440 lines
23 KiB
C++
440 lines
23 KiB
C++
#ifndef PHYSICS_API_H
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#define PHYSICS_API_H
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#include "OysterCollision3D.h"
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#include "OysterMath.h"
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#if defined PHYSICS_DLL_EXPORT
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#define PHYSICS_DLL_USAGE __declspec(dllexport)
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#else
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#define PHYSICS_DLL_USAGE __declspec(dllimport)
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#endif
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namespace Oyster
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{
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namespace Physics
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{
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class API;
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class ICustomBody;
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namespace Struct
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{
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struct SimpleBodyDescription;
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struct SphericalBodyDescription;
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struct CustomBodyState;
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}
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enum UpdateState
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{
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UpdateState_resting,
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UpdateState_altered
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};
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namespace Constant
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{
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const float gravity_constant = (const float)6.67284e-11; //!< The _big_G_! ( N(m/kg)^2 ) Used in real gravityforcefields.
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}
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class PHYSICS_DLL_USAGE MomentOfInertia
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{
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public:
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static ::Oyster::Math::Float4x4 & CreateSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
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static ::Oyster::Math::Float4x4 & CreateHollowSphereMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
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static ::Oyster::Math::Float4x4 & CreateCuboidMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float width, const ::Oyster::Math::Float depth, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
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static ::Oyster::Math::Float4x4 & CreateCylinderMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float height, const ::Oyster::Math::Float radius, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
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static ::Oyster::Math::Float4x4 & CreateRodMatrix( const ::Oyster::Math::Float mass, const ::Oyster::Math::Float length, ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() );
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};
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class PHYSICS_DLL_USAGE API
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{
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public:
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typedef Struct::SimpleBodyDescription SimpleBodyDescription;
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typedef Struct::SphericalBodyDescription SphericalBodyDescription;
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typedef void (*EventAction_Destruction)( ::Utility::DynamicMemory::UniquePointer<ICustomBody> proto );
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/** Gets the Physics instance. */
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static API & Instance();
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/********************************************************
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* Clears all content and reset Engine assetts such as buffers.
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* @param numObjects: The predicted max number of active objects.
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* @param numGravityWells: The predicted max number of active gravity wells.
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* @param worldSize: The size of acceptable physics space.
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********************************************************/
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virtual void Init( unsigned int numObjects, unsigned int numGravityWells , const ::Oyster::Math::Float3 &worldSize ) = 0;
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/********************************************************
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* Sets the time length of each physics update frame.
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********************************************************/
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virtual void SetFrameTimeLength( float seconds ) = 0;
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/********************************************************
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* Sets the Gravityconstant in the physics that will be
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* used in ForceField calculations.
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* @param g: Default is the real world Constant::gravity_constant [N(m/kg)^2]
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********************************************************/
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virtual void SetGravityConstant( float g ) = 0;
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/********************************************************
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* Sets the function that will be called by the engine
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* whenever an object is being destroyed for some reason.
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* - Because DestroyObject(...) were called.
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* - Out of memory forced engine to destroy an object.
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* @param functionPointer: If NULL, an empty default function will be set.
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********************************************************/
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virtual void SetSubscription( EventAction_Destruction functionPointer ) = 0;
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/********************************************************
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* Triggers the engine to run next update frame.
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* All accumulated forces and changes will be consumed.
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* EventAction functions might be called.
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********************************************************/
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virtual void Update() = 0;
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/********************************************************
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* An object in limbo state will be ignored during the physics frame Update.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @return true if object is in limbo state.
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********************************************************/
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virtual bool IsInLimbo( const ICustomBody* objRef ) = 0;
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/********************************************************
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* An object in limbo state will be ignored during the physics frame Update.
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* This will put an object in Limbo state.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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********************************************************/
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virtual void MoveToLimbo( const ICustomBody* objRef ) = 0;
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/********************************************************
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* An object in limbo state will be ignored during the physics frame Update.
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* This will clear the accumulated force/torque and remove the Limbo state.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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********************************************************/
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virtual void ReleaseFromLimbo( const ICustomBody* objRef ) = 0;
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/********************************************************
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* Introduces a new object into the engine.
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* @param handle: A pointer along with the responsibility to delete.
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********************************************************/
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virtual void AddObject( ::Utility::DynamicMemory::UniquePointer<ICustomBody> handle ) = 0;
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/********************************************************
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* Fetches and removes an object from the engine.
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* Will not call the provided EventAction_Destruction method.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @return A pointer along with the responsibility to delete. NULL if faulty objRef.
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********************************************************/
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virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> ExtractObject( const ICustomBody* objRef ) = 0;
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/********************************************************
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* Removes an object from the engine.
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* Will call the provided EventAction_Destruction method. Not if objRef is faulty.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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********************************************************/
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virtual void DestroyObject( const ICustomBody* objRef ) = 0;
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/********************************************************
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* Apply force on an object.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param worldPos: Relative to the world origo. (Not relative to object) [m]
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* @param worldF: Vector with the direction and magnitude of the force. [N]
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********************************************************/
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virtual void ApplyForceAt( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos, const ::Oyster::Math::Float3 &worldF ) = 0;
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/********************************************************
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* Apply force on an object.
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* @param objRefA: A pointer to the ICustomBody representing a physical object.
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* @param objRefB: A pointer to the ICustomBody representing a physical object.
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* @param deltaWhen: The elapsed simulation time since last update frame. [s]
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* @param worldPointOfContact: Point of Collision, relative to the world origo. (Not relative to the objects) [m]
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********************************************************/
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virtual void ApplyCollisionResponse( const ICustomBody* objRefA, const ICustomBody* objRefB, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) = 0;
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/********************************************************
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* Sets the MomentOfInertia tensor matrix of an object without changing it's angular velocity.
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* Noticeable effect: The angular momentum will change. Changing the amount of kinetic energy.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
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********************************************************/
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virtual void SetMomentOfInertiaTensor_KeepVelocity( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
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/********************************************************
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* Sets the MomentOfInertia tensor matrix of an object without changing it's angular momentum.
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* Noticeable effect: The angular velocity will change. Can be used to create slow effects.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param localI: The tensor matrix relative to the axises of the object. @see MomentOfInertia namespace.
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********************************************************/
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virtual void SetMomentOfInertiaTensor_KeepMomentum( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &localI ) = 0;
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/********************************************************
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* Sets the mass of an object without changing it's linear velocity.
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* Noticeable effect: The linear momentum will change. Changing the amount of kinetic energy.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param m: [kg]
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********************************************************/
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virtual void SetMass_KeepVelocity( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
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/********************************************************
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* Sets the mass of an object without changing it's linear velocity.
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* Noticeable effect: The linear velocity will change. Can be used to create slow effects.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param m: [kg]
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********************************************************/
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virtual void SetMass_KeepMomentum( const ICustomBody* objRef, ::Oyster::Math::Float m ) = 0;
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/********************************************************
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* Instantly moves an object.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param worldPos: Relative to the world origo. (Not relative to object) [m]
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********************************************************/
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virtual void SetCenter( const ICustomBody* objRef, const ::Oyster::Math::Float3 &worldPos ) = 0;
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/********************************************************
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* Instantly redirects object.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param rotation: New rotation.
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********************************************************/
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virtual void SetRotation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &rotation ) = 0;
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/********************************************************
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* Instantly moves and redirects object.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param orientation: New orientation.
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********************************************************/
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virtual void SetOrientation( const ICustomBody* objRef, const ::Oyster::Math::Float4x4 &orientation ) = 0;
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/********************************************************
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* Resizes the boundingBox.
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* @param objRef: A pointer to the ICustomBody representing a physical object.
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* @param size: New size of this [m]
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********************************************************/
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virtual void SetSize( const ICustomBody* objRef, const ::Oyster::Math::Float3 &size ) = 0;
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/********************************************************
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* Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
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* @param desc: @see API::SimpleBodyDescription
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* @return A pointer along with the responsibility to delete.
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********************************************************/
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virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SimpleBodyDescription &desc ) const = 0;
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/********************************************************
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* Creates a new dynamically allocated object that can be used as a component for more complex ICustomBodies.
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* @param desc: @see API::SphericalBodyDescription
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* @return A pointer along with the responsibility to delete.
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********************************************************/
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virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> CreateRigidBody( const SphericalBodyDescription &desc ) const = 0;
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protected:
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virtual ~API() {}
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};
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//! The root interface for all physical representations processable by the engine.
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class PHYSICS_DLL_USAGE ICustomBody
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{
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public:
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enum SubscriptMessage
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{
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SubscriptMessage_none,
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SubscriptMessage_ignore_collision_response
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};
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/********************************************************
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* @param gameObjectRef: a pointer to the object in the game owning the rigid body.
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********************************************************/
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void* gameObjectRef;
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typedef SubscriptMessage (*EventAction_Collision)( const ICustomBody *proto, const ICustomBody *deuter );
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typedef Struct::SimpleBodyDescription SimpleBodyDescription;
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typedef Struct::SphericalBodyDescription SphericalBodyDescription;
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typedef Struct::CustomBodyState State;
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virtual ~ICustomBody() {};
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/********************************************************
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* Creates a complete copy of the current (type)object.
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* @return An ICustomBody pointer along with the responsibility to delete.
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********************************************************/
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virtual ::Utility::DynamicMemory::UniquePointer<ICustomBody> Clone() const = 0;
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/********************************************************
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* @todo TODO: need doc
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********************************************************/
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virtual void CallSubscription( const ICustomBody *proto, const ICustomBody *deuter ) = 0;
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/********************************************************
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* @todo TODO: need doc
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********************************************************/
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virtual State GetState() const = 0;
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/********************************************************
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* @todo TODO: need doc
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********************************************************/
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virtual State & GetState( State &targetMem ) const = 0;
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/********************************************************
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* @return the linear velocity of the rigid body in a vector.
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********************************************************/
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virtual Math::Float3 GetRigidLinearVelocity() const = 0;
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/********************************************************
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* @todo TODO: need doc
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********************************************************/
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virtual void SetState( const State &state ) = 0;
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/********************************************************
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* @return true if Engine should apply gravity on this object.
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********************************************************/
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virtual bool IsAffectedByGravity() const = 0;
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/********************************************************
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* Performs a detailed Intersect test and returns if, when and where.
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* @param object: What this is intersect testing against.
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* @param timeStepLength: The value set by API::SetDeltaTime(...)
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* @param deltaWhen: Time in seconds since last update frame til timeOfContact. 0.0f <= deltaWhen <= timeStepLength
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* @param worldPointOfContact: Where at timeOfContact, this and object touches eachother.
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* @return true if this truly intersects with object.
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********************************************************/
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virtual bool Intersects( const ICustomBody &object, ::Oyster::Math::Float timeStepLength, ::Oyster::Math::Float &deltaWhen, ::Oyster::Math::Float3 &worldPointOfContact ) const = 0;
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/********************************************************
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* param shape: Any defined sample shape.
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* @return true if this truly intersects with shape.
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********************************************************/
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virtual bool Intersects( const ::Oyster::Collision3D::ICollideable &shape ) const = 0;
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/********************************************************
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* Required by Engine's Collision Search.
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* @param targetMem: Provided memory that written into and then returned.
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* @return a sphere shape that contains the ICustomBody.
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********************************************************/
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virtual ::Oyster::Collision3D::Sphere & GetBoundingSphere( ::Oyster::Collision3D::Sphere &targetMem = ::Oyster::Collision3D::Sphere() ) const = 0;
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/********************************************************
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* Required by Engine's Collision Responsing.
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* @param worldPos: Should be worldPointOfContact from Intersects( ... )
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* @param targetMem: Provided memory that written into and then returned.
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* @return a surface normal in worldSpace.
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********************************************************/
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virtual ::Oyster::Math::Float3 & GetNormalAt( const ::Oyster::Math::Float3 &worldPos, ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
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/********************************************************
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* The gravity normal will have same direction as the total gravity force pulling on this and have the magnitude of 1.0f.
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* @param targetMem: Provided memory that written into and then returned.
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* @return a normalized vector in worldSpace. Exception: Null vector if no gravity been applied.
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********************************************************/
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virtual ::Oyster::Math::Float3 & GetGravityNormal( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
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/********************************************************
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* The world position of this center of gravity.
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* @param targetMem: Provided memory that written into and then returned.
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* @return a position in worldSpace.
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********************************************************/
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virtual ::Oyster::Math::Float3 & GetCenter( ::Oyster::Math::Float3 &targetMem = ::Oyster::Math::Float3() ) const = 0;
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/********************************************************
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* @param targetMem: Provided memory that written into and then returned.
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* @return a copy of this's rotation matrix.
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********************************************************/
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virtual ::Oyster::Math::Float4x4 & GetRotation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
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/********************************************************
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* @param targetMem: Provided memory that written into and then returned.
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* @return a copy of this's orientation matrix.
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********************************************************/
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virtual ::Oyster::Math::Float4x4 & GetOrientation( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
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/********************************************************
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* @param targetMem: Provided memory that written into and then returned.
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* @return a copy of this's view matrix.
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********************************************************/
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virtual ::Oyster::Math::Float4x4 & GetView( ::Oyster::Math::Float4x4 &targetMem = ::Oyster::Math::Float4x4() ) const = 0;
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/********************************************************
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* To not be called if is in Engine
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* Is called during API::Update
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********************************************************/
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virtual UpdateState Update( ::Oyster::Math::Float timeStepLength ) = 0;
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/********************************************************
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* Sets the function that will be called by the engine
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* whenever a collision occurs.
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* @param functionPointer: If NULL, an empty default function will be set.
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********************************************************/
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virtual void SetSubscription( EventAction_Collision functionPointer ) = 0;
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/********************************************************
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* @param ignore: True if Engine should not apply Gravity.
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********************************************************/
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virtual void SetGravity( bool ignore) = 0;
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/********************************************************
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* Used by Engine
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* @param normalizedVector: Should have same direction as the pullinggravity.
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********************************************************/
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virtual void SetGravityNormal( const ::Oyster::Math::Float3 &normalizedVector ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetMomentOfInertiaTensor_KeepVelocity(...) instead
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********************************************************/
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virtual void SetMomentOfInertiaTensor_KeepVelocity( const ::Oyster::Math::Float4x4 &localI ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetMomentOfInertiaTensor_KeepMomentum(...)
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********************************************************/
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virtual void SetMomentOfInertiaTensor_KeepMomentum( const ::Oyster::Math::Float4x4 &localI ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetMass_KeepVelocity(...)
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********************************************************/
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virtual void SetMass_KeepVelocity( ::Oyster::Math::Float m ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetMass_KeepMomentum(...)
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********************************************************/
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virtual void SetMass_KeepMomentum( ::Oyster::Math::Float m ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetCenter(...)
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********************************************************/
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virtual void SetCenter( const ::Oyster::Math::Float3 &worldPos ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetRotation(...)
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********************************************************/
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virtual void SetRotation( const ::Oyster::Math::Float4x4 &rotation ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetOrientation(...)
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********************************************************/
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virtual void SetOrientation( const ::Oyster::Math::Float4x4 &orientation ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::SetSize(...)
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********************************************************/
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virtual void SetSize( const ::Oyster::Math::Float3 &size ) = 0;
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/********************************************************
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* To not be called if is in Engine
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* Use API::?? @todo TODO:
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********************************************************/
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virtual void SetMomentum( const ::Oyster::Math::Float3 &worldG ) = 0;
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};
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}
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}
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#include "PhysicsStructs.h"
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#endif |