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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef KX_CONVERTPHYSICSOBJECTS
#define KX_CONVERTPHYSICSOBJECTS
/* These are defined by the build system... */
//but the build system is broken, because it doesn't allow for 2 or more defines at once.
//Please leave Sumo _AND_ Bullet enabled
#define USE_BULLET
//on visual studio 7/8, always enable BULLET for now
//you can have multiple physics engines running anyway, and
//the scons build system doesn't really support this at the moment.
//if you got troubles, just comment out USE_BULLET
#if 1300 <= _MSC_VER
#define USE_BULLET
#endif
class RAS_MeshObject;
class KX_Scene;
struct DerivedMesh;
typedef enum {
KX_BOUNDBOX,
KX_BOUNDSPHERE,
KX_BOUNDCYLINDER,
KX_BOUNDCONE,
KX_BOUNDMESH,
KX_BOUNDPOLYTOPE,
KX_BOUND_DYN_MESH,
KX_BOUNDCAPSULE
} KX_BoundBoxClass;
struct KX_BoxBounds
{
float m_center[3];
float m_extends[3];
};
/* Cone/Cylinder */
struct KX_CBounds
{
float m_radius;
float m_height;
};
struct KX_ObjectProperties
{
bool m_dyna;
bool m_softbody;
double m_radius;
bool m_angular_rigidbody;
bool m_in_active_layer;
bool m_ghost;
class KX_GameObject* m_dynamic_parent;
bool m_isactor;
bool m_sensor;
bool m_concave;
bool m_isdeformable;
bool m_disableSleeping;
bool m_hasCompoundChildren;
bool m_isCompoundChild;
/////////////////////////
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*/
float m_soft_welding; /* threshold to remove duplicate/nearby vertices */
/////////////////////////
bool m_lockXaxis;
bool m_lockYaxis;
bool m_lockZaxis;
bool m_lockXRotaxis;
bool m_lockYRotaxis;
bool m_lockZRotaxis;
/////////////////////////
double m_margin;
float m_contactProcessingThreshold;
KX_BoundBoxClass m_boundclass;
union {
KX_BoxBounds box;
KX_CBounds c;
} m_boundobject;
};
void KX_ConvertDynamoObject(KX_GameObject* gameobj,
RAS_MeshObject* meshobj,
KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
struct KX_ObjectProperties* objprop);
#ifdef USE_BULLET
void KX_ConvertBulletObject( class KX_GameObject* gameobj,
class RAS_MeshObject* meshobj,
struct DerivedMesh* dm,
class KX_Scene* kxscene,
struct PHY_ShapeProps* shapeprops,
struct PHY_MaterialProps* smmaterial,
struct KX_ObjectProperties* objprop);
void KX_ClearBulletSharedShapes();
bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj);
#endif
#endif //KX_CONVERTPHYSICSOBJECTS
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