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//-----------------------------------------------------------------------------
// 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) override;
};
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) override;
};
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) override;
};
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) override;
};
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) override;
};
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) override;
};
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) override;
};
struct SimpleRayResultCallback : public btCollisionWorld::RayResultCallback
{
vec3 m_hit_normal;
btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,
bool normalInWorldSpace) override;
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) override;
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]);
}
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