first checkin of ode blender engine files

source/gameengine/Ketsji/KX_OdePhysicsController.cpp

@@ -0,0 +1,236 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * The contents of this file may be used under the terms of either the GNU
+ * General Public License Version 2 or later (the "GPL", see
+ * http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
+ * later (the "BL", see http://www.blender.org/BL/ ) which has to be
+ * bought from the Blender Foundation to become active, in which case the
+ * above mentioned GPL option does not apply.
+ *
+ * The Original Code is Copyright (C) 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 *****
+ */
+#include "KX_OdePhysicsController.h"
+#include "KX_GameObject.h"
+#include "KX_MotionState.h"
+
+
+KX_OdePhysicsController::KX_OdePhysicsController(
+												 bool dyna,
+												 bool fullRigidBody,
+												 bool phantom,
+												 class PHY_IMotionState* motionstate,
+												 struct dxSpace* space,
+												 struct dxWorld*	world,
+												 float	mass,
+												 float	friction,
+												 float	restitution,
+												 bool	implicitsphere,
+												 float	center[3],
+												 float	extends[3],
+												 float	radius
+												 ) 
+: KX_IPhysicsController(dyna,(PHY_IPhysicsController*)this),
+ODEPhysicsController(
+dyna,fullRigidBody,phantom,motionstate,
+space,world,mass,friction,restitution,
+implicitsphere,center,extends,radius)
+{
+};
+
+
+bool	KX_OdePhysicsController::Update(double time)
+{
+	return SynchronizeMotionStates(time);
+}
+
+void			KX_OdePhysicsController::SetObject (SG_IObject* object)
+{
+	SG_Controller::SetObject(object);
+
+	// cheating here...
+	KX_GameObject* gameobj = (KX_GameObject*)	object->GetSGClientObject();
+	gameobj->m_pPhysicsController1 = this;
+	
+}
+
+
+
+void	KX_OdePhysicsController::applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)
+{
+	ODEPhysicsController::applyImpulse(attach[0],attach[1],attach[2],impulse[0],impulse[1],impulse[2]);
+}
+	
+
+
+void	KX_OdePhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool local)
+{
+	ODEPhysicsController::RelativeTranslate(dloc[0],dloc[1],dloc[2],local);
+
+}
+void	KX_OdePhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local)
+{
+	double oldmat[12];
+	drot.getValue(oldmat);
+	float newmat[9];
+	float *m = &newmat[0];
+	double *orgm = &oldmat[0];
+
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+	 *m++ = *orgm++;*m++ = *orgm++;*m++ = *orgm++;orgm++;
+
+	 ODEPhysicsController::RelativeRotate(newmat,local);
+
+}
+
+void	KX_OdePhysicsController::ApplyTorque(const MT_Vector3& torque,bool local)
+{
+		ODEPhysicsController::ApplyTorque(torque[0],torque[1],torque[2],local);
+
+}
+void	KX_OdePhysicsController::ApplyForce(const MT_Vector3& force,bool local)
+{
+		ODEPhysicsController::ApplyForce(force[0],force[1],force[2],local);
+
+}
+MT_Vector3 KX_OdePhysicsController::GetLinearVelocity()
+{
+	return MT_Vector3(0,0,0);
+}
+
+MT_Vector3 KX_OdePhysicsController::GetVelocity(const MT_Point3& pos)
+{
+	return MT_Vector3(0,0,0);
+}
+
+void	KX_OdePhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local)
+{
+
+}
+void	KX_OdePhysicsController::SetLinearVelocity(const MT_Vector3& lin_vel,bool local)
+{
+	ODEPhysicsController::SetLinearVelocity(lin_vel[0],lin_vel[1],lin_vel[2],local);
+}
+
+void KX_OdePhysicsController::setOrientation(const MT_Quaternion& orn)
+{
+	ODEPhysicsController::setOrientation(orn[0],orn[1],orn[2],orn[3]);
+}
+
+void KX_OdePhysicsController::getOrientation(MT_Quaternion& orn)
+{
+	float florn[4];
+	florn[0]=orn[0];
+	florn[1]=orn[1];
+	florn[2]=orn[2];
+	florn[3]=orn[3];
+	ODEPhysicsController::getOrientation(florn[0],florn[1],florn[2],florn[3]);
+	orn[0] = florn[0];
+	orn[1] = florn[1];
+	orn[2] = florn[2];
+	orn[3] = florn[3];
+
+
+}
+
+void KX_OdePhysicsController::setPosition(const MT_Point3& pos)
+{
+	ODEPhysicsController::setPosition(pos[0],pos[1],pos[2]);
+}
+
+void KX_OdePhysicsController::setScaling(const MT_Vector3& scaling)
+{
+}
+
+MT_Scalar	KX_OdePhysicsController::GetMass()
+{
+	return ODEPhysicsController::getMass();
+}
+
+MT_Vector3	KX_OdePhysicsController::getReactionForce()
+{
+	return MT_Vector3(0,0,0);
+}
+void	KX_OdePhysicsController::setRigidBody(bool rigid)
+{
+
+}
+
+void	KX_OdePhysicsController::SuspendDynamics()
+{
+	ODEPhysicsController::SuspendDynamics();
+}
+void	KX_OdePhysicsController::RestoreDynamics()
+{
+	ODEPhysicsController::RestoreDynamics();
+}
+	
+
+SG_Controller*	KX_OdePhysicsController::GetReplica(class SG_Node* destnode)
+{
+	PHY_IMotionState* motionstate = new KX_MotionState(destnode);
+	KX_OdePhysicsController* copyctrl = new KX_OdePhysicsController(*this);
+
+	// nlin: copied from KX_SumoPhysicsController.cpp. Not 100% sure what this does....
+	// furthermore, the parentctrl is not used in ODEPhysicsController::PostProcessReplica, but
+	// maybe it can/should be used in the future...
+
+	// begin copy block ------------------------------------------------------------------
+
+	//parentcontroller is here be able to avoid collisions between parent/child
+
+	PHY_IPhysicsController* parentctrl = NULL;
+
+	if (destnode != destnode->GetRootSGParent())
+	{
+		KX_GameObject* clientgameobj = (KX_GameObject*) destnode->GetRootSGParent()->GetSGClientObject();
+		if (clientgameobj)
+		{
+			parentctrl = (KX_OdePhysicsController*)clientgameobj->GetPhysicsController();
+		} else
+		{
+			// it could be a false node, try the children
+			NodeList::const_iterator childit;
+			for (
+				childit = destnode->GetSGChildren().begin();
+			childit!= destnode->GetSGChildren().end();
+			++childit
+				) {
+				KX_GameObject* clientgameobj = static_cast<KX_GameObject*>( (*childit)->GetSGClientObject());
+				if (clientgameobj)
+				{
+					parentctrl = (KX_OdePhysicsController*)clientgameobj->GetPhysicsController();
+				}
+			}
+		}
+	}
+	// end copy block ------------------------------------------------------------------
+
+	copyctrl->PostProcessReplica(motionstate, this);
+
+	return copyctrl;
+	
+}
+
+
+	
+void	KX_OdePhysicsController::SetSumoTransform(bool nondynaonly)
+{
+
+}
+	// todo: remove next line !
+void	KX_OdePhysicsController::SetSimulatedTime(double time)
+{
+
+}
+