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28 /** \file PHY_IPhysicsController.h
32 #ifndef __PHY_IPHYSICSCONTROLLER_H__
33 #define __PHY_IPHYSICSCONTROLLER_H__
36 #include "PHY_IController.h"
38 class PHY_IMotionState;
39 class PHY_IPhysicsEnvironment;
49 * PHY_IPhysicsController is the abstract simplified Interface to a physical object.
50 * It contains the IMotionState and IDeformableMesh Interfaces.
52 class PHY_IPhysicsController : public PHY_IController
56 virtual ~PHY_IPhysicsController(){};
58 * SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
60 virtual bool SynchronizeMotionStates(float time)=0;
62 * WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
65 virtual void WriteMotionStateToDynamics(bool nondynaonly)=0;
66 virtual void WriteDynamicsToMotionState()=0;
67 virtual class PHY_IMotionState* GetMotionState() = 0;
68 // controller replication
69 virtual void PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)=0;
70 virtual void SetPhysicsEnvironment(class PHY_IPhysicsEnvironment *env)=0;
73 virtual void RelativeTranslate(const MT_Vector3& dloc,bool local)=0;
74 virtual void RelativeRotate(const MT_Matrix3x3&,bool local)=0;
75 virtual MT_Matrix3x3 GetOrientation()=0;
76 virtual void SetOrientation(const MT_Matrix3x3& orn)=0;
77 virtual void SetPosition(const MT_Vector3& pos)=0;
78 virtual void GetPosition(MT_Vector3& pos) const=0;
79 virtual void SetScaling(const MT_Vector3& scale)=0;
80 virtual void SetTransform()=0;
82 virtual MT_Scalar GetMass()=0;
83 virtual void SetMass(MT_Scalar newmass)=0;
86 virtual void ApplyImpulse(const MT_Point3& attach, const MT_Vector3& impulse,bool local)=0;
87 virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0;
88 virtual void ApplyForce(const MT_Vector3& force,bool local)=0;
89 virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0;
90 virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0;
91 virtual void ResolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0;
93 virtual float GetLinearDamping() const=0;
94 virtual float GetAngularDamping() const=0;
95 virtual void SetLinearDamping(float damping)=0;
96 virtual void SetAngularDamping(float damping)=0;
97 virtual void SetDamping(float linear, float angular)=0;
99 virtual void SuspendDynamics(bool ghost=false)=0;
100 virtual void RestoreDynamics()=0;
102 virtual void SetActive(bool active)=0;
104 // reading out information from physics
105 virtual MT_Vector3 GetLinearVelocity()=0;
106 virtual MT_Vector3 GetAngularVelocity()=0;
107 virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0;
108 virtual MT_Vector3 GetLocalInertia()=0;
110 // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted
111 virtual void SetRigidBody(bool rigid)=0;
113 virtual PHY_IPhysicsController* GetReplica() {return 0;}
114 virtual PHY_IPhysicsController* GetReplicaForSensors() {return 0;}
116 virtual void CalcXform() =0;
117 virtual void SetMargin(float margin) =0;
118 virtual float GetMargin() const=0;
119 virtual float GetRadius() const=0;
120 virtual void SetRadius(float margin) = 0;
122 virtual float GetLinVelocityMin() const=0;
123 virtual void SetLinVelocityMin(float val) = 0;
124 virtual float GetLinVelocityMax() const=0;
125 virtual void SetLinVelocityMax(float val) = 0;
127 MT_Vector3 GetWorldPosition(MT_Vector3& localpos);
130 virtual void AddCompoundChild(PHY_IPhysicsController* child) = 0;
131 virtual void RemoveCompoundChild(PHY_IPhysicsController* child) = 0;
134 virtual bool IsDynamic() = 0;
135 virtual bool IsCompound() = 0;
137 virtual bool ReinstancePhysicsShape(KX_GameObject *from_gameobj, RAS_MeshObject* from_meshobj) = 0;
139 /* Method to replicate rigid body joint contraints for group instances. */
140 virtual void ReplicateConstraints(KX_GameObject *gameobj, std::vector<KX_GameObject*> constobj) = 0;
142 #ifdef WITH_CXX_GUARDEDALLOC
143 MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsController")
147 #endif /* __PHY_IPHYSICSCONTROLLER_H__ */