1 files changed, 42 insertions, 0 deletions

diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
index e7fbf3cdacc..b0e0717cf8c 100644
--- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
+++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_MotionState.h
@@ -1,3 +1,34 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL 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. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, 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/BL DUAL LICENSE BLOCK *****
+ */
 #ifndef SM_MOTIONSTATE_H
 #define SM_MOTIONSTATE_H
 
@@ -6,6 +37,7 @@
 class SM_MotionState {
 public:
 	SM_MotionState() :
+		m_time(0.0),
 		m_pos(0.0, 0.0, 0.0),
 		m_orn(0.0, 0.0, 0.0, 1.0),
 		m_lin_vel(0.0, 0.0, 0.0),
@@ -16,17 +48,27 @@ public:
 	void setOrientation(const MT_Quaternion& orn)      { m_orn = orn; }
 	void setLinearVelocity(const MT_Vector3& lin_vel)  { m_lin_vel = lin_vel; }
 	void setAngularVelocity(const MT_Vector3& ang_vel) { m_ang_vel = ang_vel; }
+	void setTime(MT_Scalar time)                       { m_time = time; }
 	
 	const MT_Point3&     getPosition()        const { return m_pos; }
 	const MT_Quaternion& getOrientation()     const { return m_orn; }
 	const MT_Vector3&    getLinearVelocity()  const { return m_lin_vel; }
 	const MT_Vector3&    getAngularVelocity() const { return m_ang_vel;	}
 	
+	MT_Scalar            getTime()            const { return m_time; }
+	
+	void integrateMidpoint(MT_Scalar timeStep, const SM_MotionState &prev_state, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
+	void integrateBackward(MT_Scalar timeStep, const MT_Vector3 &velocity, const MT_Quaternion& ang_vel);
+	void integrateForward(MT_Scalar timeStep, const SM_MotionState &prev_state);
+	
+	void lerp(MT_Scalar t, const SM_MotionState &other);
+	
 	virtual MT_Transform getTransform() const {
 		return MT_Transform(m_pos, m_orn);
 	}
 
 protected:
+	MT_Scalar         m_time;
 	MT_Point3         m_pos;
 	MT_Quaternion     m_orn;
 	MT_Vector3        m_lin_vel;