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