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

src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h

49 строк2 KB

Xuchen Han

fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform

16 авг 2019, 23:45

16 авг 2019, 23:45fce1296

#ifndef BT_COLLISION_OBJECT_WRAPPER_H
#define BT_COLLISION_OBJECT_WRAPPER_H

///btCollisionObjectWrapperis an internal data structure.
///Most users can ignore this and use btCollisionObject and btCollisionShape instead
class btCollisionShape;
class btCollisionObject;
class btTransform;
#include "LinearMath/btScalar.h"  // for SIMD_FORCE_INLINE definition

#define BT_DECLARE_STACK_ONLY_OBJECT \
private:                             \
	void* operator new(size_t size); \
	void operator delete(void*);

struct btCollisionObjectWrapper;
struct btCollisionObjectWrapper
{
	BT_DECLARE_STACK_ONLY_OBJECT

private:
	btCollisionObjectWrapper(const btCollisionObjectWrapper&);  // not implemented. Not allowed.
	btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);

public:
	const btCollisionObjectWrapper* m_parent;
	const btCollisionShape* m_shape;
	const btCollisionObject* m_collisionObject;
	const btTransform& m_worldTransform;
    const btTransform* m_preTransform;
	int m_partId;
	int m_index;

	btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
		: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index)
	{
	}
    
    btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index)
    : m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index)
    {
    }

	SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
	SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
	SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
};

#endif  //BT_COLLISION_OBJECT_WRAPPER_H