CrystalSpace

Public API Reference

ivaria/ode.h

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00001 /*
00002     Copyright (C) 2003 by Jorrit Tyberghein, Daniel Duhprey,
00003     Leandro Motta Barros
00004 
00005     This library is free software; you can redistribute it and/or
00006     modify it under the terms of the GNU Library General Public
00007     License as published by the Free Software Foundation; either
00008     version 2 of the License, or (at your option) any later version.
00009 
00010     This library is distributed in the hope that it will be useful,
00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013     Library General Public License for more details.
00014 
00015     You should have received a copy of the GNU Library General Public
00016     License along with this library; if not, write to the Free
00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 */
00019 
00020 #ifndef __CS_IVARIA_ODE_H__
00021 #define __CS_IVARIA_ODE_H__
00022 
00027 #include "csutil/scf_interface.h"
00028 
00033 struct iODEFrameUpdateCallback : public virtual iBase
00034 {
00035   SCF_INTERFACE(iODEFrameUpdateCallback, 2, 0, 0);
00036 
00038   virtual void Execute (float stepsize) = 0;
00039 };
00040 
00045 struct iODEDynamicState : public virtual iBase
00046 {
00047   SCF_INTERFACE(iODEDynamicState, 2, 0, 0);
00048 
00049 
00051   virtual void SetGlobalERP (float erp) = 0;
00052   virtual float GlobalERP () = 0;
00053 
00055   virtual void SetGlobalCFM (float cfm) = 0;
00056   virtual float GlobalCFM () = 0;
00057 
00059   virtual void EnableStepFast (bool enable) = 0;
00060   virtual bool StepFastEnabled () = 0;
00061   virtual void SetStepFastIterations (int iter) = 0;
00062   virtual int StepFastIterations () = 0;
00063 
00064   virtual void EnableQuickStep (bool enable) = 0;
00065   virtual bool QuickStepEnabled () = 0;
00066   virtual void SetQuickStepIterations (int iter) = 0;
00067   virtual int QuickStepIterations () = 0;
00068 
00084   virtual void EnableFrameRate (bool enable) = 0;
00085   virtual bool FrameRateEnabled () = 0;
00086 
00087   virtual void SetFrameRate (float hz) = 0;
00088   virtual float FrameRate () = 0;
00089 
00090   virtual void SetFrameLimit (float hz) = 0;
00091   virtual float FrameLimit () = 0;
00092 
00093   virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00094   virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00095 
00101   virtual void EnableEventProcessing (bool enable) = 0;
00102   virtual bool EventProcessingEnabled () = 0;
00103 
00115   virtual void EnableFastObjects (bool enable) = 0;
00116   virtual bool FastObjectsEnabled () = 0;
00117 
00118 };
00119 
00120 struct iODEBallJoint;
00121 struct iODEHingeJoint;
00122 struct iODEHinge2Joint;
00123 struct iODEAMotorJoint;
00124 struct iODEUniversalJoint;
00125 struct iODESliderJoint;
00126 
00132 struct iODEDynamicSystemState : public virtual iBase
00133 {
00134   SCF_INTERFACE(iODEDynamicSystemState, 2, 0, 0);
00135 
00141   virtual void SetERP (float erp) = 0;
00142   virtual float ERP () = 0;
00143 
00149   virtual void SetCFM (float cfm) = 0;
00150   virtual float CFM () = 0;
00151 
00157   virtual void EnableStepFast (bool enable) = 0;
00158   virtual bool StepFastEnabled () = 0;
00159   virtual void SetStepFastIterations (int iter) = 0;
00160   virtual int StepFastIterations () = 0;
00161 
00162   virtual void EnableQuickStep (bool enable) = 0;
00163   virtual bool QuickStepEnabled () = 0;
00164   virtual void SetQuickStepIterations (int iter) = 0;
00165   virtual int QuickStepIterations () = 0;
00166 
00172   virtual void EnableAutoDisable (bool enable) = 0;
00173   virtual bool AutoDisableEnabled () =0;
00183   virtual void SetAutoDisableParams (float linear, float angular, int steps,
00184     float time)=0;
00185 
00202   virtual void EnableFrameRate (bool enable) = 0;
00203   virtual bool FrameRateEnabled () = 0;
00204 
00205   virtual void SetFrameRate (float hz) = 0;
00206   virtual float FrameRate () = 0;
00207 
00208   virtual void SetFrameLimit (float hz) = 0;
00209   virtual float FrameLimit () = 0;
00210 
00211   virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00212   virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00213 
00227   virtual void EnableFastObjects (bool enable) = 0;
00228   virtual bool FastObjectsEnabled () = 0;
00229 
00231   virtual csPtr<iODEBallJoint> CreateBallJoint () = 0;
00232 
00234   virtual csPtr<iODEHingeJoint> CreateHingeJoint () = 0;
00235 
00237   virtual csPtr<iODEHinge2Joint> CreateHinge2Joint () = 0;
00238 
00240   virtual csPtr<iODEAMotorJoint> CreateAMotorJoint () = 0;
00241 
00243   virtual csPtr<iODEUniversalJoint> CreateUniversalJoint () = 0;
00244 
00246   virtual csPtr<iODESliderJoint> CreateSliderJoint () = 0;
00247 
00249   virtual void RemoveJoint (iODEBallJoint* joint) = 0;
00250 
00252   virtual void RemoveJoint (iODEHingeJoint* joint) = 0;
00253 
00255   virtual void RemoveJoint (iODEAMotorJoint* joint) = 0;
00256 
00258   virtual void RemoveJoint (iODEUniversalJoint* joint) = 0;
00259 
00261   virtual void RemoveJoint (iODESliderJoint* joint) = 0;
00262 
00264   virtual void RemoveJoint (iODEHinge2Joint* joint) = 0;
00265 
00273   virtual void SetContactMaxCorrectingVel (float v) = 0;
00274 
00281   virtual float GetContactMaxCorrectingVel () = 0;
00282 
00292   virtual void SetContactSurfaceLayer (float depth) = 0;
00293 
00303   virtual float GetContactSurfaceLayer () = 0;
00304 };
00305 
00309 enum ODEJointType
00310 {
00311   CS_ODE_JOINT_TYPE_UNKNOWN = -1,
00312   CS_ODE_JOINT_TYPE_BALL,
00313   CS_ODE_JOINT_TYPE_HINGE,
00314   CS_ODE_JOINT_TYPE_SLIDER,
00315   CS_ODE_JOINT_TYPE_CONTACT,
00316   CS_ODE_JOINT_TYPE_UNIVERSAL,
00317   CS_ODE_JOINT_TYPE_HINGE2,
00318   CS_ODE_JOINT_TYPE_FIXED,
00319   CS_ODE_JOINT_TYPE_AMOTOR
00320 };
00321 
00325 struct iODEJointState : public virtual iBase
00326 {
00327   SCF_INTERFACE(iODEJointState, 2, 0, 0);
00328 
00329   virtual ODEJointType GetType() = 0;
00330 
00335   virtual void SetLoStop (const csVector3 &value) = 0;
00336 
00342   virtual void SetHiStop (const csVector3 &value) = 0;
00343 
00345   virtual void SetVel (const csVector3 &value) = 0;
00346 
00352   virtual void SetFMax (const csVector3 &value) = 0;
00353 
00364   virtual void SetFudgeFactor (const csVector3 &value) = 0;
00365 
00371   virtual void SetBounce (const csVector3 &value) = 0;
00372 
00377   virtual void SetCFM (const csVector3 &value) = 0;
00378 
00380   virtual void SetStopERP (const csVector3 &value) = 0;
00381 
00388   virtual void SetStopCFM (const csVector3 &value) = 0;
00389 
00391   virtual void SetSuspensionERP (const csVector3 &value) = 0;
00392 
00394   virtual void SetSuspensionCFM (const csVector3 &value) = 0;
00395 
00397   virtual csVector3 GetLoStop () = 0;
00398 
00400   virtual csVector3 GetHiStop () = 0;
00401 
00403   virtual csVector3 GetVel () = 0;
00404 
00409   virtual csVector3 GetMaxForce () = 0;
00410 
00412   virtual csVector3 GetFudgeFactor () = 0;
00413 
00415   virtual csVector3 GetBounce () = 0;
00416 
00421   virtual csVector3 GetCFM () = 0;
00422 
00424   virtual csVector3 GetStopERP () = 0;
00425 
00427   virtual csVector3 GetStopCFM () = 0;
00428 
00430   virtual csVector3 GetSuspensionERP () = 0;
00431 
00433   virtual csVector3 GetSuspensionCFM () = 0;
00434 
00435 };
00436 
00440 struct iODEGeneralJointState : public virtual iBase
00441 {
00442   SCF_INTERFACE(iODEGeneralJointState, 2, 0, 0);
00443 
00448   virtual void SetLoStop (float value, int axis) = 0;
00449 
00455   virtual void SetHiStop (float value, int axis) = 0;
00456 
00458   virtual void SetVel (float value, int axis) = 0;
00459 
00465   virtual void SetFMax (float value, int axis) = 0;
00466 
00477   virtual void SetFudgeFactor (float value, int axis) = 0;
00478 
00484   virtual void SetBounce (float value, int axis) = 0;
00485 
00490   virtual void SetCFM (float value, int axis) = 0;
00491 
00493   virtual void SetStopERP (float value, int axis) = 0;
00494 
00501   virtual void SetStopCFM (float value, int axis) = 0;
00502 
00504   virtual void SetSuspensionERP (float value, int axis) = 0;
00505 
00507   virtual void SetSuspensionCFM (float value, int axis) = 0;
00508 
00510   virtual float GetLoStop (int axis) = 0;
00511 
00513   virtual float GetHiStop (int axis) = 0;
00514 
00516   virtual float GetVel (int axis) = 0;
00517 
00522   virtual float GetFMax (int axis) = 0;
00523 
00525   virtual float GetFudgeFactor (int axis) = 0;
00526 
00528   virtual float GetBounce (int axis) = 0;
00529 
00534   virtual float GetCFM (int axis) = 0;
00535 
00537   virtual float GetStopERP (int axis) = 0;
00538 
00540   virtual float GetStopCFM (int axis) = 0;
00541 
00543   virtual float GetSuspensionERP (int axis) = 0;
00544 
00546   virtual float GetSuspensionCFM (int axis) = 0;
00547 
00555   virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;
00556 
00558   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00559 
00561   virtual csVector3 GetFeedbackForce1 () = 0;
00562 
00564   virtual csVector3 GetFeedbackTorque1 () = 0;
00565 
00567   virtual csVector3 GetFeedbackForce2 () = 0;
00568 
00570   virtual csVector3 GetFeedbackTorque2 () = 0;
00571 
00572 };
00573 
00574 struct iODESliderJoint : public iODEGeneralJointState
00575 {
00576   SCF_INTERFACE(iODESliderJoint, 2, 0, 0);
00577 
00579   virtual void SetSliderAxis (float x, float y, float z) = 0;
00580 
00582   virtual csVector3 GetSliderAxis () = 0;
00583 
00589   virtual float GetSliderPosition () = 0;
00590 
00592   virtual float GetSliderPositionRate () = 0;
00593 };
00594 
00602 struct iODEUniversalJoint : public iODEGeneralJointState
00603 {
00604   SCF_INTERFACE(iODEUniversalJoint, 2, 0, 0);
00605 
00607   virtual void SetUniversalAnchor (float x, float y, float z) = 0;
00608 
00610   virtual void SetUniversalAxis1 (float x, float y, float z) = 0;
00611 
00613   virtual void SetUniversalAxis2 (float x, float y, float z) = 0;
00614 
00620   virtual csVector3 GetUniversalAnchor1 () = 0;
00621 
00627   virtual csVector3 GetUniversalAnchor2 () = 0;
00628 
00630   virtual csVector3 GetUniversalAxis1 () = 0;
00631 
00633   virtual csVector3 GetUniversalAxis2 () = 0;
00634 
00635 };
00636 
00637 enum ODEAMotorMode
00638 {
00639   CS_ODE_AMOTOR_MODE_UNKNOWN = -1,
00640 
00641   CS_ODE_AMOTOR_MODE_USER = 0,
00642   CS_ODE_AMOTOR_MODE_EULER,
00643 
00644   CS_ODE_AMOTOR_MODE_LAST
00645 };
00646 
00658 struct iODEAMotorJoint : public iODEGeneralJointState
00659 {
00660   SCF_INTERFACE(iODEAMotorJoint, 2, 0, 0);
00661 
00671   virtual void SetAMotorMode (ODEAMotorMode mode) = 0;
00672 
00676   virtual ODEAMotorMode GetAMotorMode () = 0;
00677 
00684   virtual void SetAMotorNumAxes (int axis_num) = 0;
00685 
00690   virtual int GetAMotorNumAxes () = 0;
00691 
00701   virtual void SetAMotorAxis (int axis_num, int rel_orient, float x, float y,
00702         float z) = 0;
00703 
00712   virtual void SetAMotorAxis (int axis_num, int rel_orient,
00713         const csVector3 &axis) = 0;
00714 
00718   virtual csVector3 GetAMotorAxis (int axis_num) = 0;
00719 
00726   virtual int GetAMotorAxisRelOrientation (int axis_num) = 0;
00727 
00735   virtual void SetAMotorAngle (int axis_num, float angle) = 0;
00736 
00742   virtual float GetAMotorAngle (int axis_num) = 0;
00743 
00749   virtual float GetAMotorAngleRate (int axis_num) = 0;
00750 };
00751 
00756 struct iODEHinge2Joint : public iODEGeneralJointState
00757 {
00758   SCF_INTERFACE(iODEHinge2Joint, 2, 0, 0);
00759 
00764   virtual void SetHingeAnchor (const csVector3 &pos) = 0;
00765 
00769   virtual void SetHingeAxis1 (const csVector3 &axis) = 0;
00770 
00774   virtual void SetHingeAxis2 (const csVector3 &axis) = 0;
00775 
00776 
00781   virtual csVector3 GetHingeAnchor1 () = 0;
00782 
00787   virtual csVector3 GetHingeAnchor2 () = 0;
00788 
00792   virtual csVector3 GetHingeAxis1 () = 0;
00793 
00797   virtual csVector3 GetHingeAxis2 () = 0;
00798 
00805   virtual float GetHingeAngle () = 0;
00806 
00810   virtual float GetHingeAngleRate1 () = 0;
00811 
00815   virtual float GetHingeAngleRate2 () = 0;
00816 
00820   virtual csVector3 GetAnchorError () = 0;
00821 
00822 };
00823 
00827 struct iODEHingeJoint : public iODEGeneralJointState
00828 {
00829   SCF_INTERFACE(iODEHingeJoint, 2, 0, 0);
00830 
00835   virtual void SetHingeAnchor (const csVector3 &pos) = 0;
00836 
00840   virtual void SetHingeAxis (const csVector3 &axis) = 0;
00841 
00846   virtual csVector3 GetHingeAnchor1 () = 0;
00847 
00852   virtual csVector3 GetHingeAnchor2 () = 0;
00853 
00857   virtual csVector3 GetHingeAxis () = 0;
00858 
00865   virtual float GetHingeAngle () = 0;
00866 
00870   virtual float GetHingeAngleRate () = 0;
00871 
00875   virtual csVector3 GetAnchorError () = 0;
00876 
00877 };
00878 
00882 struct iODEBallJoint : public virtual iBase
00883 {
00884   SCF_INTERFACE(iODEBallJoint, 2, 0, 0);
00885 
00890   virtual void SetBallAnchor (const csVector3 &pos) = 0;
00891 
00896   virtual csVector3 GetBallAnchor1 () = 0;
00897 
00902   virtual csVector3 GetBallAnchor2 () = 0;
00903 
00907   virtual csVector3 GetAnchorError () = 0;
00908 
00916   virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;
00917 
00919   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00920 
00922   virtual csVector3 GetFeedbackForce1 () = 0;
00923 
00925   virtual csVector3 GetFeedbackTorque1 () = 0;
00926 
00928   virtual csVector3 GetFeedbackForce2 () = 0;
00929 
00931   virtual csVector3 GetFeedbackTorque2 () = 0;
00932 };
00933 
00934 #endif // __CS_IVARIA_ODE_H__

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