CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. More...

#include <CcdPhysicsController.h>

Inheritance diagram for CcdPhysicsController:

[legend]

List of all members.

Public Member Functions
	CcdPhysicsController (const CcdConstructionInfo &ci)
bool	DeleteControllerShape ()
bool	ReplaceControllerShape (btCollisionShape *newShape)
virtual	~CcdPhysicsController ()
CcdConstructionInfo &	getConstructionInfo ()
const CcdConstructionInfo &	getConstructionInfo () const
btRigidBody *	GetRigidBody ()
btCollisionObject *	GetCollisionObject ()
btSoftBody *	GetSoftBody ()
CcdShapeConstructionInfo *	GetShapeInfo ()
btCollisionShape *	GetCollisionShape ()
virtual bool	SynchronizeMotionStates (float time)
virtual void	WriteMotionStateToDynamics (bool nondynaonly)
virtual void	WriteDynamicsToMotionState ()
virtual void	PostProcessReplica (class PHY_IMotionState motionstate, class PHY_IPhysicsController parentctrl)
virtual void	SetPhysicsEnvironment (class PHY_IPhysicsEnvironment *env)
virtual void	RelativeTranslate (float dlocX, float dlocY, float dlocZ, bool local)
virtual void	RelativeRotate (const float drot[9], bool local)
virtual void	getOrientation (float &quatImag0, float &quatImag1, float &quatImag2, float &quatReal)
virtual void	setOrientation (float quatImag0, float quatImag1, float quatImag2, float quatReal)
virtual void	setPosition (float posX, float posY, float posZ)
virtual void	getPosition (PHY__Vector3 &pos) const
virtual void	setScaling (float scaleX, float scaleY, float scaleZ)
virtual void	ApplyTorque (float torqueX, float torqueY, float torqueZ, bool local)
virtual void	ApplyForce (float forceX, float forceY, float forceZ, bool local)
virtual void	SetAngularVelocity (float ang_velX, float ang_velY, float ang_velZ, bool local)
virtual void	SetLinearVelocity (float lin_velX, float lin_velY, float lin_velZ, bool local)
virtual void	applyImpulse (float attachX, float attachY, float attachZ, float impulseX, float impulseY, float impulseZ)
virtual void	SetActive (bool active)
virtual void	GetLinearVelocity (float &linvX, float &linvY, float &linvZ)
virtual void	GetAngularVelocity (float &angVelX, float &angVelY, float &angVelZ)
virtual void	GetVelocity (const float posX, const float posY, const float posZ, float &linvX, float &linvY, float &linvZ)
virtual void	getReactionForce (float &forceX, float &forceY, float &forceZ)
virtual void	setRigidBody (bool rigid)
virtual void	resolveCombinedVelocities (float linvelX, float linvelY, float linvelZ, float angVelX, float angVelY, float angVelZ)
virtual void *	getNewClientInfo ()
virtual void	setNewClientInfo (void *clientinfo)
virtual PHY_IPhysicsController *	GetReplica ()
short int	GetCollisionFilterGroup () const
	There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors.
short int	GetCollisionFilterMask () const
	There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors.
virtual void	calcXform ()
virtual void	SetMargin (float margin)
virtual float	GetMargin () const
virtual float	GetRadius () const
virtual void	SetRadius (float margin)
virtual void	SetLinVelocityMin (float val)
virtual float	GetLinVelocityMin () const
virtual void	SetLinVelocityMax (float val)
virtual float	GetLinVelocityMax () const
bool	wantsSleeping ()
void	UpdateDeactivation (float timeStep)
void	SetCenterOfMassTransform (btTransform &xform)
void	setAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
class PHY_IMotionState *	GetMotionState ()
class PHY_IMotionState *	GetMotionState () const
class CcdPhysicsEnvironment *	GetPhysicsEnvironment ()
void	setParentCtrl (CcdPhysicsController *parentCtrl)
CcdPhysicsController *	getParentCtrl ()
const CcdPhysicsController *	getParentCtrl () const
virtual const char *	getName ()
Static Public Member Functions
static btTransform &	GetTransformFromMotionState (PHY_IMotionState *motionState)
Public Attributes
int	m_collisionDelay
Protected Member Functions
void	GetWorldOrientation (btMatrix3x3 &mat)
void	CreateRigidbody ()
bool	CreateSoftbody ()
bool	Register ()
bool	Unregister ()
void	setWorldOrientation (const btMatrix3x3 &mat)
void	forceWorldTransform (const btMatrix3x3 &mat, const btVector3 &pos)
Protected Attributes
btCollisionObject *	m_object
class PHY_IMotionState *	m_MotionState
btMotionState *	m_bulletMotionState
class btCollisionShape *	m_collisionShape
class CcdShapeConstructionInfo *	m_shapeInfo
bool	m_softbodyMappingDone
bool	m_softBodyTransformInitialized
bool	m_prototypeTransformInitialized
btTransform	m_softbodyStartTrans
void *	m_newClientInfo
int	m_registerCount
CcdConstructionInfo	m_cci
CcdPhysicsController *	m_parentCtrl
Friends
class	CcdPhysicsEnvironment

Detailed Description

CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.

Definition at line 390 of file CcdPhysicsController.h.

Constructor & Destructor Documentation

CcdPhysicsController::CcdPhysicsController ( const CcdConstructionInfo & ci )

CcdPhysicsController::~CcdPhysicsController ( ) [virtual]

Definition at line 561 of file CcdPhysicsController.cpp.

References DeleteControllerShape(), m_bulletMotionState, m_cci, m_MotionState, m_object, CcdConstructionInfo::m_physicsEnv, m_shapeInfo, CcdShapeConstructionInfo::Release(), and CcdPhysicsEnvironment::removeCcdPhysicsController().

Member Function Documentation

void CcdPhysicsController::ApplyForce	(	float	forceX,
		float	forceY,
		float	forceZ,
		bool	local
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1057 of file CcdPhysicsController.cpp.

References btSoftBody::addForce(), btRigidBody::applyCentralForce(), btTransform::getBasis(), GetRigidBody(), GetSoftBody(), CcdConstructionInfo::m_bSensor, m_cci, btSoftBody::m_nodes, m_object, SIMD_EPSILON, and btAlignedObjectArray< T >::size().

void CcdPhysicsController::applyImpulse	(	float	attachX,
		float	attachY,
		float	attachZ,
		float	impulseX,
		float	impulseY,
		float	impulseZ
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1148 of file CcdPhysicsController.cpp.

References btRigidBody::applyImpulse(), GetRigidBody(), CcdConstructionInfo::m_bSensor, m_cci, m_object, and SIMD_EPSILON.

void CcdPhysicsController::ApplyTorque	(	float	torqueX,
		float	torqueY,
		float	torqueZ,
		bool	local
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1017 of file CcdPhysicsController.cpp.

References btRigidBody::applyTorque(), btRigidBody::getAngularFactor(), btTransform::getBasis(), GetRigidBody(), CcdConstructionInfo::m_bRigid, CcdConstructionInfo::m_bSensor, m_cci, m_object, btRigidBody::setAngularFactor(), and SIMD_EPSILON.

virtual void CcdPhysicsController::calcXform ( ) [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 528 of file CcdPhysicsController.h.

void CcdPhysicsController::CreateRigidbody ( ) [protected]

either create a btCollisionObject, btRigidBody or btSoftBody

Definition at line 419 of file CcdPhysicsController.cpp.

Referenced by CcdPhysicsController(), and PostProcessReplica().

bool CcdPhysicsController::CreateSoftbody ( ) [protected]

only deal with meshes that have 1 sub part/component, for now

create a mapping between graphics mesh vertices and soft body vertices

Definition at line 171 of file CcdPhysicsController.cpp.

Referenced by CreateRigidbody(), and ReplaceControllerShape().

bool CcdPhysicsController::DeleteControllerShape ( )

Definition at line 490 of file CcdPhysicsController.cpp.

References DeleteBulletShape(), btCollisionShape::isCompound(), and m_collisionShape.

Referenced by ~CcdPhysicsController().

void CcdPhysicsController::forceWorldTransform	(	const btMatrix3x3 &	mat,
		const btVector3 &	pos
	)		`[protected]`

Definition at line 968 of file CcdPhysicsController.cpp.

References m_object, btTransform::setBasis(), and btTransform::setOrigin().

void CcdPhysicsController::GetAngularVelocity	(	float &	angVelX,
		float &	angVelY,
		float &	angVelZ
	)		`[virtual]`

Definition at line 1192 of file CcdPhysicsController.cpp.

References btRigidBody::getAngularVelocity(), and GetRigidBody().

short int CcdPhysicsController::GetCollisionFilterGroup ( ) const [inline]

There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors.

Definition at line 518 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_collisionFilterGroup.

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), and CcdPhysicsEnvironment::enableCcdPhysicsController().

short int CcdPhysicsController::GetCollisionFilterMask ( ) const [inline]

There should be no 'SetCollisionFilterGroup' method, as changing this during run-time is will result in errors.

Definition at line 523 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_collisionFilterMask.

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), and CcdPhysicsEnvironment::enableCcdPhysicsController().

btCollisionObject * CcdPhysicsController::GetCollisionObject ( )

Definition at line 159 of file CcdPhysicsController.cpp.

References m_object.

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), CcdPhysicsEnvironment::createConstraint(), CreateRigidbody(), CcdPhysicsEnvironment::disableCcdPhysicsController(), CcdPhysicsEnvironment::enableCcdPhysicsController(), CcdPhysicsEnvironment::rayTest(), CcdPhysicsEnvironment::refreshCcdPhysicsController(), CcdPhysicsEnvironment::removeCcdPhysicsController(), and CcdPhysicsEnvironment::updateCcdPhysicsController().

btCollisionShape* CcdPhysicsController::GetCollisionShape ( ) [inline]

Definition at line 459 of file CcdPhysicsController.h.

References m_object.

Referenced by SynchronizeMotionStates().

CcdConstructionInfo& CcdPhysicsController::getConstructionInfo ( ) [inline]

Definition at line 443 of file CcdPhysicsController.h.

References m_cci.

Referenced by CcdPhysicsEnvironment::processFhSprings().

const CcdConstructionInfo& CcdPhysicsController::getConstructionInfo ( ) const [inline]

Definition at line 447 of file CcdPhysicsController.h.

References m_cci.

void CcdPhysicsController::GetLinearVelocity	(	float &	linvX,
		float &	linvY,
		float &	linvZ
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1174 of file CcdPhysicsController.cpp.

References btRigidBody::getLinearVelocity(), and GetRigidBody().

virtual float CcdPhysicsController::GetLinVelocityMax ( ) const [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 566 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_clamp_vel_max.

virtual float CcdPhysicsController::GetLinVelocityMin ( ) const [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 558 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_clamp_vel_min.

virtual float CcdPhysicsController::GetMargin ( ) const [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 534 of file CcdPhysicsController.h.

References btCollisionShape::getMargin(), and m_collisionShape.

class PHY_IMotionState* CcdPhysicsController::GetMotionState ( ) [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 582 of file CcdPhysicsController.h.

References m_MotionState.

Referenced by CcdPhysicsEnvironment::enableCcdPhysicsController().

class PHY_IMotionState* CcdPhysicsController::GetMotionState ( ) const [inline]

Definition at line 587 of file CcdPhysicsController.h.

References m_MotionState.

virtual const char* CcdPhysicsController::getName ( ) [inline, virtual]

Reimplemented in KX_BulletPhysicsController.

Definition at line 612 of file CcdPhysicsController.h.

Referenced by CcdPhysicsEnvironment::exportFile().

void * CcdPhysicsController::getNewClientInfo ( ) [virtual]

Implements PHY_IController.

Definition at line 1248 of file CcdPhysicsController.cpp.

References m_newClientInfo.

void CcdPhysicsController::getOrientation	(	float &	quatImag0,
		float &	quatImag1,
		float &	quatImag2,
		float &	quatReal
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 881 of file CcdPhysicsController.cpp.

References m_object.

const CcdPhysicsController* CcdPhysicsController::getParentCtrl ( ) const [inline]

Definition at line 607 of file CcdPhysicsController.h.

References m_parentCtrl.

CcdPhysicsController* CcdPhysicsController::getParentCtrl ( ) [inline]

Definition at line 602 of file CcdPhysicsController.h.

References m_parentCtrl.

Referenced by CcdPhysicsEnvironment::processFhSprings().

class CcdPhysicsEnvironment* CcdPhysicsController::GetPhysicsEnvironment ( ) [inline]

Definition at line 592 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_physicsEnv.

Referenced by ReplaceControllerShape().

void CcdPhysicsController::getPosition ( PHY__Vector3 & pos ) const [virtual]

Implements PHY_IPhysicsController.

Definition at line 983 of file CcdPhysicsController.cpp.

References btTransform::getOrigin(), and m_object.

virtual float CcdPhysicsController::GetRadius ( ) const [inline, virtual]

Implements PHY_IPhysicsController.

Definition at line 538 of file CcdPhysicsController.h.

References m_cci, and CcdConstructionInfo::m_radius.

void CcdPhysicsController::getReactionForce	(	float &	forceX,
		float &	forceY,
		float &	forceZ
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1226 of file CcdPhysicsController.cpp.

PHY_IPhysicsController * CcdPhysicsController::GetReplica ( void ) [virtual]

Reimplemented from PHY_IPhysicsController.

Definition at line 1278 of file CcdPhysicsController.cpp.

References CcdPhysicsController(), CONE_SHAPE_PROXYTYPE, CcdShapeConstructionInfo::CreateBulletShape(), btCollisionShape::getShapeType(), CcdConstructionInfo::m_bGimpact, CcdConstructionInfo::m_bSoft, m_cci, CcdConstructionInfo::m_collisionShape, m_collisionShape, CcdConstructionInfo::m_margin, CcdConstructionInfo::m_MotionState, m_shapeInfo, CcdConstructionInfo::m_shapeInfo, and SPHERE_SHAPE_PROXYTYPE.

btRigidBody * CcdPhysicsController::GetRigidBody ( )

CcdShapeConstructionInfo* CcdPhysicsController::GetShapeInfo ( ) [inline]

Definition at line 457 of file CcdPhysicsController.h.

References m_shapeInfo.

btSoftBody * CcdPhysicsController::GetSoftBody ( )

Definition at line 163 of file CcdPhysicsController.cpp.

References m_object, and btSoftBody::upcast().

Referenced by CcdPhysicsEnvironment::addCcdPhysicsController(), ApplyForce(), CcdPhysicsEnvironment::createConstraint(), CcdPhysicsEnvironment::disableCcdPhysicsController(), CcdPhysicsEnvironment::removeCcdPhysicsController(), ReplaceControllerShape(), SetCenterOfMassTransform(), SetLinearVelocity(), setWorldOrientation(), and SynchronizeMotionStates().

btTransform & CcdPhysicsController::GetTransformFromMotionState ( PHY_IMotionState * motionState ) [static]

Definition at line 104 of file CcdPhysicsController.cpp.

References btTransform::getBasis(), PHY_IMotionState::getWorldOrientation(), PHY_IMotionState::getWorldPosition(), btMatrix3x3::setFromOpenGLSubMatrix(), and btTransform::setOrigin().

Referenced by CcdPhysicsEnvironment::enableCcdPhysicsController(), and WriteMotionStateToDynamics().

void CcdPhysicsController::GetVelocity	(	const float	posX,
		const float	posY,
		const float	posZ,
		float &	linvX,
		float &	linvY,
		float &	linvZ
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 1209 of file CcdPhysicsController.cpp.

References GetRigidBody(), and btRigidBody::getVelocityInLocalPoint().

void CcdPhysicsController::GetWorldOrientation ( btMatrix3x3 & mat ) [protected]

Definition at line 874 of file CcdPhysicsController.cpp.

References PHY_IMotionState::getWorldOrientation(), m_MotionState, and btMatrix3x3::setFromOpenGLSubMatrix().

Referenced by RelativeRotate().

void CcdPhysicsController::PostProcessReplica	(	class PHY_IMotionState *	motionstate,
		class PHY_IPhysicsController *	parentctrl
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 680 of file CcdPhysicsController.cpp.

bool CcdPhysicsController::Register ( ) [inline, protected]

Definition at line 421 of file CcdPhysicsController.h.

References m_registerCount.

Referenced by CcdPhysicsEnvironment::requestCollisionCallback().

void CcdPhysicsController::RelativeRotate	(	const float	drot[9],
		bool	local
	)		`[virtual]`

Definition at line 843 of file CcdPhysicsController.cpp.

References btTransform::getBasis(), GetWorldOrientation(), btMatrix3x3::inverse(), CcdConstructionInfo::m_bSensor, m_cci, m_object, btTransform::setBasis(), and SetCenterOfMassTransform().

void CcdPhysicsController::RelativeTranslate	(	float	dlocX,
		float	dlocY,
		float	dlocZ,
		bool	local
	)		`[virtual]`

Implements PHY_IPhysicsController.

Definition at line 814 of file CcdPhysicsController.cpp.

References btTransform::getBasis(), btTransform::getOrigin(), CcdConstructionInfo::m_bSensor, m_cci, m_object, SetCenterOfMassTransform(), and btTransform::setOrigin().

bool CcdPhysicsController::ReplaceControllerShape ( btCollisionShape * newShape )

void CcdPhysicsController::resolveCombinedVelocities	(	float	linvelX,
		float	linvelY,
		float	linvelZ,
		float	angVelX,
		float	angVelY,
		float	angVelZ
	)		`[virtual]`