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#ifndef BULLET2_PHYSICSCONTROLLER_H
#define BULLET2_PHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
/// PHY_IPhysicsController is the abstract simplified Interface to a physical object.
/// It contains the IMotionState and IDeformableMesh Interfaces.
#include "SimdVector3.h"
#include "SimdScalar.h"
#include "SimdMatrix3x3.h"
class CollisionShape;
extern float gDeactivationTime;
extern float gLinearSleepingTreshold;
extern float gAngularSleepingTreshold;
extern bool gDisableDeactivation;
class CcdPhysicsEnvironment;
struct CcdConstructionInfo
{
CcdConstructionInfo()
: m_gravity(0,0,0),
m_mass(0.f),
m_restitution(0.1f),
m_linearDamping(0.1f),
m_angularDamping(0.1f),
m_MotionState(0),
m_collisionShape(0),
m_physicsEnv(0)
{
}
SimdVector3 m_localInertiaTensor;
SimdVector3 m_gravity;
SimdScalar m_mass;
SimdScalar m_restitution;
SimdScalar m_friction;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
void* m_broadphaseHandle;
class PHY_IMotionState* m_MotionState;
CollisionShape* m_collisionShape;
CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
};
class RigidBody;
///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
class CcdPhysicsController : public PHY_IPhysicsController
{
RigidBody* m_body;
class PHY_IMotionState* m_MotionState;
CollisionShape* m_collisionShape;
void* m_newClientInfo;
CcdConstructionInfo m_cci;//needed for replication
void GetWorldOrientation(SimdMatrix3x3& mat);
void CreateRigidbody();
public:
int m_collisionDelay;
void* m_broadphaseHandle;
CcdPhysicsController (const CcdConstructionInfo& ci);
virtual ~CcdPhysicsController();
RigidBody* GetRigidBody() { return m_body;}
CollisionShape* GetCollisionShape() { return m_collisionShape;}
////////////////////////////////////
// PHY_IPhysicsController interface
////////////////////////////////////
/**
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
virtual bool SynchronizeMotionStates(float time);
/**
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);
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,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(PHY__Vector3& pos) const;
virtual void setScaling(float scaleX,float scaleY,float scaleZ);
// 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 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);
// 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);
// clientinfo for raycasts for example
virtual void* getNewClientInfo();
virtual void setNewClientInfo(void* clientinfo);
virtual PHY_IPhysicsController* GetReplica() {return 0;}
virtual void calcXform() {} ;
virtual void SetMargin(float margin) {};
virtual float GetMargin() const {return 0.f;};
bool wantsSleeping();
void UpdateDeactivation(float timeStep);
void SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
};
#endif //BULLET2_PHYSICSCONTROLLER_H
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