forked from bartvdbraak/blender
298 lines
9.7 KiB
C++
298 lines
9.7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
/** \file CcdPhysicsEnvironment.h
|
|
* \ingroup physbullet
|
|
* See also \ref bulletdoc
|
|
*/
|
|
|
|
#ifndef CCDPHYSICSENVIRONMENT
|
|
#define CCDPHYSICSENVIRONMENT
|
|
|
|
#include "PHY_IPhysicsEnvironment.h"
|
|
#include <vector>
|
|
#include <set>
|
|
class CcdPhysicsController;
|
|
class CcdGraphicController;
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btTransform.h"
|
|
|
|
|
|
|
|
|
|
class btTypedConstraint;
|
|
class btSimulationIslandManager;
|
|
class btCollisionDispatcher;
|
|
class btDispatcher;
|
|
//#include "btBroadphaseInterface.h"
|
|
|
|
//switch on/off new vehicle support
|
|
#define NEW_BULLET_VEHICLE_SUPPORT 1
|
|
|
|
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
|
|
|
|
class WrapperVehicle;
|
|
class btPersistentManifold;
|
|
class btBroadphaseInterface;
|
|
struct btDbvtBroadphase;
|
|
class btOverlappingPairCache;
|
|
class btIDebugDraw;
|
|
class PHY_IVehicle;
|
|
class CcdOverlapFilterCallBack;
|
|
|
|
/** CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection.
|
|
* 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
|
|
{
|
|
friend class CcdOverlapFilterCallBack;
|
|
btVector3 m_gravity;
|
|
|
|
protected:
|
|
btIDebugDraw* m_debugDrawer;
|
|
|
|
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
|
class btBroadphaseInterface* m_broadphase; // broadphase for dynamic world
|
|
// for culling only
|
|
btOverlappingPairCache* m_cullingCache;
|
|
struct btDbvtBroadphase* m_cullingTree; // broadphase for culling
|
|
|
|
//solver iterations
|
|
int m_numIterations;
|
|
|
|
//timestep subdivisions
|
|
int m_numTimeSubSteps;
|
|
|
|
|
|
int m_ccdMode;
|
|
int m_solverType;
|
|
int m_profileTimings;
|
|
bool m_enableSatCollisionDetection;
|
|
|
|
btContactSolverInfo m_solverInfo;
|
|
|
|
void processFhSprings(double curTime,float timeStep);
|
|
|
|
public:
|
|
CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0);
|
|
|
|
virtual ~CcdPhysicsEnvironment();
|
|
|
|
/////////////////////////////////////
|
|
//PHY_IPhysicsEnvironment interface
|
|
/////////////////////////////////////
|
|
|
|
/// Perform an integration step of duration 'timeStep'.
|
|
|
|
virtual void setDebugDrawer(btIDebugDraw* debugDrawer);
|
|
|
|
virtual void setNumIterations(int numIter);
|
|
virtual void setNumTimeSubSteps(int numTimeSubSteps)
|
|
{
|
|
m_numTimeSubSteps = numTimeSubSteps;
|
|
}
|
|
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,float interval);
|
|
|
|
virtual void debugDrawWorld();
|
|
// virtual bool proceedDeltaTimeOneStep(float timeStep);
|
|
|
|
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
|
|
{
|
|
//based on DEFAULT_PHYSICS_TIC_RATE of 60 hertz
|
|
setNumTimeSubSteps(fixedTimeStep/60.f);
|
|
}
|
|
//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 void getGravity(PHY__Vector3& grav);
|
|
|
|
|
|
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,
|
|
float axis1X=0,float axis1Y=0,float axis1Z=0,
|
|
float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
|
|
);
|
|
|
|
|
|
//Following the COLLADA physics specification for constraints
|
|
virtual int createUniversalD6Constraint(
|
|
class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
|
|
btTransform& localAttachmentFrameRef,
|
|
btTransform& localAttachmentOther,
|
|
const btVector3& linearMinLimits,
|
|
const btVector3& linearMaxLimits,
|
|
const btVector3& angularMinLimits,
|
|
const btVector3& angularMaxLimits,int flags
|
|
);
|
|
|
|
|
|
virtual void setConstraintParam(int constraintId,int param,float value,float value1);
|
|
|
|
virtual float getConstraintParam(int constraintId,int param);
|
|
|
|
virtual void removeConstraint(int constraintid);
|
|
|
|
virtual float getAppliedImpulse(int constraintid);
|
|
|
|
|
|
virtual void CallbackTriggers();
|
|
|
|
|
|
#ifdef NEW_BULLET_VEHICLE_SUPPORT
|
|
//complex constraint for vehicles
|
|
virtual PHY_IVehicle* getVehicleConstraint(int constraintId);
|
|
#else
|
|
virtual class PHY_IVehicle* getVehicleConstraint(int constraintId)
|
|
{
|
|
return 0;
|
|
}
|
|
#endif //NEW_BULLET_VEHICLE_SUPPORT
|
|
|
|
btTypedConstraint* getConstraintById(int constraintId);
|
|
|
|
virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ);
|
|
virtual bool cullingTest(PHY_CullingCallback callback, void* userData, PHY__Vector4* planes, int nplanes, int occlusionRes);
|
|
|
|
|
|
//Methods for gamelogic collision/physics callbacks
|
|
virtual void addSensor(PHY_IPhysicsController* ctrl);
|
|
virtual void removeSensor(PHY_IPhysicsController* ctrl);
|
|
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
|
|
virtual bool requestCollisionCallback(PHY_IPhysicsController* ctrl);
|
|
virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl);
|
|
//These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else
|
|
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position);
|
|
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
|
|
|
|
|
|
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);
|
|
|
|
bool removeCcdPhysicsController(CcdPhysicsController* ctrl);
|
|
|
|
void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);
|
|
|
|
void disableCcdPhysicsController(CcdPhysicsController* ctrl);
|
|
|
|
void enableCcdPhysicsController(CcdPhysicsController* ctrl);
|
|
|
|
void refreshCcdPhysicsController(CcdPhysicsController* ctrl);
|
|
|
|
void addCcdGraphicController(CcdGraphicController* ctrl);
|
|
|
|
void removeCcdGraphicController(CcdGraphicController* ctrl);
|
|
|
|
btBroadphaseInterface* getBroadphase();
|
|
btDbvtBroadphase* getCullingTree() { return m_cullingTree; }
|
|
|
|
btDispatcher* getDispatcher();
|
|
|
|
|
|
bool IsSatCollisionDetectionEnabled() const
|
|
{
|
|
return m_enableSatCollisionDetection;
|
|
}
|
|
|
|
void EnableSatCollisionDetection(bool enableSat)
|
|
{
|
|
m_enableSatCollisionDetection = enableSat;
|
|
}
|
|
|
|
|
|
const btPersistentManifold* GetManifold(int index) const;
|
|
|
|
|
|
void SyncMotionStates(float timeStep);
|
|
|
|
class btSoftRigidDynamicsWorld* getDynamicsWorld()
|
|
{
|
|
return m_dynamicsWorld;
|
|
}
|
|
|
|
class btConstraintSolver* GetConstraintSolver();
|
|
|
|
void MergeEnvironment(CcdPhysicsEnvironment *other);
|
|
|
|
protected:
|
|
|
|
|
|
|
|
std::set<CcdPhysicsController*> m_controllers;
|
|
std::set<CcdPhysicsController*> m_triggerControllers;
|
|
|
|
PHY_ResponseCallback m_triggerCallbacks[PHY_NUM_RESPONSE];
|
|
void* m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
|
|
|
|
std::vector<WrapperVehicle*> m_wrapperVehicles;
|
|
|
|
//use explicit btSoftRigidDynamicsWorld/btDiscreteDynamicsWorld* so that we have access to
|
|
//btDiscreteDynamicsWorld::addRigidBody(body,filter,group)
|
|
//so that we can set the body collision filter/group at the time of creation
|
|
//and not afterwards (breaks the collision system for radar/near sensor)
|
|
//Ideally we would like to have access to this function from the btDynamicsWorld interface
|
|
//class btDynamicsWorld* m_dynamicsWorld;
|
|
class btSoftRigidDynamicsWorld* m_dynamicsWorld;
|
|
|
|
class btConstraintSolver* m_solver;
|
|
|
|
class btOverlappingPairCache* m_ownPairCache;
|
|
|
|
class CcdOverlapFilterCallBack* m_filterCallback;
|
|
|
|
class btDispatcher* m_ownDispatcher;
|
|
|
|
bool m_scalingPropagated;
|
|
|
|
virtual void exportFile(const char* filename);
|
|
|
|
|
|
#ifdef WITH_CXX_GUARDEDALLOC
|
|
public:
|
|
void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdPhysicsEnvironment"); }
|
|
void operator delete( void *mem ) { MEM_freeN(mem); }
|
|
#endif
|
|
};
|
|
|
|
#endif //CCDPHYSICSENVIRONMENT
|