95 lines
2.3 KiB
C++
95 lines
2.3 KiB
C++
#include "btSdfCollisionShape.h"
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#include "btMiniSDF.h"
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#include "LinearMath/btAabbUtil2.h"
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ATTRIBUTE_ALIGNED16(struct)
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btSdfCollisionShapeInternalData
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btVector3 m_localScaling;
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btScalar m_margin;
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btMiniSDF m_sdf;
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btSdfCollisionShapeInternalData()
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: m_localScaling(1, 1, 1),
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m_margin(0)
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{
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}
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};
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bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
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{
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bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
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return valid;
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}
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btSdfCollisionShape::btSdfCollisionShape()
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{
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m_shapeType = SDF_SHAPE_PROXYTYPE;
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m_data = new btSdfCollisionShapeInternalData();
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//"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
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/*unsigned int field_id=0;
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Eigen::Vector3d x (1,10,1);
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Eigen::Vector3d gradient;
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double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
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printf("dist=%g\n", dist);
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*/
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}
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btSdfCollisionShape::~btSdfCollisionShape()
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{
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delete m_data;
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}
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void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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btAssert(m_data->m_sdf.isValid());
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btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
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btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
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btScalar margin(0);
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btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
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}
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void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
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{
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m_data->m_localScaling = scaling;
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}
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const btVector3& btSdfCollisionShape::getLocalScaling() const
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{
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return m_data->m_localScaling;
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}
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void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
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{
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inertia.setValue(0, 0, 0);
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}
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const char* btSdfCollisionShape::getName() const
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{
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return "btSdfCollisionShape";
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}
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void btSdfCollisionShape::setMargin(btScalar margin)
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{
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m_data->m_margin = margin;
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}
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btScalar btSdfCollisionShape::getMargin() const
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{
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return m_data->m_margin;
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}
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void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
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{
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//not yet
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}
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bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
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{
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int field = 0;
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btVector3 grad;
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double dist;
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bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
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if (hasResult)
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{
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normal.setValue(grad[0], grad[1], grad[2]);
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distOut = dist;
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}
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return hasResult;
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}
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