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CcdPhysicsController.h

/*
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.
*/


#ifndef BULLET2_PHYSICSCONTROLLER_H
#define BULLET2_PHYSICSCONTROLLER_H

#include "PHY_IPhysicsController.h"

///   PHY_IPhysicsController is the abstract simplified Interface to a physical object.
///   It contains the IMotionState and IDeformableMesh Interfaces.
#include "SimdVector3.h"
#include "SimdScalar.h" 
#include "SimdMatrix3x3.h"
#include "SimdTransform.h"
#include "Dynamics/RigidBody.h"

#include "PHY_IMotionState.h"

#include "BroadphaseCollision/BroadphaseProxy.h" //for CollisionShape access
class CollisionShape;

extern float gDeactivationTime;
extern float gLinearSleepingTreshold;
extern float gAngularSleepingTreshold;
extern bool gDisableDeactivation;
class CcdPhysicsEnvironment;


struct CcdConstructionInfo
{
      CcdConstructionInfo()
            : m_gravity(0,0,0),
            m_mass(0.f),
            m_restitution(0.1f),
            m_friction(0.5f),
            m_linearDamping(0.1f),
            m_angularDamping(0.1f),
            m_MotionState(0),
            m_physicsEnv(0),
            m_inertiaFactor(1.f),
            m_scaling(1.f,1.f,1.f),
            m_collisionFlags(0)
      {
      }

      SimdVector3 m_localInertiaTensor;
      SimdVector3 m_gravity;
      SimdVector3 m_scaling;
      SimdScalar  m_mass;
      SimdScalar  m_restitution;
      SimdScalar  m_friction;
      SimdScalar  m_linearDamping;
      SimdScalar  m_angularDamping;
      int               m_collisionFlags;

      CollisionShape*               m_collisionShape;
      class PHY_IMotionState*             m_MotionState;

      CcdPhysicsEnvironment*  m_physicsEnv; //needed for self-replication
      float m_inertiaFactor;//tweak the inertia (hooked up to Blender 'formfactor'
};


class RigidBody;

///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution.
00080 class CcdPhysicsController : public PHY_IPhysicsController  
{
      RigidBody* m_body;
      class PHY_IMotionState*             m_MotionState;
      

      void*       m_newClientInfo;

      CcdConstructionInfo     m_cci;//needed for replication
      void GetWorldOrientation(SimdMatrix3x3& mat);

      void CreateRigidbody();

      public:
      
            int                     m_collisionDelay;
      

            CcdPhysicsController (const CcdConstructionInfo& ci);

            virtual ~CcdPhysicsController();


            RigidBody* GetRigidBody() { return m_body;}

            CollisionShape*   GetCollisionShape() { 
                  return m_body->GetCollisionShape();
            }
            ////////////////////////////////////
            // PHY_IPhysicsController interface
            ////////////////////////////////////


            /**
                  SynchronizeMotionStates ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            */
            virtual bool            SynchronizeMotionStates(float time);
            /**
                  WriteMotionStateToDynamics ynchronizes dynas, kinematic and deformable entities (and do 'late binding')
            */
            
            virtual void            WriteMotionStateToDynamics(bool nondynaonly);
            virtual     void        WriteDynamicsToMotionState();
            // controller replication
            virtual     void        PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl);

            // kinematic methods
            virtual void            RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local);
            virtual void            RelativeRotate(const float drot[9],bool local);
            virtual     void        getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal);
            virtual     void        setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal);
            virtual     void        setPosition(float posX,float posY,float posZ);
            virtual     void        getPosition(PHY__Vector3&     pos) const;

            virtual     void        setScaling(float scaleX,float scaleY,float scaleZ);
            
            // physics methods
            virtual void            ApplyTorque(float torqueX,float torqueY,float torqueZ,bool local);
            virtual void            ApplyForce(float forceX,float forceY,float forceZ,bool local);
            virtual void            SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local);
            virtual void            SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local);
            virtual void            applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ);
            virtual void            SetActive(bool active);

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

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

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

            // clientinfo for raycasts for example
            virtual     void*                   getNewClientInfo();
            virtual     void                    setNewClientInfo(void* clientinfo);
            virtual PHY_IPhysicsController*     GetReplica();
            

            virtual void      calcXform() {} ;
            virtual void SetMargin(float margin);
            virtual float GetMargin() const;


            bool  wantsSleeping();

            void  UpdateDeactivation(float timeStep);

            static SimdTransform    GetTransformFromMotionState(PHY_IMotionState* motionState);

            void  SetAabb(const SimdVector3& aabbMin,const SimdVector3& aabbMax);


            class PHY_IMotionState*             GetMotionState()
            {
                  return m_MotionState;
            }

            const class PHY_IMotionState*             GetMotionState() const
            {
                  return m_MotionState;
            }


};




///DefaultMotionState implements standard motionstate, using SimdTransform
00193 class DefaultMotionState : public PHY_IMotionState

{
      public:
            DefaultMotionState();

            virtual ~DefaultMotionState();

            virtual void      getWorldPosition(float& posX,float& posY,float& posZ);
            virtual void      getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
            virtual void      getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
            
            virtual void      setWorldPosition(float posX,float posY,float posZ);
            virtual     void  setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
            
            virtual     void  calculateWorldTransformations();
            
            SimdTransform     m_worldTransform;

};


#endif //BULLET2_PHYSICSCONTROLLER_H

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