/*************************************************************************/ /* godot_motion_state.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 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> 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 = nullptr; 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 // GODOT_MOTION_STATE_H