Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp

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				#include "btSdfCollisionShape.h"
				#include "btMiniSDF.h"
				#include "LinearMath/btAabbUtil2.h"

				struct btSdfCollisionShapeInternalData
				{
				btVector3 m_localScaling;
				btScalar m_margin;
				btMiniSDF m_sdf;

				btSdfCollisionShapeInternalData()
				: m_localScaling(1, 1, 1),
				m_margin(0)
				{
				}
				};

				bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
				{
				bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
				return valid;
				}
				btSdfCollisionShape::btSdfCollisionShape()
				{
				m_shapeType = SDF_SHAPE_PROXYTYPE;
				m_data = new btSdfCollisionShapeInternalData();

				//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
				/*unsigned int field_id=0;
				Eigen::Vector3d x (1,10,1);
				Eigen::Vector3d gradient;
				double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
				printf("dist=%g\n", dist);
				*/
				}
				btSdfCollisionShape::~btSdfCollisionShape()
				{
				delete m_data;
				}

				void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
				{
				btAssert(m_data->m_sdf.isValid());
				btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
				btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
				btScalar margin(0);
				btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
				}

				void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
				{
				m_data->m_localScaling = scaling;
				}
				const btVector3& btSdfCollisionShape::getLocalScaling() const
				{
				return m_data->m_localScaling;
				}
				void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
				{
				inertia.setValue(0, 0, 0);
				}
				const char* btSdfCollisionShape::getName() const
				{
				return "btSdfCollisionShape";
				}
				void btSdfCollisionShape::setMargin(btScalar margin)
				{
				m_data->m_margin = margin;
				}
				btScalar btSdfCollisionShape::getMargin() const
				{
				return m_data->m_margin;
				}

				void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
				{
				//not yet
				}

				bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
				{
				int field = 0;
				btVector3 grad;
				double dist;
				bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
				if (hasResult)
				{
				normal.setValue(grad[0], grad[1], grad[2]);
				distOut = dist;
				}
				return hasResult;
				}