mirror of
https://github.com/bulletphysics/bullet3
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79 lines
2.1 KiB
C
79 lines
2.1 KiB
C
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#ifndef BT_FRACTURE_BODY
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#define BT_FRACTURE_BODY
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class btCollisionShape;
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class btDynamicsWorld;
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class btCollisionWorld;
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class btCompoundShape;
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class btManifoldPoint;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#define CUSTOM_FRACTURE_TYPE (btRigidBody::CO_USER_TYPE+1)
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struct btConnection
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{
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btCollisionShape* m_childShape0;
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btCollisionShape* m_childShape1;
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int m_childIndex0;
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int m_childIndex1;
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btScalar m_strength;
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};
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class btFractureBody : public btRigidBody
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{
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//connections
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public:
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btDynamicsWorld* m_world;
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btAlignedObjectArray<btScalar> m_masses;
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btAlignedObjectArray<btConnection> m_connections;
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btFractureBody( const btRigidBodyConstructionInfo& constructionInfo, btDynamicsWorld* world)
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:btRigidBody(constructionInfo),
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m_world(world)
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{
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m_masses.push_back(constructionInfo.m_mass);
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m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;
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}
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///btRigidBody constructor for backwards compatibility.
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///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
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btFractureBody( btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia, btScalar* masses, int numMasses, btDynamicsWorld* world)
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:btRigidBody(mass,motionState,collisionShape,localInertia),
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m_world(world)
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{
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for (int i=0;i<numMasses;i++)
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m_masses.push_back(masses[i]);
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m_internalType=CUSTOM_FRACTURE_TYPE+CO_RIGID_BODY;
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}
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void recomputeConnectivity(btCollisionWorld* world);
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static btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia);
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static btCompoundShape* shiftTransformDistributeMass(btCompoundShape* boxCompound,btScalar mass,btTransform& shift);
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static bool collisionCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
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};
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void fractureCallback(btDynamicsWorld* world, btScalar timeStep);
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void glueCallback(btDynamicsWorld* world, btScalar timeStep);
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#endif //BT_FRACTURE_BODY
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