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Diffstat (limited to 'source/gameengine/Physics/BlOde/OdePhysicsController.h')
-rw-r--r-- | source/gameengine/Physics/BlOde/OdePhysicsController.h | 150 |
1 files changed, 150 insertions, 0 deletions
diff --git a/source/gameengine/Physics/BlOde/OdePhysicsController.h b/source/gameengine/Physics/BlOde/OdePhysicsController.h new file mode 100644 index 00000000000..659a951a071 --- /dev/null +++ b/source/gameengine/Physics/BlOde/OdePhysicsController.h @@ -0,0 +1,150 @@ +/** + * $Id$ + * + * ***** BEGIN GPL/BL DUAL 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/BL DUAL 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 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(); + + + /** + 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); + + /** + call from Scene Graph Node to 'update'. + */ + virtual bool SynchronizeMotionStates(float time); + + // clientinfo for raycasts for example + virtual void* getClientInfo() { return m_clientInfo;} + virtual void setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;}; + void* m_clientInfo; + + struct dxBody* GetOdeBodyId() { return m_bodyId; } + + float getFriction() { return m_friction;} + float getRestitution() { return m_restitution;} + + + +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 + + + |