diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h | 162 |
1 files changed, 79 insertions, 83 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h b/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h index 19f7ecddd0..ede59e8a57 100644 --- a/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h +++ b/thirdparty/bullet/BulletCollision/Gimpact/btCompoundFromGimpact.h @@ -5,7 +5,8 @@ #include "btGImpactShape.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" -ATTRIBUTE_ALIGNED16(class) btCompoundFromGimpactShape : public btCompoundShape +ATTRIBUTE_ALIGNED16(class) +btCompoundFromGimpactShape : public btCompoundShape { public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -18,92 +19,87 @@ public: 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) { - 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 + 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) { - 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) + 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 + + 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 |