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/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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/BL DUAL LICENSE BLOCK *****
*/
#ifndef __ODE_PHYSICSCONTROLLER_H
#define __ODE_PHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/**
ODE Physics Controller, a special kind of a PhysicsController.
A Physics Controller is a special kind of Scene Graph Transformation Controller.
Each time the scene graph get's updated, the controller get's a chance
in the 'Update' method to reflect changes.
*/
class ODEPhysicsController : public PHY_IPhysicsController
{
bool m_OdeDyna;
public:
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 ~ODEPhysicsController();
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
virtual void RelativeRotate(const float drot[9],bool local);
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
virtual void setPosition(float posX,float posY,float posZ);
virtual void setScaling(float scaleX,float scaleY,float scaleZ);
// physics methods
virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
virtual void SetActive(bool active){};
virtual void SuspendDynamics();
virtual void RestoreDynamics();
/**
reading out information from physics
*/
virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
/**
GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
*/
virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ);
virtual float getMass();
virtual void getReactionForce(float& forceX,float& forceY,float& forceZ);
virtual void setRigidBody(bool rigid);
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
// \todo remove next line !
virtual void SetSimulatedTime(float time);
virtual void WriteDynamicsToMotionState() {};
virtual void WriteMotionStateToDynamics(bool nondynaonly);
/**
call from Scene Graph Node to 'update'.
*/
virtual bool SynchronizeMotionStates(float time);
// clientinfo for raycasts for example
virtual void* getClientInfo() { return m_clientInfo;}
virtual void setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
void* m_clientInfo;
struct dxBody* GetOdeBodyId() { return m_bodyId; }
float getFriction() { return m_friction;}
float getRestitution() { return m_restitution;}
private:
bool m_firstTime;
bool m_bFullRigidBody;
bool m_bPhantom; // special flag for objects that are not affected by physics 'resolver'
// data to calculate fake velocities for kinematic objects (non-dynas)
bool m_bKinematic;
bool m_bPrevKinematic;
float m_lastTime;
bool m_OdeSuspendDynamics;
class PHY_IMotionState* m_MotionState;
//Ode specific members
struct dxBody* m_bodyId;
struct dxGeom* m_geomId;
struct dxSpace* m_space;
struct dxWorld* m_world;
float m_mass;
float m_friction;
float m_restitution;
bool m_implicitsphere;
float m_center[3];
float m_extends[3];
float m_radius;
};
#endif //__ODE_PHYSICSCONTROLLER_H
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