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

examples/Collision/Internal/Bullet2CollisionSdk.cpp
273 строки9 KB
erwincoumans
Code-style consistency improvement:
24 сен 2018, 00:17
24 сен 2018, 00:17ab8f169
#include "Bullet2CollisionSdk.h"
#include "btBulletCollisionCommon.h"

struct Bullet2CollisionSdkInternalData
{
	btCollisionConfiguration* m_collisionConfig;
	btCollisionDispatcher* m_dispatcher;
	btBroadphaseInterface* m_aabbBroadphase;
	btCollisionWorld* m_collisionWorld;

	Bullet2CollisionSdkInternalData()
		: m_collisionConfig(0),
		  m_dispatcher(0),
		  m_aabbBroadphase(0),
		  m_collisionWorld(0)
	{
	}
};

Bullet2CollisionSdk::Bullet2CollisionSdk()
{
	m_internalData = new Bullet2CollisionSdkInternalData;
}

Bullet2CollisionSdk::~Bullet2CollisionSdk()
{
	delete m_internalData;
	m_internalData = 0;
}

plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
{
	m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;

	m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
	m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
	m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
															m_internalData->m_aabbBroadphase,
															m_internalData->m_collisionConfig);
	return (plCollisionWorldHandle)m_internalData->m_collisionWorld;
}

void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
{
	btCollisionWorld* world = (btCollisionWorld*)worldHandle;
	btAssert(m_internalData->m_collisionWorld == world);

	if (m_internalData->m_collisionWorld == world)
	{
		delete m_internalData->m_collisionWorld;
		m_internalData->m_collisionWorld = 0;
		delete m_internalData->m_aabbBroadphase;
		m_internalData->m_aabbBroadphase = 0;
		delete m_internalData->m_dispatcher;
		m_internalData->m_dispatcher = 0;
		delete m_internalData->m_collisionConfig;
		m_internalData->m_collisionConfig = 0;
	}
}

plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
{
	btSphereShape* sphereShape = new btSphereShape(radius);
	return (plCollisionShapeHandle)sphereShape;
}

plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
															 plReal planeNormalX,
															 plReal planeNormalY,
															 plReal planeNormalZ,
															 plReal planeConstant)
{
	btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX, planeNormalY, planeNormalZ), planeConstant);
	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)
{
	btCollisionShape* shape = (btCollisionShape*)shapeHandle;
	delete shape;
}

void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
{
	btCollisionWorld* world = (btCollisionWorld*)worldHandle;
	btCollisionObject* colObj = (btCollisionObject*)objectHandle;
	btAssert(world && colObj);
	if (world == m_internalData->m_collisionWorld && colObj)
	{
		world->addCollisionObject(colObj);
	}
}
void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
{
	btCollisionWorld* world = (btCollisionWorld*)worldHandle;
	btCollisionObject* colObj = (btCollisionObject*)objectHandle;
	btAssert(world && colObj);
	if (world == m_internalData->m_collisionWorld && colObj)
	{
		world->removeCollisionObject(colObj);
	}
}

plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle,
																   plVector3 startPosition, plQuaternion startOrientation)

{
	btCollisionShape* colShape = (btCollisionShape*)shapeHandle;
	btAssert(colShape);
	if (colShape)
	{
		btCollisionObject* colObj = new btCollisionObject;
		colObj->setUserIndex(userIndex);
		colObj->setUserPointer(userPointer);
		colObj->setCollisionShape(colShape);
		btTransform tr;
		tr.setOrigin(btVector3(startPosition[0], startPosition[1], startPosition[2]));
		tr.setRotation(btQuaternion(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]));
		colObj->setWorldTransform(tr);
		return (plCollisionObjectHandle)colObj;
	}
	return 0;
}

void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
{
	btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
	delete colObj;
}
void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
													  plVector3 position, plQuaternion orientation)
{
	btCollisionObject* colObj = (btCollisionObject*)bodyHandle;
	btTransform tr;
	tr.setOrigin(btVector3(position[0], position[1], position[2]));
	tr.setRotation(btQuaternion(orientation[0], orientation[1], orientation[2], orientation[3]));
	colObj->setWorldTransform(tr);
}

struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
{
	int m_numContacts;
	lwContactPoint* m_pointsOut;
	int m_pointCapacity;

	Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) : m_numContacts(0),
																				 m_pointsOut(pointsOut),
																				 m_pointCapacity(pointCapacity)
	{
	}
	virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1)
	{
		if (m_numContacts < m_pointCapacity)
		{
			lwContactPoint& ptOut = m_pointsOut[m_numContacts];
			ptOut.m_distance = cp.m_distance1;
			ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
			ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
			ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
			ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
			ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
			ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
			ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
			ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
			ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
			m_numContacts++;
		}

		return 1.f;
	}
};

int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
								 lwContactPoint* pointsOut, int pointCapacity)
{
	btCollisionWorld* world = (btCollisionWorld*)worldHandle;
	btCollisionObject* colObjA = (btCollisionObject*)colA;
	btCollisionObject* colObjB = (btCollisionObject*)colB;
	btAssert(world && colObjA && colObjB);
	if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
	{
		Bullet2ContactResultCallback cb(pointsOut, pointCapacity);
		world->contactPairTest(colObjA, colObjB, cb);
		return cb.m_numContacts;
	}
	return 0;
}

static plNearCallback gTmpFilter;
static int gNearCallbackCount = 0;
static plCollisionSdkHandle gCollisionSdk = 0;
static plCollisionWorldHandle gCollisionWorldHandle = 0;

static void* gUserData = 0;

void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
	btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
	btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
	plCollisionObjectHandle obA = (plCollisionObjectHandle)colObj0;
	plCollisionObjectHandle obB = (plCollisionObjectHandle)colObj1;
	if (gTmpFilter)
	{
		gTmpFilter(gCollisionSdk, gCollisionWorldHandle, gUserData, obA, obB);
		gNearCallbackCount++;
	}
}

void Bullet2CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
									   plNearCallback filter, void* userData)
{
	btCollisionWorld* world = (btCollisionWorld*)worldHandle;
	//chain the near-callback
	gTmpFilter = filter;
	gNearCallbackCount = 0;
	gUserData = userData;
	gCollisionSdk = (plCollisionSdkHandle)this;
	gCollisionWorldHandle = worldHandle;
	m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
	world->performDiscreteCollisionDetection();
	gTmpFilter = 0;
}

plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
{
	return (plCollisionSdkHandle) new Bullet2CollisionSdk;
}