first checkin of ode blender engine files

source/gameengine/Ketsji/KX_OdePhysicsController.h

@@ -0,0 +1,100 @@
+/**
+ * $Id$
+ *
+ * ***** 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 *****
+ */
+#ifndef __KX_ODEPHYSICSCONTROLLER_H
+#define __KX_ODEPHYSICSCONTROLLER_H
+
+#include "KX_IPhysicsController.h"
+#include "OdePhysicsController.h"
+
+
+/**
+	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_OdePhysicsController : public KX_IPhysicsController,	public ODEPhysicsController
+							 
+{
+
+public:
+	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);
+	
+	virtual ~KX_OdePhysicsController() {};
+
+	virtual void	applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
+	virtual void	SetObject (SG_IObject* object);
+
+	virtual void	RelativeTranslate(const MT_Vector3& dloc,bool local);
+	virtual void	RelativeRotate(const MT_Matrix3x3& drot,bool local);
+	virtual void	ApplyTorque(const MT_Vector3& torque,bool local);
+	virtual void	ApplyForce(const MT_Vector3& force,bool local);
+	virtual MT_Vector3 GetLinearVelocity();
+	virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
+	virtual void	SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
+	virtual void	SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
+	virtual	void		getOrientation(MT_Quaternion& orn);
+	virtual	void setOrientation(const MT_Quaternion& orn);
+	virtual	void setPosition(const MT_Point3& pos);
+	virtual	void setScaling(const MT_Vector3& scaling);
+	virtual	MT_Scalar	GetMass();
+	virtual	MT_Vector3	getReactionForce();
+	virtual void	setRigidBody(bool rigid);
+
+	virtual void	SuspendDynamics();
+	virtual void	RestoreDynamics();
+	
+
+	virtual	SG_Controller*	GetReplica(class SG_Node* destnode);
+
+	
+	virtual void	SetSumoTransform(bool nondynaonly);
+	// todo: remove next line !
+	virtual void	SetSimulatedTime(double time);
+	
+	// call from scene graph to update
+	virtual bool Update(double time);
+
+		void
+	SetOption(
+		int option,
+		int value
+	){
+		// intentionally empty
+	};
+
+};
+#endif //__KX_ODEPHYSICSCONTROLLER_H