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#ifndef __KX_SUMOPHYSICSCONTROLLER_H
#define __KX_SUMOPHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
#include "SM_Object.h" // for SM_Callback
/**
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,
DT_SceneHandle solidscene,
class SM_Object* sumoObj,
class PHY_IMotionState* motionstate
,bool dyna)
: SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna),
KX_IPhysicsController(dyna,NULL)
{
};
virtual ~KX_SumoPhysicsController();
void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
virtual void SetObject (SG_IObject* object);
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 GetVelocity(const MT_Point3& pos);
void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
void SuspendDynamics();
void RestoreDynamics();
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 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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