mirror of https://github.com/axmolengine/axmol.git
106 lines
2.9 KiB
C
106 lines
2.9 KiB
C
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#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)
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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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