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//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
#include "KX_ConvertPhysicsObject.h"
#ifdef USE_BULLET
#include "KX_BulletPhysicsController.h"
#include "Dynamics/RigidBody.h"
#include "SG_Spatial.h"
#include "KX_GameObject.h"
#include "KX_MotionState.h"
#include "KX_ClientObjectInfo.h"
#include "PHY_IPhysicsEnvironment.h"
KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
CcdPhysicsController(ci)
{
}
KX_BulletPhysicsController::~KX_BulletPhysicsController ()
{
}
void KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);
}
///////////////////////////////////
// KX_IPhysicsController interface
////////////////////////////////////
void KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
{
CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
}
void KX_BulletPhysicsController::SetObject (SG_IObject* object)
{
SG_Controller::SetObject(object);
// cheating here...
//should not be necessary, is it for duplicates ?
KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
gameobj->SetPhysicsController(this,gameobj->IsDynamic());
//GetSumoObject()->setClientObject(gameobj->getClientInfo());
}
void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
{
CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
}
void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
float rotval[12];
drot.getValue(rotval);
CcdPhysicsController::RelativeRotate(rotval,local);
}
void KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
}
void KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
{
CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
}
MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
{
float angVel[3];
CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
return MT_Vector3(angVel[0],angVel[1],angVel[2]);
}
MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
{
float linVel[3];
CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
return MT_Vector3(linVel[0],linVel[1],linVel[2]);
}
void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);
}
void KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
}
void KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
{
float myorn[4];
CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
}
void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
{
CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
}
void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
{
CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
}
void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
{
CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
}
MT_Scalar KX_BulletPhysicsController::GetMass()
{
MT_Scalar invmass = GetRigidBody()->getInvMass();
if (invmass)
return 1.f/invmass;
return 0.f;
}
MT_Vector3 KX_BulletPhysicsController::getReactionForce()
{
assert(0);
return MT_Vector3(0.f,0.f,0.f);
}
void KX_BulletPhysicsController::setRigidBody(bool rigid)
{
}
void KX_BulletPhysicsController::SuspendDynamics()
{
}
void KX_BulletPhysicsController::RestoreDynamics()
{
}
SG_Controller* KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
{
PHY_IMotionState* motionstate = new KX_MotionState(destnode);
KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);
//parentcontroller is here be able to avoid collisions between parent/child
PHY_IPhysicsController* parentctrl = NULL;
if (destnode != destnode->GetRootSGParent())
{
KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
if (clientgameobj)
{
parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
} else
{
// it could be a false node, try the children
NodeList::const_iterator childit;
for (
childit = destnode->GetSGChildren().begin();
childit!= destnode->GetSGChildren().end();
++childit
) {
KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
if (clientgameobj)
{
parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
}
}
}
}
physicsreplica->PostProcessReplica(motionstate,parentctrl);
return physicsreplica;
}
void KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
{
}
// todo: remove next line !
void KX_BulletPhysicsController::SetSimulatedTime(double time)
{
}
// call from scene graph to update
bool KX_BulletPhysicsController::Update(double time)
{
return false;
// todo: check this code
//if (GetMass())
//{
// return false;//true;
// }
// return false;
}
#endif //#ifdef USE_BULLET
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