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

/**
 * @file $Id$
 *
 * ***** BEGIN GPL 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.
 *
 * 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 LICENSE BLOCK *****
 */
#ifndef __SUMO_PHYSICSCONTROLLER_H
#define __SUMO_PHYSICSCONTROLLER_H

#include "PHY_IPhysicsController.h"
#include "SM_Scene.h"
#include "SM_Callback.h"

/**
 *	Sumo Physics Controller, a special kind of a PhysicsController.
 *	A Physics Controller is a special kind of Scene Graph Transformation Controller.
 *	Each time the scene graph get's updated, the controller get's a chance
 *	in the 'Update' method to reflect changes.
 *	
 *	Sumo uses the SOLID library for collision detection.
 */
class SumoPhysicsController : public PHY_IPhysicsController , public SM_Callback

							 
{


public:
	SumoPhysicsController(
				class SM_Scene* sumoScene,
				class SM_Object* sumoObj,
				class PHY_IMotionState* motionstate,
				bool dyna); 

	virtual ~SumoPhysicsController();
	
	/** 
	 * @name Kinematic Methods.
	 */
	/*@{*/
	virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
	/**
	 * @param drot a 3x4 matrix.  This will treated as a 3x3 rotation matrix.
	 * @warning RelativeRotate expects a 3x4 matrix.  The fourth column is padding.
	 */
	virtual void		RelativeRotate(const float drot[12],bool local);
	virtual	void		getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
	virtual	void		setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
	virtual	void		setPosition(float posX,float posY,float posZ);
	virtual	void 		getPosition(PHY__Vector3&	pos) const;

	virtual	void		setScaling(float scaleX,float scaleY,float scaleZ);
	/*@}*/
	
	/**
	 * @name Physics Methods
	 */
	/*@{*/
	virtual void		ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
	virtual void		ApplyForce(float forceX,float forceY,float forceZ,bool local);
	virtual void		SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
	virtual void		SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
	virtual void		resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);
	virtual void		applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
	virtual void		SetActive(bool active){};
	virtual void		SuspendDynamics();
	virtual void		RestoreDynamics();
	/*@}*/


	/**  
	 *	reading out information from physics
	 */
	virtual void		GetLinearVelocity(float& linvX,float& linvY,float& linvZ);
	/** 
	 *	GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
	 */
	virtual void		GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); 
	virtual	float		getMass();
	virtual	void		getReactionForce(float& forceX,float& forceY,float& forceZ);
	virtual	void		setRigidBody(bool rigid);
		
	
	virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);
	
	// TODO: remove next line !
	virtual void			SetSimulatedTime(float time);
	
	virtual	void		WriteDynamicsToMotionState() {};
	virtual void	WriteMotionStateToDynamics(bool nondynaonly);

	/** 
	 *	call from Scene Graph Node to 'update'.
	 */
	virtual bool	SynchronizeMotionStates(float time);

	virtual void	calcXform();
	virtual void SetMargin(float margin) ;
	virtual float GetMargin() const;
	virtual float GetRadius() const ;


	// clientinfo for raycasts for example
	virtual	void*				getNewClientInfo();
	virtual	void				setNewClientInfo(void* clientinfo);
	
	float	getFriction() { return m_friction;}
	float	getRestitution() { return m_restitution;}

	/**
	 * Sumo callback
	 */
	virtual void do_me();

	class SM_Object*	GetSumoObject ()
	{
		return m_sumoObj;
	};

	void GetWorldOrientation(class MT_Matrix3x3& mat);
	void GetWorldPosition(MT_Point3& pos);
	void GetWorldScaling(MT_Vector3& scale);


//	void	SetSumoObject(class SM_Object* sumoObj)	{
//		m_sumoObj = sumoObj;
//	}
//	void	SetSumoScene(class SM_Scene* sumoScene)	{
//		m_sumoScene = sumoScene;
//	}

	void	setSumoTransform(bool nondynaonly);


private:
	class SM_Object*		m_sumoObj;
	class SM_Scene*			m_sumoScene; // needed for replication
	bool				m_bFirstTime;
	bool				m_bDyna;

	float				m_friction;
	float				m_restitution;


	bool				m_suspendDynamics;

	bool				m_firstTime;
	bool				m_bFullRigidBody;
	bool				m_bPhantom;				// special flag for objects that are not affected by physics 'resolver'

	// data to calculate fake velocities for kinematic objects (non-dynas)
	bool				m_bKinematic;
	bool				m_bPrevKinematic;
	
	float				m_lastTime;

	class	PHY_IMotionState*	m_MotionState;
	
	
};

#endif //__SUMO_PHYSICSCONTROLLER_H