blender/source/gameengine/Physics/common/PHY_IPhysicsController.h

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/*
* ***** BEGIN GPL LICENSE BLOCK *****
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*
* 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.
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*
* 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,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
* 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 *****
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*/
/** \file PHY_IPhysicsController.h
* \ingroup phys
*/
#ifndef __PHY_IPHYSICSCONTROLLER_H__
#define __PHY_IPHYSICSCONTROLLER_H__
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#include "PHY_IController.h"
class PHY_IMotionState;
class PHY_IPhysicsEnvironment;
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/**
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* PHY_IPhysicsController is the abstract simplified Interface to a physical object.
* It contains the IMotionState and IDeformableMesh Interfaces.
*/
class PHY_IPhysicsController : public PHY_IController
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{
public:
virtual ~PHY_IPhysicsController(){};
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/**
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* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
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virtual bool SynchronizeMotionStates(float time)=0;
/**
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* WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
*/
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virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
virtual void WriteDynamicsToMotionState()=0;
virtual class PHY_IMotionState* GetMotionState() = 0;
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// 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[12],bool local)=0;
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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 getPosition(class MT_Vector3& pos) const=0;
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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 resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
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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;
virtual PHY_IPhysicsController* GetReplica() {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;
class MT_Vector3 GetWorldPosition(class MT_Vector3& localpos);
#ifdef WITH_CXX_GUARDEDALLOC
MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")
#endif
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};
#endif /* __PHY_IPHYSICSCONTROLLER_H__ */