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