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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 *****
*/
#ifndef PHY_IPHYSICSCONTROLLER_H
#define PHY_IPHYSICSCONTROLLER_H
/**
PHY_IPhysicsController is the abstract simplified Interface to a physical object.
It contains the IMotionState and IDeformableMesh Interfaces.
*/
class PHY_IPhysicsController
{
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;
// controller replication
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
// kinematic methods
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
virtual void RelativeRotate(const float drot[9],bool local)=0;
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
virtual void setPosition(float posX,float posY,float posZ)=0;
virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
// physics methods
virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
virtual void SetActive(bool active)=0;
// reading out information from physics
virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
virtual void setRigidBody(bool rigid)=0;
// clientinfo for raycasts for example
virtual void* getClientInfo()=0;
virtual void setClientInfo(void* clientinfo)=0;
};
#endif //PHY_IPHYSICSCONTROLLER_H
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