forked from bartvdbraak/blender
149 lines
4.5 KiB
C++
149 lines
4.5 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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/BL DUAL LICENSE BLOCK *****
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*/
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#ifndef __ODE_PHYSICSCONTROLLER_H
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#define __ODE_PHYSICSCONTROLLER_H
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#include "PHY_IPhysicsController.h"
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/**
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ODE Physics Controller, a special kind of a PhysicsController.
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A Physics Controller is a special kind of Scene Graph Transformation Controller.
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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 changes.
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*/
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class ODEPhysicsController : public PHY_IPhysicsController
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{
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bool m_OdeDyna;
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public:
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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 ~ODEPhysicsController();
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
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virtual void RelativeRotate(const float drot[9],bool local);
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
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virtual void setPosition(float posX,float posY,float posZ);
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virtual void setScaling(float scaleX,float scaleY,float scaleZ);
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local);
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
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virtual void SetActive(bool active){};
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virtual void SuspendDynamics();
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virtual void RestoreDynamics();
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/**
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reading out information from physics
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*/
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virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
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/**
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GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
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*/
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ);
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virtual float getMass();
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ);
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virtual void setRigidBody(bool rigid);
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
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// \todo remove next line !
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virtual void SetSimulatedTime(float time);
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virtual void WriteDynamicsToMotionState() {};
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virtual void WriteMotionStateToDynamics(bool nondynaonly);
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/**
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call from Scene Graph Node to 'update'.
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*/
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virtual bool SynchronizeMotionStates(float time);
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// clientinfo for raycasts for example
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virtual void* getClientInfo() { return m_clientInfo;}
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virtual void setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
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void* m_clientInfo;
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struct dxBody* GetOdeBodyId() { return m_bodyId; }
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float getFriction() { return m_friction;}
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float getRestitution() { return m_restitution;}
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private:
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bool m_firstTime;
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bool m_bFullRigidBody;
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bool m_bPhantom; // special flag for objects that are not affected by physics 'resolver'
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// data to calculate fake velocities for kinematic objects (non-dynas)
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bool m_bKinematic;
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bool m_bPrevKinematic;
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float m_lastTime;
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bool m_OdeSuspendDynamics;
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class PHY_IMotionState* m_MotionState;
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//Ode specific members
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struct dxBody* m_bodyId;
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struct dxGeom* m_geomId;
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struct dxSpace* m_space;
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struct dxWorld* m_world;
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float m_mass;
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float m_friction;
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float m_restitution;
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bool m_implicitsphere;
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float m_center[3];
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float m_extends[3];
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float m_radius;
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};
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#endif //__ODE_PHYSICSCONTROLLER_H
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