape.cpp:39
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btSdfCollisionShape::getMargin
virtual btScalar getMargin() const
Definition: btSdfCollisionShape.cpp:73
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSdfCollisionShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btSdfCollisionShape.cpp:78
btSdfCollisionShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btSdfCollisionShape.cpp:57
btMiniSDF::m_domain
btAlignedBox3d m_domain
Definition: btMiniSDF.h:92
btAabbUtil2.h
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btSdfCollisionShapeInternalData::m_localScaling
btVector3 m_localScaling
Definition: btSdfCollisionShape.cpp:10
btAlignedBox3d::m_max
btVector3 m_max
Definition: btMiniSDF.h:16
btMiniSDF::isValid
bool isValid() const
Definition: btMiniSDF.h:109
btSdfCollisionShapeInternalData::m_sdf
btMiniSDF m_sdf
Definition: btSdfCollisionShape.cpp:12
btSdfCollisionShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btSdfCollisionShape.cpp:53
btSdfCollisionShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
Definition: btSdfCollisionShape.cpp:44
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btAlignedBox3d::m_min
btVector3 m_min
Definition: btMiniSDF.h:15
btSdfCollisionShape::m_data
struct btSdfCollisionShapeInternalData * m_data
Definition: btSdfCollisionShape.h:8
btSdfCollisionShape::initializeSDF
bool initializeSDF(const char *sdfData, int sizeInBytes)
Definition: btSdfCollisionShape.cpp:21
btSdfCollisionShape.h
btSdfCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btSdfCollisionShape.cpp:61
btSdfCollisionShapeInternalData
Definition: btSdfCollisionShape.cpp:7