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Preparation to add signed distance field collision detection.

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btMiniSDF is based on https://github.com/InteractiveComputerGraphics/Discregrid
This commit is contained in:
erwincoumans
2018-04-08 21:10:03 -07:00
parent 380e59be6a
commit 698836d54e
7 changed files with 858 additions and 14 deletions
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30
src/BulletCollision/CollisionShapes/btSdfCollisionShape.h Normal file
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#ifndef BT_SDF_COLLISION_SHAPE_H
#define BT_SDF_COLLISION_SHAPE_H
#include "btConcaveShape.h"
class btSdfCollisionShape : public btConcaveShape
{
struct btSdfCollisionShapeInternalData* m_data;
public:
btSdfCollisionShape();
virtual ~btSdfCollisionShape();
bool initializeSDF(const char* sdfData, int sizeInBytes);
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual const char* getName()const;
virtual void setMargin(btScalar margin);
virtual btScalar getMargin() const;
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
};
#endif //BT_SDF_COLLISION_SHAPE_H