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Extras/PhysicsInterface/Common/PHY_IPhysicsController.h

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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.
+*/
+
+
+#ifndef PHY_IPHYSICSCONTROLLER_H
+#define PHY_IPHYSICSCONTROLLER_H
+
+#include "PHY_DynamicTypes.h"
+
+/**
+	PHY_IPhysicsController is the abstract simplified Interface to a physical object.
+	It contains the IMotionState and IDeformableMesh Interfaces.
+*/
+
+
+class PHY_IPhysicsController	
+{
+
+	public:
+		
+		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);
+
+};
+
+#endif //PHY_IPHYSICSCONTROLLER_H
+