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