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/*
* ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 *****
*/
/** \file PHY_IPhysicsController.h
* \ingroup phys
*/
#ifndef __PHY_IPHYSICSCONTROLLER_H__
#define __PHY_IPHYSICSCONTROLLER_H__
#include <vector>
#include "PHY_IController.h"
class PHY_IMotionState;
class PHY_IPhysicsEnvironment;
class MT_Vector3;
class MT_Point3;
class MT_Matrix3x3;
class KX_GameObject;
class RAS_MeshObject;
/**
* PHY_IPhysicsController is the abstract simplified Interface to a physical object.
* It contains the IMotionState and IDeformableMesh Interfaces.
*/
class PHY_IPhysicsController : public PHY_IController
{
public:
virtual ~PHY_IPhysicsController(){};
/**
* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
virtual bool SynchronizeMotionStates(float time)=0;
/**
* WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
virtual void WriteDynamicsToMotionState()=0;
virtual class PHY_IMotionState* GetMotionState() = 0;
// controller replication
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;
// kinematic methods
virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
virtual void RelativeRotate(const MT_Matrix3x3&,bool local)=0;
virtual MT_Matrix3x3 GetOrientation()=0;
virtual void SetOrientation(const MT_Matrix3x3& orn)=0;
virtual void SetPosition(const MT_Vector3& pos)=0;
virtual void GetPosition(MT_Vector3& pos) const=0;
virtual void SetScaling(const MT_Vector3& scale)=0;
virtual void SetTransform()=0;
virtual MT_Scalar GetMass()=0;
virtual void SetMass(MT_Scalar newmass)=0;
// physics methods
virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse,bool local)=0;
virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
virtual float GetLinearDamping() const=0;
virtual float GetAngularDamping() const=0;
virtual void SetLinearDamping(float damping)=0;
virtual void SetAngularDamping(float damping)=0;
virtual void SetDamping(float linear, float angular)=0;
virtual void RefreshCollisions() = 0;
virtual void SuspendDynamics(bool ghost=false)=0;
virtual void RestoreDynamics()=0;
virtual void SetActive(bool active)=0;
// reading out information from physics
virtual MT_Vector3 GetLinearVelocity()=0;
virtual MT_Vector3 GetAngularVelocity()=0;
virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
virtual MT_Vector3 GetLocalInertia()=0;
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
virtual void SetRigidBody(bool rigid)=0;
virtual PHY_IPhysicsController* GetReplica() {return 0;}
virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;}
virtual void CalcXform() =0;
virtual void SetMargin(float margin) =0;
virtual float GetMargin() const=0;
virtual float GetRadius() const=0;
virtual void SetRadius(float margin) = 0;
virtual float GetLinVelocityMin() const=0;
virtual void SetLinVelocityMin(float val) = 0;
virtual float GetLinVelocityMax() const=0;
virtual void SetLinVelocityMax(float val) = 0;
virtual void SetAngularVelocityMin(float val) = 0;
virtual float GetAngularVelocityMin() const = 0;
virtual void SetAngularVelocityMax(float val) = 0;
virtual float GetAngularVelocityMax() const = 0;
MT_Vector3 GetWorldPosition(MT_Vector3& localpos);
// Shape control
virtual void AddCompoundChild(PHY_IPhysicsController* child) = 0;
virtual void RemoveCompoundChild(PHY_IPhysicsController* child) = 0;
virtual bool IsDynamic() = 0;
virtual bool IsCompound() = 0;
virtual bool IsSuspended() const = 0;
virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj) = 0;
/* Method to replicate rigid body joint contraints for group instances. */
virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj) = 0;
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")
#endif
};
#endif /* __PHY_IPHYSICSCONTROLLER_H__ */
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