Public API Reference

ivaria/ode.h

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/*
    Copyright (C) 2003 by Jorrit Tyberghein, Daniel Duhprey,
    Leandro Motta Barros

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Library General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Library General Public License for more details.

    You should have received a copy of the GNU Library General Public
    License along with this library; if not, write to the Free
    Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#ifndef __CS_IVARIA_ODE_H__
#define __CS_IVARIA_ODE_H__

#include "csutil/scf_interface.h"

struct iODEFrameUpdateCallback : public virtual iBase
{
  SCF_INTERFACE(iODEFrameUpdateCallback, 2, 0, 0);

  virtual void Execute (float stepsize) = 0;
};

struct iODEDynamicState : public virtual iBase
{
  SCF_INTERFACE(iODEDynamicState, 2, 0, 0);


  virtual void SetGlobalERP (float erp) = 0;
  virtual float GlobalERP () = 0;

  virtual void SetGlobalCFM (float cfm) = 0;
  virtual float GlobalCFM () = 0;

  virtual void EnableStepFast (bool enable) = 0;
  virtual bool StepFastEnabled () = 0;
  virtual void SetStepFastIterations (int iter) = 0;
  virtual int StepFastIterations () = 0;

  virtual void EnableQuickStep (bool enable) = 0;
  virtual bool QuickStepEnabled () = 0;
  virtual void SetQuickStepIterations (int iter) = 0;
  virtual int QuickStepIterations () = 0;

  virtual void EnableFrameRate (bool enable) = 0;
  virtual bool FrameRateEnabled () = 0;

  virtual void SetFrameRate (float hz) = 0;
  virtual float FrameRate () = 0;

  virtual void SetFrameLimit (float hz) = 0;
  virtual float FrameLimit () = 0;

  virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
  virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;

  virtual void EnableEventProcessing (bool enable) = 0;
  virtual bool EventProcessingEnabled () = 0;

  virtual void EnableFastObjects (bool enable) = 0;
  virtual bool FastObjectsEnabled () = 0;

};

struct iODEBallJoint;
struct iODEHingeJoint;
struct iODEHinge2Joint;
struct iODEAMotorJoint;
struct iODEUniversalJoint;
struct iODESliderJoint;

struct iODEDynamicSystemState : public virtual iBase
{
  SCF_INTERFACE(iODEDynamicSystemState, 2, 0, 0);

  virtual void SetERP (float erp) = 0;
  virtual float ERP () = 0;

  virtual void SetCFM (float cfm) = 0;
  virtual float CFM () = 0;

  virtual void EnableStepFast (bool enable) = 0;
  virtual bool StepFastEnabled () = 0;
  virtual void SetStepFastIterations (int iter) = 0;
  virtual int StepFastIterations () = 0;

  virtual void EnableQuickStep (bool enable) = 0;
  virtual bool QuickStepEnabled () = 0;
  virtual void SetQuickStepIterations (int iter) = 0;
  virtual int QuickStepIterations () = 0;

  virtual void EnableAutoDisable (bool enable) = 0;
  virtual bool AutoDisableEnabled () =0;
  virtual void SetAutoDisableParams (float linear, float angular, int steps,
    float time)=0;

  virtual void EnableFrameRate (bool enable) = 0;
  virtual bool FrameRateEnabled () = 0;

  virtual void SetFrameRate (float hz) = 0;
  virtual float FrameRate () = 0;

  virtual void SetFrameLimit (float hz) = 0;
  virtual float FrameLimit () = 0;

  virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
  virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;

  virtual void EnableFastObjects (bool enable) = 0;
  virtual bool FastObjectsEnabled () = 0;

  virtual csPtr<iODEBallJoint> CreateBallJoint () = 0;

  virtual csPtr<iODEHingeJoint> CreateHingeJoint () = 0;

  virtual csPtr<iODEHinge2Joint> CreateHinge2Joint () = 0;

  virtual csPtr<iODEAMotorJoint> CreateAMotorJoint () = 0;

  virtual csPtr<iODEUniversalJoint> CreateUniversalJoint () = 0;

  virtual csPtr<iODESliderJoint> CreateSliderJoint () = 0;

  virtual void RemoveJoint (iODEBallJoint* joint) = 0;

  virtual void RemoveJoint (iODEHingeJoint* joint) = 0;

  virtual void RemoveJoint (iODEAMotorJoint* joint) = 0;

  virtual void RemoveJoint (iODEUniversalJoint* joint) = 0;

  virtual void RemoveJoint (iODESliderJoint* joint) = 0;

  virtual void RemoveJoint (iODEHinge2Joint* joint) = 0;

  virtual void SetContactMaxCorrectingVel (float v) = 0;

  virtual float GetContactMaxCorrectingVel () = 0;

  virtual void SetContactSurfaceLayer (float depth) = 0;

  virtual float GetContactSurfaceLayer () = 0;
};

enum ODEJointType
{
  CS_ODE_JOINT_TYPE_UNKNOWN = -1,
  CS_ODE_JOINT_TYPE_BALL,
  CS_ODE_JOINT_TYPE_HINGE,
  CS_ODE_JOINT_TYPE_SLIDER,
  CS_ODE_JOINT_TYPE_CONTACT,
  CS_ODE_JOINT_TYPE_UNIVERSAL,
  CS_ODE_JOINT_TYPE_HINGE2,
  CS_ODE_JOINT_TYPE_FIXED,
  CS_ODE_JOINT_TYPE_AMOTOR
};

struct iODEJointState : public virtual iBase
{
  SCF_INTERFACE(iODEJointState, 2, 0, 0);

  virtual ODEJointType GetType() = 0;

  virtual void SetLoStop (const csVector3 &value) = 0;

  virtual void SetHiStop (const csVector3 &value) = 0;

  virtual void SetVel (const csVector3 &value) = 0;

  virtual void SetFMax (const csVector3 &value) = 0;

  virtual void SetFudgeFactor (const csVector3 &value) = 0;

  virtual void SetBounce (const csVector3 &value) = 0;

  virtual void SetCFM (const csVector3 &value) = 0;

  virtual void SetStopERP (const csVector3 &value) = 0;

  virtual void SetStopCFM (const csVector3 &value) = 0;

  virtual void SetSuspensionERP (const csVector3 &value) = 0;

  virtual void SetSuspensionCFM (const csVector3 &value) = 0;

  virtual csVector3 GetLoStop () = 0;

  virtual csVector3 GetHiStop () = 0;

  virtual csVector3 GetVel () = 0;

  virtual csVector3 GetMaxForce () = 0;

  virtual csVector3 GetFudgeFactor () = 0;

  virtual csVector3 GetBounce () = 0;

  virtual csVector3 GetCFM () = 0;

  virtual csVector3 GetStopERP () = 0;

  virtual csVector3 GetStopCFM () = 0;

  virtual csVector3 GetSuspensionERP () = 0;

  virtual csVector3 GetSuspensionCFM () = 0;

};

struct iODEGeneralJointState : public virtual iBase
{
  SCF_INTERFACE(iODEGeneralJointState, 2, 0, 0);

  virtual void SetLoStop (float value, int axis) = 0;

  virtual void SetHiStop (float value, int axis) = 0;

  virtual void SetVel (float value, int axis) = 0;

  virtual void SetFMax (float value, int axis) = 0;

  virtual void SetFudgeFactor (float value, int axis) = 0;

  virtual void SetBounce (float value, int axis) = 0;

  virtual void SetCFM (float value, int axis) = 0;

  virtual void SetStopERP (float value, int axis) = 0;

  virtual void SetStopCFM (float value, int axis) = 0;

  virtual void SetSuspensionERP (float value, int axis) = 0;

  virtual void SetSuspensionCFM (float value, int axis) = 0;

  virtual float GetLoStop (int axis) = 0;

  virtual float GetHiStop (int axis) = 0;

  virtual float GetVel (int axis) = 0;

  virtual float GetFMax (int axis) = 0;

  virtual float GetFudgeFactor (int axis) = 0;

  virtual float GetBounce (int axis) = 0;

  virtual float GetCFM (int axis) = 0;

  virtual float GetStopERP (int axis) = 0;

  virtual float GetStopCFM (int axis) = 0;

  virtual float GetSuspensionERP (int axis) = 0;

  virtual float GetSuspensionCFM (int axis) = 0;

  virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;

  virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;

  virtual csVector3 GetFeedbackForce1 () = 0;

  virtual csVector3 GetFeedbackTorque1 () = 0;

  virtual csVector3 GetFeedbackForce2 () = 0;

  virtual csVector3 GetFeedbackTorque2 () = 0;

};

struct iODESliderJoint : public iODEGeneralJointState
{
  SCF_INTERFACE(iODESliderJoint, 2, 0, 0);

  virtual void SetSliderAxis (float x, float y, float z) = 0;

  virtual csVector3 GetSliderAxis () = 0;

  virtual float GetSliderPosition () = 0;

  virtual float GetSliderPositionRate () = 0;
};

struct iODEUniversalJoint : public iODEGeneralJointState
{
  SCF_INTERFACE(iODEUniversalJoint, 2, 0, 0);

  virtual void SetUniversalAnchor (float x, float y, float z) = 0;

  virtual void SetUniversalAxis1 (float x, float y, float z) = 0;

  virtual void SetUniversalAxis2 (float x, float y, float z) = 0;

  virtual csVector3 GetUniversalAnchor1 () = 0;

  virtual csVector3 GetUniversalAnchor2 () = 0;

  virtual csVector3 GetUniversalAxis1 () = 0;

  virtual csVector3 GetUniversalAxis2 () = 0;

};

enum ODEAMotorMode
{
  CS_ODE_AMOTOR_MODE_UNKNOWN = -1,

  CS_ODE_AMOTOR_MODE_USER = 0,
  CS_ODE_AMOTOR_MODE_EULER,

  CS_ODE_AMOTOR_MODE_LAST
};

struct iODEAMotorJoint : public iODEGeneralJointState
{
  SCF_INTERFACE(iODEAMotorJoint, 2, 0, 0);

  virtual void SetAMotorMode (ODEAMotorMode mode) = 0;

  virtual ODEAMotorMode GetAMotorMode () = 0;

  virtual void SetAMotorNumAxes (int axis_num) = 0;

  virtual int GetAMotorNumAxes () = 0;

  virtual void SetAMotorAxis (int axis_num, int rel_orient, float x, float y,
        float z) = 0;

  virtual void SetAMotorAxis (int axis_num, int rel_orient,
        const csVector3 &axis) = 0;

  virtual csVector3 GetAMotorAxis (int axis_num) = 0;

  virtual int GetAMotorAxisRelOrientation (int axis_num) = 0;

  virtual void SetAMotorAngle (int axis_num, float angle) = 0;

  virtual float GetAMotorAngle (int axis_num) = 0;

  virtual float GetAMotorAngleRate (int axis_num) = 0;
};

struct iODEHinge2Joint : public iODEGeneralJointState
{
  SCF_INTERFACE(iODEHinge2Joint, 2, 0, 0);

  virtual void SetHingeAnchor (const csVector3 &pos) = 0;

  virtual void SetHingeAxis1 (const csVector3 &axis) = 0;

  virtual void SetHingeAxis2 (const csVector3 &axis) = 0;


  virtual csVector3 GetHingeAnchor1 () = 0;

  virtual csVector3 GetHingeAnchor2 () = 0;

  virtual csVector3 GetHingeAxis1 () = 0;

  virtual csVector3 GetHingeAxis2 () = 0;

  virtual float GetHingeAngle () = 0;

  virtual float GetHingeAngleRate1 () = 0;

  virtual float GetHingeAngleRate2 () = 0;

  virtual csVector3 GetAnchorError () = 0;

};

struct iODEHingeJoint : public iODEGeneralJointState
{
  SCF_INTERFACE(iODEHingeJoint, 2, 0, 0);

  virtual void SetHingeAnchor (const csVector3 &pos) = 0;

  virtual void SetHingeAxis (const csVector3 &axis) = 0;

  virtual csVector3 GetHingeAnchor1 () = 0;

  virtual csVector3 GetHingeAnchor2 () = 0;

  virtual csVector3 GetHingeAxis () = 0;

  virtual float GetHingeAngle () = 0;

  virtual float GetHingeAngleRate () = 0;

  virtual csVector3 GetAnchorError () = 0;

};

struct iODEBallJoint : public virtual iBase
{
  SCF_INTERFACE(iODEBallJoint, 2, 0, 0);

  virtual void SetBallAnchor (const csVector3 &pos) = 0;

  virtual csVector3 GetBallAnchor1 () = 0;

  virtual csVector3 GetBallAnchor2 () = 0;

  virtual csVector3 GetAnchorError () = 0;

  virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;

  virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;

  virtual csVector3 GetFeedbackForce1 () = 0;

  virtual csVector3 GetFeedbackTorque1 () = 0;

  virtual csVector3 GetFeedbackForce2 () = 0;

  virtual csVector3 GetFeedbackTorque2 () = 0;
};

#endif // __CS_IVARIA_ODE_H__

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