#include <physic.hpp>

Public Types
typedef std::map< std::string, HeightField >	HeightFieldContainer
typedef std::map< std::string, RigidBody * >	RigidBodyContainer
typedef std::map< std::string, PhysicActor * >	PhysicActorContainer
Public Member Functions
	PhysicEngine (BulletShapeLoader *shapeLoader)
	~PhysicEngine ()
RigidBody *	createAndAdjustRigidBody (const std::string &mesh, const std::string &name, float scale, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, Ogre::Vector3 scaledBoxTranslation=0, Ogre::Quaternion boxRotation=0, bool raycasting=false, bool placeable=false)
void	adjustRigidBody (RigidBody *body, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation, const Ogre::Vector3 &scaledBoxTranslation=Ogre::Vector3::ZERO, const Ogre::Quaternion &boxRotation=Ogre::Quaternion::IDENTITY)
void	boxAdjustExternal (const std::string &mesh, RigidBody *body, float scale, const Ogre::Vector3 &position, const Ogre::Quaternion &rotation)
void	addHeightField (float *heights, int x, int y, float yoffset, float triSize, float sqrtVerts)
void	removeHeightField (int x, int y)
void	addRigidBody (RigidBody body, bool addToMap=true, RigidBody raycastingBody=NULL, bool actor=false)
void	removeRigidBody (const std::string &name)
void	deleteRigidBody (const std::string &name)
RigidBody *	getRigidBody (const std::string &name, bool raycasting=false)
void	addCharacter (const std::string &name, const std::string &mesh, const Ogre::Vector3 &position, float scale, const Ogre::Quaternion &rotation)
void	removeCharacter (const std::string &name)
PhysicActor *	getCharacter (const std::string &name)
void	stepSimulation (double deltaT)
void	emptyEventLists (void)
void	createDebugRendering ()
void	setDebugRenderingMode (int mode)
bool	toggleDebugRendering ()
void	getObjectAABB (const std::string &mesh, float scale, btVector3 &min, btVector3 &max)
void	setSceneManager (Ogre::SceneManager *sceneMgr)
bool	isAnyActorStandingOn (const std::string &objectName)
std::pair< std::string, float >	rayTest (btVector3 &from, btVector3 &to, bool raycastingObjectOnly=true, bool ignoreHeightMap=false)
std::vector< std::pair< float, std::string > >	rayTest2 (btVector3 &from, btVector3 &to)
std::pair< bool, float >	sphereCast (float radius, btVector3 &from, btVector3 &to)
std::vector< std::string >	getCollisions (const std::string &name)
std::pair< const RigidBody *, btVector3 >	getFilteredContact (const std::string &filter, const btVector3 &origin, btCollisionObject *object)
Public Attributes
btOverlappingPairCache *	pairCache
btBroadphaseInterface *	broadphase
btDefaultCollisionConfiguration *	collisionConfiguration
btSequentialImpulseConstraintSolver *	solver
btCollisionDispatcher *	dispatcher
btDiscreteDynamicsWorld *	dynamicsWorld
BulletShapeLoader *	mShapeLoader
HeightFieldContainer	mHeightFieldMap
RigidBodyContainer	mCollisionObjectMap
RigidBodyContainer	mRaycastingObjectMap
PhysicActorContainer	mActorMap
Ogre::SceneManager *	mSceneMgr
BtOgre::DebugDrawer *	mDebugDrawer
bool	isDebugCreated
bool	mDebugActive

Detailed Description

The PhysicEngine class contain everything which is needed for Physic. It's needed that Ogre Resources are set up before the PhysicEngine is created. Note:deleting it WILL NOT delete the RigidBody! TODO:unload unused resources?

Member Typedef Documentation

typedef std::map<std::string, HeightField> OEngine::Physic::PhysicEngine::HeightFieldContainer

typedef std::map<std::string, PhysicActor*> OEngine::Physic::PhysicEngine::PhysicActorContainer

typedef std::map<std::string,RigidBody*> OEngine::Physic::PhysicEngine::RigidBodyContainer

Constructor & Destructor Documentation

OEngine::Physic::PhysicEngine::PhysicEngine ( BulletShapeLoader * shapeLoader )

Note that the shapeLoader IS destroyed by the phyic Engine!!

OEngine::Physic::PhysicEngine::~PhysicEngine ( )

It DOES destroy the shape loader!

Member Function Documentation

void OEngine::Physic::PhysicEngine::addCharacter	(	const std::string &	name,
		const std::string &	mesh,
		const Ogre::Vector3 &	position,
		float	scale,
		const Ogre::Quaternion &	rotation
	)

Create and add a character to the scene, and add it to the ActorMap.

void OEngine::Physic::PhysicEngine::addHeightField	(	float *	heights,
		int	x,
		int	y,
		float	yoffset,
		float	triSize,
		float	sqrtVerts
	)

Add a HeightField to the simulation

void OEngine::Physic::PhysicEngine::addRigidBody	(	RigidBody *	body,
		bool	addToMap = `true`,
		RigidBody *	raycastingBody = `NULL`,
		bool	actor = `false`
	)

Add a RigidBody to the simulation

void OEngine::Physic::PhysicEngine::adjustRigidBody	(	RigidBody *	body,
		const Ogre::Vector3 &	position,
		const Ogre::Quaternion &	rotation,
		const Ogre::Vector3 &	scaledBoxTranslation = `Ogre::Vector3::ZERO`,
		const Ogre::Quaternion &	boxRotation = `Ogre::Quaternion::IDENTITY`
	)

Adjusts a rigid body to the right position and rotation

void OEngine::Physic::PhysicEngine::boxAdjustExternal	(	const std::string &	mesh,
		RigidBody *	body,
		float	scale,
		const Ogre::Vector3 &	position,
		const Ogre::Quaternion &	rotation
	)

Mainly used to (but not limited to) adjust rigid bodies based on box shapes to the right position and rotation.

RigidBody * OEngine::Physic::PhysicEngine::createAndAdjustRigidBody	(	const std::string &	mesh,
		const std::string &	name,
		float	scale,
		const Ogre::Vector3 &	position,
		const Ogre::Quaternion &	rotation,
		Ogre::Vector3 *	scaledBoxTranslation = `0`,
		Ogre::Quaternion *	boxRotation = `0`,
		bool	raycasting = `false`,
		bool	placeable = `false`
	)

Creates a RigidBody. It does not add it to the simulation. After created, the body is set to the correct rotation, position, and scale

void OEngine::Physic::PhysicEngine::createDebugRendering ( )

Create a debug rendering. It is called by setDebgRenderingMode if it's not created yet. Important Note: this will crash if the Render is not yet initialise!

void OEngine::Physic::PhysicEngine::deleteRigidBody ( const std::string & name )

Delete a RigidBody, and remove it from RigidBodyMap.

void OEngine::Physic::PhysicEngine::emptyEventLists ( void )

Empty events lists

PhysicActor * OEngine::Physic::PhysicEngine::getCharacter ( const std::string & name )

Return a pointer to a character TODO:check if the actor exist...

std::vector< std::string > OEngine::Physic::PhysicEngine::getCollisions ( const std::string & name )

std::pair< const RigidBody *, btVector3 > OEngine::Physic::PhysicEngine::getFilteredContact	(	const std::string &	filter,
		const btVector3 &	origin,
		btCollisionObject *	object
	)

void OEngine::Physic::PhysicEngine::getObjectAABB	(	const std::string &	mesh,
		float	scale,
		btVector3 &	min,
		btVector3 &	max
	)

RigidBody * OEngine::Physic::PhysicEngine::getRigidBody	(	const std::string &	name,
		bool	raycasting = `false`
	)

Return a pointer to a given rigid body.

bool OEngine::Physic::PhysicEngine::isAnyActorStandingOn ( const std::string & objectName )

std::pair< std::string, float > OEngine::Physic::PhysicEngine::rayTest	(	btVector3 &	from,
		btVector3 &	to,
		bool	raycastingObjectOnly = `true`,
		bool	ignoreHeightMap = `false`
	)

Return the closest object hit by a ray. If there are no objects, it will return ("",-1).

std::vector< std::pair< float, std::string > > OEngine::Physic::PhysicEngine::rayTest2	(	btVector3 &	from,
		btVector3 &	to
	)

Return all objects hit by a ray.

void OEngine::Physic::PhysicEngine::removeCharacter ( const std::string & name )

Remove a character from the scene. TODO:delete it! for now, a small memory leak^^ done?

void OEngine::Physic::PhysicEngine::removeHeightField	(	int	x,
		int	y
	)

Remove a HeightField from the simulation

void OEngine::Physic::PhysicEngine::removeRigidBody ( const std::string & name )

Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.

void OEngine::Physic::PhysicEngine::setDebugRenderingMode ( int mode )

Set the debug rendering mode. 0 to turn it off. Important Note: this will crash if the Render is not yet initialise!

void OEngine::Physic::PhysicEngine::setSceneManager ( Ogre::SceneManager * sceneMgr )

std::pair< bool, float > OEngine::Physic::PhysicEngine::sphereCast	(	float	radius,
		btVector3 &	from,
		btVector3 &	to
	)

Returns:: (hit, relative distance)

void OEngine::Physic::PhysicEngine::stepSimulation ( double deltaT )

This step the simulation of a given time.

bool OEngine::Physic::PhysicEngine::toggleDebugRendering ( )

Member Data Documentation

btBroadphaseInterface* OEngine::Physic::PhysicEngine::broadphase

btDefaultCollisionConfiguration* OEngine::Physic::PhysicEngine::collisionConfiguration

btCollisionDispatcher* OEngine::Physic::PhysicEngine::dispatcher

btDiscreteDynamicsWorld* OEngine::Physic::PhysicEngine::dynamicsWorld

bool OEngine::Physic::PhysicEngine::isDebugCreated

PhysicActorContainer OEngine::Physic::PhysicEngine::mActorMap

RigidBodyContainer OEngine::Physic::PhysicEngine::mCollisionObjectMap

bool OEngine::Physic::PhysicEngine::mDebugActive

BtOgre::DebugDrawer* OEngine::Physic::PhysicEngine::mDebugDrawer

HeightFieldContainer OEngine::Physic::PhysicEngine::mHeightFieldMap

RigidBodyContainer OEngine::Physic::PhysicEngine::mRaycastingObjectMap

Ogre::SceneManager* OEngine::Physic::PhysicEngine::mSceneMgr

BulletShapeLoader* OEngine::Physic::PhysicEngine::mShapeLoader

btOverlappingPairCache* OEngine::Physic::PhysicEngine::pairCache

btSequentialImpulseConstraintSolver* OEngine::Physic::PhysicEngine::solver

The documentation for this class was generated from the following files:

libs/openengine/bullet/physic.hpp
libs/openengine/bullet/physic.cpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation