extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h

   1 #ifndef CCDPHYSICSENVIRONMENT
   2 #define CCDPHYSICSENVIRONMENT
   3
   4 #include "PHY_IPhysicsEnvironment.h"
   5 #include <vector>
   6 class CcdPhysicsController;
   7 #include "SimdVector3.h"
   8
   9
  10
  11 class Point2PointConstraint;
  12 class CollisionDispatcher;
  13 class Dispatcher;
  14 //#include "BroadphaseInterface.h"
  15
  16 //switch on/off new vehicle support
  17 //#define NEW_BULLET_VEHICLE_SUPPORT 1
  18
  19 #include "ConstraintSolver/ContactSolverInfo.h"
  20
  21 class WrapperVehicle;
  22 class PersistentManifold;
  23 class BroadphaseInterface;
  24 class IDebugDraw;
  25
  26 /// Physics Environment takes care of stepping the simulation and is a container for physics entities.
  27 /// It stores rigidbodies,constraints, materials etc.
  28 /// A derived class may be able to 'construct' entities by loading and/or converting
  29 class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
  30 {
  31         SimdVector3 m_gravity;
  32
  33         IDebugDraw*     m_debugDrawer;
  34         int     m_numIterations;
  35         int     m_ccdMode;
  36         int     m_solverType;
  37
  38         ContactSolverInfo       m_solverInfo;
  39
  40         public:
  41                 CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
  42
  43                 virtual         ~CcdPhysicsEnvironment();
  44
  45                 /////////////////////////////////////
  46                 //PHY_IPhysicsEnvironment interface
  47                 /////////////////////////////////////
  48
  49                 /// Perform an integration step of duration 'timeStep'.
  50
  51                 virtual void setDebugDrawer(IDebugDraw* debugDrawer)
  52                 {
  53                         m_debugDrawer = debugDrawer;
  54                 }
  55
  56                 virtual void            setNumIterations(int numIter);
  57                 virtual void            setDeactivationTime(float dTime);
  58                 virtual void            setDeactivationLinearTreshold(float linTresh) ;
  59                 virtual void            setDeactivationAngularTreshold(float angTresh) ;
  60                 virtual void            setContactBreakingTreshold(float contactBreakingTreshold) ;
  61                 virtual void            setCcdMode(int ccdMode);
  62                 virtual void            setSolverType(int solverType);
  63                 virtual void            setSolverSorConstant(float sor);
  64                 virtual void            setSolverTau(float tau);
  65                 virtual void            setSolverDamping(float damping);
  66                 virtual void            setLinearAirDamping(float damping);
  67                 virtual void            setUseEpa(bool epa) ;
  68
  69                 virtual void            beginFrame();
  70                 virtual void            endFrame() {};
  71                 /// Perform an integration step of duration 'timeStep'.
  72                 virtual bool            proceedDeltaTime(double curTime,float timeStep);
  73                 bool                            proceedDeltaTimeOneStep(float timeStep);
  74
  75                 virtual void            setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
  76                 //returns 0.f if no fixed timestep is used
  77
  78                 virtual float           getFixedTimeStep(){ return 0.f;};
  79
  80                 virtual void            setDebugMode(int debugMode);
  81
  82                 virtual void            setGravity(float x,float y,float z);
  83
  84                 virtual int                     createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
  85                         float pivotX,float pivotY,float pivotZ,
  86                         float axisX,float axisY,float axisZ);
  87             virtual void                removeConstraint(int    constraintid);
  88
  89 #ifdef NEW_BULLET_VEHICLE_SUPPORT
  90                 //complex constraint for vehicles
  91                 virtual PHY_IVehicle*   getVehicleConstraint(int constraintId);
  92 #else
  93                 virtual class PHY_IVehicle*     getVehicleConstraint(int constraintId)
  94                 {
  95                         return 0;
  96                 }
  97 #endif //NEW_BULLET_VEHICLE_SUPPORT
  98
  99                 Point2PointConstraint*  getPoint2PointConstraint(int constraintId);
 100
 101                 virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
 102                                                                                 float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 103
 104
 105                 //Methods for gamelogic collision/physics callbacks
 106                 //todo:
 107                 virtual void addSensor(PHY_IPhysicsController* ctrl) {};
 108                 virtual void removeSensor(PHY_IPhysicsController* ctrl){};
 109                 virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user){};
 110                 virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl){};
 111                 virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;};
 112                 virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight){ return 0;};
 113
 114
 115                 virtual int     getNumContactPoints();
 116
 117                 virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
 118
 119                 //////////////////////
 120                 //CcdPhysicsEnvironment interface
 121                 ////////////////////////
 122
 123                 void    addCcdPhysicsController(CcdPhysicsController* ctrl);
 124
 125                 void    removeCcdPhysicsController(CcdPhysicsController* ctrl);
 126
 127                 BroadphaseInterface*    GetBroadphase();
 128
 129                 CollisionDispatcher* GetDispatcher();
 130
 131                 const CollisionDispatcher* GetDispatcher() const;
 132
 133
 134                 int     GetNumControllers();
 135
 136                 CcdPhysicsController* GetPhysicsController( int index);
 137
 138                 int     GetNumManifolds() const;
 139
 140                 const PersistentManifold*       GetManifold(int index) const;
 141
 142         private:
 143
 144
 145                 void    SyncMotionStates(float timeStep);
 146
 147                 std::vector<CcdPhysicsController*> m_controllers;
 148
 149                 std::vector<Point2PointConstraint*> m_p2pConstraints;
 150
 151                 std::vector<WrapperVehicle*>    m_wrapperVehicles;
 152
 153                 class CollisionWorld*   m_collisionWorld;
 154
 155                 class ConstraintSolver* m_solver;
 156
 157                 bool    m_scalingPropagated;
 158
 159
 160 };
 161
 162 #endif //CCDPHYSICSENVIRONMENT