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00016 #ifndef SPU_CONTACT_RESULT2_H
00017 #define SPU_CONTACT_RESULT2_H
00018
00019
00020 #ifndef _WIN32
00021 #include <stdint.h>
00022 #endif
00023
00024
00025
00026 #include "../SpuDoubleBuffer.h"
00027
00028
00029 #include "LinearMath/btTransform.h"
00030
00031
00032 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
00033 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
00034
00035 class btCollisionShape;
00036
00037
00038 struct SpuCollisionPairInput
00039 {
00040 ppu_address_t m_collisionShapes[2];
00041 btCollisionShape* m_spuCollisionShapes[2];
00042
00043 ppu_address_t m_persistentManifoldPtr;
00044 btVector3 m_primitiveDimensions0;
00045 btVector3 m_primitiveDimensions1;
00046 int m_shapeType0;
00047 int m_shapeType1;
00048 float m_collisionMargin0;
00049 float m_collisionMargin1;
00050
00051 btTransform m_worldTransform0;
00052 btTransform m_worldTransform1;
00053
00054 bool m_isSwapped;
00055 bool m_useEpa;
00056 };
00057
00058
00059 struct SpuClosestPointInput : public btDiscreteCollisionDetectorInterface::ClosestPointInput
00060 {
00061 struct SpuConvexPolyhedronVertexData* m_convexVertexData[2];
00062 };
00063
00066 class SpuContactResult : public btDiscreteCollisionDetectorInterface::Result
00067 {
00068 btTransform m_rootWorldTransform0;
00069 btTransform m_rootWorldTransform1;
00070 ppu_address_t m_manifoldAddress;
00071
00072 btPersistentManifold* m_spuManifold;
00073 bool m_RequiresWriteBack;
00074 btScalar m_combinedFriction;
00075 btScalar m_combinedRestitution;
00076
00077 bool m_isSwapped;
00078
00079 DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
00080
00081 public:
00082 SpuContactResult();
00083 virtual ~SpuContactResult();
00084
00085 btPersistentManifold* GetSpuManifold() const
00086 {
00087 return m_spuManifold;
00088 }
00089
00090 virtual void setShapeIdentifiersA(int partId0,int index0);
00091 virtual void setShapeIdentifiersB(int partId1,int index1);
00092
00093 void setContactInfo(btPersistentManifold* spuManifold, ppu_address_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
00094
00095
00096 void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);
00097
00098 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
00099
00100 void flush();
00101 };
00102
00103
00104
00105 #endif //SPU_CONTACT_RESULT2_H
00106