blender/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h

77 lines
2.5 KiB
C++

/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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/BL DUAL LICENSE BLOCK *****
*/
#ifndef _SUMOPhysicsEnvironment
#define _SUMOPhysicsEnvironment
#include "MT_Scalar.h"
#include "PHY_IPhysicsEnvironment.h"
/**
* Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
* A derived class may be able to 'construct' entities by loading and/or converting
*/
class SumoPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
class SM_Scene* m_sumoScene;
public:
SumoPhysicsEnvironment();
virtual ~SumoPhysicsEnvironment();
// Perform an integration step of duration 'timeStep'.
virtual void proceed(double timeStep);
virtual void setGravity(float x,float y,float z);
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ);
virtual void removeConstraint(int constraintid);
virtual PHY_IPhysicsController* rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
// sumo specific
SM_Scene* GetSumoScene()
{
return m_sumoScene;
}
protected:
// At least 100Hz (isn't this CPU hungry ?)
static const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
};
#endif //_SUMOPhysicsEnvironment