Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -8,30 +8,27 @@
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//convert the opaque pointer to int
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struct RTB3_ColliderOpaque2Int
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{
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union
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{
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plCollisionObjectHandle m_ptrValue;
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int m_intValue;
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};
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union {
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plCollisionObjectHandle m_ptrValue;
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int m_intValue;
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};
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};
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struct RTB3_ShapeOpaque2Int
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{
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union
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{
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plCollisionShapeHandle m_ptrValue;
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int m_intValue;
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};
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union {
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plCollisionShapeHandle m_ptrValue;
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int m_intValue;
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};
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};
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enum RTB3ShapeTypes
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{
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RTB3_SHAPE_SPHERE=0,
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RTB3_SHAPE_SPHERE = 0,
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RTB3_SHAPE_PLANE,
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RTB3_SHAPE_CAPSULE,
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MAX_NUM_SINGLE_SHAPE_TYPES,
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RTB3_SHAPE_COMPOUND_INTERNAL,
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};
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//we start at 1, so that the 0 index is 'invalid' just like a nullptr
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@@ -47,15 +44,14 @@ struct RTB3CollisionWorld
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b3AlignedObjectArray<b3Transform> m_collidableTransforms;
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b3AlignedObjectArray<b3Collidable> m_collidables;
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b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
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b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
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b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
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b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
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b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
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b3AlignedObjectArray<b3GpuFace> m_planeFaces;
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b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
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union
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{
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union {
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int m_nextFreeShapeIndex;
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void* m_nextFreeShapePtr;
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};
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@@ -63,10 +59,9 @@ struct RTB3CollisionWorld
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int m_nextFreePlaneFaceIndex;
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RTB3CollisionWorld()
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:
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m_nextFreeShapeIndex(START_SHAPE_INDEX),
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m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
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m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
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: m_nextFreeShapeIndex(START_SHAPE_INDEX),
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m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
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m_nextFreePlaneFaceIndex(0) //this value is never exposed to the user, so we can start from 0
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{
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}
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};
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@@ -78,42 +73,42 @@ struct RealTimeBullet3CollisionSdkInternalData
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RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
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{
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// int szCol = sizeof(b3Collidable);
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// int szShap = sizeof(b3GpuChildShape);
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// int szComPair = sizeof(b3CompoundOverlappingPair);
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// int szCol = sizeof(b3Collidable);
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// int szShap = sizeof(b3GpuChildShape);
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// int szComPair = sizeof(b3CompoundOverlappingPair);
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m_internalData = new RealTimeBullet3CollisionSdkInternalData;
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}
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RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
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{
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delete m_internalData;
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m_internalData=0;
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m_internalData = 0;
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}
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plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
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{
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RTB3CollisionWorld* world = new RTB3CollisionWorld();
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world->m_collidables.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_collidablePositions.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_collidableOrientations.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_collidableTransforms.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_collidableUserPointers.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_collidableUserIndices.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
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world->m_childShapes.resize(maxNumShapesCapacity+START_SHAPE_INDEX);
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world->m_collidables.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidablePositions.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableOrientations.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableTransforms.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableUserPointers.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableUserIndices.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_childShapes.resize(maxNumShapesCapacity + START_SHAPE_INDEX);
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world->m_planeFaces.resize(maxNumShapesCapacity);
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world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
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m_internalData->m_collisionWorlds.push_back(world);
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return (plCollisionWorldHandle) world;
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return (plCollisionWorldHandle)world;
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}
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void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
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b3Assert(loc >=0 && loc<m_internalData->m_collisionWorlds.size());
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if (loc >=0 && loc<m_internalData->m_collisionWorlds.size())
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b3Assert(loc >= 0 && loc < m_internalData->m_collisionWorlds.size());
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if (loc >= 0 && loc < m_internalData->m_collisionWorlds.size())
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{
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m_internalData->m_collisionWorlds.remove(world);
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delete world;
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@@ -122,88 +117,87 @@ void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle wo
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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b3Assert(world->m_nextFreeShapeIndex<world->m_childShapes.size());
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if (world->m_nextFreeShapeIndex<world->m_childShapes.size())
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0,0,0,1);
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_radius = radius;
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shape.m_shapeType = RTB3_SHAPE_SPHERE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant)
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0,0,0,1);
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world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX, planeNormalY, planeNormalZ, planeConstant);
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shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
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shape.m_shapeType = RTB3_SHAPE_PLANE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr ;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis)
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0,0,0,1);
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_radius = radius;
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shape.m_height = height;
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shape.m_shapeIndex = capsuleAxis;
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shape.m_shapeType = RTB3_SHAPE_CAPSULE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0,0,0,1);
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_numChildShapes = 0;
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shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle) world->m_nextFreeShapePtr;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)
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void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
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{
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}
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void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
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{
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@@ -212,7 +206,7 @@ void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle
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//this would be solved by one more in-direction, at some performance penalty for certain operations
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//for now, we don't delete and eventually run out-of-shapes
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}
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void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
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{
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///createCollisionObject already adds it to the world
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@@ -222,46 +216,45 @@ void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle w
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{
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///todo, see deleteShape
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}
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plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer,
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int userIndex, plCollisionShapeHandle shapeHandle ,
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plVector3 startPosition,plQuaternion startOrientation )
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plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer,
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int userIndex, plCollisionShapeHandle shapeHandle,
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plVector3 startPosition, plQuaternion startOrientation)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
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if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
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{
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b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
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world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0],startPosition[1],startPosition[2]);
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world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]);
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world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0], startPosition[1], startPosition[2]);
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world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]);
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world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
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world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
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world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
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world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
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RTB3_ShapeOpaque2Int caster;
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caster.m_ptrValue = shapeHandle;
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int shapeIndex = caster.m_intValue;
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collidable.m_shapeIndex = shapeIndex;
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RTB3_ShapeOpaque2Int caster;
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caster.m_ptrValue = shapeHandle;
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int shapeIndex = caster.m_intValue;
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collidable.m_shapeIndex = shapeIndex;
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b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
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collidable.m_shapeType = shape.m_shapeType;
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collidable.m_numChildShapes = 1;
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switch (collidable.m_shapeType)
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{
|
||||
case RTB3_SHAPE_SPHERE:
|
||||
case RTB3_SHAPE_SPHERE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_PLANE:
|
||||
case RTB3_SHAPE_PLANE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_COMPOUND_INTERNAL:
|
||||
case RTB3_SHAPE_COMPOUND_INTERNAL:
|
||||
{
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
default:
|
||||
{
|
||||
b3Assert(0);
|
||||
}
|
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@@ -280,14 +273,14 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plC
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||||
}
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return 0;
|
||||
}
|
||||
|
||||
|
||||
void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
|
||||
{
|
||||
///todo, see deleteShape
|
||||
}
|
||||
|
||||
|
||||
void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position,plQuaternion orientation )
|
||||
plVector3 position, plQuaternion orientation)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -298,159 +291,154 @@ struct plContactCache
|
||||
int numAddedPoints;
|
||||
};
|
||||
|
||||
typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache);
|
||||
typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache);
|
||||
|
||||
void detectCollisionDummy(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
void detectCollisionDummy(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA,(void)colB;
|
||||
(void)colA, (void)colB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
void plVecCopy(float* dst,const b3Vector3& src)
|
||||
void plVecCopy(float* dst, const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
void plVecCopy(double* dst,const b3Vector3& src)
|
||||
void plVecCopy(double* dst, const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
|
||||
void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld,b3Scalar sphereRadius, plContactCache* contactCache)
|
||||
void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld, b3Scalar sphereRadius, plContactCache* contactCache)
|
||||
{
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld)+planeConstant);
|
||||
b3Vector3 intersectionPoint = spherePosWorld+t*-planeNormalWorld;
|
||||
b3Scalar distance = t-sphereRadius;
|
||||
if (distance<=0)
|
||||
b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld) + planeConstant);
|
||||
b3Vector3 intersectionPoint = spherePosWorld + t * -planeNormalWorld;
|
||||
b3Scalar distance = t - sphereRadius;
|
||||
if (distance <= 0)
|
||||
{
|
||||
pointOut.m_distance = distance;
|
||||
plVecCopy(pointOut.m_ptOnBWorld,intersectionPoint);
|
||||
plVecCopy(pointOut.m_ptOnAWorld,spherePosWorld+sphereRadius*-planeNormalWorld);
|
||||
plVecCopy(pointOut.m_normalOnB,planeNormalWorld);
|
||||
plVecCopy(pointOut.m_ptOnBWorld, intersectionPoint);
|
||||
plVecCopy(pointOut.m_ptOnAWorld, spherePosWorld + sphereRadius * -planeNormalWorld);
|
||||
plVecCopy(pointOut.m_normalOnB, planeNormalWorld);
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache) {
|
||||
|
||||
void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache)
|
||||
{
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Vector3 diff = sphereAPosWorld-sphereBPosWorld;
|
||||
b3Vector3 diff = sphereAPosWorld - sphereBPosWorld;
|
||||
|
||||
b3Scalar len = diff.length();
|
||||
pointOut.m_distance = len - (sphereARadius+sphereBRadius);
|
||||
if (pointOut.m_distance<=0)
|
||||
pointOut.m_distance = len - (sphereARadius + sphereBRadius);
|
||||
if (pointOut.m_distance <= 0)
|
||||
{
|
||||
b3Vector3 normOnB = b3MakeVector3(1,0,0);
|
||||
if (len > B3_EPSILON) {
|
||||
b3Vector3 normOnB = b3MakeVector3(1, 0, 0);
|
||||
if (len > B3_EPSILON)
|
||||
{
|
||||
normOnB = diff / len;
|
||||
}
|
||||
|
||||
plVecCopy(pointOut.m_normalOnB,normOnB);
|
||||
b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius*normOnB;
|
||||
plVecCopy(pointOut.m_ptOnAWorld,ptAWorld);
|
||||
plVecCopy(pointOut.m_ptOnBWorld,ptAWorld-normOnB*pointOut.m_distance);
|
||||
|
||||
|
||||
plVecCopy(pointOut.m_normalOnB, normOnB);
|
||||
b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius * normOnB;
|
||||
plVecCopy(pointOut.m_ptOnAWorld, ptAWorld);
|
||||
plVecCopy(pointOut.m_ptOnBWorld, ptAWorld - normOnB * pointOut.m_distance);
|
||||
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
|
||||
const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
|
||||
const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
|
||||
|
||||
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
|
||||
|
||||
|
||||
const b3Transform& trB = world->m_collidableTransforms[colB];
|
||||
const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
|
||||
b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
|
||||
//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
|
||||
|
||||
ComputeClosestPointsSphereSphere(radiusA,spherePosAWorld,radiusB,spherePosBWorld,contactCache);
|
||||
ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
|
||||
}
|
||||
|
||||
void detectCollisionSpherePlane(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
void detectCollisionSpherePlane(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
|
||||
|
||||
int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
|
||||
b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
|
||||
b3Scalar planeConstant = planeNormal[3];
|
||||
planeNormal[3] = 0.f;
|
||||
|
||||
ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld,world->m_childShapes[shapeIndexA].m_radius, contactCache);
|
||||
|
||||
ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld, world->m_childShapes[shapeIndexA].m_radius, contactCache);
|
||||
}
|
||||
|
||||
void detectCollisionPlaneSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
void detectCollisionPlaneSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA,(void)shapeIndexA,(void)colB,(void)shapeIndexB;
|
||||
(void)colA, (void)shapeIndexA, (void)colB, (void)shapeIndexB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#ifdef RTB3_SHAPE_CAPSULE
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES,][MAX_NUM_SINGLE_SHAPE_TYPES,] = {
|
||||
{detectCollisionSphereSphere ,detectCollisionSpherePlane ,detectCollisionSphereCapsule},
|
||||
{detectCollisionPlaneSphere ,detectCollisionDummy ,detectCollisionPlaneCapsule},
|
||||
{detectCollisionCapsuleSphere ,detectCollisionCapsulePlane ,detectCollisionCapsuleCapsule},
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES, ][MAX_NUM_SINGLE_SHAPE_TYPES, ] = {
|
||||
{detectCollisionSphereSphere, detectCollisionSpherePlane, detectCollisionSphereCapsule},
|
||||
{detectCollisionPlaneSphere, detectCollisionDummy, detectCollisionPlaneCapsule},
|
||||
{detectCollisionCapsuleSphere, detectCollisionCapsulePlane, detectCollisionCapsuleCapsule},
|
||||
};
|
||||
#else
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
|
||||
{detectCollisionSphereSphere ,detectCollisionSpherePlane},
|
||||
{detectCollisionPlaneSphere ,detectCollisionDummy },
|
||||
{detectCollisionSphereSphere, detectCollisionSpherePlane},
|
||||
{detectCollisionPlaneSphere, detectCollisionDummy},
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
|
||||
lwContactPoint* pointsOutOrg, int pointCapacity)
|
||||
int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
|
||||
lwContactPoint* pointsOutOrg, int pointCapacity)
|
||||
{
|
||||
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
caster.m_ptrValue =colAHandle;
|
||||
int colAIndex = caster.m_intValue;
|
||||
caster.m_ptrValue = colBHandle;
|
||||
int colBIndex = caster.m_intValue;
|
||||
const b3Collidable& colA = world->m_collidables[colAIndex];
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
caster.m_ptrValue = colAHandle;
|
||||
int colAIndex = caster.m_intValue;
|
||||
caster.m_ptrValue = colBHandle;
|
||||
int colBIndex = caster.m_intValue;
|
||||
const b3Collidable& colA = world->m_collidables[colAIndex];
|
||||
const b3Collidable& colB = world->m_collidables[colBIndex];
|
||||
|
||||
plContactCache contactCache;
|
||||
contactCache.pointCapacity = pointCapacity;
|
||||
contactCache.pointsOut = pointsOutOrg;
|
||||
contactCache.numAddedPoints = 0;
|
||||
|
||||
for (int i=0;i<colA.m_numChildShapes;i++)
|
||||
|
||||
for (int i = 0; i < colA.m_numChildShapes; i++)
|
||||
{
|
||||
for (int j=0;j<colB.m_numChildShapes;j++)
|
||||
for (int j = 0; j < colB.m_numChildShapes; j++)
|
||||
{
|
||||
if (contactCache.numAddedPoints<pointCapacity)
|
||||
if (contactCache.numAddedPoints < pointCapacity)
|
||||
{
|
||||
//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
|
||||
// [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
|
||||
@@ -462,25 +450,24 @@ int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCo
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
void RealTimeBullet3CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
||||
if (filter)
|
||||
{
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
plCollisionObjectHandle colA;
|
||||
plCollisionObjectHandle colB;
|
||||
for (int i=START_COLLIDABLE_INDEX;i<world->m_nextFreeCollidableIndex;i++)
|
||||
for (int i = START_COLLIDABLE_INDEX; i < world->m_nextFreeCollidableIndex; i++)
|
||||
{
|
||||
|
||||
for (int j=i+1;j<world->m_nextFreeCollidableIndex;j++)
|
||||
for (int j = i + 1; j < world->m_nextFreeCollidableIndex; j++)
|
||||
{
|
||||
caster.m_intValue = i;
|
||||
colA = caster.m_ptrValue;
|
||||
caster.m_intValue = j;
|
||||
colA = caster.m_ptrValue;
|
||||
caster.m_intValue = j;
|
||||
colB = caster.m_ptrValue;
|
||||
filter((plCollisionSdkHandle)this,worldHandle,userData,colA,colB);
|
||||
filter((plCollisionSdkHandle)this, worldHandle, userData, colA, colB);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user