dali-physics/third-party/bullet3/src/Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h

   1
   2 #ifndef B3_COLLIDABLE_H
   3 #define B3_COLLIDABLE_H
   4
   5 #include "Bullet3Common/shared/b3Float4.h"
   6 #include "Bullet3Common/shared/b3Quat.h"
   7
   8 enum b3ShapeTypes
   9 {
  10         SHAPE_HEIGHT_FIELD = 1,
  11
  12         SHAPE_CONVEX_HULL = 3,
  13         SHAPE_PLANE = 4,
  14         SHAPE_CONCAVE_TRIMESH = 5,
  15         SHAPE_COMPOUND_OF_CONVEX_HULLS = 6,
  16         SHAPE_SPHERE = 7,
  17         MAX_NUM_SHAPE_TYPES,
  18 };
  19
  20 typedef struct b3Collidable b3Collidable_t;
  21
  22 struct b3Collidable
  23 {
  24         union {
  25                 int m_numChildShapes;
  26                 int m_bvhIndex;
  27         };
  28         union {
  29                 float m_radius;
  30                 int m_compoundBvhIndex;
  31         };
  32
  33         int m_shapeType;
  34         union {
  35                 int m_shapeIndex;
  36                 float m_height;
  37         };
  38 };
  39
  40 typedef struct b3GpuChildShape b3GpuChildShape_t;
  41 struct b3GpuChildShape
  42 {
  43         b3Float4 m_childPosition;
  44         b3Quat m_childOrientation;
  45         union {
  46                 int m_shapeIndex;  //used for SHAPE_COMPOUND_OF_CONVEX_HULLS
  47                 int m_capsuleAxis;
  48         };
  49         union {
  50                 float m_radius;        //used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES
  51                 int m_numChildShapes;  //used for compound shape
  52         };
  53         union {
  54                 float m_height;  //used for childshape of SHAPE_COMPOUND_OF_CAPSULES
  55                 int m_collidableShapeIndex;
  56         };
  57         int m_shapeType;
  58 };
  59
  60 struct b3CompoundOverlappingPair
  61 {
  62         int m_bodyIndexA;
  63         int m_bodyIndexB;
  64         //      int     m_pairType;
  65         int m_childShapeIndexA;
  66         int m_childShapeIndexB;
  67 };
  68
  69 #endif  //B3_COLLIDABLE_H