PHY_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.
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 * The Original Code is: all of this file.
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 * ***** END GPL LICENSE BLOCK *****
 */

#ifndef PHY_IPHYSICSCONTROLLER_H
#define PHY_IPHYSICSCONTROLLER_H

#include "PHY_IController.h"

class PHY_IMotionState;
class PHY_IPhysicsEnvironment;

class PHY_IPhysicsController : public PHY_IController
{

    public:
        virtual ~PHY_IPhysicsController();
        virtual bool        SynchronizeMotionStates(float time)=0;
        virtual void        WriteMotionStateToDynamics(bool nondynaonly)=0;
        virtual void        WriteDynamicsToMotionState()=0;
        virtual class PHY_IMotionState* GetMotionState() = 0;
        // controller replication
        virtual void        PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;

        // kinematic methods
        virtual void        RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)=0;
        virtual void        RelativeRotate(const float drot[12],bool local)=0;
        virtual void        getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)=0;
        virtual void        setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)=0;
        virtual void        setPosition(float posX,float posY,float posZ)=0;
        virtual void        getPosition(PHY__Vector3&   pos) const=0;
        virtual void        setScaling(float scaleX,float scaleY,float scaleZ)=0;
        
        // physics methods
        virtual void        ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)=0;
        virtual void        ApplyForce(float forceX,float forceY,float forceZ,bool local)=0;
        virtual void        SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)=0;
        virtual void        SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)=0;
        virtual void        resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;

        virtual void        applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)=0;
        virtual void        SetActive(bool active)=0;

        // reading out information from physics
        virtual void        GetLinearVelocity(float& linvX,float& linvY,float& linvZ)=0;
        virtual void        GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)=0; 
        virtual void        getReactionForce(float& forceX,float& forceY,float& forceZ)=0;

        // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted 
        virtual void        setRigidBody(bool rigid)=0;

        virtual PHY_IPhysicsController* GetReplica() {return 0;}

        virtual void    calcXform() =0;
        virtual void SetMargin(float margin) =0;
        virtual float GetMargin() const=0;
        virtual float GetRadius() const=0;
        virtual void  SetRadius(float margin) = 0;

        virtual float GetLinVelocityMin() const=0;
        virtual void  SetLinVelocityMin(float val) = 0;
        virtual float GetLinVelocityMax() const=0;
        virtual void  SetLinVelocityMax(float val) = 0;
        
        PHY__Vector3    GetWorldPosition(PHY__Vector3& localpos);

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

#endif //PHY_IPHYSICSCONTROLLER_H