first checkin of ode blender engine files

source/gameengine/Physics/BlOde/OdePhysicsController.h

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+/**
+ * $Id$
+ *
+ * ***** 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 __ODE_PHYSICSCONTROLLER_H
+#define __ODE_PHYSICSCONTROLLER_H
+
+
+#include "PHY_IPhysicsController.h"
+
+
+/**
+	ODE 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 ODEPhysicsController : public PHY_IPhysicsController
+							 
+{
+
+	bool	m_OdeDyna;
+
+public:
+	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 ~ODEPhysicsController();
+	
+		// 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;
+
+	struct	dxBody*				GetOdeBodyId() { return m_bodyId; }
+
+	float	getFriction() { return m_friction;}
+	float	getRestitution() { return m_restitution;}
+
+	
+
+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;
+	bool						m_OdeSuspendDynamics;
+	class	PHY_IMotionState*			m_MotionState;
+
+	//Ode specific members
+	struct	dxBody*				m_bodyId;
+	struct dxGeom*				m_geomId;
+	struct dxSpace*				m_space;
+	struct dxWorld*				m_world;
+	float						m_mass;
+	float						m_friction;
+	float						m_restitution;
+	bool						m_implicitsphere;
+	float						m_center[3];
+	float						m_extends[3];
+	float						m_radius;
+};
+
+#endif //__ODE_PHYSICSCONTROLLER_H
+
+
+