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/*
* Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies and
* that both that copyright notice and this permission notice appear
* in supporting documentation. Erwin Coumans makes no
* representations about the suitability of this software for any
* purpose. It is provided "as is" without express or implied warranty.
*
*/
#ifndef PHY_IPHYSICSCONTROLLER_H
#define PHY_IPHYSICSCONTROLLER_H
#include "PHY_DynamicTypes.h"
/**
PHY_IPhysicsController is the abstract simplified Interface to a physical object.
It contains the IMotionState and IDeformableMesh Interfaces.
*/
class PHY_IPhysicsController
{
public:
virtual ~PHY_IPhysicsController();
/**
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
virtual bool SynchronizeMotionStates(float time)=0;
/**
WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
virtual void WriteDynamicsToMotionState()=0;
// controller replication
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
virtual void RelativeRotate(const float drot[12],bool local)=0;
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
virtual void setPosition(float posX,float posY,float posZ)=0;
virtual void getPosition(PHY__Vector3& pos) const=0;
virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
// physics methods
virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
virtual void SetActive(bool active)=0;
// reading out information from physics
virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
virtual void setRigidBody(bool rigid)=0;
// clientinfo for raycasts for example
virtual void* getNewClientInfo()=0;
virtual void setNewClientInfo(void* clientinfo)=0;
virtual PHY_IPhysicsController* GetReplica() {return 0;}
virtual void calcXform() =0;
virtual void SetMargin(float margin) =0;
virtual float GetMargin() const=0;
virtual float GetRadius() const { return 0.f;}
PHY__Vector3 GetWorldPosition(PHY__Vector3& localpos);
};
#endif //PHY_IPHYSICSCONTROLLER_H
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