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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.h')
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diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h deleted file mode 100644 index d69feda38e5..00000000000 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ /dev/null @@ -1,832 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -/** \file CcdPhysicsController.h - * \ingroup physbullet - */ - - -#ifndef __CCDPHYSICSCONTROLLER_H__ -#define __CCDPHYSICSCONTROLLER_H__ - -#include <vector> -#include <map> - -#include "PHY_IPhysicsController.h" - -/// PHY_IPhysicsController is the abstract simplified Interface to a physical object. -/// It contains the IMotionState and IDeformableMesh Interfaces. -#include "btBulletDynamicsCommon.h" -#include "BulletDynamics/Character/btKinematicCharacterController.h" -#include "LinearMath/btTransform.h" - -#include "PHY_IMotionState.h" -#include "PHY_ICharacter.h" - -extern float gDeactivationTime; -extern float gLinearSleepingTreshold; -extern float gAngularSleepingTreshold; -extern bool gDisableDeactivation; -class CcdPhysicsEnvironment; -class btMotionState; -class RAS_MeshObject; -struct DerivedMesh; -class btCollisionShape; - - -#define CCD_BSB_SHAPE_MATCHING 2 -#define CCD_BSB_BENDING_CONSTRAINTS 8 -#define CCD_BSB_AERO_VPOINT 16 /* aero model, Vertex normals are oriented toward velocity*/ -#define CCD_BSB_AERO_VTWOSIDE 32 /* aero model, Vertex normals are flipped to match velocity */ - -/* BulletSoftBody.collisionflags */ -#define CCD_BSB_COL_SDF_RS 2 /* SDF based rigid vs soft */ -#define CCD_BSB_COL_CL_RS 4 /* Cluster based rigid vs soft */ -#define CCD_BSB_COL_CL_SS 8 /* Cluster based soft vs soft */ -#define CCD_BSB_COL_VF_SS 16 /* Vertex/Face based soft vs soft */ - - -// Shape contructor -// It contains all the information needed to create a simple bullet shape at runtime -class CcdShapeConstructionInfo -{ -public: - struct UVco - { - float uv[2]; - }; - - static CcdShapeConstructionInfo* FindMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope); - - CcdShapeConstructionInfo() : - m_shapeType(PHY_SHAPE_NONE), - m_radius(1.0f), - m_height(1.0f), - m_halfExtend(0.f,0.f,0.f), - m_childScale(1.0f,1.0f,1.0f), - m_userData(NULL), - m_refCount(1), - m_meshObject(NULL), - m_triangleIndexVertexArray(NULL), - m_forceReInstance(false), - m_weldingThreshold1(0.f), - m_shapeProxy(NULL) - { - m_childTrans.setIdentity(); - } - - ~CcdShapeConstructionInfo(); - - CcdShapeConstructionInfo* AddRef() - { - m_refCount++; - return this; - } - - int Release() - { - if (--m_refCount > 0) - return m_refCount; - delete this; - return 0; - } - - bool IsUnused(void) - { - return (m_meshObject==NULL && m_shapeArray.size() == 0 && m_shapeProxy == NULL); - } - - void AddShape(CcdShapeConstructionInfo* shapeInfo); - - btStridingMeshInterface *GetMeshInterface() - { - return m_triangleIndexVertexArray; - } - - CcdShapeConstructionInfo* GetChildShape(int i) - { - if (i < 0 || i >= (int)m_shapeArray.size()) - return NULL; - - return m_shapeArray.at(i); - } - int FindChildShape(CcdShapeConstructionInfo* shapeInfo, void* userData) - { - if (shapeInfo == NULL) - return -1; - for (int i=0; i<(int)m_shapeArray.size(); i++) - { - CcdShapeConstructionInfo* childInfo = m_shapeArray.at(i); - if ((userData == NULL || userData == childInfo->m_userData) && - (childInfo == shapeInfo || - (childInfo->m_shapeType == PHY_SHAPE_PROXY && - childInfo->m_shapeProxy == shapeInfo))) - return i; - } - return -1; - } - - bool RemoveChildShape(int i) - { - if (i < 0 || i >= (int)m_shapeArray.size()) - return false; - m_shapeArray.at(i)->Release(); - if (i < (int)m_shapeArray.size()-1) - m_shapeArray[i] = m_shapeArray.back(); - m_shapeArray.pop_back(); - return true; - } - - bool SetMesh(class RAS_MeshObject* mesh, struct DerivedMesh* dm, bool polytope); - RAS_MeshObject* GetMesh(void) - { - return m_meshObject; - } - - bool UpdateMesh(class KX_GameObject* gameobj, class RAS_MeshObject* mesh); - - - bool SetProxy(CcdShapeConstructionInfo* shapeInfo); - CcdShapeConstructionInfo* GetProxy(void) - { - return m_shapeProxy; - } - - btCollisionShape* CreateBulletShape(btScalar margin, bool useGimpact=false, bool useBvh=true); - - // member variables - PHY_ShapeType m_shapeType; - btScalar m_radius; - btScalar m_height; - btVector3 m_halfExtend; - btTransform m_childTrans; - btVector3 m_childScale; - void* m_userData; - btAlignedObjectArray<btScalar> m_vertexArray; // Contains both vertex array for polytope shape and - // triangle array for concave mesh shape. Each vertex is 3 consecutive values - // In this case a triangle is made of 3 consecutive points - 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. - - std::vector<int> m_triFaceArray; // Contains an array of triplets of face indices - // quads turn into 2 tris - - std::vector<UVco> m_triFaceUVcoArray; // Contains an array of pair of UV coordinate for each vertex of faces - // quads turn into 2 tris - - void setVertexWeldingThreshold1(float threshold) - { - m_weldingThreshold1 = threshold*threshold; - } -protected: - 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 - // 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. - CcdShapeConstructionInfo* m_shapeProxy; // only used for PHY_SHAPE_PROXY, pointer to actual shape info - - -#ifdef WITH_CXX_GUARDEDALLOC - MEM_CXX_CLASS_ALLOC_FUNCS("GE:CcdShapeConstructionInfo") -#endif -}; - -struct CcdConstructionInfo -{ - - ///CollisionFilterGroups provides some optional usage of basic collision filtering - ///this is done during broadphase, so very early in the pipeline - ///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision - enum CollisionFilterGroups - { - DefaultFilter = 1, - StaticFilter = 2, - KinematicFilter = 4, - DebrisFilter = 8, - SensorFilter = 16, - CharacterFilter = 32, - AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter | CharacterFilter, - }; - - - CcdConstructionInfo() - :m_localInertiaTensor(1.f, 1.f, 1.f), - m_gravity(0,0,0), - m_scaling(1.f,1.f,1.f), - m_linearFactor(0.f, 0.f, 0.f), - m_angularFactor(0.f, 0.f, 0.f), - 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), - m_angularDamping(0.1f), - m_margin(0.06f), - m_gamesoftFlag(0), - m_soft_linStiff(1.f), - m_soft_angStiff(1.f), - m_soft_volume(1.f), - m_soft_viterations(0), - m_soft_piterations(1), - m_soft_diterations(0), - m_soft_citerations(4), - m_soft_kSRHR_CL(0.1f), - m_soft_kSKHR_CL(1.f), - m_soft_kSSHR_CL(0.5f), - m_soft_kSR_SPLT_CL(0.5f), - m_soft_kSK_SPLT_CL(0.5f), - m_soft_kSS_SPLT_CL(0.5f), - m_soft_kVCF(1.f), - m_soft_kDP(0.f), - m_soft_kDG(0.f), - m_soft_kLF(0.f), - m_soft_kPR(0.f), - m_soft_kVC(0.f), - m_soft_kDF(0.2f), - m_soft_kMT(0), - m_soft_kCHR(1.0f), - m_soft_kKHR(0.1f), - 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), - m_bCharacter(false), - m_bGimpact(false), - m_collisionFilterGroup(DefaultFilter), - m_collisionFilterMask(AllFilter), - m_collisionShape(0), - m_MotionState(0), - m_shapeInfo(0), - m_physicsEnv(0), - m_inertiaFactor(1.f), - m_do_anisotropic(false), - m_anisotropicFriction(1.f,1.f,1.f), - m_do_fh(false), - m_do_rot_fh(false), - m_fh_spring(0.f), - m_fh_damping(0.f), - m_fh_distance(1.f), - m_fh_normal(false) - // m_contactProcessingThreshold(1e10f) - { - - } - - btVector3 m_localInertiaTensor; - btVector3 m_gravity; - btVector3 m_scaling; - btVector3 m_linearFactor; - btVector3 m_angularFactor; - 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; - btScalar m_angularDamping; - btScalar m_margin; - - //////////////////// - float m_stepHeight; - float m_jumpSpeed; - float m_fallSpeed; - unsigned char m_maxJumps; - - int m_gamesoftFlag; - float m_soft_linStiff; /* linear stiffness 0..1 */ - float m_soft_angStiff; /* angular stiffness 0..1 */ - float m_soft_volume; /* volume preservation 0..1 */ - - int m_soft_viterations; /* Velocities solver iterations */ - int m_soft_piterations; /* Positions solver iterations */ - int m_soft_diterations; /* Drift solver iterations */ - int m_soft_citerations; /* Cluster solver iterations */ - - float m_soft_kSRHR_CL; /* Soft vs rigid hardness [0,1] (cluster only) */ - float m_soft_kSKHR_CL; /* Soft vs kinetic hardness [0,1] (cluster only) */ - float m_soft_kSSHR_CL; /* Soft vs soft hardness [0,1] (cluster only) */ - float m_soft_kSR_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ - - float m_soft_kSK_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ - float m_soft_kSS_SPLT_CL; /* Soft vs rigid impulse split [0,1] (cluster only) */ - float m_soft_kVCF; /* Velocities correction factor (Baumgarte) */ - float m_soft_kDP; /* Damping coefficient [0,1] */ - - float m_soft_kDG; /* Drag coefficient [0,+inf] */ - float m_soft_kLF; /* Lift coefficient [0,+inf] */ - float m_soft_kPR; /* Pressure coefficient [-inf,+inf] */ - float m_soft_kVC; /* Volume conversation coefficient [0,+inf] */ - - float m_soft_kDF; /* Dynamic friction coefficient [0,1] */ - float m_soft_kMT; /* Pose matching coefficient [0,1] */ - float m_soft_kCHR; /* Rigid contacts hardness [0,1] */ - float m_soft_kKHR; /* Kinetic contacts hardness [0,1] */ - - float m_soft_kSHR; /* Soft contacts hardness [0,1] */ - float m_soft_kAHR; /* Anchors hardness [0,1] */ - int m_soft_collisionflags; /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */ - int m_soft_numclusteriterations; /* number of iterations to refine collision clusters*/ -/////////////////// - - - - int m_collisionFlags; - bool m_bDyna; - bool m_bRigid; - bool m_bSoft; - bool m_bSensor; - bool m_bCharacter; - bool m_bGimpact; // use Gimpact for mesh body - - ///optional use of collision group/mask: - ///only collision with object goups that match the collision mask. - ///this is very basic early out. advanced collision filtering should be - ///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse - ///both values default to 1 - short int m_collisionFilterGroup; - short int m_collisionFilterMask; - - ///these pointers are used as argument passing for the CcdPhysicsController constructor - ///and not anymore after that - class btCollisionShape* m_collisionShape; - class PHY_IMotionState* m_MotionState; - class CcdShapeConstructionInfo* m_shapeInfo; - - CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication - float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor' - bool m_do_anisotropic; - btVector3 m_anisotropicFriction; - - bool m_do_fh; ///< Should the object have a linear Fh spring? - bool m_do_rot_fh; ///< Should the object have an angular Fh spring? - btScalar m_fh_spring; ///< Spring constant (both linear and angular) - btScalar m_fh_damping; ///< Damping factor (linear and angular) in range [0, 1] - btScalar m_fh_distance; ///< The range above the surface where Fh is active. - bool m_fh_normal; ///< Should the object slide off slopes? - float m_radius;//for fh backwards compatibility - - ///m_contactProcessingThreshold allows to process contact points with positive distance - ///normally only contacts with negative distance (penetration) are solved - ///however, rigid body stacking is more stable when positive contacts are still passed into the constraint solver - ///this might sometimes lead to collisions with 'internal edges' such as a sliding character controller - ///so disable/set m_contactProcessingThreshold to zero for sliding characters etc. - // float m_contactProcessingThreshold;///< Process contacts with positive distance in range [0..INF] -}; - -class btRigidBody; -class btCollisionObject; -class btSoftBody; -class btPairCachingGhostObject; - -class BlenderBulletCharacterController : public btKinematicCharacterController, public PHY_ICharacter -{ -private: - btMotionState* m_motionState; - unsigned char m_jumps; - unsigned char m_maxJumps; - -public: - BlenderBulletCharacterController(btMotionState *motionState, btPairCachingGhostObject *ghost, btConvexShape* shape, float stepHeight); - - virtual void updateAction(btCollisionWorld *collisionWorld, btScalar dt); - - unsigned char getMaxJumps() const; - - void setMaxJumps(unsigned char maxJumps); - - unsigned char getJumpCount() const; - - virtual bool canJump() const; - - 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 unsigned char GetMaxJumps() { return getMaxJumps(); } - virtual void SetMaxJumps(unsigned char maxJumps) { setMaxJumps(maxJumps); } - virtual unsigned char 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]); - } - -#ifdef WITH_CXX_GUARDEDALLOC - using PHY_ICharacter::operator new; - using PHY_ICharacter::operator delete; -#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 -{ -protected: - btCollisionObject* m_object; - BlenderBulletCharacterController* m_characterController; - - - class PHY_IMotionState* m_MotionState; - btMotionState* m_bulletMotionState; - class btCollisionShape* m_collisionShape; - 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 - 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 - CcdConstructionInfo m_cci;//needed for replication - - CcdPhysicsController* m_parentCtrl; - - int m_savedCollisionFlags; - short m_savedCollisionFilterGroup; - short m_savedCollisionFilterMask; - MT_Scalar m_savedMass; - bool m_savedDyna; - bool m_suspended; - - - void GetWorldOrientation(btMatrix3x3& mat); - - void CreateRigidbody(); - bool CreateSoftbody(); - bool CreateCharacterController(); - - bool Register() { - return (m_registerCount++ == 0) ? true : false; - } - bool Unregister() { - 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); - - public: - - int m_collisionDelay; - - - 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(); - - CcdConstructionInfo& GetConstructionInfo() - { - return m_cci; - } - const CcdConstructionInfo& GetConstructionInfo() const - { - return m_cci; - } - - - btRigidBody* GetRigidBody(); - const btRigidBody* GetRigidBody() const; - btCollisionObject* GetCollisionObject(); - btSoftBody* GetSoftBody(); - btKinematicCharacterController* GetCharacterController(); - - CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; } - - btCollisionShape* GetCollisionShape() { - return m_object->getCollisionShape(); - } - //////////////////////////////////// - // PHY_IPhysicsController interface - //////////////////////////////////// - - - /** - * 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') - */ - - virtual void WriteMotionStateToDynamics(bool nondynaonly); - virtual void WriteDynamicsToMotionState(); - - // controller replication - virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl); - virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env); - - // kinematic methods - 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 ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulsein, bool local); - 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); - - 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(); - 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 ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ); - virtual void RefreshCollisions(); - 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 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 - { - return m_cci.m_collisionFilterGroup; - } - ///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors - short int GetCollisionFilterMask() const - { - return m_cci.m_collisionFilterMask; - } - - virtual void CalcXform() {} - virtual void SetMargin(float 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 - { - return (m_collisionShape) ? m_collisionShape->getMargin() : 0.f; - } - virtual float GetRadius() const - { - // this is not the actual shape radius, it's only used for Fh support - return m_cci.m_radius; - } - virtual void SetRadius(float margin) - { - if (m_collisionShape && m_collisionShape->getShapeType() == SPHERE_SHAPE_PROXYTYPE) - { - btSphereShape* sphereShape = static_cast<btSphereShape*>(m_collisionShape); - sphereShape->setUnscaledRadius(margin); - } - m_cci.m_radius = margin; - } - - // velocity clamping - virtual void SetLinVelocityMin(float val) - { - m_cci.m_clamp_vel_min= val; - } - virtual float GetLinVelocityMin() const - { - return m_cci.m_clamp_vel_min; - } - virtual void SetLinVelocityMax(float val) - { - m_cci.m_clamp_vel_max= val; - } - virtual float GetLinVelocityMax() const - { - 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); - - void SetCenterOfMassTransform(btTransform& xform); - - static btTransform& GetTransformFromMotionState(PHY_IMotionState* motionState); - - void setAabb(const btVector3& aabbMin,const btVector3& aabbMax); - - - class PHY_IMotionState* GetMotionState() - { - return m_MotionState; - } - - const class PHY_IMotionState* GetMotionState() const - { - return m_MotionState; - } - - class CcdPhysicsEnvironment* GetPhysicsEnvironment() - { - return m_cci.m_physicsEnv; - } - - void SetParentCtrl(CcdPhysicsController* parentCtrl) - { - m_parentCtrl = parentCtrl; - } - - CcdPhysicsController* GetParentCtrl() - { - return m_parentCtrl; - } - - const CcdPhysicsController* GetParentCtrl() const - { - return m_parentCtrl; - } - - virtual bool IsDynamic() - { - return GetConstructionInfo().m_bDyna; - } - - virtual bool IsSuspended() const - { - return m_suspended; - } - - virtual bool IsCompound() - { - return GetConstructionInfo().m_shapeInfo->m_shapeType == PHY_SHAPE_COMPOUND; - } - - 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 -}; - - - - -///DefaultMotionState implements standard motionstate, using btTransform -class DefaultMotionState : public PHY_IMotionState - -{ - public: - DefaultMotionState(); - - 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 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(); - - btTransform m_worldTransform; - btVector3 m_localScaling; - - -#ifdef WITH_CXX_GUARDEDALLOC - MEM_CXX_CLASS_ALLOC_FUNCS("GE:DefaultMotionState") -#endif -}; - - -#endif /* __CCDPHYSICSCONTROLLER_H__ */ |