diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.h')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.h | 127 |
1 files changed, 84 insertions, 43 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index f1f0ca31419..ecb894c1e8d 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -33,6 +33,7 @@ subject to the following restrictions: #include "LinearMath/btTransform.h" #include "PHY_IMotionState.h" +#include "PHY_ICharacter.h" extern float gDeactivationTime; extern float gLinearSleepingTreshold; @@ -266,6 +267,7 @@ struct CcdConstructionInfo m_soft_kSHR(1.0f), m_soft_kAHR(0.7f), m_collisionFlags(0), + m_bDyna(false), m_bRigid(false), m_bSoft(false), m_bSensor(false), @@ -349,6 +351,7 @@ struct CcdConstructionInfo int m_collisionFlags; + bool m_bDyna; bool m_bRigid; bool m_bSoft; bool m_bSensor; @@ -396,7 +399,7 @@ class btCollisionObject; class btSoftBody; class btPairCachingGhostObject; -class BlenderBulletCharacterController : public btKinematicCharacterController +class BlenderBulletCharacterController : public btKinematicCharacterController, public PHY_ICharacter { private: btMotionState* m_motionState; @@ -419,6 +422,25 @@ public: virtual void jump(); const btVector3& getWalkDirection(); + + // PHY_ICharacter interface + virtual void Jump() { jump(); } + virtual bool OnGround(){ return onGround(); } + virtual float GetGravity() { return getGravity(); } + virtual void SetGravity(float gravity) { setGravity(gravity); } + virtual int GetMaxJumps() { return getMaxJumps(); } + virtual void SetMaxJumps(int maxJumps) { setMaxJumps(maxJumps); } + virtual int GetJumpCount() { return getJumpCount(); } + virtual void SetWalkDirection(const MT_Vector3& dir) + { + btVector3 vec = btVector3(dir[0], dir[1], dir[2]); + setWalkDirection(vec); + } + virtual MT_Vector3 GetWalkDirection() + { + btVector3 vec = getWalkDirection(); + return MT_Vector3(vec[0], vec[1], vec[2]); + } }; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. @@ -433,6 +455,7 @@ protected: btMotionState* m_bulletMotionState; class btCollisionShape* m_collisionShape; class CcdShapeConstructionInfo* m_shapeInfo; + btCollisionShape* m_bulletChildShape; friend class CcdPhysicsEnvironment; // needed when updating the controller @@ -449,6 +472,10 @@ protected: CcdPhysicsController* m_parentCtrl; + int m_savedCollisionFlags; + MT_Scalar m_savedMass; + bool m_suspended; + void GetWorldOrientation(btMatrix3x3& mat); void CreateRigidbody(); @@ -462,8 +489,8 @@ protected: return (--m_registerCount == 0) ? true : false; } - void setWorldOrientation(const btMatrix3x3& mat); - void forceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); + void SetWorldOrientation(const btMatrix3x3& mat); + void ForceWorldTransform(const btMatrix3x3& mat, const btVector3& pos); public: @@ -477,11 +504,11 @@ protected: virtual ~CcdPhysicsController(); - CcdConstructionInfo& getConstructionInfo() + CcdConstructionInfo& GetConstructionInfo() { return m_cci; } - const CcdConstructionInfo& getConstructionInfo() const + const CcdConstructionInfo& GetConstructionInfo() const { return m_cci; } @@ -518,42 +545,51 @@ protected: virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env); // kinematic methods - virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local); - virtual void SetWalkDirection(float dirX,float dirY,float dirZ,bool local); - virtual void RelativeRotate(const float drot[9],bool local); - virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal); - virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal); - virtual void setPosition(float posX,float posY,float posZ); - virtual void getPosition(MT_Vector3& pos) const; - - virtual void setScaling(float scaleX,float scaleY,float scaleZ); + virtual void RelativeTranslate(const MT_Vector3& dloc,bool local); + virtual void RelativeRotate(const MT_Matrix3x3&rotval, bool local); + virtual MT_Matrix3x3 GetOrientation(); + virtual void SetOrientation(const MT_Matrix3x3& orn); + virtual void SetPosition(const MT_Vector3& pos); + virtual void GetPosition(MT_Vector3& pos) const; + virtual void SetScaling(const MT_Vector3& scale); + virtual void SetTransform(); + + virtual MT_Scalar GetMass(); + virtual void SetMass(MT_Scalar newmass); // physics methods - virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local); - virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local); - virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local); - virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local); - virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ); + virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein); + virtual void ApplyTorque(const MT_Vector3& torque,bool local); + virtual void ApplyForce(const MT_Vector3& force,bool local); + virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local); + virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); virtual void Jump(); virtual void SetActive(bool active); // reading out information from physics - virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ); - virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ); - virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); - virtual void getReactionForce(float& forceX,float& forceY,float& forceZ); - virtual void GetWalkDirection(float& dirX,float& dirY,float& dirZ); + virtual MT_Vector3 GetLinearVelocity(); + virtual MT_Vector3 GetAngularVelocity(); + virtual MT_Vector3 GetVelocity(const MT_Point3& posin); + virtual MT_Vector3 GetLocalInertia(); // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted - virtual void setRigidBody(bool rigid); + virtual void SetRigidBody(bool rigid); - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); + virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); + + virtual void SuspendDynamics(bool ghost); + virtual void RestoreDynamics(); + + // Shape control + virtual void AddCompoundChild(PHY_IPhysicsController* child); + virtual void RemoveCompoundChild(PHY_IPhysicsController* child); // clientinfo for raycasts for example - virtual void* getNewClientInfo(); - virtual void setNewClientInfo(void* clientinfo); + virtual void* GetNewClientInfo(); + virtual void SetNewClientInfo(void* clientinfo); virtual PHY_IPhysicsController* GetReplica(); + virtual PHY_IPhysicsController* GetReplicaForSensors(); ///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors short int GetCollisionFilterGroup() const @@ -566,7 +602,7 @@ protected: return m_cci.m_collisionFilterMask; } - virtual void calcXform() {} + virtual void CalcXform() {} virtual void SetMargin(float margin) { if (m_collisionShape) @@ -609,7 +645,7 @@ protected: return m_cci.m_clamp_vel_max; } - bool wantsSleeping(); + bool WantsSleeping(); void UpdateDeactivation(float timeStep); @@ -635,24 +671,29 @@ protected: return m_cci.m_physicsEnv; } - void setParentCtrl(CcdPhysicsController* parentCtrl) + void SetParentCtrl(CcdPhysicsController* parentCtrl) { m_parentCtrl = parentCtrl; } - CcdPhysicsController* getParentCtrl() + CcdPhysicsController* GetParentCtrl() { return m_parentCtrl; } - const CcdPhysicsController* getParentCtrl() const + const CcdPhysicsController* GetParentCtrl() const { return m_parentCtrl; } - virtual const char* getName() + virtual bool IsDynamic() + { + return GetConstructionInfo().m_bDyna; + } + + virtual bool IsCompound() { - return 0; + return GetConstructionInfo().m_shapeInfo->m_shapeType == PHY_SHAPE_COMPOUND; } #ifdef WITH_CXX_GUARDEDALLOC @@ -672,16 +713,16 @@ class DefaultMotionState : public PHY_IMotionState virtual ~DefaultMotionState(); - virtual void getWorldPosition(float& posX,float& posY,float& posZ); - virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ); - virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); + virtual void GetWorldPosition(float& posX,float& posY,float& posZ); + virtual void GetWorldScaling(float& scaleX,float& scaleY,float& scaleZ); + virtual void GetWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal); - virtual void setWorldPosition(float posX,float posY,float posZ); - virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); - virtual void getWorldOrientation(float* ori); - virtual void setWorldOrientation(const float* ori); + virtual void SetWorldPosition(float posX,float posY,float posZ); + virtual void SetWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal); + virtual void GetWorldOrientation(float* ori); + virtual void SetWorldOrientation(const float* ori); - virtual void calculateWorldTransformations(); + virtual void CalculateWorldTransformations(); btTransform m_worldTransform; btVector3 m_localScaling; |