1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
|
#pragma warning (disable : 4786)
#include "KX_SumoPhysicsController.h"
#include "SG_Spatial.h"
#include "SM_Scene.h"
#include "KX_GameObject.h"
#include "KX_MotionState.h"
void KX_SumoPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
{
SumoPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
}
void KX_SumoPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
{
SumoPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
}
void KX_SumoPhysicsController::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++;
SumoPhysicsController::RelativeRotate(newmat,local);
}
void KX_SumoPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
SumoPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
}
void KX_SumoPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
SumoPhysicsController::SetAngularVelocity(ang_vel[0],ang_vel[1],ang_vel[2],local);
}
MT_Vector3 KX_SumoPhysicsController::GetVelocity(const MT_Point3& pos)
{
float linvel[3];
SumoPhysicsController::GetVelocity(pos[0],pos[1],pos[2],linvel[0],linvel[1],linvel[2]);
return MT_Vector3 (linvel);
}
MT_Vector3 KX_SumoPhysicsController::GetLinearVelocity()
{
return GetVelocity(MT_Point3(0,0,0));
}
void KX_SumoPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
SumoPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
}
void KX_SumoPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
{
SumoPhysicsController::ApplyForce(force[0],force[1],force[2],local);
}
bool KX_SumoPhysicsController::Update(double time)
{
return SynchronizeMotionStates(time);
}
void KX_SumoPhysicsController::SetSimulatedTime(double time)
{
}
void KX_SumoPhysicsController::SetSumoTransform(bool nondynaonly)
{
SumoPhysicsController::setSumoTransform(nondynaonly);
}
void KX_SumoPhysicsController::SuspendDynamics()
{
SumoPhysicsController::SuspendDynamics();
}
void KX_SumoPhysicsController::RestoreDynamics()
{
SumoPhysicsController::RestoreDynamics();
}
SG_Controller* KX_SumoPhysicsController::GetReplica(SG_Node* destnode)
{
PHY_IMotionState* motionstate = new KX_MotionState(destnode);
KX_SumoPhysicsController* physicsreplica = new KX_SumoPhysicsController(*this);
//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_SumoPhysicsController*)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_SumoPhysicsController*)clientgameobj->GetPhysicsController();
}
}
}
}
physicsreplica->PostProcessReplica(motionstate,parentctrl);
return physicsreplica;
}
void KX_SumoPhysicsController::SetObject (SG_IObject* object)
{
SG_Controller::SetObject(object);
// cheating here...
KX_GameObject* gameobj = (KX_GameObject*) object->GetSGClientObject();
gameobj->SetPhysicsController(this);
}
void KX_SumoPhysicsController::setOrientation(const MT_Quaternion& orn)
{
SumoPhysicsController::setOrientation(
orn[0],orn[1],orn[2],orn[3]);
}
void KX_SumoPhysicsController::getOrientation(MT_Quaternion& orn)
{
float quat[4];
SumoPhysicsController::getOrientation(quat[0],quat[1],quat[2],quat[3]);
orn = MT_Quaternion(quat);
}
void KX_SumoPhysicsController::setPosition(const MT_Point3& pos)
{
SumoPhysicsController::setPosition(pos[0],pos[1],pos[2]);
}
void KX_SumoPhysicsController::setScaling(const MT_Vector3& scaling)
{
SumoPhysicsController::setScaling(scaling[0],scaling[1],scaling[2]);
}
MT_Scalar KX_SumoPhysicsController::GetMass()
{
return SumoPhysicsController::getMass();
}
MT_Vector3 KX_SumoPhysicsController::getReactionForce()
{
float force[3];
SumoPhysicsController::getReactionForce(force[0],force[1],force[2]);
return MT_Vector3(force);
}
void KX_SumoPhysicsController::setRigidBody(bool rigid)
{
SumoPhysicsController::setRigidBody(rigid);
}
KX_SumoPhysicsController::~KX_SumoPhysicsController()
{
}
|
