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
|
/**
* @file $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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/BL DUAL LICENSE BLOCK *****
*/
#ifndef __SUMO_PHYSICSCONTROLLER_H
#define __SUMO_PHYSICSCONTROLLER_H
#include "PHY_IPhysicsController.h"
#include "SM_Scene.h"
#include "SM_Callback.h"
/**
* Sumo 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.
*
* Sumo uses the SOLID library for collision detection.
*/
class SumoPhysicsController : public PHY_IPhysicsController , public SM_Callback
{
public:
SumoPhysicsController(
class SM_Scene* sumoScene,
class SM_Object* sumoObj,
class PHY_IMotionState* motionstate,
bool dyna);
virtual ~SumoPhysicsController();
/**
* @name Kinematic Methods.
*/
/*@{*/
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
/**
* @param drot a 3x4 matrix. This will treated as a 3x3 rotation matrix.
* @warning RelativeRotate expects a 3x4 matrix. The fourth column is padding.
*/
virtual void RelativeRotate(const float drot[12],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);
/*@}*/
/**
* @name 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 resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel );
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;};
float getFriction() { return m_friction;}
float getRestitution() { return m_restitution;}
/**
* Sumo callback
*/
virtual void do_me();
class SM_Object* GetSumoObject ()
{
return m_sumoObj;
};
void GetWorldOrientation(class MT_Matrix3x3& mat);
void GetWorldPosition(MT_Point3& pos);
void GetWorldScaling(MT_Vector3& scale);
// void SetSumoObject(class SM_Object* sumoObj) {
// m_sumoObj = sumoObj;
// }
// void SetSumoScene(class SM_Scene* sumoScene) {
// m_sumoScene = sumoScene;
// }
void setSumoTransform(bool nondynaonly);
private:
class SM_Object* m_sumoObj;
class SM_Scene* m_sumoScene; // needed for replication
bool m_bFirstTime;
bool m_bDyna;
float m_friction;
float m_restitution;
bool m_suspendDynamics;
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;
class PHY_IMotionState* m_MotionState;
void* m_clientInfo;
};
#endif //__SUMO_PHYSICSCONTROLLER_H
|