KX_IPhysicsController.h

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/*
 * ***** BEGIN GPL 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.
 *
 * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
 */

#ifndef __KX_IPHYSICSCONTROLLER_H
#define __KX_IPHYSICSCONTROLLER_H

#include "SG_Controller.h"
#include "MT_Vector3.h"
#include "MT_Point3.h"
#include "MT_Transform.h"
#include "MT_Matrix3x3.h"

struct KX_ClientObjectInfo;

class KX_IPhysicsController : public SG_Controller
                             
{
protected:
    bool        m_bDyna;
    bool        m_bSensor;
    bool        m_bCompound;
    bool        m_suspendDynamics;
    void*       m_userdata;
public:
    KX_IPhysicsController(bool dyna,bool sensor,bool compound, void* userdata);
    virtual ~KX_IPhysicsController();


    virtual void    applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse)=0;
    virtual void    SetObject (SG_IObject* object)=0;
    virtual void    setMargin (float collisionMargin)=0;

    virtual void    RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
    virtual void    RelativeRotate(const MT_Matrix3x3& drot,bool local)=0;
    virtual void    ApplyTorque(const MT_Vector3& torque,bool local)=0;
    virtual void    ApplyForce(const MT_Vector3& force,bool local)=0;
    virtual MT_Vector3 GetLinearVelocity()=0;
    virtual MT_Vector3 GetAngularVelocity()=0;
    virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
    virtual void    SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
    virtual void    SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
    virtual void    resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;

    virtual void    getOrientation(MT_Quaternion& orn)=0;
    virtual void setOrientation(const MT_Matrix3x3& orn)=0;
    virtual void SetTransform()=0;
    //virtual   void setOrientation(const MT_Quaternion& orn)=0;
    virtual void setPosition(const MT_Point3& pos)=0;
    virtual void setScaling(const MT_Vector3& scaling)=0;
    virtual MT_Scalar   GetMass()=0;
    virtual void    SetMass(MT_Scalar newmass)=0;
    
    virtual float GetLinVelocityMin()=0;
    virtual void    SetLinVelocityMin(float newmass)=0;
    virtual float GetLinVelocityMax()=0;
    virtual void    SetLinVelocityMax(float newmass)=0;
    
    virtual MT_Vector3  GetLocalInertia()=0;
    virtual MT_Vector3  getReactionForce()=0;
    virtual void    setRigidBody(bool rigid)=0;
    virtual void    AddCompoundChild(KX_IPhysicsController* child) = 0;
    virtual void    RemoveCompoundChild(KX_IPhysicsController* child) = 0;

    virtual void    SuspendDynamics(bool ghost=false)=0;
    virtual void    RestoreDynamics()=0;

    virtual SG_Controller*  GetReplica(class SG_Node* destnode)=0;

    void    SetDyna(bool isDynamic) {
        m_bDyna = isDynamic;
    }

    void    SetSensor(bool isSensor) {
        m_bSensor = isSensor;
    }

    bool    IsDyna(void) {
        return m_bDyna;
    }

    bool    IsSensor(void) {
        return m_bSensor;
    }

    bool    IsCompound(void) {
        return m_bCompound;
    }

    virtual MT_Scalar GetRadius()=0;
    virtual void    SetSumoTransform(bool nondynaonly)=0;
    // todo: remove next line !
    virtual void    SetSimulatedTime(double time)=0;
    
    // call from scene graph to update
    virtual bool Update(double time)=0;
    void*   GetUserData() { return m_userdata;}
    
    
#ifdef WITH_CXX_GUARDEDALLOC
public:
    void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_IPhysicsController"); }
    void operator delete( void *mem ) { MEM_freeN(mem); }
#endif
};

#endif //__KX_IPHYSICSCONTROLLER_H