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1df6c32a4e
removing dependency of entities lib on physics lib physics lib now depends on entities lib
115 lines
3.7 KiB
C++
115 lines
3.7 KiB
C++
//
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// PhysicsEngine.h
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// libraries/physcis/src
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//
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// Created by Andrew Meadows 2014.10.29
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// Copyright 2014 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_PhysicsEngine_h
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#define hifi_PhysicsEngine_h
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enum PhysicsUpdateFlag {
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PHYSICS_UPDATE_POSITION = 0x0001,
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PHYSICS_UPDATE_VELOCITY = 0x0002,
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PHYSICS_UPDATE_GRAVITY = 0x0004,
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PHYSICS_UPDATE_MASS = 0x0008,
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PHYSICS_UPDATE_COLLISION_GROUP = 0x0010,
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PHYSICS_UPDATE_MOTION_TYPE = 0x0020,
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PHYSICS_UPDATE_SHAPE = 0x0040
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};
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typedef unsigned int uint32_t;
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// The update flags trigger two varieties of updates: "hard" which require the body to be pulled
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// and re-added to the physics engine and "easy" which just updates the body properties.
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const uint32_t PHYSICS_UPDATE_HARD = PHYSICS_UPDATE_MOTION_TYPE | PHYSICS_UPDATE_SHAPE;
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const uint32_t PHYSICS_UPDATE_EASY = PHYSICS_UPDATE_POSITION | PHYSICS_UPDATE_VELOCITY |
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PHYSICS_UPDATE_GRAVITY | PHYSICS_UPDATE_MASS | PHYSICS_UPDATE_COLLISION_GROUP;
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#ifdef USE_BULLET_PHYSICS
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#include <btBulletDynamicsCommon.h>
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#include "BulletUtil.h"
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#include "CustomMotionState.h"
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#include "PositionHashKey.h"
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#include "ShapeManager.h"
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#include "VoxelObject.h"
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const float HALF_SIMULATION_EXTENT = 512.0f; // meters
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class PhysicsEngine {
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public:
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PhysicsEngine(const glm::vec3& offset)
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: _collisionConfig(NULL),
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_collisionDispatcher(NULL),
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_broadphaseFilter(NULL),
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_constraintSolver(NULL),
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_dynamicsWorld(NULL),
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_originOffset(offset),
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_voxels() {
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}
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~PhysicsEngine();
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virtual void init();
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void stepSimulation();
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/// \param offset position of simulation origin in domain-frame
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void setOriginOffset(const glm::vec3& offset) { _originOffset = offset; }
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/// \return position of simulation origin in domain-frame
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const glm::vec3& getOriginOffset() const { return _originOffset; }
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/// \param position the minimum corner of the voxel
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/// \param scale the length of the voxel side
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/// \return true if Voxel added
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bool addVoxel(const glm::vec3& position, float scale);
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/// \param position the minimum corner of the voxel
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/// \param scale the length of the voxel side
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/// \return true if Voxel removed
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bool removeVoxel(const glm::vec3& position, float scale);
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/// \param motionState pointer to Object's MotionState
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/// \return true if Object added
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bool addObject(CustomMotionState* motionState);
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/// \param motionState pointer to Object's MotionState
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/// \return true if Object removed
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bool removeObject(CustomMotionState* motionState);
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/// \param motionState pointer to Object's MotionState
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/// \param flags set of bits indicating what categories of properties need to be updated
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/// \return true if entity updated
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bool updateObject(CustomMotionState* motionState, uint32_t flags);
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protected:
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void updateObjectHard(btRigidBody* body, CustomMotionState* motionState, uint32_t flags);
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void updateObjectEasy(btRigidBody* body, CustomMotionState* motionState, uint32_t flags);
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btClock _clock;
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btDefaultCollisionConfiguration* _collisionConfig;
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btCollisionDispatcher* _collisionDispatcher;
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btBroadphaseInterface* _broadphaseFilter;
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btSequentialImpulseConstraintSolver* _constraintSolver;
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btDiscreteDynamicsWorld* _dynamicsWorld;
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ShapeManager _shapeManager;
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private:
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glm::vec3 _originOffset;
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btHashMap<PositionHashKey, VoxelObject> _voxels;
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};
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#else // USE_BULLET_PHYSICS
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// PhysicsEngine stubbery until Bullet is required
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class PhysicsEngine {
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};
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#endif // USE_BULLET_PHYSICS
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#endif // hifi_PhysicsEngine_h
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