forked from bartvdbraak/blender
9f48aa45ad
Angular velocity clamping was missing from the BGE. It is implemented similarly to the linear velocity clamping. It is needed to be able to drive physical simulations of systems that have a limited rotational speed. Reviewed by: campbellbarton, panzergame, ton Differential Revision: https://developer.blender.org/D1365
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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