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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 <vector>
#include <map>
#include "PHY_IPhysicsController.h"
/// PHY_IPhysicsController is the abstract simplified Interface to a physical object.
/// It contains the IMotionState and IDeformableMesh Interfaces.
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btTransform.h"
#include "PHY_IMotionState.h"
extern float gDeactivationTime;
extern float gLinearSleepingTreshold;
extern float gAngularSleepingTreshold;
extern bool gDisableDeactivation;
class CcdPhysicsEnvironment;
class btMotionState;
class RAS_MeshObject;
class btCollisionShape;
// Shape contructor
// It contains all the information needed to create a simple bullet shape at runtime
class CcdShapeConstructionInfo
{
public:
static CcdShapeConstructionInfo* FindMesh(RAS_MeshObject* mesh, bool polytope);
CcdShapeConstructionInfo() :
m_shapeType(PHY_SHAPE_NONE),
m_radius(1.0),
m_height(1.0),
m_halfExtend(0.f,0.f,0.f),
m_childScale(1.0f,1.0f,1.0f),
m_refCount(1),
m_meshObject(NULL),
m_unscaledShape(NULL),
m_useGimpact(false),
m_weldingThreshold(0.f)
{
m_childTrans.setIdentity();
}
~CcdShapeConstructionInfo();
CcdShapeConstructionInfo* AddRef()
{
m_refCount++;
return this;
}
int Release()
{
if (--m_refCount > 0)
return m_refCount;
delete this;
return 0;
}
void AddShape(CcdShapeConstructionInfo* shapeInfo);
btTriangleMeshShape* GetMeshShape(void)
{
return m_unscaledShape;
}
CcdShapeConstructionInfo* GetChildShape(int i)
{
if (i < 0 || i >= m_shapeArray.size())
return NULL;
return m_shapeArray.at(i);
}
bool SetMesh(RAS_MeshObject* mesh, bool polytope,bool useGimpact);
RAS_MeshObject* GetMesh(void)
{
return m_meshObject;
}
btCollisionShape* CreateBulletShape();
// member variables
PHY_ShapeType m_shapeType;
btScalar m_radius;
btScalar m_height;
btVector3 m_halfExtend;
btTransform m_childTrans;
btVector3 m_childScale;
std::vector<btPoint3> m_vertexArray; // Contains both vertex array for polytope shape and
// triangle array for concave mesh shape.
// In this case a triangle is made of 3 consecutive points
std::vector<int> m_polygonIndexArray; // Contains the array of polygon index in the
// original mesh that correspond to shape triangles.
// only set for concave mesh shape.
void setVertexWeldingThreshold(float threshold)
{
m_weldingThreshold = threshold;
}
float getVertexWeldingThreshold() const
{
return m_weldingThreshold;
}
protected:
static std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> m_meshShapeMap;
int m_refCount; // this class is shared between replicas
// keep track of users so that we can release it
RAS_MeshObject* m_meshObject; // Keep a pointer to the original mesh
btBvhTriangleMeshShape* m_unscaledShape;// holds the shared unscale BVH mesh shape,
// the actual shape is of type btScaledBvhTriangleMeshShape
std::vector<CcdShapeConstructionInfo*> m_shapeArray; // for compound shapes
bool m_useGimpact; //use gimpact for concave dynamic/moving collision detection
float m_weldingThreshold; //welding closeby vertices together can improve softbody stability etc.
};
struct CcdConstructionInfo
{
///CollisionFilterGroups provides some optional usage of basic collision filtering
///this is done during broadphase, so very early in the pipeline
///more advanced collision filtering should be done in btCollisionDispatcher::NeedsCollision
enum CollisionFilterGroups
{
DefaultFilter = 1,
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
SensorFilter = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorFilter,
};
CcdConstructionInfo()
: m_localInertiaTensor(1.f, 1.f, 1.f),
m_gravity(0,0,0),
m_scaling(1.f,1.f,1.f),
m_mass(0.f),
m_restitution(0.1f),
m_friction(0.5f),
m_linearDamping(0.1f),
m_angularDamping(0.1f),
m_margin(0.06f),
m_linearStiffness(1.f),
m_angularStiffness(1.f),
m_volumePreservation(1.f),
m_gamesoftFlag(0),
m_collisionFlags(0),
m_bRigid(false),
m_bSoft(false),
m_collisionFilterGroup(DefaultFilter),
m_collisionFilterMask(AllFilter),
m_collisionShape(0),
m_MotionState(0),
m_shapeInfo(0),
m_physicsEnv(0),
m_inertiaFactor(1.f)
{
}
btVector3 m_localInertiaTensor;
btVector3 m_gravity;
btVector3 m_scaling;
btScalar m_mass;
btScalar m_restitution;
btScalar m_friction;
btScalar m_linearDamping;
btScalar m_angularDamping;
btScalar m_margin;
btScalar m_linearStiffness;
btScalar m_angularStiffness;
btScalar m_volumePreservation;
int m_gamesoftFlag;
int m_collisionFlags;
bool m_bRigid;
bool m_bSoft;
///optional use of collision group/mask:
///only collision with object goups that match the collision mask.
///this is very basic early out. advanced collision filtering should be
///done in the btCollisionDispatcher::NeedsCollision and NeedsResponse
///both values default to 1
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
///these pointers are used as argument passing for the CcdPhysicsController constructor
///and not anymore after that
class btCollisionShape* m_collisionShape;
class PHY_IMotionState* m_MotionState;
class CcdShapeConstructionInfo* m_shapeInfo;
CcdPhysicsEnvironment* m_physicsEnv; //needed for self-replication
float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
};
class btRigidBody;
class btCollisionObject;
class btSoftBody;
///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
class CcdPhysicsController : public PHY_IPhysicsController
{
btCollisionObject* m_object;
class PHY_IMotionState* m_MotionState;
btMotionState* m_bulletMotionState;
class btCollisionShape* m_collisionShape;
class CcdShapeConstructionInfo* m_shapeInfo;
friend class CcdPhysicsEnvironment; // needed when updating the controller
//some book keeping for replication
bool m_softbodyMappingDone;
bool m_softBodyTransformInitialized;
bool m_prototypeTransformInitialized;
btTransform m_softbodyStartTrans;
void* m_newClientInfo;
int m_registerCount; // needed when multiple sensors use the same controller
CcdConstructionInfo m_cci;//needed for replication
void GetWorldOrientation(btMatrix3x3& mat);
void CreateRigidbody();
bool Register() {
return (m_registerCount++ == 0) ? true : false;
}
bool Unregister() {
return (--m_registerCount == 0) ? true : false;
}
protected:
void setWorldOrientation(const btMatrix3x3& mat);
public:
int m_collisionDelay;
CcdPhysicsController (const CcdConstructionInfo& ci);
virtual ~CcdPhysicsController();
btRigidBody* GetRigidBody();
btCollisionObject* GetCollisionObject();
btSoftBody* GetSoftBody();
CcdShapeConstructionInfo* GetShapeInfo() { return m_shapeInfo; }
btCollisionShape* GetCollisionShape() {
return m_object->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();
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
short int GetCollisionFilterGroup() const
{
return m_cci.m_collisionFilterGroup;
}
///There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors
short int GetCollisionFilterMask() const
{
return m_cci.m_collisionFilterMask;
}
virtual void calcXform() {} ;
virtual void SetMargin(float margin) {};
virtual float GetMargin() const {return 0.f;};
bool wantsSleeping();
void UpdateDeactivation(float timeStep);
void SetCenterOfMassTransform(btTransform& xform);
static btTransform GetTransformFromMotionState(PHY_IMotionState* motionState);
void setAabb(const btVector3& aabbMin,const btVector3& aabbMax);
class PHY_IMotionState* GetMotionState()
{
return m_MotionState;
}
const class PHY_IMotionState* GetMotionState() const
{
return m_MotionState;
}
class CcdPhysicsEnvironment* GetPhysicsEnvironment()
{
return m_cci.m_physicsEnv;
}
};
///DefaultMotionState implements standard motionstate, using btTransform
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();
btTransform m_worldTransform;
btVector3 m_localScaling;
};
#endif //BULLET2_PHYSICSCONTROLLER_H
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