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;
}