mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-14 08:04:40 +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
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#include "Bullet2CollisionSdk.h"
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#include "btBulletCollisionCommon.h"
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struct Bullet2CollisionSdkInternalData
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{
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btCollisionConfiguration* m_collisionConfig;
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btCollisionDispatcher* m_dispatcher;
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btBroadphaseInterface* m_aabbBroadphase;
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btCollisionWorld* m_collisionWorld;
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Bullet2CollisionSdkInternalData()
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: m_collisionConfig(0),
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m_dispatcher(0),
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m_aabbBroadphase(0),
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m_collisionWorld(0)
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{
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}
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};
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Bullet2CollisionSdk::Bullet2CollisionSdk()
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{
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m_internalData = new Bullet2CollisionSdkInternalData;
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}
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Bullet2CollisionSdk::~Bullet2CollisionSdk()
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{
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delete m_internalData;
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m_internalData = 0;
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}
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plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
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{
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m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
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m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
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m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
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m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
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m_internalData->m_aabbBroadphase,
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m_internalData->m_collisionConfig);
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return (plCollisionWorldHandle)m_internalData->m_collisionWorld;
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}
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void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
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{
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btCollisionWorld* world = (btCollisionWorld*)worldHandle;
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btAssert(m_internalData->m_collisionWorld == world);
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if (m_internalData->m_collisionWorld == world)
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{
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delete m_internalData->m_collisionWorld;
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m_internalData->m_collisionWorld = 0;
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delete m_internalData->m_aabbBroadphase;
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m_internalData->m_aabbBroadphase = 0;
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delete m_internalData->m_dispatcher;
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m_internalData->m_dispatcher = 0;
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delete m_internalData->m_collisionConfig;
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m_internalData->m_collisionConfig = 0;
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}
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}
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plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
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{
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btSphereShape* sphereShape = new btSphereShape(radius);
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return (plCollisionShapeHandle)sphereShape;
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}
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plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(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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btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX, planeNormalY, planeNormalZ), planeConstant);
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return (plCollisionShapeHandle)planeShape;
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}
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plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis)
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{
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btCapsuleShape* capsule = 0;
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switch (capsuleAxis)
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{
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case 0:
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{
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capsule = new btCapsuleShapeX(radius, height);
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break;
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}
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case 1:
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{
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capsule = new btCapsuleShape(radius, height);
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break;
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}
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case 2:
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{
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capsule = new btCapsuleShapeZ(radius, height);
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break;
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}
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default:
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{
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btAssert(0);
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}
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}
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return (plCollisionShapeHandle)capsule;
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}
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plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
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{
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return (plCollisionShapeHandle) new btCompoundShape();
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}
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void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle, plVector3 childPos, plQuaternion childOrn)
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{
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btCompoundShape* compound = (btCompoundShape*)compoundShapeHandle;
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btCollisionShape* childShape = (btCollisionShape*)childShapeHandle;
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btTransform localTrans;
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localTrans.setOrigin(btVector3(childPos[0], childPos[1], childPos[2]));
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localTrans.setRotation(btQuaternion(childOrn[0], childOrn[1], childOrn[2], childOrn[3]));
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compound->addChildShape(localTrans, childShape);
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}
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void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
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{
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btCollisionShape* shape = (btCollisionShape*)shapeHandle;
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delete shape;
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}
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void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
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{
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btCollisionWorld* world = (btCollisionWorld*)worldHandle;
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btCollisionObject* colObj = (btCollisionObject*)objectHandle;
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btAssert(world && colObj);
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if (world == m_internalData->m_collisionWorld && colObj)
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{
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world->addCollisionObject(colObj);
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}
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}
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void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
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{
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btCollisionWorld* world = (btCollisionWorld*)worldHandle;
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btCollisionObject* colObj = (btCollisionObject*)objectHandle;
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btAssert(world && colObj);
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if (world == m_internalData->m_collisionWorld && colObj)
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{
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world->removeCollisionObject(colObj);
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}
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}
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plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle,
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plVector3 startPosition, plQuaternion startOrientation)
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{
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btCollisionShape* colShape = (btCollisionShape*)shapeHandle;
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btAssert(colShape);
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if (colShape)
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{
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btCollisionObject* colObj = new btCollisionObject;
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colObj->setUserIndex(userIndex);
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colObj->setUserPointer(userPointer);
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colObj->setCollisionShape(colShape);
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btTransform tr;
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tr.setOrigin(btVector3(startPosition[0], startPosition[1], startPosition[2]));
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tr.setRotation(btQuaternion(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]));
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colObj->setWorldTransform(tr);
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return (plCollisionObjectHandle)colObj;
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}
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return 0;
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}
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void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
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{
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btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
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delete colObj;
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}
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void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
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plVector3 position, plQuaternion orientation)
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{
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btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
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btTransform tr;
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tr.setOrigin(btVector3(position[0], position[1], position[2]));
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tr.setRotation(btQuaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
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colObj->setWorldTransform(tr);
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}
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struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
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{
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int m_numContacts;
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lwContactPoint* m_pointsOut;
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int m_pointCapacity;
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Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) : m_numContacts(0),
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m_pointsOut(pointsOut),
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m_pointCapacity(pointCapacity)
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{
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}
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virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
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{
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if (m_numContacts < m_pointCapacity)
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{
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lwContactPoint& ptOut = m_pointsOut[m_numContacts];
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ptOut.m_distance = cp.m_distance1;
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ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
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ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
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ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
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ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
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ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
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ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
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ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
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ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
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ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
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m_numContacts++;
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}
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return 1.f;
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}
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};
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int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity)
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{
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btCollisionWorld* world = (btCollisionWorld*)worldHandle;
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btCollisionObject* colObjA = (btCollisionObject*)colA;
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btCollisionObject* colObjB = (btCollisionObject*)colB;
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btAssert(world && colObjA && colObjB);
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if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
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{
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Bullet2ContactResultCallback cb(pointsOut, pointCapacity);
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world->contactPairTest(colObjA, colObjB, cb);
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return cb.m_numContacts;
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}
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return 0;
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}
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static plNearCallback gTmpFilter;
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static int gNearCallbackCount = 0;
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static plCollisionSdkHandle gCollisionSdk = 0;
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static plCollisionWorldHandle gCollisionWorldHandle = 0;
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static void* gUserData = 0;
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void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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plCollisionObjectHandle obA = (plCollisionObjectHandle)colObj0;
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plCollisionObjectHandle obB = (plCollisionObjectHandle)colObj1;
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if (gTmpFilter)
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{
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gTmpFilter(gCollisionSdk, gCollisionWorldHandle, gUserData, obA, obB);
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gNearCallbackCount++;
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}
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}
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void Bullet2CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
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plNearCallback filter, void* userData)
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{
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btCollisionWorld* world = (btCollisionWorld*)worldHandle;
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//chain the near-callback
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gTmpFilter = filter;
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gNearCallbackCount = 0;
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gUserData = userData;
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gCollisionSdk = (plCollisionSdkHandle)this;
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gCollisionWorldHandle = worldHandle;
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m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
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world->performDiscreteCollisionDetection();
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gTmpFilter = 0;
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}
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plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
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{
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return (plCollisionSdkHandle) new Bullet2CollisionSdk;
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}
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@ -0,0 +1,55 @@
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#ifndef BULLET2_COLLISION_SDK_H
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#define BULLET2_COLLISION_SDK_H
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#include "CollisionSdkInterface.h"
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class Bullet2CollisionSdk : public CollisionSdkInterface
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{
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struct Bullet2CollisionSdkInternalData* m_internalData;
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public:
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Bullet2CollisionSdk();
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virtual ~Bullet2CollisionSdk();
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virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
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virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
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virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
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virtual plCollisionShapeHandle createPlaneShape(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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virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis);
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virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
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virtual void addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn);
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virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
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virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
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virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
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virtual plCollisionObjectHandle createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape,
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plVector3 startPosition, plQuaternion startOrientation);
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virtual void deleteCollisionObject(plCollisionObjectHandle body);
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virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
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plVector3 position, plQuaternion orientation);
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virtual int collide(plCollisionWorldHandle world, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity);
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virtual void collideWorld(plCollisionWorldHandle world,
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plNearCallback filter, void* userData);
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static plCollisionSdkHandle createBullet2SdkHandle();
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};
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#endif //BULLET2_COLLISION_SDK_H
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#ifndef COLLISION_SDK_INTERFACE_H
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#define COLLISION_SDK_INTERFACE_H
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#include "../CollisionSdkC_Api.h"
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class CollisionSdkInterface
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{
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public:
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virtual ~CollisionSdkInterface()
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{
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}
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virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity) = 0;
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virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle) = 0;
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virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius) = 0;
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virtual plCollisionShapeHandle createPlaneShape(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) = 0;
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virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis) = 0;
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virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
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virtual void addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn) = 0;
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virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
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virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object) = 0;
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virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object) = 0;
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virtual plCollisionObjectHandle createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape,
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plVector3 startPosition, plQuaternion startOrientation) = 0;
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virtual void deleteCollisionObject(plCollisionObjectHandle body) = 0;
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virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
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plVector3 position, plQuaternion orientation) = 0;
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virtual int collide(plCollisionWorldHandle world, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
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lwContactPoint* pointsOut, int pointCapacity) = 0;
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virtual void collideWorld(plCollisionWorldHandle world,
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plNearCallback filter, void* userData) = 0;
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};
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#endif //COLLISION_SDK_INTERFACE_H
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@ -0,0 +1,479 @@
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#define BLAAT
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#include "RealTimeBullet3CollisionSdk.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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//convert the opaque pointer to int
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struct RTB3_ColliderOpaque2Int
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{
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union {
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plCollisionObjectHandle m_ptrValue;
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int m_intValue;
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};
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};
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struct RTB3_ShapeOpaque2Int
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{
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union {
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plCollisionShapeHandle m_ptrValue;
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int m_intValue;
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};
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};
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enum RTB3ShapeTypes
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{
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RTB3_SHAPE_SPHERE = 0,
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RTB3_SHAPE_PLANE,
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RTB3_SHAPE_CAPSULE,
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MAX_NUM_SINGLE_SHAPE_TYPES,
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RTB3_SHAPE_COMPOUND_INTERNAL,
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};
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//we start at 1, so that the 0 index is 'invalid' just like a nullptr
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#define START_COLLIDABLE_INDEX 1
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#define START_SHAPE_INDEX 1
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struct RTB3CollisionWorld
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{
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b3AlignedObjectArray<void*> m_collidableUserPointers;
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b3AlignedObjectArray<int> m_collidableUserIndices;
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b3AlignedObjectArray<b3Float4> m_collidablePositions;
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b3AlignedObjectArray<b3Quaternion> m_collidableOrientations;
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b3AlignedObjectArray<b3Transform> m_collidableTransforms;
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b3AlignedObjectArray<b3Collidable> m_collidables;
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b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
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b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
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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