514 lines
18 KiB
C++
514 lines
18 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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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/**
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* @mainpage Bullet Documentation
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*
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* @section intro_sec Introduction
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* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
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*
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* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
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* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
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* Please visit http://www.bulletphysics.org
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*
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* @section install_sec Installation
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*
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* @subsection step1 Step 1: Download
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* You can download the Bullet Physics Library from the github repository: https://github.com/bulletphysics/bullet3/releases
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*
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* @subsection step2 Step 2: Building
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* Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
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* Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux.
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* Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects.
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* On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
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* cd Bullet/build
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* ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
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* cd Bullet/build/gmake
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* make
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*
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* An alternative to premake is cmake. You can download cmake from http://www.cmake.org
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* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
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* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
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* You can also use cmake in the command-line. Here are some examples for various platforms:
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* cmake . -G "Visual Studio 9 2008"
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* cmake . -G Xcode
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* cmake . -G "Unix Makefiles"
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* Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
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*
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* @subsection step3 Step 3: Testing demos
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* Try to run and experiment with BasicDemo executable as a starting point.
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* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
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* The Dependencies can be seen in this documentation under Directories
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*
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* @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation
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* Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
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* Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld.
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* @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
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* Bullet Collision Detection can also be used without the Dynamics/Extras.
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* Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo.
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* @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
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* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
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*
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* @section copyright Copyright
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* For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
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*
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*/
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#ifndef BT_COLLISION_WORLD_H
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#define BT_COLLISION_WORLD_H
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class btCollisionShape;
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class btConvexShape;
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class btBroadphaseInterface;
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class btSerializer;
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "btCollisionObject.h"
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#include "btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "LinearMath/btAlignedObjectArray.h"
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///CollisionWorld is interface and container for the collision detection
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class btCollisionWorld
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{
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protected:
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btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
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btDispatcher* m_dispatcher1;
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btDispatcherInfo m_dispatchInfo;
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btBroadphaseInterface* m_broadphasePairCache;
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btIDebugDraw* m_debugDrawer;
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///m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs
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///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
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bool m_forceUpdateAllAabbs;
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void serializeCollisionObjects(btSerializer* serializer);
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void serializeContactManifolds(btSerializer* serializer);
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public:
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//this constructor doesn't own the dispatcher and paircache/broadphase
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btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
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virtual ~btCollisionWorld();
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void setBroadphase(btBroadphaseInterface* pairCache)
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{
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m_broadphasePairCache = pairCache;
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}
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const btBroadphaseInterface* getBroadphase() const
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{
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return m_broadphasePairCache;
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}
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btBroadphaseInterface* getBroadphase()
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{
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return m_broadphasePairCache;
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}
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btOverlappingPairCache* getPairCache()
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{
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return m_broadphasePairCache->getOverlappingPairCache();
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}
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btDispatcher* getDispatcher()
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{
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return m_dispatcher1;
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}
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const btDispatcher* getDispatcher() const
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{
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return m_dispatcher1;
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}
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void updateSingleAabb(btCollisionObject* colObj);
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virtual void updateAabbs();
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///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
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///it can be useful to use if you perform ray tests without collision detection/simulation
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virtual void computeOverlappingPairs();
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virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
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{
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m_debugDrawer = debugDrawer;
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}
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virtual btIDebugDraw* getDebugDrawer()
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{
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return m_debugDrawer;
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}
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virtual void debugDrawWorld();
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virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
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///LocalShapeInfo gives extra information for complex shapes
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///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
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struct LocalShapeInfo
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{
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int m_shapePart;
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int m_triangleIndex;
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//const btCollisionShape* m_shapeTemp;
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//const btTransform* m_shapeLocalTransform;
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};
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struct LocalRayResult
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{
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LocalRayResult(const btCollisionObject* collisionObject,
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LocalShapeInfo* localShapeInfo,
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const btVector3& hitNormalLocal,
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btScalar hitFraction)
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: m_collisionObject(collisionObject),
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m_localShapeInfo(localShapeInfo),
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m_hitNormalLocal(hitNormalLocal),
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m_hitFraction(hitFraction)
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{
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}
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const btCollisionObject* m_collisionObject;
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LocalShapeInfo* m_localShapeInfo;
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btVector3 m_hitNormalLocal;
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btScalar m_hitFraction;
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};
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///RayResultCallback is used to report new raycast results
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struct RayResultCallback
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{
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btScalar m_closestHitFraction;
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const btCollisionObject* m_collisionObject;
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int m_collisionFilterGroup;
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int m_collisionFilterMask;
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//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
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unsigned int m_flags;
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virtual ~RayResultCallback()
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{
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}
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bool hasHit() const
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{
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return (m_collisionObject != 0);
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}
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RayResultCallback()
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: m_closestHitFraction(btScalar(1.)),
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m_collisionObject(0),
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m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
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m_collisionFilterMask(btBroadphaseProxy::AllFilter),
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//@BP Mod
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m_flags(0)
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{
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}
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virtual bool needsCollision(btBroadphaseProxy* proxy0) const
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{
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bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
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collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace) = 0;
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};
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struct ClosestRayResultCallback : public RayResultCallback
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{
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ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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: m_rayFromWorld(rayFromWorld),
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m_rayToWorld(rayToWorld)
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{
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}
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btVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction
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btVector3 m_rayToWorld;
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btVector3 m_hitNormalWorld;
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btVector3 m_hitPointWorld;
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virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
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{
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//caller already does the filter on the m_closestHitFraction
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btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
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m_closestHitFraction = rayResult.m_hitFraction;
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m_collisionObject = rayResult.m_collisionObject;
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if (normalInWorldSpace)
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{
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m_hitNormalWorld = rayResult.m_hitNormalLocal;
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}
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else
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{
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///need to transform normal into worldspace
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m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
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}
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m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
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return rayResult.m_hitFraction;
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}
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};
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struct AllHitsRayResultCallback : public RayResultCallback
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{
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AllHitsRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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: m_rayFromWorld(rayFromWorld),
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m_rayToWorld(rayToWorld)
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{
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}
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btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
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btVector3 m_rayFromWorld; //used to calculate hitPointWorld from hitFraction
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btVector3 m_rayToWorld;
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btAlignedObjectArray<btVector3> m_hitNormalWorld;
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btAlignedObjectArray<btVector3> m_hitPointWorld;
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btAlignedObjectArray<btScalar> m_hitFractions;
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virtual btScalar addSingleResult(LocalRayResult& rayResult, bool normalInWorldSpace)
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{
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m_collisionObject = rayResult.m_collisionObject;
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m_collisionObjects.push_back(rayResult.m_collisionObject);
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btVector3 hitNormalWorld;
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if (normalInWorldSpace)
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{
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hitNormalWorld = rayResult.m_hitNormalLocal;
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}
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else
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{
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///need to transform normal into worldspace
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hitNormalWorld = m_collisionObject->getWorldTransform().getBasis() * rayResult.m_hitNormalLocal;
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}
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m_hitNormalWorld.push_back(hitNormalWorld);
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btVector3 hitPointWorld;
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hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);
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m_hitPointWorld.push_back(hitPointWorld);
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m_hitFractions.push_back(rayResult.m_hitFraction);
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return m_closestHitFraction;
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}
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};
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struct LocalConvexResult
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{
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LocalConvexResult(const btCollisionObject* hitCollisionObject,
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LocalShapeInfo* localShapeInfo,
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const btVector3& hitNormalLocal,
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const btVector3& hitPointLocal,
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btScalar hitFraction)
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: m_hitCollisionObject(hitCollisionObject),
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m_localShapeInfo(localShapeInfo),
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m_hitNormalLocal(hitNormalLocal),
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m_hitPointLocal(hitPointLocal),
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m_hitFraction(hitFraction)
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{
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}
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const btCollisionObject* m_hitCollisionObject;
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LocalShapeInfo* m_localShapeInfo;
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btVector3 m_hitNormalLocal;
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btVector3 m_hitPointLocal;
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btScalar m_hitFraction;
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};
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///RayResultCallback is used to report new raycast results
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struct ConvexResultCallback
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{
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btScalar m_closestHitFraction;
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int m_collisionFilterGroup;
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int m_collisionFilterMask;
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ConvexResultCallback()
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: m_closestHitFraction(btScalar(1.)),
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m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
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m_collisionFilterMask(btBroadphaseProxy::AllFilter)
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{
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}
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virtual ~ConvexResultCallback()
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{
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}
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bool hasHit() const
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{
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return (m_closestHitFraction < btScalar(1.));
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}
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virtual bool needsCollision(btBroadphaseProxy* proxy0) const
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{
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bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
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collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace) = 0;
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};
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struct ClosestConvexResultCallback : public ConvexResultCallback
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{
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ClosestConvexResultCallback(const btVector3& convexFromWorld, const btVector3& convexToWorld)
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: m_convexFromWorld(convexFromWorld),
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m_convexToWorld(convexToWorld),
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m_hitCollisionObject(0)
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{
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}
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btVector3 m_convexFromWorld; //used to calculate hitPointWorld from hitFraction
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btVector3 m_convexToWorld;
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btVector3 m_hitNormalWorld;
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btVector3 m_hitPointWorld;
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const btCollisionObject* m_hitCollisionObject;
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virtual btScalar addSingleResult(LocalConvexResult& convexResult, bool normalInWorldSpace)
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{
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//caller already does the filter on the m_closestHitFraction
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btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
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m_closestHitFraction = convexResult.m_hitFraction;
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m_hitCollisionObject = convexResult.m_hitCollisionObject;
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if (normalInWorldSpace)
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{
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m_hitNormalWorld = convexResult.m_hitNormalLocal;
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}
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else
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{
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///need to transform normal into worldspace
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m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis() * convexResult.m_hitNormalLocal;
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}
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m_hitPointWorld = convexResult.m_hitPointLocal;
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return convexResult.m_hitFraction;
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}
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};
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///ContactResultCallback is used to report contact points
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struct ContactResultCallback
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{
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int m_collisionFilterGroup;
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int m_collisionFilterMask;
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btScalar m_closestDistanceThreshold;
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ContactResultCallback()
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: m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
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m_collisionFilterMask(btBroadphaseProxy::AllFilter),
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m_closestDistanceThreshold(0)
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{
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}
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virtual ~ContactResultCallback()
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{
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}
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virtual bool needsCollision(btBroadphaseProxy* proxy0) const
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{
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bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
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collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) = 0;
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};
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int getNumCollisionObjects() const
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{
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return int(m_collisionObjects.size());
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}
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/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
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/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
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virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
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/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
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/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
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void convexSweepTest(const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
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///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
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///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
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void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
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///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
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///it reports one or more contact points (including the one with deepest penetration)
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void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
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/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
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/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
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/// This allows more customization.
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static void rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback);
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static void rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
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const btCollisionObjectWrapper* collisionObjectWrap,
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RayResultCallback& resultCallback);
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/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
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static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans, const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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ConvexResultCallback& resultCallback, btScalar allowedPenetration);
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static void objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
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const btCollisionObjectWrapper* colObjWrap,
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ConvexResultCallback& resultCallback, btScalar allowedPenetration);
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virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup = btBroadphaseProxy::DefaultFilter, int collisionFilterMask = btBroadphaseProxy::AllFilter);
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virtual void refreshBroadphaseProxy(btCollisionObject* collisionObject);
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btCollisionObjectArray& getCollisionObjectArray()
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{
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return m_collisionObjects;
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}
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const btCollisionObjectArray& getCollisionObjectArray() const
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{
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return m_collisionObjects;
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}
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virtual void removeCollisionObject(btCollisionObject* collisionObject);
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virtual void performDiscreteCollisionDetection();
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btDispatcherInfo& getDispatchInfo()
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{
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return m_dispatchInfo;
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}
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const btDispatcherInfo& getDispatchInfo() const
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{
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return m_dispatchInfo;
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}
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bool getForceUpdateAllAabbs() const
|
|
{
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return m_forceUpdateAllAabbs;
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}
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void setForceUpdateAllAabbs(bool forceUpdateAllAabbs)
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|
{
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m_forceUpdateAllAabbs = forceUpdateAllAabbs;
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}
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///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
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virtual void serialize(btSerializer* serializer);
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};
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#endif //BT_COLLISION_WORLD_H
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