mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-01-19 20:24:49 +00:00
37e030f8f4
Makes vehicles create a basic physics body when using one of the physics plugins so that they can collide with other physics-enabled objects. Based on @rextimmy 's work.
119 lines
3.8 KiB
C++
119 lines
3.8 KiB
C++
//-----------------------------------------------------------------------------
|
|
// Copyright (c) 2012 GarageGames, LLC
|
|
//
|
|
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
// of this software and associated documentation files (the "Software"), to
|
|
// deal in the Software without restriction, including without limitation the
|
|
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
|
|
// sell copies of the Software, and to permit persons to whom the Software is
|
|
// furnished to do so, subject to the following conditions:
|
|
//
|
|
// The above copyright notice and this permission notice shall be included in
|
|
// all copies or substantial portions of the Software.
|
|
//
|
|
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
|
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
|
|
// IN THE SOFTWARE.
|
|
//-----------------------------------------------------------------------------
|
|
|
|
#ifndef _T3D_PHYSICS_BTBODY_H_
|
|
#define _T3D_PHYSICS_BTBODY_H_
|
|
|
|
#ifndef _T3D_PHYSICS_PHYSICSBODY_H_
|
|
#include "T3D/physics/physicsBody.h"
|
|
#endif
|
|
#ifndef _REFBASE_H_
|
|
#include "core/util/refBase.h"
|
|
#endif
|
|
#ifndef _MMATRIX_H_
|
|
#include "math/mMatrix.h"
|
|
#endif
|
|
|
|
class BtWorld;
|
|
class btRigidBody;
|
|
class btCompoundShape;
|
|
class BtCollision;
|
|
|
|
|
|
class BtBody : public PhysicsBody
|
|
{
|
|
protected:
|
|
|
|
/// The physics world we are in.
|
|
BtWorld *mWorld;
|
|
|
|
/// The physics actor.
|
|
btRigidBody *mActor;
|
|
|
|
/// The collision representation.
|
|
StrongRefPtr<BtCollision> mColShape;
|
|
|
|
/// Our local compound if we had to adjust
|
|
/// the mass center on a dynamic.
|
|
btCompoundShape *mCompound;
|
|
|
|
///
|
|
F32 mMass;
|
|
|
|
///
|
|
bool mIsDynamic;
|
|
|
|
/// Is the body participating in the physics simulation.
|
|
bool mIsEnabled;
|
|
|
|
/// The center of mass offset used if the graphical
|
|
/// transform is not at the mass center.
|
|
MatrixF *mCenterOfMass;
|
|
|
|
/// The inverse center of mass offset.
|
|
MatrixF *mInvCenterOfMass;
|
|
|
|
///
|
|
void _releaseActor();
|
|
|
|
public:
|
|
|
|
BtBody();
|
|
virtual ~BtBody();
|
|
|
|
// PhysicsObject
|
|
virtual PhysicsWorld* getWorld();
|
|
virtual void setTransform( const MatrixF &xfm );
|
|
virtual MatrixF& getTransform( MatrixF *outMatrix );
|
|
virtual Box3F getWorldBounds();
|
|
virtual void setSimulationEnabled( bool enabled );
|
|
virtual bool isSimulationEnabled() { return mIsEnabled; }
|
|
|
|
// PhysicsBody
|
|
virtual bool init( PhysicsCollision *shape,
|
|
F32 mass,
|
|
U32 bodyFlags,
|
|
SceneObject *obj,
|
|
PhysicsWorld *world );
|
|
virtual bool isDynamic() const { return mIsDynamic; }
|
|
virtual PhysicsCollision* getColShape();
|
|
virtual void setSleepThreshold( F32 linear, F32 angular );
|
|
virtual void setDamping( F32 linear, F32 angular );
|
|
virtual void getState( PhysicsState *outState );
|
|
virtual F32 getMass() const { return mMass; }
|
|
virtual Point3F getCMassPosition() const;
|
|
virtual void setLinVelocity( const Point3F &vel );
|
|
virtual void setAngVelocity( const Point3F &vel );
|
|
virtual Point3F getLinVelocity() const;
|
|
virtual Point3F getAngVelocity() const;
|
|
virtual void setSleeping( bool sleeping );
|
|
virtual void setMaterial( F32 restitution,
|
|
F32 friction,
|
|
F32 staticFriction );
|
|
virtual void applyCorrection( const MatrixF &xfm );
|
|
virtual void applyImpulse( const Point3F &origin, const Point3F &force );
|
|
virtual void moveKinematicTo(const MatrixF &xfm);
|
|
|
|
};
|
|
|
|
#endif // _T3D_PHYSICS_BTBODY_H_
|