354 lines
11 KiB
C++
354 lines
11 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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#ifndef BULLET2_PHYSICSCONTROLLER_H
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#define BULLET2_PHYSICSCONTROLLER_H
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#include <vector>
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#include "PHY_IPhysicsController.h"
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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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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btTransform.h"
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#include "PHY_IMotionState.h"
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extern float gDeactivationTime;
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extern float gLinearSleepingTreshold;
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extern float gAngularSleepingTreshold;
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extern bool gDisableDeactivation;
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class CcdPhysicsEnvironment;
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class btMotionState;
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class RAS_MeshObject;
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class btCollisionShape;
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// Shape contructor
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// It contains all the information needed to create a simple bullet shape at runtime
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class CcdShapeConstructionInfo
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{
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public:
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CcdShapeConstructionInfo() :
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m_shapeType(PHY_SHAPE_NONE),
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m_radius(1.0),
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m_height(1.0),
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m_halfExtend(0.f,0.f,0.f),
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m_childScale(1.0f,1.0f,1.0f),
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m_nextShape(NULL),
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m_refCount(1)
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{
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m_childTrans.setIdentity();
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}
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~CcdShapeConstructionInfo();
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CcdShapeConstructionInfo* AddRef()
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{
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m_refCount++;
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return this;
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}
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int Release()
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{
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if (--m_refCount > 0)
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return m_refCount;
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delete this;
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return 0;
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}
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void AddShape(CcdShapeConstructionInfo* shapeInfo);
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CcdShapeConstructionInfo* GetNextShape()
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{
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return m_nextShape;
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}
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CcdShapeConstructionInfo* GetChildShape(int i)
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{
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CcdShapeConstructionInfo* shape = m_nextShape;
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while (i > 0 && shape != NULL)
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{
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shape = shape->m_nextShape;
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i--;
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}
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return shape;
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}
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bool SetMesh(RAS_MeshObject* mesh, bool polytope);
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btCollisionShape* CreateBulletShape();
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// member variables
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PHY_ShapeType m_shapeType;
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btScalar m_radius;
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btScalar m_height;
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btVector3 m_halfExtend;
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btTransform m_childTrans;
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btVector3 m_childScale;
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std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and
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// triangle array for concave mesh shape.
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// In this case a triangle is made of 3 consecutive points
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std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the
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// original mesh that correspond to shape triangles.
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// only set for concave mesh shape.
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const RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh
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protected:
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CcdShapeConstructionInfo* m_nextShape; // for compound shape
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int m_refCount; // this class is shared between replicas
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// keep track of users so that we can release it
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};
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struct CcdConstructionInfo
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{
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///CollisionFilterGroups provides some optional usage of basic collision filtering
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///this is done during broadphase, so very early in the pipeline
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///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision
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enum CollisionFilterGroups
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{
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DefaultFilter = 1,
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StaticFilter = 2,
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KinematicFilter = 4,
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DebrisFilter = 8,
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SensorFilter = 16,
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AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
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};
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CcdConstructionInfo()
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: m_localInertiaTensor(1.f, 1.f, 1.f),
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m_gravity(0,0,0),
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m_scaling(1.f,1.f,1.f),
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m_mass(0.f),
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m_restitution(0.1f),
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m_friction(0.5f),
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m_linearDamping(0.1f),
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m_angularDamping(0.1f),
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m_collisionFlags(0),
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m_bRigid(false),
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m_collisionFilterGroup(DefaultFilter),
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m_collisionFilterMask(AllFilter),
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m_collisionShape(0),
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m_MotionState(0),
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m_shapeInfo(0),
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m_physicsEnv(0),
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m_inertiaFactor(1.f)
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{
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}
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btVector3 m_localInertiaTensor;
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btVector3 m_gravity;
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btVector3 m_scaling;
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btScalar m_mass;
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btScalar m_restitution;
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btScalar m_friction;
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btScalar m_linearDamping;
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btScalar m_angularDamping;
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int m_collisionFlags;
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bool m_bRigid;
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///optional use of collision group/mask:
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///only collision with object goups that match the collision mask.
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///this is very basic early out. advanced collision filtering should be
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///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse
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///both values default to 1
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short int m_collisionFilterGroup;
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short int m_collisionFilterMask;
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///these pointers are used as argument passing for the CcdPhysicsController constructor
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///and not anymore after that
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class btCollisionShape* m_collisionShape;
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class PHY_IMotionState* m_MotionState;
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class CcdShapeConstructionInfo* m_shapeInfo;
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CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
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float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
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};
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class btRigidBody;
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///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
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class CcdPhysicsController : public PHY_IPhysicsController
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{
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btRigidBody* m_body;
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class PHY_IMotionState* m_MotionState;
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btMotionState* m_bulletMotionState;
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class btCollisionShape* m_collisionShape;
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class CcdShapeConstructionInfo* m_shapeInfo;
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friend class CcdPhysicsEnvironment; // needed when updating the controller
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void* m_newClientInfo;
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int m_registerCount; // needed when multiple sensors use the same controller
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CcdConstructionInfo m_cci;//needed for replication
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void GetWorldOrientation(btMatrix3x3& mat);
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void CreateRigidbody();
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bool Register() {
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return (m_registerCount++ == 0) ? true : false;
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}
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bool Unregister() {
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return (--m_registerCount == 0) ? true : false;
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}
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protected:
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void setWorldOrientation(const btMatrix3x3& mat);
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public:
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int m_collisionDelay;
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CcdPhysicsController (const CcdConstructionInfo& ci);
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virtual ~CcdPhysicsController();
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btRigidBody* GetRigidBody() { return m_body;}
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CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; }
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btCollisionShape* GetCollisionShape() {
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return m_body->getCollisionShape();
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}
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////////////////////////////////////
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// PHY_IPhysicsController interface
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////////////////////////////////////
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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);
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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);
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virtual void WriteDynamicsToMotionState();
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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
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virtual void RelativeRotate(const float drot[9],bool local);
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
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virtual void setPosition(float posX,float posY,float posZ);
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virtual void getPosition(PHY__Vector3& pos) const;
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virtual void setScaling(float scaleX,float scaleY,float scaleZ);
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
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virtual void SetActive(bool active);
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// reading out information from physics
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virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
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virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ);
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ);
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ);
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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);
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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// clientinfo for raycasts for example
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virtual void* getNewClientInfo();
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virtual void setNewClientInfo(void* clientinfo);
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virtual PHY_IPhysicsController* GetReplica();
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///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
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short int GetCollisionFilterGroup() const
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{
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return m_cci.m_collisionFilterGroup;
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}
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///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
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short int GetCollisionFilterMask() const
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{
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return m_cci.m_collisionFilterMask;
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}
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virtual void calcXform() {} ;
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virtual void SetMargin(float margin) {};
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virtual float GetMargin() const {return 0.f;};
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bool wantsSleeping();
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void UpdateDeactivation(float timeStep);
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static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState);
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void setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
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class PHY_IMotionState* GetMotionState()
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{
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return m_MotionState;
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}
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const class PHY_IMotionState* GetMotionState() const
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{
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return m_MotionState;
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}
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class CcdPhysicsEnvironment* GetPhysicsEnvironment()
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{
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return m_cci.m_physicsEnv;
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}
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};
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///DefaultMotionState implements standard motionstate, using btTransform
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class DefaultMotionState : public PHY_IMotionState
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{
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public:
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DefaultMotionState();
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virtual ~DefaultMotionState();
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virtual void getWorldPosition(float& posX,float& posY,float& posZ);
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virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
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virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
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virtual void setWorldPosition(float posX,float posY,float posZ);
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virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
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virtual void calculateWorldTransformations();
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btTransform m_worldTransform;
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btVector3 m_localScaling;
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};
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#endif //BULLET2_PHYSICSCONTROLLER_H
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