3511f8ef9f
Clamp objects min/max velocity. Accessed with bullet physics from the advanced button with dynamic and rigid body objects. - useful for preventing unstable physics in cases where objects move too fast. - can add linear velocity with the motion actuator to give smooth motion transitions, without moving too fast. - minimum velocity means objects don't stop moving. - python scripts can adjust these values speedup or throttle velocity in the existing direction. Also made copy properties from an object with no properties work (in case you want to clear all props)
123 lines
4.0 KiB
C++
123 lines
4.0 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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* 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_Transform.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_bCompound;
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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,bool compound, 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 void SetMass(MT_Scalar newmass)=0;
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virtual float GetLinVelocityMin()=0;
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virtual void SetLinVelocityMin(float newmass)=0;
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virtual float GetLinVelocityMax()=0;
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virtual void SetLinVelocityMax(float newmass)=0;
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virtual MT_Vector3 GetLocalInertia()=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 AddCompoundChild(KX_IPhysicsController* child) = 0;
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virtual void RemoveCompoundChild(KX_IPhysicsController* child) = 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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bool IsDyna(void) {
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return m_bDyna;
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}
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bool IsCompound(void) {
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return m_bCompound;
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}
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virtual MT_Scalar GetRadius()=0;
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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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