1 files changed, 92 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
new file mode 100644
index 0000000000..4a95dbea4f
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
@@ -0,0 +1,92 @@
+#include "btSdfCollisionShape.h"
+#include "btMiniSDF.h"
+#include "LinearMath/btAabbUtil2.h"
+
+struct btSdfCollisionShapeInternalData
+{
+	btVector3 m_localScaling;
+	btScalar m_margin;
+	btMiniSDF m_sdf;
+
+	btSdfCollisionShapeInternalData()
+		: m_localScaling(1, 1, 1),
+		  m_margin(0)
+	{
+	}
+};
+
+bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
+{
+	bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
+	return valid;
+}
+btSdfCollisionShape::btSdfCollisionShape()
+{
+	m_shapeType = SDF_SHAPE_PROXYTYPE;
+	m_data = new btSdfCollisionShapeInternalData();
+
+	//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
+	/*unsigned int field_id=0;
+	Eigen::Vector3d x (1,10,1);
+	Eigen::Vector3d gradient;
+	double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
+	printf("dist=%g\n", dist);
+	*/
+}
+btSdfCollisionShape::~btSdfCollisionShape()
+{
+	delete m_data;
+}
+
+void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
+{
+	btAssert(m_data->m_sdf.isValid());
+	btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
+	btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
+	btScalar margin(0);
+	btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
+}
+
+void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
+{
+	m_data->m_localScaling = scaling;
+}
+const btVector3& btSdfCollisionShape::getLocalScaling() const
+{
+	return m_data->m_localScaling;
+}
+void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
+{
+	inertia.setValue(0, 0, 0);
+}
+const char* btSdfCollisionShape::getName() const
+{
+	return "btSdfCollisionShape";
+}
+void btSdfCollisionShape::setMargin(btScalar margin)
+{
+	m_data->m_margin = margin;
+}
+btScalar btSdfCollisionShape::getMargin() const
+{
+	return m_data->m_margin;
+}
+
+void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
+{
+	//not yet
+}
+
+bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
+{
+	int field = 0;
+	btVector3 grad;
+	double dist;
+	bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
+	if (hasResult)
+	{
+		normal.setValue(grad[0], grad[1], grad[2]);
+		distOut = dist;
+	}
+	return hasResult;
+}