mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
479 lines
17 KiB
C++
479 lines
17 KiB
C++
#define BLAAT
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#include "RealTimeBullet3CollisionSdk.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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//convert the opaque pointer to int
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struct RTB3_ColliderOpaque2Int
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{
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union {
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plCollisionObjectHandle m_ptrValue;
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int m_intValue;
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};
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};
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struct RTB3_ShapeOpaque2Int
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{
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union {
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plCollisionShapeHandle m_ptrValue;
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int m_intValue;
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};
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};
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enum RTB3ShapeTypes
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{
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RTB3_SHAPE_SPHERE = 0,
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RTB3_SHAPE_PLANE,
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RTB3_SHAPE_CAPSULE,
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MAX_NUM_SINGLE_SHAPE_TYPES,
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RTB3_SHAPE_COMPOUND_INTERNAL,
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};
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//we start at 1, so that the 0 index is 'invalid' just like a nullptr
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#define START_COLLIDABLE_INDEX 1
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#define START_SHAPE_INDEX 1
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struct RTB3CollisionWorld
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{
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b3AlignedObjectArray<void*> m_collidableUserPointers;
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b3AlignedObjectArray<int> m_collidableUserIndices;
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b3AlignedObjectArray<b3Float4> m_collidablePositions;
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b3AlignedObjectArray<b3Quaternion> m_collidableOrientations;
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b3AlignedObjectArray<b3Transform> m_collidableTransforms;
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b3AlignedObjectArray<b3Collidable> m_collidables;
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b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
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b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
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b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
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b3AlignedObjectArray<b3GpuFace> m_planeFaces;
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b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
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union {
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int m_nextFreeShapeIndex;
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void* m_nextFreeShapePtr;
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};
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int m_nextFreeCollidableIndex;
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int m_nextFreePlaneFaceIndex;
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RTB3CollisionWorld()
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: m_nextFreeShapeIndex(START_SHAPE_INDEX),
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m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
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m_nextFreePlaneFaceIndex(0) //this value is never exposed to the user, so we can start from 0
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{
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}
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};
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struct RealTimeBullet3CollisionSdkInternalData
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{
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b3AlignedObjectArray<RTB3CollisionWorld*> m_collisionWorlds;
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};
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RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
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{
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// int szCol = sizeof(b3Collidable);
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// int szShap = sizeof(b3GpuChildShape);
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// int szComPair = sizeof(b3CompoundOverlappingPair);
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m_internalData = new RealTimeBullet3CollisionSdkInternalData;
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}
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RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
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{
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delete m_internalData;
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m_internalData = 0;
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}
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plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
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{
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RTB3CollisionWorld* world = new RTB3CollisionWorld();
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world->m_collidables.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidablePositions.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableOrientations.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableTransforms.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableUserPointers.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_collidableUserIndices.resize(maxNumObjsCapacity + START_COLLIDABLE_INDEX);
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world->m_childShapes.resize(maxNumShapesCapacity + START_SHAPE_INDEX);
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world->m_planeFaces.resize(maxNumShapesCapacity);
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world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
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m_internalData->m_collisionWorlds.push_back(world);
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return (plCollisionWorldHandle)world;
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}
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void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
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b3Assert(loc >= 0 && loc < m_internalData->m_collisionWorlds.size());
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if (loc >= 0 && loc < m_internalData->m_collisionWorlds.size())
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{
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m_internalData->m_collisionWorlds.remove(world);
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delete world;
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}
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_radius = radius;
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shape.m_shapeType = RTB3_SHAPE_SPHERE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
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plReal planeNormalX,
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plReal planeNormalY,
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plReal planeNormalZ,
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plReal planeConstant)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX, planeNormalY, planeNormalZ, planeConstant);
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shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
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shape.m_shapeType = RTB3_SHAPE_PLANE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
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plReal radius,
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plReal height,
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int capsuleAxis)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_radius = radius;
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shape.m_height = height;
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shape.m_shapeIndex = capsuleAxis;
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shape.m_shapeType = RTB3_SHAPE_CAPSULE;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
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if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
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{
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b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
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shape.m_childPosition.setZero();
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shape.m_childOrientation.setValue(0, 0, 0, 1);
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shape.m_numChildShapes = 0;
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shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
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world->m_nextFreeShapeIndex++;
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return (plCollisionShapeHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape, plVector3 childPos, plQuaternion childOrn)
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{
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}
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void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
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{
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///todo
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//deleting shapes would involve a garbage collection phase, and mess up all user indices
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//this would be solved by one more in-direction, at some performance penalty for certain operations
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//for now, we don't delete and eventually run out-of-shapes
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}
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void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
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{
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///createCollisionObject already adds it to the world
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}
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void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
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{
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///todo, see deleteShape
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}
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plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject(plCollisionWorldHandle worldHandle, void* userPointer,
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int userIndex, plCollisionShapeHandle shapeHandle,
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plVector3 startPosition, plQuaternion startOrientation)
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{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
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if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
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{
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b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
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world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0], startPosition[1], startPosition[2]);
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world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0], startOrientation[1], startOrientation[2], startOrientation[3]);
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world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
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world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
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world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
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world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
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RTB3_ShapeOpaque2Int caster;
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caster.m_ptrValue = shapeHandle;
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int shapeIndex = caster.m_intValue;
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collidable.m_shapeIndex = shapeIndex;
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b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
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collidable.m_shapeType = shape.m_shapeType;
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collidable.m_numChildShapes = 1;
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switch (collidable.m_shapeType)
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{
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case RTB3_SHAPE_SPHERE:
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{
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break;
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}
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case RTB3_SHAPE_PLANE:
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{
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break;
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}
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case RTB3_SHAPE_COMPOUND_INTERNAL:
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{
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break;
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}
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default:
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{
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b3Assert(0);
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}
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}
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/*case SHAPE_COMPOUND_OF_CONVEX_HULLS:
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case SHAPE_COMPOUND_OF_SPHERES:
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case SHAPE_COMPOUND_OF_CAPSULES:
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{
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collidable.m_numChildShapes = shape.m_numChildShapes;
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collidable.m_shapeIndex = shape.m_shapeIndex;
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break;
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*/
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world->m_nextFreeCollidableIndex++;
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return (plCollisionObjectHandle)world->m_nextFreeShapePtr;
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}
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return 0;
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}
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void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
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{
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///todo, see deleteShape
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}
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void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
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plVector3 position, plQuaternion orientation)
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{
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}
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struct plContactCache
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{
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lwContactPoint* pointsOut;
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int pointCapacity;
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int numAddedPoints;
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};
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typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
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plContactCache* contactCache);
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void detectCollisionDummy(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
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plContactCache* contactCache)
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{
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(void)world;
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(void)colA, (void)colB;
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(void)contactCache;
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}
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void plVecCopy(float* dst, const b3Vector3& src)
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{
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dst[0] = src.x;
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dst[1] = src.y;
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dst[2] = src.z;
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}
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void plVecCopy(double* dst, const b3Vector3& src)
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{
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dst[0] = src.x;
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dst[1] = src.y;
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dst[2] = src.z;
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}
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void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld, b3Scalar sphereRadius, plContactCache* contactCache)
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{
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if (contactCache->numAddedPoints < contactCache->pointCapacity)
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{
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lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
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b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld) + planeConstant);
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b3Vector3 intersectionPoint = spherePosWorld + t * -planeNormalWorld;
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b3Scalar distance = t - sphereRadius;
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if (distance <= 0)
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{
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pointOut.m_distance = distance;
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plVecCopy(pointOut.m_ptOnBWorld, intersectionPoint);
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plVecCopy(pointOut.m_ptOnAWorld, spherePosWorld + sphereRadius * -planeNormalWorld);
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plVecCopy(pointOut.m_normalOnB, planeNormalWorld);
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contactCache->numAddedPoints++;
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}
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}
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}
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void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache)
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{
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if (contactCache->numAddedPoints < contactCache->pointCapacity)
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{
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lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
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b3Vector3 diff = sphereAPosWorld - sphereBPosWorld;
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b3Scalar len = diff.length();
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pointOut.m_distance = len - (sphereARadius + sphereBRadius);
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if (pointOut.m_distance <= 0)
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{
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b3Vector3 normOnB = b3MakeVector3(1, 0, 0);
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if (len > B3_EPSILON)
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{
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normOnB = diff / len;
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}
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plVecCopy(pointOut.m_normalOnB, normOnB);
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b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius * normOnB;
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plVecCopy(pointOut.m_ptOnAWorld, ptAWorld);
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plVecCopy(pointOut.m_ptOnBWorld, ptAWorld - normOnB * pointOut.m_distance);
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contactCache->numAddedPoints++;
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}
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}
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}
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B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
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plContactCache* contactCache)
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{
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const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
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const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
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const b3Transform& trA = world->m_collidableTransforms[colA];
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const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
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b3Vector3 spherePosAWorld = trA(sphereALocalPos);
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//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
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const b3Transform& trB = world->m_collidableTransforms[colB];
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const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
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b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
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//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
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ComputeClosestPointsSphereSphere(radiusA, spherePosAWorld, radiusB, spherePosBWorld, contactCache);
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}
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void detectCollisionSpherePlane(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
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plContactCache* contactCache)
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{
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const b3Transform& trA = world->m_collidableTransforms[colA];
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const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
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b3Vector3 spherePosAWorld = trA(sphereALocalPos);
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int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
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b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
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b3Scalar planeConstant = planeNormal[3];
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planeNormal[3] = 0.f;
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ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld, world->m_childShapes[shapeIndexA].m_radius, contactCache);
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}
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void detectCollisionPlaneSphere(RTB3CollisionWorld* world, int colA, int shapeIndexA, int colB, int shapeIndexB,
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plContactCache* contactCache)
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{
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(void)world;
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(void)colA, (void)shapeIndexA, (void)colB, (void)shapeIndexB;
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(void)contactCache;
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}
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#ifdef RTB3_SHAPE_CAPSULE
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plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES, ][MAX_NUM_SINGLE_SHAPE_TYPES, ] = {
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{detectCollisionSphereSphere, detectCollisionSpherePlane, detectCollisionSphereCapsule},
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{detectCollisionPlaneSphere, detectCollisionDummy, detectCollisionPlaneCapsule},
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{detectCollisionCapsuleSphere, detectCollisionCapsulePlane, detectCollisionCapsuleCapsule},
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};
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#else
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plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
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{detectCollisionSphereSphere, detectCollisionSpherePlane},
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{detectCollisionPlaneSphere, detectCollisionDummy},
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};
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#endif
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int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle, plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
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lwContactPoint* pointsOutOrg, int pointCapacity)
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|
{
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RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
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RTB3_ColliderOpaque2Int caster;
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caster.m_ptrValue = colAHandle;
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int colAIndex = caster.m_intValue;
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caster.m_ptrValue = colBHandle;
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int colBIndex = caster.m_intValue;
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const b3Collidable& colA = world->m_collidables[colAIndex];
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const b3Collidable& colB = world->m_collidables[colBIndex];
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|
|
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plContactCache contactCache;
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|
contactCache.pointCapacity = pointCapacity;
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|
contactCache.pointsOut = pointsOutOrg;
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|
contactCache.numAddedPoints = 0;
|
|
|
|
for (int i = 0; i < colA.m_numChildShapes; i++)
|
|
{
|
|
for (int j = 0; j < colB.m_numChildShapes; j++)
|
|
{
|
|
if (contactCache.numAddedPoints < pointCapacity)
|
|
{
|
|
//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
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|
// [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
|
|
}
|
|
}
|
|
return contactCache.numAddedPoints;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void RealTimeBullet3CollisionSdk::collideWorld(plCollisionWorldHandle worldHandle,
|
|
plNearCallback filter, void* userData)
|
|
{
|
|
RTB3CollisionWorld* world = (RTB3CollisionWorld*)worldHandle;
|
|
if (filter)
|
|
{
|
|
RTB3_ColliderOpaque2Int caster;
|
|
plCollisionObjectHandle colA;
|
|
plCollisionObjectHandle colB;
|
|
for (int i = START_COLLIDABLE_INDEX; i < world->m_nextFreeCollidableIndex; i++)
|
|
{
|
|
for (int j = i + 1; j < world->m_nextFreeCollidableIndex; j++)
|
|
{
|
|
caster.m_intValue = i;
|
|
colA = caster.m_ptrValue;
|
|
caster.m_intValue = j;
|
|
colB = caster.m_ptrValue;
|
|
filter((plCollisionSdkHandle)this, worldHandle, userData, colA, colB);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
|
|
{
|
|
return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
|
|
} |