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/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
*/
#ifndef __KX_IPHYSICSCONTROLLER_H
#define __KX_IPHYSICSCONTROLLER_H
#include "SG_Controller.h"
#include "MT_Vector3.h"
#include "MT_Point3.h"
#include "MT_Matrix3x3.h"
/**
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_suspendDynamics;
void* m_userdata;
public:
KX_IPhysicsController(bool dyna,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 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 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 getOrientation(MT_Quaternion& orn)=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 MT_Vector3 getReactionForce()=0;
virtual void setRigidBody(bool rigid)=0;
virtual void SuspendDynamics()=0;
virtual void RestoreDynamics()=0;
virtual SG_Controller* GetReplica(class SG_Node* destnode)=0;
void SetDyna(bool isDynamic) {
m_bDyna = isDynamic;
}
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;}
};
#endif //__KX_IPHYSICSCONTROLLER_H
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