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 
10 {
11 public:
13 
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 
25 {
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 };
47 {
51 
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  {
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 
91 {
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
btTriangleRaycastCallback::m_hitFraction
btScalar m_hitFraction
Definition: btRaycastCallback.h:44
btTriangleRaycastCallback
Definition: btRaycastCallback.h:24
btRaycastCallback.h
btInternalTriangleIndexCallback
Definition: btTriangleCallback.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btCompoundShape.h
MyInternalTriangleIndexCallback
Definition: btCompoundFromGimpact.h:46
btGImpactShapeInterface::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btGImpactShape.h:160
MyInternalTriangleIndexCallback::internalProcessTriangleIndex
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
Definition: btCompoundFromGimpact.h:59
btGImpactMeshShape::getMeshInterface
btStridingMeshInterface * getMeshInterface()
Definition: btGImpactShape.h:887
MyCallback
Definition: btCompoundFromGimpact.h:24
btStridingMeshInterface::InternalProcessAllTriangles
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
Definition: btStridingMeshInterface.cpp:23
btGImpactMeshShape
This class manages a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:842
btVector3::setInterpolate3
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
Definition: btVector3.h:492
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:126
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btCompoundFromGimpactShape::~btCompoundFromGimpactShape
virtual ~btCompoundFromGimpactShape()
Definition: btCompoundFromGimpact.h:14
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btCompoundFromGimpactShape
Definition: btCompoundFromGimpact.h:8
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btTriangleRaycastCallback::m_to
btVector3 m_to
Definition: btRaycastCallback.h:29
btGImpactMeshShape::processAllTrianglesRay
virtual void processAllTrianglesRay(btTriangleCallback *callback, const btVector3 &rayFrom, const btVector3 &rayTo) const
Function for retrieve triangles.
Definition: btGImpactShape.cpp:254
MyInternalTriangleIndexCallback::m_colShape
btCompoundShape * m_colShape
Definition: btCompoundFromGimpact.h:49
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:55
btCreateCompoundFromGimpactShape
btCompoundShape * btCreateCompoundFromGimpactShape(const btGImpactMeshShape *gimpactMesh, btScalar depth)
Definition: btCompoundFromGimpact.h:90
MyInternalTriangleIndexCallback::m_gimpactShape
const btGImpactMeshShape * m_gimpactShape
Definition: btCompoundFromGimpact.h:48
btCompoundShape::addChildShape
void addChildShape(const btTransform &localTransform, btCollisionShape *shape)
Definition: btCompoundShape.cpp:50
MyInternalTriangleIndexCallback::MyInternalTriangleIndexCallback
MyInternalTriangleIndexCallback(btCompoundShape *colShape, const btGImpactMeshShape *meshShape, btScalar depth)
Definition: btCompoundFromGimpact.h:52
btBU_Simplex1to4
The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes....
Definition: btTetrahedronShape.h:23
btTriangleRaycastCallback::m_from
btVector3 m_from
Definition: btRaycastCallback.h:28
MyInternalTriangleIndexCallback::m_depth
btScalar m_depth
Definition: btCompoundFromGimpact.h:50
MyCallback::reportHit
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
Definition: btCompoundFromGimpact.h:35
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
MyCallback::m_ignoreTriangleIndex
int m_ignoreTriangleIndex
Definition: btCompoundFromGimpact.h:27
btGImpactShape.h
MyCallback::m_ignorePart
int m_ignorePart
Definition: btCompoundFromGimpact.h:26
MyCallback::MyCallback
MyCallback(const btVector3 &from, const btVector3 &to, int ignorePart, int ignoreTriangleIndex)
Definition: btCompoundFromGimpact.h:29