stk-code_catmod/src/physics.hpp
cosmosninja eb482c7d4b Updated the GPL version to GPLv3.
git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@2128 178a84e3-b1eb-0310-8ba1-8eac791a3b58
2008-06-13 00:53:52 +00:00

116 lines
4.5 KiB
C++

// $Id: physics.hpp 839 2006-10-24 00:01:56Z hiker $
//
// SuperTuxKart - a fun racing game with go-kart
// Copyright (C) 2006 Joerg Henrichs
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3
// of the License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#ifndef HEADER_PHYSICS_H
#define HEADER_PHYSICS_H
#include "kart.hpp"
#include "flyable.hpp"
#include <plib/sg.h>
#include <set>
#include "btBulletDynamicsCommon.h"
#include "bullet/Demos/OpenGL/GLDebugDrawer.h"
#include "bullet/Demos/OpenGL/GL_ShapeDrawer.h"
class Physics : public btSequentialImpulseConstraintSolver
{
private:
btDynamicsWorld *m_dynamics_world;
Kart *m_kart;
GLDebugDrawer *m_debug_drawer;
GL_ShapeDrawer m_shape_drawer;
btCollisionDispatcher *m_dispatcher;
btBroadphaseInterface *m_axis_sweep;
btDefaultCollisionConfiguration *m_collision_conf;
// Bullet can report the same collision more than once (up to 4
// contact points per collision. Additionally, more than one internal
// substep might be taken, resulting in potentially even more
// duplicates. To handle this, all collisions (i.e. pair of objects)
// are stored in a vector, but only one entry per collision pair
// of objects.
// While this is a natural application of std::set, the set has some
// overhead (since it will likely use a tree to sort the entries).
// Considering that the number of collisions is usually rather small
// a simple list and linear search is faster is is being used here.
class CollisionPair {
public:
const UserPointer* a, *b;
// The entries in Collision Pairs are sorted: if a projectile
// is included, it's always 'a'. If only two karts are reported
// the first kart pointer is the smaller one
CollisionPair(const UserPointer *a1, const UserPointer *b1) {
if(a1->is(UserPointer::UP_KART) &&
b1->is(UserPointer::UP_KART) && a1>b1) {
a=b1;b=a1;
} else {
a=a1; b=b1;
}
}; // CollisionPair
bool operator==(const CollisionPair p) {
return (p.a==a && p.b==b);
}
};
// This class is the list of collision objects, where each collision
// pair is stored as most once.
class CollisionList : public std::vector<CollisionPair> {
private:
void push_back(CollisionPair p) {
// only add a pair if it's not already in there
for(iterator i=begin(); i!=end(); i++) {
if((*i)==p) return;
}
std::vector<CollisionPair>::push_back(p);
}; // push_back
public:
void push_back(const UserPointer* a, const UserPointer*b) {
push_back(CollisionPair(a, b));
}
};
CollisionList m_all_collisions;
void KartKartCollision(Kart *ka, Kart *kb);
public:
Physics (float gravity);
~Physics ();
void addKart (const Kart *k, btRaycastVehicle *v);
void addBody (btRigidBody* b) {m_dynamics_world->addRigidBody(b);}
void removeKart (const Kart *k);
void removeBody (btRigidBody* b) {m_dynamics_world->removeRigidBody(b);}
void update (float dt);
void draw ();
btDynamicsWorld*
getPhysicsWorld () const {return m_dynamics_world;}
void debugDraw (float m[16], btCollisionShape *s, const btVector3 color);
virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifold,int numManifolds,
btTypedConstraint** constraints,int numConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,
btDispatcher* dispatcher);
};
#endif
/* EOF */