4ae4ecd3ce
First batch of optimizaton of the bullet adaptation layer in the BGE. - remove circular motion state update. - optimization of physic adaptation layer for bullet: bypass unecessary conversion of rotation matrix to quaternion and back. - remove double updates during object replication.
103 lines
3.4 KiB
C++
103 lines
3.4 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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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 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_IPHYSICSCONTROLLER_H
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#define __KX_IPHYSICSCONTROLLER_H
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#include "SG_Controller.h"
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#include "MT_Vector3.h"
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#include "MT_Point3.h"
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#include "MT_Matrix3x3.h"
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struct KX_ClientObjectInfo;
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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_IPhysicsController : public SG_Controller
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{
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protected:
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bool m_bDyna;
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bool m_suspendDynamics;
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void* m_userdata;
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public:
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KX_IPhysicsController(bool dyna,void* userdata);
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virtual ~KX_IPhysicsController();
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virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
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virtual void SetObject (SG_IObject* object)=0;
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virtual void setMargin (float collisionMargin)=0;
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virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
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virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
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virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
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virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
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virtual MT_Vector3 GetLinearVelocity()=0;
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virtual MT_Vector3 GetAngularVelocity()=0;
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virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
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virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
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virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
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virtual void getOrientation(MT_Quaternion& orn)=0;
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virtual void setOrientation(const MT_Matrix3x3& orn)=0;
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//virtual void setOrientation(const MT_Quaternion& orn)=0;
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virtual void setPosition(const MT_Point3& pos)=0;
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virtual void setScaling(const MT_Vector3& scaling)=0;
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virtual MT_Scalar GetMass()=0;
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virtual MT_Vector3 getReactionForce()=0;
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virtual void setRigidBody(bool rigid)=0;
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virtual void SuspendDynamics(bool ghost=false)=0;
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virtual void RestoreDynamics()=0;
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virtual SG_Controller* GetReplica(class SG_Node* destnode)=0;
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void SetDyna(bool isDynamic) {
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m_bDyna = isDynamic;
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}
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virtual void SetSumoTransform(bool nondynaonly)=0;
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// todo: remove next line !
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virtual void SetSimulatedTime(double time)=0;
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// call from scene graph to update
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virtual bool Update(double time)=0;
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void* GetUserData() { return m_userdata;}
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};
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#endif //__KX_IPHYSICSCONTROLLER_H
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