WIP example for real-time collision detection features of Bullet

examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp

@@ -0,0 +1,112 @@
+#include "RealTimeBullet3CollisionSdk.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+
+struct RTB3CollisionWorld
+{
+	b3AlignedObjectArray<b3Collidable> m_collidables;
+	b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
+	b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
+	int m_nextFreeShapeIndex;
+	int m_nextFreeCollidableIndex;
+
+	RTB3CollisionWorld()
+	:m_nextFreeCollidableIndex(0),
+	m_nextFreeShapeIndex(0)
+	{
+	}
+};
+
+struct RealTimeBullet3CollisionSdkInternalData
+{
+	b3AlignedObjectArray<RTB3CollisionWorld*> m_collisionWorlds;
+};
+
+RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
+{
+	int szCol = sizeof(b3Collidable);
+	int szShap = sizeof(b3GpuChildShape);
+	int szComPair = sizeof(b3CompoundOverlappingPair);
+	m_internalData = new RealTimeBullet3CollisionSdkInternalData;
+}
+	
+RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
+{
+	delete m_internalData;
+	m_internalData=0;
+}
+	
+plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
+{
+	RTB3CollisionWorld* world = new RTB3CollisionWorld();
+	world->m_collidables.resize(maxNumObjsCapacity);
+	world->m_childShapes.resize(maxNumShapesCapacity);
+	world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
+
+	m_internalData->m_collisionWorlds.push_back(world);
+	return (plCollisionWorldHandle) world;
+}
+	
+void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
+{
+	RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
+	int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
+	b3Assert(loc >=0 && loc<m_internalData->m_collisionWorlds.size());
+	if (loc >=0 && loc<m_internalData->m_collisionWorlds.size())
+	{
+		m_internalData->m_collisionWorlds.remove(world);
+		delete world;
+	}
+}
+
+plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
+{
+	int index = 10;
+	return (plCollisionShapeHandle) index;
+}
+	
+void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
+{
+	//deleting shapes would involve a garbage collection phase, and mess up all user indices
+	//this would be solved by one more in-direction, at some performance penalty for certain operations
+	//for now, we don't delete and eventually run out-of-shapes
+}
+	
+void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+}
+
+void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
+{
+}
+	
+plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(  void* userPointer, int userIndex,  plCollisionShapeHandle cshape ,
+                                                        plVector3 startPosition,plQuaternion startOrientation )
+{
+	return 0;
+}
+  
+void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
+{
+}
+	
+void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionObjectHandle body,
+											plVector3 position,plQuaternion orientation )
+{
+}
+	
+int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
+                    lwContactPoint* pointsOut, int pointCapacity)
+{
+	return 0;
+}
+	
+void RealTimeBullet3CollisionSdk::collideWorld( plCollisionWorldHandle world,
+                            plNearCallback filter, void* userData)
+{
+}
+
+plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
+{
+	return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
+}