Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 109 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/thirdparty/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
new file mode 100644
index 0000000000..19f7ecddd0
--- /dev/null
+++ b/thirdparty/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h
@@ -0,0 +1,109 @@
+#ifndef BT_COMPOUND_FROM_GIMPACT
+#define BT_COMPOUND_FROM_GIMPACT
+
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "btGImpactShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
+
+ATTRIBUTE_ALIGNED16(class) btCompoundFromGimpactShape	: public btCompoundShape
+{
+public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	virtual ~btCompoundFromGimpactShape()
+	{
+		/*delete all the btBU_Simplex1to4 ChildShapes*/
+		for (int i = 0; i < m_children.size(); i++)
+		{
+			delete m_children[i].m_childShape;
+		}
+	}
+
+};
+
+struct MyCallback : public btTriangleRaycastCallback
+		{
+			int	m_ignorePart;
+			int	m_ignoreTriangleIndex;
+			
+
+			MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
+			:btTriangleRaycastCallback(from,to),
+			m_ignorePart(ignorePart),
+			m_ignoreTriangleIndex(ignoreTriangleIndex)
+			{
+				
+			}
+			virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
+			{
+				if (partId!=m_ignorePart || triangleIndex!=m_ignoreTriangleIndex)
+				{
+					if (hitFraction < m_hitFraction)
+						return hitFraction;
+				}
+
+				return m_hitFraction;
+			}
+		};
+		struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback
+		{
+			const btGImpactMeshShape*		m_gimpactShape;
+			btCompoundShape*			m_colShape;
+			btScalar	m_depth;
+
+			MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
+			:m_colShape(colShape),
+			m_gimpactShape(meshShape),
+			m_depth(depth)
+			{
+			}
+			
+			virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)
+			{
+				btVector3 scale = m_gimpactShape->getLocalScaling();
+				btVector3 v0=triangle[0]*scale;
+				btVector3 v1=triangle[1]*scale;
+				btVector3 v2=triangle[2]*scale;
+				
+				btVector3 centroid = (v0+v1+v2)/3;
+				btVector3 normal = (v1-v0).cross(v2-v0);
+				normal.normalize();
+				btVector3 rayFrom = centroid;
+				btVector3 rayTo = centroid-normal*m_depth;
+				
+				MyCallback cb(rayFrom,rayTo,partId,triangleIndex);
+				
+				m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo);
+				if (cb.m_hitFraction<1)
+				{
+					rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction);
+					//rayTo = cb.m_from;
+					//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
+					//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
+				}
+				
+
+				
+				btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
+				btTransform ident;
+				ident.setIdentity();
+				m_colShape->addChildShape(ident,tet);
+			}
+		};
+		
+btCompoundShape*	btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
+{
+	btCompoundShape* colShape = new btCompoundFromGimpactShape();
+		
+		btTransform tr;
+		tr.setIdentity();
+		
+		MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth);
+		btVector3 aabbMin,aabbMax;
+		gimpactMesh->getAabb(tr,aabbMin,aabbMax);
+		gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax);
+
+	return colShape;	
+}	
+
+#endif //BT_COMPOUND_FROM_GIMPACT