103 lines
3.1 KiB
C++
103 lines
3.1 KiB
C++
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/** \file KX_BulletPhysicsController.h
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* \ingroup ketsji
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*/
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#ifndef KX_BULLET2PHYSICS_CONTROLLER
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#define KX_BULLET2PHYSICS_CONTROLLER
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#include "KX_IPhysicsController.h"
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#ifdef USE_BULLET
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#include "CcdPhysicsController.h"
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#endif
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class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
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{
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private:
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int m_savedCollisionFlags;
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int m_savedActivationState;
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short int m_savedCollisionFilterGroup;
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short int m_savedCollisionFilterMask;
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MT_Scalar m_savedMass;
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bool m_savedDyna;
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bool m_suspended;
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btCollisionShape* m_bulletChildShape;
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public:
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#ifdef USE_BULLET
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KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound);
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virtual ~KX_BulletPhysicsController ();
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#endif
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///////////////////////////////////
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// KX_IPhysicsController interface
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////////////////////////////////////
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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 setMargin (float collisionMargin);
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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 GetAngularVelocity();
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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 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 void SetTransform();
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virtual MT_Scalar GetMass();
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virtual void SetMass(MT_Scalar newmass);
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virtual MT_Vector3 GetLocalInertia();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual void AddCompoundChild(KX_IPhysicsController* child);
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virtual void RemoveCompoundChild(KX_IPhysicsController* child);
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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 SuspendDynamics(bool ghost);
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virtual void RestoreDynamics();
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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virtual MT_Scalar GetRadius();
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virtual float GetLinVelocityMin();
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virtual void SetLinVelocityMin(float val);
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virtual float GetLinVelocityMax();
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virtual void SetLinVelocityMax(float val);
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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* GetUserData() { return m_userdata;}
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virtual const char* getName();
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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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#ifdef WITH_CXX_GUARDEDALLOC
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public:
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void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_BulletPhysicsController"); }
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void operator delete( void *mem ) { MEM_freeN(mem); }
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#endif
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};
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#endif //KX_BULLET2PHYSICS_CONTROLLER
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