| 1 | // |
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| 2 | // Lol Engine |
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| 3 | // |
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| 4 | // Copyright: (c) 2010-2012 Sam Hocevar <sam@hocevar.net> |
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| 5 | // (c) 2009-2012 Benjamin Huet <huet.benjamin@gmail.com> |
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| 6 | // This program is free software; you can redistribute it and/or |
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| 7 | // modify it under the terms of the Do What The Fuck You Want To |
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| 8 | // Public License, Version 2, as published by Sam Hocevar. See |
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| 9 | // http://sam.zoy.org/projects/COPYING.WTFPL for more details. |
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| 10 | // |
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| 11 | |
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| 12 | // |
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| 13 | // The EasyPhysic class |
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| 14 | // ------------------ |
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| 15 | // |
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| 16 | |
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| 17 | #if !defined __EASYPHYSICS_EASYPHYSICS_H__ |
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| 18 | #define __EASYPHYSICS_EASYPHYSICS_H__ |
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| 19 | |
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| 20 | #ifdef HAVE_PHYS_USE_BULLET
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| 21 | #include "core.h"
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| 22 | #include <bullet/btBulletDynamicsCommon.h>
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| 23 | #include <bullet/btBulletCollisionCommon.h>
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| 24 | #include <bullet/BulletCollision/CollisionDispatch/btGhostObject.h>
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| 25 | #endif
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| 26 |
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| 27 | namespace lol |
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| 28 | { |
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| 29 | |
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| 30 | namespace phys |
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| 31 | { |
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| 32 | |
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| 33 | class EasyPhysic |
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| 34 | { |
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| 35 | |
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| 36 | friend class EasyConstraint;
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| 37 |
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| 38 | #ifdef HAVE_PHYS_USE_BULLET
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| 39 |
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| 40 | public:
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| 41 | EasyPhysic(); |
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| 42 | ~EasyPhysic(); |
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| 43 | |
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| 44 | virtual void SetShapeToBox(lol::vec3& box_size); |
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| 45 | virtual void SetShapeToSphere(float radius); |
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| 46 | virtual void SetShapeToCone(float radius, float height); |
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| 47 | virtual void SetShapeToCylinder(lol::vec3& cyl_size); |
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| 48 | virtual void SetShapeToCapsule(float radius, float height); |
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| 49 | |
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| 50 | virtual bool CanChangeCollisionChannel() { return (m_rigid_body == NULL); } |
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| 51 | virtual void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f))); |
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| 52 | virtual void SetMass(float mass); |
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| 53 | virtual void InitBodyToRigid(bool ZeroMassIsKinematic=false); |
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| 54 | virtual void InitBodyToGhost(); |
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| 55 | virtual void AddToSimulation(class Simulation* current_simulation);
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| 56 | virtual void RemoveFromSimulation(class Simulation* current_simulation);
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| 57 | virtual mat4 GetTransform(); |
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| 58 | |
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| 59 | protected:
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| 60 | virtual void SetLocalInertia(float mass); |
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| 61 | virtual void SetShapeTo(btCollisionShape* collision_shape); |
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| 62 | |
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| 63 | virtual btGhostObject* GetGhostObject(); |
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| 64 |
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| 65 | btCollisionObject* m_collision_object;
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| 66 |
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| 67 | btGhostObject* m_ghost_object;
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| 68 |
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| 69 | btRigidBody* m_rigid_body;
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| 70 | btVector3 m_local_inertia;
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| 71 |
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| 72 | btCollisionShape* m_collision_shape;
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| 73 | btConvexShape* m_convex_shape;
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| 74 | btMotionState* m_motion_state;
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| 75 |
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| 76 | #else // NO PHYSIC IMPLEMENTATION
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| 77 |
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| 78 | public: |
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| 79 | EasyPhysic() { } |
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| 80 | |
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| 81 | virtual void SetShapeToBox(lol::vec3& BoxSize) { } |
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| 82 | virtual void SetShapeToSphere(float radius) { } |
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| 83 | virtual void SetShapeToCone(float radius, float height) { } |
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| 84 | virtual void SetShapeToCylinder(lol::vec3& cyl_size) { } |
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| 85 | virtual void SetShapeToCapsule(float radius, float height) { } |
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| 86 | |
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| 87 | virtual bool CanChangeCollisionChannel() { return true; } |
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| 88 | virtual void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f))) { } |
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| 89 | virtual void SetMass(float mass) { } |
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| 90 | virtual void InitBodyToRigid() { } |
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| 91 | virtual void InitBodyToGhost() { } |
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| 92 | virtual void AddToSimulation(class Simulation* current_simulation) { }
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| 93 | virtual void RemoveFromSimulation(class Simulation* current_simulation) { }
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| 94 | virtual mat4 GetTransform() { return mat4(1.0f); } |
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| 95 | |
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| 96 | virtual void InitBodyToGhost() { } |
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| 97 | |
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| 98 | #endif // PHYSIC IMPLEMENTATION |
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| 99 |
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| 100 | public: |
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| 101 | //Sets the collision Group & Mask. |
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| 102 | //Mask can change at runtime, not group ! |
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| 103 | virtual bool SetCollisionChannel(int NewGroup, int NewMask) |
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| 104 | { |
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| 105 | if (CanChangeCollisionChannel()) |
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| 106 | { |
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| 107 | m_collision_group = (1<<NewGroup); |
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| 108 | m_collision_mask = NewMask; |
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| 109 | return true; |
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| 110 | } |
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| 111 | return false; |
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| 112 | } |
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| 113 | int GetCollisionGroup() { return m_collision_group; } |
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| 114 | int GetCollisionMask() { return m_collision_mask; } |
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| 115 |
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| 116 | protected:
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| 117 | lol::mat4 m_local_to_world;
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| 118 | float m_mass;
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| 119 | int m_collision_group;
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| 120 | int m_collision_mask;
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| 121 | }; |
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| 122 | |
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| 123 | } /* namespace phys */ |
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| 124 | |
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| 125 | } /* namespace lol */ |
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| 126 | |
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| 127 | #endif /* __EASYPHYSICS_EASYPHYSICS_H__ */ |
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| 128 | |
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