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/**
* $Id$
*
* ***** BEGIN GPL 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.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
*/
#ifndef __KX_IPHYSICSCONTROLLER_H
#define __KX_IPHYSICSCONTROLLER_H
#include "SG_Controller.h"
#include "MT_Vector3.h"
#include "MT_Point3.h"
#include "MT_Transform.h"
#include "MT_Matrix3x3.h"
struct KX_ClientObjectInfo;
/**
Physics Controller, a special kind of Scene Graph Transformation Controller.
It get's callbacks from Physics in case a transformation change took place.
Each time the scene graph get's updated, the controller get's a chance
in the 'Update' method to reflect changed.
*/
class KX_IPhysicsController : public SG_Controller
{
protected:
bool m_bDyna;
bool m_bSensor;
bool m_bCompound;
bool m_suspendDynamics;
void* m_userdata;
public:
KX_IPhysicsController(bool dyna,bool sensor,bool compound, void* userdata);
virtual ~KX_IPhysicsController();
virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
virtual void SetObject (SG_IObject* object)=0;
virtual void setMargin (float collisionMargin)=0;
virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
virtual MT_Vector3 GetLinearVelocity()=0;
virtual MT_Vector3 GetAngularVelocity()=0;
virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
virtual void getOrientation(MT_Quaternion& orn)=0;
virtual void setOrientation(const MT_Matrix3x3& orn)=0;
virtual void SetTransform()=0;
//virtual void setOrientation(const MT_Quaternion& orn)=0;
virtual void setPosition(const MT_Point3& pos)=0;
virtual void setScaling(const MT_Vector3& scaling)=0;
virtual MT_Scalar GetMass()=0;
virtual void SetMass(MT_Scalar newmass)=0;
virtual float GetLinVelocityMin()=0;
virtual void SetLinVelocityMin(float newmass)=0;
virtual float GetLinVelocityMax()=0;
virtual void SetLinVelocityMax(float newmass)=0;
virtual MT_Vector3 GetLocalInertia()=0;
virtual MT_Vector3 getReactionForce()=0;
virtual void setRigidBody(bool rigid)=0;
virtual void AddCompoundChild(KX_IPhysicsController* child) = 0;
virtual void RemoveCompoundChild(KX_IPhysicsController* child) = 0;
virtual void SuspendDynamics(bool ghost=false)=0;
virtual void RestoreDynamics()=0;
virtual SG_Controller* GetReplica(class SG_Node* destnode)=0;
void SetDyna(bool isDynamic) {
m_bDyna = isDynamic;
}
void SetSensor(bool isSensor) {
m_bSensor = isSensor;
}
bool IsDyna(void) {
return m_bDyna;
}
bool IsSensor(void) {
return m_bSensor;
}
bool IsCompound(void) {
return m_bCompound;
}
virtual MT_Scalar GetRadius()=0;
virtual void SetSumoTransform(bool nondynaonly)=0;
// todo: remove next line !
virtual void SetSimulatedTime(double time)=0;
// call from scene graph to update
virtual bool Update(double time)=0;
void* GetUserData() { return m_userdata;}
#ifdef WITH_CXX_GUARDEDALLOC
public:
void *operator new( unsigned int num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_IPhysicsController"); }
void operator delete( void *mem ) { MEM_freeN(mem); }
#endif
};
#endif //__KX_IPHYSICSCONTROLLER_H
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