forked from bartvdbraak/blender
15c105c157
This patch introduces two options for the motion actuator: damping: number of frames to reach the target velocity. It takes into account the startup velocityin the target velocity direction and add 1/damping fraction of target velocity until the full velocity is reached. Works only with linear and angular velocity. It will be extended to delta and force motion method in a future release. clamping: apply the force and torque as long as the target velocity is not reached. If this option is set, the velocity specified in linV or angV are not applied to the object but used as target velocity. You should also specify a force in force or torque field: the force will be applied as long as the velocity along the axis of the vector set in linV or angV is not reached. Works best in low friction environment.
112 lines
3.4 KiB
C++
112 lines
3.4 KiB
C++
/**
|
|
* $Id$
|
|
*
|
|
* ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 *****
|
|
*/
|
|
#ifndef __KX_SUMOPHYSICSCONTROLLER_H
|
|
#define __KX_SUMOPHYSICSCONTROLLER_H
|
|
|
|
#include "PHY_IPhysicsController.h"
|
|
|
|
/**
|
|
Physics Controller, a special kind of Scene Graph Transformation Controller.
|
|
It get's callbacks from Sumo in case a transformation change took place.
|
|
Each time the scene graph get's updated, the controller get's a chance
|
|
in the 'Update' method to reflect changed.
|
|
*/
|
|
|
|
#include "SumoPhysicsController.h"
|
|
#include "KX_IPhysicsController.h"
|
|
|
|
class KX_SumoPhysicsController : public KX_IPhysicsController,
|
|
public SumoPhysicsController
|
|
|
|
{
|
|
|
|
|
|
public:
|
|
KX_SumoPhysicsController(
|
|
class SM_Scene* sumoScene,
|
|
class SM_Object* sumoObj,
|
|
class PHY_IMotionState* motionstate
|
|
,bool dyna)
|
|
: KX_IPhysicsController(dyna,NULL) ,
|
|
SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna)
|
|
{
|
|
};
|
|
virtual ~KX_SumoPhysicsController();
|
|
|
|
void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
|
|
virtual void SetObject (SG_IObject* object);
|
|
virtual void setMargin (float collisionMargin);
|
|
|
|
void RelativeTranslate(const MT_Vector3& dloc,bool local);
|
|
void RelativeRotate(const MT_Matrix3x3& drot,bool local);
|
|
void ApplyTorque(const MT_Vector3& torque,bool local);
|
|
void ApplyForce(const MT_Vector3& force,bool local);
|
|
MT_Vector3 GetLinearVelocity();
|
|
MT_Vector3 GetAngularVelocity() // to keep compiler happy
|
|
{ return MT_Vector3(0.0,0.0,0.0); }
|
|
MT_Vector3 GetVelocity(const MT_Point3& pos);
|
|
void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
|
|
void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
|
|
void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
|
|
|
|
|
|
void SuspendDynamics();
|
|
void RestoreDynamics();
|
|
virtual void getOrientation(MT_Quaternion& orn);
|
|
virtual void setOrientation(const MT_Quaternion& orn);
|
|
|
|
virtual void setPosition(const MT_Point3& pos);
|
|
virtual void setScaling(const MT_Vector3& scaling);
|
|
virtual MT_Scalar GetMass();
|
|
virtual MT_Vector3 getReactionForce();
|
|
virtual void setRigidBody(bool rigid);
|
|
|
|
|
|
virtual SG_Controller* GetReplica(class SG_Node* destnode);
|
|
|
|
|
|
void SetSumoTransform(bool nondynaonly);
|
|
// todo: remove next line !
|
|
virtual void SetSimulatedTime(double time);
|
|
|
|
// call from scene graph to update
|
|
virtual bool Update(double time);
|
|
|
|
void
|
|
SetOption(
|
|
int option,
|
|
int value
|
|
){
|
|
// intentionally empty
|
|
};
|
|
};
|
|
|
|
#endif //__KX_SUMOPHYSICSCONTROLLER_H
|
|
|