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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* The contents of this file may be used under the terms of either the GNU
* General Public License Version 2 or later (the "GPL", see
* http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
* later (the "BL", see http://www.blender.org/BL/ ) which has to be
* bought from the Blender Foundation to become active, in which case the
* above mentioned GPL option does not apply.
*
* The Original Code is Copyright (C) 2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "KX_ConvertPhysicsObject.h"
#ifdef USE_ODE
#include "KX_OdePhysicsController.h"
#include "KX_GameObject.h"
#include "KX_MotionState.h"
#include "MT_assert.h"
#include "PHY_IPhysicsEnvironment.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
KX_OdePhysicsController::KX_OdePhysicsController(
bool dyna,
bool fullRigidBody,
bool phantom,
class PHY_IMotionState* motionstate,
struct dxSpace* space,
struct dxWorld* world,
float mass,
float friction,
float restitution,
bool implicitsphere,
float center[3],
float extends[3],
float radius
)
: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
ODEPhysicsController(
dyna,fullRigidBody,phantom,motionstate,
space,world,mass,friction,restitution,
implicitsphere,center,extends,radius)
{
};
bool KX_OdePhysicsController::Update(double time)
{
return SynchronizeMotionStates(time);
}
void KX_OdePhysicsController::SetObject (SG_IObject* object)
{
SG_Controller::SetObject(object);
// cheating here...
KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
gameobj->SetPhysicsController(this);
}
void KX_OdePhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
{
ODEPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
}
void KX_OdePhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
{
ODEPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
}
void KX_OdePhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
double oldmat[12];
drot.getValue(oldmat);
float newmat[9];
float *m = &newmat[0];
double *orgm = &oldmat[0];
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
*m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
ODEPhysicsController::RelativeRotate(newmat,local);
}
void KX_OdePhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
ODEPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
}
void KX_OdePhysicsController::ApplyForce(const MT_Vector3& force,bool local)
{
ODEPhysicsController::ApplyForce(force[0],force[1],force[2],local);
}
MT_Vector3 KX_OdePhysicsController::GetLinearVelocity()
{
return MT_Vector3(0,0,0);
}
MT_Vector3 KX_OdePhysicsController::GetVelocity(const MT_Point3& pos)
{
return MT_Vector3(0,0,0);
}
void KX_OdePhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
}
void KX_OdePhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
}
void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn)
{
ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]);
}
void KX_OdePhysicsController::getOrientation(MT_Quaternion& orn)
{
float florn[4];
florn[0]=orn[0];
florn[1]=orn[1];
florn[2]=orn[2];
florn[3]=orn[3];
ODEPhysicsController::getOrientation(florn[0],florn[1],florn[2],florn[3]);
orn[0] = florn[0];
orn[1] = florn[1];
orn[2] = florn[2];
orn[3] = florn[3];
}
void KX_OdePhysicsController::setPosition(const MT_Point3& pos)
{
ODEPhysicsController::setPosition(pos[0],pos[1],pos[2]);
}
void KX_OdePhysicsController::setScaling(const MT_Vector3& scaling)
{
}
MT_Scalar KX_OdePhysicsController::GetMass()
{
return ODEPhysicsController::getMass();
}
MT_Vector3 KX_OdePhysicsController::getReactionForce()
{
return MT_Vector3(0,0,0);
}
void KX_OdePhysicsController::setRigidBody(bool rigid)
{
}
void KX_OdePhysicsController::SuspendDynamics()
{
ODEPhysicsController::SuspendDynamics();
}
void KX_OdePhysicsController::RestoreDynamics()
{
ODEPhysicsController::RestoreDynamics();
}
SG_Controller* KX_OdePhysicsController::GetReplica(class SG_Node* destnode)
{
PHY_IMotionState* motionstate = new KX_MotionState(destnode);
KX_OdePhysicsController* copyctrl = new KX_OdePhysicsController(*this);
// nlin: copied from KX_SumoPhysicsController.cpp. Not 100% sure what this does....
// furthermore, the parentctrl is not used in ODEPhysicsController::PostProcessReplica, but
// maybe it can/should be used in the future...
// begin copy block ------------------------------------------------------------------
//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_OdePhysicsController*)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_OdePhysicsController*)clientgameobj->GetPhysicsController();
}
}
}
}
// end copy block ------------------------------------------------------------------
copyctrl->PostProcessReplica(motionstate, this);
return copyctrl;
}
void KX_OdePhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
}
void KX_OdePhysicsController::SetSumoTransform(bool nondynaonly)
{
}
// todo: remove next line !
void KX_OdePhysicsController::SetSimulatedTime(double time)
{
}
#endif //USE_ODE
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