forked from bartvdbraak/blender
a96869198b
If your simulation becomes unstable, crank up the 'Form' control. Removed Solid from class SumoPhysicsEnvironment (since it wasn't actually used.)
117 lines
3.4 KiB
C++
117 lines
3.4 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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* 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
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*/
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#ifndef __KX_SUMOPHYSICSCONTROLLER_H
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#define __KX_SUMOPHYSICSCONTROLLER_H
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#include "PHY_IPhysicsController.h"
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#include "SM_Object.h" // for SM_Callback
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/**
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Physics Controller, a special kind of Scene Graph Transformation Controller.
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It get's callbacks from Sumo in case a transformation change took place.
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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 changed.
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*/
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#include "SumoPhysicsController.h"
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#include "KX_IPhysicsController.h"
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class KX_SumoPhysicsController : public KX_IPhysicsController,
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public SumoPhysicsController
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{
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public:
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KX_SumoPhysicsController(
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class SM_Scene* sumoScene,
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/* DT_SceneHandle solidscene, */
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class SM_Object* sumoObj,
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class PHY_IMotionState* motionstate
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,bool dyna)
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: KX_IPhysicsController(dyna,NULL) ,
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SumoPhysicsController(sumoScene,/*solidscene,*/sumoObj,motionstate,dyna)
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{
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};
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virtual ~KX_SumoPhysicsController();
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void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
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virtual void SetObject (SG_IObject* object);
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void RelativeTranslate(const MT_Vector3& dloc,bool local);
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void RelativeRotate(const MT_Matrix3x3& drot,bool local);
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void ApplyTorque(const MT_Vector3& torque,bool local);
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void ApplyForce(const MT_Vector3& force,bool local);
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MT_Vector3 GetLinearVelocity();
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MT_Vector3 GetVelocity(const MT_Point3& pos);
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void SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
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void SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
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void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel);
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void SuspendDynamics();
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void RestoreDynamics();
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virtual void getOrientation(MT_Quaternion& orn);
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virtual void setOrientation(const MT_Quaternion& orn);
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virtual void setPosition(const MT_Point3& pos);
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virtual void setScaling(const MT_Vector3& scaling);
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virtual MT_Scalar GetMass();
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virtual MT_Vector3 getReactionForce();
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virtual void setRigidBody(bool rigid);
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virtual SG_Controller* GetReplica(class SG_Node* destnode);
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void SetSumoTransform(bool nondynaonly);
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// todo: remove next line !
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virtual void SetSimulatedTime(double time);
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// call from scene graph to update
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virtual bool Update(double time);
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void
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SetOption(
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int option,
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int value
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){
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// intentionally empty
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};
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};
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#endif //__KX_SUMOPHYSICSCONTROLLER_H
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