Engine/source/T3D/physics/bullet/btBody.h

   1 //-----------------------------------------------------------------------------
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   3 //
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   5 // of this software and associated documentation files (the "Software"), to
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  15 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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  20 // IN THE SOFTWARE.
  21 //-----------------------------------------------------------------------------
  22
  23 #ifndef _T3D_PHYSICS_BTBODY_H_
  24 #define _T3D_PHYSICS_BTBODY_H_
  25
  26 #ifndef _T3D_PHYSICS_PHYSICSBODY_H_
  27 #include "T3D/physics/physicsBody.h"
  28 #endif
  29 #ifndef _REFBASE_H_
  30 #include "core/util/refBase.h"
  31 #endif
  32 #ifndef _MMATRIX_H_
  33 #include "math/mMatrix.h"
  34 #endif
  35
  36 class BtWorld;
  37 class btRigidBody;
  38 class btCompoundShape;
  39 class BtCollision;
  40
  41
  42 class BtBody : public PhysicsBody
  43 {
  44 protected:
  45
  46    /// The physics world we are in.
  47    BtWorld *mWorld;
  48
  49    /// The physics actor.
  50    btRigidBody *mActor;
  51
  52    /// The collision representation.
  53    StrongRefPtr<BtCollision> mColShape;
  54
  55    /// Our local compound if we had to adjust
  56    /// the mass center on a dynamic.
  57    btCompoundShape *mCompound;
  58
  59    ///
  60    F32 mMass;
  61
  62    ///
  63    bool mIsDynamic;
  64
  65    /// Is the body participating in the physics simulation.
  66    bool mIsEnabled;
  67
  68    /// The center of mass offset used if the graphical
  69    /// transform is not at the mass center.
  70    MatrixF *mCenterOfMass;
  71
  72    /// The inverse center of mass offset.
  73    MatrixF *mInvCenterOfMass;
  74
  75    ///
  76    void _releaseActor();
  77
  78 public:
  79
  80    BtBody();
  81    virtual ~BtBody();
  82
  83    // PhysicsObject
  84    virtual PhysicsWorld* getWorld();
  85    virtual void setTransform( const MatrixF &xfm );
  86    virtual MatrixF& getTransform( MatrixF *outMatrix );
  87    virtual Box3F getWorldBounds();
  88    virtual void setSimulationEnabled( bool enabled );
  89    virtual bool isSimulationEnabled() { return mIsEnabled; }
  90
  91    // PhysicsBody
  92    virtual bool init(   PhysicsCollision *shape,
  93                         F32 mass,
  94                         U32 bodyFlags,
  95                         SceneObject *obj,
  96                         PhysicsWorld *world );
  97    virtual bool isDynamic() const { return mIsDynamic; }
  98    virtual PhysicsCollision* getColShape();
  99    virtual void setSleepThreshold( F32 linear, F32 angular );
 100    virtual void setDamping( F32 linear, F32 angular );
 101    virtual void getState( PhysicsState *outState );
 102    virtual F32 getMass() const { return mMass; }
 103    virtual Point3F getCMassPosition() const;
 104    virtual void setLinVelocity( const Point3F &vel );
 105    virtual void setAngVelocity( const Point3F &vel );
 106    virtual Point3F getLinVelocity() const;
 107    virtual Point3F getAngVelocity() const;
 108    virtual void setSleeping( bool sleeping );
 109    virtual void setMaterial(  F32 restitution,
 110                               F32 friction,
 111                               F32 staticFriction );
 112    virtual void applyCorrection( const MatrixF &xfm );
 113    virtual void applyImpulse( const Point3F &origin, const Point3F &force );
 114
 115    virtual void findContact(SceneObject **contactObject, VectorF *contactNormal, Vector<SceneObject*> *outOverlapObjects) const;
 116 };
 117
 118 #endif // _T3D_PHYSICS_BTBODY_H_