Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 40 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
new file mode 100644
index 0000000000..8d40d19a03
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h
@@ -0,0 +1,40 @@
+#ifndef B3_UPDATE_AABBS_H
+#define B3_UPDATE_AABBS_H
+
+
+
+#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
+#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
+
+
+
+void b3ComputeWorldAabb(  int bodyId, __global const b3RigidBodyData_t* bodies, __global const  b3Collidable_t* collidables, __global const  b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
+{
+	__global const b3RigidBodyData_t* body = &bodies[bodyId];
+
+	b3Float4 position = body->m_pos;
+	b3Quat	orientation = body->m_quat;
+	
+	int collidableIndex = body->m_collidableIdx;
+	int shapeIndex = collidables[collidableIndex].m_shapeIndex;
+		
+	if (shapeIndex>=0)
+	{
+				
+		b3Aabb_t localAabb = localShapeAABB[collidableIndex];
+		b3Aabb_t worldAabb;
+		
+		b3Float4 aabbAMinOut,aabbAMaxOut;	
+		float margin = 0.f;
+		b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);
+		
+		worldAabb.m_minVec =aabbAMinOut;
+		worldAabb.m_minIndices[3] = bodyId;
+		worldAabb.m_maxVec = aabbAMaxOut;
+		worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;
+		worldAabbs[bodyId] = worldAabb;
+	}
+}
+
+#endif //B3_UPDATE_AABBS_H