redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/Collision/CollisionSdkC_Api.cpp
130 строк5 KB
erwin coumans
upload work-in-progress Collision example using C-API.
28 окт 2015, 21:48
28 окт 2015, 21:48dc81e31
#include "CollisionSdkC_Api.h"
#include "Internal/CollisionSdkInterface.h"
#include "Internal/Bullet2CollisionSdk.h"
#include "Internal/RealTimeBullet3CollisionSdk.h"

	/* Collision World */
	
plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createCollisionWorld( maxNumObjsCapacity, maxNumShapesCapacity, maxNumPairsCapacity);
}

void           plDeleteCollisionWorld(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	if (sdk && worldHandle)
	{
		sdk->deleteCollisionWorld(worldHandle);
	}
}

plCollisionSdkHandle plCreateBullet2CollisionSdk()
{
#ifndef DISABLE_BULLET2_COLLISION_SDK
	return Bullet2CollisionSdk::createBullet2SdkHandle();
#else
	return 0;
#endif //DISABLE_BULLET2_COLLISION_SDK
}

plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk()
{
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
	return RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle();
#else
	return 0;
#endif
}

void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	delete sdk;
}

plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createSphereShape(worldHandle,radius);
	
}

plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle collisionSdkHandle,  plCollisionWorldHandle worldHandle, 
													plReal planeNormalX, 
													plReal planeNormalY, 
													plReal planeNormalZ, 
													plReal planeConstant)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createPlaneShape(worldHandle,planeNormalX,planeNormalY,planeNormalZ,planeConstant);
}
	
plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle collisionSdkHandle,  plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createCapsuleShape(worldHandle,radius,height,capsuleAxis);
}

plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle collisionSdkHandle,plCollisionWorldHandle worldHandle)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createCompoundShape(worldHandle);
}
void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->addChildShape(worldHandle,compoundShape,childShape,childPos,childOrn);
}

void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shapeHandle)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->deleteShape(worldHandle,shapeHandle);
}

plCollisionObjectHandle plCreateCollisionObject(  plCollisionSdkHandle collisionSdkHandle,  plCollisionWorldHandle worldHandle, void* userData, int userIndex,  plCollisionShapeHandle cshape ,plVector3 childPos,plQuaternion childOrn)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	return sdk->createCollisionObject(worldHandle, userData, userIndex, cshape, childPos, childOrn);
	
}

void plDeleteCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->deleteCollisionObject(body);
}

void plSetCollisionObjectTransform(  plCollisionSdkHandle collisionSdkHandle,  plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 position,plQuaternion orientation)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->setCollisionObjectTransform(worldHandle,objHandle,position,orientation);
}

void plAddCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->addCollisionObject(world,object);
}
void plRemoveCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
{
	CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
	sdk->removeCollisionObject(world,object);
}

/* Collision Queries */
int plCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
                     lwContactPoint* pointsOut, int pointCapacity)
{
    CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
    return sdk->collide(worldHandle, colA,colB,pointsOut,pointCapacity);
}

void plWorldCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world,
                           plNearCallback filter, void* userData)
{
    CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
    sdk->collideWorld(world,filter,userData);
}