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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., 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 LICENSE BLOCK *****
*/
#ifndef __KX_SUMOPHYSICSCONTROLLER_H
#define __KX_SUMOPHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
/**
Physics Controller, a special kind of Scene Graph Transformation Controller.
It get's callbacks from Sumo 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.
*/
#include "SumoPhysicsController.h"
#include "KX_IPhysicsController.h"
class KX_SumoPhysicsController : public KX_IPhysicsController,
public SumoPhysicsController
{
public:
KX_SumoPhysicsController(
class SM_Scene* sumoScene,
class SM_Object* sumoObj,
class PHY_IMotionState* motionstate
,bool dyna)
: KX_IPhysicsController(dyna,false,NULL) ,
SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna)
{
};
virtual ~KX_SumoPhysicsController();
void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
virtual void SetObject (SG_IObject* object);
virtual void setMargin (float collisionMargin);
void RelativeTranslate(const MT_Vector3& dloc,bool local);
void RelativeRotate(const MT_Matrix3x3& drot,bool local);
void ApplyTorque(const MT_Vector3& torque,bool local);
void ApplyForce(const MT_Vector3& force,bool local);
MT_Vector3 GetLinearVelocity();
MT_Vector3 GetAngularVelocity() // to keep compiler happy
{ return MT_Vector3(0.0,0.0,0.0); }
MT_Vector3 GetVelocity(const MT_Point3& pos);
void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
void SuspendDynamics(bool);
void RestoreDynamics();
virtual void AddCompoundChild(KX_IPhysicsController* child) { }
virtual void RemoveCompoundChild(KX_IPhysicsController* child) { }
virtual void getOrientation(MT_Quaternion& orn);
virtual void setOrientation(const MT_Matrix3x3& orn);
virtual void setPosition(const MT_Point3& pos);
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
virtual void SetMass(MT_Scalar newmass);
virtual MT_Scalar GetRadius();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
virtual SG_Controller* GetReplica(class SG_Node* destnode);
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_SUMOPHYSICSCONTROLLER_H
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