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/**
* @file $Id: SumoPhysicsController.h,v 1.10 2005/03/25 10:33:38 kester Exp $
*
* ***** 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 getPosition(PHY__Vector3& pos) const;
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(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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);
virtual void calcXform();
virtual void SetMargin(float margin) ;
virtual float GetMargin() const;
virtual float GetRadius() const ;
// clientinfo for raycasts for example
virtual void* getNewClientInfo();
virtual void setNewClientInfo(void* 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;
};
#endif //__SUMO_PHYSICSCONTROLLER_H
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