converted FractureDemo

examples/FractureDemo/btFractureBody.h

@@ -0,0 +1,78 @@
+
+#ifndef BT_FRACTURE_BODY
+#define BT_FRACTURE_BODY
+
+class btCollisionShape;
+class btDynamicsWorld;
+class btCollisionWorld;
+class btCompoundShape;
+class btManifoldPoint;
+
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+#define CUSTOM_FRACTURE_TYPE (btRigidBody::CO_USER_TYPE+1)
+
+
+struct btConnection
+{
+	
+	btCollisionShape*	m_childShape0;
+	btCollisionShape*	m_childShape1;
+	int	m_childIndex0;
+	int	m_childIndex1;
+	btScalar	m_strength;
+};
+
+class btFractureBody : public btRigidBody
+{
+	//connections
+public:
+
+	btDynamicsWorld*	m_world;
+	btAlignedObjectArray<btScalar>	m_masses;
+	btAlignedObjectArray<btConnection>	m_connections;
+
+
+
+	btFractureBody(	const btRigidBodyConstructionInfo& constructionInfo, btDynamicsWorld*	world)
+		:btRigidBody(constructionInfo),
+		m_world(world)
+	{
+		m_masses.push_back(constructionInfo.m_mass);
+		m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;
+	}
+
+
+
+	///btRigidBody constructor for backwards compatibility. 
+	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
+	btFractureBody(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia, btScalar* masses, int numMasses, btDynamicsWorld*	world)
+		:btRigidBody(mass,motionState,collisionShape,localInertia),
+		m_world(world)
+	{
+
+		for (int i=0;i<numMasses;i++)
+			m_masses.push_back(masses[i]);
+
+		m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;
+	}
+
+	
+
+	void	recomputeConnectivity(btCollisionWorld* world);
+	
+
+	static btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia);
+	
+	static btCompoundShape* shiftTransformDistributeMass(btCompoundShape* boxCompound,btScalar mass,btTransform& shift);
+	
+	static bool collisionCallback(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
+
+};
+
+
+void fractureCallback(btDynamicsWorld* world, btScalar timeStep);
+void glueCallback(btDynamicsWorld* world, btScalar timeStep);
+
+#endif //BT_FRACTURE_BODY