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WIP example for real-time collision detection features of Bullet

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This commit is contained in:
erwin coumans
2015-10-18 14:01:25 -07:00
parent abb7e22027
commit 7ac497d6f2
15 changed files with 355 additions and 92 deletions
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55
examples/Collision/Internal/Bullet2CollisionSdk.cpp
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@@ -29,9 +29,10 @@ Bullet2CollisionSdk::~Bullet2CollisionSdk()
m_internalData = 0;
}
plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld()
plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
{
m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
@@ -58,13 +59,13 @@ void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandl
}
}
plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plReal radius)
plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
{
btSphereShape* sphereShape = new btSphereShape(radius);
return (plCollisionShapeHandle) sphereShape;
}
void Bullet2CollisionSdk::deleteShape(plCollisionShapeHandle shapeHandle)
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
{
btCollisionShape* shape = (btCollisionShape*) shapeHandle;
delete shape;
@@ -91,7 +92,7 @@ void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHand
}
}
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_data, plCollisionShapeHandle shapeHandle ,
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle ,
plVector3 startPosition,plQuaternion startOrientation )
{
@@ -100,6 +101,8 @@ plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( void* user_
if (colShape)
{
btCollisionObject* colObj= new btCollisionObject;
colObj->setUserIndex(userIndex);
colObj->setUserPointer(userPointer);
colObj->setCollisionShape(colShape);
btTransform tr;
tr.setOrigin(btVector3(startPosition[0],startPosition[1],startPosition[2]));
@@ -115,6 +118,16 @@ void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHand
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
delete colObj;
}
void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionObjectHandle bodyHandle,
plVector3 position,plQuaternion orientation )
{
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
btTransform tr;
tr.setOrigin(btVector3(position[0],position[1],position[2]));
tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
colObj->setWorldTransform(tr);
}
struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
{
@@ -122,7 +135,10 @@ struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCa
lwContactPoint* m_pointsOut;
int m_pointCapacity;
Bullet2ContactResultCallback() :m_numContacts(0)
Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) :
m_numContacts(0),
m_pointsOut(pointsOut),
m_pointCapacity(pointCapacity)
{
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
@@ -134,6 +150,12 @@ struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCa
ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
m_numContacts++;
}
@@ -150,7 +172,7 @@ int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionO
btAssert(world && colObjA && colObjB);
if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
{
Bullet2ContactResultCallback cb;
Bullet2ContactResultCallback cb(pointsOut,pointCapacity);
world->contactPairTest(colObjA,colObjB,cb);
return cb.m_numContacts;
}
@@ -158,13 +180,22 @@ int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionO
}
static plNearCallback gTmpFilter;
static int gContactCount = 0;
static int gNearCallbackCount = 0;
static plCollisionSdkHandle gCollisionSdk = 0;
static plCollisionWorldHandle gCollisionWorldHandle = 0;
static void* gUserData = 0;
void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
if (gTmpFilter)
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
plCollisionObjectHandle obA =(plCollisionObjectHandle) colObj0;
plCollisionObjectHandle obB =(plCollisionObjectHandle) colObj1;
if(gTmpFilter)
{
gContactCount++;
gTmpFilter(gCollisionSdk,gCollisionWorldHandle, gUserData,obA,obB);
gNearCallbackCount++;
}
}
@@ -174,8 +205,10 @@ void Bullet2CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
//chain the near-callback
gTmpFilter = filter;
gContactCount = 0;
gNearCallbackCount = 0;
gUserData = userData;
gCollisionSdk = (plCollisionSdkHandle)this;
gCollisionWorldHandle = worldHandle;
m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
world->performDiscreteCollisionDetection();
gTmpFilter = 0;