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Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h')
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diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h deleted file mode 100644 index a64d2c8f15f..00000000000 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ /dev/null @@ -1,345 +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 CcdPhysicsEnvironment.h - * \ingroup physbullet - * See also \ref bulletdoc - */ - -#ifndef __CCDPHYSICSENVIRONMENT_H__ -#define __CCDPHYSICSENVIRONMENT_H__ - -#include "PHY_IPhysicsEnvironment.h" -#include "KX_KetsjiEngine.h" - -#include <vector> -#include <set> -#include <map> -class CcdPhysicsController; -class CcdGraphicController; -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" - - - - -class btTypedConstraint; -class btSimulationIslandManager; -class btCollisionDispatcher; -class btDispatcher; -//#include "btBroadphaseInterface.h" - -//switch on/off new vehicle support -#define NEW_BULLET_VEHICLE_SUPPORT 1 - -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" - -class WrapperVehicle; -class btPersistentManifold; -class btBroadphaseInterface; -struct btDbvtBroadphase; -class btOverlappingPairCache; -class btIDebugDraw; -class btDynamicsWorld; -class PHY_IVehicle; -class CcdOverlapFilterCallBack; -class CcdShapeConstructionInfo; - -/** 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. - * It stores rigidbodies,constraints, materials etc. - * 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; - - // Removes the constraint and his references from the owner and the target. - void RemoveConstraint(btTypedConstraint *con); - -protected: - btIDebugDraw* m_debugDrawer; - - class btDefaultCollisionConfiguration* m_collisionConfiguration; - class btBroadphaseInterface* m_broadphase; // broadphase for dynamic world - // for culling only - btOverlappingPairCache* m_cullingCache; - struct btDbvtBroadphase* m_cullingTree; // broadphase for culling - - //solver iterations - int m_numIterations; - - //timestep subdivisions - int m_numTimeSubSteps; - - - int m_ccdMode; - int m_solverType; - int m_profileTimings; - bool m_enableSatCollisionDetection; - - float m_deactivationTime; - float m_linearDeactivationThreshold; - float m_angularDeactivationThreshold; - float m_contactBreakingThreshold; - - void ProcessFhSprings(double curTime,float timeStep); - - public: - CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0); - - virtual ~CcdPhysicsEnvironment(); - - ///////////////////////////////////// - //PHY_IPhysicsEnvironment interface - ///////////////////////////////////// - - /// Perform an integration step of duration 'timeStep'. - - virtual void SetDebugDrawer(btIDebugDraw* debugDrawer); - - virtual void SetNumIterations(int numIter); - virtual void SetNumTimeSubSteps(int numTimeSubSteps) - { - m_numTimeSubSteps = numTimeSubSteps; - } - virtual void SetDeactivationTime(float dTime); - virtual void SetDeactivationLinearTreshold(float linTresh); - virtual void SetDeactivationAngularTreshold(float angTresh); - virtual void SetContactBreakingTreshold(float contactBreakingTreshold); - virtual void SetCcdMode(int ccdMode); - virtual void SetSolverType(int solverType); - virtual void SetSolverSorConstant(float sor); - virtual void SetSolverTau(float tau); - virtual void SetSolverDamping(float damping); - virtual void SetLinearAirDamping(float damping); - virtual void SetUseEpa(bool epa); - - virtual int GetNumTimeSubSteps() - { - return m_numTimeSubSteps; - } - - virtual void BeginFrame(); - virtual void EndFrame() {} - /// Perform an integration step of duration 'timeStep'. - virtual bool ProceedDeltaTime(double curTime,float timeStep,float interval); - - /** - * Called by Bullet for every physical simulation (sub)tick. - * Our constructor registers this callback to Bullet, which stores a pointer to 'this' in - * the btDynamicsWorld::getWorldUserInfo() pointer. - */ - static void StaticSimulationSubtickCallback(btDynamicsWorld *world, btScalar timeStep); - void SimulationSubtickCallback(btScalar timeStep); - - virtual void DebugDrawWorld(); -// virtual bool proceedDeltaTimeOneStep(float timeStep); - - virtual void SetFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep) - { - SetNumTimeSubSteps((int)(fixedTimeStep / KX_KetsjiEngine::GetTicRate())); - } - //returns 0.f if no fixed timestep is used - - virtual float GetFixedTimeStep() { return 0.f; } - - virtual void SetDebugMode(int debugMode); - virtual int GetDebugMode()const; - - virtual void SetGravity(float x,float y,float z); - virtual void GetGravity(MT_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,int flag=0 - ); - - - //Following the COLLADA physics specification for constraints - virtual int CreateUniversalD6Constraint( - class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther, - btTransform& localAttachmentFrameRef, - btTransform& localAttachmentOther, - const btVector3& linearMinLimits, - const btVector3& linearMaxLimits, - const btVector3& angularMinLimits, - const btVector3& angularMaxLimits,int flags - ); - - - virtual void SetConstraintParam(int constraintId,int param,float value,float value1); - - virtual float GetConstraintParam(int constraintId,int param); - - virtual void RemoveConstraintById(int constraintid); - - virtual float getAppliedImpulse(int constraintid); - - - virtual void CallbackTriggers(); - - -#ifdef NEW_BULLET_VEHICLE_SUPPORT - //complex constraint for vehicles - virtual PHY_IVehicle* GetVehicleConstraint(int constraintId); -#else - virtual class PHY_IVehicle* GetVehicleConstraint(int constraintId) - { - return 0; - } -#endif /* NEW_BULLET_VEHICLE_SUPPORT */ - // Character physics wrapper - virtual PHY_ICharacter* GetCharacterController(class KX_GameObject* ob); - - btTypedConstraint* GetConstraintById(int constraintId); - - virtual PHY_IPhysicsController* RayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ); - virtual bool CullingTest(PHY_CullingCallback callback, void* userData, MT_Vector4* planes, int nplanes, int occlusionRes, const int *viewport, float modelview[16], float projection[16]); - - - //Methods for gamelogic collision/physics callbacks - virtual void AddSensor(PHY_IPhysicsController* ctrl); - virtual void RemoveSensor(PHY_IPhysicsController* ctrl); - virtual void AddTouchCallback(int response_class, PHY_ResponseCallback callback, void *user); - virtual bool RequestCollisionCallback(PHY_IPhysicsController* ctrl); - virtual bool 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 MT_Vector3& position); - virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); - - - virtual int GetNumContactPoints(); - - virtual void GetContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ); - - ////////////////////// - //CcdPhysicsEnvironment interface - //////////////////////// - - void AddCcdPhysicsController(CcdPhysicsController* ctrl); - - bool RemoveCcdPhysicsController(CcdPhysicsController* ctrl); - - void UpdateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask); - - void RefreshCcdPhysicsController(CcdPhysicsController* ctrl); - - bool IsActiveCcdPhysicsController(CcdPhysicsController *ctrl); - - void AddCcdGraphicController(CcdGraphicController* ctrl); - - void RemoveCcdGraphicController(CcdGraphicController* ctrl); - - /** - * Update all physics controllers shape which use the same shape construction info. - * Call RecreateControllerShape on controllers which use the same shape - * construction info that argument shapeInfo. - * You need to call this function when the shape construction info changed. - */ - void UpdateCcdPhysicsControllerShape(CcdShapeConstructionInfo *shapeInfo); - - btBroadphaseInterface* GetBroadphase(); - btDbvtBroadphase* GetCullingTree() { return m_cullingTree; } - - btDispatcher* GetDispatcher(); - - - bool IsSatCollisionDetectionEnabled() const - { - return m_enableSatCollisionDetection; - } - - void EnableSatCollisionDetection(bool enableSat) - { - m_enableSatCollisionDetection = enableSat; - } - - - const btPersistentManifold* GetManifold(int index) const; - - - void SyncMotionStates(float timeStep); - - class btSoftRigidDynamicsWorld* GetDynamicsWorld() - { - return m_dynamicsWorld; - } - - class btConstraintSolver* GetConstraintSolver(); - - void MergeEnvironment(PHY_IPhysicsEnvironment *other_env); - - static CcdPhysicsEnvironment *Create(struct Scene *blenderscene, bool visualizePhysics); - - virtual void ConvertObject(KX_GameObject* gameobj, - RAS_MeshObject* meshobj, - DerivedMesh* dm, - KX_Scene* kxscene, - PHY_ShapeProps* shapeprops, - PHY_MaterialProps* smmaterial, - PHY_IMotionState *motionstate, - int activeLayerBitInfo, - bool isCompoundChild, - bool hasCompoundChildren); - - /* Set the rigid body joints constraints values for converted objects and replicated group instances. */ - virtual void SetupObjectConstraints(KX_GameObject *obj_src, KX_GameObject *obj_dest, - bRigidBodyJointConstraint *dat); - - protected: - - - - std::set<CcdPhysicsController*> m_controllers; - - PHY_ResponseCallback m_triggerCallbacks[PHY_NUM_RESPONSE]; - void* m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE]; - - std::vector<WrapperVehicle*> m_wrapperVehicles; - - //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 btGhostPairCallback* m_ghostPairCallback; - - class btDispatcher* m_ownDispatcher; - - bool m_scalingPropagated; - - virtual void ExportFile(const char* filename); - - -#ifdef WITH_CXX_GUARDEDALLOC - MEM_CXX_CLASS_ALLOC_FUNCS("GE:CcdPhysicsEnvironment") -#endif -}; - -#endif /* __CCDPHYSICSENVIRONMENT_H__ */ |