/*
 * ***** 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 *****
 */

/** \file PHY_IPhysicsController.h
 *  \ingroup phys
 */

#ifndef __PHY_IPHYSICSCONTROLLER_H__
#define __PHY_IPHYSICSCONTROLLER_H__

#include "PHY_IController.h"

class PHY_IMotionState;
class PHY_IPhysicsEnvironment;

class MT_Vector3;
class MT_Point3;
class MT_Matrix3x3;

/**
 * PHY_IPhysicsController is the abstract simplified Interface to a physical object.
 * It contains the IMotionState and IDeformableMesh Interfaces.
 */
class PHY_IPhysicsController : public PHY_IController
{

	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;
		virtual class PHY_IMotionState* GetMotionState() = 0;
		// controller replication
		virtual	void		PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
		virtual void		SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;

		// kinematic methods
		virtual void		RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
		virtual void		RelativeRotate(const MT_Matrix3x3&,bool local)=0;
		virtual	MT_Matrix3x3	GetOrientation()=0;
		virtual	void		SetOrientation(const MT_Matrix3x3& orn)=0;
		virtual	void		SetPosition(const MT_Vector3& pos)=0;
		virtual	void 		GetPosition(MT_Vector3&	pos) const=0;
		virtual	void		SetScaling(const MT_Vector3& scale)=0;
		virtual void		SetTransform()=0;

		virtual	MT_Scalar	GetMass()=0;
		virtual void		SetMass(MT_Scalar newmass)=0;

		// physics methods
		virtual void		ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
		virtual void		ApplyTorque(const MT_Vector3& torque,bool local)=0;
		virtual void		ApplyForce(const MT_Vector3& force,bool local)=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;

		virtual void		SuspendDynamics(bool ghost=false)=0;
		virtual void		RestoreDynamics()=0;

		virtual void		SetActive(bool active)=0;

		// reading out information from physics
		virtual MT_Vector3	GetLinearVelocity()=0;
		virtual MT_Vector3	GetAngularVelocity()=0;
		virtual MT_Vector3	GetVelocity(const MT_Point3& pos)=0;
		virtual	MT_Vector3	GetLocalInertia()=0;

		// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
		virtual	void		SetRigidBody(bool rigid)=0;

		virtual PHY_IPhysicsController*	GetReplica() {return 0;}
		virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;}

		virtual void	CalcXform() =0;
		virtual void SetMargin(float margin) =0;
		virtual float GetMargin() const=0;
		virtual float GetRadius() const=0;
		virtual void  SetRadius(float margin) = 0;

		virtual float GetLinVelocityMin() const=0;
		virtual void  SetLinVelocityMin(float val) = 0;
		virtual float GetLinVelocityMax() const=0;
		virtual void  SetLinVelocityMax(float val) = 0;
		
		MT_Vector3	GetWorldPosition(MT_Vector3& localpos);

		// Shape control
		virtual void    AddCompoundChild(PHY_IPhysicsController* child) = 0;
		virtual void    RemoveCompoundChild(PHY_IPhysicsController* child) = 0;


		virtual bool IsDynamic() = 0;
		virtual bool IsCompound() = 0;


#ifdef WITH_CXX_GUARDEDALLOC
	MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")
#endif
};

#endif  /* __PHY_IPHYSICSCONTROLLER_H__ */