ksys/phys: Add more ContactListener functions and Havok prereqs

lib/hkStubs/CMakeLists.txt

@@ -92,6 +92,7 @@ add_library(hkStubs OBJECT
   Havok/Physics2012/Collide/Agent/Collidable/hkpCdBody.h
   Havok/Physics2012/Collide/Agent/Collidable/hkpCollidable.h
   Havok/Physics2012/Collide/Agent/Collidable/hkpCollidableQualityType.h
+  Havok/Physics2012/Collide/Agent/ContactMgr/hkpContactMgr.h
   Havok/Physics2012/Collide/Agent3/BvTree3/hkpBvTreeAgent3.h
   Havok/Physics2012/Collide/Agent3/Machine/Nn/hkpAgentNnTrack.h
   Havok/Physics2012/Collide/Agent3/Machine/Nn/hkpLinkedCollidable.h
@@ -133,6 +134,7 @@ add_library(hkStubs OBJECT
   Havok/Physics2012/Collide/Util/Welding/hkpWeldingUtility.h
 
   Havok/Physics2012/Dynamics/Action/hkpAction.h
+  Havok/Physics2012/Dynamics/Collide/hkpDynamicsContactMgr.h
   Havok/Physics2012/Dynamics/Collide/hkpResponseModifier.h
   Havok/Physics2012/Dynamics/Collide/ContactListener/hkpCollisionEvent.h
   Havok/Physics2012/Dynamics/Collide/ContactListener/hkpContactListener.h

lib/hkStubs/Havok/Physics2012/Collide/Agent/ContactMgr/hkpContactMgr.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+#include "Havok/Common/Base/Types/Physics/ContactPoint/hkContactPoint.h"
+
+class hkCollisionConstraintOwner;
+
+class hkpCdBody;
+class hkpCollidable;
+class hkpContactPointProperties;
+class hkpGskCache;
+struct hkpProcessCollisionData;
+struct hkpProcessCollisionInput;
+struct hkpProcessCollisionOutput;
+
+class hkpContactMgr : public hkReferencedObject {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpContactMgr)
+
+    enum Type {
+        TYPE_SIMPLE_CONSTRAINT_CONTACT_MGR,
+        TYPE_REPORT_CONTACT_MGR,
+        TYPE_CONVEX_LIST_CONTACT_MGR,
+        TYPE_NULL_CONTACT_MGR,
+        TYPE_USER_CONTACT_MGR,
+        TYPE_MAX
+    };
+
+    enum ToiAccept { TOI_ACCEPT = 0, TOI_REJECT = 1 };
+
+    explicit hkpContactMgr(Type type) : m_type(type) {}
+
+    HK_FORCE_INLINE hkContactPointId addContactPoint(const hkpCdBody& a, const hkpCdBody& b,
+                                                     const hkpProcessCollisionInput& input,
+                                                     hkpProcessCollisionOutput& output,
+                                                     const hkpGskCache* contactCache,
+                                                     hkContactPoint& cp);
+
+    HK_FORCE_INLINE hkResult reserveContactPoints(int numPoints);
+
+    HK_FORCE_INLINE void removeContactPoint(hkContactPointId cpId,
+                                            hkCollisionConstraintOwner& constraintOwner);
+
+    HK_FORCE_INLINE void processContact(const hkpCollidable& a, const hkpCollidable& b,
+                                        const hkpProcessCollisionInput& input,
+                                        hkpProcessCollisionData& collisionData);
+
+    HK_FORCE_INLINE ToiAccept addToi(const hkpCdBody& a, const hkpCdBody& b,
+                                     const hkpProcessCollisionInput& input,
+                                     hkpProcessCollisionOutput& output, hkTime toi,
+                                     hkContactPoint& cp, const hkpGskCache* gskCache,
+                                     hkReal& projectedVelocity,
+                                     hkpContactPointProperties& propertiesOut);
+
+    HK_FORCE_INLINE void removeToi(class hkCollisionConstraintOwner& constraintOwner,
+                                   hkpContactPointProperties& properties);
+
+protected:
+    virtual hkContactPointId addContactPointImpl(const hkpCdBody& a, const hkpCdBody& b,
+                                                 const hkpProcessCollisionInput& input,
+                                                 hkpProcessCollisionOutput& output,
+                                                 const hkpGskCache* contactCache,
+                                                 hkContactPoint& cp) = 0;
+    virtual hkResult reserveContactPointsImpl(int numPoints) = 0;
+    virtual void removeContactPointImpl(hkContactPointId cpId,
+                                        hkCollisionConstraintOwner& constraintOwner) = 0;
+    virtual void processContactImpl(const hkpCollidable& a, const hkpCollidable& b,
+                                    const hkpProcessCollisionInput& input,
+                                    hkpProcessCollisionData& collisionData) = 0;
+    virtual ToiAccept addToiImpl(const hkpCdBody& a, const hkpCdBody& b,
+                                 const hkpProcessCollisionInput& input,
+                                 hkpProcessCollisionOutput& output, hkTime toi, hkContactPoint& cp,
+                                 const hkpGskCache* gskCache, hkReal& projectedVelocity,
+                                 hkpContactPointProperties& propertiesOut) = 0;
+    virtual void removeToiImpl(class hkCollisionConstraintOwner& constraintOwner,
+                               hkpContactPointProperties& properties) = 0;
+    virtual void cleanup() {}
+
+public:
+    Type m_type;
+};
+
+inline hkContactPointId hkpContactMgr::addContactPoint(const hkpCdBody& a, const hkpCdBody& b,
+                                                       const hkpProcessCollisionInput& input,
+                                                       hkpProcessCollisionOutput& output,
+                                                       const hkpGskCache* contactCache,
+                                                       hkContactPoint& cp) {
+    return addContactPointImpl(a, b, input, output, contactCache, cp);
+}
+
+inline hkResult hkpContactMgr::reserveContactPoints(int numPoints) {
+    return reserveContactPointsImpl(numPoints);
+}
+
+inline void hkpContactMgr::removeContactPoint(hkContactPointId cpId,
+                                              hkCollisionConstraintOwner& constraintOwner) {
+    removeContactPointImpl(cpId, constraintOwner);
+}
+
+inline void hkpContactMgr::processContact(const hkpCollidable& a, const hkpCollidable& b,
+                                          const hkpProcessCollisionInput& input,
+                                          hkpProcessCollisionData& collisionData) {
+    processContactImpl(a, b, input, collisionData);
+}
+
+inline hkpContactMgr::ToiAccept
+hkpContactMgr::addToi(const hkpCdBody& a, const hkpCdBody& b, const hkpProcessCollisionInput& input,
+                      hkpProcessCollisionOutput& output, hkTime toi, hkContactPoint& cp,
+                      const hkpGskCache* gskCache, hkReal& projectedVelocity,
+                      hkpContactPointProperties& propertiesOut) {
+    return addToiImpl(a, b, input, output, toi, cp, gskCache, projectedVelocity, propertiesOut);
+}
+
+inline void hkpContactMgr::removeToi(hkCollisionConstraintOwner& constraintOwner,
+                                     hkpContactPointProperties& properties) {
+    removeToiImpl(constraintOwner, properties);
+}

lib/hkStubs/Havok/Physics2012/Dynamics/Collide/hkpDynamicsContactMgr.h

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <Havok/Physics2012/Collide/Agent/ContactMgr/hkpContactMgr.h>
+
+class hkContactPoint;
+class hkpContactPointProperties;
+class hkpWorld;
+
+/// An interface to access contact point information.
+class hkpDynamicsContactMgr : public hkpContactMgr {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpDynamicsContactMgr)
+
+    explicit hkpDynamicsContactMgr(Type type) : hkpContactMgr(type) {}
+
+    virtual hkpContactPointProperties* getContactPointProperties(hkContactPointId id) {
+        return nullptr;
+    }
+
+    virtual hkContactPoint* getContactPoint(hkContactPointId id) { return nullptr; }
+
+    virtual void getAllContactPointIds(hkArray<hkContactPointId>& contactPointIds) const {}
+
+    virtual Type getType() const = 0;
+
+    virtual void toiCollisionResponseBeginCallback(const hkContactPoint& cp,
+                                                   struct hkpSimpleConstraintInfoInitInput& inA,
+                                                   struct hkpBodyVelocity& velA,
+                                                   hkpSimpleConstraintInfoInitInput& inB,
+                                                   hkpBodyVelocity& velB) {}
+
+    virtual void toiCollisionResponseEndCallback(const hkContactPoint& cp, hkReal impulseApplied,
+                                                 struct hkpSimpleConstraintInfoInitInput& inA,
+                                                 struct hkpBodyVelocity& velA,
+                                                 hkpSimpleConstraintInfoInitInput& inB,
+                                                 hkpBodyVelocity& velB) {}
+
+    virtual class hkpConstraintInstance* getConstraintInstance() { return nullptr; }
+
+    virtual hkBool fireCallbacksForEarliestToi(struct hkpToiEvent& event, hkReal& rotateNormal) {
+        return false;
+    }
+
+    virtual void confirmToi(struct hkpToiEvent& event, hkReal rotateNormal,
+                            class hkArray<class hkpEntity*>& outToBeActivated) {}
+
+protected:
+    hkpWorld* m_world;
+};