CcdPhysicsEnvironment.h

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/*
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>
#include <set>
class CcdPhysicsController;
class CcdGraphicController;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"




class btTypedConstraint;
class btSimulationIslandManager;
class btCollisionDispatcher;
class btDispatcher;
//#include "btBroadphaseInterface.h"

//switch on/off new vehicle support
#define NEW_BULLET_VEHICLE_SUPPORT 1

#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

class WrapperVehicle;
class btPersistentManifold;
class btBroadphaseInterface;
struct btDbvtBroadphase;
class btOverlappingPairCache;
class btIDebugDraw;
class PHY_IVehicle;
class CcdOverlapFilterCallBack;

class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
    friend class CcdOverlapFilterCallBack;
    btVector3 m_gravity;

protected:
    btIDebugDraw*   m_debugDrawer;
    
    class btDefaultCollisionConfiguration* m_collisionConfiguration;
    class btBroadphaseInterface*        m_broadphase;   // broadphase for dynamic world
    // for culling only
    btOverlappingPairCache*             m_cullingCache;
    struct btDbvtBroadphase*            m_cullingTree;  // broadphase for culling

    //solver iterations
    int m_numIterations;
    
    //timestep subdivisions
    int m_numTimeSubSteps;


    int m_ccdMode;
    int m_solverType;
    int m_profileTimings;
    bool m_enableSatCollisionDetection;

    btContactSolverInfo m_solverInfo;
    
    void    processFhSprings(double curTime,float timeStep);

    public:
        CcdPhysicsEnvironment(bool useDbvtCulling, btDispatcher* dispatcher=0, btOverlappingPairCache* pairCache=0);

        virtual     ~CcdPhysicsEnvironment();

        //PHY_IPhysicsEnvironment interface


        virtual void setDebugDrawer(btIDebugDraw* 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() {};
        virtual bool        proceedDeltaTime(double curTime,float timeStep,float interval);
        
        virtual void        debugDrawWorld();
//      virtual bool        proceedDeltaTimeOneStep(float timeStep);

        virtual void        setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)
        {
            //based on DEFAULT_PHYSICS_TIC_RATE of 60 hertz
            setNumTimeSubSteps((int)(fixedTimeStep / 60.f));
        }
        //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 void        getGravity(PHY__Vector3& grav);


        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,
            float axis1X=0,float axis1Y=0,float axis1Z=0,
            float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
            );


        //Following the COLLADA physics specification for constraints
        virtual int         createUniversalD6Constraint(
        class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
            btTransform& localAttachmentFrameRef,
            btTransform& localAttachmentOther,
            const btVector3& linearMinLimits,
            const btVector3& linearMaxLimits,
            const btVector3& angularMinLimits,
            const btVector3& angularMaxLimits,int flags
            );

        
        virtual void    setConstraintParam(int constraintId,int param,float value,float value1);
        
        virtual float   getConstraintParam(int constraintId,int param);

        virtual void        removeConstraint(int    constraintid);

        virtual float       getAppliedImpulse(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

        btTypedConstraint*  getConstraintById(int constraintId);

        virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ);
        virtual bool cullingTest(PHY_CullingCallback callback, void* userData, PHY__Vector4* planes, int nplanes, int occlusionRes);


        //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 bool requestCollisionCallback(PHY_IPhysicsController* ctrl);
        virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl);
        //These two methods are used *solely* to create controllers for Near/Radar sensor! Don't use for anything else
        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);

        bool    removeCcdPhysicsController(CcdPhysicsController* ctrl);

        void    updateCcdPhysicsController(CcdPhysicsController* ctrl, btScalar newMass, int newCollisionFlags, short int newCollisionGroup, short int newCollisionMask);

        void    disableCcdPhysicsController(CcdPhysicsController* ctrl);

        void    enableCcdPhysicsController(CcdPhysicsController* ctrl);

        void    refreshCcdPhysicsController(CcdPhysicsController* ctrl);

        void    addCcdGraphicController(CcdGraphicController* ctrl);

        void    removeCcdGraphicController(CcdGraphicController* ctrl);

        btBroadphaseInterface*  getBroadphase();
        btDbvtBroadphase*   getCullingTree() { return m_cullingTree; }

        btDispatcher*   getDispatcher();
        

        bool    IsSatCollisionDetectionEnabled() const
        {
            return m_enableSatCollisionDetection;
        }

        void    EnableSatCollisionDetection(bool enableSat)
        {
            m_enableSatCollisionDetection = enableSat;
        }

    
        const btPersistentManifold* GetManifold(int index) const;

    
        void    SyncMotionStates(float timeStep);

        class   btSoftRigidDynamicsWorld*   getDynamicsWorld()
        {
            return m_dynamicsWorld;
        }
    
        class btConstraintSolver*   GetConstraintSolver();

        void MergeEnvironment(CcdPhysicsEnvironment *other);

    protected:
        
        

        std::set<CcdPhysicsController*> m_controllers;
        std::set<CcdPhysicsController*> m_triggerControllers;

        PHY_ResponseCallback    m_triggerCallbacks[PHY_NUM_RESPONSE];
        void*           m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
        
        std::vector<WrapperVehicle*>    m_wrapperVehicles;

        //use explicit btSoftRigidDynamicsWorld/btDiscreteDynamicsWorld* so that we have access to 
        //btDiscreteDynamicsWorld::addRigidBody(body,filter,group) 
        //so that we can set the body collision filter/group at the time of creation 
        //and not afterwards (breaks the collision system for radar/near sensor)
        //Ideally we would like to have access to this function from the btDynamicsWorld interface
        //class btDynamicsWorld*    m_dynamicsWorld;
        class   btSoftRigidDynamicsWorld*   m_dynamicsWorld;
        
        class btConstraintSolver*   m_solver;

        class btOverlappingPairCache* m_ownPairCache;

        class CcdOverlapFilterCallBack* m_filterCallback;

        class btDispatcher* m_ownDispatcher;

        bool    m_scalingPropagated;

        virtual void    exportFile(const char* filename);

        
#ifdef WITH_CXX_GUARDEDALLOC
public:
    void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:CcdPhysicsEnvironment"); }
    void operator delete( void *mem ) { MEM_freeN(mem); }
#endif
};

#endif //CCDPHYSICSENVIRONMENT