forked from bartvdbraak/blender
94 lines
3.8 KiB
C++
94 lines
3.8 KiB
C++
/**
|
|
* $Id$
|
|
*
|
|
* ***** BEGIN GPL/BL DUAL 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. The Blender
|
|
* Foundation also sells licenses for use in proprietary software under
|
|
* the Blender License. See http://www.blender.org/BL/ for information
|
|
* about this.
|
|
*
|
|
* 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/BL DUAL LICENSE BLOCK *****
|
|
*/
|
|
#ifndef PHY_IPHYSICSCONTROLLER_H
|
|
#define PHY_IPHYSICSCONTROLLER_H
|
|
|
|
#include "MT_Vector3.h"
|
|
|
|
/**
|
|
PHY_IPhysicsController is the abstract simplified Interface to a physical object.
|
|
It contains the IMotionState and IDeformableMesh Interfaces.
|
|
*/
|
|
|
|
|
|
class PHY_IPhysicsController
|
|
{
|
|
|
|
public:
|
|
|
|
virtual ~PHY_IPhysicsController();
|
|
/**
|
|
SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
virtual bool SynchronizeMotionStates(float time)=0;
|
|
/**
|
|
WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
|
|
*/
|
|
|
|
virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
|
|
virtual void WriteDynamicsToMotionState()=0;
|
|
// controller replication
|
|
virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
|
|
|
|
// kinematic methods
|
|
virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
|
|
virtual void RelativeRotate(const float drot[12],bool local)=0;
|
|
virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
|
|
virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
|
|
virtual void setPosition(float posX,float posY,float posZ)=0;
|
|
virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
|
|
|
|
// physics methods
|
|
virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
|
|
virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
|
|
virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
|
|
virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
|
|
virtual void resolveCombinedVelocities(const MT_Vector3 & lin_vel, const MT_Vector3 & ang_vel ) = 0;
|
|
virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
|
|
virtual void SetActive(bool active)=0;
|
|
|
|
// reading out information from physics
|
|
virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
|
|
virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
|
|
virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
|
|
|
|
// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
|
|
virtual void setRigidBody(bool rigid)=0;
|
|
|
|
// clientinfo for raycasts for example
|
|
virtual void* getClientInfo()=0;
|
|
virtual void setClientInfo(void* clientinfo)=0;
|
|
};
|
|
|
|
#endif //PHY_IPHYSICSCONTROLLER_H
|
|
|