KX_BulletPhysicsController.h

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#ifndef KX_BULLET2PHYSICS_CONTROLLER
#define KX_BULLET2PHYSICS_CONTROLLER


#include "KX_IPhysicsController.h"
#ifdef USE_BULLET
#include "CcdPhysicsController.h"
#endif

class KX_BulletPhysicsController : public KX_IPhysicsController ,public CcdPhysicsController
{
private:
        int m_savedCollisionFlags;
        int m_savedActivationState;
        short int m_savedCollisionFilterGroup;
        short int m_savedCollisionFilterMask;
        MT_Scalar m_savedMass;
        bool m_savedDyna;
        bool m_suspended;
        btCollisionShape* m_bulletChildShape;

public:
#ifdef USE_BULLET
        KX_BulletPhysicsController (const CcdConstructionInfo& ci, bool dyna, bool sensor, bool compound);
        virtual ~KX_BulletPhysicsController ();
#endif

        //      KX_IPhysicsController interface

        virtual void    applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse);
        virtual void    SetObject (SG_IObject* object);
        virtual void    setMargin (float collisionMargin);
        virtual void    RelativeTranslate(const MT_Vector3& dloc,bool local);
        virtual void    RelativeRotate(const MT_Matrix3x3& drot,bool local);
        virtual void    ApplyTorque(const MT_Vector3& torque,bool local);
        virtual void    ApplyForce(const MT_Vector3& force,bool local);
        virtual MT_Vector3 GetLinearVelocity();
        virtual MT_Vector3 GetAngularVelocity();
        virtual MT_Vector3 GetVelocity(const MT_Point3& pos);
        virtual void    SetAngularVelocity(const MT_Vector3& ang_vel,bool local);
        virtual void    SetLinearVelocity(const MT_Vector3& lin_vel,bool local);
        virtual void    getOrientation(MT_Quaternion& orn);
        virtual void setOrientation(const MT_Matrix3x3& orn);
        virtual void setPosition(const MT_Point3& pos);
        virtual void setScaling(const MT_Vector3& scaling);
        virtual void SetTransform();
        virtual MT_Scalar       GetMass();
        virtual void    SetMass(MT_Scalar newmass);
        virtual MT_Vector3      GetLocalInertia();
        virtual MT_Vector3      getReactionForce();
        virtual void    setRigidBody(bool rigid);
        virtual void    AddCompoundChild(KX_IPhysicsController* child);
        virtual void    RemoveCompoundChild(KX_IPhysicsController* child);

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

        virtual void    SuspendDynamics(bool ghost);
        virtual void    RestoreDynamics();

        virtual SG_Controller*  GetReplica(class SG_Node* destnode);

        virtual MT_Scalar GetRadius();
        
        virtual float GetLinVelocityMin();
        virtual void  SetLinVelocityMin(float val);
        virtual float GetLinVelocityMax();
        virtual void  SetLinVelocityMax(float val);

        virtual void    SetSumoTransform(bool nondynaonly);
        // todo: remove next line !
        virtual void    SetSimulatedTime(double time);
        
        // call from scene graph to update
        virtual bool Update(double time);
        void*   GetUserData() { return m_userdata;}
        
        virtual const char* getName();

        void
        SetOption(
                int option,
                int value
        ){
                // intentionally empty
        };

        
#ifdef WITH_CXX_GUARDEDALLOC
public:
        void *operator new(size_t num_bytes) { return MEM_mallocN(num_bytes, "GE:KX_BulletPhysicsController"); }
        void operator delete( void *mem ) { MEM_freeN(mem); }
#endif
};

#endif //KX_BULLET2PHYSICS_CONTROLLER