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blender/source/gameengine/Ketsji/KX_BulletPhysicsController.h

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preparation for bullet physics
2005-07-16 21:47:54 +00:00
#ifndef KX_BULLET2PHYSICS_CONTROLLER
#define KX_BULLET2PHYSICS_CONTROLLER
#include "KX_IPhysicsController.h"
#include "CcdPhysicsController.h"
class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
{
BGE bug fix (good for 2.47): SetParent actuator did not work on dynamic objects. Dynamics will now be disabled automatically and the object will be set ghost for the duration of the parenting; this is to avoid static interaction with the parent object. The dynamic state is restored when the parenting is removed with RemoveParent actuator. This fix also applies to setParent() and removeParent() python functions.
2008-07-18 14:40:24 +00:00
private:
int m_savedCollisionFlags;
BGE bug #17731 fixed: No sleeping Button disables dynamics of an object if it's parented+unparented
2008-12-05 23:13:23 +00:00
int m_savedActivationState;
BGE bug fix (good for 2.47): remove static-static collision messages on the console since previous SetParent fix. The physical object is set to static+ghost while the object is parented. This behavior will be made optional in a future release. The DisableDynamics actuator will also make the object static except that the ghost/non-ghost flag is preserved.
2008-07-19 10:27:52 +00:00
short int m_savedCollisionFilterGroup;
short int m_savedCollisionFilterMask;
BGE bug fix (for 2.47): setParent() fix, third part: set mass to 0 when parenting. Allow loc/scale/orientation change on child object with physic controller.
2008-07-20 15:40:03 +00:00
MT_Scalar m_savedMass;
BGE bug #18624: Collision detection fails on parented objects. Partial fix, parented shape now moves with the parent but still the parent near detector detects the child only in the zone where it was parented.
2009-04-27 16:40:26 +00:00
bool m_savedDyna;
BGE bug #18091: Hitbox of object X doesn't move along when object X is parented to object Y.
2009-04-30 19:00:17 +00:00
bool m_suspended;
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
btCollisionShape* m_bulletChildShape;
BGE bug fix (for 2.47): setParent() fix, third part: set mass to 0 when parenting. Allow loc/scale/orientation change on child object with physic controller.
2008-07-20 15:40:03 +00:00
preparation for bullet physics
2005-07-16 21:47:54 +00:00
public:
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual ~KX_BulletPhysicsController ();
///////////////////////////////////
// KX_IPhysicsController interface
////////////////////////////////////
virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
virtual void SetObject (SG_IObject* object);
Removed old Blender/extern/bullet, and upgraded game engine to use Bullet 2.x All platforms/build systems: either upgrade to use extern/bullet2, or disable the game engine until the build is fixed.
2006-11-21 00:53:40 +00:00
virtual void setMargin (float collisionMargin);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual void RelativeTranslate(const MT_Vector3& dloc,bool local);
virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local);
virtual void ApplyTorque(const MT_Vector3& torque,bool local);
virtual void ApplyForce(const MT_Vector3& force,bool local);
virtual MT_Vector3 GetLinearVelocity();
BGE patch: Add damping and clamping option to motion actuator. This patch introduces two options for the motion actuator: damping: number of frames to reach the target velocity. It takes into account the startup velocityin the target velocity direction and add 1/damping fraction of target velocity until the full velocity is reached. Works only with linear and angular velocity. It will be extended to delta and force motion method in a future release. clamping: apply the force and torque as long as the target velocity is not reached. If this option is set, the velocity specified in linV or angV are not applied to the object but used as target velocity. You should also specify a force in force or torque field: the force will be applied as long as the velocity along the axis of the vector set in linV or angV is not reached. Works best in low friction environment.
2008-06-24 19:37:43 +00:00
virtual MT_Vector3 GetAngularVelocity();
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void getOrientation(MT_Quaternion& orn);
BGE patch: Optimization of bullet adaptation layer - part 1. First batch of optimizaton of the bullet adaptation layer in the BGE. - remove circular motion state update. - optimization of physic adaptation layer for bullet: bypass unecessary conversion of rotation matrix to quaternion and back. - remove double updates during object replication.
2008-07-21 12:37:27 +00:00
virtual void setOrientation(const MT_Matrix3x3& orn);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
BGE: new sensor object to generalize Near and Radar sensor, static-static collision capbility. A new type of "Sensor" physics object is available in the GE for advanced collision management. It's called Sensor for its similarities with the physics objects that underlie the Near and Radar sensors. Like the Near and Radar object it is: - static and ghost - invisible by default - always active to ensure correct collision detection - capable of detecting both static and dynamic objects - ignoring collision with their parent - capable of broadphase filtering based on: * Actor option: the collisioning object must have the Actor flag set to be detected * property/material: as specified in the collision sensors attached to it Broadphase filtering is important for performance reason: the collision points will be computed only for the objects that pass the broahphase filter. - automatically removed from the simulation when no collision sensor is active on it Unlike the Near and Radar object it can: - take any shape, including triangle mesh - be made visible for debugging (just use the Visible actuator) - have multiple collision sensors using it Other than that, the sensor objects are ordinary objects. You can move them freely or parent them. When parented to a dynamic object, they can provide advanced collision control to this object. The type of collision capability depends on the shape: - box, sphere, cylinder, cone, convex hull provide volume detection. - triangle mesh provides surface detection but you can give some volume to the suface by increasing the margin in the Advanced Settings panel. The margin applies on both sides of the surface. Performance tip: - Sensor objects perform better than Near and Radar: they do less synchronizations because of the Scenegraph optimizations and they can have multiple collision sensors on them (with different property filtering for example). - Always prefer simple shape (box, sphere) to complex shape whenever possible. - Always use broadphase filtering (avoid collision sensor with empty propery/material) - Use collision sensor only when you need them. When no collision sensor is active on the sensor object, it is removed from the simulation and consume no CPU. Known limitations: - When running Blender in debug mode, you will see one warning line of the console: "warning btCollisionDispatcher::needsCollision: static-static collision!" In release mode this message is not printed. - Collision margin has no effect on sphere, cone and cylinder shape. Other performance improvements: - Remove unnecessary interpolation for Near and Radar objects and by extension sensor objects. - Use direct matrix copy instead of quaternion to synchronize orientation. Other bug fix: - Fix Near/Radar position error on newly activated objects. This was causing several detection problems in YoFrankie - Fix margin not passed correctly to gImpact shape. - Disable force/velocity actions on static objects
2009-05-17 12:51:51 +00:00
virtual void SetTransform();
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual MT_Scalar GetMass();
BGE patch 18065: gameobj mass writeable + setmass actuator. This patch allows to change the mass of a dynamic or rigid body object during the game. Two methods are available: in a Python script by setting the mass attribute of the game object; by logic brick with the Edit Object->Dynamics->Set Mass actuator. The mass can only be set on dynamic objects and must be a positive floating point value.
2009-01-14 22:33:39 +00:00
virtual void SetMass(MT_Scalar newmass);
BGE patch #18051: add localInertia attribute to GameObject.
2009-04-08 16:25:00 +00:00
virtual MT_Vector3 GetLocalInertia();
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
virtual void AddCompoundChild(KX_IPhysicsController* child);
virtual void RemoveCompoundChild(KX_IPhysicsController* child);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
BGE bug fix (good for 2.47): SetParent actuator did not work on dynamic objects. Dynamics will now be disabled automatically and the object will be set ghost for the duration of the parenting; this is to avoid static interaction with the parent object. The dynamic state is restored when the parenting is removed with RemoveParent actuator. This fix also applies to setParent() and removeParent() python functions.
2008-07-18 14:40:24 +00:00
virtual void SuspendDynamics(bool ghost);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual void RestoreDynamics();
virtual SG_Controller* GetReplica(class SG_Node* destnode);
BGE bug #17688 fixed: Near Sensor Reset not working (for Gamekit) Implementation of the PHY_IPhysicsController::SetMargin(), GetMargin(), SetRadius() and GetRadius() for Bullet and Sumo to allow resetting the Near sensor radius. For bullet use the new setUnscaledRadius() function to change sphere radius. In pPreparation of a Fh constraint actuator: - Add KX_IPhysicsController::GetRadius() - Fix implementation of KX_BulletPhysicsController::GetVelocity() (velocity at a point in geometric coordinate) - Don't try to set velocity on static object (Bullet will assert) - Add KX_GameObject::GetVelocity() for C access to local velocity
2008-10-01 07:55:02 +00:00
virtual MT_Scalar GetRadius();
BGE Physics Clamp objects min/max velocity. Accessed with bullet physics from the advanced button with dynamic and rigid body objects. - useful for preventing unstable physics in cases where objects move too fast. - can add linear velocity with the motion actuator to give smooth motion transitions, without moving too fast. - minimum velocity means objects don't stop moving. - python scripts can adjust these values speedup or throttle velocity in the existing direction. Also made copy properties from an object with no properties work (in case you want to clear all props)
2009-04-14 12:34:39 +00:00
virtual float GetLinVelocityMin();
virtual void SetLinVelocityMin(float val);
virtual float GetLinVelocityMax();
virtual void SetLinVelocityMax(float val);
preparation for bullet physics
2005-07-16 21:47:54 +00:00
virtual void SetSumoTransform(bool nondynaonly);
// todo: remove next line !
virtual void SetSimulatedTime(double time);
// call from scene graph to update
virtual bool Update(double time);
void* GetUserData() { return m_userdata;}
void
SetOption(
int option,
int value
){
// intentionally empty
};
};
Lots of stupid warning fixes: Added newlines at end of a bunch of files that didn't have them. removed a couple of unused variables and an extra ';' (Also removed config.h crap from these files) Kent
2006-01-05 23:10:54 +00:00
#endif //KX_BULLET2PHYSICS_CONTROLLER
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