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