84 lines
2.2 KiB
C++
84 lines
2.2 KiB
C++
#ifndef __KX_SUMOPHYSICSCONTROLLER_H
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#define __KX_SUMOPHYSICSCONTROLLER_H
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#include "PHY_IPhysicsController.h"
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#include "SM_Object.h" // for SM_Callback
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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 Sumo 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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#include "SumoPhysicsController.h"
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#include "KX_IPhysicsController.h"
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class KX_SumoPhysicsController : public KX_IPhysicsController,
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public SumoPhysicsController
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{
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public:
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KX_SumoPhysicsController(
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class SM_Scene* sumoScene,
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DT_SceneHandle solidscene,
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class SM_Object* sumoObj,
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class PHY_IMotionState* motionstate
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,bool dyna)
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: SumoPhysicsController(sumoScene,solidscene,sumoObj,motionstate,dyna),
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KX_IPhysicsController(dyna,NULL)
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{
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};
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virtual ~KX_SumoPhysicsController();
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void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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void RelativeTranslate(const MT_Vector3& dloc,bool local);
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void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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void ApplyTorque(const MT_Vector3& torque,bool local);
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void ApplyForce(const MT_Vector3& force,bool local);
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MT_Vector3 GetLinearVelocity();
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MT_Vector3 GetVelocity(const MT_Point3& pos);
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void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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void SuspendDynamics();
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void RestoreDynamics();
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Quaternion& 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 SG_Controller* GetReplica(class SG_Node* destnode);
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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_SUMOPHYSICSCONTROLLER_H
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