Erwin Coumans
b6d9fbf0db
added raycast support for bullet (no triangle-mesh support, soon) added python methods for 'getHitObject', getRayDirection, getHitPosition and getHitNormal for mouse over sensor, which makes it easy for a shootout.blend demo :)
147 lines
3.3 KiB
C++
147 lines
3.3 KiB
C++
//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
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#include "KX_ConvertPhysicsObject.h"
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#ifdef USE_BULLET
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#include "KX_BulletPhysicsController.h"
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#include "Dynamics/RigidBody.h"
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KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
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: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
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CcdPhysicsController(ci)
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{
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}
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KX_BulletPhysicsController::~KX_BulletPhysicsController ()
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{
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}
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void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
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{
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CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
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}
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
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{
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CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
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}
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void KX_BulletPhysicsController::SetObject (SG_IObject* object)
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{
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}
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void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
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{
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CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
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}
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void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
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{
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}
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void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
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{
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}
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void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
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{
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}
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MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
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{
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CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
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}
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void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
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{
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CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
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}
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void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
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{
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}
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void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
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{
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}
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void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
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{
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}
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void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
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{
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}
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MT_Scalar KX_BulletPhysicsController::GetMass()
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{
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MT_Scalar invmass = GetRigidBody()->getInvMass();
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if (invmass)
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return 1.f/invmass;
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return 0.f;
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}
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MT_Vector3 KX_BulletPhysicsController::getReactionForce()
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{
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assert(0);
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return MT_Vector3(0.f,0.f,0.f);
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}
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void KX_BulletPhysicsController::setRigidBody(bool rigid)
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{
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}
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void KX_BulletPhysicsController::SuspendDynamics()
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{
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}
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void KX_BulletPhysicsController::RestoreDynamics()
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{
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}
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SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
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{
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assert(0);
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return 0;
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}
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void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
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{
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}
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// todo: remove next line !
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void KX_BulletPhysicsController::SetSimulatedTime(double time)
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{
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}
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// call from scene graph to update
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bool KX_BulletPhysicsController::Update(double time)
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{
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return false;
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// todo: check this code
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//if (GetMass())
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//{
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// return false;//true;
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// }
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// return false;
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}
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#endif //#ifdef USE_BULLET
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