btSdfCollisionShape.cpp

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#include "btSdfCollisionShape.h"
#include "btMiniSDF.h"
#include "LinearMath/btAabbUtil2.h"

struct btSdfCollisionShapeInternalData
{
        btVector3 m_localScaling;
        btScalar m_margin;
        btMiniSDF m_sdf;

        btSdfCollisionShapeInternalData()
                : m_localScaling(1, 1, 1),
                  m_margin(0)
        {
        }
};

bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
{
        bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
        return valid;
}
btSdfCollisionShape::btSdfCollisionShape()
{
        m_shapeType = SDF_SHAPE_PROXYTYPE;
        m_data = new btSdfCollisionShapeInternalData();

        //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
        /*unsigned int field_id=0;
        Eigen::Vector3d x (1,10,1);
        Eigen::Vector3d gradient;
        double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
        printf("dist=%g\n", dist);
        */
}
btSdfCollisionShape::~btSdfCollisionShape()
{
        delete m_data;
}

void btSdfCollisionShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
        btAssert(m_data->m_sdf.isValid());
        btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
        btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
        btScalar margin(0);
        btTransformAabb(localAabbMin, localAabbMax, margin, t, aabbMin, aabbMax);
}

void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
{
        m_data->m_localScaling = scaling;
}
const btVector3& btSdfCollisionShape::getLocalScaling() const
{
        return m_data->m_localScaling;
}
void btSdfCollisionShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
{
        inertia.setValue(0, 0, 0);
}
const char* btSdfCollisionShape::getName() const
{
        return "btSdfCollisionShape";
}
void btSdfCollisionShape::setMargin(btScalar margin)
{
        m_data->m_margin = margin;
}
btScalar btSdfCollisionShape::getMargin() const
{
        return m_data->m_margin;
}

void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{
        //not yet
}

bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
{
        int field = 0;
        btVector3 grad;
        double dist;
        bool hasResult = m_data->m_sdf.interpolate(field, dist, ptInSDF, &grad);
        if (hasResult)
        {
                normal.setValue(grad[0], grad[1], grad[2]);
                distOut = dist;
        }
        return hasResult;
}