mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 09:20:10 +00:00
Add pairwise collision test:
void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback) cmake: improve feedback for Maya Plugin handling if the Maya base path is not detected
This commit is contained in:
erwin.coumans
parent
5907f81774
commit
7a175fb65e
@ -15,70 +15,78 @@ FIND_PATH(MAYA_BASE_DIR include/maya/MFn.h PATH
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/usr/autodesk/maya
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"C:/Program Files/Autodesk/Maya2008"
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"C:/Program Files/Autodesk/Maya2009"
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"C:/Program Files/Autodesk/Maya8.5")
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"C:/Program Files/Autodesk/Maya8.5"
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"C:/Program Files (x86)/Autodesk/Maya2010"
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)
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SET(MAYA_INC_DIR ${MAYA_BASE_DIR}/include)
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SET(MAYA_LIB_DIR ${MAYA_BASE_DIR}/lib)
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IF (MAYA_BASE_DIR)
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message ("Maya found at location " ${MAYA_BASE_DIR})
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INCLUDE_DIRECTORIES(${MAYA_INC_DIR} ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/MayaPlugin )
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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SET(MAYA_INC_DIR ${MAYA_BASE_DIR}/include)
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SET(MAYA_LIB_DIR ${MAYA_BASE_DIR}/lib)
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ADD_DEFINITIONS(-D_BOOL)
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ADD_DEFINITIONS(-DREQUIRE_IOSTREAM)
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INCLUDE_DIRECTORIES(${MAYA_INC_DIR} ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/MayaPlugin )
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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SET(TARGET_H
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box_shape.h bt_sphere_shape.h dSolverNode.h rigid_body_impl.h
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box_shape_impl.h collision_shape.h mathUtils.h rigidBodyNode.h
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bt_box_shape.h collision_shape_impl.h mayaUtils.h solver.h
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bt_collision_shape.h collisionShapeNode.h mesh_shape.h solver_impl.h
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bt_convex_hull_shape.h convex_hull_shape.h mesh_shape_impl.h sphere_shape.h
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bt_mesh_shape.h convex_hull_shape_impl.h plane_shape.h sphere_shape_impl.h
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bt_plane_shape.h dRigidBodyArrayCmd.h plane_shape_impl.h
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bt_rigid_body.h dRigidBodyCmd.h rigidBodyArrayNode.h
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bt_solver.h dSolverCmd.h rigid_body.h pdbIO.h
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shared_ptr.h drawUtils.h
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)
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ADD_DEFINITIONS(-D_BOOL)
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ADD_DEFINITIONS(-DREQUIRE_IOSTREAM)
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SET(TARGET_SRC
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pluginMain.cpp bulletExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp
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solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp
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pdbIO.cpp drawUtils.cpp constraint/dHingeConstraintCmd.cpp constraint/dSliderConstraintCmd.cpp
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constraint/hingeConstraintNode.cpp constraint/sixdofConstraintNode.cpp constraint/dNailConstraintCmd.cpp
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constraint/dsixdofConstraintCmd.cpp constraint/nailConstraintNode.cpp constraint/sliderConstraintNode.cpp
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)
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SET(TARGET_H
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box_shape.h bt_sphere_shape.h dSolverNode.h rigid_body_impl.h
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box_shape_impl.h collision_shape.h mathUtils.h rigidBodyNode.h
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bt_box_shape.h collision_shape_impl.h mayaUtils.h solver.h
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bt_collision_shape.h collisionShapeNode.h mesh_shape.h solver_impl.h
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bt_convex_hull_shape.h convex_hull_shape.h mesh_shape_impl.h sphere_shape.h
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bt_mesh_shape.h convex_hull_shape_impl.h plane_shape.h sphere_shape_impl.h
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bt_plane_shape.h dRigidBodyArrayCmd.h plane_shape_impl.h
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bt_rigid_body.h dRigidBodyCmd.h rigidBodyArrayNode.h
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bt_solver.h dSolverCmd.h rigid_body.h pdbIO.h
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shared_ptr.h drawUtils.h
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)
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ADD_LIBRARY(BulletMayaPlugin SHARED ${TARGET_H} ${TARGET_SRC})
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SET(TARGET_SRC
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pluginMain.cpp bulletExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp
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solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp
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pdbIO.cpp drawUtils.cpp constraint/dHingeConstraintCmd.cpp constraint/dSliderConstraintCmd.cpp
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constraint/hingeConstraintNode.cpp constraint/sixdofConstraintNode.cpp constraint/dNailConstraintCmd.cpp
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constraint/dsixdofConstraintCmd.cpp constraint/nailConstraintNode.cpp constraint/sliderConstraintNode.cpp
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)
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ADD_LIBRARY(BulletMayaPlugin SHARED ${TARGET_H} ${TARGET_SRC})
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IF (WIN32)
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SET(MAYA_LIBS OpenMaya Foundation OpenMayaAnim OpenMayaFX OpenMayaUI)
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IF (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES LINK_FLAGS "/SUBSYSTEM:WINDOWS /MACHINE:X64")
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ELSE (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES LINK_FLAGS "/SUBSYSTEM:WINDOWS /MACHINE:X86")
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ENDIF (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES SUFFIX ".mll")
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IF (WIN32)
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SET(MAYA_LIBS OpenMaya Foundation OpenMayaAnim OpenMayaFX OpenMayaUI)
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IF (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES LINK_FLAGS "/SUBSYSTEM:WINDOWS /MACHINE:X64")
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ELSE (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES LINK_FLAGS "/SUBSYSTEM:WINDOWS /MACHINE:X86")
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ENDIF (CMAKE_CL_64)
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SET_TARGET_PROPERTIES(BulletMayaPlugin PROPERTIES SUFFIX ".mll")
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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TARGET_LINK_LIBRARIES(BulletMayaPlugin BulletDynamics BulletCollision LinearMath ${MAYA_LIBS} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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SET(CMAKE_SHARED_LINKER_FLAGS "/export:initializePlugin /export:uninitializePlugin")
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ELSE (WIN32)
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SET(MAYA_LIBS OpenMayalib Foundation OpenMayaAnim OpenMayaFX OpenMayaUI)
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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TARGET_LINK_LIBRARIES(BulletMayaPlugin BulletDynamics BulletCollision LinearMath ${MAYA_LIBS} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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ENDIF(WIN32)
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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TARGET_LINK_LIBRARIES(BulletMayaPlugin BulletDynamics BulletCollision LinearMath ${MAYA_LIBS} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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SET(CMAKE_SHARED_LINKER_FLAGS "/export:initializePlugin /export:uninitializePlugin")
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ELSE (WIN32)
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SET(MAYA_LIBS OpenMayalib Foundation OpenMayaAnim OpenMayaFX OpenMayaUI)
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LINK_DIRECTORIES(${MAYA_LIB_DIR})
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TARGET_LINK_LIBRARIES(BulletMayaPlugin BulletDynamics BulletCollision LinearMath ${MAYA_LIBS} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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ENDIF(WIN32)
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#OPTION(BUILD_STANDALONE "Build a standalone exporter program")
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#
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#IF (BUILD_STANDALONE)
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# IF (WIN32)
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#
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# ELSE (WIN32)
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# SET(MAYA_LIBS OpenMayalib Foundation OpenMayaAnim)
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# ADD_EXECUTABLE(me ${TARGET_H} ${TARGET_SRC} standalone.cpp)
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# LINK_DIRECTORIES(${MAYA_LIB_DIR})
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# TARGET_LINK_LIBRARIES(me ${MAYA_LIBS} pthread m imf)
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# ENDIF (WIN32)
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#ENDIF (BUILD_STANDALONE)
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#OPTION(BUILD_STANDALONE "Build a standalone exporter program")
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#
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#IF (BUILD_STANDALONE)
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# IF (WIN32)
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#
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# ELSE (WIN32)
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# SET(MAYA_LIBS OpenMayalib Foundation OpenMayaAnim)
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# ADD_EXECUTABLE(me ${TARGET_H} ${TARGET_SRC} standalone.cpp)
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# LINK_DIRECTORIES(${MAYA_LIB_DIR})
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# TARGET_LINK_LIBRARIES(me ${MAYA_LIBS} pthread m imf)
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# ENDIF (WIN32)
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#ENDIF (BUILD_STANDALONE)
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ELSE()
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MESSAGE("Maya not found, try adding your Maya path in Bullet/Extras/MayaPlugin/CMakeListst.txt under FIND_PATH(MAYA_BASE_DIR ...")
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ENDIF()
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@ -1017,6 +1017,25 @@ void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
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}
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///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
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///it reports one or more contact points (including the one with deepest penetration)
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void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
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{
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btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
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if (algorithm)
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{
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btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
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//discrete collision detection query
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algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
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algorithm->~btCollisionAlgorithm();
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getDispatcher()->freeCollisionAlgorithm(algorithm);
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}
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}
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class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
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{
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@ -403,6 +403,11 @@ public:
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///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
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void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
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///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
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///it reports one or more contact points (including the one with deepest penetration)
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void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
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/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
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/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
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/// This allows more customization.
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