forked from bartvdbraak/blender
00c12e0906
This patch modifies the way the setParent actuator and KX_GameObject::setParent() function
works when parenting to a compound object: the collision shape of the object being parented
is dynamically added to the coumpound shape.
Similarly, unparenting an object from a compound object will cause the child collision shape
to be dynamically removed from the parent shape provided that is was previously added with
setParent.
Note: * This also works if the object is parented to a child of a compound object: the
collision shape is added to the compound shape of the top parent.
* The collision shape is added with the transformation (position, scale and orientation)
it had at the time of the parenting.
* The child shape is rigidly attached to the compound shape, the transformation is not
affected by any further change in position/scale/orientation of the child object.
* While the child shape is added to the compound shape, the child object is removed from
the dynamic world to avoid superposition of shapes (one for the object itself and
one for the compound child shape). This means that collision sensors on the child
object are disabled while the child object is parent to a compound object.
* There is no difference when setParent is used on a non-compound object: the child
object is automatically changed to a static ghost object to avoid bad interaction
with the parent shape; collision sensors on the child object continue to be active
while the object is parented.
* The child shape dynamically added to a compound shape modifies the inertia of the
compound object but not the mass. It participates to collision detection as any other
"static" child shape.
105 lines
3.2 KiB
C++
105 lines
3.2 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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* The contents of this file may be used under the terms of either the GNU
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* General Public License Version 2 or later (the "GPL", see
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* http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
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* later (the "BL", see http://www.blender.org/BL/ ) which has to be
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* bought from the Blender Foundation to become active, in which case the
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* above mentioned GPL option does not apply.
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*
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* The Original Code is Copyright (C) 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_ODEPHYSICSCONTROLLER_H
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#define __KX_ODEPHYSICSCONTROLLER_H
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#include "KX_IPhysicsController.h"
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#include "OdePhysicsController.h"
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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_OdePhysicsController : public KX_IPhysicsController, public ODEPhysicsController
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{
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public:
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KX_OdePhysicsController(
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bool dyna,
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bool fullRigidBody,
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bool phantom,
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class PHY_IMotionState* motionstate,
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struct dxSpace* space,
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struct dxWorld* world,
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float mass,
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float friction,
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float restitution,
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bool implicitsphere,
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float center[3],
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float extends[3],
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float radius);
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virtual ~KX_OdePhysicsController() {};
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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 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 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 resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
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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 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 void AddCompoundChild(KX_IPhysicsController* child) { }
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virtual void RemoveCompoundChild(KX_IPhysicsController* child) { }
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virtual void SuspendDynamics(bool);
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virtual void RestoreDynamics();
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virtual MT_Scalar GetRadius();
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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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
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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_ODEPHYSICSCONTROLLER_H
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