ivaria/dynamics.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 2002 Anders Stenberg 00003 00004 This library is free software; you can redistribute it and/or 00005 modify it under the terms of the GNU Library General Public 00006 License as published by the Free Software Foundation; either 00007 version 2 of the License, or (at your option) any later version. 00008 00009 This library is distributed in the hope that it will be useful, 00010 but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 Library General Public License for more details. 00013 00014 You should have received a copy of the GNU Library General Public 00015 License along with this library; if not, write to the Free 00016 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00017 */ 00018 00019 00020 #ifndef __CS_IVARIA_DYNAMICS_H__ 00021 #define __CS_IVARIA_DYNAMICS_H__ 00022 00027 #include "csutil/scf.h" 00028 00029 00030 struct iBodyGroup; 00031 struct iJoint; 00032 struct iMeshWrapper; 00033 struct iLight; 00034 struct iCamera; 00035 struct iObject; 00036 struct iPolygonMesh; 00037 struct iRigidBody; 00038 00039 class csMatrix3; 00040 class csOrthoTransform; 00041 class csPlane3; 00042 class csVector3; 00043 00044 struct iDynamicsCollisionCallback; 00045 struct iDynamicsMoveCallback; 00046 struct iDynamicSystem; 00047 00061 struct iDynamics : public virtual iBase 00062 { 00063 SCF_INTERFACE(iDynamics,0,0,2); 00065 virtual csPtr<iDynamicSystem> CreateSystem () = 0; 00066 00068 virtual void RemoveSystem (iDynamicSystem* system) = 0; 00069 00071 virtual void RemoveSystems () = 0; 00072 00074 virtual iDynamicSystem* FindSystem (const char *name) = 0; 00075 00077 virtual void Step (float stepsize) = 0; 00078 }; 00079 00080 struct iDynamicsSystemCollider; 00081 00094 struct iDynamicSystem : public virtual iBase 00095 { 00096 SCF_INTERFACE (iDynamicSystem, 0, 0, 2); 00097 00099 virtual iObject *QueryObject (void) = 0; 00101 virtual void SetGravity (const csVector3& v) = 0; 00103 virtual const csVector3 GetGravity () const = 0; 00105 virtual void SetLinearDampener (float d) = 0; 00107 virtual float GetLinearDampener () const = 0; 00109 virtual void SetRollingDampener (float d) = 0; 00111 virtual float GetRollingDampener () const = 0; 00112 00118 virtual void EnableAutoDisable (bool enable) = 0; 00119 virtual bool AutoDisableEnabled () =0; 00129 virtual void SetAutoDisableParams (float linear, float angular, int steps, 00130 float time)=0; 00131 00133 virtual void Step (float stepsize) = 0; 00134 00136 virtual csPtr<iRigidBody> CreateBody () = 0; 00137 00139 virtual void RemoveBody (iRigidBody* body) = 0; 00140 00142 virtual iRigidBody *FindBody (const char *name) = 0; 00143 00145 virtual iRigidBody *GetBody (unsigned int index) = 0; 00146 00148 virtual int GetBodysCount () = 0; 00149 00151 virtual csPtr<iBodyGroup> CreateGroup () = 0; 00152 00154 virtual void RemoveGroup (iBodyGroup* group) = 0; 00155 00157 virtual csPtr<iJoint> CreateJoint () = 0; 00158 00160 virtual void RemoveJoint (iJoint* joint) = 0; 00161 00163 virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0; 00164 00178 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00179 const csOrthoTransform& trans, float friction, 00180 float elasticity, float softness = 0.01f) = 0; 00181 00196 virtual bool AttachColliderCylinder (float length, float radius, 00197 const csOrthoTransform& trans, float friction, 00198 float elasticity, float softness = 0.01f) = 0; 00199 00213 virtual bool AttachColliderBox (const csVector3 &size, 00214 const csOrthoTransform& trans, float friction, 00215 float elasticity, float softness = 0.01f) = 0; 00216 00231 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00232 float friction, float elasticity, float softness = 0.01f) = 0; 00233 00246 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00247 float elasticity, float softness = 0.01f) = 0; 00248 00250 virtual void DestroyColliders () = 0; 00251 00253 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00254 00256 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00257 00263 virtual csRef<iDynamicsSystemCollider> CreateCollider () = 0; 00264 00266 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00267 00269 virtual int GetColliderCount () = 0; 00270 }; 00271 00283 struct iDynamicsMoveCallback : public virtual iBase 00284 { 00285 SCF_INTERFACE (iDynamicsMoveCallback, 0, 0, 1); 00286 00287 virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0; 00288 virtual void Execute (iLight* light, csOrthoTransform& t) = 0; 00289 virtual void Execute (iCamera* camera, csOrthoTransform& t) = 0; 00290 virtual void Execute (csOrthoTransform& t) = 0; 00291 }; 00292 00293 SCF_VERSION (iDynamicsCollisionCallback, 0, 0, 2); 00294 00305 struct iDynamicsCollisionCallback : public iBase 00306 { 00315 virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody, 00316 const csVector3& pos, const csVector3& normal, float depth) = 0; 00317 }; 00318 00319 SCF_VERSION (iBodyGroup, 0, 0, 1); 00320 00337 struct iBodyGroup : public iBase 00338 { 00340 virtual void AddBody (iRigidBody *body) = 0; 00342 virtual void RemoveBody (iRigidBody *body) = 0; 00344 virtual bool BodyInGroup (iRigidBody *body) = 0; 00345 }; 00346 00362 struct iRigidBody : public virtual iBase 00363 { 00364 SCF_INTERFACE (iRigidBody, 0, 0, 2); 00365 00367 virtual iObject *QueryObject (void) = 0; 00373 virtual bool MakeStatic (void) = 0; 00375 virtual bool MakeDynamic (void) = 0; 00377 virtual bool IsStatic (void) = 0; 00381 virtual bool Disable (void) = 0; 00383 virtual bool Enable (void) = 0; 00385 virtual bool IsEnabled (void) = 0; 00386 00388 virtual csRef<iBodyGroup> GetGroup (void) = 0; 00389 00405 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00406 const csOrthoTransform& trans, float friction, float density, 00407 float elasticity, float softness = 0.01f) = 0; 00408 00425 virtual bool AttachColliderCylinder (float length, float radius, 00426 const csOrthoTransform& trans, float friction, float density, 00427 float elasticity, float softness = 0.01f) = 0; 00428 00444 virtual bool AttachColliderBox (const csVector3 &size, 00445 const csOrthoTransform& trans, float friction, float density, 00446 float elasticity, float softness = 0.01f) = 0; 00447 00463 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00464 float friction, float density, float elasticity, 00465 float softness = 0.01f) = 0; 00466 00481 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00482 float density, float elasticity, float softness = 0.01f) = 0; 00483 00490 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00491 00493 virtual void DestroyColliders () = 0; 00494 00496 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00497 00499 virtual void SetPosition (const csVector3& trans) = 0; 00501 virtual const csVector3 GetPosition () const = 0; 00503 virtual void SetOrientation (const csMatrix3& trans) = 0; 00505 virtual const csMatrix3 GetOrientation () const = 0; 00507 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00509 virtual const csOrthoTransform GetTransform () const = 0; 00511 virtual void SetLinearVelocity (const csVector3& vel) = 0; 00513 virtual const csVector3 GetLinearVelocity () const = 0; 00515 virtual void SetAngularVelocity (const csVector3& vel) = 0; 00517 virtual const csVector3 GetAngularVelocity () const = 0; 00518 00520 virtual void SetProperties (float mass, const csVector3& center, 00521 const csMatrix3& inertia) = 0; 00523 virtual void GetProperties (float* mass, csVector3* center, 00524 csMatrix3* inertia) = 0; 00526 virtual float GetMass () = 0; 00528 virtual csVector3 GetCenter () = 0; 00530 virtual csMatrix3 GetInertia () = 0; 00531 00533 virtual void AdjustTotalMass (float targetmass) = 0; 00534 00536 virtual void AddForce (const csVector3& force) = 0; 00538 virtual void AddTorque (const csVector3& force) = 0; 00540 virtual void AddRelForce (const csVector3& force) = 0; 00542 virtual void AddRelTorque (const csVector3& force) = 0 ; 00547 virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0; 00552 virtual void AddForceAtRelPos (const csVector3& force, 00553 const csVector3& pos) = 0; 00558 virtual void AddRelForceAtPos (const csVector3& force, 00559 const csVector3& pos) = 0; 00564 virtual void AddRelForceAtRelPos (const csVector3& force, 00565 const csVector3& pos) = 0; 00566 00568 virtual const csVector3 GetForce () const = 0; 00570 virtual const csVector3 GetTorque () const = 0; 00571 00572 /* 00574 virtual const csVector3& GetRelForce () const = 0; 00576 virtual const csVector3& GetRelTorque () const = 0; 00577 */ 00578 00579 /* 00581 virtual int GetJointCount () const = 0; 00582 */ 00583 00585 virtual void AttachMesh (iMeshWrapper* mesh) = 0; 00587 virtual iMeshWrapper* GetAttachedMesh () = 0; 00589 virtual void AttachLight (iLight* light) = 0; 00591 virtual iLight* GetAttachedLight () = 0; 00593 virtual void AttachCamera (iCamera* camera) = 0; 00595 virtual iCamera* GetAttachedCamera () = 0; 00596 00601 virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0; 00606 virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0; 00607 00615 virtual void Collision (iRigidBody *other, const csVector3& pos, 00616 const csVector3& normal, float depth) = 0; 00617 00619 virtual void Update () = 0; 00620 00622 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00623 00625 virtual int GetColliderCount () = 0; 00626 }; 00627 00628 enum csColliderGeometryType 00629 { 00630 NO_GEOMETRY, 00631 BOX_COLLIDER_GEOMETRY, 00632 PLANE_COLLIDER_GEOMETRY, 00633 TRIMESH_COLLIDER_GEOMETRY, 00634 CYLINDER_COLLIDER_GEOMETRY, 00635 SPHERE_COLLIDER_GEOMETRY 00636 }; 00637 00638 00639 SCF_VERSION (iDynamicsColliderCollisionCallback, 0, 0, 1); 00640 00650 struct iDynamicsColliderCollisionCallback : public iBase 00651 { 00652 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00653 iDynamicsSystemCollider *othercollider) = 0; 00654 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00655 iRigidBody *otherbody) = 0; 00656 }; 00657 00658 00659 struct iGeneralFactoryState; 00660 class csBox3; 00661 class csSphere; 00662 class csReversibleTransform; 00663 00683 struct iDynamicsSystemCollider : public virtual iBase 00684 { 00685 SCF_INTERFACE (iDynamicsSystemCollider, 0, 0, 1); 00686 00688 virtual bool CreateSphereGeometry (const csSphere& sphere) = 0; 00689 00691 virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0; 00692 00694 virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0; 00695 00697 virtual bool CreateBoxGeometry (const csVector3& box_size) = 0; 00698 00700 virtual bool CreateCCylinderGeometry (float length, float radius) = 0; 00701 00702 //FIXME: This should be implememented, but it is not so obvious - it 00703 //should be valid also for static colliders. 00704 virtual void SetCollisionCallback ( 00705 iDynamicsColliderCollisionCallback* cb) = 0; 00706 00708 virtual void SetFriction (float friction) = 0; 00709 00711 virtual void SetSoftness (float softness) = 0; 00712 00718 virtual void SetDensity (float density) = 0; 00719 00721 virtual void SetElasticity (float elasticity) = 0; 00722 00724 virtual float GetFriction () = 0; 00725 00727 virtual float GetSoftness () = 0; 00728 00730 virtual float GetDensity () = 0; 00731 00733 virtual float GetElasticity () = 0; 00734 00736 virtual void FillWithColliderGeometry ( 00737 csRef<iGeneralFactoryState> genmesh_fact) = 0; 00738 00740 virtual csColliderGeometryType GetGeometryType () = 0; 00741 00743 virtual csOrthoTransform GetTransform () = 0; 00744 00749 virtual csOrthoTransform GetLocalTransform () = 0; 00750 00755 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00756 00761 virtual bool GetBoxGeometry (csVector3& size) = 0; 00762 00767 virtual bool GetSphereGeometry (csSphere& sphere) = 0; 00768 00773 virtual bool GetPlaneGeometry (csPlane3& plane) = 0; 00774 00779 virtual bool GetCylinderGeometry (float& length, float& radius) = 0; 00780 00786 virtual void MakeStatic () = 0; 00787 00792 virtual void MakeDynamic () = 0; 00793 00795 virtual bool IsStatic () = 0; 00796 }; 00797 00811 struct iJoint : public virtual iBase 00812 { 00813 SCF_INTERFACE (iJoint, 0, 0, 1); 00814 00816 virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0; 00818 virtual csRef<iRigidBody> GetAttachedBody (int body) = 0; 00824 virtual void SetTransform (const csOrthoTransform &trans) = 0; 00826 virtual csOrthoTransform GetTransform () = 0; 00834 virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0; 00836 virtual bool IsXTransConstrained () = 0; 00838 virtual bool IsYTransConstrained () = 0; 00840 virtual bool IsZTransConstrained () = 0; 00842 virtual void SetMinimumDistance (const csVector3 &min) = 0; 00844 virtual csVector3 GetMinimumDistance () = 0; 00846 virtual void SetMaximumDistance (const csVector3 &max) = 0; 00848 virtual csVector3 GetMaximumDistance () = 0; 00854 virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0; 00856 virtual bool IsXRotConstrained () = 0; 00858 virtual bool IsYRotConstrained () = 0; 00860 virtual bool IsZRotConstrained () = 0; 00862 virtual void SetMinimumAngle (const csVector3 &min) = 0; 00864 virtual csVector3 GetMinimumAngle () = 0; 00866 virtual void SetMaximumAngle (const csVector3 &max) = 0; 00868 virtual csVector3 GetMaximumAngle () = 0; 00869 00870 //Motor parameters 00871 00877 virtual void SetBounce (const csVector3 & bounce ) = 0; 00879 virtual csVector3 GetBounce () = 0; 00881 virtual void SetDesiredVelocity (const csVector3 &velocity ) = 0; 00882 virtual csVector3 GetDesiredVelocity () = 0; 00884 virtual void SetMaxForce (const csVector3 & maxForce ) = 0; 00885 virtual csVector3 GetMaxForce () = 0; 00887 virtual void SetAngularConstraintAxis (const csVector3 &axis, int body) = 0; 00889 virtual csVector3 GetAngularConstraintAxis (int body) = 0; 00890 00891 }; 00892 00893 #endif // __CS_IVARIA_DYNAMICS_H__ 00894
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