KX_ConvertPhysicsObject.h

Go to the documentation of this file.

/*
 * $Id: KX_ConvertPhysicsObject.h 35063 2011-02-22 10:33:14Z jesterking $
 *
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef KX_CONVERTPHYSICSOBJECTS
#define KX_CONVERTPHYSICSOBJECTS

class RAS_MeshObject;
class KX_Scene;
struct DerivedMesh;

typedef enum {
        KX_BOUNDBOX,
        KX_BOUNDSPHERE,
        KX_BOUNDCYLINDER,
        KX_BOUNDCONE,
        KX_BOUNDMESH,
        KX_BOUNDPOLYTOPE,
        KX_BOUND_DYN_MESH,
        KX_BOUNDCAPSULE
} KX_BoundBoxClass;

struct KX_BoxBounds
{
        float m_center[3];
        float m_extends[3];
};

/* Cone/Cylinder */
struct KX_CBounds
{
        float m_radius;
        float m_height;
};


struct KX_ObjectProperties
{
        bool    m_dyna;
        bool    m_softbody;
        double m_radius;
        bool    m_angular_rigidbody;
        bool    m_in_active_layer;
        bool    m_ghost;
        class KX_GameObject*    m_dynamic_parent;
        bool    m_isactor;
        bool    m_sensor;
        bool    m_concave;
        bool    m_isdeformable;
        bool    m_disableSleeping;
        bool    m_hasCompoundChildren;
        bool    m_isCompoundChild;


        int             m_gamesoftFlag;
        float   m_soft_linStiff;                        /* linear stiffness 0..1 */
        float   m_soft_angStiff;                /* angular stiffness 0..1 */
        float   m_soft_volume;                  /* volume preservation 0..1 */

        int             m_soft_viterations;             /* Velocities solver iterations */
        int             m_soft_piterations;             /* Positions solver iterations */
        int             m_soft_diterations;             /* Drift solver iterations */
        int             m_soft_citerations;             /* Cluster solver iterations */

        float   m_soft_kSRHR_CL;                /* Soft vs rigid hardness [0,1] (cluster only) */
        float   m_soft_kSKHR_CL;                /* Soft vs kinetic hardness [0,1] (cluster only) */
        float   m_soft_kSSHR_CL;                /* Soft vs soft hardness [0,1] (cluster only) */
        float   m_soft_kSR_SPLT_CL;     /* Soft vs rigid impulse split [0,1] (cluster only) */

        float   m_soft_kSK_SPLT_CL;     /* Soft vs rigid impulse split [0,1] (cluster only) */
        float   m_soft_kSS_SPLT_CL;     /* Soft vs rigid impulse split [0,1] (cluster only) */
        float   m_soft_kVCF;                    /* Velocities correction factor (Baumgarte) */
        float   m_soft_kDP;                     /* Damping coefficient [0,1] */

        float   m_soft_kDG;                     /* Drag coefficient [0,+inf] */
        float   m_soft_kLF;                     /* Lift coefficient [0,+inf] */
        float   m_soft_kPR;                     /* Pressure coefficient [-inf,+inf] */
        float   m_soft_kVC;                     /* Volume conversation coefficient [0,+inf] */

        float   m_soft_kDF;                     /* Dynamic friction coefficient [0,1] */
        float   m_soft_kMT;                     /* Pose matching coefficient [0,1] */
        float   m_soft_kCHR;                    /* Rigid contacts hardness [0,1] */
        float   m_soft_kKHR;                    /* Kinetic contacts hardness [0,1] */

        float   m_soft_kSHR;                    /* Soft contacts hardness [0,1] */
        float   m_soft_kAHR;                    /* Anchors hardness [0,1] */
        int             m_soft_collisionflags;  /* Vertex/Face or Signed Distance Field(SDF) or Clusters, Soft versus Soft or Rigid */
        int             m_soft_numclusteriterations;    /* number of iterations to refine collision clusters*/
        float   m_soft_welding;                 /*   threshold to remove duplicate/nearby vertices */

        
        bool    m_lockXaxis;
        bool    m_lockYaxis;
        bool    m_lockZaxis;
        bool    m_lockXRotaxis;
        bool    m_lockYRotaxis;
        bool    m_lockZRotaxis;

        double  m_margin;
        float   m_contactProcessingThreshold;

        KX_BoundBoxClass        m_boundclass;
        union {
                KX_BoxBounds    box;
                KX_CBounds      c;
        } m_boundobject;
};

void    KX_ConvertDynamoObject(KX_GameObject* gameobj,
        RAS_MeshObject* meshobj,
        KX_Scene* kxscene,
        struct  PHY_ShapeProps* shapeprops,
        struct  PHY_MaterialProps*      smmaterial,
        struct  KX_ObjectProperties*    objprop);


#ifdef USE_BULLET

void    KX_ConvertBulletObject( class   KX_GameObject* gameobj,
        class   RAS_MeshObject* meshobj,
        struct  DerivedMesh* dm,
        class   KX_Scene* kxscene,
        struct  PHY_ShapeProps* shapeprops,
        struct  PHY_MaterialProps*      smmaterial,
        struct  KX_ObjectProperties*    objprop);
        
void    KX_ClearBulletSharedShapes();
bool KX_ReInstanceBulletShapeFromMesh(KX_GameObject *gameobj, KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj);

#endif
#endif //KX_CONVERTPHYSICSOBJECTS