ivaria/dynamics.h

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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 {
00313   virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody,
00314       const csVector3& pos, const csVector3& normal, float depth) = 0;
00315 };
00316 
00317 SCF_VERSION (iBodyGroup, 0, 0, 1);
00318 
00335 struct iBodyGroup : public iBase
00336 {
00338    virtual void AddBody (iRigidBody *body) = 0;
00340    virtual void RemoveBody (iRigidBody *body) = 0;
00342    virtual bool BodyInGroup (iRigidBody *body) = 0;
00343 };
00344 
00360 struct iRigidBody : public virtual iBase
00361 {
00362   SCF_INTERFACE (iRigidBody, 0, 0, 2);
00363 
00365   virtual iObject *QueryObject (void) = 0;
00371   virtual bool MakeStatic (void) = 0;
00373   virtual bool MakeDynamic (void) = 0;
00375   virtual bool IsStatic (void) = 0;
00379   virtual bool Disable (void) = 0;
00381   virtual bool Enable (void) = 0;
00383   virtual bool IsEnabled (void) = 0;  
00384 
00386   virtual csRef<iBodyGroup> GetGroup (void) = 0;
00387 
00403   virtual bool AttachColliderMesh (iMeshWrapper* mesh,
00404     const csOrthoTransform& trans, float friction, float density,
00405     float elasticity, float softness = 0.01f) = 0;
00406 
00423   virtual bool AttachColliderCylinder (float length, float radius,
00424     const csOrthoTransform& trans, float friction, float density,
00425     float elasticity, float softness = 0.01f) = 0;
00426 
00442   virtual bool AttachColliderBox (const csVector3 &size,
00443     const csOrthoTransform& trans, float friction, float density,
00444     float elasticity, float softness = 0.01f) = 0;
00445 
00461   virtual bool AttachColliderSphere (float radius, const csVector3 &offset,
00462     float friction, float density, float elasticity,
00463     float softness = 0.01f) = 0;
00464 
00479   virtual bool AttachColliderPlane (const csPlane3 &plane, float friction,
00480     float density, float elasticity, float softness = 0.01f) = 0;
00481 
00488   virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0;
00489 
00491   virtual void DestroyColliders () = 0;
00492 
00494   virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0;
00495 
00497   virtual void SetPosition (const csVector3& trans) = 0;
00499   virtual const csVector3 GetPosition () const = 0;
00501   virtual void SetOrientation (const csMatrix3& trans) = 0;
00503   virtual const csMatrix3 GetOrientation () const = 0;
00505   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00507   virtual const csOrthoTransform GetTransform () const = 0;
00509   virtual void SetLinearVelocity (const csVector3& vel) = 0;
00511   virtual const csVector3 GetLinearVelocity () const = 0;
00513   virtual void SetAngularVelocity (const csVector3& vel) = 0;
00515   virtual const csVector3 GetAngularVelocity () const = 0;
00516 
00518   virtual void SetProperties (float mass, const csVector3& center,
00519     const csMatrix3& inertia) = 0;
00521   virtual void GetProperties (float* mass, csVector3* center,
00522     csMatrix3* inertia) = 0;
00524   virtual float GetMass () = 0;
00526   virtual csVector3 GetCenter () = 0;
00528   virtual csMatrix3 GetInertia () = 0;
00529 
00531   virtual void AdjustTotalMass (float targetmass) = 0;
00532 
00534   virtual void AddForce (const csVector3& force) = 0;
00536   virtual void AddTorque (const csVector3& force) = 0;
00538   virtual void AddRelForce (const csVector3& force) = 0;
00540   virtual void AddRelTorque (const csVector3& force) = 0 ;
00545   virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0;
00550   virtual void AddForceAtRelPos (const csVector3& force,
00551     const csVector3& pos) = 0;
00556   virtual void AddRelForceAtPos (const csVector3& force,
00557     const csVector3& pos) = 0;
00562   virtual void AddRelForceAtRelPos (const csVector3& force,
00563     const csVector3& pos) = 0;
00564 
00566   virtual const csVector3 GetForce () const = 0;
00568   virtual const csVector3 GetTorque () const = 0;
00569 
00570   /*
00572   virtual const csVector3& GetRelForce () const = 0;
00574   virtual const csVector3& GetRelTorque () const = 0;
00575   */
00576 
00577   /*
00579   virtual int GetJointCount () const = 0;
00580   */
00581 
00583   virtual void AttachMesh (iMeshWrapper* mesh) = 0;
00585   virtual iMeshWrapper* GetAttachedMesh () = 0;
00587   virtual void AttachLight (iLight* light) = 0;
00589   virtual iLight* GetAttachedLight () = 0;
00591   virtual void AttachCamera (iCamera* camera) = 0;
00593   virtual iCamera* GetAttachedCamera () = 0;
00594 
00599   virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0;
00604   virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0;
00605 
00612   virtual void Collision (iRigidBody *other, const csVector3& pos,
00613       const csVector3& normal, float depth) = 0;
00614 
00616   virtual void Update () = 0;
00617 
00619   virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0;
00620 
00622   virtual int GetColliderCount () = 0;
00623 };
00624 
00625 enum csColliderGeometryType
00626 {
00627   NO_GEOMETRY,
00628   BOX_COLLIDER_GEOMETRY,
00629   PLANE_COLLIDER_GEOMETRY,
00630   TRIMESH_COLLIDER_GEOMETRY,
00631   CYLINDER_COLLIDER_GEOMETRY,
00632   SPHERE_COLLIDER_GEOMETRY
00633 };
00634 
00635 
00636 SCF_VERSION (iDynamicsColliderCollisionCallback, 0, 0, 1);
00637 
00647 struct iDynamicsColliderCollisionCallback : public iBase
00648 {
00649   virtual void Execute (iDynamicsSystemCollider *thiscollider, 
00650     iDynamicsSystemCollider *othercollider) = 0;
00651   virtual void Execute (iDynamicsSystemCollider *thiscollider, 
00652     iRigidBody *otherbody) = 0;
00653 };
00654 
00655 
00656 struct iGeneralFactoryState;
00657 class csBox3;
00658 class csSphere;
00659 class csReversibleTransform;
00660 
00680 struct iDynamicsSystemCollider : public virtual iBase
00681 {
00682   SCF_INTERFACE (iDynamicsSystemCollider, 0, 0, 1);
00683 
00685   virtual bool CreateSphereGeometry (const csSphere& sphere) = 0;
00686 
00688   virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0;
00689 
00691   virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0;
00692 
00694   virtual bool CreateBoxGeometry (const csVector3& box_size) = 0;
00695 
00697   virtual bool CreateCCylinderGeometry (float length, float radius) = 0;
00698 
00699   //FIXME: This should be implememented, but it is not so obvious - it
00700   //should be valid also for static colliders.
00701   virtual void SetCollisionCallback (
00702         iDynamicsColliderCollisionCallback* cb) = 0;
00703 
00705   virtual void SetFriction (float friction) = 0;
00706 
00708   virtual void SetSoftness (float softness) = 0;
00709 
00715   virtual void SetDensity (float density) = 0;
00716 
00718   virtual void SetElasticity (float elasticity) = 0;
00719   
00721   virtual float GetFriction () = 0;
00722 
00724   virtual float GetSoftness () = 0;
00725 
00727   virtual float GetDensity () = 0;
00728 
00730   virtual float GetElasticity () = 0;
00731 
00733   virtual void FillWithColliderGeometry (
00734         csRef<iGeneralFactoryState> genmesh_fact) = 0;
00735 
00737   virtual csColliderGeometryType GetGeometryType () = 0;
00738 
00740   virtual csOrthoTransform GetTransform () = 0;
00741 
00746   virtual csOrthoTransform GetLocalTransform () = 0;
00747 
00752   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00753 
00758   virtual bool GetBoxGeometry (csVector3& size) = 0; 
00759 
00764   virtual bool GetSphereGeometry (csSphere& sphere) = 0;
00765 
00770   virtual bool GetPlaneGeometry (csPlane3& plane) = 0; 
00771 
00776   virtual bool GetCylinderGeometry (float& length, float& radius) = 0; 
00777 
00783   virtual void MakeStatic () = 0;
00784 
00789   virtual void MakeDynamic () = 0;
00790 
00792   virtual bool IsStatic () = 0;
00793 };
00794 
00808 struct iJoint : public virtual iBase
00809 {
00810   SCF_INTERFACE (iJoint, 0, 0, 1);
00811 
00813   virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0;
00815   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00821   virtual void SetTransform (const csOrthoTransform &trans) = 0;
00823   virtual csOrthoTransform GetTransform () = 0;
00831   virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0;
00833   virtual bool IsXTransConstrained () = 0;
00835   virtual bool IsYTransConstrained () = 0;
00837   virtual bool IsZTransConstrained () = 0;
00839   virtual void SetMinimumDistance (const csVector3 &min) = 0;
00841   virtual csVector3 GetMinimumDistance () = 0;
00843   virtual void SetMaximumDistance (const csVector3 &max) = 0;
00845   virtual csVector3 GetMaximumDistance () = 0;
00851   virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0;
00853   virtual bool IsXRotConstrained () = 0;
00855   virtual bool IsYRotConstrained () = 0;
00857   virtual bool IsZRotConstrained () = 0;
00859   virtual void SetMinimumAngle (const csVector3 &min) = 0;
00861   virtual csVector3 GetMinimumAngle () = 0;
00863   virtual void SetMaximumAngle (const csVector3 &max) = 0;
00865   virtual csVector3 GetMaximumAngle () = 0;
00866 
00867   //Motor parameters
00868 
00874   virtual void SetBounce (const csVector3 & bounce ) = 0;
00876   virtual csVector3 GetBounce () = 0;
00878   virtual void SetDesiredVelocity (const csVector3 &velocity ) = 0;
00879   virtual csVector3 GetDesiredVelocity () = 0;
00881   virtual void SetMaxForce (const csVector3 & maxForce ) = 0;
00882   virtual csVector3 GetMaxForce () = 0;
00884   virtual void SetAngularConstraintAxis (const csVector3 &axis, int body) = 0;
00886   virtual csVector3 GetAngularConstraintAxis (int body) = 0;
00887 
00888 };
00889 
00890 #endif // __CS_IVARIA_DYNAMICS_H__
00891
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Public API Reference

ivaria/dynamics.h
