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Merge pull request #169 from skylicht-lab/features/add-bullet-physics…
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…3-engine

#81 Add physics bullet3
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ducphamhong authored Nov 27, 2023
2 parents 31c6fc1 + b0676aa commit 19b904b
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Showing 712 changed files with 259,149 additions and 17 deletions.
23 changes: 6 additions & 17 deletions CMakeLists.txt
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Expand Up @@ -144,23 +144,8 @@ if (BUILD_SDL)
add_definitions(-DSDL)
endif()

# skylicht bullet engine
option(BUILD_BULLET_PHYSIC2_LIB "Build bullet physic 2" ON)

if (BUILD_BULLET_PHYSIC2_LIB)
add_definitions(-DUSE_PHYSIC_ENGINE -DUSE_PHYSIC_RAGDOLL -DUSE_PHYSIC_VEHICLE -DUSE_BULLET_PHYSIC_ENGINE)

# sse on window
if (MSVC OR CYGWIN OR MINGW)
add_definitions(-DBT_USE_SSE)
endif()

if (MINGW)
add_definitions(-DBT_NO_SIMD_OPERATOR_OVERLOADS)
set(CMAKE_C_FLAGS " -mssse3 ${CMAKE_C_FLAGS}")
set(CMAKE_CXX_FLAGS " -mssse3 ${CMAKE_CXX_FLAGS}")
endif()
endif()
# bullet engine
option(BUILD_BULLET_PHYSIC_LIB "Build bullet physic" ON)

# skylicht recast navigation
option(BUILD_RECAST_NAVIGATION_LIB "Build Recast Navigation" ON)
Expand Down Expand Up @@ -276,6 +261,10 @@ if (BUILD_IMGUI)
subdirs (Projects/Imgui)
endif()

if (BUILD_BULLET_PHYSIC_LIB)
subdirs (Projects/Bullet3)
endif()

# skylicht engine
subdirs (Projects/Skylicht/System)
subdirs (Projects/Skylicht/Engine)
Expand Down
50 changes: 50 additions & 0 deletions Projects/Bullet3/CMakeLists.txt
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FILE (STRINGS "VERSION" BULLET_VERSION)

set (BULLET_PHYSICS_SOURCE_DIR ${SKYLICHT_ENGINE_SOURCE_DIR}/Projects/Bullet3)

OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)

OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)

OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)

IF(NOT WIN32)
SET(DL ${CMAKE_DL_LIBS})
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE("Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
MESSAGE("Apple")
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
MESSAGE("BSD?")
SET(OSDEF -D_BSD)
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)

IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)

IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF ()

OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" OFF)

if (CMAKE_SYSTEM_NAME STREQUAL Android)
SET(BUILD_BULLET3 OFF)
endif()

if (CMAKE_SYSTEM_NAME STREQUAL Emscripten)
SET(BUILD_BULLET3 OFF)
endif()

if (CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
SET(BUILD_BULLET3 OFF)
endif()

SUBDIRS(src)
1 change: 1 addition & 0 deletions Projects/Bullet3/VERSION
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@@ -0,0 +1 @@
3.25
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef B3_BROADPHASE_CALLBACK_H
#define B3_BROADPHASE_CALLBACK_H

#include "Bullet3Common/b3Vector3.h"
struct b3BroadphaseProxy;

struct b3BroadphaseAabbCallback
{
virtual ~b3BroadphaseAabbCallback() {}
virtual bool process(const b3BroadphaseProxy* proxy) = 0;
};

struct b3BroadphaseRayCallback : public b3BroadphaseAabbCallback
{
///added some cached data to accelerate ray-AABB tests
b3Vector3 m_rayDirectionInverse;
unsigned int m_signs[3];
b3Scalar m_lambda_max;

virtual ~b3BroadphaseRayCallback() {}
};

#endif //B3_BROADPHASE_CALLBACK_H
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