forked from bartvdbraak/blender
3ea1c1b4b6
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
106 lines
4.1 KiB
C++
106 lines
4.1 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef PHY_IPHYSICSCONTROLLER_H
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#define PHY_IPHYSICSCONTROLLER_H
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#include "PHY_IController.h"
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class PHY_IMotionState;
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/**
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PHY_IPhysicsController is the abstract simplified Interface to a physical object.
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It contains the IMotionState and IDeformableMesh Interfaces.
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*/
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class PHY_IPhysicsController : public PHY_IController
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{
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public:
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virtual ~PHY_IPhysicsController();
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/**
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SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual bool SynchronizeMotionStates(float time)=0;
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/**
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WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
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virtual void WriteDynamicsToMotionState()=0;
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virtual class PHY_IMotionState* GetMotionState() = 0;
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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
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virtual void RelativeRotate(const float drot[12],bool local)=0;
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
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virtual void setPosition(float posX,float posY,float posZ)=0;
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virtual void getPosition(PHY__Vector3& pos) const=0;
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virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
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virtual void SetActive(bool active)=0;
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// reading out information from physics
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virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
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// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
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virtual void setRigidBody(bool rigid)=0;
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virtual PHY_IPhysicsController* GetReplica() {return 0;}
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virtual void calcXform() =0;
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virtual void SetMargin(float margin) =0;
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virtual float GetMargin() const=0;
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virtual float GetRadius() const=0;
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virtual void SetRadius(float margin) = 0;
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virtual float GetLinVelocityMin() const=0;
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virtual void SetLinVelocityMin(float val) = 0;
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virtual float GetLinVelocityMax() const=0;
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virtual void SetLinVelocityMax(float val) = 0;
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PHY__Vector3 GetWorldPosition(PHY__Vector3& localpos);
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};
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#endif //PHY_IPHYSICSCONTROLLER_H
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