renamed ConcaveShape to btConcaveShape

added btHeightfieldTerrainShape (not done yet)

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -165,7 +165,7 @@ void OGL_displaylist_register_shape(btCollisionShape * shape)
 
 	if (shape->isConcave())
 	{
-		ConcaveShape* concaveMesh = (ConcaveShape*) shape;			
+		btConcaveShape* concaveMesh = (btConcaveShape*) shape;			
 		//todo pass camera, for some culling		
 		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
 	}
@@ -470,7 +470,7 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
 	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 //		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
 		{
-			ConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
+			btConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
 			//btVector3 aabbMax(1e30f,1e30f,1e30f);
 			//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
 

Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.cpp

@@ -332,8 +332,8 @@ void bt_concave_concave_collision(btConcaveConcaveCollisionAlgorithm * algorithm
 					  btCollisionObject* tribody1,
 					  btManifoldResult* resultOut)
 {
-	ConcaveShape*	tri0b = static_cast<ConcaveShape*>( tribody0->getCollisionShape());
-	ConcaveShape*	tri1b = static_cast<ConcaveShape*>( tribody1->getCollisionShape());
+	btConcaveShape*	tri0b = static_cast<btConcaveShape*>( tribody0->getCollisionShape());
+	btConcaveShape*	tri1b = static_cast<btConcaveShape*>( tribody1->getCollisionShape());
 
 	//Get First AABB
 	btVector3 aabbMin0,aabbMax0;

Extras/GIMPACTBullet/btGIMPACTMeshShape.h

@@ -65,7 +65,7 @@ public:
 
 ///
 ///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class btGIMPACTMeshShape : public ConcaveShape
+class btGIMPACTMeshShape : public btConcaveShape
 {
 protected:
 	btGIMPACTMeshData * m_meshdata;

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -44,6 +44,8 @@ CONCAVE_SHAPES_START_HERE,
 	TRIANGLE_MESH_SHAPE_PROXYTYPE,
 	///used for demo integration FAST/Swift collision library and Bullet
 	FAST_CONCAVE_MESH_PROXYTYPE,
+	//terrain
+	TERRAIN_SHAPE_PROXYTYPE,
 ///Used for GIMPACT Trimesh integration
 	GIMPACT_SHAPE_PROXYTYPE,
 	

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -172,7 +172,7 @@ void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* bod
 
 
 		btCollisionObject*	triOb = triBody;
-		ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->getCollisionShape());
+		btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
 		
 		if (convexBody->getCollisionShape()->isConvex())
 		{
@@ -288,7 +288,7 @@ float btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject
 
 		btCollisionObject* concavebody = triBody;
 
-		ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->getCollisionShape();
+		btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
 		
 		if (triangleMesh)
 		{

src/BulletCollision/CollisionShapes/btConcaveShape.cpp

@@ -17,12 +17,12 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-ConcaveShape::ConcaveShape() : m_collisionMargin(0.f)
+btConcaveShape::btConcaveShape() : m_collisionMargin(0.f)
 {
 
 }
 
-ConcaveShape::~ConcaveShape()
+btConcaveShape::~btConcaveShape()
 {
 
 }

src/BulletCollision/CollisionShapes/btConcaveShape.h

@@ -24,15 +24,15 @@ subject to the following restrictions:
 
 ///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
 ///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
-class ConcaveShape : public btCollisionShape
+class btConcaveShape : public btCollisionShape
 {
 protected:
 	float m_collisionMargin;
 
 public:
-	ConcaveShape();
+	btConcaveShape();
 
-	virtual ~ConcaveShape();
+	virtual ~btConcaveShape();
 
 	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
 

src/BulletCollision/CollisionShapes/btEmptyShape.h

@@ -29,7 +29,7 @@ subject to the following restrictions:
 
 /// btEmptyShape is a collision shape without actual collision detection. 
 ///It can be replaced by another shape during runtime
-class btEmptyShape	: public ConcaveShape
+class btEmptyShape	: public btConcaveShape
 {
 public:
 	btEmptyShape();

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -0,0 +1,92 @@
+/*
+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.
+*/
+
+#include "btHeightfieldTerrainShape.h"
+
+#include "LinearMath/btTransformUtil.h"
+
+
+btHeightfieldTerrainShape::btHeightfieldTerrainShape()
+:m_localScaling(0.f,0.f,0.f)
+{
+}
+
+
+btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
+{
+}
+
+
+
+void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+	aabbMax.setValue(1e30f,1e30f,1e30f);
+
+}
+
+
+
+
+void	btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+
+	btVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
+	btScalar radius = halfExtents.length();
+	btVector3 center = (aabbMax + aabbMin) * 0.5f;
+	
+	//TODO
+	//this is where the triangles are generated, given AABB and plane equation (normal/constant)
+/*
+	btVector3 tangentDir0,tangentDir1;
+
+	//tangentDir0/tangentDir1 can be precalculated
+	btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
+
+	btVector3 supVertex0,supVertex1;
+
+	btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
+	
+	btVector3 triangle[3];
+	triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+	triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
+	triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,0);
+
+	triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
+	triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
+	triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
+
+	callback->processTriangle(triangle,0,1);
+*/
+
+}
+
+void	btHeightfieldTerrainShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+{
+	//moving concave objects not supported
+	
+	inertia.setValue(0.f,0.f,0.f);
+}
+
+void	btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
+{
+	m_localScaling = scaling;
+}
+const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
+{
+	return m_localScaling;
+}

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -0,0 +1,58 @@
+/*
+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 HEIGHTFIELD_TERRAIN_SHAPE_H
+#define HEIGHTFIELD_TERRAIN_SHAPE_H
+
+#include "BulletCollision/CollisionShapes/btConcaveShape.h"
+
+///btHeightfieldTerrainShape simulates a 2D heightfield terrain 
+class btHeightfieldTerrainShape : public btConcaveShape
+{
+protected:
+	btVector3	m_localAabbMin;
+	btVector3	m_localAabbMax;
+	
+	//todo: terrain data
+
+	btVector3	m_localScaling;
+
+public:
+	btHeightfieldTerrainShape();
+
+	virtual ~btHeightfieldTerrainShape();
+
+
+	virtual int	getShapeType() const
+	{
+		return TERRAIN_SHAPE_PROXYTYPE;
+	}
+
+	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+
+	virtual void	processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
+
+	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	virtual const btVector3& getLocalScaling() const;
+	
+	//debugging
+	virtual char*	getName()const {return "HEIGHTFIELD";}
+
+};
+
+#endif //HEIGHTFIELD_TERRAIN_SHAPE_H

src/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 ///StaticPlaneShape simulates an 'infinite' plane by dynamically reporting triangles approximated by intersection of the plane with the AABB.
 ///Assumed is that the other objects is not also infinite, so a reasonable sized AABB.
-class btStaticPlaneShape : public ConcaveShape
+class btStaticPlaneShape : public btConcaveShape
 {
 protected:
 	btVector3	m_localAabbMin;

src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 
 ///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
-class btTriangleMeshShape : public ConcaveShape
+class btTriangleMeshShape : public btConcaveShape
 {
 protected:
 	btStridingMeshInterface* m_meshInterface;