2007-05-27 12:01:53 -04:00
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//
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// SuperTuxKart - a fun racing game with go-kart
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// Copyright (C) 2006 Joerg Henrichs
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License
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2008-06-12 20:53:52 -04:00
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// as published by the Free Software Foundation; either version 3
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2007-05-27 12:01:53 -04:00
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// of the License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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2009-01-22 07:02:40 -05:00
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#ifndef HEADER_PHYSICS_HPP
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#define HEADER_PHYSICS_HPP
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2007-05-27 12:01:53 -04:00
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2011-10-25 13:46:14 -04:00
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/**
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* \defgroup physics
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* Contains various physics utilities.
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*/
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2010-04-23 16:48:56 -04:00
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2008-09-07 10:55:05 -04:00
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#include <set>
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#include <vector>
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#include "btBulletDynamicsCommon.h"
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2010-02-22 13:39:41 -05:00
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#include "physics/irr_debug_drawer.hpp"
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2011-11-30 20:14:10 -05:00
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#include "physics/stk_dynamics_world.hpp"
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#include "physics/user_pointer.hpp"
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class Kart;
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class STKDynamicsWorld;
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class Vec3;
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/**
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* \ingroup physics
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*/
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class Physics : public btSequentialImpulseConstraintSolver
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{
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private:
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2011-12-12 00:42:40 -05:00
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/** Bullet can report the same collision more than once (up to 4
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* contact points per collision. Additionally, more than one internal
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* substep might be taken, resulting in potentially even more
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* duplicates. To handle this, all collisions (i.e. pair of objects)
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* are stored in a vector, but only one entry per collision pair
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* of objects.
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* While this is a natural application of std::set, the set has some
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* overhead (since it will likely use a tree to sort the entries).
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* Considering that the number of collisions is usually rather small
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* a simple list and linear search is faster is is being used here. */
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class CollisionPair {
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public:
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/** The user pointer of the objects involved in this collision. */
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const UserPointer *a, *b;
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/** A contact point of the collision. For now only one of the two
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* contact points is needed (since they are close). */
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Vec3 m_contact_point;
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/** The entries in Collision Pairs are sorted: if a projectile
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* is included, it's always 'a'. If only two karts are reported
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* the first kart pointer is the smaller one. */
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CollisionPair(const UserPointer *a1, const UserPointer *b1,
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const btVector3 &contact_point) {
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if(a1->is(UserPointer::UP_KART) &&
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b1->is(UserPointer::UP_KART) && a1>b1) {
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a=b1;b=a1;
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} else {
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a=a1; b=b1;
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}
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m_contact_point = contact_point;
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}; // CollisionPair
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// --------------------------------------------------------------------
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/** Tests if two collision pairs involve the same objects. This test
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* is simplified (i.e. no test if p.b==a and p.a==b) since the
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* elements are sorted. */
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bool operator==(const CollisionPair p) {return (p.a==a && p.b==b);}
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// --------------------------------------------------------------------
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/** Returns the contact point of the collision. */
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const Vec3 &getContactPoint() const { return m_contact_point; }
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}; // CollisionPair
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// ========================================================================
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// This class is the list of collision objects, where each collision
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// pair is stored as most once.
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class CollisionList : public std::vector<CollisionPair>
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{
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private:
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void push_back(CollisionPair p) {
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// only add a pair if it's not already in there
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for(iterator i=begin(); i!=end(); i++) {
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if((*i)==p) return;
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}
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std::vector<CollisionPair>::push_back(p);
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}; // push_back
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public:
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/** Adds information about a collision to this vector. */
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void push_back(const UserPointer* a, const UserPointer*b,
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const btVector3 &contact_point)
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{
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push_back(CollisionPair(a, b, contact_point));
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}
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}; // CollisionList
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// ========================================================================
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/** Pointer to the physics dynamics world. */
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STKDynamicsWorld *m_dynamics_world;
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/** Used in physics debugging to draw the physics world. */
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IrrDebugDrawer *m_debug_drawer;
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btCollisionDispatcher *m_dispatcher;
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btBroadphaseInterface *m_axis_sweep;
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btDefaultCollisionConfiguration *m_collision_conf;
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CollisionList m_all_collisions;
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public:
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Physics ();
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~Physics ();
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void init (const Vec3 &min_world, const Vec3 &max_world);
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void addKart (const Kart *k);
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void addBody (btRigidBody* b) {m_dynamics_world->addRigidBody(b);}
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void removeKart (const Kart *k);
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void removeBody (btRigidBody* b) {m_dynamics_world->removeRigidBody(b);}
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void KartKartCollision(Kart *ka, Kart *kb,
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const Vec3 &contact_point);
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void update (float dt);
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void draw ();
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STKDynamicsWorld*
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getPhysicsWorld () const {return m_dynamics_world;}
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/** Activates the next debug mode (or switches it off again).
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*/
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void nextDebugMode () {m_debug_drawer->nextDebugMode(); }
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/** Returns true if the debug drawer is enabled. */
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bool isDebug() const {return m_debug_drawer->debugEnabled(); }
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bool projectKartDownwards(const Kart *k);
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virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies,
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btPersistentManifold** manifold,int numManifolds,
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btTypedConstraint** constraints,int numConstraints,
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const btContactSolverInfo& info,
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btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,
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btDispatcher* dispatcher);
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};
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#endif // HEADER_PHYSICS_HPP
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