1 files changed, 185 insertions, 0 deletions
diff --git a/Source/Physics/bulletcollision.h b/Source/Physics/bulletcollision.h
new file mode 100644
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--- /dev/null
+++ b/Source/Physics/bulletcollision.h
@@ -0,0 +1,185 @@
+//-----------------------------------------------------------------------------
+//           Name: bulletcollision.h
+//      Developer: Wolfire Games LLC
+//    Description:
+//        License: Read below
+//-----------------------------------------------------------------------------
+//
+//   Copyright 2022 Wolfire Games LLC
+//
+//   Licensed under the Apache License, Version 2.0 (the "License");
+//   you may not use this file except in compliance with the License.
+//   You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+//   Unless required by applicable law or agreed to in writing, software
+//   distributed under the License is distributed on an "AS IS" BASIS,
+//   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//   See the License for the specific language governing permissions and
+//   limitations under the License.
+//
+//-----------------------------------------------------------------------------
+#pragma once
+
+#include <Math/vec3.h>
+
+#include <btBulletDynamicsCommon.h>
+
+#include <map>
+#include <vector>
+#include <set>
+
+typedef btAlignedObjectArray<btVector3> btVec3Array;
+
+struct SlideCollisionContact {
+    vec3 point;
+    vec3 normal;
+    vec3 custom_normal;
+    int obj_id;
+    int tri;
+};
+
+struct SlideCollisionInfo {
+    std::vector<SlideCollisionContact> contacts;
+};
+
+class BulletObject;
+
+class ContactSlideCallback: public btCollisionWorld::ContactResultCallback {
+public:
+    SlideCollisionInfo collision_info;
+    bool single_sided;
+    ContactSlideCallback():
+        single_sided(true)
+    {}
+
+    btScalar addSingleResult(btManifoldPoint& cp,
+                             const btCollisionObjectWrapper* colObj0Wrap,
+                             int partId0,
+                             int index0,
+                             const btCollisionObjectWrapper* colObj1Wrap,
+                             int partId1,
+                             int index1);
+};
+
+typedef std::map<BulletObject*, std::vector<int> > TriListResults;
+
+class TriListCallback: public btCollisionWorld::ContactResultCallback {
+public:
+    TriListResults &tri_list;
+    TriListCallback(TriListResults &_tri_list):
+        tri_list(_tri_list)
+    {}
+    btScalar addSingleResult(btManifoldPoint& cp,
+        const btCollisionObjectWrapper* colObj0Wrap,
+        int partId0,
+        int index0,
+        const btCollisionObjectWrapper* colObj1Wrap,
+        int partId1,
+        int index1);
+};
+
+class MeshCollisionCallback: public btCollisionWorld::ContactResultCallback {
+public:
+    typedef std::pair<int, int> TriPair;
+    typedef std::set<TriPair> TriPairSet;
+    TriPairSet tri_pairs;
+    btScalar addSingleResult(btManifoldPoint& cp,
+        const btCollisionObjectWrapper* colObj0Wrap,
+        int partId0,
+        int index0,
+        const btCollisionObjectWrapper* colObj1Wrap,
+        int partId1,
+        int index1);
+};
+
+struct ContactInfo {
+    BulletObject* object;
+    btVector3 point;
+    int tri;
+};
+
+
+class ContactInfoCallback: public btCollisionWorld::ContactResultCallback {
+public:
+    btAlignedObjectArray<ContactInfo> contact_info;
+    btScalar addSingleResult(btManifoldPoint& cp,
+        const btCollisionObjectWrapper* colObj0Wrap,
+        int partId0,
+        int index0,
+        const btCollisionObjectWrapper* colObj1Wrap,
+        int partId1,
+        int index1);
+};
+
+class RayContactInfoCallback: public btCollisionWorld::ContactResultCallback {
+public:
+    btAlignedObjectArray<ContactInfo> contact_info;
+    btScalar addSingleResult(btManifoldPoint& cp,
+        const btCollisionObjectWrapper* colObj0Wrap,
+        int partId0,
+        int index0,
+        const btCollisionObjectWrapper* colObj1Wrap,
+        int partId1,
+        int index1);
+};
+
+class SweptSlideCallback: public btCollisionWorld::ConvexResultCallback {
+public:
+    SlideCollisionInfo collision_info;
+    bool single_sided;
+    float true_closest_hit_fraction;
+    btVector3 start_pos, end_pos;
+
+    SweptSlideCallback():
+        single_sided(true),
+        true_closest_hit_fraction(1.0f)
+    {}
+
+    btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, 
+                             bool normalInWorldSpace);
+};
+
+struct RayContactInfo {
+    BulletObject* object;
+    vec3 point;
+    vec3 normal;
+    float hit_fraction;
+};
+
+struct    SimpleRayResultCallbackInfo : public btCollisionWorld::RayResultCallback
+{    
+    btAlignedObjectArray<RayContactInfo> contact_info;
+    btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,
+        bool normalInWorldSpace);
+};
+
+struct    SimpleRayResultCallback : public btCollisionWorld::RayResultCallback
+{    
+    vec3 m_hit_normal;
+    btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,
+        bool normalInWorldSpace);
+
+    const vec3 &GetHitNormal();
+};
+
+struct    SimpleRayTriResultCallback : public btCollisionWorld::RayResultCallback
+{    
+    vec3 m_hit_normal;
+    int m_tri;
+    vec3 m_hit_pos;
+    BulletObject* m_object;
+    btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,
+        bool normalInWorldSpace);
+
+    const vec3 &GetHitNormal();
+};
+
+inline vec3 ToVec3(const btVector3 &vec){
+    return vec3(vec[0], vec[1], vec[2]);
+}
+
+inline btVector3 ToBtVector3(const vec3& vec){
+    return btVector3(vec[0], vec[1], vec[2]);
+}