blender/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp

//under visual studio the #define in KX_ConvertPhysicsObject.h is quicker for recompilation
#include "KX_ConvertPhysicsObject.h"

#ifdef USE_BULLET

#include "KX_BulletPhysicsController.h"

#include "btBulletDynamicsCommon.h"
#include "SG_Spatial.h"

#include "KX_GameObject.h"
#include "KX_MotionState.h"
#include "KX_ClientObjectInfo.h"

#include "PHY_IPhysicsEnvironment.h"


KX_BulletPhysicsController::KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna)
: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
CcdPhysicsController(ci)
{

}
	
KX_BulletPhysicsController::~KX_BulletPhysicsController ()
{

}

void	KX_BulletPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
	CcdPhysicsController::resolveCombinedVelocities(linvelX,linvelY,linvelZ,angVelX,angVelY,angVelZ);

}


	///////////////////////////////////
	//	KX_IPhysicsController interface
	////////////////////////////////////

void	KX_BulletPhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
{
		CcdPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);

}

void	KX_BulletPhysicsController::SetObject (SG_IObject* object)
{
	SG_Controller::SetObject(object);

	// cheating here...
	//should not be necessary, is it for duplicates ?

	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
	gameobj->SetPhysicsController(this,gameobj->IsDynamic());
	CcdPhysicsController::setNewClientInfo(gameobj->getClientInfo());


}

void	KX_BulletPhysicsController::setMargin (float collisionMargin)
{
	CcdPhysicsController::SetMargin(collisionMargin);
}
void	KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
{
	CcdPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);

}

void	KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
{
	float	rotval[12];
	drot.getValue(rotval);
	CcdPhysicsController::RelativeRotate(rotval,local);
}

void	KX_BulletPhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
{
		CcdPhysicsController::ApplyTorque(torque.x(),torque.y(),torque.z(),local);
}
void	KX_BulletPhysicsController::ApplyForce(const MT_Vector3& force,bool local)
{
	CcdPhysicsController::ApplyForce(force.x(),force.y(),force.z(),local);
}
MT_Vector3 KX_BulletPhysicsController::GetLinearVelocity()
{
	float angVel[3];
	CcdPhysicsController::GetAngularVelocity(angVel[0],angVel[1],angVel[2]);
	return MT_Vector3(angVel[0],angVel[1],angVel[2]);
}
MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos)
{
	float linVel[3];
	CcdPhysicsController::GetLinearVelocity(linVel[0],linVel[1],linVel[2]);
	return MT_Vector3(linVel[0],linVel[1],linVel[2]);
}

void	KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
{
	CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local);

}
void	KX_BulletPhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
{
	CcdPhysicsController::SetLinearVelocity(lin_vel.x(),lin_vel.y(),lin_vel.z(),local);
}
void	KX_BulletPhysicsController::getOrientation(MT_Quaternion& orn)
{
	float myorn[4];
	CcdPhysicsController::getOrientation(myorn[0],myorn[1],myorn[2],myorn[3]);
	orn = MT_Quaternion(myorn[0],myorn[1],myorn[2],myorn[3]);
}
void KX_BulletPhysicsController::setOrientation(const MT_Quaternion& orn)
{
	CcdPhysicsController::setOrientation(orn.x(),orn.y(),orn.z(),orn.w());
}
void KX_BulletPhysicsController::setPosition(const MT_Point3& pos)
{
	CcdPhysicsController::setPosition(pos.x(),pos.y(),pos.z());
}
void KX_BulletPhysicsController::setScaling(const MT_Vector3& scaling)
{
	CcdPhysicsController::setScaling(scaling.x(),scaling.y(),scaling.z());
}
MT_Scalar	KX_BulletPhysicsController::GetMass()
{

	MT_Scalar invmass = GetRigidBody()->getInvMass();
	if (invmass)
		return 1.f/invmass;
	return 0.f;

}
MT_Vector3	KX_BulletPhysicsController::getReactionForce()
{
	assert(0);
	return MT_Vector3(0.f,0.f,0.f);
}
void	KX_BulletPhysicsController::setRigidBody(bool rigid)
{
}

void	KX_BulletPhysicsController::SuspendDynamics()
{
	GetRigidBody()->setActivationState(DISABLE_SIMULATION);

}
void	KX_BulletPhysicsController::RestoreDynamics()
{
	GetRigidBody()->forceActivationState(ACTIVE_TAG);
}

SG_Controller*	KX_BulletPhysicsController::GetReplica(class SG_Node* destnode)
{
	PHY_IMotionState* motionstate = new KX_MotionState(destnode);

	KX_BulletPhysicsController* physicsreplica = new KX_BulletPhysicsController(*this);

	//parentcontroller is here be able to avoid collisions between parent/child

	PHY_IPhysicsController* parentctrl = NULL;
	
	if (destnode != destnode->GetRootSGParent())
	{
		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
		if (clientgameobj)
		{
			parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
		} else
		{
			// it could be a false node, try the children
			NodeList::const_iterator childit;
			for (
				childit = destnode->GetSGChildren().begin();
			childit!= destnode->GetSGChildren().end();
			++childit
				) {
				KX_GameObject *clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
				if (clientgameobj)
				{
					parentctrl = (KX_BulletPhysicsController*)clientgameobj->GetPhysicsController();
				}
			}
		}
	}

	physicsreplica->PostProcessReplica(motionstate,parentctrl);
	physicsreplica->m_userdata = (PHY_IPhysicsController*)physicsreplica;
	return physicsreplica;
	
}



void	KX_BulletPhysicsController::SetSumoTransform(bool nondynaonly)
{
}

// todo: remove next line !
void	KX_BulletPhysicsController::SetSimulatedTime(double time)
{
}
	
// call from scene graph to update
bool KX_BulletPhysicsController::Update(double time)
{
	return false;

	// todo: check this code
	//if (GetMass())
	//{
	//	return false;//true;
//	}
//	return false;
}

#endif //#ifdef USE_BULLET