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CcdPhysicsEnvironment.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef CCDPHYSICSENVIRONMENT
#define CCDPHYSICSENVIRONMENT

#include "PHY_IPhysicsEnvironment.h"
#include <vector>
class CcdPhysicsController;
#include "SimdVector3.h"



class TypedConstraint;

class CollisionDispatcher;
class Dispatcher;
//#include "BroadphaseInterface.h"

//switch on/off new vehicle support
#define NEW_BULLET_VEHICLE_SUPPORT 1

#include "ConstraintSolver/ContactSolverInfo.h"

class WrapperVehicle;
class PersistentManifold;
class BroadphaseInterface;
class IDebugDraw;

/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
/// Physics Environment takes care of stepping the simulation and is a container for physics entities.
/// It stores rigidbodies,constraints, materials etc.
/// A derived class may be able to 'construct' entities by loading and/or converting
00046 class CcdPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
      SimdVector3 m_gravity;
      
      IDebugDraw* m_debugDrawer;
      //solver iterations
      int   m_numIterations;
      
      //timestep subdivisions
      int   m_numTimeSubSteps;
      int   m_ccdMode;
      int   m_solverType;
      int   m_profileTimings;
      bool m_enableSatCollisionDetection;

      ContactSolverInfo m_solverInfo;
      

      public:
            CcdPhysicsEnvironment(CollisionDispatcher* dispatcher=0, BroadphaseInterface* broadphase=0);

            virtual           ~CcdPhysicsEnvironment();

            /////////////////////////////////////
            //PHY_IPhysicsEnvironment interface
            /////////////////////////////////////

            /// Perform an integration step of duration 'timeStep'.

00075             virtual void setDebugDrawer(IDebugDraw* debugDrawer)
            {
                  m_debugDrawer = debugDrawer;
            }

            virtual void            setNumIterations(int numIter);
00081             virtual void            setNumTimeSubSteps(int numTimeSubSteps)
            {
                  m_numTimeSubSteps = numTimeSubSteps;
            }
            virtual void            setDeactivationTime(float dTime);
            virtual     void        setDeactivationLinearTreshold(float linTresh) ;
            virtual     void        setDeactivationAngularTreshold(float angTresh) ;
            virtual void            setContactBreakingTreshold(float contactBreakingTreshold) ;
            virtual void            setCcdMode(int ccdMode);
            virtual void            setSolverType(int solverType);
            virtual void            setSolverSorConstant(float sor);
            virtual void            setSolverTau(float tau);
            virtual void            setSolverDamping(float damping);
            virtual void            setLinearAirDamping(float damping);
            virtual void            setUseEpa(bool epa) ;

            virtual     void        beginFrame();
            virtual void            endFrame() {};
            /// Perform an integration step of duration 'timeStep'.
            virtual     bool        proceedDeltaTime(double curTime,float timeStep);
            bool                    proceedDeltaTimeOneStep(float timeStep);

            virtual     void        setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep){};
            //returns 0.f if no fixed timestep is used

            virtual     float       getFixedTimeStep(){ return 0.f;};

            virtual void            setDebugMode(int debugMode);

            virtual     void        setGravity(float x,float y,float z);

            virtual int             createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
                  float pivotX,float pivotY,float pivotZ,
                  float axisX,float axisY,float axisZ);
          virtual void        removeConstraint(int    constraintid);
            virtual float           getAppliedImpulse(int   constraintid);


            virtual void      CallbackTriggers();


#ifdef NEW_BULLET_VEHICLE_SUPPORT
            //complex constraint for vehicles
            virtual PHY_IVehicle*   getVehicleConstraint(int constraintId);
#else
            virtual class PHY_IVehicle*   getVehicleConstraint(int constraintId)
            {
                  return 0;
            }
#endif //NEW_BULLET_VEHICLE_SUPPORT

            TypedConstraint*  getConstraintById(int constraintId);

            virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
                                                            float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);


            //Methods for gamelogic collision/physics callbacks
            virtual void addSensor(PHY_IPhysicsController* ctrl);
            virtual void removeSensor(PHY_IPhysicsController* ctrl);
            virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user);
            virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl);
            virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl);

            virtual PHY_IPhysicsController*     CreateSphereController(float radius,const PHY__Vector3& position);
            virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight);
      

            virtual int getNumContactPoints();

            virtual void getContactPoint(int i,float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);

            //////////////////////
            //CcdPhysicsEnvironment interface
            ////////////////////////
      
            void  addCcdPhysicsController(CcdPhysicsController* ctrl);

            void  removeCcdPhysicsController(CcdPhysicsController* ctrl);

            BroadphaseInterface*    GetBroadphase();

            CollisionDispatcher* GetDispatcher();
            
            const CollisionDispatcher* GetDispatcher() const;

            bool  IsSatCollisionDetectionEnabled() const
            {
                  return m_enableSatCollisionDetection;
            }

            void  EnableSatCollisionDetection(bool enableSat)
            {
                  m_enableSatCollisionDetection = enableSat;
            }

            void  UpdateAabbs(float timeStep);

            int   GetNumControllers();

            CcdPhysicsController* GetPhysicsController( int index);

            int   GetNumManifolds() const;

            const PersistentManifold*     GetManifold(int index) const;

            std::vector<TypedConstraint*> m_constraints;

      private:
            
            
            void  SyncMotionStates(float timeStep);
            
            std::vector<CcdPhysicsController*> m_controllers;
            
            std::vector<CcdPhysicsController*> m_triggerControllers;

            PHY_ResponseCallback    m_triggerCallbacks[PHY_NUM_RESPONSE];
            void*             m_triggerCallbacksUserPtrs[PHY_NUM_RESPONSE];
            
            std::vector<WrapperVehicle*>  m_wrapperVehicles;

            class CollisionWorld*   m_collisionWorld;
            
            class ConstraintSolver* m_solver;

            bool  m_scalingPropagated;


};

#endif //CCDPHYSICSENVIRONMENT

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