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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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76
examples/Collision/CollisionSdkC_Api.cpp
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@@ -40,10 +40,10 @@ void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionShapeHand
sdk->deleteShape(shapeHandle); sdk->deleteShape(shapeHandle);
} }
plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle collisionSdkHandle, void* user_data, plCollisionShapeHandle cshape ) plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle collisionSdkHandle, void* user_data, plCollisionShapeHandle cshape ,plVector3 childPos,plQuaternion childOrn)
{ {
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle; CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
return sdk->createCollisionObject(user_data, cshape); return sdk->createCollisionObject(user_data, cshape, childPos, childOrn);
} }
@@ -64,63 +64,17 @@ void plRemoveCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisio
sdk->removeCollisionObject(world,object); sdk->removeCollisionObject(world,object);
} }
/* Collision Queries */
int plCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
lwContactPoint* pointsOut, int pointCapacity)
{
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
return sdk->collide(worldHandle, colA,colB,pointsOut,pointCapacity);
}
//plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk(); void plWorldCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world,
//plCollisionSdkHandle plCreateCustomCollisionSdk(); plNearCallback filter, void* userData)
{
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
#if 0 sdk->collideWorld(world,filter,userData);
extern void plDeleteCollisionWorld(plCollisionWorldHandle world); }
extern void plAddCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
extern void plRemoveCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
/* Collision Object */
extern plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle sdk, void* user_data, plCollisionShapeHandle cshape );
extern void plDeleteCollisionObject(plCollisionSdkHandle sdk, plCollisionObjectHandle body);
/* Collision Shape definition */
extern plCollisionShapeHandle plNewSphereShape(plCollisionSdkHandle sdk, plReal radius);
extern plCollisionShapeHandle plNewCapsuleShape(plCollisionSdkHandle sdk, plReal radius, plReal height);
extern plCollisionShapeHandle plNewPlaneShape(plCollisionSdkHandle sdk, plReal planeNormalX,
plReal planeNormalY,
plReal planeNormalZ,
plReal planeConstant);
extern plCollisionShapeHandle plNewCompoundShape(plCollisionSdkHandle sdk);
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern void plDeleteShape(plCollisionShapeHandle shape);
/* Contact Results */
struct lwContactPoint
{
plVector3 m_ptOnAWorld;
plVector3 m_ptOnBWorld;
plVector3 m_normalOnB;
plReal m_distance;
};
/* Collision Filtering */
typedef void(*plNearCallback)(plCollisionSdkHandle sdk, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB);
/* Collision Queries */
extern int plCollide(plCollisionSdkHandle sdk, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
lwContactPoint* pointsOut, int pointCapacity);
extern void plWorldCollide(plCollisionWorldHandle world,
plNearCallback filter, void* userData);
#endif

6
examples/Collision/CollisionSdkC_Api.h
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@@ -51,7 +51,7 @@ extern "C" {
/* Collision Object */ /* Collision Object */
extern plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle sdkHandle, void* user_data, plCollisionShapeHandle cshape ); extern plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle sdkHandle, void* user_data, plCollisionShapeHandle cshape , plVector3 startPosition,plQuaternion startOrientation);
extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionObjectHandle body); extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionObjectHandle body);
@@ -85,10 +85,10 @@ extern "C" {
/* Collision Queries */ /* Collision Queries */
extern int plCollide(plCollisionSdkHandle sdk, plCollisionObjectHandle colA, plCollisionObjectHandle colB, extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
lwContactPoint* pointsOut, int pointCapacity); lwContactPoint* pointsOut, int pointCapacity);
extern void plWorldCollide(plCollisionWorldHandle world, extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
plNearCallback filter, void* userData); plNearCallback filter, void* userData);

35
examples/Collision/CollisionTutorialBullet2.cpp
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@@ -17,6 +17,13 @@
#include "CollisionSdkC_Api.h" #include "CollisionSdkC_Api.h"
static int myCounter=0;
void myNearCallback(plCollisionSdkHandle sdk, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
{
myCounter++;
}
class CollisionTutorialBullet2 : public CommonExampleInterface class CollisionTutorialBullet2 : public CommonExampleInterface
{ {
CommonGraphicsApp* m_app; CommonGraphicsApp* m_app;
@@ -59,11 +66,29 @@ public:
float radius = 1.f; float radius = 1.f;
plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, radius); plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, radius);
void* userData = 0; void* userData = 0;
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,userData,colShape); btAlignedObjectArray<plCollisionObjectHandle> colliders;
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj); for (int i=0;i<3;i++)
plDeleteCollisionObject(m_collisionSdkHandle,colObj); {
plDeleteShape(m_collisionSdkHandle,colShape); btVector3 pos(0,i*1,0);
btQuaternion orn(0,0,0,1);
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,userData,colShape,pos,orn);
colliders.push_back(colObj);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
}
lwContactPoint pointsOut[10];
int pointCapacity=10;
int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,pointCapacity);
printf("numContacts = %d\n", numContacts);
void* myUserPtr = 0;
myCounter = 0;
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
printf("myCounter=%d\n",myCounter);
//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
//plDeleteShape(m_collisionSdkHandle,colShape);
} }
/* /*

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; btCollisionShape* colShape = (btCollisionShape*) shapeHandle;
btAssert(colShape); btAssert(colShape);
@@ -99,7 +101,10 @@ plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_
{ {
btCollisionObject* colObj= new btCollisionObject; btCollisionObject* colObj= new btCollisionObject;
colObj->setCollisionShape(colShape); 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 (plCollisionObjectHandle) colObj;
} }
return 0; return 0;
@@ -111,6 +116,70 @@ void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHand
delete colObj; 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() plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
{ {

10
examples/Collision/Internal/Bullet2CollisionSdk.h
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@@ -24,10 +24,16 @@ public:
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object); virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object); virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
virtual plCollisionObjectHandle createCollisionObject( void* user_data, plCollisionShapeHandle cshape ); virtual plCollisionObjectHandle createCollisionObject( void* user_data, plCollisionShapeHandle cshape ,
virtual void deleteCollisionObject(plCollisionObjectHandle body); plVector3 startPosition,plQuaternion startOrientation );
virtual void deleteCollisionObject(plCollisionObjectHandle body);
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(); static plCollisionSdkHandle createBullet2SdkHandle();
}; };

9
examples/Collision/Internal/CollisionSdkInterface.h
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@@ -22,8 +22,15 @@ public:
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0; virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0; virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
virtual plCollisionObjectHandle createCollisionObject( void* user_data, plCollisionShapeHandle cshape )=0; virtual plCollisionObjectHandle createCollisionObject( void* user_data, plCollisionShapeHandle cshape ,
plVector3 startPosition,plQuaternion startOrientation )=0;
virtual void deleteCollisionObject(plCollisionObjectHandle body)=0; virtual void deleteCollisionObject(plCollisionObjectHandle body)=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;
}; };

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -178,7 +178,7 @@ struct SendActualStateArgs
enum EnumSensorTypes enum EnumSensorTypes
{ {
SENSOR_FORCE_TORQUE=1, SENSOR_FORCE_TORQUE=1,
SENSOR_IMU=1, SENSOR_IMU=2,
}; };
struct CreateSensorArgs struct CreateSensorArgs