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#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;
int m_savedActivationState;
short int m_savedCollisionFilterGroup;
short int m_savedCollisionFilterMask;
MT_Scalar m_savedMass;
btCollisionShape* m_bulletChildShape;
public:
KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool compound);
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 void SetMass(MT_Scalar newmass);
virtual MT_Vector3 GetLocalInertia();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
virtual void AddCompoundChild(KX_IPhysicsController* child);
virtual void RemoveCompoundChild(KX_IPhysicsController* child);
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 float GetLinVelocityMin();
virtual void SetLinVelocityMin(float val);
virtual float GetLinVelocityMax();
virtual void SetLinVelocityMax(float val);
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
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