99 lines
4.6 KiB
C++
99 lines
4.6 KiB
C++
/*************************************************************************/
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/* godot_motion_state.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef GODOT_MOTION_STATE_H
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#define GODOT_MOTION_STATE_H
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#include "rigid_body_bullet.h"
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#include <LinearMath/btMotionState.h>
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/**
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@author AndreaCatania
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*/
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class RigidBodyBullet;
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// This class is responsible to move kinematic actor
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// and sincronize rendering engine with Bullet
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/// DOC:
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/// http://www.bulletphysics.org/mediawiki-1.5.8/index.php/MotionStates#What.27s_a_MotionState.3F
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class GodotMotionState : public btMotionState {
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/// This data is used to store the new world position for kinematic body
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btTransform bodyKinematicWorldTransf;
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/// This data is used to store last world position
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btTransform bodyCurrentWorldTransform;
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RigidBodyBullet *owner;
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public:
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GodotMotionState(RigidBodyBullet *p_owner) :
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bodyKinematicWorldTransf(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
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bodyCurrentWorldTransform(btMatrix3x3(1., 0., 0., 0., 1., 0., 0., 0., 1.), btVector3(0., 0., 0.)),
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owner(p_owner) {}
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/// IMPORTANT DON'T USE THIS FUNCTION TO KNOW THE CURRENT BODY TRANSFORM
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/// This class is used internally by Bullet
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/// Use GodotMotionState::getCurrentWorldTransform to know current position
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///
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/// This function is used by Bullet to get the position of object in the world
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/// if the body is kinematic Bullet will move the object to this location
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/// if the body is static Bullet doesn't move at all
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virtual void getWorldTransform(btTransform &worldTrans) const {
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worldTrans = bodyKinematicWorldTransf;
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}
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/// IMPORTANT: to move the body use: moveBody
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/// IMPORTANT: DON'T CALL THIS FUNCTION, IT IS CALLED BY BULLET TO UPDATE RENDERING ENGINE
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///
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/// This function is called each time by Bullet and set the current position of body
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/// inside the physics world.
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/// Don't allow Godot rendering scene takes world transform from this object because
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/// the correct transform is set by Bullet only after the last step when there are sub steps
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/// This function must update Godot transform rendering scene for this object.
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virtual void setWorldTransform(const btTransform &worldTrans) {
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bodyCurrentWorldTransform = worldTrans;
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owner->notify_transform_changed();
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}
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public:
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/// Use this function to move kinematic body
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/// -- or set initial transform before body creation.
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void moveBody(const btTransform &newWorldTransform) {
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bodyKinematicWorldTransf = newWorldTransform;
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}
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/// It returns the current body transform from last Bullet update
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const btTransform &getCurrentWorldTransform() const {
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return bodyCurrentWorldTransform;
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}
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};
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#endif
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