blender/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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 CCDPHYSICSENVIRONMENT
#define CCDPHYSICSENVIRONMENT

#include "PHY_IPhysicsEnvironment.h"
#include <vector>
class CcdPhysicsController;
#include "SimdVector3.h"



class TypedConstraint;

class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"

//switch on/off new vehicle support
#define NEW_BULLET_VEHICLE_SUPPORT 1

#include "ConstraintSolver/ContactSolverInfo.h"

class WrapperVehicle;
class PersistentManifold;
class BroadphaseInterface;
class IDebugDraw;

/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
/// It stores rigidbodies,constraints, materials etc.
/// A derived class may be able to 'construct' entities by loading and/or converting
class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
	SimdVector3 m_gravity;
	
	IDebugDraw*	m_debugDrawer;
	int	m_numIterations;
	int	m_ccdMode;
	int	m_solverType;
	int	m_profileTimings;
	bool m_enableSatCollisionDetection;

	ContactSolverInfo	m_solverInfo;
	

	public:
		CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);

		virtual		~CcdPhysicsEnvironment();

		/////////////////////////////////////
		//PHY_IPhysicsEnvironment interface
		/////////////////////////////////////

		/// Perform an integration step of duration 'timeStep'.

		virtual void setDebugDrawer(IDebugDraw* debugDrawer)
		{
			m_debugDrawer = debugDrawer;
		}

		virtual void		setNumIterations(int numIter);
		virtual void		setDeactivationTime(float dTime);
		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
		virtual void		setCcdMode(int ccdMode);
		virtual void		setSolverType(int solverType);
		virtual void		setSolverSorConstant(float sor);
		virtual void		setSolverTau(float tau);
		virtual void		setSolverDamping(float damping);
		virtual void		setLinearAirDamping(float damping);
		virtual void		setUseEpa(bool epa) ;

		virtual	void		beginFrame();
		virtual void		endFrame() {};
		/// Perform an integration step of duration 'timeStep'.
		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
		bool				proceedDeltaTimeOneStep(float timeStep);

		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
		//returns 0.f if no fixed timestep is used

		virtual	float		getFixedTimeStep(){ return 0.f;};

		virtual void		setDebugMode(int debugMode);

		virtual	void		setGravity(float x,float y,float z);

		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
			float pivotX,float pivotY,float pivotZ,
			float axisX,float axisY,float axisZ);
	    virtual void		removeConstraint(int	constraintid);


		virtual void	CallbackTriggers();


#ifdef NEW_BULLET_VEHICLE_SUPPORT
		//complex constraint for vehicles
		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
#else
		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
		{
			return 0;
		}
#endif //NEW_BULLET_VEHICLE_SUPPORT

		TypedConstraint*	getConstraintById(int constraintId);

		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);


		//Methods for gamelogic collision/physics callbacks
		virtual void addSensor(PHY_IPhysicsController* ctrl);
		virtual void removeSensor(PHY_IPhysicsController* ctrl);
		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
	

		virtual int	getNumContactPoints();

		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);

		//////////////////////
		//CcdPhysicsEnvironment interface
		////////////////////////
	
		void	addCcdPhysicsController(CcdPhysicsController* ctrl);

		void	removeCcdPhysicsController(CcdPhysicsController* ctrl);

		BroadphaseInterface*	GetBroadphase();

		CollisionDispatcher* GetDispatcher();
		
		const CollisionDispatcher* GetDispatcher() const;

		bool	IsSatCollisionDetectionEnabled() const
		{
			return m_enableSatCollisionDetection;
		}

		void	EnableSatCollisionDetection(bool enableSat)
		{
			m_enableSatCollisionDetection = enableSat;
		}

		void	UpdateAabbs(float	timeStep);

		int	GetNumControllers();

		CcdPhysicsController* GetPhysicsController( int index);

		int	GetNumManifolds() const;

		const PersistentManifold*	GetManifold(int index) const;

		std::vector<TypedConstraint*> m_constraints;

	private:
		
		
		void	SyncMotionStates(float timeStep);
		
		std::vector<CcdPhysicsController*> m_controllers;
		
		std::vector<CcdPhysicsController*> m_triggerControllers;

		PHY_ResponseCallback	m_triggerCallbacks[PHY_NUM_RESPONSE];
		void*			m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
		
		std::vector<WrapperVehicle*>	m_wrapperVehicles;

		class CollisionWorld*	m_collisionWorld;
		
		class ConstraintSolver*	m_solver;

		bool	m_scalingPropagated;


};

#endif //CCDPHYSICSENVIRONMENT