KX_BulletPhysicsController.h

Go to the documentation of this file.

#ifndef KX_BULLET2PHYSICS_CONTROLLER
#define KX_BULLET2PHYSICS_CONTROLLER


#include "KX_IPhysicsController.h"
#ifdef USE_BULLET
#include "CcdPhysicsController.h"
#endif

class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
{
private:
    int m_savedCollisionFlags;
    int m_savedActivationState;
    short int m_savedCollisionFilterGroup;
    short int m_savedCollisionFilterMask;
    MT_Scalar m_savedMass;
    bool m_savedDyna;
    bool m_suspended;
    btCollisionShape* m_bulletChildShape;

public:
#ifdef USE_BULLET
    KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound);
    virtual ~KX_BulletPhysicsController ();
#endif

    //  KX_IPhysicsController interface

    virtual void    applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
    virtual void    SetObject (SG_IObject* object);
    virtual void    setMargin (float collisionMargin);
    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 GetAngularVelocity();
    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_Matrix3x3& orn);
    virtual void setPosition(const MT_Point3& pos);
    virtual void setScaling(const MT_Vector3& scaling);
    virtual void SetTransform();
    virtual MT_Scalar   GetMass();
    virtual void    SetMass(MT_Scalar newmass);
    virtual MT_Vector3  GetLocalInertia();
    virtual MT_Vector3  getReactionForce();
    virtual void    setRigidBody(bool rigid);
    virtual void    AddCompoundChild(KX_IPhysicsController* child);
    virtual void    RemoveCompoundChild(KX_IPhysicsController* child);

    virtual void    resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ);

    virtual void    SuspendDynamics(bool ghost);
    virtual void    RestoreDynamics();

    virtual SG_Controller*  GetReplica(class SG_Node* destnode);

    virtual MT_Scalar GetRadius();
    
    virtual float GetLinVelocityMin();
    virtual void  SetLinVelocityMin(float val);
    virtual float GetLinVelocityMax();
    virtual void  SetLinVelocityMax(float val);

    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*   GetUserData() { return m_userdata;}
    
    virtual const char* getName();

    void
    SetOption(
        int option,
        int value
    ){
        // intentionally empty
    };

    
#ifdef WITH_CXX_GUARDEDALLOC
public:
    void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_BulletPhysicsController"); }
    void operator delete( void *mem ) { MEM_freeN(mem); }
#endif
};

#endif //KX_BULLET2PHYSICS_CONTROLLER