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/**
* $Id$
*
* ***** 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 *****
*/
#include "SumoPhysicsEnvironment.h"
#include "PHY_IMotionState.h"
#include "SumoPhysicsController.h"
#include "SM_Scene.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
MT_Scalar SumoPhysicsEnvironment::UpperBoundForFuzzicsIntegrator = 0.01;
SumoPhysicsEnvironment::SumoPhysicsEnvironment()
{
m_sumoScene = new SM_Scene();
}
SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
{
delete m_sumoScene;
}
void SumoPhysicsEnvironment::proceed(double timeStep)
{
m_sumoScene->proceed(timeStep,UpperBoundForFuzzicsIntegrator);
}
void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
{
m_sumoScene->setForceField(MT_Vector3(x,y,z));
}
int SumoPhysicsEnvironment::createConstraint(
class PHY_IPhysicsController* ctrl,
class PHY_IPhysicsController* ctrl2,
PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ)
{
int constraintid = 0;
return constraintid;
}
void SumoPhysicsEnvironment::removeConstraint(int constraintid)
{
if (constraintid)
{
}
}
PHY_IPhysicsController* SumoPhysicsEnvironment::rayTest(void* ignoreClient,
float fromX,float fromY,float fromZ,
float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,
float& normalX,float& normalY,float& normalZ)
{
//collision detection / raytesting
MT_Point3 hit, normal;
/* FIXME: Return type is not a PHY_IPhysicsController */
PHY_IPhysicsController *ret = (PHY_IPhysicsController *) m_sumoScene->rayTest(ignoreClient,MT_Point3(fromX, fromY, fromZ),MT_Point3(toX, toY, toZ), hit, normal);
hitX = hit[0];
hitY = hit[1];
hitZ = hit[2];
normalX = normal[0];
normalY = normal[1];
normalZ = normal[2];
assert(false);
return ret;
}
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