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Diffstat (limited to 'source/gameengine/Physics/Sumo/SumoPhysicsController.h')
| -rw-r--r-- | source/gameengine/Physics/Sumo/SumoPhysicsController.h | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsController.h b/source/gameengine/Physics/Sumo/SumoPhysicsController.h new file mode 100644 index 00000000000..d78c21dbd1b --- /dev/null +++ b/source/gameengine/Physics/Sumo/SumoPhysicsController.h @@ -0,0 +1,171 @@ +/** + * $Id$ + * + * ***** 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 __SUMO_PHYSICSCONTROLLER_H +#define __SUMO_PHYSICSCONTROLLER_H + + +#include "PHY_IPhysicsController.h" +#include "SM_Scene.h" +#include "SM_Callback.h" + + +/** + Sumo 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 SumoPhysicsController : public PHY_IPhysicsController , public SM_Callback + + +{ + + class SM_Object* m_sumoObj; + class SM_Scene* m_sumoScene; // needed for replication + DT_SceneHandle m_solidscene; + bool m_bFirstTime; + bool m_bDyna; + + float m_friction; + float m_restitution; + + + bool m_suspendDynamics; + +public: + SumoPhysicsController( + class SM_Scene* sumoScene, + DT_SceneHandle solidscene, + class SM_Object* sumoObj, + class PHY_IMotionState* motionstate, + bool dyna); + + virtual ~SumoPhysicsController(); + + // 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; + + + float getFriction() { return m_friction;} + float getRestitution() { return m_restitution;} + + // sumo callback + virtual void do_me(); + + class SM_Object* GetSumoObject () + { + return m_sumoObj; + }; + + void GetWorldOrientation(class MT_Matrix3x3& mat); + void GetWorldPosition(MT_Point3& pos); + void GetWorldScaling(MT_Vector3& scale); + + +// void SetSumoObject(class SM_Object* sumoObj) { +// m_sumoObj = sumoObj; +// } +// void SetSumoScene(class SM_Scene* sumoScene) { +// m_sumoScene = sumoScene; +// } + + void setSumoTransform(bool nondynaonly); + + +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; + + class PHY_IMotionState* m_MotionState; + +}; + +#endif //__SUMO_PHYSICSCONTROLLER_H + + |