112 lines
4.3 KiB
C++
112 lines
4.3 KiB
C++
/*
|
|
* ***** BEGIN GPL LICENSE BLOCK *****
|
|
*
|
|
* 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.
|
|
*
|
|
* 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,
|
|
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
*
|
|
* 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 *****
|
|
*/
|
|
|
|
/** \file PHY_IPhysicsController.h
|
|
* \ingroup phys
|
|
*/
|
|
|
|
#ifndef __PHY_IPHYSICSCONTROLLER_H__
|
|
#define __PHY_IPHYSICSCONTROLLER_H__
|
|
|
|
#include "PHY_IController.h"
|
|
|
|
class PHY_IMotionState;
|
|
class PHY_IPhysicsEnvironment;
|
|
|
|
/**
|
|
* PHY_IPhysicsController is the abstract simplified Interface to a physical object.
|
|
* It contains the IMotionState and IDeformableMesh Interfaces.
|
|
*/
|
|
class PHY_IPhysicsController : public PHY_IController
|
|
{
|
|
|
|
public:
|
|
virtual ~PHY_IPhysicsController(){};
|
|
/**
|
|
* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
virtual bool SynchronizeMotionStates(float time)=0;
|
|
/**
|
|
* WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
|
|
virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
|
|
virtual void WriteDynamicsToMotionState()=0;
|
|
virtual class PHY_IMotionState* GetMotionState() = 0;
|
|
// 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;
|
|
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;
|
|
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;
|
|
|
|
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
|
|
};
|
|
|
|
#endif /* __PHY_IPHYSICSCONTROLLER_H__ */
|