fb4871c919
This is a bullet wrapper that allows Godot to use Bullet physics and benefit about all features. Also it support all specific Godot physics functionality like multi shape body, areas, RayShape, etc.. It improve the Joints, Trimesh shape, and add support to soft body even if Godot is not yet ready to it.
97 lines
4.6 KiB
C++
97 lines
4.6 KiB
C++
/*************************************************************************/
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/* godot_motion_state.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef GODOT_MOTION_STATE_H
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#define GODOT_MOTION_STATE_H
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#include "LinearMath/btMotionState.h"
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#include "rigid_body_bullet.h"
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class RigidBodyBullet;
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// This clas is responsible to move kinematic actor
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// and sincronize rendering engine with Bullet
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/// DOC:
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/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F
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class GodotMotionState : public btMotionState {
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/// This data is used to store the new world position for kinematic body
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btTransform bodyKinematicWorldTransf;
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/// This data is used to store last world position
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btTransform bodyCurrentWorldTransform;
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RigidBodyBullet *owner;
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public:
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GodotMotionState(RigidBodyBullet *p_owner)
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: bodyKinematicWorldTransf(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
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bodyCurrentWorldTransform(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
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owner(p_owner) {}
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/// IMPORTANT DON'T USE THIS FUNCTION TO KNOW THE CURRENT BODY TRANSFORM
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/// This class is used internally by Bullet
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/// Use GodotMotionState::getCurrentWorldTransform to know current position
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///
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/// This function is used by Bullet to get the position of object in the world
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/// if the body is kinematic Bullet will move the object to this location
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/// if the body is static Bullet doesn't move at all
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virtual void getWorldTransform(btTransform &worldTrans) const {
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worldTrans = bodyKinematicWorldTransf;
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}
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/// IMPORTANT: to move the body use: moveBody
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/// IMPORTANT: DON'T CALL THIS FUNCTION, IT IS CALLED BY BULLET TO UPDATE RENDERING ENGINE
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///
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/// This function is called each time by Bullet and set the current position of body
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/// inside the physics world.
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/// Don't allow Godot rendering scene takes world transform from this object because
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/// the correct transform is set by Bullet only after the last step when there are sub steps
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/// This function must update Godot transform rendering scene for this object.
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virtual void setWorldTransform(const btTransform &worldTrans) {
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bodyCurrentWorldTransform = worldTrans;
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owner->scratch();
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}
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public:
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/// Use this function to move kinematic body
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/// -- or set initial transfom before body creation.
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void moveBody(const btTransform &newWorldTransform) {
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bodyKinematicWorldTransf = newWorldTransform;
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}
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/// It returns the current body transform from last Bullet update
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const btTransform &getCurrentWorldTransform() const {
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return bodyCurrentWorldTransform;
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}
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};
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#endif
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