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/*************************************************************************/
/* godot_motion_state.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 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 "rigid_body_bullet.h"
#include <LinearMath/btMotionState.h>
/**
@author AndreaCatania
*/
class RigidBodyBullet;
// This class 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->notify_transform_changed();
}
public:
/// Use this function to move kinematic body
/// -- or set initial transform 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
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