Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h

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extern/bullet2/src/BulletCollision/Gimpact/btCompoundFromGimpact.h

	#ifndef BT_COMPOUND_FROM_GIMPACT			#ifndef BT_COMPOUND_FROM_GIMPACT
	#define BT_COMPOUND_FROM_GIMPACT			#define BT_COMPOUND_FROM_GIMPACT

	#include "BulletCollision/CollisionShapes/btCompoundShape.h"			#include "BulletCollision/CollisionShapes/btCompoundShape.h"
	#include "btGImpactShape.h"			#include "btGImpactShape.h"
	#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.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			struct MyCallback : public btTriangleRaycastCallback
	{			{
	int m_ignorePart;			int m_ignorePart;
	int m_ignoreTriangleIndex;			int m_ignoreTriangleIndex;


	MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)			MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
	:btTriangleRaycastCallback(from,to),			: btTriangleRaycastCallback(from, to),
	m_ignorePart(ignorePart),			m_ignorePart(ignorePart),
	m_ignoreTriangleIndex(ignoreTriangleIndex)			m_ignoreTriangleIndex(ignoreTriangleIndex)
	{			{

	}			}
	virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)			virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
	{			{
	if (partId!=m_ignorePart \|\| triangleIndex!=m_ignoreTriangleIndex)			if (partId != m_ignorePart \|\| triangleIndex != m_ignoreTriangleIndex)
	{			{
	if (hitFraction < m_hitFraction)			if (hitFraction < m_hitFraction)
	return hitFraction;			return hitFraction;
	}			}

	return m_hitFraction;			return m_hitFraction;
	}			}
	};			};
	struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback			struct MyInternalTriangleIndexCallback : public btInternalTriangleIndexCallback
	{			{
	const btGImpactMeshShape* m_gimpactShape;			const btGImpactMeshShape* m_gimpactShape;
	btCompoundShape* m_colShape;			btCompoundShape* m_colShape;
	btScalar m_depth;			btScalar m_depth;

	MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)			MyInternalTriangleIndexCallback(btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
	:m_colShape(colShape),			: m_colShape(colShape),
	m_gimpactShape(meshShape),			m_gimpactShape(meshShape),
	m_depth(depth)			m_depth(depth)
	{			{
	}			}

	virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)			virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
	{			{
	btVector3 scale = m_gimpactShape->getLocalScaling();			btVector3 scale = m_gimpactShape->getLocalScaling();
	btVector3 v0=triangle[0]*scale;			btVector3 v0 = triangle[0] * scale;
	btVector3 v1=triangle[1]*scale;			btVector3 v1 = triangle[1] * scale;
	btVector3 v2=triangle[2]*scale;			btVector3 v2 = triangle[2] * scale;

	btVector3 centroid = (v0+v1+v2)/3;			btVector3 centroid = (v0 + v1 + v2) / 3;
	btVector3 normal = (v1-v0).cross(v2-v0);			btVector3 normal = (v1 - v0).cross(v2 - v0);
	normal.normalize();			normal.normalize();
	btVector3 rayFrom = centroid;			btVector3 rayFrom = centroid;
	btVector3 rayTo = centroid-normal*m_depth;			btVector3 rayTo = centroid - normal * m_depth;

	MyCallback cb(rayFrom,rayTo,partId,triangleIndex);			MyCallback cb(rayFrom, rayTo, partId, triangleIndex);

	m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo);			m_gimpactShape->processAllTrianglesRay(&cb, rayFrom, rayTo);
	if (cb.m_hitFraction<1)			if (cb.m_hitFraction < 1)
	{			{
	rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction);			rayTo.setInterpolate3(cb.m_from, cb.m_to, cb.m_hitFraction);
	//rayTo = cb.m_from;			//rayTo = cb.m_from;
	//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);			//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
	//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));			//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
	}			}



	btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);			btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0, v1, v2, rayTo);
	btTransform ident;			btTransform ident;
	ident.setIdentity();			ident.setIdentity();
	m_colShape->addChildShape(ident,tet);			m_colShape->addChildShape(ident, tet);
	}			}
	};			};

	btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)			btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
	{			{
	btCompoundShape* colShape = new btCompoundShape();			btCompoundShape* colShape = new btCompoundFromGimpactShape();

	btTransform tr;			btTransform tr;
	tr.setIdentity();			tr.setIdentity();

	MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth);			MyInternalTriangleIndexCallback cb(colShape, gimpactMesh, depth);
	btVector3 aabbMin,aabbMax;			btVector3 aabbMin, aabbMax;
	gimpactMesh->getAabb(tr,aabbMin,aabbMax);			gimpactMesh->getAabb(tr, aabbMin, aabbMax);
	gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax);			gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb, aabbMin, aabbMax);

	return colShape;			return colShape;
	}			}

	#endif //BT_COMPOUND_FROM_GIMPACT			#endif //BT_COMPOUND_FROM_GIMPACT
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