Panda3D
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00001 // Filename: bulletBodyNode.h 00002 // Created by: enn0x (19Nov10) 00003 // 00004 //////////////////////////////////////////////////////////////////// 00005 // 00006 // PANDA 3D SOFTWARE 00007 // Copyright (c) Carnegie Mellon University. All rights reserved. 00008 // 00009 // All use of this software is subject to the terms of the revised BSD 00010 // license. You should have received a copy of this license along 00011 // with this source code in a file named "LICENSE." 00012 // 00013 //////////////////////////////////////////////////////////////////// 00014 00015 #ifndef __BULLET_BODY_NODE_H__ 00016 #define __BULLET_BODY_NODE_H__ 00017 00018 #include "pandabase.h" 00019 00020 #include "bullet_includes.h" 00021 #include "bullet_utils.h" 00022 00023 #include "pandaNode.h" 00024 #include "collideMask.h" 00025 #include "collisionNode.h" 00026 #include "transformState.h" 00027 00028 class BulletShape; 00029 00030 //////////////////////////////////////////////////////////////////// 00031 // Class : BulletBodyNode 00032 // Description : 00033 //////////////////////////////////////////////////////////////////// 00034 class EXPCL_PANDABULLET BulletBodyNode : public PandaNode { 00035 00036 PUBLISHED: 00037 BulletBodyNode(const char *name); 00038 INLINE ~BulletBodyNode(); 00039 00040 // Shapes 00041 void add_shape(BulletShape *shape, CPT(TransformState) xform=NULL); 00042 void remove_shape(BulletShape *shape); 00043 00044 INLINE int get_num_shapes() const; 00045 INLINE BulletShape *get_shape(int idx) const; 00046 MAKE_SEQ(get_shapes, get_num_shapes, get_shape); 00047 00048 LPoint3 get_shape_pos(int idx) const; 00049 LMatrix4 get_shape_mat(int idx) const; 00050 00051 void add_shapes_from_collision_solids(CollisionNode *cnode); 00052 00053 // Static and kinematic 00054 INLINE bool is_static() const; 00055 INLINE bool is_kinematic() const; 00056 00057 INLINE void set_static(bool value); 00058 INLINE void set_kinematic(bool value); 00059 00060 // Contacts 00061 INLINE void set_into_collide_mask(CollideMask mask); 00062 00063 INLINE void notify_collisions(bool value); 00064 INLINE bool notifies_collisions() const; 00065 00066 INLINE void set_collision_response(bool value); 00067 INLINE bool get_collision_response() const; 00068 00069 bool check_collision_with(PandaNode *node); 00070 00071 bool has_contact_response() const; 00072 00073 PN_stdfloat get_contact_processing_threshold() const; 00074 void set_contact_processing_threshold(PN_stdfloat threshold); 00075 00076 // Deactivation 00077 bool is_active() const; 00078 void set_active(bool active, bool force=false); 00079 00080 void set_deactivation_time(PN_stdfloat dt); 00081 PN_stdfloat get_deactivation_time() const; 00082 00083 void set_deactivation_enabled(const bool enabled, const bool force=false); 00084 bool is_deactivation_enabled() const; 00085 00086 // Debug Visualistion 00087 INLINE void set_debug_enabled(const bool enabled); 00088 INLINE bool is_debug_enabled() const; 00089 00090 // Friction and Restitution 00091 INLINE PN_stdfloat get_restitution() const; 00092 INLINE void set_restitution(PN_stdfloat restitution); 00093 00094 INLINE PN_stdfloat get_friction() const; 00095 INLINE void set_friction(PN_stdfloat friction); 00096 00097 INLINE bool has_anisotropic_friction() const; 00098 void set_anisotropic_friction(const LVecBase3 &friction); 00099 LVecBase3 get_anisotropic_friction() const; 00100 00101 // CCD 00102 PN_stdfloat get_ccd_swept_sphere_radius() const; 00103 PN_stdfloat get_ccd_motion_threshold() const; 00104 void set_ccd_swept_sphere_radius(PN_stdfloat radius); 00105 void set_ccd_motion_threshold(PN_stdfloat threshold); 00106 00107 public: 00108 virtual btCollisionObject *get_object() const = 0; 00109 00110 virtual CollideMask get_legal_collide_mask() const; 00111 00112 virtual bool safe_to_flatten() const; 00113 virtual bool safe_to_transform() const; 00114 virtual bool safe_to_modify_transform() const; 00115 virtual bool safe_to_combine() const; 00116 virtual bool safe_to_combine_children() const; 00117 virtual bool safe_to_flatten_below() const; 00118 00119 virtual void output(ostream &out) const; 00120 00121 protected: 00122 INLINE void set_collision_flag(int flag, bool value); 00123 INLINE bool get_collision_flag(int flag) const; 00124 00125 btCollisionShape *_shape; 00126 00127 typedef PTA(PT(BulletShape)) BulletShapes; 00128 BulletShapes _shapes; 00129 00130 private: 00131 virtual void shape_changed(); 00132 00133 static bool is_identity(btTransform &trans); 00134 00135 //////////////////////////////////////////////////////////////////// 00136 public: 00137 static TypeHandle get_class_type() { 00138 return _type_handle; 00139 } 00140 static void init_type() { 00141 PandaNode::init_type(); 00142 register_type(_type_handle, "BulletBodyNode", 00143 PandaNode::get_class_type()); 00144 } 00145 virtual TypeHandle get_type() const { 00146 return get_class_type(); 00147 } 00148 virtual TypeHandle force_init_type() { 00149 init_type(); 00150 return get_class_type(); 00151 } 00152 00153 private: 00154 static TypeHandle _type_handle; 00155 }; 00156 00157 #include "bulletBodyNode.I" 00158 00159 #endif // __BULLET_BODY_NODE_H__ 00160