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Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.


#include "PHY_DynamicTypes.h"

      PHY_IPhysicsController is the abstract simplified Interface to a physical object.
      It contains the IMotionState and IDeformableMesh Interfaces.

00028 class PHY_IPhysicsController  

            virtual ~PHY_IPhysicsController();
                  SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            virtual bool            SynchronizeMotionStates(float time)=0;
                  WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            virtual void            WriteMotionStateToDynamics(bool nondynaonly)=0;
            virtual     void        WriteDynamicsToMotionState()=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            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;

            // clientinfo for raycasts for example
            virtual     void*                   getNewClientInfo()=0;
            virtual     void                    setNewClientInfo(void* clientinfo)=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 { return 0.f;}
            PHY__Vector3      GetWorldPosition(PHY__Vector3& localpos);



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