Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

upload work-in-progress Collision example using C-API.

Browse Source
This commit is contained in:
erwin coumans
2015-10-28 11:48:36 -07:00
parent 2d5d89d999
commit dc81e31e74
11 changed files with 208 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
examples/Collision/Internal/Bullet2CollisionSdk.cpp
View File

@@ -75,6 +75,52 @@ plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHan
return (plCollisionShapeHandle) planeShape;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis)
{
btCapsuleShape* capsule = 0;
switch (capsuleAxis)
{
case 0:
{
capsule = new btCapsuleShapeX(radius,height);
break;
}
case 1:
{
capsule = new btCapsuleShape(radius,height);
break;
}
case 2:
{
capsule = new btCapsuleShapeZ(radius,height);
break;
}
default:
{
btAssert(0);
}
}
return (plCollisionShapeHandle)capsule;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
return (plCollisionShapeHandle) new btCompoundShape();
}
void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle,plVector3 childPos,plQuaternion childOrn)
{
btCompoundShape* compound = (btCompoundShape*) compoundShapeHandle;
btCollisionShape* childShape = (btCollisionShape*) childShapeHandle;
btTransform localTrans;
localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
compound->addChildShape(localTrans,childShape);
}
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
{

8
examples/Collision/Internal/Bullet2CollisionSdk.h
View File

@@ -25,6 +25,14 @@ public:
plReal planeNormalZ,
plReal planeConstant);
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis);
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);

8
examples/Collision/Internal/CollisionSdkInterface.h
View File

@@ -23,6 +23,14 @@ public:
plReal planeNormalZ,
plReal planeConstant) = 0;
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis) = 0;
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)=0;
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;

52
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
View File

@@ -27,9 +27,9 @@ enum RTB3ShapeTypes
{
RTB3_SHAPE_SPHERE=0,
RTB3_SHAPE_PLANE,
// RTB3_SHAPE_CAPSULE,
RTB3_SHAPE_CAPSULE,
MAX_NUM_SINGLE_SHAPE_TYPES,
RTB3_SHAPE_COMPOUND_INTERNAL
RTB3_SHAPE_COMPOUND_INTERNAL,
};
@@ -152,7 +152,49 @@ plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollision
return 0;
}
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis)
{
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
{
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
shape.m_childPosition.setZero();
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_radius = radius;
shape.m_height = height;
shape.m_shapeIndex = capsuleAxis;
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
}
return 0;
}
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
{
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
shape.m_childPosition.setZero();
shape.m_childOrientation.setValue(0,0,0,1);
shape.m_numChildShapes = 0;
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
}
return 0;
}
void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)
{
}
void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
{
///todo
@@ -206,7 +248,7 @@ plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plC
}
case RTB3_SHAPE_COMPOUND_INTERNAL:
{
b3Assert(0);
break;
}
default:
@@ -399,8 +441,8 @@ int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCo
{
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);
//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);
}
}
return contactCache.numAddedPoints;

7
examples/Collision/Internal/RealTimeBullet3CollisionSdk.h
View File

@@ -23,6 +23,13 @@ public:
plReal planeNormalY,
plReal planeNormalZ,
plReal planeConstant);
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis);
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);