diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.h')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.h | 71 |
1 files changed, 53 insertions, 18 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index 355c1d608b1..60c734838f3 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -18,6 +18,7 @@ subject to the following restrictions: #define BULLET2_PHYSICSCONTROLLER_H #include <vector> +#include <map> #include "PHY_IPhysicsController.h" @@ -42,15 +43,21 @@ class btCollisionShape; class CcdShapeConstructionInfo { public: + + + static CcdShapeConstructionInfo* FindMesh(RAS_MeshObject* mesh, bool polytope); + CcdShapeConstructionInfo() : m_shapeType(PHY_SHAPE_NONE), m_radius(1.0), m_height(1.0), m_halfExtend(0.f,0.f,0.f), m_childScale(1.0f,1.0f,1.0f), - m_nextShape(NULL), + m_refCount(1), + m_meshObject(NULL), m_unscaledShape(NULL), - m_refCount(1) + m_useGimpact(false), + m_weldingThreshold(0.f) { m_childTrans.setIdentity(); } @@ -77,22 +84,19 @@ public: { return m_unscaledShape; } - CcdShapeConstructionInfo* GetNextShape() - { - return m_nextShape; - } CcdShapeConstructionInfo* GetChildShape(int i) { - CcdShapeConstructionInfo* shape = m_nextShape; - while (i > 0 && shape != NULL) - { - shape = shape->m_nextShape; - i--; - } - return shape; + if (i < 0 || i >= m_shapeArray.size()) + return NULL; + + return m_shapeArray.at(i); } - bool SetMesh(RAS_MeshObject* mesh, bool polytope); + bool SetMesh(RAS_MeshObject* mesh, bool polytope,bool useGimpact); + RAS_MeshObject* GetMesh(void) + { + return m_meshObject; + } btCollisionShape* CreateBulletShape(); @@ -109,14 +113,26 @@ public: std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the // original mesh that correspond to shape triangles. // only set for concave mesh shape. - const RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh + void setVertexWeldingThreshold(float threshold) + { + m_weldingThreshold = threshold; + } + float getVertexWeldingThreshold() const + { + return m_weldingThreshold; + } protected: - CcdShapeConstructionInfo* m_nextShape; // for compound shape - btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape, - // the actual shape is of type btScaledBvhTriangleMeshShape + static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap; 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 + std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes + bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection + float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc. + }; struct CcdConstructionInfo @@ -146,8 +162,13 @@ struct CcdConstructionInfo m_linearDamping(0.1f), m_angularDamping(0.1f), m_margin(0.06f), + m_linearStiffness(1.f), + m_angularStiffness(1.f), + m_volumePreservation(1.f), + m_gamesoftFlag(0), m_collisionFlags(0), m_bRigid(false), + m_bSoft(false), m_collisionFilterGroup(DefaultFilter), m_collisionFilterMask(AllFilter), m_collisionShape(0), @@ -167,8 +188,15 @@ struct CcdConstructionInfo btScalar m_linearDamping; btScalar m_angularDamping; btScalar m_margin; + + btScalar m_linearStiffness; + btScalar m_angularStiffness; + btScalar m_volumePreservation; + int m_gamesoftFlag; + int m_collisionFlags; bool m_bRigid; + bool m_bSoft; ///optional use of collision group/mask: ///only collision with object goups that match the collision mask. @@ -198,6 +226,7 @@ class CcdPhysicsController : public PHY_IPhysicsController { btCollisionObject* m_object; + class PHY_IMotionState* m_MotionState; btMotionState* m_bulletMotionState; @@ -206,6 +235,12 @@ class CcdPhysicsController : public PHY_IPhysicsController friend class CcdPhysicsEnvironment; // needed when updating the controller + //some book keeping for replication + bool m_softbodyMappingDone; + bool m_softBodyTransformInitialized; + bool m_prototypeTransformInitialized; + btTransform m_softbodyStartTrans; + void* m_newClientInfo; int m_registerCount; // needed when multiple sensors use the same controller |