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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 *****
*/
#ifndef __KX_ODEPHYSICSCONTROLLER_H
#define __KX_ODEPHYSICSCONTROLLER_H
#include "KX_IPhysicsController.h"
#include "OdePhysicsController.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_OdePhysicsController : public KX_IPhysicsController, public ODEPhysicsController
{
public:
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);
virtual ~KX_OdePhysicsController() {};
virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
virtual void SetObject (SG_IObject* object);
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 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 resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Quaternion& 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 SuspendDynamics();
virtual void RestoreDynamics();
virtual SG_Controller* GetReplica(class SG_Node* destnode);
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
SetOption(
int option,
int value
){
// intentionally empty
};
};
#endif //__KX_ODEPHYSICSCONTROLLER_H
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