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#ifndef CCDPHYSICSENVIRONMENT
#define CCDPHYSICSENVIRONMENT
#include "PHY_IPhysicsEnvironment.h"
#include <vector>
class CcdPhysicsController;
#include "SimdVector3.h"
class Point2PointConstraint;
class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"
//switch on/off new vehicle support
//#define NEW_BULLET_VEHICLE_SUPPORT 1
#include "ConstraintSolver/ContactSolverInfo.h"
class WrapperVehicle;
class PersistentManifold;
class BroadphaseInterface;
class IDebugDraw;
/// 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
{
SimdVector3 m_gravity;
IDebugDraw* m_debugDrawer;
int m_numIterations;
int m_ccdMode;
int m_solverType;
ContactSolverInfo m_solverInfo;
public:
CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
virtual ~CcdPhysicsEnvironment();
/////////////////////////////////////
//PHY_IPhysicsEnvironment interface
/////////////////////////////////////
/// Perform an integration step of duration 'timeStep'.
virtual void setDebugDrawer(IDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual void setNumIterations(int numIter);
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 void beginFrame();
virtual void endFrame() {};
/// Perform an integration step of duration 'timeStep'.
virtual bool proceedDeltaTime(double curTime,float timeStep);
bool proceedDeltaTimeOneStep(float timeStep);
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
//returns 0.f if no fixed timestep is used
virtual float getFixedTimeStep(){ return 0.f;};
virtual void setDebugMode(int debugMode);
virtual void setGravity(float x,float y,float z);
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);
virtual void removeConstraint(int constraintid);
#ifdef NEW_BULLET_VEHICLE_SUPPORT
//complex constraint for vehicles
virtual PHY_IVehicle* getVehicleConstraint(int constraintId);
#else
virtual PHY_IVehicle* getVehicleConstraint(int constraintId)
{
return 0;
}
#endif //NEW_BULLET_VEHICLE_SUPPORT
virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
//Methods for gamelogic collision/physics callbacks
//todo:
virtual void addSensor(PHY_IPhysicsController* ctrl) {};
virtual void removeSensor(PHY_IPhysicsController* ctrl){};
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user){};
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl){};
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
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);
void removeCcdPhysicsController(CcdPhysicsController* ctrl);
BroadphaseInterface* GetBroadphase();
CollisionDispatcher* GetDispatcher();
const CollisionDispatcher* GetDispatcher() const;
int GetNumControllers();
CcdPhysicsController* GetPhysicsController( int index);
int GetNumManifolds() const;
const PersistentManifold* GetManifold(int index) const;
private:
void SyncMotionStates(float timeStep);
std::vector<CcdPhysicsController*> m_controllers;
std::vector<Point2PointConstraint*> m_p2pConstraints;
std::vector<WrapperVehicle*> m_wrapperVehicles;
class CollisionWorld* m_collisionWorld;
class ConstraintSolver* m_solver;
bool m_scalingPropagated;
};
#endif //CCDPHYSICSENVIRONMENT
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