diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h | 114 |
1 files changed, 59 insertions, 55 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h index 6b6e07c983d..f85a94cb4c7 100644 --- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -40,7 +40,7 @@ class btDispatcher; #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" #include "LinearMath/btIDebugDraw.h" - +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" //! Collision Algorithm for GImpact Shapes @@ -65,7 +65,7 @@ protected: //! Creates a new contact point - SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1) { m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); return m_manifoldPtr; @@ -106,38 +106,38 @@ protected: // Call before process collision - SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) + SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { if(getLastManifold() == 0) { - newContactManifold(body0,body1); + newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); } m_resultOut->setPersistentManifold(getLastManifold()); } // Call before process collision - SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { - checkManifold(body0,body1); + checkManifold(body0Wrap,body1Wrap); btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( - body0,body1,getLastManifold()); + body0Wrap,body1Wrap,getLastManifold()); return convex_algorithm ; } // Call before process collision - SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) + SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { if(m_convex_algorithm) return; - m_convex_algorithm = newAlgorithm(body0,body1); + m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap); } - void addContactPoint(btCollisionObject * body0, - btCollisionObject * body1, + void addContactPoint(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, const btVector3 & point, const btVector3 & normal, btScalar distance); @@ -145,62 +145,62 @@ protected: //! Collision routines //!@{ - void collide_gjk_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, + void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, const int * pairs, int pair_count); - void collide_sat_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, + void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, const int * pairs, int pair_count); void shape_vs_shape_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1); + const btCollisionObjectWrapper* body0, + const btCollisionObjectWrapper* body1, + const btCollisionShape * shape0, + const btCollisionShape * shape1); - void convex_vs_convex_collision(btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1); + void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape* shape0, + const btCollisionShape* shape1); void gimpact_vs_gimpact_find_pairs( const btTransform & trans0, const btTransform & trans1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1,btPairSet & pairset); + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1,btPairSet & pairset); void gimpact_vs_shape_find_pairs( const btTransform & trans0, const btTransform & trans1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1, btAlignedObjectArray<int> & collided_primitives); void gimpacttrimeshpart_vs_plane_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btStaticPlaneShape * shape1,bool swapped); + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btStaticPlaneShape * shape1,bool swapped); public: - btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); + btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); virtual ~btGImpactCollisionAlgorithm(); - virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); @@ -210,13 +210,17 @@ public: manifoldArray.push_back(m_manifoldPtr); } + btManifoldResult* internalGetResultOut() + { + return m_resultOut; + } struct CreateFunc :public btCollisionAlgorithmCreateFunc { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); - return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); + return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap); } }; @@ -236,26 +240,26 @@ public: */ - void gimpact_vs_gimpact(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1); + void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1); - void gimpact_vs_shape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1,bool swapped); + void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1,bool swapped); - void gimpact_vs_compoundshape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCompoundShape * shape1,bool swapped); + void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btCompoundShape * shape1,bool swapped); void gimpact_vs_concave( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btConcaveShape * shape1,bool swapped); + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btConcaveShape * shape1,bool swapped); 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