1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
#ifndef KX_BULLET2PHYSICS_CONTROLLER
#define KX_BULLET2PHYSICS_CONTROLLER
#include "KX_IPhysicsController.h"
#include "CcdPhysicsController.h"
class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
{
private:
int m_savedCollisionFlags;
short int m_savedCollisionFilterGroup;
short int m_savedCollisionFilterMask;
MT_Scalar m_savedMass;
public:
KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna);
virtual ~KX_BulletPhysicsController ();
///////////////////////////////////
// KX_IPhysicsController interface
////////////////////////////////////
virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
virtual void SetObject (SG_IObject* object);
virtual void setMargin (float collisionMargin);
virtual void RelativeTranslate(const MT_Vector3& dloc,bool local);
virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local);
virtual void ApplyTorque(const MT_Vector3& torque,bool local);
virtual void ApplyForce(const MT_Vector3& force,bool local);
virtual MT_Vector3 GetLinearVelocity();
virtual MT_Vector3 GetAngularVelocity();
virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
virtual void SuspendDynamics(bool ghost);
virtual void RestoreDynamics();
virtual SG_Controller* GetReplica(class SG_Node* destnode);
virtual MT_Scalar GetRadius();
virtual void SetSumoTransform(bool nondynaonly);
// todo: remove next line !
virtual void SetSimulatedTime(double time);
// call from scene graph to update
virtual bool Update(double time);
void* GetUserData() { return m_userdata;}
void
SetOption(
int option,
int value
){
// intentionally empty
};
};
#endif //KX_BULLET2PHYSICS_CONTROLLER
|
