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128 lines
4.4 KiB
C++
128 lines
4.4 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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typedef unsigned int uint32_t;
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#ifdef USE_BULLET_PHYSICS
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#include <QSet>
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#include <btBulletDynamicsCommon.h>
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#include <EntityItem.h>
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#include <EntitySimulation.h>
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#include "BulletUtil.h"
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#include "ObjectMotionState.h"
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#include "ObjectMotionState.h"
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#include "PositionHashKey.h"
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#include "ShapeManager.h"
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#include "ThreadSafeDynamicsWorld.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 : public EntitySimulation {
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public:
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PhysicsEngine(const glm::vec3& offset);
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~PhysicsEngine();
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// overrides from EntitySimulation
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void updateEntitiesInternal(const quint64& now);
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void addEntityInternal(EntityItem* entity);
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void removeEntityInternal(EntityItem* entity);
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void entityChangedInternal(EntityItem* entity);
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void clearEntitiesInternal();
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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(ObjectMotionState* 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(ObjectMotionState* 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(ObjectMotionState* motionState, uint32_t flags);
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/// process queue of changed from external sources
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void relayIncomingChangesToSimulation();
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/// \return duration of fixed simulation substep
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float getFixedSubStep() const;
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/// \return number of simulation frames the physics engine has taken
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uint32_t getFrameCount() const { return _frameCount; }
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/// \return substep remainder used for Bullet MotionState extrapolation
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// Bullet will extrapolate the positions provided to MotionState::setWorldTransform() in an effort to provide
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// smoother visible motion when the render frame rate does not match that of the simulation loop. We provide
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// access to this fraction for improved filtering of update packets to interested parties.
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float getSubStepRemainder() { return _dynamicsWorld->getLocalTimeAccumulation(); }
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protected:
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void updateObjectHard(btRigidBody* body, ObjectMotionState* motionState, uint32_t flags);
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void updateObjectEasy(btRigidBody* body, ObjectMotionState* 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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ThreadSafeDynamicsWorld* _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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// EntitySimulation stuff
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QSet<ObjectMotionState*> _entityMotionStates; // all entities that we track
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QSet<EntityItem*> _incomingEntityChanges; // entities with pending physics changes by script or packet
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QSet<ObjectMotionState*> _outgoingPhysics; // MotionStates with pending transform changes from physics simulation
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EntityEditPacketSender* _entityPacketSender;
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uint32_t _frameCount;
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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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