cpp
/
GamePlay
réplica de https://github.com/gameplay3d/GamePlay


			
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<div class="title">gameplay/src/PhysicsController.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef PHYSICSCONTROLLER_H_</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define PHYSICSCONTROLLER_H_</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;PhysicsConstraint.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;PhysicsFixedConstraint.h&quot;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;PhysicsGenericConstraint.h&quot;</span>
<a name="l00007"></a>00007 <span class="preprocessor">#include &quot;PhysicsHingeConstraint.h&quot;</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include &quot;PhysicsSocketConstraint.h&quot;</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &quot;PhysicsSpringConstraint.h&quot;</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &quot;PhysicsCollisionObject.h&quot;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &quot;MeshBatch.h&quot;</span>
<a name="l00012"></a>00012 
<a name="l00013"></a>00013 <span class="keyword">namespace </span>gameplay
<a name="l00014"></a>00014 {
<a name="l00015"></a>00015 
<a name="l00019"></a><a class="code" href="classgameplay_1_1_physics_controller.html">00019</a> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_controller.html">PhysicsController</a> : <span class="keyword">public</span> btCollisionWorld::ContactResultCallback
<a name="l00020"></a>00020 {
<a name="l00021"></a>00021     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_game.html">Game</a>;
<a name="l00022"></a>00022     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_constraint.html">PhysicsConstraint</a>;
<a name="l00023"></a>00023     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>;
<a name="l00024"></a>00024     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_character.html">PhysicsCharacter</a>;
<a name="l00025"></a>00025     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_collision_object.html">PhysicsCollisionObject</a>;
<a name="l00026"></a>00026     <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_ghost_object.html">PhysicsGhostObject</a>;
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="keyword">public</span>:
<a name="l00029"></a>00029 
<a name="l00033"></a><a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html">00033</a>     <span class="keyword">class </span><a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html">Listener</a>
<a name="l00034"></a>00034     {
<a name="l00035"></a>00035     <span class="keyword">public</span>:
<a name="l00036"></a>00036 
<a name="l00040"></a><a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463">00040</a>         <span class="keyword">enum</span> <a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463">EventType</a> 
<a name="l00041"></a>00041         {
<a name="l00045"></a><a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463a317ed2f938ab1439d3a9cf75bdd00477">00045</a>             <a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463a317ed2f938ab1439d3a9cf75bdd00477">ACTIVATED</a>,
<a name="l00046"></a>00046 
<a name="l00050"></a><a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463afb412674f4b580a41c309eafc444a757">00050</a>             <a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463afb412674f4b580a41c309eafc444a757">DEACTIVATED</a>
<a name="l00051"></a>00051         };
<a name="l00052"></a>00052 
<a name="l00056"></a>00056         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a5f10aadcd31d526306c0089fa0a7c48b">statusEvent</a>(<a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463">EventType</a> type) = 0;
<a name="l00057"></a>00057     };
<a name="l00058"></a>00058 
<a name="l00062"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html">00062</a>     <span class="keyword">struct </span><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html">HitResult</a>
<a name="l00063"></a>00063     {
<a name="l00067"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aa7989e81df9ade10424ae7a0a2a6dd54">00067</a>         <a class="code" href="classgameplay_1_1_physics_collision_object.html">PhysicsCollisionObject</a>* <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aa7989e81df9ade10424ae7a0a2a6dd54">object</a>;
<a name="l00068"></a>00068 
<a name="l00072"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#a5c2d1e7fc5d361345b14164293dbaa7d">00072</a>         <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a> <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#a5c2d1e7fc5d361345b14164293dbaa7d">point</a>;
<a name="l00073"></a>00073 
<a name="l00077"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aeb60dd2b2787a74837dcb4f21bda2fa8">00077</a>         <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aeb60dd2b2787a74837dcb4f21bda2fa8">fraction</a>;
<a name="l00078"></a>00078 
<a name="l00082"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aee488c3dc5ab66375f5fdc1c3e7f9478">00082</a>         <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a> <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html#aee488c3dc5ab66375f5fdc1c3e7f9478">normal</a>;
<a name="l00083"></a>00083     };
<a name="l00084"></a>00084 
<a name="l00090"></a>00090     <span class="keywordtype">void</span> <a class="code" href="classgameplay_1_1_physics_controller.html#a9c9c7800807569809a677be38873170a">addStatusListener</a>(<a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html">PhysicsController::Listener</a>* listener);
<a name="l00091"></a>00091 
<a name="l00100"></a>00100     <a class="code" href="classgameplay_1_1_physics_fixed_constraint.html">PhysicsFixedConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#a547b335f3814fb6c124e2470393812e2">createFixedConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL);
<a name="l00101"></a>00101 
<a name="l00111"></a>00111     <a class="code" href="classgameplay_1_1_physics_generic_constraint.html">PhysicsGenericConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#ad7ae74b385f8e9718cc37d57a3423583">createGenericConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL);
<a name="l00112"></a>00112 
<a name="l00129"></a>00129     <a class="code" href="classgameplay_1_1_physics_generic_constraint.html">PhysicsGenericConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#ad7ae74b385f8e9718cc37d57a3423583">createGenericConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetA, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetA, 
<a name="l00130"></a>00130                                                       <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetB = <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>(), <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetB = <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>());
<a name="l00131"></a>00131 
<a name="l00148"></a>00148     <a class="code" href="classgameplay_1_1_physics_hinge_constraint.html">PhysicsHingeConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#aea8f1cc3f27d12c6c1cd954eb81c9cdc">createHingeConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetA, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetA,
<a name="l00149"></a>00149                                                   <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetB = <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>(), <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetB = <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>());
<a name="l00150"></a>00150 
<a name="l00161"></a>00161     <a class="code" href="classgameplay_1_1_physics_socket_constraint.html">PhysicsSocketConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#a8c1c19e84a2a21f9aa4f6e275cc22057">createSocketConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL);
<a name="l00162"></a>00162 
<a name="l00175"></a>00175     <a class="code" href="classgameplay_1_1_physics_socket_constraint.html">PhysicsSocketConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#a8c1c19e84a2a21f9aa4f6e275cc22057">createSocketConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetA,
<a name="l00176"></a>00176                                                     <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b = NULL, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetB = <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>());
<a name="l00177"></a>00177 
<a name="l00188"></a>00188     <a class="code" href="classgameplay_1_1_physics_spring_constraint.html">PhysicsSpringConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#a098c2ece05ee787648c15eb8098dde51">createSpringConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b);
<a name="l00189"></a>00189 
<a name="l00206"></a>00206     <a class="code" href="classgameplay_1_1_physics_spring_constraint.html">PhysicsSpringConstraint</a>* <a class="code" href="classgameplay_1_1_physics_controller.html#a098c2ece05ee787648c15eb8098dde51">createSpringConstraint</a>(<a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* a, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetA, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetA,          
<a name="l00207"></a>00207                                                     <a class="code" href="classgameplay_1_1_physics_rigid_body.html">PhysicsRigidBody</a>* b, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_quaternion.html">Quaternion</a>&amp; rotationOffsetB, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; translationOffsetB);
<a name="l00208"></a>00208 
<a name="l00214"></a>00214     <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; <a class="code" href="classgameplay_1_1_physics_controller.html#a9d38b041f052706cb0ac8b39e5283d2f">getGravity</a>() <span class="keyword">const</span>;
<a name="l00215"></a>00215 
<a name="l00221"></a>00221     <span class="keywordtype">void</span> <a class="code" href="classgameplay_1_1_physics_controller.html#ab085ecda3423f445960150208e5ba1c9">setGravity</a>(<span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; gravity);
<a name="l00222"></a>00222 
<a name="l00228"></a>00228     <span class="keywordtype">void</span> <a class="code" href="classgameplay_1_1_physics_controller.html#ae2089a6dababa097ef955d1105c4bd6d">drawDebug</a>(<span class="keyword">const</span> <a class="code" href="classgameplay_1_1_matrix.html">Matrix</a>&amp; viewProjection);
<a name="l00229"></a>00229 
<a name="l00238"></a>00238     <span class="keywordtype">bool</span> <a class="code" href="classgameplay_1_1_physics_controller.html#aecbb567040146ce4003d3c3ab1ad6a0c">rayTest</a>(<span class="keyword">const</span> <a class="code" href="classgameplay_1_1_ray.html">Ray</a>&amp; ray, <span class="keywordtype">float</span> distance, <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html">PhysicsController::HitResult</a>* result = NULL);
<a name="l00239"></a>00239 
<a name="l00251"></a>00251     <span class="keywordtype">bool</span> <a class="code" href="classgameplay_1_1_physics_controller.html#ae0ef6e11ae93e4cbc871f7a9bd0eee10">sweepTest</a>(<a class="code" href="classgameplay_1_1_physics_collision_object.html">PhysicsCollisionObject</a>* <span class="keywordtype">object</span>, <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a>&amp; endPosition, <a class="code" href="structgameplay_1_1_physics_controller_1_1_hit_result.html">PhysicsController::HitResult</a>* result = NULL);
<a name="l00252"></a>00252 
<a name="l00253"></a>00253 <span class="keyword">protected</span>:
<a name="l00254"></a>00254 
<a name="l00258"></a>00258     btScalar <a class="code" href="classgameplay_1_1_physics_controller.html#a44243d5391f18bc002ed35a9dade2544">addSingleResult</a>(btManifoldPoint&amp; cp, <span class="keyword">const</span> btCollisionObject* a, <span class="keywordtype">int</span> partIdA, <span class="keywordtype">int</span> indexA, <span class="keyword">const</span> btCollisionObject* b, <span class="keywordtype">int</span> partIdB, <span class="keywordtype">int</span> indexB);    
<a name="l00259"></a>00259 
<a name="l00260"></a>00260 <span class="keyword">private</span>:
<a name="l00261"></a>00261 
<a name="l00262"></a>00262     <span class="comment">// Internal constants for the collision status cache.</span>
<a name="l00263"></a>00263     <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> DIRTY;
<a name="l00264"></a>00264     <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> COLLISION;
<a name="l00265"></a>00265     <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REGISTERED;
<a name="l00266"></a>00266     <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REMOVE;
<a name="l00267"></a>00267 
<a name="l00268"></a>00268     <span class="comment">// Represents the collision listeners and status for a given collision pair (used by the collision status cache).</span>
<a name="l00269"></a>00269     <span class="keyword">struct </span>CollisionInfo
<a name="l00270"></a>00270     {
<a name="l00271"></a>00271         CollisionInfo() : _status(0) { }
<a name="l00272"></a>00272 
<a name="l00273"></a>00273         std::vector&lt;PhysicsCollisionObject::CollisionListener*&gt; _listeners;
<a name="l00274"></a>00274         <span class="keywordtype">int</span> _status;
<a name="l00275"></a>00275     };
<a name="l00276"></a>00276 
<a name="l00280"></a>00280     PhysicsController();
<a name="l00281"></a>00281 
<a name="l00285"></a>00285     ~PhysicsController();
<a name="l00286"></a>00286 
<a name="l00290"></a>00290     <span class="keywordtype">void</span> initialize();
<a name="l00291"></a>00291 
<a name="l00295"></a>00295     <span class="keywordtype">void</span> finalize();
<a name="l00296"></a>00296 
<a name="l00300"></a>00300     <span class="keywordtype">void</span> pause();
<a name="l00301"></a>00301 
<a name="l00305"></a>00305     <span class="keywordtype">void</span> resume();
<a name="l00306"></a>00306 
<a name="l00310"></a>00310     <span class="keywordtype">void</span> update(<span class="keywordtype">long</span> elapsedTime);
<a name="l00311"></a>00311 
<a name="l00312"></a>00312     <span class="comment">// Adds the given collision listener for the two given collision objects.</span>
<a name="l00313"></a>00313     <span class="keywordtype">void</span> addCollisionListener(PhysicsCollisionObject::CollisionListener* listener, PhysicsCollisionObject* objectA, PhysicsCollisionObject* objectB);
<a name="l00314"></a>00314 
<a name="l00315"></a>00315     <span class="comment">// Removes the given collision listener.</span>
<a name="l00316"></a>00316     <span class="keywordtype">void</span> removeCollisionListener(PhysicsCollisionObject::CollisionListener* listener, PhysicsCollisionObject* objectA, PhysicsCollisionObject* objectB);
<a name="l00317"></a>00317 
<a name="l00318"></a>00318     <span class="comment">// Adds the given collision object to the world.</span>
<a name="l00319"></a>00319     <span class="keywordtype">void</span> addCollisionObject(PhysicsCollisionObject* <span class="keywordtype">object</span>);
<a name="l00320"></a>00320     
<a name="l00321"></a>00321     <span class="comment">// Removes the given collision object from the simulated physics world.</span>
<a name="l00322"></a>00322     <span class="keywordtype">void</span> removeCollisionObject(PhysicsCollisionObject* <span class="keywordtype">object</span>);
<a name="l00323"></a>00323     
<a name="l00324"></a>00324     <span class="comment">// Gets the corresponding GamePlay object for the given Bullet object.</span>
<a name="l00325"></a>00325     PhysicsCollisionObject* getCollisionObject(<span class="keyword">const</span> btCollisionObject* collisionObject) <span class="keyword">const</span>;
<a name="l00326"></a>00326 
<a name="l00327"></a>00327     <span class="comment">// Creates a collision shape for the given node and gameplay shape definition.</span>
<a name="l00328"></a>00328     <span class="comment">// Populates &#39;centerOfMassOffset&#39; with the correct calculated center of mass offset.</span>
<a name="l00329"></a>00329     PhysicsCollisionShape* createShape(Node* node, <span class="keyword">const</span> PhysicsCollisionShape::Definition&amp; shape, Vector3* centerOfMassOffset);
<a name="l00330"></a>00330     
<a name="l00331"></a>00331     <span class="comment">// Creates a box collision shape.</span>
<a name="l00332"></a>00332     PhysicsCollisionShape* createBox(<span class="keyword">const</span> Vector3&amp; extents, <span class="keyword">const</span> Vector3&amp; scale);
<a name="l00333"></a>00333 
<a name="l00334"></a>00334     <span class="comment">// Creates a sphere collision shape.</span>
<a name="l00335"></a>00335     PhysicsCollisionShape* createSphere(<span class="keywordtype">float</span> radius, <span class="keyword">const</span> Vector3&amp; scale);
<a name="l00336"></a>00336 
<a name="l00337"></a>00337     <span class="comment">// Creates a capsule collision shape.</span>
<a name="l00338"></a>00338     PhysicsCollisionShape* createCapsule(<span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> height, <span class="keyword">const</span> Vector3&amp; scale);
<a name="l00339"></a>00339 
<a name="l00340"></a>00340     <span class="comment">// Creates a heightfield collision shape.</span>
<a name="l00341"></a>00341     PhysicsCollisionShape* createHeightfield(Node* node, Image* image, Vector3* centerOfMassOffset);
<a name="l00342"></a>00342 
<a name="l00343"></a>00343     <span class="comment">// Creates a triangle mesh collision shape.</span>
<a name="l00344"></a>00344     PhysicsCollisionShape* createMesh(Mesh* mesh, <span class="keyword">const</span> Vector3&amp; scale);
<a name="l00345"></a>00345 
<a name="l00346"></a>00346     <span class="comment">// Destroys a collision shape created through PhysicsController</span>
<a name="l00347"></a>00347     <span class="keywordtype">void</span> destroyShape(PhysicsCollisionShape* shape);
<a name="l00348"></a>00348 
<a name="l00349"></a>00349     <span class="comment">// Helper function for calculating heights from heightmap (image) or heightfield data.</span>
<a name="l00350"></a>00350     <span class="keyword">static</span> <span class="keywordtype">float</span> calculateHeight(<span class="keywordtype">float</span>* data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> width, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> height, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y);
<a name="l00351"></a>00351 
<a name="l00352"></a>00352     <span class="comment">// Sets up the given constraint for the given two rigid bodies.</span>
<a name="l00353"></a>00353     <span class="keywordtype">void</span> addConstraint(PhysicsRigidBody* a, PhysicsRigidBody* b, PhysicsConstraint* constraint);
<a name="l00354"></a>00354 
<a name="l00355"></a>00355     <span class="comment">// Checks whether constraints are supported for the given rigid bodies and emits a warning if they are not.</span>
<a name="l00356"></a>00356     <span class="keywordtype">bool</span> checkConstraintRigidBodies(PhysicsRigidBody* a, PhysicsRigidBody* b);
<a name="l00357"></a>00357     
<a name="l00358"></a>00358     <span class="comment">// Removes the given constraint from the simulated physics world.</span>
<a name="l00359"></a>00359     <span class="keywordtype">void</span> removeConstraint(PhysicsConstraint* constraint);
<a name="l00360"></a>00360     
<a name="l00361"></a>00361     <span class="comment">// Draws Bullet debug information.</span>
<a name="l00362"></a>00362     <span class="keyword">class </span>DebugDrawer : <span class="keyword">public</span> btIDebugDraw
<a name="l00363"></a>00363     {
<a name="l00364"></a>00364     <span class="keyword">public</span>:
<a name="l00365"></a>00365 
<a name="l00369"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html">00369</a>         <span class="keyword">struct </span><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html">DebugVertex</a>
<a name="l00370"></a>00370         {
<a name="l00374"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a968be415f56ff18991749d7561d6bbc1">00374</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a968be415f56ff18991749d7561d6bbc1">x</a>;
<a name="l00375"></a>00375     
<a name="l00379"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a0c48d8f78b370249169ff4e397c79ba7">00379</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a0c48d8f78b370249169ff4e397c79ba7">y</a>;
<a name="l00380"></a>00380     
<a name="l00384"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a5a23e5aa2ffd66417b961995cba48f47">00384</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a5a23e5aa2ffd66417b961995cba48f47">z</a>;
<a name="l00385"></a>00385 
<a name="l00389"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a47df31c095ed857c29bf9d6ea88c7765">00389</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a47df31c095ed857c29bf9d6ea88c7765">r</a>;
<a name="l00390"></a>00390     
<a name="l00394"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#acbc3a844f45670e7a9d1bfcfdc84e6e0">00394</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#acbc3a844f45670e7a9d1bfcfdc84e6e0">g</a>;
<a name="l00395"></a>00395     
<a name="l00399"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a2689be05ac4b5a5faddaa097510e75da">00399</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a2689be05ac4b5a5faddaa097510e75da">b</a>;
<a name="l00400"></a>00400     
<a name="l00404"></a><a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a764182ac9b3e7db246dd1d0d8eeda046">00404</a>             <span class="keywordtype">float</span> <a class="code" href="structgameplay_1_1_physics_controller_1_1_debug_drawer_1_1_debug_vertex.html#a764182ac9b3e7db246dd1d0d8eeda046">a</a>;
<a name="l00405"></a>00405         };
<a name="l00406"></a>00406 
<a name="l00410"></a>00410         DebugDrawer(); 
<a name="l00411"></a>00411 
<a name="l00415"></a>00415         ~DebugDrawer();
<a name="l00416"></a>00416         
<a name="l00417"></a>00417         <span class="keywordtype">void</span> begin(<span class="keyword">const</span> <a class="code" href="classgameplay_1_1_matrix.html">Matrix</a>&amp; viewProjection);
<a name="l00418"></a>00418         <span class="keywordtype">void</span> end();
<a name="l00419"></a>00419 
<a name="l00420"></a>00420         <span class="comment">// Overridden Bullet functions from btIDebugDraw.</span>
<a name="l00421"></a>00421         <span class="keywordtype">void</span> drawLine(<span class="keyword">const</span> btVector3&amp; from, <span class="keyword">const</span> btVector3&amp; to, <span class="keyword">const</span> btVector3&amp; fromColor, <span class="keyword">const</span> btVector3&amp; toColor);        
<a name="l00422"></a>00422         <span class="keywordtype">void</span> drawLine(<span class="keyword">const</span> btVector3&amp; from, <span class="keyword">const</span> btVector3&amp; to, <span class="keyword">const</span> btVector3&amp; color);        
<a name="l00423"></a>00423         <span class="keywordtype">void</span> drawContactPoint(<span class="keyword">const</span> btVector3&amp; pointOnB, <span class="keyword">const</span> btVector3&amp; normalOnB, btScalar distance, <span class="keywordtype">int</span> lifeTime, <span class="keyword">const</span> btVector3&amp; color);        
<a name="l00424"></a>00424         <span class="keywordtype">void</span> reportErrorWarning(<span class="keyword">const</span> <span class="keywordtype">char</span>* warningString);
<a name="l00425"></a>00425         <span class="keywordtype">void</span> draw3dText(<span class="keyword">const</span> btVector3&amp; location, <span class="keyword">const</span> <span class="keywordtype">char</span>* textString);        
<a name="l00426"></a>00426         <span class="keywordtype">void</span> setDebugMode(<span class="keywordtype">int</span> mode);        
<a name="l00427"></a>00427         <span class="keywordtype">int</span>    getDebugMode() <span class="keyword">const</span>;
<a name="l00428"></a>00428         
<a name="l00429"></a>00429     <span class="keyword">private</span>:
<a name="l00430"></a>00430         
<a name="l00431"></a>00431         <span class="keywordtype">int</span> _mode;
<a name="l00432"></a>00432         <span class="keyword">const</span> <a class="code" href="classgameplay_1_1_matrix.html">Matrix</a>* _viewProjection;
<a name="l00433"></a>00433         <a class="code" href="classgameplay_1_1_mesh_batch.html">MeshBatch</a>* _meshBatch;
<a name="l00434"></a>00434     };
<a name="l00435"></a>00435 
<a name="l00436"></a>00436     btDefaultCollisionConfiguration* _collisionConfiguration;
<a name="l00437"></a>00437     btCollisionDispatcher* _dispatcher;
<a name="l00438"></a>00438     btBroadphaseInterface* _overlappingPairCache;
<a name="l00439"></a>00439     btSequentialImpulseConstraintSolver* _solver;
<a name="l00440"></a>00440     btDynamicsWorld* _world;
<a name="l00441"></a>00441     btGhostPairCallback* _ghostPairCallback;
<a name="l00442"></a>00442     std::vector&lt;PhysicsCollisionShape*&gt; _shapes;
<a name="l00443"></a>00443     DebugDrawer* _debugDrawer;
<a name="l00444"></a>00444     <a class="code" href="classgameplay_1_1_physics_controller_1_1_listener.html#a18b7daeec71d801c54838d967312a463">Listener::EventType</a> _status;
<a name="l00445"></a>00445     std::vector&lt;Listener*&gt;* _listeners;
<a name="l00446"></a>00446     <a class="code" href="classgameplay_1_1_vector3.html">Vector3</a> _gravity;
<a name="l00447"></a>00447     std::map&lt;PhysicsCollisionObject::CollisionPair, CollisionInfo&gt; _collisionStatus;
<a name="l00448"></a>00448 
<a name="l00449"></a>00449 };
<a name="l00450"></a>00450 
<a name="l00451"></a>00451 }
<a name="l00452"></a>00452 
<a name="l00453"></a>00453 <span class="preprocessor">#endif</span>
</pre></div></div><!-- contents -->


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