949b6ca80f
Implementation of the PHY_IPhysicsController::SetMargin(), GetMargin(), SetRadius() and GetRadius() for Bullet and Sumo to allow resetting the Near sensor radius. For bullet use the new setUnscaledRadius() function to change sphere radius. In pPreparation of a Fh constraint actuator: - Add KX_IPhysicsController::GetRadius() - Fix implementation of KX_BulletPhysicsController::GetVelocity() (velocity at a point in geometric coordinate) - Don't try to set velocity on static object (Bullet will assert) - Add KX_GameObject::GetVelocity() for C access to local velocity
103 lines
3.0 KiB
C++
103 lines
3.0 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* The contents of this file may be used under the terms of either the GNU
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* General Public License Version 2 or later (the "GPL", see
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* http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
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* later (the "BL", see http://www.blender.org/BL/ ) which has to be
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* bought from the Blender Foundation to become active, in which case the
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* above mentioned GPL option does not apply.
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*
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* The Original Code is Copyright (C) 2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef __KX_ODEPHYSICSCONTROLLER_H
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#define __KX_ODEPHYSICSCONTROLLER_H
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#include "KX_IPhysicsController.h"
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#include "OdePhysicsController.h"
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/**
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Physics Controller, a special kind of Scene Graph Transformation Controller.
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It get's callbacks from Physics in case a transformation change took place.
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Each time the scene graph get's updated, the controller get's a chance
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in the 'Update' method to reflect changed.
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*/
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class KX_OdePhysicsController : public KX_IPhysicsController, public ODEPhysicsController
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{
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public:
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KX_OdePhysicsController(
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bool dyna,
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bool fullRigidBody,
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bool phantom,
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class PHY_IMotionState* motionstate,
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struct dxSpace* space,
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struct dxWorld* world,
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float mass,
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float friction,
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float restitution,
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bool implicitsphere,
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float center[3],
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float extends[3],
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float radius);
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virtual ~KX_OdePhysicsController() {};
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virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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virtual void RelativeTranslate(const MT_Vector3& dloc,bool local);
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virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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virtual void ApplyTorque(const MT_Vector3& torque,bool local);
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virtual void ApplyForce(const MT_Vector3& force,bool local);
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virtual MT_Vector3 GetLinearVelocity();
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virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
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virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Matrix3x3& orn);
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virtual void setPosition(const MT_Point3& pos);
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virtual void setScaling(const MT_Vector3& scaling);
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virtual MT_Scalar GetMass();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual void SuspendDynamics(bool);
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virtual void RestoreDynamics();
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virtual MT_Scalar GetRadius();
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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virtual void SetSumoTransform(bool nondynaonly);
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// todo: remove next line !
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virtual void SetSimulatedTime(double time);
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// call from scene graph to update
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virtual bool Update(double time);
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void
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SetOption(
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int option,
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int value
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){
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// intentionally empty
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};
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};
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#endif //__KX_ODEPHYSICSCONTROLLER_H
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