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 iRigidBody; 00037 00038 class csMatrix3; 00039 class csOrthoTransform; 00040 class csPlane3; 00041 class csVector3; 00042 00043 struct iDynamicsCollisionCallback; 00044 struct iDynamicsMoveCallback; 00045 struct iDynamicSystem; 00046 00047 00051 struct iDynamicsStepCallback : public virtual iBase 00052 { 00053 SCF_INTERFACE (iDynamicsStepCallback, 0, 0, 1); 00054 00055 virtual void Step (float stepsize) = 0; 00056 }; 00057 00071 struct iDynamics : public virtual iBase 00072 { 00073 SCF_INTERFACE(iDynamics,0,0,2); 00075 virtual csPtr<iDynamicSystem> CreateSystem () = 0; 00076 00078 virtual void RemoveSystem (iDynamicSystem* system) = 0; 00079 00081 virtual void RemoveSystems () = 0; 00082 00084 virtual iDynamicSystem* FindSystem (const char *name) = 0; 00085 00087 virtual void Step (float stepsize) = 0; 00088 00092 virtual void AddStepCallback (iDynamicsStepCallback *callback) = 0; 00093 00097 virtual void RemoveStepCallback (iDynamicsStepCallback *callback) = 0; 00098 }; 00099 00100 struct iDynamicsSystemCollider; 00101 00114 struct iDynamicSystem : public virtual iBase 00115 { 00116 SCF_INTERFACE (iDynamicSystem, 0, 0, 2); 00117 00119 virtual iObject *QueryObject (void) = 0; 00121 virtual void SetGravity (const csVector3& v) = 0; 00123 virtual const csVector3 GetGravity () const = 0; 00125 virtual void SetLinearDampener (float d) = 0; 00127 virtual float GetLinearDampener () const = 0; 00129 virtual void SetRollingDampener (float d) = 0; 00131 virtual float GetRollingDampener () const = 0; 00132 00138 virtual void EnableAutoDisable (bool enable) = 0; 00139 virtual bool AutoDisableEnabled () =0; 00149 virtual void SetAutoDisableParams (float linear, float angular, int steps, 00150 float time)=0; 00151 00153 virtual void Step (float stepsize) = 0; 00154 00156 virtual csPtr<iRigidBody> CreateBody () = 0; 00157 00159 virtual void RemoveBody (iRigidBody* body) = 0; 00160 00162 virtual iRigidBody *FindBody (const char *name) = 0; 00163 00165 virtual iRigidBody *GetBody (unsigned int index) = 0; 00166 00168 virtual int GetBodysCount () = 0; 00169 00171 virtual csPtr<iBodyGroup> CreateGroup () = 0; 00172 00174 virtual void RemoveGroup (iBodyGroup* group) = 0; 00175 00177 virtual csPtr<iJoint> CreateJoint () = 0; 00178 00180 virtual void RemoveJoint (iJoint* joint) = 0; 00181 00183 virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0; 00184 00198 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00199 const csOrthoTransform& trans, float friction, 00200 float elasticity, float softness = 0.01f) = 0; 00201 00216 virtual bool AttachColliderCylinder (float length, float radius, 00217 const csOrthoTransform& trans, float friction, 00218 float elasticity, float softness = 0.01f) = 0; 00219 00233 virtual bool AttachColliderBox (const csVector3 &size, 00234 const csOrthoTransform& trans, float friction, 00235 float elasticity, float softness = 0.01f) = 0; 00236 00251 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00252 float friction, float elasticity, float softness = 0.01f) = 0; 00253 00266 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00267 float elasticity, float softness = 0.01f) = 0; 00268 00270 virtual void DestroyColliders () = 0; 00271 00273 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00274 00276 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00277 00283 virtual csRef<iDynamicsSystemCollider> CreateCollider () = 0; 00284 00286 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00287 00289 virtual int GetColliderCount () = 0; 00290 }; 00291 00303 struct iDynamicsMoveCallback : public virtual iBase 00304 { 00305 SCF_INTERFACE (iDynamicsMoveCallback, 0, 0, 1); 00306 00307 virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0; 00308 virtual void Execute (iLight* light, csOrthoTransform& t) = 0; 00309 virtual void Execute (iCamera* camera, csOrthoTransform& t) = 0; 00310 virtual void Execute (csOrthoTransform& t) = 0; 00311 }; 00312 00323 struct iDynamicsCollisionCallback : public virtual iBase 00324 { 00325 SCF_INTERFACE (iDynamicsCollisionCallback, 0, 0, 2); 00326 00335 virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody, 00336 const csVector3& pos, const csVector3& normal, float depth) = 0; 00337 }; 00338 00355 struct iBodyGroup : public virtual iBase 00356 { 00357 SCF_INTERFACE (iBodyGroup, 0, 1, 0); 00358 00360 virtual void AddBody (iRigidBody *body) = 0; 00362 virtual void RemoveBody (iRigidBody *body) = 0; 00364 virtual bool BodyInGroup (iRigidBody *body) = 0; 00365 }; 00366 00382 struct iRigidBody : public virtual iBase 00383 { 00384 SCF_INTERFACE (iRigidBody, 0, 0, 2); 00385 00387 virtual iObject *QueryObject (void) = 0; 00393 virtual bool MakeStatic (void) = 0; 00395 virtual bool MakeDynamic (void) = 0; 00397 virtual bool IsStatic (void) = 0; 00401 virtual bool Disable (void) = 0; 00403 virtual bool Enable (void) = 0; 00405 virtual bool IsEnabled (void) = 0; 00406 00408 virtual csRef<iBodyGroup> GetGroup (void) = 0; 00409 00425 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00426 const csOrthoTransform& trans, float friction, float density, 00427 float elasticity, float softness = 0.01f) = 0; 00428 00445 virtual bool AttachColliderCylinder (float length, float radius, 00446 const csOrthoTransform& trans, float friction, float density, 00447 float elasticity, float softness = 0.01f) = 0; 00448 00464 virtual bool AttachColliderBox (const csVector3 &size, 00465 const csOrthoTransform& trans, float friction, float density, 00466 float elasticity, float softness = 0.01f) = 0; 00467 00483 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00484 float friction, float density, float elasticity, 00485 float softness = 0.01f) = 0; 00486 00501 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00502 float density, float elasticity, float softness = 0.01f) = 0; 00503 00510 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00511 00513 virtual void DestroyColliders () = 0; 00514 00516 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00517 00519 virtual void SetPosition (const csVector3& trans) = 0; 00521 virtual const csVector3 GetPosition () const = 0; 00523 virtual void SetOrientation (const csMatrix3& trans) = 0; 00525 virtual const csMatrix3 GetOrientation () const = 0; 00527 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00529 virtual const csOrthoTransform GetTransform () const = 0; 00531 virtual void SetLinearVelocity (const csVector3& vel) = 0; 00533 virtual const csVector3 GetLinearVelocity () const = 0; 00535 virtual void SetAngularVelocity (const csVector3& vel) = 0; 00537 virtual const csVector3 GetAngularVelocity () const = 0; 00538 00540 virtual void SetProperties (float mass, const csVector3& center, 00541 const csMatrix3& inertia) = 0; 00543 virtual void GetProperties (float* mass, csVector3* center, 00544 csMatrix3* inertia) = 0; 00546 virtual float GetMass () = 0; 00548 virtual csVector3 GetCenter () = 0; 00550 virtual csMatrix3 GetInertia () = 0; 00551 00553 virtual void AdjustTotalMass (float targetmass) = 0; 00554 00556 virtual void AddForce (const csVector3& force) = 0; 00558 virtual void AddTorque (const csVector3& force) = 0; 00560 virtual void AddRelForce (const csVector3& force) = 0; 00562 virtual void AddRelTorque (const csVector3& force) = 0 ; 00567 virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0; 00572 virtual void AddForceAtRelPos (const csVector3& force, 00573 const csVector3& pos) = 0; 00578 virtual void AddRelForceAtPos (const csVector3& force, 00579 const csVector3& pos) = 0; 00584 virtual void AddRelForceAtRelPos (const csVector3& force, 00585 const csVector3& pos) = 0; 00586 00588 virtual const csVector3 GetForce () const = 0; 00590 virtual const csVector3 GetTorque () const = 0; 00591 00592 /* 00594 virtual const csVector3& GetRelForce () const = 0; 00596 virtual const csVector3& GetRelTorque () const = 0; 00597 */ 00598 00599 /* 00601 virtual int GetJointCount () const = 0; 00602 */ 00603 00605 virtual void AttachMesh (iMeshWrapper* mesh) = 0; 00607 virtual iMeshWrapper* GetAttachedMesh () = 0; 00609 virtual void AttachLight (iLight* light) = 0; 00611 virtual iLight* GetAttachedLight () = 0; 00613 virtual void AttachCamera (iCamera* camera) = 0; 00615 virtual iCamera* GetAttachedCamera () = 0; 00616 00621 virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0; 00626 virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0; 00627 00635 virtual void Collision (iRigidBody *other, const csVector3& pos, 00636 const csVector3& normal, float depth) = 0; 00637 00639 virtual void Update () = 0; 00640 00642 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00643 00645 virtual int GetColliderCount () = 0; 00646 }; 00647 00648 enum csColliderGeometryType 00649 { 00650 NO_GEOMETRY, 00651 BOX_COLLIDER_GEOMETRY, 00652 PLANE_COLLIDER_GEOMETRY, 00653 TRIMESH_COLLIDER_GEOMETRY, 00654 CYLINDER_COLLIDER_GEOMETRY, 00655 CAPSULE_COLLIDER_GEOMETRY, 00656 SPHERE_COLLIDER_GEOMETRY 00657 }; 00658 00659 00669 struct iDynamicsColliderCollisionCallback : public virtual iBase 00670 { 00671 SCF_INTERFACE (iDynamicsColliderCollisionCallback, 0, 0, 1); 00672 00673 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00674 iDynamicsSystemCollider *othercollider) = 0; 00675 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00676 iRigidBody *otherbody) = 0; 00677 }; 00678 00679 00680 struct iGeneralFactoryState; 00681 class csBox3; 00682 class csSphere; 00683 class csReversibleTransform; 00684 00704 struct iDynamicsSystemCollider : public virtual iBase 00705 { 00706 SCF_INTERFACE (iDynamicsSystemCollider, 0, 0, 1); 00707 00709 virtual bool CreateSphereGeometry (const csSphere& sphere) = 0; 00710 00712 virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0; 00713 00715 virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0; 00716 00718 virtual bool CreateBoxGeometry (const csVector3& box_size) = 0; 00719 00724 CS_DEPRECATED_METHOD_MSG("CreateCCylinderGeometry is deprecated, use CreateCapsuleGeometry instead") 00725 virtual bool CreateCCylinderGeometry (float length, float radius) = 0; 00726 00728 virtual bool CreateCapsuleGeometry (float length, float radius) = 0; 00729 00730 //FIXME: This should be implememented, but it is not so obvious - it 00731 //should be valid also for static colliders. 00732 virtual void SetCollisionCallback ( 00733 iDynamicsColliderCollisionCallback* cb) = 0; 00734 00736 virtual void SetFriction (float friction) = 0; 00737 00739 virtual void SetSoftness (float softness) = 0; 00740 00746 virtual void SetDensity (float density) = 0; 00747 00749 virtual void SetElasticity (float elasticity) = 0; 00750 00752 virtual float GetFriction () = 0; 00753 00755 virtual float GetSoftness () = 0; 00756 00758 virtual float GetDensity () = 0; 00759 00761 virtual float GetElasticity () = 0; 00762 00764 virtual void FillWithColliderGeometry ( 00765 csRef<iGeneralFactoryState> genmesh_fact) = 0; 00766 00768 virtual csColliderGeometryType GetGeometryType () = 0; 00769 00771 virtual csOrthoTransform GetTransform () = 0; 00772 00777 virtual csOrthoTransform GetLocalTransform () = 0; 00778 00783 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00784 00789 virtual bool GetBoxGeometry (csVector3& size) = 0; 00790 00795 virtual bool GetSphereGeometry (csSphere& sphere) = 0; 00796 00801 virtual bool GetPlaneGeometry (csPlane3& plane) = 0; 00802 00807 virtual bool GetCylinderGeometry (float& length, float& radius) = 0; 00808 00814 virtual void MakeStatic () = 0; 00815 00820 virtual void MakeDynamic () = 0; 00821 00823 virtual bool IsStatic () = 0; 00824 }; 00825 00839 struct iJoint : public virtual iBase 00840 { 00841 SCF_INTERFACE (iJoint, 0, 0, 1); 00842 00844 virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0; 00846 virtual csRef<iRigidBody> GetAttachedBody (int body) = 0; 00852 virtual void SetTransform (const csOrthoTransform &trans) = 0; 00854 virtual csOrthoTransform GetTransform () = 0; 00862 virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0; 00864 virtual bool IsXTransConstrained () = 0; 00866 virtual bool IsYTransConstrained () = 0; 00868 virtual bool IsZTransConstrained () = 0; 00870 virtual void SetMinimumDistance (const csVector3 &min) = 0; 00872 virtual csVector3 GetMinimumDistance () = 0; 00874 virtual void SetMaximumDistance (const csVector3 &max) = 0; 00876 virtual csVector3 GetMaximumDistance () = 0; 00882 virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0; 00884 virtual bool IsXRotConstrained () = 0; 00886 virtual bool IsYRotConstrained () = 0; 00888 virtual bool IsZRotConstrained () = 0; 00890 virtual void SetMinimumAngle (const csVector3 &min) = 0; 00892 virtual csVector3 GetMinimumAngle () = 0; 00894 virtual void SetMaximumAngle (const csVector3 &max) = 0; 00896 virtual csVector3 GetMaximumAngle () = 0; 00897 00898 //Motor parameters 00899 00905 virtual void SetBounce (const csVector3 & bounce ) = 0; 00907 virtual csVector3 GetBounce () = 0; 00909 virtual void SetDesiredVelocity (const csVector3 &velocity ) = 0; 00910 virtual csVector3 GetDesiredVelocity () = 0; 00912 virtual void SetMaxForce (const csVector3 & maxForce ) = 0; 00913 virtual csVector3 GetMaxForce () = 0; 00915 virtual void SetAngularConstraintAxis (const csVector3 &axis, int body) = 0; 00917 virtual csVector3 GetAngularConstraintAxis (int body) = 0; 00918 00919 }; 00920 00921 #endif // __CS_IVARIA_DYNAMICS_H__ 00922
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