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although still not implemented, IMU enum had wrong value, thanks JF

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This commit is contained in:
Erwin Coumans
2015-10-17 18:52:48 -07:00
parent 3d3830962a
commit 21b7a47129
7 changed files with 136 additions and 75 deletions
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73
examples/Collision/Internal/Bullet2CollisionSdk.cpp
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@@ -91,7 +91,9 @@ void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHand
}
}
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_data, plCollisionShapeHandle shapeHandle )
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_data, plCollisionShapeHandle shapeHandle ,
plVector3 startPosition,plQuaternion startOrientation )
{
btCollisionShape* colShape = (btCollisionShape*) shapeHandle;
btAssert(colShape);
@@ -99,7 +101,10 @@ plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_
{
btCollisionObject* colObj= new btCollisionObject;
colObj->setCollisionShape(colShape);
colObj->setWorldTransform(btTransform::getIdentity());
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;
@@ -111,6 +116,70 @@ void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHand
delete colObj;
}
struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
{
int m_numContacts;
lwContactPoint* m_pointsOut;
int m_pointCapacity;
Bullet2ContactResultCallback() :m_numContacts(0)
{
}
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();
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;
world->contactPairTest(colObjA,colObjB,cb);
return cb.m_numContacts;
}
return 0;
}
static plNearCallback gTmpFilter;
static int gContactCount = 0;
void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
if (gTmpFilter)
{
gContactCount++;
}
}
void Bullet2CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
plNearCallback filter, void* userData)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
//chain the near-callback
gTmpFilter = filter;
gContactCount = 0;
m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
world->performDiscreteCollisionDetection();
gTmpFilter = 0;
}
plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
{