205 lines
6.3 KiB
C
205 lines
6.3 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file bulletBodyNode.h
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* @author enn0x
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* @date 2010-11-19
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*/
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#ifndef __BULLET_BODY_NODE_H__
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#define __BULLET_BODY_NODE_H__
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#include "pandabase.h"
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#include "bulletShape.h"
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#include "bullet_includes.h"
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#include "bullet_utils.h"
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#include "pandaNode.h"
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#include "collideMask.h"
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#include "collisionNode.h"
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#include "transformState.h"
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#include "boundingSphere.h"
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/**
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*
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*/
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class EXPCL_PANDABULLET BulletBodyNode : public PandaNode {
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protected:
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BulletBodyNode(const char *name);
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BulletBodyNode(const BulletBodyNode ©);
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PUBLISHED:
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INLINE ~BulletBodyNode();
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// Shapes
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void add_shape(BulletShape *shape, const TransformState *xform=TransformState::make_identity());
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void remove_shape(BulletShape *shape);
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int get_num_shapes() const;
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BulletShape *get_shape(int idx) const;
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MAKE_SEQ(get_shapes, get_num_shapes, get_shape);
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LPoint3 get_shape_pos(int idx) const;
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LMatrix4 get_shape_mat(int idx) const;
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CPT(TransformState) get_shape_transform(int idx) const;
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BoundingSphere get_shape_bounds() const;
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void add_shapes_from_collision_solids(CollisionNode *cnode);
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// Static and kinematic
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bool is_static() const;
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bool is_kinematic() const;
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INLINE void set_static(bool value);
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INLINE void set_kinematic(bool value);
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// Contacts
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INLINE void set_into_collide_mask(CollideMask mask);
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INLINE void notify_collisions(bool value);
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INLINE bool notifies_collisions() const;
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INLINE void set_collision_response(bool value);
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INLINE bool get_collision_response() const;
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bool check_collision_with(PandaNode *node);
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bool has_contact_response() const;
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PN_stdfloat get_contact_processing_threshold() const;
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void set_contact_processing_threshold(PN_stdfloat threshold);
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// Deactivation
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bool is_active() const;
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void set_active(bool active, bool force=false);
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void force_active(bool active);
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void set_deactivation_time(PN_stdfloat dt);
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PN_stdfloat get_deactivation_time() const;
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void set_deactivation_enabled(bool enabled);
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bool is_deactivation_enabled() const;
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// Debug Visualisation
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INLINE void set_debug_enabled(const bool enabled);
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INLINE bool is_debug_enabled() const;
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// Friction and Restitution
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PN_stdfloat get_restitution() const;
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void set_restitution(PN_stdfloat restitution);
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PN_stdfloat get_friction() const;
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void set_friction(PN_stdfloat friction);
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#if BT_BULLET_VERSION >= 281
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PN_stdfloat get_rolling_friction() const;
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void set_rolling_friction(PN_stdfloat friction);
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MAKE_PROPERTY(rolling_friction, get_rolling_friction, set_rolling_friction);
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#endif
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bool has_anisotropic_friction() const;
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void set_anisotropic_friction(const LVecBase3 &friction);
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LVecBase3 get_anisotropic_friction() const;
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// CCD
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PN_stdfloat get_ccd_swept_sphere_radius() const;
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PN_stdfloat get_ccd_motion_threshold() const;
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void set_ccd_swept_sphere_radius(PN_stdfloat radius);
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void set_ccd_motion_threshold(PN_stdfloat threshold);
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// Special
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void set_transform_dirty();
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MAKE_SEQ_PROPERTY(shapes, get_num_shapes, get_shape);
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MAKE_SEQ_PROPERTY(shape_pos, get_num_shapes, get_shape_pos);
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MAKE_SEQ_PROPERTY(shape_mat, get_num_shapes, get_shape_mat);
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MAKE_SEQ_PROPERTY(shape_transform, get_num_shapes, get_shape_transform);
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MAKE_PROPERTY(shape_bounds, get_shape_bounds);
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MAKE_PROPERTY(static, is_static, set_static);
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MAKE_PROPERTY(kinematic, is_kinematic, set_kinematic);
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MAKE_PROPERTY(collision_notification, notifies_collisions, notify_collisions);
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MAKE_PROPERTY(collision_response, get_collision_response, set_collision_response);
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MAKE_PROPERTY(contact_response, has_contact_response);
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MAKE_PROPERTY(contact_processing_threshold, get_contact_processing_threshold, set_contact_processing_threshold);
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MAKE_PROPERTY(active, is_active, force_active);
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MAKE_PROPERTY(deactivation_time, get_deactivation_time, set_deactivation_time);
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MAKE_PROPERTY(deactivation_enabled, is_deactivation_enabled, set_deactivation_enabled);
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MAKE_PROPERTY(debug_enabled, is_debug_enabled, set_debug_enabled);
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MAKE_PROPERTY(restitution, get_restitution, set_restitution);
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MAKE_PROPERTY(friction, get_friction, set_friction);
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MAKE_PROPERTY(anisotropic_friction, get_anisotropic_friction, set_anisotropic_friction);
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MAKE_PROPERTY(ccd_swept_sphere_radius, get_ccd_swept_sphere_radius, set_ccd_swept_sphere_radius);
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MAKE_PROPERTY(ccd_motion_threshold, get_ccd_motion_threshold, set_ccd_motion_threshold);
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public:
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virtual btCollisionObject *get_object() const = 0;
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virtual CollideMask get_legal_collide_mask() const;
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virtual bool safe_to_flatten() const;
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virtual bool safe_to_transform() const;
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virtual bool safe_to_modify_transform() const;
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virtual bool safe_to_combine() const;
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virtual bool safe_to_combine_children() const;
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virtual bool safe_to_flatten_below() const;
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virtual void output(std::ostream &out) const;
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virtual void do_output(std::ostream &out) const;
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protected:
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void set_collision_flag(int flag, bool value);
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bool get_collision_flag(int flag) const;
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btCollisionShape *_shape;
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typedef PTA(PT(BulletShape)) BulletShapes;
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BulletShapes _shapes;
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private:
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virtual void do_shape_changed();
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void do_add_shape(BulletShape *shape, const TransformState *xform=TransformState::make_identity());
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CPT(TransformState) do_get_shape_transform(int idx) const;
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static bool is_identity(btTransform &trans);
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public:
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virtual void write_datagram(BamWriter *manager, Datagram &dg);
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virtual int complete_pointers(TypedWritable **plist,
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BamReader *manager);
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virtual bool require_fully_complete() const;
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protected:
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void fillin(DatagramIterator &scan, BamReader *manager);
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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PandaNode::init_type();
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register_type(_type_handle, "BulletBodyNode",
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PandaNode::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {
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init_type();
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return get_class_type();
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}
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private:
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static TypeHandle _type_handle;
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};
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#include "bulletBodyNode.I"
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#endif // __BULLET_BODY_NODE_H__
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