Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)

Thanks a lot to Francisco León Nájera for the contribution!

Extras/GIMPACTBullet/btGIMPACTMeshShape.h

@@ -0,0 +1,114 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef GIMPACT_MESH_SHAPE_H
+#define GIMPACT_MESH_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
+#include <vector>
+
+//#define GIMPACT_SHAPE_PROXYTYPE (MAX_BROADPHASE_COLLISION_TYPES + 1)
+
+//! Handle representation for each mesh part
+/*!
+Each mesh part must have a GIMPACT trimesh data (GIM_TRIMESH_DATA).
+*/
+typedef unsigned long BT_GIMPACT_TRIMESH_DATA_HANDLE;
+
+
+class BT_GIMPACT_TRIMESH_DATA_HANDLE_ARRAY: public std::vector<BT_GIMPACT_TRIMESH_DATA_HANDLE>
+{
+public:
+   
+};
+
+class btGIMPACTMeshData
+{
+protected:
+	void clearMeshParts();
+	void addMeshPart(btStridingMeshInterface* meshInterface, int part);
+	void processMeshParts(btStridingMeshInterface* meshInterface);
+public:
+	btStridingMeshInterface* m_meshInterface;	
+	BT_GIMPACT_TRIMESH_DATA_HANDLE_ARRAY m_meshes;
+
+	btGIMPACTMeshData(btStridingMeshInterface* meshInterface);
+	virtual ~btGIMPACTMeshData(); 
+};
+
+
+//! Handle representation for each mesh part
+/*!
+Each mesh part must have a GIMPACT trimesh (GIM_TRIMESH).
+*/
+typedef void * BT_GIMPACT_TRIMESH_HANDLE;
+
+
+class BT_GIMPACT_TRIMESH_HANDLE_ARRAY: public std::vector<BT_GIMPACT_TRIMESH_HANDLE>
+{
+public:
+   
+};
+
+///
+///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
+class btGIMPACTMeshShape : public ConcaveShape
+{
+protected:
+	btGIMPACTMeshData * m_meshdata;
+	btVector3 m_scale;
+	
+	void clearMeshParts();	
+	void processMeshParts(btGIMPACTMeshData * meshdata);
+
+public:
+	BT_GIMPACT_TRIMESH_HANDLE_ARRAY m_gim_trimesh_parts;
+
+
+	btGIMPACTMeshShape(btGIMPACTMeshData * meshInterface);
+
+	virtual ~btGIMPACTMeshShape();    
+
+
+	virtual int	getShapeType() const
+	{
+		return GIMPACT_SHAPE_PROXYTYPE;
+	}
+
+
+	//! Function for retrieve triangles.
+	/*!
+	It gives the triangles in local space
+	*/
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+
+	//debugging
+	virtual char*	getName()const {return "GIMPACT_SHAPE_PROXYTYPE";}
+
+	virtual void prepareMeshes(const btTransform & trans) const;
+
+	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
+	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);	
+
+};
+
+#endif //GIMPACT_MESH_SHAPE_H