first commit

2026-06-22 11:49:35 +02:00
commit d805f2ba86
619 changed files with 126873 additions and 0 deletions
--- a/include/modules/physic_bullet/bullet_item.h
+++ b/include/modules/physic_bullet/bullet_item.h
@ -0,0 +1,175 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NBULLET_ITEM__
+#define	__NBULLET_ITEM__
+
+
+		#include "physic_bullet/bullet_world.h"
+		#include "physic/physic_item.h"
+		#include "math/matrix4.h"
+		#include "container/narray.h"
+		#include "memory/nauto_ptr.h"
+
+		#include "BulletDynamics/Character/btKinematicCharacterController.h"
+
+
+namespace GS {
+	namespace S3D {
+		class BulletPhysicItem;
+
+//
+class	BulletMotionState : public btDefaultMotionState
+{
+		BulletPhysicItem *item;
+		Matrix4			bullet_matrix, engine_matrix;
+
+public:
+
+		/// Return the last matrix Bullet sent.
+		const Matrix4	&GetGraphicMatrix() const { return bullet_matrix; }
+		void			SetEngineMatrix(const Matrix4 &m) { engine_matrix = m; }
+
+		/// Transform to Bullet.
+virtual	void			getWorldTransform(btTransform &centerOfMassWorldTrans) const;
+		/// Transform from Bullet.
+virtual	void			setWorldTransform(const btTransform &centerOfMassWorldTrans);
+
+		BulletMotionState(BulletPhysicItem *);
+};
+
+/*
+	@short	Bullet physic item.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+class	BulletPhysicItem : public PhysicItem
+{
+		friend class BulletWorld;
+
+		btDiscreteDynamicsWorld *btworld;
+
+struct	ShapeData
+{
+		AutoPtr <btCollisionShape> shape;
+
+		SharedPtr <BulletConvex> convex;
+		SharedPtr <BulletMesh> mesh;
+};
+
+		Array <ShapeData> shapes;
+
+		uint			collision_mask, self_mask;	// cached copies to properly handle activation/deactivation.
+
+public:
+
+		AutoPtr <BulletMotionState> motion_state;
+
+		AutoPtr <btCompoundShape> compound;
+		AutoPtr <btRigidBody> rigid_body;
+
+		AutoPtr <btDefaultVehicleRaycaster> vehicle_raycaster;
+		AutoPtr <btRaycastVehicle> vehicle;
+
+		AutoPtr <btPairCachingGhostObject> ghost_object;
+		AutoPtr <btConvexShape> convex_shape;
+		AutoPtr <btCharacterControllerInterface> character_controller;
+
+		Vector4			center;
+		Vector4			scale;
+
+		bool			SetupCharacterController(const PhysicItemDesc &);
+		bool			SetupKinematicDynamicBody(const PhysicItemDesc &, PhysicWorld *);
+		float			SetupCollisionShapes(const PhysicItemDesc &, Array <btScalar> &, PhysicWorld *);
+		void			ForceUpdateMassShapePhysic(const PhysicItemDesc &, PhysicWorld *);
+
+		/// Create a Bullet transformation from a 4x4 matrix.
+static	void			TransformFromMatrix4(const Matrix4 &, btTransform &);
+		/// Create a 4x4 matrix to a Bullet transformation.
+static	void			TransformToMatrix4(const btTransform &, Matrix4 &);
+
+		/*
+			@short	Return the center of mass offset.
+			Bullet does not handle offset center of mass directly.
+		*/
+		const Vector4	&GetCenter() const { return center; }
+
+		void			SetScale(const Vector4 &);
+		Vector4			GetScale() const;
+
+		//----------------------------------------------------------------------
+		void			SetSelfMask(uint m);
+		uint			GetSelfMask() const;
+		void			SetCollisionMask(uint m);
+		uint			GetCollisionMask() const;
+		//----------------------------------------------------------------------
+
+		//----------------------------------------------------------------------
+		void			SetLinearFactor(const Vector4 &);
+		void			SetAngularFactor(const Vector4 &);
+
+		void			SetLinearDamping(float = 0.999f);
+		float			GetLinearDamping() const;
+		void			SetAngularDamping(float = 0.99f);
+		float			GetAngularDamping() const;
+
+		void			SetGravity(const Vector4 &);
+		Vector4			GetGravity() const;
+		void			ApplyImpulse(const Vector4 &I, const Vector4 *p = 0);
+		void			ApplyForce(const Vector4 &F, const Vector4 *p = 0);
+		void			ApplyTorque(const Vector4 &T);
+
+		void			SetAngularVelocity(const Vector4 &);
+		Vector4			GetAngularVelocity() const;
+		void			SetLinearVelocity(const Vector4 &);
+		Vector4			GetLinearVelocity() const;
+
+		Vector4			GetLocalPointVelocity(const Vector4 &) const;
+		Vector4			GetWorldPointVelocity(const Vector4 &) const;
+
+		Vector4			GetCenterOfMass() const;
+		//----------------------------------------------------------------------
+
+		//----------------------------------------------------------------------
+		void			GetGraphicMatrix(Matrix4 &);
+		void			SetEngineMatrix(const Matrix4 &);
+		void			GetMatrix(Matrix4 &);
+		void			SetMatrix(const Matrix4 &);
+		//----------------------------------------------------------------------
+
+		//----------------------------------------------------------------------
+virtual	void			VehicleSetForce(float F, uint wheel_index);
+virtual	void			VehicleSetBrake(float F, uint wheel_index);
+virtual	void			VehicleSetSteering(float v, uint wheel_index);
+virtual	void			VehicleSetFriction(float f, uint wheel_index);
+
+virtual	Matrix4			VehicleGetWheelMatrix(uint wheel_index);
+		//----------------------------------------------------------------------
+
+		//----------------------------------------------------------------------
+virtual	void			CharacterSetRotationMatrix(const Matrix3 &);
+virtual	void			CharacterSetVelocity(const Vector4 &);
+		//----------------------------------------------------------------------
+
+virtual	void			SetSleeping(bool sleep = false);
+virtual	bool			IsSleeping() const;
+
+virtual	void			SetActive(bool active);
+virtual	bool			GetActive() const;
+
+virtual	void			ResetBody();
+
+virtual	bool			SetupBody(const PhysicItemDesc &, PhysicWorld *);
+virtual	void			DeleteBody();
+
+		BulletPhysicItem(btDiscreteDynamicsWorld * = 0);
+virtual	~BulletPhysicItem();
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NBULLET_ITEM__