Initial revision

source/gameengine/Physics/Sumo/SumoPhysicsController.h

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+/**
+ * $Id$
+ *
+ * ***** 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 __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.
+*/
+
+class SumoPhysicsController : public PHY_IPhysicsController , public SM_Callback
+
+							 
+{
+
+	class SM_Object*	m_sumoObj;
+	class SM_Scene*		m_sumoScene; // needed for replication
+	DT_SceneHandle		m_solidscene;
+	bool				m_bFirstTime;
+	bool				m_bDyna;
+
+	float						m_friction;
+	float						m_restitution;
+
+
+	bool						m_suspendDynamics;
+
+public:
+	SumoPhysicsController(
+				class SM_Scene* sumoScene,
+				DT_SceneHandle solidscene,
+				class SM_Object* sumoObj,
+				class PHY_IMotionState* motionstate,
+				bool dyna); 
+
+	virtual ~SumoPhysicsController();
+	
+		// kinematic methods
+	virtual void		RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
+	virtual void		RelativeRotate(const float drot[9],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		setScaling(float scaleX,float scaleY,float scaleZ);
+	
+	// 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		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);
+
+		// clientinfo for raycasts for example
+	virtual	void*				getClientInfo() { return m_clientInfo;}
+	virtual	void				setClientInfo(void* clientinfo) {m_clientInfo = clientinfo;};
+	void*						m_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:
+
+	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
+
+