forked from bartvdbraak/blender
161 lines
4.8 KiB
C++
161 lines
4.8 KiB
C++
#ifndef CCDPHYSICSENVIRONMENT
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#define CCDPHYSICSENVIRONMENT
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#include "PHY_IPhysicsEnvironment.h"
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#include <vector>
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class CcdPhysicsController;
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#include "SimdVector3.h"
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class Point2PointConstraint;
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class CollisionDispatcher;
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class Dispatcher;
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//#include "BroadphaseInterface.h"
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//switch on/off new vehicle support
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#define NEW_BULLET_VEHICLE_SUPPORT 1
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#include "ConstraintSolver/ContactSolverInfo.h"
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class WrapperVehicle;
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class PersistentManifold;
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class BroadphaseInterface;
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class IDebugDraw;
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/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
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/// It stores rigidbodies,constraints, materials etc.
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/// A derived class may be able to 'construct' entities by loading and/or converting
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class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
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{
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SimdVector3 m_gravity;
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IDebugDraw* m_debugDrawer;
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int m_numIterations;
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int m_ccdMode;
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int m_solverType;
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ContactSolverInfo m_solverInfo;
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public:
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CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
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virtual ~CcdPhysicsEnvironment();
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/////////////////////////////////////
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//PHY_IPhysicsEnvironment interface
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/////////////////////////////////////
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/// Perform an integration step of duration 'timeStep'.
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virtual void setDebugDrawer(IDebugDraw* debugDrawer)
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{
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m_debugDrawer = debugDrawer;
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}
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virtual void setNumIterations(int numIter);
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virtual void setDeactivationTime(float dTime);
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virtual void setDeactivationLinearTreshold(float linTresh) ;
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virtual void setDeactivationAngularTreshold(float angTresh) ;
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virtual void setContactBreakingTreshold(float contactBreakingTreshold) ;
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virtual void setCcdMode(int ccdMode);
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virtual void setSolverType(int solverType);
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virtual void setSolverSorConstant(float sor);
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virtual void setSolverTau(float tau);
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virtual void setSolverDamping(float damping);
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virtual void setLinearAirDamping(float damping);
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virtual void setUseEpa(bool epa) ;
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virtual void beginFrame();
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virtual void endFrame() {};
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/// Perform an integration step of duration 'timeStep'.
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virtual bool proceedDeltaTime(double curTime,float timeStep);
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bool proceedDeltaTimeOneStep(float timeStep);
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virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
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//returns 0.f if no fixed timestep is used
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virtual float getFixedTimeStep(){ return 0.f;};
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virtual void setDebugMode(int debugMode);
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virtual void setGravity(float x,float y,float z);
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virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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float axisX,float axisY,float axisZ);
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virtual void removeConstraint(int constraintid);
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#ifdef NEW_BULLET_VEHICLE_SUPPORT
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//complex constraint for vehicles
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virtual PHY_IVehicle* getVehicleConstraint(int constraintId);
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#else
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virtual class PHY_IVehicle* getVehicleConstraint(int constraintId)
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{
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return 0;
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}
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#endif //NEW_BULLET_VEHICLE_SUPPORT
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virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
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float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
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//Methods for gamelogic collision/physics callbacks
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//todo:
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virtual void addSensor(PHY_IPhysicsController* ctrl) {};
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virtual void removeSensor(PHY_IPhysicsController* ctrl){};
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virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user){};
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virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl){};
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virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
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virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
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virtual int getNumContactPoints();
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virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
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//////////////////////
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//CcdPhysicsEnvironment interface
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////////////////////////
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void addCcdPhysicsController(CcdPhysicsController* ctrl);
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void removeCcdPhysicsController(CcdPhysicsController* ctrl);
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BroadphaseInterface* GetBroadphase();
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CollisionDispatcher* GetDispatcher();
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const CollisionDispatcher* GetDispatcher() const;
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int GetNumControllers();
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CcdPhysicsController* GetPhysicsController( int index);
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int GetNumManifolds() const;
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const PersistentManifold* GetManifold(int index) const;
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private:
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void SyncMotionStates(float timeStep);
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std::vector<CcdPhysicsController*> m_controllers;
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std::vector<Point2PointConstraint*> m_p2pConstraints;
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std::vector<WrapperVehicle*> m_wrapperVehicles;
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class CollisionWorld* m_collisionWorld;
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class ConstraintSolver* m_solver;
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bool m_scalingPropagated;
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};
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#endif //CCDPHYSICSENVIRONMENT
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