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#include "Bullet2CollisionSdk.h"
#include "btBulletCollisionCommon.h"
struct Bullet2CollisionSdkInternalData
{
btCollisionConfiguration* m_collisionConfig;
btCollisionDispatcher* m_dispatcher;
btBroadphaseInterface* m_aabbBroadphase;
btCollisionWorld* m_collisionWorld;
Bullet2CollisionSdkInternalData()
:m_aabbBroadphase(0),
m_dispatcher(0),
m_collisionWorld(0)
{
}
};
Bullet2CollisionSdk::Bullet2CollisionSdk()
{
m_internalData = new Bullet2CollisionSdkInternalData;
}
Bullet2CollisionSdk::~Bullet2CollisionSdk()
{
delete m_internalData;
m_internalData = 0;
}
plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
{
m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
m_internalData->m_aabbBroadphase,
m_internalData->m_collisionConfig);
return (plCollisionWorldHandle) m_internalData->m_collisionWorld;
}
void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
btAssert(m_internalData->m_collisionWorld == world);
if (m_internalData->m_collisionWorld == world)
{
delete m_internalData->m_collisionWorld;
m_internalData->m_collisionWorld=0;
delete m_internalData->m_aabbBroadphase;
m_internalData->m_aabbBroadphase=0;
delete m_internalData->m_dispatcher;
m_internalData->m_dispatcher=0;
delete m_internalData->m_collisionConfig;
m_internalData->m_collisionConfig=0;
}
}
plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
{
btSphereShape* sphereShape = new btSphereShape(radius);
return (plCollisionShapeHandle) sphereShape;
}
plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
plReal planeNormalX,
plReal planeNormalY,
plReal planeNormalZ,
plReal planeConstant)
{
btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX,planeNormalY,planeNormalZ),planeConstant);
return (plCollisionShapeHandle) planeShape;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
plReal radius,
plReal height,
int capsuleAxis)
{
btCapsuleShape* capsule = 0;
switch (capsuleAxis)
{
case 0:
{
capsule = new btCapsuleShapeX(radius,height);
break;
}
case 1:
{
capsule = new btCapsuleShape(radius,height);
break;
}
case 2:
{
capsule = new btCapsuleShapeZ(radius,height);
break;
}
default:
{
btAssert(0);
}
}
return (plCollisionShapeHandle)capsule;
}
plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
{
return (plCollisionShapeHandle) new btCompoundShape();
}
void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle,plVector3 childPos,plQuaternion childOrn)
{
btCompoundShape* compound = (btCompoundShape*) compoundShapeHandle;
btCollisionShape* childShape = (btCollisionShape*) childShapeHandle;
btTransform localTrans;
localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
compound->addChildShape(localTrans,childShape);
}
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
{
btCollisionShape* shape = (btCollisionShape*) shapeHandle;
delete shape;
}
void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
btCollisionObject* colObj = (btCollisionObject*) objectHandle;
btAssert(world && colObj);
if (world == m_internalData->m_collisionWorld && colObj)
{
world->addCollisionObject(colObj);
}
}
void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
btCollisionObject* colObj = (btCollisionObject*) objectHandle;
btAssert(world && colObj);
if (world == m_internalData->m_collisionWorld && colObj)
{
world->removeCollisionObject(colObj);
}
}
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle ,
plVector3 startPosition,plQuaternion startOrientation )
{
btCollisionShape* colShape = (btCollisionShape*) shapeHandle;
btAssert(colShape);
if (colShape)
{
btCollisionObject* colObj= new btCollisionObject;
colObj->setUserIndex(userIndex);
colObj->setUserPointer(userPointer);
colObj->setCollisionShape(colShape);
btTransform tr;
tr.setOrigin(btVector3(startPosition[0],startPosition[1],startPosition[2]));
tr.setRotation(btQuaternion(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]));
colObj->setWorldTransform(tr);
return (plCollisionObjectHandle) colObj;
}
return 0;
}
void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
{
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
delete colObj;
}
void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
plVector3 position,plQuaternion orientation )
{
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
btTransform tr;
tr.setOrigin(btVector3(position[0],position[1],position[2]));
tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
colObj->setWorldTransform(tr);
}
struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
{
int m_numContacts;
lwContactPoint* m_pointsOut;
int m_pointCapacity;
Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) :
m_numContacts(0),
m_pointsOut(pointsOut),
m_pointCapacity(pointCapacity)
{
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
if (m_numContacts<m_pointCapacity)
{
lwContactPoint& ptOut = m_pointsOut[m_numContacts];
ptOut.m_distance = cp.m_distance1;
ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
m_numContacts++;
}
return 1.f;
}
};
int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
lwContactPoint* pointsOut, int pointCapacity)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
btCollisionObject* colObjA = (btCollisionObject*) colA;
btCollisionObject* colObjB = (btCollisionObject*) colB;
btAssert(world && colObjA && colObjB);
if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
{
Bullet2ContactResultCallback cb(pointsOut,pointCapacity);
world->contactPairTest(colObjA,colObjB,cb);
return cb.m_numContacts;
}
return 0;
}
static plNearCallback gTmpFilter;
static int gNearCallbackCount = 0;
static plCollisionSdkHandle gCollisionSdk = 0;
static plCollisionWorldHandle gCollisionWorldHandle = 0;
static void* gUserData = 0;
void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
plCollisionObjectHandle obA =(plCollisionObjectHandle) colObj0;
plCollisionObjectHandle obB =(plCollisionObjectHandle) colObj1;
if(gTmpFilter)
{
gTmpFilter(gCollisionSdk,gCollisionWorldHandle, gUserData,obA,obB);
gNearCallbackCount++;
}
}
void Bullet2CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
plNearCallback filter, void* userData)
{
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
//chain the near-callback
gTmpFilter = filter;
gNearCallbackCount = 0;
gUserData = userData;
gCollisionSdk = (plCollisionSdkHandle)this;
gCollisionWorldHandle = worldHandle;
m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
world->performDiscreteCollisionDetection();
gTmpFilter = 0;
}
plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
{
return (plCollisionSdkHandle) new Bullet2CollisionSdk;
}
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