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Diffstat (limited to 'modules/bullet/godot_motion_state.h')
| -rw-r--r-- | modules/bullet/godot_motion_state.h | 96 |
1 files changed, 96 insertions, 0 deletions
diff --git a/modules/bullet/godot_motion_state.h b/modules/bullet/godot_motion_state.h new file mode 100644 index 0000000000..5111807394 --- /dev/null +++ b/modules/bullet/godot_motion_state.h @@ -0,0 +1,96 @@ +/*************************************************************************/ +/* godot_motion_state.h */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* 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 GODOT_MOTION_STATE_H +#define GODOT_MOTION_STATE_H + +#include "LinearMath/btMotionState.h" +#include "rigid_body_bullet.h" + +class RigidBodyBullet; + +// This clas is responsible to move kinematic actor +// and sincronize rendering engine with Bullet +/// DOC: +/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F +class GodotMotionState : public btMotionState { + + /// This data is used to store the new world position for kinematic body + btTransform bodyKinematicWorldTransf; + /// This data is used to store last world position + btTransform bodyCurrentWorldTransform; + + RigidBodyBullet *owner; + +public: + GodotMotionState(RigidBodyBullet *p_owner) + : bodyKinematicWorldTransf(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)), + bodyCurrentWorldTransform(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)), + owner(p_owner) {} + + /// IMPORTANT DON'T USE THIS FUNCTION TO KNOW THE CURRENT BODY TRANSFORM + /// This class is used internally by Bullet + /// Use GodotMotionState::getCurrentWorldTransform to know current position + /// + /// This function is used by Bullet to get the position of object in the world + /// if the body is kinematic Bullet will move the object to this location + /// if the body is static Bullet doesn't move at all + virtual void getWorldTransform(btTransform &worldTrans) const { + worldTrans = bodyKinematicWorldTransf; + } + + /// IMPORTANT: to move the body use: moveBody + /// IMPORTANT: DON'T CALL THIS FUNCTION, IT IS CALLED BY BULLET TO UPDATE RENDERING ENGINE + /// + /// This function is called each time by Bullet and set the current position of body + /// inside the physics world. + /// Don't allow Godot rendering scene takes world transform from this object because + /// the correct transform is set by Bullet only after the last step when there are sub steps + /// This function must update Godot transform rendering scene for this object. + virtual void setWorldTransform(const btTransform &worldTrans) { + bodyCurrentWorldTransform = worldTrans; + + owner->scratch(); + } + +public: + /// Use this function to move kinematic body + /// -- or set initial transfom before body creation. + void moveBody(const btTransform &newWorldTransform) { + bodyKinematicWorldTransf = newWorldTransform; + } + + /// It returns the current body transform from last Bullet update + const btTransform &getCurrentWorldTransform() const { + return bodyCurrentWorldTransform; + } +}; +#endif |