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

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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
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52
examples/Collision/Internal/RealTimeBullet3CollisionSdk.cpp
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@@ -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;