es.module-physics-bullet.1.0.1.source-code.World.h Maven / Gradle / Ivy

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Bullet implementation for the physics module.
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//        This file is part of the Yildiz-Online project, licenced under the MIT License
//        (MIT)
//
//        Copyright (c) 2016 Grégory Van den Borre
//
//        More infos available: http://yildiz.bitbucket.org
//
//        Permission is hereby granted, free of charge, to any person obtaining a copy
//        of this software and associated documentation files (the "Software"), to deal
//        in the Software without restriction, including without limitation the rights
//        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//        copies of the Software, and to permit persons to whom the Software is
//        furnished to do so, subject to the following conditions:
//
//        The above copyright notice and this permission notice shall be included in all
//        copies or substantial portions of the Software.
//
//        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
//        SOFTWARE.

#ifndef _BULLET_WORLD_H_
#define _BULLET_WORLD_H_

#include "stdafx.h"
#include "KinematicMotionState.h"

namespace YZ {

/**
 * Wrap a btdiscreetworld, provide linking between collision object and their id.
 * @author Van den Borre Grégory
 */
class World {

public:

    World();

    ~World();

    /**
     * Create a body intended to stay at a given position.
     * @param shape Shape to assign to the body.
     * @param position Immutable position.
     * @param direction Immutable direction.
     * @param id Id to assign to this body.
     * @return The created static rigid body.
     */
    btRigidBody* createStaticBody(
        btCollisionShape* shape,
        const btVector3& position,
        const btVector3& direction,
        const long id);

    /**
     * Create a body intended be moved externally.
     * @param shape Shape to assign to the body.
     * @param id Id to assign to this body.
     * @return The created kinematic rigid body.
     */
    btRigidBody* createKinematicBody(
        btCollisionShape* shape,
        const long id,
        const float x,
        const float y,
        const float z);

    std::vector update(const long time);

    long rayCast(const btVector3& origin, const btVector3& end) const;

    long rayCast(
        const btVector3& origin,
        const btVector3& end,
        btCollisionWorld::ClosestRayResultCallback& result) const;

    void rayCastPoint(
        const btVector3& origin,
        const btVector3& end,
        float* resultArray) const;

    void removeGhost(btGhostObject* ghost);

    inline void setGravity(const float x, const float y, const float z) {
        this->world->setGravity(btVector3(x, y, z));
    }

    inline void addBody(btRigidBody* body, const long id) {
        this->world->addRigidBody(body);
        this->ids[body] = id;
    }

    inline void removeBody(btRigidBody* body) {
        this->world->removeRigidBody(body);
        this->ids.erase(body);
        if (body->getMotionState()) {
            delete body->getMotionState();
        }
        delete body;
    }

    inline btDiscreteDynamicsWorld* getWorld() const {
        return this->world;
    }

    inline void setDebug(btIDebugDraw* drawer) {
        this->world->setDebugDrawer(drawer);
    }

    btGhostObject* createGhostObject(btCollisionShape* shape, const long id, const float x, const float y, const float z);

    /**
     * @return The list of collisions occurred with ghost objects during the
     * last world update.
     */
    inline std::vector getGhostCollisionResult() const {
        return this->ghostCollisionResult;
    }

    inline long getIdFromObject(const btCollisionObject* object) {
        long id = this->ids[object];
        //FIXME URGENT what if entity id is 0???
        return id == 0 ? -1L : id;
    }

private:

    /**
     * Wrapped bullet world.
     */
    btDiscreteDynamicsWorld* world;

    btOverlappingPairCallback* ghostPairCallback;

    btSequentialImpulseConstraintSolver* solver;

    btCollisionDispatcher* dispatcher;

    btDefaultCollisionConfiguration* collisionConfiguration;

    btBroadphaseInterface* broadphase;

    /**
     * Mapping between the collidable objects and their given ids.
     */
    std::map ids;

    std::map ghostIds;

    std::vector ghostCollisionResult;

};
}

#endif