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138 lines
4.8 KiB
C++
138 lines
4.8 KiB
C++
//
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// ObjectMotionState.h
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// libraries/physcis/src
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//
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// Created by Andrew Meadows 2014.11.05
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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_ObjectMotionState_h
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#define hifi_ObjectMotionState_h
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#include <btBulletDynamicsCommon.h>
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#include <glm/glm.hpp>
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#include <EntityItem.h>
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#include "ContactInfo.h"
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#include "ShapeManager.h"
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enum MotionType {
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MOTION_TYPE_STATIC, // no motion
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MOTION_TYPE_DYNAMIC, // motion according to physical laws
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MOTION_TYPE_KINEMATIC // keyframed motion
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};
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enum MotionStateType {
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MOTION_STATE_TYPE_INVALID,
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MOTION_STATE_TYPE_ENTITY,
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MOTION_STATE_TYPE_AVATAR
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};
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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 HARD_DIRTY_PHYSICS_FLAGS = (uint32_t)(EntityItem::DIRTY_MOTION_TYPE | EntityItem::DIRTY_SHAPE);
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const uint32_t EASY_DIRTY_PHYSICS_FLAGS = (uint32_t)(EntityItem::DIRTY_TRANSFORM | EntityItem::DIRTY_VELOCITIES |
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EntityItem::DIRTY_MASS | EntityItem::DIRTY_COLLISION_GROUP |
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EntityItem::DIRTY_MATERIAL | EntityItem::DIRTY_PHYSICS_ACTIVATION);
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// These are the set of incoming flags that the PhysicsEngine needs to hear about:
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const uint32_t DIRTY_PHYSICS_FLAGS = HARD_DIRTY_PHYSICS_FLAGS | EASY_DIRTY_PHYSICS_FLAGS;
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// These are the outgoing flags that the PhysicsEngine can affect:
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const uint32_t OUTGOING_DIRTY_PHYSICS_FLAGS = EntityItem::DIRTY_TRANSFORM | EntityItem::DIRTY_VELOCITIES;
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class OctreeEditPacketSender;
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class PhysicsEngine;
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extern const int MAX_NUM_NON_MOVING_UPDATES;
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class ObjectMotionState : public btMotionState {
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public:
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// These poroperties of the PhysicsEngine are "global" within the context of all ObjectMotionStates
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// (assuming just one PhysicsEngine). They are cached as statics for fast calculations in the
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// ObjectMotionState context.
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static void setWorldOffset(const glm::vec3& offset);
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static const glm::vec3& getWorldOffset();
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static void setWorldSimulationStep(uint32_t step);
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static uint32_t getWorldSimulationStep();
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static void setShapeManager(ShapeManager* manager);
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static ShapeManager* getShapeManager();
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ObjectMotionState(btCollisionShape* shape);
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~ObjectMotionState();
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virtual void handleEasyChanges(uint32_t flags);
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virtual void handleHardAndEasyChanges(uint32_t flags, PhysicsEngine* engine);
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virtual void updateBodyMaterialProperties();
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virtual void updateBodyVelocities();
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MotionStateType getType() const { return _type; }
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virtual MotionType getMotionType() const { return _motionType; }
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void setMass(float mass) { _mass = fabsf(mass); }
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float getMass() { return _mass; }
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void setBodyLinearVelocity(const glm::vec3& velocity) const;
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void setBodyAngularVelocity(const glm::vec3& velocity) const;
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void setBodyGravity(const glm::vec3& gravity) const;
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glm::vec3 getBodyLinearVelocity() const;
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glm::vec3 getBodyAngularVelocity() const;
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virtual uint32_t getAndClearIncomingDirtyFlags() const = 0;
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virtual MotionType computeObjectMotionType() const = 0;
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virtual void computeObjectShapeInfo(ShapeInfo& shapeInfo) = 0;
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btCollisionShape* getShape() const { return _shape; }
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btRigidBody* getRigidBody() const { return _body; }
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void releaseShape();
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virtual bool isMoving() const = 0;
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// These pure virtual methods must be implemented for each MotionState type
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// and make it possible to implement more complicated methods in this base class.
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virtual float getObjectRestitution() const = 0;
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virtual float getObjectFriction() const = 0;
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virtual float getObjectLinearDamping() const = 0;
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virtual float getObjectAngularDamping() const = 0;
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virtual glm::vec3 getObjectPosition() const = 0;
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virtual const glm::quat& getObjectRotation() const = 0;
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virtual const glm::vec3& getObjectLinearVelocity() const = 0;
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virtual const glm::vec3& getObjectAngularVelocity() const = 0;
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virtual const glm::vec3& getObjectGravity() const = 0;
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virtual const QUuid& getObjectID() const = 0;
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virtual QUuid getSimulatorID() const = 0;
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virtual void bump() = 0;
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friend class PhysicsEngine;
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protected:
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virtual void setMotionType(MotionType motionType);
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void setRigidBody(btRigidBody* body);
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MotionStateType _type = MOTION_STATE_TYPE_INVALID; // type of MotionState
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MotionType _motionType; // type of motion: KINEMATIC, DYNAMIC, or STATIC
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btCollisionShape* _shape;
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btRigidBody* _body;
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float _mass;
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uint32_t _lastKinematicStep;
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};
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#endif // hifi_ObjectMotionState_h
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