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#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
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