blender/source/gameengine/Ketsji/KX_IPhysicsController.h

123 lines
4.0 KiB
C
Raw Normal View History

2002-10-12 11:37:38 +00:00
/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
2002-10-12 11:37:38 +00:00
*
* 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.
2002-10-12 11:37:38 +00:00
*
* 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 *****
2002-10-12 11:37:38 +00:00
*/
#ifndef __KX_IPHYSICSCONTROLLER_H
#define __KX_IPHYSICSCONTROLLER_H
#include "SG_Controller.h"
#include "MT_Vector3.h"
#include "MT_Point3.h"
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
#include "MT_Transform.h"
2002-10-12 11:37:38 +00:00
#include "MT_Matrix3x3.h"
struct KX_ClientObjectInfo;
2002-10-12 11:37:38 +00:00
/**
Physics Controller, a special kind of Scene Graph Transformation Controller.
It get's callbacks from Physics in case a transformation change took place.
Each time the scene graph get's updated, the controller get's a chance
in the 'Update' method to reflect changed.
*/
class KX_IPhysicsController : public SG_Controller
{
protected:
bool m_bDyna;
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
bool m_bCompound;
2002-10-12 11:37:38 +00:00
bool m_suspendDynamics;
void* m_userdata;
public:
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
KX_IPhysicsController(bool dyna,bool compound, void* userdata);
2002-10-12 11:37:38 +00:00
virtual ~KX_IPhysicsController();
virtual void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
virtual void SetObject (SG_IObject* object)=0;
virtual void setMargin (float collisionMargin)=0;
2002-10-12 11:37:38 +00:00
virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
virtual MT_Vector3 GetLinearVelocity()=0;
virtual MT_Vector3 GetAngularVelocity()=0;
2002-10-12 11:37:38 +00:00
virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
2002-10-12 11:37:38 +00:00
virtual void getOrientation(MT_Quaternion& orn)=0;
virtual void setOrientation(const MT_Matrix3x3& orn)=0;
//virtual void setOrientation(const MT_Quaternion& orn)=0;
2002-10-12 11:37:38 +00:00
virtual void setPosition(const MT_Point3& pos)=0;
virtual void setScaling(const MT_Vector3& scaling)=0;
virtual MT_Scalar GetMass()=0;
virtual void SetMass(MT_Scalar newmass)=0;
virtual float GetLinVelocityMin()=0;
virtual void SetLinVelocityMin(float newmass)=0;
virtual float GetLinVelocityMax()=0;
virtual void SetLinVelocityMax(float newmass)=0;
virtual MT_Vector3 GetLocalInertia()=0;
2002-10-12 11:37:38 +00:00
virtual MT_Vector3 getReactionForce()=0;
virtual void setRigidBody(bool rigid)=0;
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
virtual void AddCompoundChild(KX_IPhysicsController* child) = 0;
virtual void RemoveCompoundChild(KX_IPhysicsController* child) = 0;
2002-10-12 11:37:38 +00:00
virtual void SuspendDynamics(bool ghost=false)=0;
2002-10-12 11:37:38 +00:00
virtual void RestoreDynamics()=0;
virtual SG_Controller* GetReplica(class SG_Node* destnode)=0;
void SetDyna(bool isDynamic) {
m_bDyna = isDynamic;
}
bool IsDyna(void) {
return m_bDyna;
}
2002-10-12 11:37:38 +00:00
BGE patch: dynamically update the coumpound parent shape when parenting to a compound object. This patch modifies the way the setParent actuator and KX_GameObject::setParent() function works when parenting to a compound object: the collision shape of the object being parented is dynamically added to the coumpound shape. Similarly, unparenting an object from a compound object will cause the child collision shape to be dynamically removed from the parent shape provided that is was previously added with setParent. Note: * This also works if the object is parented to a child of a compound object: the collision shape is added to the compound shape of the top parent. * The collision shape is added with the transformation (position, scale and orientation) it had at the time of the parenting. * The child shape is rigidly attached to the compound shape, the transformation is not affected by any further change in position/scale/orientation of the child object. * While the child shape is added to the compound shape, the child object is removed from the dynamic world to avoid superposition of shapes (one for the object itself and one for the compound child shape). This means that collision sensors on the child object are disabled while the child object is parent to a compound object. * There is no difference when setParent is used on a non-compound object: the child object is automatically changed to a static ghost object to avoid bad interaction with the parent shape; collision sensors on the child object continue to be active while the object is parented. * The child shape dynamically added to a compound shape modifies the inertia of the compound object but not the mass. It participates to collision detection as any other "static" child shape.
2009-01-13 22:59:18 +00:00
bool IsCompound(void) {
return m_bCompound;
}
virtual MT_Scalar GetRadius()=0;
2002-10-12 11:37:38 +00:00
virtual void SetSumoTransform(bool nondynaonly)=0;
// todo: remove next line !
virtual void SetSimulatedTime(double time)=0;
// call from scene graph to update
virtual bool Update(double time)=0;
void* GetUserData() { return m_userdata;}
};
2002-10-12 11:37:38 +00:00
#endif //__KX_IPHYSICSCONTROLLER_H