152 lines
4.8 KiB
C++
152 lines
4.8 KiB
C++
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#ifndef BULLET2_PHYSICSCONTROLLER_H
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#define BULLET2_PHYSICSCONTROLLER_H
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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 "SimdVector3.h"
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#include "SimdScalar.h"
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#include "SimdMatrix3x3.h"
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class CollisionShape;
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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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struct CcdConstructionInfo
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{
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CcdConstructionInfo()
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: m_gravity(0,0,0),
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m_mass(0.f),
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m_restitution(0.1f),
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m_linearDamping(0.1f),
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m_angularDamping(0.1f),
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m_MotionState(0),
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m_collisionShape(0),
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m_physicsEnv(0),
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m_inertiaFactor(1.f),
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m_scaling(1.f,1.f,1.f)
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{
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}
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SimdVector3 m_localInertiaTensor;
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SimdVector3 m_gravity;
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SimdVector3 m_scaling;
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SimdScalar m_mass;
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SimdScalar m_restitution;
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SimdScalar m_friction;
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SimdScalar m_linearDamping;
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SimdScalar m_angularDamping;
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void* m_broadphaseHandle;
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class PHY_IMotionState* m_MotionState;
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CollisionShape* m_collisionShape;
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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 RigidBody;
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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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RigidBody* m_body;
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class PHY_IMotionState* m_MotionState;
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CollisionShape* m_collisionShape;
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void* m_newClientInfo;
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CcdConstructionInfo m_cci;//needed for replication
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void GetWorldOrientation(SimdMatrix3x3& mat);
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void CreateRigidbody();
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public:
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int m_collisionDelay;
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void* m_broadphaseHandle;
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CcdPhysicsController (const CcdConstructionInfo& ci);
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virtual ~CcdPhysicsController();
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RigidBody* GetRigidBody() { return m_body;}
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CollisionShape* GetCollisionShape() { return m_collisionShape;}
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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() {return 0;}
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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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void SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
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};
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#endif //BULLET2_PHYSICSCONTROLLER_H
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