bulletRigidBodyNode.h

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/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file bulletRigidBodyNode.h
 * @author enn0x
 * @date 2010-11-19
 */

#ifndef __BULLET_RIGID_BODY_NODE_H__
#define __BULLET_RIGID_BODY_NODE_H__

#include "pandabase.h"

#include "bullet_includes.h"
#include "bullet_utils.h"
#include "bulletBodyNode.h"

#include "pandaNode.h"
#include "collideMask.h"

class BulletShape;

/**
 *
 */
class EXPCL_PANDABULLET BulletRigidBodyNode : public BulletBodyNode {

PUBLISHED:
  explicit BulletRigidBodyNode(const char *name="rigid");
  INLINE ~BulletRigidBodyNode();

  // Mass & inertia
  void set_mass(PN_stdfloat mass);
  PN_stdfloat get_mass() const;
  PN_stdfloat get_inv_mass() const;
  void set_inertia(const LVecBase3 &inertia);
  LVector3 get_inertia() const;
  LVector3 get_inv_inertia_diag_local() const;
  LMatrix3 get_inv_inertia_tensor_world() const;

  // Velocity
  LVector3 get_linear_velocity() const;
  LVector3 get_angular_velocity() const;
  void set_linear_velocity(const LVector3 &velocity);
  void set_angular_velocity(const LVector3 &velocity);

  // Damping
  PN_stdfloat get_linear_damping() const;
  PN_stdfloat get_angular_damping() const;
  void set_linear_damping(PN_stdfloat value);
  void set_angular_damping(PN_stdfloat value);

  // Forces
  void clear_forces();
  void apply_force(const LVector3 &force, const LPoint3 &pos);
  void apply_central_force(const LVector3 &force);
  void apply_impulse(const LVector3 &impulse, const LPoint3 &pos);
  void apply_central_impulse(const LVector3 &impulse);
  void apply_torque(const LVector3 &torque);
  void apply_torque_impulse(const LVector3 &torque);

  LVector3 get_total_force() const;
  LVector3 get_total_torque() const;

  // Deactivation thresholds
  PN_stdfloat get_linear_sleep_threshold() const;
  PN_stdfloat get_angular_sleep_threshold() const;
  void set_linear_sleep_threshold(PN_stdfloat threshold);
  void set_angular_sleep_threshold(PN_stdfloat threshold);

  // Gravity
  void set_gravity(const LVector3 &gravity);
  LVector3 get_gravity() const;

  // Restrict movement
  LVector3 get_linear_factor() const;
  LVector3 get_angular_factor() const;
  void set_linear_factor(const LVector3 &factor);
  void set_angular_factor(const LVector3 &factor);

  // Special
  bool pick_dirty_flag();

  MAKE_PROPERTY(mass, get_mass, set_mass);
  MAKE_PROPERTY(inv_mass, get_inv_mass);
  MAKE_PROPERTY(inertia, get_inertia, set_inertia);
  MAKE_PROPERTY(inv_inertia_diag_local, get_inv_inertia_diag_local);
  MAKE_PROPERTY(inv_inertia_tensor_world, get_inv_inertia_tensor_world);
  MAKE_PROPERTY(linear_velocity, get_linear_velocity, set_linear_velocity);
  MAKE_PROPERTY(angular_velocity, get_angular_velocity, set_angular_velocity);
  MAKE_PROPERTY(linear_damping, get_linear_damping, set_linear_damping);
  MAKE_PROPERTY(angular_damping, get_angular_damping, set_angular_damping);
  MAKE_PROPERTY(total_force, get_total_force);
  MAKE_PROPERTY(total_torque, get_total_torque);
  MAKE_PROPERTY(linear_sleep_threshold, get_linear_sleep_threshold, set_linear_sleep_threshold);
  MAKE_PROPERTY(angular_sleep_threshold, get_angular_sleep_threshold, set_angular_sleep_threshold);
  MAKE_PROPERTY(gravity, get_gravity, set_gravity);
  MAKE_PROPERTY(linear_factor, get_linear_factor, set_linear_factor);
  MAKE_PROPERTY(angular_factor, get_angular_factor, set_angular_factor);

public:
  virtual btCollisionObject *get_object() const;

  virtual void output(std::ostream &out) const;

  void do_sync_p2b();
  void do_sync_b2p();

protected:
  virtual void transform_changed();

private:
  virtual void do_shape_changed();
  void do_transform_changed();

  void do_set_mass(PN_stdfloat mass);
  PN_stdfloat do_get_mass() const;

  // The motion state is used for synchronisation between Bullet and the
  // Panda3D scene graph.
  class MotionState : public btMotionState {

  public:
    MotionState();

    virtual void getWorldTransform(btTransform &trans) const;
    virtual void setWorldTransform(const btTransform &trans);

    void set_net_transform(const TransformState *ts);

    void sync_b2p(PandaNode *node);
    bool sync_disabled() const;

    bool pick_dirty_flag();

  private:
    btTransform _trans;
    bool _disabled;
    bool _dirty;
    bool _was_dirty;
  };

  MotionState _motion;
  btRigidBody *_rigid;

public:
  static void register_with_read_factory();
  virtual void write_datagram(BamWriter *manager, Datagram &dg);
  virtual PandaNode *make_copy() const;

protected:
  BulletRigidBodyNode(const BulletRigidBodyNode &copy);
  static TypedWritable *make_from_bam(const FactoryParams &params);
  void fillin(DatagramIterator &scan, BamReader *manager);

public:
  static TypeHandle get_class_type() {
    return _type_handle;
  }
  static void init_type() {
    BulletBodyNode::init_type();
    register_type(_type_handle, "BulletRigidBodyNode",
                  BulletBodyNode::get_class_type());
  }
  virtual TypeHandle get_type() const {
    return get_class_type();
  }
  virtual TypeHandle force_init_type() {
    init_type();
    return get_class_type();
  }

private:
  static TypeHandle _type_handle;
};

#include "bulletRigidBodyNode.I"

#endif // __BULLET_RIGID_BODY_NODE_H__