forked from bartvdbraak/blender
155 lines
5.5 KiB
C++
155 lines
5.5 KiB
C++
/*
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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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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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/** \file PHY_IPhysicsController.h
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* \ingroup phys
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*/
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#ifndef __PHY_IPHYSICSCONTROLLER_H__
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#define __PHY_IPHYSICSCONTROLLER_H__
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#include <vector>
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#include "PHY_IController.h"
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class PHY_IMotionState;
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class PHY_IPhysicsEnvironment;
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class MT_Vector3;
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class MT_Point3;
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class MT_Matrix3x3;
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class KX_GameObject;
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class RAS_MeshObject;
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/**
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* PHY_IPhysicsController is the abstract simplified Interface to a physical object.
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* It contains the IMotionState and IDeformableMesh Interfaces.
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*/
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class PHY_IPhysicsController : public PHY_IController
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{
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public:
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virtual ~PHY_IPhysicsController() {};
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/**
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* SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual bool SynchronizeMotionStates(float time)=0;
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/**
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* WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
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virtual void WriteDynamicsToMotionState()=0;
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virtual class PHY_IMotionState* GetMotionState() = 0;
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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
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virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;
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// kinematic methods
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virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
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virtual void RelativeRotate(const MT_Matrix3x3&,bool local)=0;
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virtual MT_Matrix3x3 GetOrientation()=0;
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virtual void SetOrientation(const MT_Matrix3x3& orn)=0;
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virtual void SetPosition(const MT_Vector3& pos)=0;
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virtual void GetPosition(MT_Vector3& pos) const=0;
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virtual void SetScaling(const MT_Vector3& scale)=0;
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virtual void SetTransform()=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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// physics methods
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virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse,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 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 float GetLinearDamping() const=0;
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virtual float GetAngularDamping() const=0;
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virtual void SetLinearDamping(float damping)=0;
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virtual void SetAngularDamping(float damping)=0;
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virtual void SetDamping(float linear, float angular)=0;
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virtual void RefreshCollisions() = 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 void SetActive(bool active)=0;
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// reading out information from physics
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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 MT_Vector3 GetLocalInertia()=0;
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// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
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virtual void SetRigidBody(bool rigid)=0;
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virtual PHY_IPhysicsController* GetReplica() {return 0;}
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virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;}
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virtual void CalcXform() =0;
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virtual void SetMargin(float margin) =0;
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virtual float GetMargin() const=0;
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virtual float GetRadius() const=0;
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virtual void SetRadius(float margin) = 0;
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virtual float GetLinVelocityMin() const=0;
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virtual void SetLinVelocityMin(float val) = 0;
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virtual float GetLinVelocityMax() const=0;
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virtual void SetLinVelocityMax(float val) = 0;
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virtual void SetAngularVelocityMin(float val) = 0;
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virtual float GetAngularVelocityMin() const = 0;
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virtual void SetAngularVelocityMax(float val) = 0;
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virtual float GetAngularVelocityMax() const = 0;
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MT_Vector3 GetWorldPosition(MT_Vector3& localpos);
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// Shape control
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virtual void AddCompoundChild(PHY_IPhysicsController* child) = 0;
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virtual void RemoveCompoundChild(PHY_IPhysicsController* child) = 0;
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virtual bool IsDynamic() = 0;
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virtual bool IsCompound() = 0;
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virtual bool IsSuspended() const = 0;
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virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj) = 0;
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/* Method to replicate rigid body joint contraints for group instances. */
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virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj) = 0;
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#ifdef WITH_CXX_GUARDEDALLOC
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MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")
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#endif
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};
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#endif /* __PHY_IPHYSICSCONTROLLER_H__ */
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