moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
@@ -0,0 +1,211 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CCDPHYSICSENVIRONMENT
+#define CCDPHYSICSENVIRONMENT
+
+#include "PHY_IPhysicsEnvironment.h"
+#include <vector>
+class CcdPhysicsController;
+#include "SimdVector3.h"
+
+
+
+class TypedConstraint;
+
+class CollisionDispatcher;
+class Dispatcher;
+//#include "BroadphaseInterface.h"
+
+//switch on/off new vehicle support
+//#define NEW_BULLET_VEHICLE_SUPPORT 1
+
+#include "ConstraintSolver/ContactSolverInfo.h"
+
+class WrapperVehicle;
+class PersistentManifold;
+class BroadphaseInterface;
+class IDebugDraw;
+
+/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
+/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
+/// It stores rigidbodies,constraints, materials etc.
+/// A derived class may be able to 'construct' entities by loading and/or converting
+class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
+{
+	SimdVector3 m_gravity;
+	
+	IDebugDraw*	m_debugDrawer;
+	//solver iterations
+	int	m_numIterations;
+	
+	//timestep subdivisions
+	int	m_numTimeSubSteps;
+	int	m_ccdMode;
+	int	m_solverType;
+	int	m_profileTimings;
+	bool m_enableSatCollisionDetection;
+
+	ContactSolverInfo	m_solverInfo;
+	
+
+	public:
+		CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);
+
+		virtual		~CcdPhysicsEnvironment();
+
+		/////////////////////////////////////
+		//PHY_IPhysicsEnvironment interface
+		/////////////////////////////////////
+
+		/// Perform an integration step of duration 'timeStep'.
+
+		virtual void setDebugDrawer(IDebugDraw* debugDrawer)
+		{
+			m_debugDrawer = debugDrawer;
+		}
+
+		virtual void		setNumIterations(int numIter);
+		virtual void		setNumTimeSubSteps(int numTimeSubSteps)
+		{
+			m_numTimeSubSteps = numTimeSubSteps;
+		}
+		virtual void		setDeactivationTime(float dTime);
+		virtual	void		setDeactivationLinearTreshold(float linTresh) ;
+		virtual	void		setDeactivationAngularTreshold(float angTresh) ;
+		virtual void		setContactBreakingTreshold(float contactBreakingTreshold) ;
+		virtual void		setCcdMode(int ccdMode);
+		virtual void		setSolverType(int solverType);
+		virtual void		setSolverSorConstant(float sor);
+		virtual void		setSolverTau(float tau);
+		virtual void		setSolverDamping(float damping);
+		virtual void		setLinearAirDamping(float damping);
+		virtual void		setUseEpa(bool epa) ;
+
+		virtual	void		beginFrame();
+		virtual void		endFrame() {};
+		/// Perform an integration step of duration 'timeStep'.
+		virtual	bool		proceedDeltaTime(double curTime,float timeStep);
+		bool				proceedDeltaTimeOneStep(float timeStep);
+
+		virtual	void		setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
+		//returns 0.f if no fixed timestep is used
+
+		virtual	float		getFixedTimeStep(){ return 0.f;};
+
+		virtual void		setDebugMode(int debugMode);
+
+		virtual	void		setGravity(float x,float y,float z);
+
+		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+			float pivotX,float pivotY,float pivotZ,
+			float axisX,float axisY,float axisZ);
+	    virtual void		removeConstraint(int	constraintid);
+
+
+		virtual void	CallbackTriggers();
+
+
+#ifdef NEW_BULLET_VEHICLE_SUPPORT
+		//complex constraint for vehicles
+		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId);
+#else
+		virtual class PHY_IVehicle*	getVehicleConstraint(int constraintId)
+		{
+			return 0;
+		}
+#endif //NEW_BULLET_VEHICLE_SUPPORT
+
+		TypedConstraint*	getConstraintById(int constraintId);
+
+		virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+										float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+
+
+		//Methods for gamelogic collision/physics callbacks
+		virtual void addSensor(PHY_IPhysicsController* ctrl);
+		virtual void removeSensor(PHY_IPhysicsController* ctrl);
+		virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
+		virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
+		virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);
+
+		virtual PHY_IPhysicsController*	CreateSphereController(float radius,const PHY__Vector3& position);
+		virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
+	
+
+		virtual int	getNumContactPoints();
+
+		virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+
+		//////////////////////
+		//CcdPhysicsEnvironment interface
+		////////////////////////
+	
+		void	addCcdPhysicsController(CcdPhysicsController* ctrl);
+
+		void	removeCcdPhysicsController(CcdPhysicsController* ctrl);
+
+		BroadphaseInterface*	GetBroadphase();
+
+		CollisionDispatcher* GetDispatcher();
+		
+		const CollisionDispatcher* GetDispatcher() const;
+
+		bool	IsSatCollisionDetectionEnabled() const
+		{
+			return m_enableSatCollisionDetection;
+		}
+
+		void	EnableSatCollisionDetection(bool enableSat)
+		{
+			m_enableSatCollisionDetection = enableSat;
+		}
+
+		void	UpdateAabbs(float	timeStep);
+
+		int	GetNumControllers();
+
+		CcdPhysicsController* GetPhysicsController( int index);
+
+		int	GetNumManifolds() const;
+
+		const PersistentManifold*	GetManifold(int index) const;
+
+		std::vector<TypedConstraint*> m_constraints;
+
+	private:
+		
+		
+		void	SyncMotionStates(float timeStep);
+		
+		std::vector<CcdPhysicsController*> m_controllers;
+		
+		std::vector<CcdPhysicsController*> m_triggerControllers;
+
+		PHY_ResponseCallback	m_triggerCallbacks[PHY_NUM_RESPONSE];
+		void*			m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
+		
+		std::vector<WrapperVehicle*>	m_wrapperVehicles;
+
+		class CollisionWorld*	m_collisionWorld;
+		
+		class ConstraintSolver*	m_solver;
+
+		bool	m_scalingPropagated;
+
+
+};
+
+#endif //CCDPHYSICSENVIRONMENT