diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h')
-rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h | 59 |
1 files changed, 40 insertions, 19 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 66a6ed59c17..74384dd8cf2 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "PHY_IPhysicsEnvironment.h" #include <vector> +#include <set> class CcdPhysicsController; #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" @@ -42,6 +43,7 @@ class btBroadphaseInterface; class btOverlappingPairCache; class btIDebugDraw; class PHY_IVehicle; +class CcdOverlapFilterCallBack; /// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection. /// Physics Environment takes care of stepping the simulation and is a container for physics entities. @@ -49,12 +51,15 @@ class PHY_IVehicle; /// A derived class may be able to 'construct' entities by loading and/or converting class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment { + friend class CcdOverlapFilterCallBack; btVector3 m_gravity; - - protected: btIDebugDraw* m_debugDrawer; + + class btDefaultCollisionConfiguration* m_collisionConfiguration; + class btBroadphaseInterface* m_broadphase; + //solver iterations int m_numIterations; @@ -69,6 +74,7 @@ protected: btContactSolverInfo m_solverInfo; + void processFhSprings(double curTime,float timeStep); public: CcdPhysicsEnvironment(btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0); @@ -114,12 +120,14 @@ protected: virtual void setDebugMode(int debugMode); virtual void setGravity(float x,float y,float z); + virtual void getGravity(PHY__Vector3& grav); + virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type, float pivotX,float pivotY,float pivotZ, float axisX,float axisY,float axisZ, float axis1X=0,float axis1Y=0,float axis1Z=0, - float axis2X=0,float axis2Y=0,float axis2Z=0 + float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0 ); @@ -131,7 +139,7 @@ protected: const btVector3& linearMinLimits, const btVector3& linearMaxLimits, const btVector3& angularMinLimits, - const btVector3& angularMaxLimits + const btVector3& angularMaxLimits,int flags ); virtual void setConstraintParam(int constraintId,int param,float value,float value1); @@ -156,8 +164,7 @@ protected: btTypedConstraint* getConstraintById(int constraintId); - virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, - float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); + virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); //Methods for gamelogic collision/physics callbacks @@ -166,7 +173,7 @@ protected: virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user); virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl); virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl); - + //These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); @@ -183,10 +190,15 @@ protected: void removeCcdPhysicsController(CcdPhysicsController* ctrl); + void updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); + + void disableCcdPhysicsController(CcdPhysicsController* ctrl); + + void enableCcdPhysicsController(CcdPhysicsController* ctrl); + btBroadphaseInterface* getBroadphase(); - - + btDispatcher* getDispatcher(); bool IsSatCollisionDetectionEnabled() const @@ -200,18 +212,15 @@ protected: } - int GetNumControllers(); - - CcdPhysicsController* GetPhysicsController( int index); - - - const btPersistentManifold* GetManifold(int index) const; void SyncMotionStates(float timeStep); - + class btSoftRigidDynamicsWorld* getDynamicsWorld() + { + return m_dynamicsWorld; + } class btConstraintSolver* GetConstraintSolver(); @@ -220,19 +229,31 @@ protected: - std::vector<CcdPhysicsController*> m_controllers; + std::set<CcdPhysicsController*> m_controllers; - std::vector<CcdPhysicsController*> m_triggerControllers; + std::set<CcdPhysicsController*> m_triggerControllers; PHY_ResponseCallback m_triggerCallbacks[PHY_NUM_RESPONSE]; void* m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE]; std::vector<WrapperVehicle*> m_wrapperVehicles; - class btDynamicsWorld* m_dynamicsWorld; + //use explicit btSoftRigidDynamicsWorld/btDiscreteDynamicsWorld* so that we have access to + //btDiscreteDynamicsWorld::addRigidBody(body,filter,group) + //so that we can set the body collision filter/group at the time of creation + //and not afterwards (breaks the collision system for radar/near sensor) + //Ideally we would like to have access to this function from the btDynamicsWorld interface + //class btDynamicsWorld* m_dynamicsWorld; + class btSoftRigidDynamicsWorld* m_dynamicsWorld; class btConstraintSolver* m_solver; + class btOverlappingPairCache* m_ownPairCache; + + class CcdOverlapFilterCallBack* m_filterCallback; + + class btDispatcher* m_ownDispatcher; + bool m_scalingPropagated; |