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work-in-progress Bullet 3.x GPU raytest

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work-in-progress P2P constraint for b3GpuDynamicsWorld
This commit is contained in:
erwincoumans
2013-06-17 13:47:35 -07:00
parent 02a858e7c1
commit 161c48d331
14 changed files with 192 additions and 60 deletions
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7
demos3/BasicGpuDemo/b3GpuDynamicsWorld.h
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@@ -8,6 +8,7 @@ class btCollisionObject;
struct b3GpuInternalData;//use this struct to avoid 'leaking' all OpenCL headers into clients code base
class CLPhysicsDemo;
class btActionInterface;
class btTypedConstraint;
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
@@ -18,7 +19,7 @@ class b3GpuDynamicsWorld : public btDynamicsWorld
btAlignedObjectArray<const class btCollisionShape*> m_uniqueShapes;
btAlignedObjectArray<int> m_uniqueShapeMapping;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
class b3GpuRigidBodyPipeline* m_rigidBodyPipeline;
class b3GpuNarrowPhase* m_np;
@@ -52,6 +53,10 @@ public:
virtual void removeRigidBody(btRigidBody* body);
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false);
virtual void removeConstraint(btTypedConstraint* constraint);
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();