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Diffstat (limited to 'source/gameengine/Physics/BlOde/OdePhysicsController.h')
-rw-r--r-- | source/gameengine/Physics/BlOde/OdePhysicsController.h | 164 |
1 files changed, 0 insertions, 164 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.h b/source/gameengine/Physics/BlOde/OdePhysicsController.h deleted file mode 100644 index 544d11da2ca..00000000000 --- a/source/gameengine/Physics/BlOde/OdePhysicsController.h +++ /dev/null @@ -1,164 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * The contents of this file may be used under the terms of either the GNU - * General Public License Version 2 or later (the "GPL", see - * http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or - * later (the "BL", see http://www.blender.org/BL/ ) which has to be - * bought from the Blender Foundation to become active, in which case the - * above mentioned GPL option does not apply. - * - * The Original Code is Copyright (C) 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 __ODE_PHYSICSCONTROLLER_H -#define __ODE_PHYSICSCONTROLLER_H - - -#include "PHY_IPhysicsController.h" - -/** - ODE Physics Controller, a special kind of a PhysicsController. - A Physics Controller is a special kind of Scene Graph Transformation Controller. - Each time the scene graph get's updated, the controller get's a chance - in the 'Update' method to reflect changes. -*/ - -class ODEPhysicsController : public PHY_IPhysicsController - -{ - - bool m_OdeDyna; - -public: - ODEPhysicsController( - bool dyna, - bool fullRigidBody, - bool phantom, - class PHY_IMotionState* motionstate, - struct dxSpace* space, - struct dxWorld* world, - float mass, - float friction, - float restitution, - bool implicitsphere, - float center[3], - float extends[3], - float radius); - - virtual ~ODEPhysicsController(); - - // kinematic methods - virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local); - virtual void RelativeRotate(const float drot[9],bool local); - virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal); - virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal); - virtual void setPosition(float posX,float posY,float posZ); - virtual void getPosition(PHY__Vector3& pos) const; - - virtual void setScaling(float scaleX,float scaleY,float scaleZ); - - // physics methods - virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local); - virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local); - virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local); - virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local); - virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ); - virtual void SetActive(bool active){}; - virtual void SuspendDynamics(); - virtual void RestoreDynamics(); - virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) - { - //todo ? - } - - - /** - reading out information from physics - */ - virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ); - /** - GetVelocity parameters are in geometric coordinates (Origin is not center of mass!). - */ - virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); - virtual float getMass(); - virtual void getReactionForce(float& forceX,float& forceY,float& forceZ); - virtual void setRigidBody(bool rigid); - - - virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl); - - // \todo remove next line ! - virtual void SetSimulatedTime(float time); - - - virtual void WriteDynamicsToMotionState() {}; - virtual void WriteMotionStateToDynamics(bool nondynaonly); - virtual class PHY_IMotionState* GetMotionState(); - - /** - call from Scene Graph Node to 'update'. - */ - virtual bool SynchronizeMotionStates(float time); - - virtual void calcXform(){} - virtual void SetMargin(float margin) {} - virtual float GetMargin() const {return 0.f;} - virtual float GetRadius() const {return 0.f;} - virtual void SetRadius(float margin) {} - - // clientinfo for raycasts for example - virtual void* getNewClientInfo() { return m_clientInfo;} - virtual void setNewClientInfo(void* clientinfo) {m_clientInfo = clientinfo;}; - void* m_clientInfo; - - struct dxBody* GetOdeBodyId() { return m_bodyId; } - - float getFriction() { return m_friction;} - float getRestitution() { return m_restitution;} - - float GetLinVelocityMin() const { return 0.f; } - void SetLinVelocityMin(float val) { } - float GetLinVelocityMax() const { return 0.f; } - void SetLinVelocityMax(float val) { } - - -private: - - bool m_firstTime; - bool m_bFullRigidBody; - bool m_bPhantom; // special flag for objects that are not affected by physics 'resolver' - - // data to calculate fake velocities for kinematic objects (non-dynas) - bool m_bKinematic; - bool m_bPrevKinematic; - - - float m_lastTime; - bool m_OdeSuspendDynamics; - class PHY_IMotionState* m_MotionState; - - //Ode specific members - struct dxBody* m_bodyId; - struct dxGeom* m_geomId; - struct dxSpace* m_space; - struct dxWorld* m_world; - float m_mass; - float m_friction; - float m_restitution; - bool m_implicitsphere; - float m_center[3]; - float m_extends[3]; - float m_radius; -}; - -#endif //__ODE_PHYSICSCONTROLLER_H - |