Benoit Bolsee
949b6ca80f
Implementation of the PHY_IPhysicsController::SetMargin(), GetMargin(), SetRadius() and GetRadius() for Bullet and Sumo to allow resetting the Near sensor radius. For bullet use the new setUnscaledRadius() function to change sphere radius. In pPreparation of a Fh constraint actuator: - Add KX_IPhysicsController::GetRadius() - Fix implementation of KX_BulletPhysicsController::GetVelocity() (velocity at a point in geometric coordinate) - Don't try to set velocity on static object (Bullet will assert) - Add KX_GameObject::GetVelocity() for C access to local velocity
101 lines
4.0 KiB
C++
101 lines
4.0 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef PHY_IPHYSICSCONTROLLER_H
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#define PHY_IPHYSICSCONTROLLER_H
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#include "PHY_DynamicTypes.h"
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/**
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PHY_IPhysicsController is the abstract simplified Interface to a physical object.
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It contains the IMotionState and IDeformableMesh Interfaces.
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*/
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class PHY_IPhysicsController
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{
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public:
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virtual ~PHY_IPhysicsController();
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/**
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SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual bool SynchronizeMotionStates(float time)=0;
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/**
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WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
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*/
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virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
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virtual void WriteDynamicsToMotionState()=0;
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// controller replication
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virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
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// kinematic methods
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virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
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virtual void RelativeRotate(const float drot[12],bool local)=0;
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virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
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virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
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virtual void setPosition(float posX,float posY,float posZ)=0;
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virtual void getPosition(PHY__Vector3& pos) const=0;
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virtual void setScaling(float scaleX,float scaleY,float scaleZ)=0;
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// physics methods
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virtual void ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
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virtual void ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
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virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
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virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
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virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
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virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
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virtual void SetActive(bool active)=0;
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// reading out information from physics
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virtual void GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
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virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0;
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virtual void getReactionForce(float& forceX,float& forceY,float& forceZ)=0;
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// dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
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virtual void setRigidBody(bool rigid)=0;
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// clientinfo for raycasts for example
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virtual void* getNewClientInfo()=0;
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virtual void setNewClientInfo(void* clientinfo)=0;
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virtual PHY_IPhysicsController* GetReplica() {return 0;}
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virtual void calcXform() =0;
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virtual void SetMargin(float margin) =0;
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virtual float GetMargin() const=0;
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virtual float GetRadius() const=0;
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virtual void SetRadius(float margin) = 0;
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PHY__Vector3 GetWorldPosition(PHY__Vector3& localpos);
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};
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#endif //PHY_IPHYSICSCONTROLLER_H
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