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/*
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.
*/
#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"
#include "SimdTransform.h"
#include "Dynamics/RigidBody.h"
#include "PHY_IMotionState.h"
#include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
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_friction(0.5f),
m_linearDamping(0.1f),
m_angularDamping(0.1f),
m_MotionState(0),
m_physicsEnv(0),
m_inertiaFactor(1.f),
m_scaling(1.f,1.f,1.f),
m_collisionFlags(0)
{
}
SimdVector3 m_localInertiaTensor;
SimdVector3 m_gravity;
SimdVector3 m_scaling;
SimdScalar m_mass;
SimdScalar m_restitution;
SimdScalar m_friction;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
int m_collisionFlags;
CollisionShape* m_collisionShape;
class PHY_IMotionState* m_MotionState;
CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
};
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;
void* m_newClientInfo;
CcdConstructionInfo m_cci;//needed for replication
void GetWorldOrientation(SimdMatrix3x3& mat);
void CreateRigidbody();
public:
int m_collisionDelay;
CcdPhysicsController (const CcdConstructionInfo& ci);
virtual ~CcdPhysicsController();
RigidBody* GetRigidBody() { return m_body;}
CollisionShape* GetCollisionShape() {
return m_body->GetCollisionShape();
}
////////////////////////////////////
// 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();
virtual void calcXform() {} ;
virtual void SetMargin(float margin) {};
virtual float GetMargin() const {return 0.f;};
bool wantsSleeping();
void UpdateDeactivation(float timeStep);
static SimdTransform GetTransformFromMotionState(PHY_IMotionState* motionState);
void SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);
class PHY_IMotionState* GetMotionState()
{
return m_MotionState;
}
const class PHY_IMotionState* GetMotionState() const
{
return m_MotionState;
}
};
///DefaultMotionState implements standard motionstate, using SimdTransform
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 calculateWorldTransformations();
SimdTransform m_worldTransform;
};
#endif //BULLET2_PHYSICSCONTROLLER_H
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