void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
{
btTransform T;
T.setIdentity ();
btVector3 aabbMin, aabbMax;
getAabb (T, aabbMin, aabbMax);
m_radius = radius;
m_numVoxels = 0;
btVoronoiSimplexSolver simplexSolver;
btSphereShape sphereShape(radius);
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
{
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
{
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
{
btVector3 point;
btTransform sT;
sT.setIdentity ();
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
{
btTransform sT;
sT.setIdentity ();
sT.setOrigin (point);
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
{
voxelPositions[m_numVoxels] = point;
m_numVoxels++;
}
}
}
}
}
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
for (int i = 0; i < m_numVoxels;i++)
{
m_voxelPositions[i] = voxelPositions[i];
}
btAlignedFree (voxelPositions);
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
m_totalVolume = m_numVoxels * m_volumePerVoxel;
m_radius = radius;
}
const bool NewPhysicsTrace(NewPhysTraceResults* const out, const Ogre::Vector3& start, const Ogre::Vector3& end,
const Ogre::Vector3& BBHalfExtents, const Ogre::Vector3& rotation, bool isInterior, OEngine::Physic::PhysicEngine* enginePass)
{
//if (!traceobj->incellptr)
// return false;
//if(enginePass->dynamicsWorld->getCollisionObjectArray().at(60)->getCollisionShape()->isConvex())
// std::cout << "It's convex\n";
const btVector3 btstart(start.x, start.y, start.z);
const btVector3 btend(end.x, end.y, end.z);
const btQuaternion btrot(rotation.y, rotation.x, rotation.z); //y, x, z
const btBoxShape newshape(btVector3(BBHalfExtents.x, BBHalfExtents.y, BBHalfExtents.z));
const btTransform from(btrot, btstart);
const btTransform to(btrot, btend);
// warning: unused variable ...
/*
float x = from.getOrigin().getX();
float y = from.getOrigin().getY();
float z = from.getOrigin().getZ();
float x2 = to.getOrigin().getX();
float y2 = to.getOrigin().getY();
float z2 = to.getOrigin().getZ();
*/
//std::cout << "BtFrom: " << x << "," << y << "," << z << "\n";
//std::cout << "BtTo: " << x2 << "," << y2 << "," << z2 << "\n";
//std::cout << "BtTo: " << to.getOrigin().getX() << "," << to.getOrigin().getY() << "," << to.getOrigin().getZ() << "\n";
btCollisionWorld::ClosestConvexResultCallback
newTraceCallback(btstart, btend);
newTraceCallback.m_collisionFilterMask = (traceType == collisionWorldTrace) ? Only_Collision : Only_Pickup;
enginePass->dynamicsWorld->convexSweepTest(&newshape, from, to, newTraceCallback);
//newTraceCallback.
//std::cout << "NUM: " << enginePass->dynamicsWorld->getNumCollisionObjects() << "\n";
// Copy the hit data over to our trace results struct:
out->fraction = newTraceCallback.m_closestHitFraction;
Ogre::Vector3& outhitnormal = out->hitNormal;
const btVector3& tracehitnormal = newTraceCallback.m_hitNormalWorld;
outhitnormal.x = tracehitnormal.x();
outhitnormal.y = tracehitnormal.y();
outhitnormal.z = tracehitnormal.z();
Ogre::Vector3& outhitpos = out->endPos;
const btVector3& tracehitpos = newTraceCallback.m_hitPointWorld;
outhitpos.x = tracehitpos.x();
outhitpos.y = tracehitpos.y();
outhitpos.z= tracehitpos.z();
// StartSolid test:
{
out->startSolid = false;
//btCollisionObject collision;
//collision.setCollisionShape(const_cast<btBoxShape* const>(&newshape) );
//CustomContactCallback crb;
//world.world->contactTest(&collision, crb);
//out->startSolid = crb.hit;
// If outside and underground, we're solid
if (!isInterior) //Check if we are interior
{
}
// If inside and out of the tree, we're solid
else
{
btVector3 aabbMin, aabbMax;
enginePass->broadphase->getBroadphaseAabb(aabbMin, aabbMax);
//std::cout << "AABBMIN" << aabbMin.getX() <<"," <<aabbMin.getY() << "," << aabbMin.getZ() << "\n";
//std::cout << "AABBMAX" << aabbMax.getX() <<"," <<aabbMax.getY() << "," << aabbMax.getZ() << "\n";
//std::cout << "AABBMAX" << aabbMax << "\n";
if (!TestPointAgainstAabb2(aabbMin, aabbMax, *(const btVector3* const)&(start) ) )
{
//We're solid
out->startSolid = true;
}
}
}
const bool hasHit = newTraceCallback.hasHit();
return hasHit;
}
