101 lines
3.9 KiB
C++
101 lines
3.9 KiB
C++
#ifndef PHYSICS_API_IMPL_H
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#define PHYSICS_API_IMPL_H
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#include "../PhysicsAPI.h"
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#include <btBulletDynamicsCommon.h>
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namespace Oyster
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{
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namespace Physics
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{
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class API_Impl : public API
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{
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public:
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struct ContactSensorCallback : public btCollisionWorld::ContactResultCallback
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{
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ContactSensorCallback(btRigidBody& contactBody, EventAction_ApplyEffect effect, void* args)
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: btCollisionWorld::ContactResultCallback(), body(contactBody), func(effect), args(args) {}
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btRigidBody& body;
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EventAction_ApplyEffect func;
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void* args;
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virtual bool needsCollision(btBroadphaseProxy* proxy) const
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{
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if(!btCollisionWorld::ContactResultCallback::needsCollision(proxy))
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return false;
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return body.checkCollideWithOverride(static_cast<btCollisionObject*>(proxy->m_clientObject));
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}
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virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0, int partId0, int index0, const btCollisionObjectWrapper* colObj1, int partId1, int index1)
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{
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btVector3 pt;
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if(colObj0->m_collisionObject == &body)
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{
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pt = cp.m_localPointA;
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this->func((ICustomBody*)(colObj1->getCollisionObject()->getUserPointer()), this->args);
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}
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else
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{
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//assert(colObj1->m_collisionObject == &body && "Body does not match either collision object");
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pt = cp.m_localPointB;
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this->func((ICustomBody*)(colObj0->getCollisionObject()->getUserPointer()), this->args);
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}
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return 0;
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}
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};
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API_Impl();
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virtual ~API_Impl();
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void Init();
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bool IsInLimbo( const ICustomBody* objRef );
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void MoveToLimbo( const ICustomBody* objRef );
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void ReleaseFromLimbo( const ICustomBody* objRef );
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void SetGravityPoint(::Oyster::Math::Float3 gravityPoint);
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void SetGravity(float gravity);
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// Bullet physics
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ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
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ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
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ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
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ICustomBody* AddCharacter(::Oyster::Math::Float height, ::Oyster::Math::Float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
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ICustomBody* AddTriangleMesh(const std::wstring fileName, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
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void SetTimeStep(float timeStep);
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void UpdateWorld();
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void ApplyEffect(Oyster::Collision3D::ICollideable* collideable, void* args, EventAction_ApplyEffect effect);
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private:
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btBroadphaseInterface* broadphase;
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btDefaultCollisionConfiguration* collisionConfiguration;
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btCollisionDispatcher* dispatcher;
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btSequentialImpulseConstraintSolver* solver;
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btDiscreteDynamicsWorld* dynamicsWorld;
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std::vector<ICustomBody*> customBodies;
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float timeStep;
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::Oyster::Math::Float3 gravityPoint;
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float gravity;
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};
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namespace Default
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{
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void EventAction_Destruction( ::Utility::DynamicMemory::UniquePointer<::Oyster::Physics::ICustomBody> proto );
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::Oyster::Physics::ICustomBody::SubscriptMessage EventAction_BeforeCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter );
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void EventAction_AfterCollisionResponse( const ::Oyster::Physics::ICustomBody *proto, const ::Oyster::Physics::ICustomBody *deuter, ::Oyster::Math::Float kineticEnergyLoss );
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void EventAction_Move( const ::Oyster::Physics::ICustomBody *object );
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}
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}
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}
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#endif |