320 lines
9.8 KiB
C++
320 lines
9.8 KiB
C++
/**
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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 bulletWorld.h
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* @author enn0x
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* @date 2010-01-23
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*/
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#ifndef __BULLET_WORLD_H__
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#define __BULLET_WORLD_H__
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#include "pandabase.h"
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#include "bullet_includes.h"
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#include "bullet_utils.h"
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#include "bulletClosestHitRayResult.h"
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#include "bulletAllHitsRayResult.h"
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#include "bulletClosestHitSweepResult.h"
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#include "bulletContactResult.h"
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#include "bulletDebugNode.h"
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#include "bulletBaseCharacterControllerNode.h"
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#include "bulletConstraint.h"
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#include "bulletGhostNode.h"
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#include "bulletRigidBodyNode.h"
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#include "bulletSoftBodyNode.h"
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#include "bulletVehicle.h"
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#include "typedReferenceCount.h"
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#include "transformState.h"
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#include "pandaNode.h"
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#include "callbackObject.h"
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#include "collideMask.h"
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#include "luse.h"
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#include "lightMutex.h"
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class BulletPersistentManifold;
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class BulletShape;
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class BulletSoftBodyWorldInfo;
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extern EXPCL_PANDABULLET PT(CallbackObject) bullet_contact_added_callback;
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/**
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*
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*/
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class EXPCL_PANDABULLET BulletWorld : public TypedReferenceCount {
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PUBLISHED:
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BulletWorld();
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INLINE ~BulletWorld();
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void set_gravity(const LVector3 &gravity);
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void set_gravity(PN_stdfloat gx, PN_stdfloat gy, PN_stdfloat gz);
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const LVector3 get_gravity() const;
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int do_physics(PN_stdfloat dt, int max_substeps=1, PN_stdfloat stepsize=1.0f/60.0f);
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BulletSoftBodyWorldInfo get_world_info();
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// Debug
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void set_debug_node(BulletDebugNode *node);
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void clear_debug_node();
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INLINE BulletDebugNode *get_debug_node() const;
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INLINE bool has_debug_node() const;
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// AttachRemove
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void attach(TypedObject *object);
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void remove(TypedObject *object);
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void attach_constraint(BulletConstraint *constraint, bool linked_collision=false);
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// Ghost object
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int get_num_ghosts() const;
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BulletGhostNode *get_ghost(int idx) const;
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MAKE_SEQ(get_ghosts, get_num_ghosts, get_ghost);
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// Rigid body
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int get_num_rigid_bodies() const;
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BulletRigidBodyNode *get_rigid_body(int idx) const;
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MAKE_SEQ(get_rigid_bodies, get_num_rigid_bodies, get_rigid_body);
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// Soft body
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int get_num_soft_bodies() const;
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BulletSoftBodyNode *get_soft_body(int idx) const;
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MAKE_SEQ(get_soft_bodies, get_num_soft_bodies, get_soft_body);
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// Character controller
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int get_num_characters() const;
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BulletBaseCharacterControllerNode *get_character(int idx) const;
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MAKE_SEQ(get_characters, get_num_characters, get_character);
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int get_num_vehicles() const;
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BulletVehicle *get_vehicle(int idx) const;
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MAKE_SEQ(get_vehicles, get_num_vehicles, get_vehicle);
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// Constraint
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int get_num_constraints() const;
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BulletConstraint *get_constraint(int idx) const;
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MAKE_SEQ(get_constraints, get_num_constraints, get_constraint);
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// Raycast and other queries
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BulletClosestHitRayResult ray_test_closest(
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const LPoint3 &from_pos,
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const LPoint3 &to_pos,
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const CollideMask &mask=CollideMask::all_on()) const;
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BulletAllHitsRayResult ray_test_all(
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const LPoint3 &from_pos,
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const LPoint3 &to_pos,
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const CollideMask &mask=CollideMask::all_on()) const;
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BulletClosestHitSweepResult sweep_test_closest(
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BulletShape *shape,
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const TransformState &from_ts,
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const TransformState &to_ts,
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const CollideMask &mask=CollideMask::all_on(),
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PN_stdfloat penetration=0.0f) const;
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BulletContactResult contact_test(PandaNode *node, bool use_filter=false) const;
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BulletContactResult contact_test_pair(PandaNode *node0, PandaNode *node1) const;
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bool filter_test(PandaNode *node0, PandaNode *node1) const;
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// Manifolds
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int get_num_manifolds() const;
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BulletPersistentManifold *get_manifold(int idx) const;
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MAKE_SEQ(get_manifolds, get_num_manifolds, get_manifold);
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// Collision filtering
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void set_group_collision_flag(unsigned int group1, unsigned int group2, bool enable);
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bool get_group_collision_flag(unsigned int group1, unsigned int group2) const;
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void set_force_update_all_aabbs(bool force);
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bool get_force_update_all_aabbs() const;
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// Callbacks
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void set_contact_added_callback(CallbackObject *obj);
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void clear_contact_added_callback();
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void set_tick_callback(CallbackObject *obj, bool is_pretick=false);
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void clear_tick_callback();
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void set_filter_callback(CallbackObject *obj);
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void clear_filter_callback();
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// Configuration
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enum BroadphaseAlgorithm {
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BA_sweep_and_prune,
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BA_dynamic_aabb_tree,
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};
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enum FilterAlgorithm {
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FA_mask,
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FA_groups_mask,
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FA_callback,
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};
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MAKE_PROPERTY(gravity, get_gravity, set_gravity);
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MAKE_PROPERTY(world_info, get_world_info);
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MAKE_PROPERTY2(debug_node, has_debug_node, get_debug_node, set_debug_node, clear_debug_node);
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MAKE_SEQ_PROPERTY(ghosts, get_num_ghosts, get_ghost);
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MAKE_SEQ_PROPERTY(rigid_bodies, get_num_rigid_bodies, get_rigid_body);
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MAKE_SEQ_PROPERTY(soft_bodies, get_num_soft_bodies, get_soft_body);
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MAKE_SEQ_PROPERTY(characters, get_num_characters, get_character);
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MAKE_SEQ_PROPERTY(vehicles, get_num_vehicles, get_vehicle);
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MAKE_SEQ_PROPERTY(constraints, get_num_constraints, get_constraint);
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MAKE_SEQ_PROPERTY(manifolds, get_num_manifolds, get_manifold);
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MAKE_PROPERTY(force_update_all_aabbs, get_force_update_all_aabbs,
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set_force_update_all_aabbs);
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PUBLISHED: // Deprecated methods, will be removed soon
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void attach_ghost(BulletGhostNode *node);
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void remove_ghost(BulletGhostNode *node);
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void attach_rigid_body(BulletRigidBodyNode *node);
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void remove_rigid_body(BulletRigidBodyNode *node);
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void attach_soft_body(BulletSoftBodyNode *node);
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void remove_soft_body(BulletSoftBodyNode *node);
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void attach_character(BulletBaseCharacterControllerNode *node);
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void remove_character(BulletBaseCharacterControllerNode *node);
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void attach_vehicle(BulletVehicle *vehicle);
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void remove_vehicle(BulletVehicle *vehicle);
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void remove_constraint(BulletConstraint *constraint);
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public:
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static btCollisionObject *get_collision_object(PandaNode *node);
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INLINE btDynamicsWorld *get_world() const;
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INLINE btBroadphaseInterface *get_broadphase() const;
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INLINE btDispatcher *get_dispatcher() const;
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static LightMutex &get_global_lock();
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private:
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void do_sync_p2b(PN_stdfloat dt, int num_substeps);
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void do_sync_b2p();
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void do_attach_ghost(BulletGhostNode *node);
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void do_remove_ghost(BulletGhostNode *node);
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void do_attach_rigid_body(BulletRigidBodyNode *node);
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void do_remove_rigid_body(BulletRigidBodyNode *node);
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void do_attach_soft_body(BulletSoftBodyNode *node);
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void do_remove_soft_body(BulletSoftBodyNode *node);
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void do_attach_character(BulletBaseCharacterControllerNode *node);
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void do_remove_character(BulletBaseCharacterControllerNode *node);
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void do_attach_vehicle(BulletVehicle *vehicle);
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void do_remove_vehicle(BulletVehicle *vehicle);
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void do_attach_constraint(BulletConstraint *constraint, bool linked_collision=false);
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void do_remove_constraint(BulletConstraint *constraint);
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static void tick_callback(btDynamicsWorld *world, btScalar timestep);
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typedef PTA(PT(BulletRigidBodyNode)) BulletRigidBodies;
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typedef PTA(PT(BulletSoftBodyNode)) BulletSoftBodies;
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typedef PTA(PT(BulletGhostNode)) BulletGhosts;
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typedef PTA(PT(BulletBaseCharacterControllerNode)) BulletCharacterControllers;
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typedef PTA(PT(BulletVehicle)) BulletVehicles;
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typedef PTA(PT(BulletConstraint)) BulletConstraints;
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static PStatCollector _pstat_physics;
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static PStatCollector _pstat_simulation;
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static PStatCollector _pstat_p2b;
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static PStatCollector _pstat_b2p;
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struct btFilterCallback1 : public btOverlapFilterCallback {
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virtual bool needBroadphaseCollision(
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btBroadphaseProxy* proxy0,
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btBroadphaseProxy* proxy1) const;
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};
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struct btFilterCallback2 : public btOverlapFilterCallback {
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virtual bool needBroadphaseCollision(
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btBroadphaseProxy* proxy0,
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btBroadphaseProxy* proxy1) const;
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CollideMask _collide[32];
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};
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struct btFilterCallback3 : public btOverlapFilterCallback {
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virtual bool needBroadphaseCollision(
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btBroadphaseProxy* proxy0,
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btBroadphaseProxy* proxy1) const;
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PT(CallbackObject) _filter_callback_obj;
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};
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btBroadphaseInterface *_broadphase;
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btCollisionConfiguration *_configuration;
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btCollisionDispatcher *_dispatcher;
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btConstraintSolver *_solver;
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btSoftRigidDynamicsWorld *_world;
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btGhostPairCallback _ghost_cb;
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FilterAlgorithm _filter_algorithm;
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btFilterCallback1 _filter_cb1;
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btFilterCallback2 _filter_cb2;
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btFilterCallback3 _filter_cb3;
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btOverlapFilterCallback *_filter_cb;
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PT(CallbackObject) _tick_callback_obj;
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PT(BulletDebugNode) _debug;
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btSoftBodyWorldInfo _info;
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BulletRigidBodies _bodies;
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BulletSoftBodies _softbodies;
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BulletGhosts _ghosts;
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BulletCharacterControllers _characters;
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BulletVehicles _vehicles;
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BulletConstraints _constraints;
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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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TypedReferenceCount::init_type();
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register_type(_type_handle, "BulletWorld",
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TypedReferenceCount::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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EXPCL_PANDABULLET std::ostream &
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operator << (std::ostream &out, BulletWorld::BroadphaseAlgorithm algorithm);
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EXPCL_PANDABULLET std::istream &
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operator >> (std::istream &in, BulletWorld::BroadphaseAlgorithm &algorithm);
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EXPCL_PANDABULLET std::ostream &
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operator << (std::ostream &out, BulletWorld::FilterAlgorithm algorithm);
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EXPCL_PANDABULLET std::istream &
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operator >> (std::istream &in, BulletWorld::FilterAlgorithm &algorithm);
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#include "bulletWorld.I"
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#endif // __BULLET_WORLD_H__
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