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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"
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));
}
btConvexHullShape* tet = new btConvexHullShape();
tet->addPoint(v0);
tet->addPoint(v1);
tet->addPoint(v2);
tet->addPoint(rayTo);
btTransform ident;
ident.setIdentity();
m_colShape->addChildShape(ident,tet);
}
};
btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
{
btCompoundShape* colShape = new btCompoundShape();
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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