107 lines
3.2 KiB
C
107 lines
3.2 KiB
C
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef SPU_CONTACT_RESULT2_H
|
||
|
|
#define SPU_CONTACT_RESULT2_H
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef _WIN32
|
||
|
|
#include <stdint.h>
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#include "../SpuDoubleBuffer.h"
|
||
|
|
|
||
|
|
|
||
|
|
#include "LinearMath/btTransform.h"
|
||
|
|
|
||
|
|
|
||
|
|
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||
|
|
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||
|
|
|
||
|
|
class btCollisionShape;
|
||
|
|
|
||
|
|
|
||
|
|
struct SpuCollisionPairInput
|
||
|
|
{
|
||
|
|
ppu_address_t m_collisionShapes[2];
|
||
|
|
btCollisionShape* m_spuCollisionShapes[2];
|
||
|
|
|
||
|
|
ppu_address_t m_persistentManifoldPtr;
|
||
|
|
btVector3 m_primitiveDimensions0;
|
||
|
|
btVector3 m_primitiveDimensions1;
|
||
|
|
int m_shapeType0;
|
||
|
|
int m_shapeType1;
|
||
|
|
float m_collisionMargin0;
|
||
|
|
float m_collisionMargin1;
|
||
|
|
|
||
|
|
btTransform m_worldTransform0;
|
||
|
|
btTransform m_worldTransform1;
|
||
|
|
|
||
|
|
bool m_isSwapped;
|
||
|
|
bool m_useEpa;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
|
||
|
|
{
|
||
|
|
struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
|
||
|
|
};
|
||
|
|
|
||
|
|
///SpuContactResult exports the contact points using double-buffered DMA transfers, only when needed
|
||
|
|
///So when an existing contact point is duplicated, no transfer/refresh is performed.
|
||
|
|
class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
|
||
|
|
{
|
||
|
|
btTransform m_rootWorldTransform0;
|
||
|
|
btTransform m_rootWorldTransform1;
|
||
|
|
ppu_address_t m_manifoldAddress;
|
||
|
|
|
||
|
|
btPersistentManifold* m_spuManifold;
|
||
|
|
bool m_RequiresWriteBack;
|
||
|
|
btScalar m_combinedFriction;
|
||
|
|
btScalar m_combinedRestitution;
|
||
|
|
|
||
|
|
bool m_isSwapped;
|
||
|
|
|
||
|
|
DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
|
||
|
|
|
||
|
|
public:
|
||
|
|
SpuContactResult();
|
||
|
|
virtual ~SpuContactResult();
|
||
|
|
|
||
|
|
btPersistentManifold* GetSpuManifold() const
|
||
|
|
{
|
||
|
|
return m_spuManifold;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void setShapeIdentifiersA(int partId0,int index0);
|
||
|
|
virtual void setShapeIdentifiersB(int partId1,int index1);
|
||
|
|
|
||
|
|
void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
|
||
|
|
|
||
|
|
|
||
|
|
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
|
||
|
|
|
||
|
|
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
|
||
|
|
|
||
|
|
void flush();
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif //SPU_CONTACT_RESULT2_H
|
||
|
|
|