forked from bartvdbraak/blender
dfc19a1ff7
=============================================== This patch adds a new "Character" BGE physics type which uses Bullet's btKinematicCharacter for simulation instead of full-blown dynamics. It is appropiate for (player-controlled) characters, for which the other physics types often result unexpected results (bouncing off walls, sliding etc.) and for which simple kinematics offers much more precision. "Character" can be chosen like any other physics type in the "Physics" section of the properties window. Current settings for tweaking are "Step Height" (to make the object automatically climb small steps if it collides with them), "Fall Speed" (the maximum speed that the object can have when falling) and "Jump Speed", which is currently not used. See http://projects.blender.org/tracker/?func=detail&atid=127&aid=28476&group_id=9 for sample blends and a discussion on the patch: how to use it and what influences the behavior of the character object. Known problem: there is a crash if the "compound" option is set in the physics panel of the Character object.
152 lines
4.5 KiB
C++
152 lines
4.5 KiB
C++
/*
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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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/** \file KX_IPhysicsController.h
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* \ingroup ketsji
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*/
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#ifndef __KX_IPHYSICSCONTROLLER_H__
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#define __KX_IPHYSICSCONTROLLER_H__
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#include "SG_Controller.h"
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#include "MT_Vector3.h"
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#include "MT_Point3.h"
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#include "MT_Transform.h"
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#include "MT_Matrix3x3.h"
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struct KX_ClientObjectInfo;
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/**
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* Physics Controller, a special kind of Scene Graph Transformation Controller.
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* It get's callbacks from Physics in case a transformation change took place.
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* Each time the scene graph get's updated, the controller get's a chance
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* in the 'Update' method to reflect changed.
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*/
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class KX_IPhysicsController : public SG_Controller
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{
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protected:
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bool m_bDyna;
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bool m_bSensor;
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bool m_bCharacter;
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bool m_bCompound;
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bool m_suspendDynamics;
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void* m_userdata;
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public:
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KX_IPhysicsController(bool dyna,bool sensor,bool character,bool compound, void* userdata);
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virtual ~KX_IPhysicsController();
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virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
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virtual void SetObject (SG_IObject* object)=0;
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virtual void setMargin (float collisionMargin)=0;
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virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
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virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
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virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
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virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
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virtual MT_Vector3 GetLinearVelocity()=0;
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virtual MT_Vector3 GetAngularVelocity()=0;
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virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
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virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
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virtual void SetLinearVelocity(const MT_Vector3& lin_vel,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 getOrientation(MT_Quaternion& orn)=0;
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virtual void setOrientation(const MT_Matrix3x3& orn)=0;
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virtual void SetTransform()=0;
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//virtual void setOrientation(const MT_Quaternion& orn)=0;
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virtual void setPosition(const MT_Point3& pos)=0;
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virtual void setScaling(const MT_Vector3& scaling)=0;
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virtual MT_Scalar GetMass()=0;
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virtual void SetMass(MT_Scalar newmass)=0;
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virtual float GetLinVelocityMin()=0;
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virtual void SetLinVelocityMin(float newmass)=0;
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virtual float GetLinVelocityMax()=0;
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virtual void SetLinVelocityMax(float newmass)=0;
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virtual MT_Vector3 GetLocalInertia()=0;
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virtual MT_Vector3 getReactionForce()=0;
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virtual void setRigidBody(bool rigid)=0;
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virtual void AddCompoundChild(KX_IPhysicsController* child) = 0;
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virtual void RemoveCompoundChild(KX_IPhysicsController* child) = 0;
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virtual void SuspendDynamics(bool ghost=false)=0;
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virtual void RestoreDynamics()=0;
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virtual SG_Controller* GetReplica(class SG_Node* destnode)=0;
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void SetDyna(bool isDynamic) {
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m_bDyna = isDynamic;
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}
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void SetSensor(bool isSensor) {
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m_bSensor = isSensor;
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}
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void SetCharacter(bool isCharacter) {
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m_bCharacter = isCharacter;
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}
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bool IsDyna(void) {
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return m_bDyna;
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}
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bool IsSensor(void) {
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return m_bSensor;
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}
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bool IsCharacter(void) {
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return m_bCharacter;
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}
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bool IsCompound(void) {
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return m_bCompound;
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}
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virtual MT_Scalar GetRadius()=0;
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virtual void SetSumoTransform(bool nondynaonly)=0;
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// todo: remove next line !
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virtual void SetSimulatedTime(double time)=0;
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// call from scene graph to update
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virtual bool Update(double time)=0;
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void* GetUserData() { return m_userdata;}
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#ifdef WITH_CXX_GUARDEDALLOC
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public:
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void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_IPhysicsController"); }
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void operator delete( void *mem ) { MEM_freeN(mem); }
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#endif
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};
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#endif //__KX_IPHYSICSCONTROLLER_H__
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