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 00052 struct iDynamicsStepCallback : public virtual iBase 00053 { 00054 SCF_INTERFACE (iDynamicsStepCallback, 0, 0, 1); 00055 00060 virtual void Step (float stepsize) = 0; 00061 }; 00062 00078 struct iDynamics : public virtual iBase 00079 { 00080 SCF_INTERFACE(iDynamics,0,0,2); 00082 virtual csPtr<iDynamicSystem> CreateSystem () = 0; 00083 00085 virtual void RemoveSystem (iDynamicSystem* system) = 0; 00086 00088 virtual void RemoveSystems () = 0; 00089 00091 virtual iDynamicSystem* FindSystem (const char *name) = 0; 00092 00100 virtual void Step (float stepsize) = 0; 00101 00105 virtual void AddStepCallback (iDynamicsStepCallback *callback) = 0; 00106 00110 virtual void RemoveStepCallback (iDynamicsStepCallback *callback) = 0; 00111 }; 00112 00113 struct iDynamicsSystemCollider; 00114 00129 struct iDynamicSystem : public virtual iBase 00130 { 00131 SCF_INTERFACE (iDynamicSystem, 0, 0, 4); 00132 00134 virtual iObject *QueryObject (void) = 0; 00136 virtual void SetGravity (const csVector3& v) = 0; 00138 virtual const csVector3 GetGravity () const = 0; 00139 00149 virtual void SetLinearDampener (float d) = 0; 00150 00152 virtual float GetLinearDampener () const = 0; 00153 00163 virtual void SetRollingDampener (float d) = 0; 00164 00166 virtual float GetRollingDampener () const = 0; 00167 00173 virtual void EnableAutoDisable (bool enable) = 0; 00175 virtual bool AutoDisableEnabled () = 0; 00188 virtual void SetAutoDisableParams (float linear, float angular, int steps, 00189 float time) = 0; 00190 00192 virtual void Step (float stepsize) = 0; 00193 00195 virtual csPtr<iRigidBody> CreateBody () = 0; 00196 00198 virtual void RemoveBody (iRigidBody* body) = 0; 00199 00201 virtual iRigidBody *FindBody (const char *name) = 0; 00202 00204 virtual iRigidBody *GetBody (unsigned int index) = 0; 00205 00207 virtual int GetBodysCount () = 0; 00208 00210 virtual csPtr<iBodyGroup> CreateGroup () = 0; 00211 00213 virtual void RemoveGroup (iBodyGroup* group) = 0; 00214 00216 virtual csPtr<iJoint> CreateJoint () = 0; 00217 00219 virtual void RemoveJoint (iJoint* joint) = 0; 00220 00222 virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0; 00223 00238 virtual bool AttachColliderConvexMesh (iMeshWrapper* mesh, 00239 const csOrthoTransform& trans, float friction, 00240 float elasticity, float softness = 0.01f) = 0; 00241 00259 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00260 const csOrthoTransform& trans, float friction, 00261 float elasticity, float softness = 0.01f) = 0; 00262 00278 virtual bool AttachColliderCylinder (float length, float radius, 00279 const csOrthoTransform& trans, float friction, 00280 float elasticity, float softness = 0.01f) = 0; 00281 00295 virtual bool AttachColliderBox (const csVector3 &size, 00296 const csOrthoTransform& trans, float friction, 00297 float elasticity, float softness = 0.01f) = 0; 00298 00313 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00314 float friction, float elasticity, float softness = 0.01f) = 0; 00315 00328 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00329 float elasticity, float softness = 0.01f) = 0; 00330 00332 virtual void DestroyColliders () = 0; 00333 00335 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00336 00338 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00339 00345 virtual csRef<iDynamicsSystemCollider> CreateCollider () = 0; 00346 00348 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00349 00351 virtual int GetColliderCount () = 0; 00352 00370 virtual bool AttachColliderCapsule (float length, float radius, 00371 const csOrthoTransform& trans, float friction, 00372 float elasticity, float softness = 0.01f) = 0; 00373 00379 virtual void AddBody (iRigidBody* body) = 0; 00380 00384 virtual void AddJoint (iJoint* joint) = 0; 00385 }; 00386 00398 struct iDynamicsMoveCallback : public virtual iBase 00399 { 00400 SCF_INTERFACE (iDynamicsMoveCallback, 0, 0, 1); 00401 00403 virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0; 00404 00406 virtual void Execute (iLight* light, csOrthoTransform& t) = 0; 00407 00409 virtual void Execute (iCamera* camera, csOrthoTransform& t) = 0; 00410 00417 virtual void Execute (csOrthoTransform& t) = 0; 00418 }; 00419 00430 struct iDynamicsCollisionCallback : public virtual iBase 00431 { 00432 SCF_INTERFACE (iDynamicsCollisionCallback, 0, 0, 2); 00433 00442 virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody, 00443 const csVector3& pos, const csVector3& normal, float depth) = 0; 00444 }; 00445 00462 struct iBodyGroup : public virtual iBase 00463 { 00464 SCF_INTERFACE (iBodyGroup, 0, 1, 0); 00465 00467 virtual void AddBody (iRigidBody *body) = 0; 00469 virtual void RemoveBody (iRigidBody *body) = 0; 00471 virtual bool BodyInGroup (iRigidBody *body) = 0; 00472 }; 00473 00491 struct iRigidBody : public virtual iBase 00492 { 00493 SCF_INTERFACE (iRigidBody, 0, 0, 3); 00494 00496 virtual iObject *QueryObject (void) = 0; 00503 virtual bool MakeStatic (void) = 0; 00511 virtual bool MakeDynamic (void) = 0; 00519 virtual bool IsStatic (void) = 0; 00523 virtual bool Disable (void) = 0; 00525 virtual bool Enable (void) = 0; 00527 virtual bool IsEnabled (void) = 0; 00528 00530 virtual csRef<iBodyGroup> GetGroup (void) = 0; 00531 00548 virtual bool AttachColliderConvexMesh (iMeshWrapper* mesh, 00549 const csOrthoTransform& trans, float friction, float density, 00550 float elasticity, float softness = 0.01f) = 0; 00551 00571 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00572 const csOrthoTransform& trans, float friction, float density, 00573 float elasticity, float softness = 0.01f) = 0; 00574 00591 virtual bool AttachColliderCylinder (float length, float radius, 00592 const csOrthoTransform& trans, float friction, float density, 00593 float elasticity, float softness = 0.01f) = 0; 00594 00610 virtual bool AttachColliderBox (const csVector3 &size, 00611 const csOrthoTransform& trans, float friction, float density, 00612 float elasticity, float softness = 0.01f) = 0; 00613 00629 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00630 float friction, float density, float elasticity, 00631 float softness = 0.01f) = 0; 00632 00647 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00648 float density, float elasticity, float softness = 0.01f) = 0; 00649 00656 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00657 00659 virtual void DestroyColliders () = 0; 00660 00662 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00663 00665 virtual void SetPosition (const csVector3& trans) = 0; 00667 virtual const csVector3 GetPosition () const = 0; 00669 virtual void SetOrientation (const csMatrix3& trans) = 0; 00671 virtual const csMatrix3 GetOrientation () const = 0; 00673 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00675 virtual const csOrthoTransform GetTransform () const = 0; 00677 virtual void SetLinearVelocity (const csVector3& vel) = 0; 00679 virtual const csVector3 GetLinearVelocity () const = 0; 00681 virtual void SetAngularVelocity (const csVector3& vel) = 0; 00683 virtual const csVector3 GetAngularVelocity () const = 0; 00684 00696 virtual void SetProperties (float mass, const csVector3& center, 00697 const csMatrix3& inertia) = 0; 00699 virtual void GetProperties (float* mass, csVector3* center, 00700 csMatrix3* inertia) = 0; 00702 virtual float GetMass () = 0; 00704 virtual csVector3 GetCenter () = 0; 00706 virtual csMatrix3 GetInertia () = 0; 00707 00713 virtual void AdjustTotalMass (float targetmass) = 0; 00714 00716 virtual void AddForce (const csVector3& force) = 0; 00718 virtual void AddTorque (const csVector3& force) = 0; 00720 virtual void AddRelForce (const csVector3& force) = 0; 00722 virtual void AddRelTorque (const csVector3& force) = 0 ; 00727 virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0; 00732 virtual void AddForceAtRelPos (const csVector3& force, 00733 const csVector3& pos) = 0; 00738 virtual void AddRelForceAtPos (const csVector3& force, 00739 const csVector3& pos) = 0; 00744 virtual void AddRelForceAtRelPos (const csVector3& force, 00745 const csVector3& pos) = 0; 00746 00748 virtual const csVector3 GetForce () const = 0; 00750 virtual const csVector3 GetTorque () const = 0; 00751 00752 /* 00754 virtual const csVector3& GetRelForce () const = 0; 00756 virtual const csVector3& GetRelTorque () const = 0; 00757 */ 00758 00759 /* 00761 virtual int GetJointCount () const = 0; 00762 */ 00763 00765 virtual void AttachMesh (iMeshWrapper* mesh) = 0; 00767 virtual iMeshWrapper* GetAttachedMesh () = 0; 00769 virtual void AttachLight (iLight* light) = 0; 00771 virtual iLight* GetAttachedLight () = 0; 00773 virtual void AttachCamera (iCamera* camera) = 0; 00775 virtual iCamera* GetAttachedCamera () = 0; 00776 00781 virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0; 00786 virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0; 00787 00795 virtual void Collision (iRigidBody *other, const csVector3& pos, 00796 const csVector3& normal, float depth) = 0; 00797 00799 virtual void Update () = 0; 00800 00802 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00803 00805 virtual int GetColliderCount () = 0; 00806 00824 virtual bool AttachColliderCapsule (float length, float radius, 00825 const csOrthoTransform& trans, float friction, float density, 00826 float elasticity, float softness = 0.01f) = 0; 00827 }; 00828 00829 enum csColliderGeometryType 00830 { 00831 NO_GEOMETRY, 00832 BOX_COLLIDER_GEOMETRY, 00833 PLANE_COLLIDER_GEOMETRY, 00834 TRIMESH_COLLIDER_GEOMETRY, 00835 CONVEXMESH_COLLIDER_GEOMETRY, 00836 CYLINDER_COLLIDER_GEOMETRY, 00837 CAPSULE_COLLIDER_GEOMETRY, 00838 SPHERE_COLLIDER_GEOMETRY 00839 }; 00840 00841 00851 struct iDynamicsColliderCollisionCallback : public virtual iBase 00852 { 00853 SCF_INTERFACE (iDynamicsColliderCollisionCallback, 0, 0, 1); 00854 00858 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00859 iDynamicsSystemCollider *othercollider) = 0; 00860 00864 virtual void Execute (iDynamicsSystemCollider *thiscollider, 00865 iRigidBody *otherbody) = 0; 00866 }; 00867 00868 00869 struct iGeneralFactoryState; 00870 class csBox3; 00871 class csSphere; 00872 class csReversibleTransform; 00873 00893 struct iDynamicsSystemCollider : public virtual iBase 00894 { 00895 SCF_INTERFACE (iDynamicsSystemCollider, 0, 0, 4); 00896 00898 virtual bool CreateSphereGeometry (const csSphere& sphere) = 0; 00899 00901 virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0; 00902 00904 virtual bool CreateConvexMeshGeometry (iMeshWrapper *mesh) = 0; 00905 00913 virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0; 00914 00916 virtual bool CreateBoxGeometry (const csVector3& box_size) = 0; 00917 00919 virtual bool CreateCapsuleGeometry (float length, float radius) = 0; 00920 00922 virtual bool CreateCylinderGeometry (float length, float radius) = 0; 00923 00924 //FIXME: This should be implememented, but it is not so obvious - it 00925 //should be valid also for static colliders. 00926 virtual void SetCollisionCallback ( 00927 iDynamicsColliderCollisionCallback* cb) = 0; 00928 00930 virtual void SetFriction (float friction) = 0; 00931 00933 virtual void SetSoftness (float softness) = 0; 00934 00945 virtual void SetDensity (float density) = 0; 00946 00948 virtual void SetElasticity (float elasticity) = 0; 00949 00951 virtual float GetFriction () = 0; 00952 00954 virtual float GetSoftness () = 0; 00955 00957 virtual float GetDensity () = 0; 00958 00960 virtual float GetElasticity () = 0; 00961 00963 virtual void FillWithColliderGeometry ( 00964 csRef<iGeneralFactoryState> genmesh_fact) = 0; 00965 00967 virtual csColliderGeometryType GetGeometryType () = 0; 00968 00970 virtual csOrthoTransform GetTransform () = 0; 00971 00976 virtual csOrthoTransform GetLocalTransform () = 0; 00977 00982 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00983 00988 virtual bool GetBoxGeometry (csVector3& size) = 0; 00989 00994 virtual bool GetSphereGeometry (csSphere& sphere) = 0; 00995 01000 virtual bool GetPlaneGeometry (csPlane3& plane) = 0; 01001 01006 virtual bool GetCylinderGeometry (float& length, float& radius) = 0; 01007 01013 virtual void MakeStatic () = 0; 01014 01019 virtual void MakeDynamic () = 0; 01020 01022 virtual bool IsStatic () = 0; 01023 01028 virtual bool GetCapsuleGeometry (float& length, float& radius) = 0; 01029 01045 virtual bool GetMeshGeometry (csVector3*& vertices, size_t& vertexCount, 01046 int*& indices, size_t& triangleCount) = 0; 01047 01063 virtual bool GetConvexMeshGeometry (csVector3*& vertices, size_t& vertexCount, 01064 int*& indices, size_t& triangleCount) = 0; 01065 }; 01066 01079 struct iJoint : public virtual iBase 01080 { 01081 SCF_INTERFACE (iJoint, 0, 0, 1); 01082 01087 virtual void Attach (iRigidBody* body1, iRigidBody* body2, bool force_update = true) = 0; 01089 virtual csRef<iRigidBody> GetAttachedBody (int body) = 0; 01098 virtual void SetTransform (const csOrthoTransform &trans, bool force_update = true) = 0; 01100 virtual csOrthoTransform GetTransform () = 0; 01109 virtual void SetTransConstraints (bool X, bool Y, bool Z, bool force_update = true) = 0; 01111 virtual bool IsXTransConstrained () = 0; 01113 virtual bool IsYTransConstrained () = 0; 01115 virtual bool IsZTransConstrained () = 0; 01120 virtual void SetMinimumDistance (const csVector3 &min, bool force_update = true) = 0; 01122 virtual csVector3 GetMinimumDistance () = 0; 01127 virtual void SetMaximumDistance (const csVector3 &max, bool force_update = true) = 0; 01129 virtual csVector3 GetMaximumDistance () = 0; 01138 virtual void SetRotConstraints (bool X, bool Y, bool Z, bool force_update = true) = 0; 01140 virtual bool IsXRotConstrained () = 0; 01142 virtual bool IsYRotConstrained () = 0; 01144 virtual bool IsZRotConstrained () = 0; 01149 virtual void SetMinimumAngle (const csVector3 &min, bool force_update = true) = 0; 01151 virtual csVector3 GetMinimumAngle () = 0; 01156 virtual void SetMaximumAngle (const csVector3 &max, bool force_update = true) = 0; 01158 virtual csVector3 GetMaximumAngle () = 0; 01159 01160 //Motor parameters 01161 01167 virtual void SetBounce (const csVector3 & bounce, bool force_update = true) = 0; 01169 virtual csVector3 GetBounce () = 0; 01174 virtual void SetDesiredVelocity (const csVector3 &velocity, bool force_update = true) = 0; 01176 virtual csVector3 GetDesiredVelocity () = 0; 01181 virtual void SetMaxForce (const csVector3 & maxForce, bool force_update = true) = 0; 01183 virtual csVector3 GetMaxForce () = 0; 01188 virtual void SetAngularConstraintAxis (const csVector3 &axis, int body, bool force_update = true) = 0; 01190 virtual csVector3 GetAngularConstraintAxis (int body) = 0; 01195 virtual bool RebuildJoint () = 0; 01196 01197 }; 01198 01199 #endif // __CS_IVARIA_DYNAMICS_H__ 01200
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