100 lines
4.6 KiB
C++
100 lines
4.6 KiB
C++
/*************************************************************************/
|
|
/* 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>
|
|
|
|
/**
|
|
@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
|