more work towards CPU version

src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp

@@ -0,0 +1,122 @@
+#include "b3CpuRigidBodyPipeline.h"
+
+#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
+#include "Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h"
+
+
+struct b3CpuRigidBodyPipelineInternalData
+{
+	b3AlignedObjectArray<b3RigidBodyData> m_rigidBodies;
+	b3DynamicBvhBroadphase* m_bp;
+	b3CpuNarrowPhase* m_np;
+	b3Config m_config;
+};
+	
+
+b3CpuRigidBodyPipeline::b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config)
+{
+	m_data = new b3CpuRigidBodyPipelineInternalData;
+	m_data->m_np = narrowphase;
+	m_data->m_bp = broadphaseDbvt;
+	m_data->m_config = config;
+}
+
+b3CpuRigidBodyPipeline::~b3CpuRigidBodyPipeline()
+{
+	delete m_data;
+}
+
+void b3CpuRigidBodyPipeline::updateAabbWorldSpace()
+{
+
+}
+
+void	b3CpuRigidBodyPipeline::computeOverlappingPairs()
+{
+	int numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
+	m_data->m_bp->calculateOverlappingPairs();
+	numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs();
+}
+
+void b3CpuRigidBodyPipeline::computeContactPoints()
+{
+	b3AlignedObjectArray<b3Aabb> aabbWorldSpace;
+	b3AlignedObjectArray<b3Int4> pairs;
+	
+	
+	m_data->m_np->computeContacts(&pairs,&aabbWorldSpace);
+
+}
+void	b3CpuRigidBodyPipeline::stepSimulation(float deltaTime)
+{
+	
+	//update world space aabb's
+	updateAabbWorldSpace();
+
+	//compute overlapping pairs
+	computeOverlappingPairs();
+
+	//compute contacts
+	computeContactPoints();
+
+	//solve contacts
+	
+	//update transforms
+	integrate(deltaTime);
+	
+	
+}
+
+
+void b3CpuRigidBodyPipeline::integrate(float deltaTime)
+{
+	float angDamping=0.f;
+	b3Vector3 gravityAcceleration=b3MakeVector3(0,-9,0);
+
+	//integrate transforms (external forces/gravity should be moved into constraint solver)
+	for (int i=0;i<m_data->m_rigidBodies.size();i++)
+	{
+		b3IntegrateTransform(&m_data->m_rigidBodies[i],deltaTime,angDamping,gravityAcceleration);
+	}
+
+}
+
+int		b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData)
+{
+	b3RigidBodyData body;
+	int index = m_data->m_rigidBodies.size();
+	body.m_invMass = mass ? 1.f/mass : 0.f;
+	body.m_angVel.setValue(0,0,0);
+	body.m_collidableIdx = collidableIndex;
+	body.m_frictionCoeff = 0.3f;
+	body.m_linVel.setValue(0,0,0);
+	body.m_pos.setValue(position[0],position[1],position[2]);
+	body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]);
+	body.m_restituitionCoeff = 0.f;
+
+	m_data->m_rigidBodies.push_back(body);
+
+
+
+
+
+
+
+
+
+	return index;
+}
+
+
+const struct b3RigidBodyData* b3CpuRigidBodyPipeline::getBodyBuffer() const
+{
+	return m_data->m_rigidBodies.size() ? &m_data->m_rigidBodies[0] : 0;
+}
+
+int	b3CpuRigidBodyPipeline::getNumBodies() const
+{
+	return m_data->m_rigidBodies.size();
+}