forked from bartvdbraak/blender
6f3e593105
remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
140 lines
4.4 KiB
C++
140 lines
4.4 KiB
C++
#ifndef CCDPHYSICSENVIRONMENT
|
|
#define CCDPHYSICSENVIRONMENT
|
|
|
|
#include "PHY_IPhysicsEnvironment.h"
|
|
#include <vector>
|
|
class CcdPhysicsController;
|
|
#include "SimdVector3.h"
|
|
|
|
|
|
|
|
class Point2PointConstraint;
|
|
class ToiContactDispatcher;
|
|
class Dispatcher;
|
|
//#include "BroadphaseInterface.h"
|
|
|
|
class Vehicle;
|
|
class PersistentManifold;
|
|
class BroadphaseInterface;
|
|
class IDebugDraw;
|
|
|
|
/// 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;
|
|
BroadphaseInterface* m_broadphase;
|
|
IDebugDraw* m_debugDrawer;
|
|
int m_numIterations;
|
|
int m_ccdMode;
|
|
int m_solverType;
|
|
|
|
public:
|
|
CcdPhysicsEnvironment(ToiContactDispatcher* 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 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
|
|
//todo:
|
|
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() { return m_broadphase; }
|
|
|
|
Dispatcher* GetDispatcher();
|
|
|
|
int GetNumControllers();
|
|
|
|
CcdPhysicsController* GetPhysicsController( int index);
|
|
|
|
int GetNumManifolds() const;
|
|
|
|
const PersistentManifold* GetManifold(int index) const;
|
|
|
|
private:
|
|
|
|
void UpdateActivationState();
|
|
void SyncMotionStates(float timeStep);
|
|
|
|
std::vector<CcdPhysicsController*> m_controllers;
|
|
|
|
std::vector<Point2PointConstraint*> m_p2pConstraints;
|
|
|
|
std::vector<Vehicle*> m_vehicles;
|
|
|
|
class ToiContactDispatcher* m_dispatcher;
|
|
|
|
bool m_scalingPropagated;
|
|
|
|
|
|
};
|
|
|
|
#endif //CCDPHYSICSENVIRONMENT
|