mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-14 16:14:38 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
128
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.cpp
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128
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.cpp
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#include "CollisionSdkC_Api.h"
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#include "Internal/CollisionSdkInterface.h"
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#include "Internal/Bullet2CollisionSdk.h"
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#include "Internal/RealTimeBullet3CollisionSdk.h"
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/* Collision World */
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plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createCollisionWorld(maxNumObjsCapacity, maxNumShapesCapacity, maxNumPairsCapacity);
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}
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void plDeleteCollisionWorld(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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if (sdk && worldHandle)
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{
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sdk->deleteCollisionWorld(worldHandle);
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}
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}
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plCollisionSdkHandle plCreateBullet2CollisionSdk()
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{
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#ifndef DISABLE_BULLET2_COLLISION_SDK
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return Bullet2CollisionSdk::createBullet2SdkHandle();
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#else
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return 0;
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#endif //DISABLE_BULLET2_COLLISION_SDK
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}
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plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk()
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{
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#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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return RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle();
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#else
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return 0;
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#endif
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}
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void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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delete sdk;
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}
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plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createSphereShape(worldHandle, radius);
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}
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plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createPlaneShape(worldHandle, planeNormalX, planeNormalY, planeNormalZ, planeConstant);
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}
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plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createCapsuleShape(worldHandle, radius, height, capsuleAxis);
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}
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plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createCompoundShape(worldHandle);
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}
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void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->addChildShape(worldHandle, compoundShape, childShape, childPos, childOrn);
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}
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void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shapeHandle)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->deleteShape(worldHandle, shapeHandle);
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}
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plCollisionObjectHandle plCreateCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, void* userData, int userIndex, plCollisionShapeHandle cshape, plVector3 childPos, plQuaternion childOrn)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->createCollisionObject(worldHandle, userData, userIndex, cshape, childPos, childOrn);
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}
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void plDeleteCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->deleteCollisionObject(body);
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}
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void plSetCollisionObjectTransform(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 position, plQuaternion orientation)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->setCollisionObjectTransform(worldHandle, objHandle, position, orientation);
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}
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void plAddCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->addCollisionObject(world, object);
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}
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void plRemoveCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->removeCollisionObject(world, object);
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}
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/* Collision Queries */
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int plCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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return sdk->collide(worldHandle, colA, colB, pointsOut, pointCapacity);
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}
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void plWorldCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world,
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plNearCallback filter, void* userData)
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{
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CollisionSdkInterface* sdk = (CollisionSdkInterface*)collisionSdkHandle;
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sdk->collideWorld(world, filter, userData);
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}
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104
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.h
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104
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.h
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#ifndef LW_COLLISION_C_API_H
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#define LW_COLLISION_C_API_H
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#define PL_DECLARE_HANDLE(name) \
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typedef struct name##__ \
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{ \
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int unused; \
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} * name
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#ifdef BT_USE_DOUBLE_PRECISION
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typedef double plReal;
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#else
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typedef float plReal;
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#endif
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typedef plReal plVector3[3];
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typedef plReal plQuaternion[4];
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/** Particular collision SDK (C-API) */
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PL_DECLARE_HANDLE(plCollisionSdkHandle);
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/** Collision world, belonging to some collision SDK (C-API)*/
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PL_DECLARE_HANDLE(plCollisionWorldHandle);
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/** Collision object that can be part of a collision World (C-API)*/
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PL_DECLARE_HANDLE(plCollisionObjectHandle);
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/** Collision Shape/Geometry, property of a collision object (C-API)*/
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PL_DECLARE_HANDLE(plCollisionShapeHandle);
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/* Collision SDK */
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extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
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#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
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#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
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extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
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//extern int plGetSdkWorldCreationIntParameter();
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//extern int plSetSdkWorldCreationIntParameter(int newValue);
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/* Collision World */
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extern plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
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extern void plDeleteCollisionWorld(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world);
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extern void plAddCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
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extern void plRemoveCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
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/* Collision Object */
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extern plCollisionObjectHandle plCreateCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape, plVector3 startPosition, plQuaternion startOrientation);
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extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body);
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extern void plSetCollisionObjectTransform(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 startPosition, plQuaternion startOrientation);
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/* Collision Shape definition */
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extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
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extern plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis);
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extern plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant);
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extern plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle);
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extern void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn);
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extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
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/* Contact Results */
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struct lwContactPoint
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{
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plVector3 m_ptOnAWorld;
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plVector3 m_ptOnBWorld;
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plVector3 m_normalOnB;
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plReal m_distance;
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};
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/* Collision Filtering */
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typedef void (*plNearCallback)(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData,
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plCollisionObjectHandle objA, plCollisionObjectHandle objB);
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/* Collision Queries */
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extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity);
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extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
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plNearCallback filter, void* userData);
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#ifdef __cplusplus
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}
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#endif
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#endif //LW_COLLISION_C_API_H
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@ -0,0 +1,360 @@
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#include "CollisionTutorialBullet2.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btTransform.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../RenderingExamples/TimeSeriesCanvas.h"
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#include "stb_image/stb_image.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "CollisionSdkC_Api.h"
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#include "LinearMath/btQuickprof.h"
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///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html
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///todo: use the 'userData' to prevent this use of global variables
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static int gTotalPoints = 0;
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const int sPointCapacity = 10000;
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const int sNumCompounds = 10;
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const int sNumSpheres = 10;
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lwContactPoint pointsOut[sPointCapacity];
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int numNearCallbacks = 0;
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static btVector4 sColors[4] =
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{
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btVector4(1, 0.7, 0.7, 1),
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btVector4(1, 1, 0.7, 1),
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btVector4(0.7, 1, 0.7, 1),
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btVector4(0.7, 1, 1, 1),
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};
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void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
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{
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numNearCallbacks++;
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int remainingCapacity = sPointCapacity - gTotalPoints;
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btAssert(remainingCapacity > 0);
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if (remainingCapacity > 0)
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{
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lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
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int numNewPoints = plCollide(sdkHandle, worldHandle, objA, objB, pointPtr, remainingCapacity);
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btAssert(numNewPoints <= remainingCapacity);
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gTotalPoints += numNewPoints;
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}
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}
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class CollisionTutorialBullet2 : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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int m_tutorialIndex;
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TimeSeriesCanvas* m_timeSeriesCanvas0;
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plCollisionSdkHandle m_collisionSdkHandle;
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plCollisionWorldHandle m_collisionWorldHandle;
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// int m_stage;
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// int m_counter;
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public:
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CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
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: m_app(guiHelper->getAppInterface()),
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m_guiHelper(guiHelper),
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m_tutorialIndex(tutorialIndex),
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m_timeSeriesCanvas0(0),
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m_collisionSdkHandle(0),
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m_collisionWorldHandle(0)
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// m_stage(0),
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// m_counter(0)
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{
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gTotalPoints = 0;
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m_app->setUpAxis(1);
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switch (m_tutorialIndex)
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{
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case TUT_SPHERE_PLANE_RTB3:
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case TUT_SPHERE_PLANE_BULLET2:
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{
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if (m_tutorialIndex == TUT_SPHERE_PLANE_BULLET2)
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{
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m_collisionSdkHandle = plCreateBullet2CollisionSdk();
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}
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else
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{
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#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
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#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
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}
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if (m_collisionSdkHandle)
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{
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int maxNumObjsCapacity = 1024;
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int maxNumShapesCapacity = 1024;
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int maxNumPairsCapacity = 16384;
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btAlignedObjectArray<plCollisionObjectHandle> colliders;
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m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle, maxNumObjsCapacity, maxNumShapesCapacity, maxNumPairsCapacity);
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//create objects, do query etc
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{
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float radius = 1.f;
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void* userPointer = 0;
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{
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for (int j = 0; j < sNumCompounds; j++)
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{
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plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle, m_collisionWorldHandle);
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for (int i = 0; i < sNumSpheres; i++)
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{
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btVector3 childPos(i * 1.5, 0, 0);
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btQuaternion childOrn(0, 0, 0, 1);
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btVector3 scaling(radius, radius, radius);
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plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle, radius);
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plAddChildShape(m_collisionSdkHandle, m_collisionWorldHandle, compoundShape, childShape, childPos, childOrn);
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//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
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}
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if (m_tutorialIndex == TUT_SPHERE_PLANE_BULLET2)
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{
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btCollisionShape* colShape = (btCollisionShape*)compoundShape;
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m_guiHelper->createCollisionShapeGraphicsObject(colShape);
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}
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else
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{
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}
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{
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btVector3 pos(j * sNumSpheres * 1.5, -2.4, 0);
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btQuaternion orn(0, 0, 0, 1);
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plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle, userPointer, -1, compoundShape, pos, orn);
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if (m_tutorialIndex == TUT_SPHERE_PLANE_BULLET2)
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{
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btCollisionObject* colObj = (btCollisionObject*)colObjHandle;
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btVector4 color = sColors[j & 3];
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m_guiHelper->createCollisionObjectGraphicsObject(colObj, color);
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colliders.push_back(colObjHandle);
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plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle, colObjHandle);
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}
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}
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}
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}
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}
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{
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plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle, 0, 1, 0, -3.5);
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btVector3 pos(0, 0, 0);
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btQuaternion orn(0, 0, 0, 1);
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void* userPointer = 0;
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plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle, userPointer, 0, colShape, pos, orn);
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colliders.push_back(colObj);
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plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle, colObj);
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}
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int numContacts = plCollide(m_collisionSdkHandle, m_collisionWorldHandle, colliders[0], colliders[1], pointsOut, sPointCapacity);
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printf("numContacts = %d\n", numContacts);
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void* myUserPtr = 0;
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plWorldCollide(m_collisionSdkHandle, m_collisionWorldHandle, myNearCallback, myUserPtr);
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printf("total points=%d\n", gTotalPoints);
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//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
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//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
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//plDeleteShape(m_collisionSdkHandle,colShape);
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}
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/*
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m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
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|
||||
m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
|
||||
m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
|
||||
m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
|
||||
m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
|
||||
*/
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
{
|
||||
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface, 512, 256, "Unknown");
|
||||
m_timeSeriesCanvas0->setupTimeSeries(1, 60, 0);
|
||||
}
|
||||
};
|
||||
|
||||
{
|
||||
int boxId = m_app->registerCubeShape(100, 0.01, 100);
|
||||
b3Vector3 pos = b3MakeVector3(0, -3.5, 0);
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
b3Vector4 color = b3MakeVector4(1, 1, 1, 1);
|
||||
b3Vector3 scaling = b3MakeVector3(1, 1, 1);
|
||||
m_app->m_renderer->registerGraphicsInstance(boxId, pos, orn, color, scaling);
|
||||
}
|
||||
|
||||
{
|
||||
int textureIndex = -1;
|
||||
|
||||
if (1)
|
||||
{
|
||||
int width, height, n;
|
||||
|
||||
const char* filename = "data/cube.png";
|
||||
const unsigned char* image = 0;
|
||||
|
||||
const char* prefix[] = {"./", "../", "../../", "../../../", "../../../../"};
|
||||
int numprefix = sizeof(prefix) / sizeof(const char*);
|
||||
|
||||
for (int i = 0; !image && i < numprefix; i++)
|
||||
{
|
||||
char relativeFileName[1024];
|
||||
sprintf(relativeFileName, "%s%s", prefix[i], filename);
|
||||
image = stbi_load(relativeFileName, &width, &height, &n, 3);
|
||||
}
|
||||
|
||||
b3Assert(image);
|
||||
if (image)
|
||||
{
|
||||
textureIndex = m_app->m_renderer->registerTexture(image, width, height);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
m_app->m_renderer->writeTransforms();
|
||||
}
|
||||
virtual ~CollisionTutorialBullet2()
|
||||
{
|
||||
delete m_timeSeriesCanvas0;
|
||||
|
||||
plDeleteCollisionWorld(m_collisionSdkHandle, m_collisionWorldHandle);
|
||||
|
||||
plDeleteCollisionSdk(m_collisionSdkHandle);
|
||||
|
||||
m_timeSeriesCanvas0 = 0;
|
||||
}
|
||||
|
||||
virtual void initPhysics()
|
||||
{
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Reset();
|
||||
#endif
|
||||
|
||||
void* myUserPtr = 0;
|
||||
|
||||
gTotalPoints = 0;
|
||||
numNearCallbacks = 0;
|
||||
{
|
||||
BT_PROFILE("plWorldCollide");
|
||||
if (m_collisionSdkHandle && m_collisionWorldHandle)
|
||||
{
|
||||
plWorldCollide(m_collisionSdkHandle, m_collisionWorldHandle, myNearCallback, myUserPtr);
|
||||
}
|
||||
}
|
||||
|
||||
#if 0
|
||||
switch (m_tutorialIndex)
|
||||
{
|
||||
case TUT_SPHERE_SPHERE:
|
||||
{
|
||||
if (m_timeSeriesCanvas0)
|
||||
{
|
||||
float xPos = 0.f;
|
||||
float xVel = 1.f;
|
||||
m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
|
||||
m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
#endif
|
||||
|
||||
if (m_timeSeriesCanvas0)
|
||||
m_timeSeriesCanvas0->nextTick();
|
||||
|
||||
// m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
|
||||
|
||||
m_app->m_renderer->writeTransforms();
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Increment_Frame_Counter();
|
||||
#endif
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
if (m_app && m_app->m_renderer)
|
||||
{
|
||||
m_app->m_renderer->renderScene();
|
||||
|
||||
m_app->m_renderer->clearZBuffer();
|
||||
|
||||
m_app->drawText3D("X", 1, 0, 0, 1);
|
||||
m_app->drawText3D("Y", 0, 1, 0, 1);
|
||||
m_app->drawText3D("Z", 0, 0, 1, 1);
|
||||
|
||||
for (int i = 0; i < gTotalPoints; i++)
|
||||
{
|
||||
const lwContactPoint& contact = pointsOut[i];
|
||||
btVector3 color(1, 1, 0);
|
||||
btScalar lineWidth = 3;
|
||||
if (contact.m_distance < 0)
|
||||
{
|
||||
color.setValue(1, 0, 0);
|
||||
}
|
||||
m_app->m_renderer->drawLine(contact.m_ptOnAWorld, contact.m_ptOnBWorld, color, lineWidth);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawFlags)
|
||||
{
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 10.5;
|
||||
float pitch = -32;
|
||||
float yaw = 136;
|
||||
float targetPos[3] = {0, 0, 0};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
#ifndef COLLISION_TUTORIAL_H
|
||||
#define COLLISION_TUTORIAL_H
|
||||
|
||||
enum EnumCollisionTutorialTypes
|
||||
{
|
||||
TUT_SPHERE_PLANE_BULLET2 = 0,
|
||||
TUT_SPHERE_PLANE_RTB3,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //COLLISION_TUTORIAL_H
|
||||
|
|
@ -0,0 +1,273 @@
|
|||
#include "Bullet2CollisionSdk.h"
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
struct Bullet2CollisionSdkInternalData
|
||||
{
|
||||
btCollisionConfiguration* m_collisionConfig;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btBroadphaseInterface* m_aabbBroadphase;
|
||||
btCollisionWorld* m_collisionWorld;
|
||||
|
||||
Bullet2CollisionSdkInternalData()
|
||||
: m_collisionConfig(0),
|
||||
m_dispatcher(0),
|
||||
m_aabbBroadphase(0),
|
||||
m_collisionWorld(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
Bullet2CollisionSdk::Bullet2CollisionSdk()
|
||||
{
|
||||
m_internalData = new Bullet2CollisionSdkInternalData;
|
||||
}
|
||||
|
||||
Bullet2CollisionSdk::~Bullet2CollisionSdk()
|
||||
{
|
||||
delete m_internalData;
|
||||
m_internalData = 0;
|
||||
}
|
||||
|
||||
plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
|
||||
{
|
||||
m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
|
||||
|
||||
m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
|
||||
m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
|
||||
m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
|
||||
m_internalData->m_aabbBroadphase,
|
||||
m_internalData->m_collisionConfig);
|
||||
return (plCollisionWorldHandle)m_internalData->m_collisionWorld;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*)worldHandle;
|
||||
btAssert(m_internalData->m_collisionWorld == world);
|
||||
|
||||
if (m_internalData->m_collisionWorld == world)
|
||||
{
|
||||
delete m_internalData->m_collisionWorld;
|
||||
m_internalData->m_collisionWorld = 0;
|
||||
delete m_internalData->m_aabbBroadphase;
|
||||
m_internalData->m_aabbBroadphase = 0;
|
||||
delete m_internalData->m_dispatcher;
|
||||
m_internalData->m_dispatcher = 0;
|
||||
delete m_internalData->m_collisionConfig;
|
||||
m_internalData->m_collisionConfig = 0;
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
|
||||
{
|
||||
btSphereShape* sphereShape = new btSphereShape(radius);
|
||||
return (plCollisionShapeHandle)sphereShape;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant)
|
||||
{
|
||||
btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX, planeNormalY, planeNormalZ), planeConstant);
|
||||
return (plCollisionShapeHandle)planeShape;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis)
|
||||
{
|
||||
btCapsuleShape* capsule = 0;
|
||||
|
||||
switch (capsuleAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
capsule = new btCapsuleShapeX(radius, height);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
capsule = new btCapsuleShape(radius, height);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
capsule = new btCapsuleShapeZ(radius, height);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
return (plCollisionShapeHandle)capsule;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
return (plCollisionShapeHandle) new btCompoundShape();
|
||||
}
|
||||
void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle, plVector3 childPos, plQuaternion childOrn)
|
||||
{
|
||||
btCompoundShape* compound = (btCompoundShape*)compoundShapeHandle;
|
||||
btCollisionShape* childShape = (btCollisionShape*)childShapeHandle;
|
||||
btTransform localTrans;
|
||||
localTrans.setOrigin(btVector3(childPos[0], childPos[1], childPos[2]));
|
||||
localTrans.setRotation(btQuaternion(childOrn[0], childOrn[1], childOrn[2], childOrn[3]));
|
||||
compound->addChildShape(localTrans, childShape);
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
|
||||
{
|
||||
btCollisionShape* shape = (btCollisionShape*)shapeHandle;
|
||||
delete shape;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*)worldHandle;
|
||||
btCollisionObject* colObj = (btCollisionObject*)objectHandle;
|
||||
btAssert(world && colObj);
|
||||
if (world == m_internalData->m_collisionWorld && colObj)
|
||||
{
|
||||
world->addCollisionObject(colObj);
|
||||
}
|
||||
}
|
||||
void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*)worldHandle;
|
||||
btCollisionObject* colObj = (btCollisionObject*)objectHandle;
|
||||
btAssert(world && colObj);
|
||||
if (world == m_internalData->m_collisionWorld && colObj)
|
||||
{
|
||||
world->removeCollisionObject(colObj);
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle,
|
||||
plVector3 startPosition, plQuaternion startOrientation)
|
||||
|
||||
{
|
||||
btCollisionShape* colShape = (btCollisionShape*)shapeHandle;
|
||||
btAssert(colShape);
|
||||
if (colShape)
|
||||
{
|
||||
btCollisionObject* colObj = new btCollisionObject;
|
||||
colObj->setUserIndex(userIndex);
|
||||
colObj->setUserPointer(userPointer);
|
||||
colObj->setCollisionShape(colShape);
|
||||
btTransform tr;
|
||||
tr.setOrigin(btVector3(startPosition[0], startPosition[1], startPosition[2]));
|
||||
tr.setRotation(btQuaternion(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]));
|
||||
colObj->setWorldTransform(tr);
|
||||
return (plCollisionObjectHandle)colObj;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
|
||||
{
|
||||
btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
|
||||
delete colObj;
|
||||
}
|
||||
void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
|
||||
plVector3 position, plQuaternion orientation)
|
||||
{
|
||||
btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
|
||||
btTransform tr;
|
||||
tr.setOrigin(btVector3(position[0], position[1], position[2]));
|
||||
tr.setRotation(btQuaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
|
||||
colObj->setWorldTransform(tr);
|
||||
}
|
||||
|
||||
struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
|
||||
{
|
||||
int m_numContacts;
|
||||
lwContactPoint* m_pointsOut;
|
||||
int m_pointCapacity;
|
||||
|
||||
Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) : m_numContacts(0),
|
||||
m_pointsOut(pointsOut),
|
||||
m_pointCapacity(pointCapacity)
|
||||
{
|
||||
}
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
|
||||
{
|
||||
if (m_numContacts < m_pointCapacity)
|
||||
{
|
||||
lwContactPoint& ptOut = m_pointsOut[m_numContacts];
|
||||
ptOut.m_distance = cp.m_distance1;
|
||||
ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
|
||||
ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
|
||||
ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
|
||||
ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
|
||||
ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
|
||||
ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
|
||||
ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
|
||||
ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
|
||||
ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
|
||||
m_numContacts++;
|
||||
}
|
||||
|
||||
return 1.f;
|
||||
}
|
||||
};
|
||||
|
||||
int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*)worldHandle;
|
||||
btCollisionObject* colObjA = (btCollisionObject*)colA;
|
||||
btCollisionObject* colObjB = (btCollisionObject*)colB;
|
||||
btAssert(world && colObjA && colObjB);
|
||||
if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
|
||||
{
|
||||
Bullet2ContactResultCallback cb(pointsOut, pointCapacity);
|
||||
world->contactPairTest(colObjA, colObjB, cb);
|
||||
return cb.m_numContacts;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static plNearCallback gTmpFilter;
|
||||
static int gNearCallbackCount = 0;
|
||||
static plCollisionSdkHandle gCollisionSdk = 0;
|
||||
static plCollisionWorldHandle gCollisionWorldHandle = 0;
|
||||
|
||||
static void* gUserData = 0;
|
||||
|
||||
void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
|
||||
{
|
||||
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
|
||||
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
|
||||
plCollisionObjectHandle obA = (plCollisionObjectHandle)colObj0;
|
||||
plCollisionObjectHandle obB = (plCollisionObjectHandle)colObj1;
|
||||
if (gTmpFilter)
|
||||
{
|
||||
gTmpFilter(gCollisionSdk, gCollisionWorldHandle, gUserData, obA, obB);
|
||||
gNearCallbackCount++;
|
||||
}
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*)worldHandle;
|
||||
//chain the near-callback
|
||||
gTmpFilter = filter;
|
||||
gNearCallbackCount = 0;
|
||||
gUserData = userData;
|
||||
gCollisionSdk = (plCollisionSdkHandle)this;
|
||||
gCollisionWorldHandle = worldHandle;
|
||||
m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
|
||||
world->performDiscreteCollisionDetection();
|
||||
gTmpFilter = 0;
|
||||
}
|
||||
|
||||
plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
|
||||
{
|
||||
return (plCollisionSdkHandle) new Bullet2CollisionSdk;
|
||||
}
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
#ifndef BULLET2_COLLISION_SDK_H
|
||||
#define BULLET2_COLLISION_SDK_H
|
||||
|
||||
#include "CollisionSdkInterface.h"
|
||||
|
||||
class Bullet2CollisionSdk : public CollisionSdkInterface
|
||||
{
|
||||
struct Bullet2CollisionSdkInternalData* m_internalData;
|
||||
|
||||
public:
|
||||
Bullet2CollisionSdk();
|
||||
|
||||
virtual ~Bullet2CollisionSdk();
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
|
||||
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant);
|
||||
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis);
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn);
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape,
|
||||
plVector3 startPosition, plQuaternion startOrientation);
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body);
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position, plQuaternion orientation);
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity);
|
||||
|
||||
virtual void collideWorld(plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData);
|
||||
|
||||
static plCollisionSdkHandle createBullet2SdkHandle();
|
||||
};
|
||||
|
||||
#endif //BULLET2_COLLISION_SDK_H
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
#ifndef COLLISION_SDK_INTERFACE_H
|
||||
#define COLLISION_SDK_INTERFACE_H
|
||||
|
||||
#include "../CollisionSdkC_Api.h"
|
||||
|
||||
class CollisionSdkInterface
|
||||
{
|
||||
public:
|
||||
virtual ~CollisionSdkInterface()
|
||||
{
|
||||
}
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity) = 0;
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn) = 0;
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object) = 0;
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object) = 0;
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape,
|
||||
plVector3 startPosition, plQuaternion startOrientation) = 0;
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body) = 0;
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position, plQuaternion orientation) = 0;
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity) = 0;
|
||||
|
||||
virtual void collideWorld(plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData) = 0;
|
||||
};
|
||||
|
||||
#endif //COLLISION_SDK_INTERFACE_H
|
||||
|
|
@ -0,0 +1,479 @@
|
|||
#define BLAAT
|
||||
#include "RealTimeBullet3CollisionSdk.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
|
||||
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
|
||||
|
||||
//convert the opaque pointer to int
|
||||
struct RTB3_ColliderOpaque2Int
|
||||
{
|
||||
union {
|
||||
plCollisionObjectHandle m_ptrValue;
|
||||
int m_intValue;
|
||||
};
|
||||
};
|
||||
struct RTB3_ShapeOpaque2Int
|
||||
{
|
||||
union {
|
||||
plCollisionShapeHandle m_ptrValue;
|
||||
int m_intValue;
|
||||
};
|
||||
};
|
||||
|
||||
enum RTB3ShapeTypes
|
||||
{
|
||||
RTB3_SHAPE_SPHERE = 0,
|
||||
RTB3_SHAPE_PLANE,
|
||||
RTB3_SHAPE_CAPSULE,
|
||||
MAX_NUM_SINGLE_SHAPE_TYPES,
|
||||
RTB3_SHAPE_COMPOUND_INTERNAL,
|
||||
|
||||
};
|
||||
|
||||
//we start at 1, so that the 0 index is 'invalid' just like a nullptr
|
||||
#define START_COLLIDABLE_INDEX 1
|
||||
#define START_SHAPE_INDEX 1
|
||||
|
||||
struct RTB3CollisionWorld
|
||||
{
|
||||
b3AlignedObjectArray<void*> m_collidableUserPointers;
|
||||
b3AlignedObjectArray<int> m_collidableUserIndices;
|
||||
b3AlignedObjectArray<b3Float4> m_collidablePositions;
|
||||
b3AlignedObjectArray<b3Quaternion> m_collidableOrientations;
|
||||
b3AlignedObjectArray<b3Transform> m_collidableTransforms;
|
||||
|
||||
b3AlignedObjectArray<b3Collidable> m_collidables;
|
||||
|
||||
b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
|
||||
b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
|
||||
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
|
||||
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
|
||||
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
|
||||
|
||||
union {
|
||||
int m_nextFreeShapeIndex;
|
||||
void* m_nextFreeShapePtr;
|
||||
};
|
||||
int m_nextFreeCollidableIndex;
|
||||
int m_nextFreePlaneFaceIndex;
|
||||
|
||||
RTB3CollisionWorld()
|
||||
: m_nextFreeShapeIndex(START_SHAPE_INDEX),
|
||||
m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
|
||||
m_nextFreePlaneFaceIndex(0) //this value is never exposed to the user, so we can start from 0
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct RealTimeBullet3CollisionSdkInternalData
|
||||
{
|
||||
b3AlignedObjectArray<RTB3CollisionWorld*> m_collisionWorlds;
|
||||
};
|
||||
|
||||
RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
|
||||
{
|
||||
// int szCol = sizeof(b3Collidable);
|
||||
// int szShap = sizeof(b3GpuChildShape);
|
||||
// int szComPair = sizeof(b3CompoundOverlappingPair);
|
||||
m_internalData = new RealTimeBullet3CollisionSdkInternalData;
|
||||
}
|
||||
|
||||
RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
|
||||
{
|
||||
delete m_internalData;
|
||||
m_internalData = 0;
|
||||
}
|
||||
|
||||
plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
|
||||
{
|
||||
RTB3CollisionWorld* world = new RTB3CollisionWorld();
|
||||
world->m_collidables.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_collidablePositions.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_collidableOrientations.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_collidableTransforms.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_collidableUserPointers.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_collidableUserIndices.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
|
||||
world->m_childShapes.resize(maxNumShapesCapacity + START_SHAPE_INDEX);
|
||||
world->m_planeFaces.resize(maxNumShapesCapacity);
|
||||
|
||||
world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
|
||||
|
||||
m_internalData->m_collisionWorlds.push_back(world);
|
||||
return (plCollisionWorldHandle)world;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
|
||||
b3Assert(loc >= 0 && loc < m_internalData->m_collisionWorlds.size());
|
||||
if (loc >= 0 && loc < m_internalData->m_collisionWorlds.size())
|
||||
{
|
||||
m_internalData->m_collisionWorlds.remove(world);
|
||||
delete world;
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size());
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0, 0, 0, 1);
|
||||
shape.m_radius = radius;
|
||||
shape.m_shapeType = RTB3_SHAPE_SPHERE;
|
||||
world->m_nextFreeShapeIndex++;
|
||||
return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0, 0, 0, 1);
|
||||
world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX, planeNormalY, planeNormalZ, planeConstant);
|
||||
shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
|
||||
shape.m_shapeType = RTB3_SHAPE_PLANE;
|
||||
world->m_nextFreeShapeIndex++;
|
||||
return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0, 0, 0, 1);
|
||||
shape.m_radius = radius;
|
||||
shape.m_height = height;
|
||||
shape.m_shapeIndex = capsuleAxis;
|
||||
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
|
||||
world->m_nextFreeShapeIndex++;
|
||||
return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0, 0, 0, 1);
|
||||
shape.m_numChildShapes = 0;
|
||||
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
|
||||
world->m_nextFreeShapeIndex++;
|
||||
return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
|
||||
{
|
||||
}
|
||||
void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
|
||||
{
|
||||
///todo
|
||||
//deleting shapes would involve a garbage collection phase, and mess up all user indices
|
||||
//this would be solved by one more in-direction, at some performance penalty for certain operations
|
||||
//for now, we don't delete and eventually run out-of-shapes
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
///createCollisionObject already adds it to the world
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
///todo, see deleteShape
|
||||
}
|
||||
|
||||
plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer,
|
||||
int userIndex, plCollisionShapeHandle shapeHandle,
|
||||
plVector3 startPosition, plQuaternion startOrientation)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
|
||||
if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
|
||||
{
|
||||
b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
|
||||
world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0], startPosition[1], startPosition[2]);
|
||||
world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]);
|
||||
world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
|
||||
world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
|
||||
world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
|
||||
world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
|
||||
RTB3_ShapeOpaque2Int caster;
|
||||
caster.m_ptrValue = shapeHandle;
|
||||
int shapeIndex = caster.m_intValue;
|
||||
collidable.m_shapeIndex = shapeIndex;
|
||||
b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
|
||||
collidable.m_shapeType = shape.m_shapeType;
|
||||
collidable.m_numChildShapes = 1;
|
||||
|
||||
switch (collidable.m_shapeType)
|
||||
{
|
||||
case RTB3_SHAPE_SPHERE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_PLANE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_COMPOUND_INTERNAL:
|
||||
{
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
/*case SHAPE_COMPOUND_OF_CONVEX_HULLS:
|
||||
case SHAPE_COMPOUND_OF_SPHERES:
|
||||
case SHAPE_COMPOUND_OF_CAPSULES:
|
||||
{
|
||||
collidable.m_numChildShapes = shape.m_numChildShapes;
|
||||
collidable.m_shapeIndex = shape.m_shapeIndex;
|
||||
break;
|
||||
*/
|
||||
world->m_nextFreeCollidableIndex++;
|
||||
return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
|
||||
{
|
||||
///todo, see deleteShape
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position, plQuaternion orientation)
|
||||
{
|
||||
}
|
||||
|
||||
struct plContactCache
|
||||
{
|
||||
lwContactPoint* pointsOut;
|
||||
int pointCapacity;
|
||||
int numAddedPoints;
|
||||
};
|
||||
|
||||
typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache);
|
||||
|
||||
void detectCollisionDummy(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA, (void)colB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
void plVecCopy(float* dst, const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
void plVecCopy(double* dst, const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
|
||||
void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld, b3Scalar sphereRadius, plContactCache* contactCache)
|
||||
{
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld) + planeConstant);
|
||||
b3Vector3 intersectionPoint = spherePosWorld + t * -planeNormalWorld;
|
||||
b3Scalar distance = t - sphereRadius;
|
||||
if (distance <= 0)
|
||||
{
|
||||
pointOut.m_distance = distance;
|
||||
plVecCopy(pointOut.m_ptOnBWorld, intersectionPoint);
|
||||
plVecCopy(pointOut.m_ptOnAWorld, spherePosWorld + sphereRadius * -planeNormalWorld);
|
||||
plVecCopy(pointOut.m_normalOnB, planeNormalWorld);
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache)
|
||||
{
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Vector3 diff = sphereAPosWorld - sphereBPosWorld;
|
||||
|
||||
b3Scalar len = diff.length();
|
||||
pointOut.m_distance = len - (sphereARadius + sphereBRadius);
|
||||
if (pointOut.m_distance <= 0)
|
||||
{
|
||||
b3Vector3 normOnB = b3MakeVector3(1, 0, 0);
|
||||
if (len > B3_EPSILON)
|
||||
{
|
||||
normOnB = diff / len;
|
||||
}
|
||||
|
||||
plVecCopy(pointOut.m_normalOnB, normOnB);
|
||||
b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius * normOnB;
|
||||
plVecCopy(pointOut.m_ptOnAWorld, ptAWorld);
|
||||
plVecCopy(pointOut.m_ptOnBWorld, ptAWorld - normOnB * pointOut.m_distance);
|
||||
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
|
||||
const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
|
||||
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
|
||||
|
||||
const b3Transform& trB = world->m_collidableTransforms[colB];
|
||||
const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
|
||||
b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
|
||||
//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
|
||||
|
||||
ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
|
||||
}
|
||||
|
||||
void detectCollisionSpherePlane(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
|
||||
int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
|
||||
b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
|
||||
b3Scalar planeConstant = planeNormal[3];
|
||||
planeNormal[3] = 0.f;
|
||||
|
||||
ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld, world->m_childShapes[shapeIndexA].m_radius, contactCache);
|
||||
}
|
||||
|
||||
void detectCollisionPlaneSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA, (void)shapeIndexA, (void)colB, (void)shapeIndexB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
#ifdef RTB3_SHAPE_CAPSULE
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES, ][MAX_NUM_SINGLE_SHAPE_TYPES, ] = {
|
||||
{detectCollisionSphereSphere, detectCollisionSpherePlane, detectCollisionSphereCapsule},
|
||||
{detectCollisionPlaneSphere, detectCollisionDummy, detectCollisionPlaneCapsule},
|
||||
{detectCollisionCapsuleSphere, detectCollisionCapsulePlane, detectCollisionCapsuleCapsule},
|
||||
};
|
||||
#else
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
|
||||
{detectCollisionSphereSphere, detectCollisionSpherePlane},
|
||||
{detectCollisionPlaneSphere, detectCollisionDummy},
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
|
||||
lwContactPoint* pointsOutOrg, int pointCapacity)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
caster.m_ptrValue = colAHandle;
|
||||
int colAIndex = caster.m_intValue;
|
||||
caster.m_ptrValue = colBHandle;
|
||||
int colBIndex = caster.m_intValue;
|
||||
const b3Collidable& colA = world->m_collidables[colAIndex];
|
||||
const b3Collidable& colB = world->m_collidables[colBIndex];
|
||||
|
||||
plContactCache contactCache;
|
||||
contactCache.pointCapacity = pointCapacity;
|
||||
contactCache.pointsOut = pointsOutOrg;
|
||||
contactCache.numAddedPoints = 0;
|
||||
|
||||
for (int i = 0; i < colA.m_numChildShapes; i++)
|
||||
{
|
||||
for (int j = 0; j < colB.m_numChildShapes; j++)
|
||||
{
|
||||
if (contactCache.numAddedPoints < pointCapacity)
|
||||
{
|
||||
//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
|
||||
// [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
|
||||
}
|
||||
}
|
||||
return contactCache.numAddedPoints;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
if (filter)
|
||||
{
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
plCollisionObjectHandle colA;
|
||||
plCollisionObjectHandle colB;
|
||||
for (int i = START_COLLIDABLE_INDEX; i < world->m_nextFreeCollidableIndex; i++)
|
||||
{
|
||||
for (int j = i + 1; j < world->m_nextFreeCollidableIndex; j++)
|
||||
{
|
||||
caster.m_intValue = i;
|
||||
colA = caster.m_ptrValue;
|
||||
caster.m_intValue = j;
|
||||
colB = caster.m_ptrValue;
|
||||
filter((plCollisionSdkHandle)this, worldHandle, userData, colA, colB);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
|
||||
{
|
||||
return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
|
||||
}
|
||||
|
|
@ -0,0 +1,53 @@
|
|||
#ifndef REAL_TIME_COLLISION_SDK_H
|
||||
#define REAL_TIME_COLLISION_SDK_H
|
||||
|
||||
#include "CollisionSdkInterface.h"
|
||||
|
||||
class RealTimeBullet3CollisionSdk : public CollisionSdkInterface
|
||||
{
|
||||
struct RealTimeBullet3CollisionSdkInternalData* m_internalData;
|
||||
|
||||
public:
|
||||
RealTimeBullet3CollisionSdk();
|
||||
|
||||
virtual ~RealTimeBullet3CollisionSdk();
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant);
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis);
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn);
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape,
|
||||
plVector3 startPosition, plQuaternion startOrientation);
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body);
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position, plQuaternion orientation);
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity);
|
||||
|
||||
virtual void collideWorld(plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData);
|
||||
|
||||
static plCollisionSdkHandle createRealTimeBullet3CollisionSdkHandle();
|
||||
};
|
||||
|
||||
#endif //REAL_TIME_COLLISION_SDK_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue