forked from bartvdbraak/blender
32d10bca2b
Grease Pencil is a tool which allows you to draw freehand in some views, allowing you to annotate/scribble over the contents of that view in either 2d or 3d. This facilitates many easier communication and planning abilities. To use, simply enable it from the View menu (choose 'Grease Pencil...' and click 'Use Grease Pencil'). Then, click+drag using the left-mouse button and the shift-key held to draw a stroke. For more information, check the following page on the wiki: http://wiki.blender.org/index.php/User:Aligorith/247_Grease_Pencil
293 lines
8.5 KiB
C++
293 lines
8.5 KiB
C++
//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
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#include "KX_ConvertPhysicsObject.h"
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#ifdef USE_BULLET
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#include "KX_BulletPhysicsController.h"
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#include "btBulletDynamicsCommon.h"
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#include "SG_Spatial.h"
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#include "KX_GameObject.h"
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#include "KX_MotionState.h"
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#include "KX_ClientObjectInfo.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "CcdPhysicsEnvironment.h"
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KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
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: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
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CcdPhysicsController(ci),
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m_savedCollisionFlags(0)
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{
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}
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KX_BulletPhysicsController::~KX_BulletPhysicsController ()
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{
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// The game object has a direct link to
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if (m_pObject)
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{
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// If we cheat in SetObject, we must also cheat here otherwise the
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// object will still things it has a physical controller
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// Note that it requires that m_pObject is reset in case the object is deleted
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// before the controller (usual case, see KX_Scene::RemoveNodeDestructObjec)
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// The non usual case is when the object is not deleted because its reference is hanging
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// in a AddObject actuator but the node is deleted. This case is covered here.
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KX_GameObject* gameobj = (KX_GameObject*) m_pObject->GetSGClientObject();
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gameobj->SetPhysicsController(NULL,false);
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}
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}
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void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
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}
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
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{
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CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
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}
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void KX_BulletPhysicsController::SetObject (SG_IObject* object)
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{
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SG_Controller::SetObject(object);
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// cheating here...
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//should not be necessary, is it for duplicates ?
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KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
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gameobj->SetPhysicsController(this,gameobj->IsDynamic());
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CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());
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}
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void KX_BulletPhysicsController::setMargin (float collisionMargin)
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{
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CcdPhysicsController::SetMargin(collisionMargin);
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}
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void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
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{
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CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
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}
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void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
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{
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float rotval[12];
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drot.getValue(rotval);
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CcdPhysicsController::RelativeRotate(rotval,local);
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}
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void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
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{
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CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
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}
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void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
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{
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CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
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}
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MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetLinearVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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}
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MT_Vector3 KX_BulletPhysicsController::GetAngularVelocity()
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{
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float angVel[3];
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//CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
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CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);//rcruiz
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return MT_Vector3(angVel[0],angVel[1],angVel[2]);
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}
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MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
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{
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float linVel[3];
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CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
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return MT_Vector3(linVel[0],linVel[1],linVel[2]);
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}
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void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
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{
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CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
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}
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void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
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{
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CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
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}
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void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
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{
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float myorn[4];
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CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
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orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
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}
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void KX_BulletPhysicsController::setOrientation(const MT_Matrix3x3& orn)
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{
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btMatrix3x3 btmat(orn[0][0], orn[0][1], orn[0][2], orn[1][0], orn[1][1], orn[1][2], orn[2][0], orn[2][1], orn[2][2]);
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CcdPhysicsController::setWorldOrientation(btmat);
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}
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void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
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{
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CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
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}
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void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
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}
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MT_Scalar KX_BulletPhysicsController::GetMass()
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{
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MT_Scalar invmass = GetRigidBody()->getInvMass();
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if (invmass)
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return 1.f/invmass;
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return 0.f;
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}
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MT_Vector3 KX_BulletPhysicsController::getReactionForce()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::setRigidBody(bool rigid)
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{
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}
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void KX_BulletPhysicsController::SuspendDynamics(bool ghost)
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{
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btRigidBody *body = GetRigidBody();
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if (body->getActivationState() != DISABLE_SIMULATION)
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{
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btBroadphaseProxy* handle = body->getBroadphaseHandle();
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m_savedCollisionFlags = body->getCollisionFlags();
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m_savedMass = GetMass();
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m_savedCollisionFilterGroup = handle->m_collisionFilterGroup;
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m_savedCollisionFilterMask = handle->m_collisionFilterMask;
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body->setActivationState(DISABLE_SIMULATION);
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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0.0,
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btCollisionObject::CF_STATIC_OBJECT|((ghost)?btCollisionObject::CF_NO_CONTACT_RESPONSE:(m_savedCollisionFlags&btCollisionObject::CF_NO_CONTACT_RESPONSE)),
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btBroadphaseProxy::StaticFilter,
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btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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}
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}
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void KX_BulletPhysicsController::RestoreDynamics()
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{
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btRigidBody *body = GetRigidBody();
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if (body->getActivationState() == DISABLE_SIMULATION)
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{
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GetPhysicsEnvironment()->updateCcdPhysicsController(this,
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m_savedMass,
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m_savedCollisionFlags,
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m_savedCollisionFilterGroup,
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m_savedCollisionFilterMask);
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GetRigidBody()->forceActivationState(ACTIVE_TAG);
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}
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}
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SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
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{
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PHY_IMotionState* motionstate = new KX_MotionState(destnode);
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KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
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//parentcontroller is here be able to avoid collisions between parent/child
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PHY_IPhysicsController* parentctrl = NULL;
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if (destnode != destnode->GetRootSGParent())
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{
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KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
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if (clientgameobj)
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{
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parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
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} else
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{
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// it could be a false node, try the children
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NodeList::const_iterator childit;
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for (
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childit = destnode->GetSGChildren().begin();
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childit!= destnode->GetSGChildren().end();
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++childit
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) {
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KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
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if (clientgameobj)
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{
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parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
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}
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}
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}
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}
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physicsreplica->PostProcessReplica(motionstate,parentctrl);
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physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
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return physicsreplica;
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}
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void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
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{
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GetRigidBody()->activate(true);
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if (!m_bDyna)
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{
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GetRigidBody()->setCollisionFlags(GetRigidBody()->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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} else
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{
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if (!nondynaonly)
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{
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btTransform worldTrans;
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GetRigidBody()->getMotionState()->getWorldTransform(worldTrans);
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GetRigidBody()->setCenterOfMassTransform(worldTrans);
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/*
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scaling?
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if (m_bDyna)
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{
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m_sumoObj->setScaling(MT_Vector3(1,1,1));
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} else
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{
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MT_Vector3 scale;
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GetWorldScaling(scale);
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m_sumoObj->setScaling(scale);
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}
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*/
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}
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}
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}
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// todo: remove next line !
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void KX_BulletPhysicsController::SetSimulatedTime(double time)
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{
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}
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// call from scene graph to update
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bool KX_BulletPhysicsController::Update(double time)
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{
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return false;
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// todo: check this code
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//if (GetMass())
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//{
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// return false;//true;
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// }
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// return false;
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}
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#endif //#ifdef USE_BULLET
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