forked from bartvdbraak/blender
86 lines
3.4 KiB
C
86 lines
3.4 KiB
C
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/*
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* Copyright (c) 2001-2005 Erwin Coumans <phy@erwincoumans.com>
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies and
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* that both that copyright notice and this permission notice appear
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* in supporting documentation. Erwin Coumans makes no
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* representations about the suitability of this software for any
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* purpose. It is provided "as is" without express or implied warranty.
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*
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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 "PHY_DynamicTypes.h"
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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
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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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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
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virtual void RelativeRotate(const float drot[12],bool local)=0;
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
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virtual void setPosition(float posX,float posY,float posZ)=0;
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virtual void getPosition(PHY__Vector3& pos) const=0;
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virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=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 void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=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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// clientinfo for raycasts for example
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virtual void* getNewClientInfo()=0;
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virtual void setNewClientInfo(void* clientinfo)=0;
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virtual PHY_IPhysicsController* GetReplica() {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 { return 0.f;}
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PHY__Vector3 GetWorldPosition(PHY__Vector3& localpos);
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};
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#endif //PHY_IPHYSICSCONTROLLER_H
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