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SumoPhysicsController.cpp

/**
 * @file $Id: SumoPhysicsController.cpp,v 1.12 2004/10/16 11:41:49 kester Exp $
 *
 * ***** BEGIN GPL/BL DUAL 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. The Blender
 * Foundation also sells licenses for use in proprietary software under
 * the Blender License.  See http://www.blender.org/BL/ for information
 * about this.
 *
 * 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., 59 Temple Place - Suite 330, Boston, MA  02111-1307, 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/BL DUAL LICENSE BLOCK *****
 */

#include "SumoPhysicsController.h"
#include "PHY_IMotionState.h"
#include "SM_Object.h"
#include "MT_Quaternion.h"

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

SumoPhysicsController::SumoPhysicsController(
                        class SM_Scene* sumoScene,
                        class SM_Object* sumoObj,
                        class PHY_IMotionState* motionstate,

                        bool dyna) 
            : 
            m_sumoObj(sumoObj) , 
            m_sumoScene(sumoScene),
            m_bFirstTime(true),
            m_bDyna(dyna),
            m_MotionState(motionstate)
{
      if (m_sumoObj)
      {
            //m_sumoObj->setClientObject(this);
            //if it is a dyna, register for a callback
            m_sumoObj->registerCallback(*this);
      }
};



SumoPhysicsController::~SumoPhysicsController()
{
      if (m_sumoObj)
      {
            m_sumoScene->remove(*m_sumoObj);
            
            delete m_sumoObj;
            m_sumoObj = NULL;
      }
}

float SumoPhysicsController::getMass()
{
      if (m_sumoObj)
      {
            const SM_ShapeProps *shapeprops = m_sumoObj->getShapeProps();
            if(shapeprops!=NULL) return shapeprops->m_mass;
      }
      return 0.f;
}

00086 bool SumoPhysicsController::SynchronizeMotionStates(float)
{
      if (m_bFirstTime)
      {
            setSumoTransform(!m_bFirstTime);
            m_bFirstTime = false;
      }
      return false;
}
 



void SumoPhysicsController::GetWorldOrientation(MT_Matrix3x3& mat)
{
      float orn[4];
      m_MotionState->getWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
      MT_Quaternion quat(orn);
      mat.setRotation(quat);

}

void SumoPhysicsController::GetWorldPosition(MT_Point3& pos)
{
      float worldpos[3];
      m_MotionState->getWorldPosition(worldpos[0],worldpos[1],worldpos[2]);
      pos[0]=worldpos[0];
      pos[1]=worldpos[1];
      pos[2]=worldpos[2];
}

void SumoPhysicsController::GetWorldScaling(MT_Vector3& scale)
{
      float worldscale[3];
      m_MotionState->getWorldScaling(worldscale[0],worldscale[1],worldscale[2]);
      scale[0]=worldscale[0];
      scale[1]=worldscale[1];
      scale[2]=worldscale[2];
}


            // kinematic methods
void        SumoPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local)
{
      if (m_sumoObj)
      {
            MT_Matrix3x3 mat;
            GetWorldOrientation(mat);
            MT_Vector3 dloc(dlocX,dlocY,dlocZ);

            MT_Point3 newpos = m_sumoObj->getPosition();
            
            newpos += (local ? mat * dloc : dloc);
            m_sumoObj->setPosition(newpos);
      }

}
00143 void        SumoPhysicsController::RelativeRotate(const float drot[12],bool local)
{
      if (m_sumoObj )
      {
            MT_Matrix3x3 drotmat(drot);
            MT_Matrix3x3 currentOrn;
            GetWorldOrientation(currentOrn);

            m_sumoObj->setOrientation(m_sumoObj->getOrientation()*(local ? 
            drotmat : (currentOrn.inverse() * drotmat * currentOrn)).getRotation());
      }

}
void        SumoPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
      m_sumoObj->setOrientation(MT_Quaternion(quatImag0,quatImag1,quatImag2,quatReal));
}

void        SumoPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
      const MT_Quaternion& q = m_sumoObj->getOrientation();
      quatImag0 = q[0];
      quatImag1 = q[1];
      quatImag2 = q[2];
      quatReal = q[3];
}

void        SumoPhysicsController::setPosition(float posX,float posY,float posZ)
{
      m_sumoObj->setPosition(MT_Point3(posX,posY,posZ));
}

void        SumoPhysicsController::setScaling(float scaleX,float scaleY,float scaleZ)
{
      m_sumoObj->setScaling(MT_Vector3(scaleX,scaleY,scaleZ));
}
      
      // physics methods
void        SumoPhysicsController::ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local)
{
      if (m_sumoObj)
      {
            MT_Vector3 torque(torqueX,torqueY,torqueZ);

            MT_Matrix3x3 orn;
            GetWorldOrientation(orn);
            m_sumoObj->applyTorque(local ?
                  orn * torque :
                  torque);
      }
}

void        SumoPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bool local)
{
      if (m_sumoObj)
      {
            MT_Vector3 force(forceX,forceY,forceZ);

            MT_Matrix3x3 orn;
            GetWorldOrientation(orn);

            m_sumoObj->applyCenterForce(local ?
                                    orn * force :
                                    force);
      }
}

void        SumoPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local)
{
      if (m_sumoObj)
      {
            MT_Vector3 ang_vel(ang_velX,ang_velY,ang_velZ);

            MT_Matrix3x3 orn;
            GetWorldOrientation(orn);

            m_sumoObj->setExternalAngularVelocity(local ?
                                    orn * ang_vel :
                                    ang_vel);
      }
}
      
void        SumoPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local)
{
      if (m_sumoObj )
      {
            MT_Matrix3x3 orn;
            GetWorldOrientation(orn);

            MT_Vector3 lin_vel(lin_velX,lin_velY,lin_velZ);
            m_sumoObj->setExternalLinearVelocity(local ?
                                             orn * lin_vel :
                                             lin_vel);
      }
}

void SumoPhysicsController::resolveCombinedVelocities(
            const MT_Vector3 & lin_vel,
            const MT_Vector3 & ang_vel
      )
{
      if (m_sumoObj)
            m_sumoObj->resolveCombinedVelocities(lin_vel, ang_vel);
}


void        SumoPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
{
      if (m_sumoObj)
      {
            MT_Point3 attach(attachX,attachY,attachZ);
            MT_Vector3 impulse(impulseX,impulseY,impulseZ);
            m_sumoObj->applyImpulse(attach,impulse);
      }

}

void        SumoPhysicsController::SuspendDynamics()
{
      m_suspendDynamics=true;
            
      if (m_sumoObj)
      {
            m_sumoObj->suspendDynamics();
            m_sumoObj->setLinearVelocity(MT_Vector3(0,0,0));
            m_sumoObj->setAngularVelocity(MT_Vector3(0,0,0));
            m_sumoObj->calcXform();
      }
}

void        SumoPhysicsController::RestoreDynamics()
{
      m_suspendDynamics=false;

      if (m_sumoObj)
      {
            m_sumoObj->restoreDynamics();
      }
}


/**  
      reading out information from physics
*/
00287 void        SumoPhysicsController::GetLinearVelocity(float& linvX,float& linvY,float& linvZ)
{
      if (m_sumoObj)
      {
            // get velocity from the physics object (m_sumoObj)
            const MT_Vector3& vel = m_sumoObj->getLinearVelocity();
            linvX = vel[0];
            linvY = vel[1];
            linvZ = vel[2];
      } 
      else
      {
            linvX = 0.f;
            linvY = 0.f;
            linvZ = 0.f;
      }
}

/** 
      GetVelocity parameters are in geometric coordinates (Origin is not center of mass!).
*/
00308 void        SumoPhysicsController::GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ)
{
      if (m_sumoObj)
      {
            MT_Point3 pos(posX,posY,posZ);
            // get velocity from the physics object (m_sumoObj)
            const MT_Vector3& vel = m_sumoObj->getVelocity(pos);
            linvX = vel[0];
            linvY = vel[1];
            linvZ = vel[2];
      } 
      else
      {
            linvX = 0.f;
            linvY = 0.f;
            linvZ = 0.f;
            
      }
}

void        SumoPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ)
{
      const MT_Vector3& force = m_sumoObj->getReactionForce();
      forceX = force[0];
      forceY = force[1];
      forceZ = force[2];
}

void        SumoPhysicsController::setRigidBody(bool rigid)
{
      m_sumoObj->setRigidBody(rigid);
}

void        SumoPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl)
{
      m_MotionState = motionstate;

      SM_Object* dynaparent=0;
      SumoPhysicsController* sumoparentctrl = (SumoPhysicsController* )parentctrl;
      
      if (sumoparentctrl)
      {
            dynaparent = sumoparentctrl->GetSumoObject();
      }
      
      SM_Object* orgsumoobject = m_sumoObj;
      
      
      m_sumoObj   =     new SM_Object(
            orgsumoobject->getShapeHandle(), 
            orgsumoobject->getMaterialProps(),              
            orgsumoobject->getShapeProps(),
            dynaparent);
      
      m_sumoObj->setRigidBody(orgsumoobject->isRigidBody());
      
      m_sumoObj->setMargin(orgsumoobject->getMargin());
      m_sumoObj->setPosition(orgsumoobject->getPosition());
      m_sumoObj->setOrientation(orgsumoobject->getOrientation());
      //if it is a dyna, register for a callback
      m_sumoObj->registerCallback(*this);
      
      m_sumoScene->add(* (m_sumoObj));
}

void              SumoPhysicsController::SetSimulatedTime(float)
{
}
      
      
00378 void  SumoPhysicsController::WriteMotionStateToDynamics(bool)
{

}
// this is the actual callback from sumo, and the position/orientation
//is written to the scenegraph, using the motionstate abstraction

00385 void SumoPhysicsController::do_me()
{
      const MT_Point3& pos = m_sumoObj->getPosition();
      const MT_Quaternion& orn = m_sumoObj->getOrientation();

      m_MotionState->setWorldPosition(pos[0],pos[1],pos[2]);
      m_MotionState->setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
}


void  SumoPhysicsController::setSumoTransform(bool nondynaonly)
{
      if (!nondynaonly || !m_bDyna)
      {
            if (m_sumoObj)
            {
                  MT_Point3 pos;
                  GetWorldPosition(pos);

                  m_sumoObj->setPosition(pos);
                  if (m_bDyna)
                  {
                        m_sumoObj->setScaling(MT_Vector3(1,1,1));
                  } else
                  {
                        MT_Vector3 scale;
                        GetWorldScaling(scale);
                        m_sumoObj->setScaling(scale);
                  }
                  MT_Matrix3x3 orn;
                  GetWorldOrientation(orn);
                  m_sumoObj->setOrientation(orn.getRotation());
                  m_sumoObj->calcXform();
            }
      }
}

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