diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.h')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.h | 101 |
1 files changed, 93 insertions, 8 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 4d0d96e07c6..c49ae8d20e1 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -79,7 +79,7 @@ public: m_userData(NULL), m_refCount(1), m_meshObject(NULL), - m_unscaledShape(NULL), + m_triangleIndexVertexArray(NULL), m_forceReInstance(false), m_weldingThreshold1(0.f), m_shapeProxy(NULL) @@ -110,10 +110,11 @@ public: void AddShape(CcdShapeConstructionInfo* shapeInfo); - btTriangleMeshShape* GetMeshShape(void) + btStridingMeshInterface *GetMeshInterface() { - return (m_unscaledShape); + return m_triangleIndexVertexArray; } + CcdShapeConstructionInfo* GetChildShape(int i) { if (i < 0 || i >= (int)m_shapeArray.size()) @@ -195,8 +196,8 @@ protected: int m_refCount; // this class is shared between replicas // keep track of users so that we can release it RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh - btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape, - // the actual shape is of type btScaledBvhTriangleMeshShape + // The list of vertexes and indexes for the triangle mesh, shared between Bullet shape. + btTriangleIndexVertexArray *m_triangleIndexVertexArray; std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes bool m_forceReInstance; //use gimpact for concave dynamic/moving collision detection float m_weldingThreshold1; //welding closeby vertices together can improve softbody stability etc. @@ -235,6 +236,8 @@ struct CcdConstructionInfo m_mass(0.f), m_clamp_vel_min(-1.f), m_clamp_vel_max(-1.f), + m_clamp_angvel_min(0.0f), + m_clamp_angvel_max(0.0f), m_restitution(0.1f), m_friction(0.5f), m_linearDamping(0.1f), @@ -301,6 +304,8 @@ struct CcdConstructionInfo btScalar m_mass; btScalar m_clamp_vel_min; btScalar m_clamp_vel_max; + btScalar m_clamp_angvel_min; // Minimum angular velocity, in radians/sec. + btScalar m_clamp_angvel_max; // Maximum angular velocity, in radians/sec. btScalar m_restitution; btScalar m_friction; btScalar m_linearDamping; @@ -447,6 +452,23 @@ public: #endif }; +class CleanPairCallback : public btOverlapCallback +{ + btBroadphaseProxy *m_cleanProxy; + btOverlappingPairCache *m_pairCache; + btDispatcher *m_dispatcher; + +public: + CleanPairCallback(btBroadphaseProxy *cleanProxy, btOverlappingPairCache *pairCache, btDispatcher *dispatcher) + :m_cleanProxy(cleanProxy), + m_pairCache(pairCache), + m_dispatcher(dispatcher) + { + } + + virtual bool processOverlap(btBroadphasePair &pair); +}; + ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. class CcdPhysicsController : public PHY_IPhysicsController { @@ -461,6 +483,7 @@ protected: class CcdShapeConstructionInfo* m_shapeInfo; btCollisionShape* m_bulletChildShape; + btAlignedObjectArray<btTypedConstraint*> m_ccdConstraintRefs; // keep track of typed constraints referencing this rigid body friend class CcdPhysicsEnvironment; // needed when updating the controller //some book keeping for replication @@ -480,6 +503,7 @@ protected: short m_savedCollisionFilterGroup; short m_savedCollisionFilterMask; MT_Scalar m_savedMass; + bool m_savedDyna; bool m_suspended; @@ -496,6 +520,16 @@ protected: return (--m_registerCount == 0) ? true : false; } + bool Registered() const + { + return (m_registerCount != 0); + } + + void addCcdConstraintRef(btTypedConstraint* c); + void removeCcdConstraintRef(btTypedConstraint* c); + btTypedConstraint* getCcdConstraintRef(int index); + int getNumCcdConstraintRefs() const; + void SetWorldOrientation(const btMatrix3x3& mat); void ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); @@ -506,7 +540,15 @@ protected: CcdPhysicsController (const CcdConstructionInfo& ci); + /** + * Delete the current Bullet shape used in the rigid body. + */ bool DeleteControllerShape(); + + /** + * Delete the old Bullet shape and set the new Bullet shape : newShape + * \param newShape The new Bullet shape to set, if is NULL we create a new Bullet shape + */ bool ReplaceControllerShape(btCollisionShape *newShape); virtual ~CcdPhysicsController(); @@ -522,6 +564,7 @@ protected: btRigidBody* GetRigidBody(); + const btRigidBody* GetRigidBody() const; btCollisionObject* GetCollisionObject(); btSoftBody* GetSoftBody(); btKinematicCharacterController* GetCharacterController(); @@ -540,6 +583,13 @@ protected: * SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding') */ virtual bool SynchronizeMotionStates(float time); + + /** + * Called for every physics simulation step. Use this method for + * things like limiting linear and angular velocity. + */ + void SimulationTick(float timestep); + /** * WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding') */ @@ -573,6 +623,12 @@ protected: virtual void Jump(); virtual void SetActive(bool active); + virtual float GetLinearDamping() const; + virtual float GetAngularDamping() const; + virtual void SetLinearDamping(float damping); + virtual void SetAngularDamping(float damping); + virtual void SetDamping(float linear, float angular); + // reading out information from physics virtual MT_Vector3 GetLinearVelocity(); virtual MT_Vector3 GetAngularVelocity(); @@ -584,7 +640,7 @@ protected: virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); - + virtual void RefreshCollisions(); virtual void SuspendDynamics(bool ghost); virtual void RestoreDynamics(); @@ -612,8 +668,12 @@ protected: virtual void CalcXform() {} virtual void SetMargin(float margin) { - if (m_collisionShape) - m_collisionShape->setMargin(btScalar(margin)); + if (m_collisionShape) { + m_collisionShape->setMargin(margin); + // if the shape use a unscaled shape we have also to set the correct margin in it + if (m_collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) + ((btScaledBvhTriangleMeshShape *)m_collisionShape)->getChildShape()->setMargin(margin); + } } virtual float GetMargin() const { @@ -652,6 +712,23 @@ protected: return m_cci.m_clamp_vel_max; } + virtual void SetAngularVelocityMin(float val) + { + m_cci.m_clamp_angvel_min = val; + } + virtual float GetAngularVelocityMin() const + { + return m_cci.m_clamp_angvel_min; + } + virtual void SetAngularVelocityMax(float val) + { + m_cci.m_clamp_angvel_max = val; + } + virtual float GetAngularVelocityMax() const + { + return m_cci.m_clamp_angvel_max; + } + bool WantsSleeping(); void UpdateDeactivation(float timeStep); @@ -698,6 +775,11 @@ protected: return GetConstructionInfo().m_bDyna; } + virtual bool IsSuspended() const + { + return m_suspended; + } + virtual bool IsCompound() { return GetConstructionInfo().m_shapeInfo->m_shapeType == PHY_SHAPE_COMPOUND; @@ -705,6 +787,9 @@ protected: virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj); + /* Method to replicate rigid body joint contraints for group instances. */ + virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj); + #ifdef WITH_CXX_GUARDEDALLOC MEM_CXX_CLASS_ALLOC_FUNCS("GE:CcdPhysicsController") #endif |