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