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ivaria/dynamics.h

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 
00023 #include "csutil/scf.h"
00024 #include "csutil/ref.h"
00025 
00026 class csVector3;
00027 class csOrthoTransform;
00028 class csMatrix3;
00029 class csPlane3;
00030 struct iMeshWrapper;
00031 
00032 struct iObject;
00033 struct iDynamicSystem;
00034 struct iRigidBody;
00035 struct iBodyGroup;
00036 struct iDynamicsMoveCallback;
00037 struct iDynamicsCollisionCallback;
00038 struct iJoint;
00039 struct iPolygonMesh;
00040 
00041 SCF_VERSION (iDynamics, 0, 0, 2);
00042 
00060 struct iDynamics : public iBase
00061 {
00063   virtual csPtr<iDynamicSystem> CreateSystem () = 0;
00064 
00066   virtual void RemoveSystem (iDynamicSystem* system) = 0;
00067 
00069   virtual iDynamicSystem* FindSystem (const char *name) = 0;
00070 
00072   virtual void Step (float stepsize) = 0;
00073 };
00074 
00075 SCF_VERSION (iDynamicSystem, 0, 0, 2);
00076 
00092 struct iDynamicSystem : public iBase
00093 {
00095   virtual iObject *QueryObject (void) = 0;
00097   virtual void SetGravity (const csVector3& v) = 0;
00099   virtual const csVector3 GetGravity () const = 0;
00101   virtual void SetLinearDampener (float d) = 0;
00103   virtual float GetLinearDampener () const = 0;
00105   virtual void SetRollingDampener (float d) = 0;
00107   virtual float GetRollingDampener () const = 0;
00108 
00110   virtual void Step (float stepsize) = 0;
00111 
00113   virtual csPtr<iRigidBody> CreateBody () = 0;
00114 
00116   virtual void RemoveBody (iRigidBody* body) = 0;
00117 
00119   virtual iRigidBody *FindBody (const char *name) = 0;
00120 
00122   virtual csPtr<iBodyGroup> CreateGroup () = 0;
00123 
00125   virtual void RemoveGroup (iBodyGroup* group) = 0;
00126 
00128   virtual csPtr<iJoint> CreateJoint () = 0;
00129 
00131   virtual void RemoveJoint (iJoint* joint) = 0;
00132 
00134   virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0;
00135 
00149   virtual bool AttachColliderMesh (iMeshWrapper* mesh,
00150     const csOrthoTransform& trans, float friction,
00151     float elasticity, float softness = 0.01f) = 0;
00152 
00167   virtual bool AttachColliderCylinder (float length, float radius,
00168     const csOrthoTransform& trans, float friction,
00169     float elasticity, float softness = 0.01f) = 0;
00170 
00184   virtual bool AttachColliderBox (const csVector3 &size,
00185     const csOrthoTransform& trans, float friction,
00186     float elasticity, float softness = 0.01f) = 0;
00187 
00203   virtual bool AttachColliderSphere (float radius, const csVector3 &offset,
00204     float friction, float elasticity, float softness = 0.01f) = 0;
00205 
00219   virtual bool AttachColliderPlane (const csPlane3 &plane, float friction,
00220     float elasticity, float softness = 0.01f) = 0;
00221 };
00222 
00223 SCF_VERSION (iDynamicsMoveCallback, 0, 0, 1);
00224 
00239 struct iDynamicsMoveCallback : public iBase
00240 {
00241   virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0;
00242   virtual void Execute (csOrthoTransform& t) = 0;
00243 };
00244 
00245 SCF_VERSION (iDynamicsCollisionCallback, 0, 0, 1);
00246 
00259 struct iDynamicsCollisionCallback : public iBase
00260 {
00261   virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody) = 0;
00262 };
00263 
00264 SCF_VERSION (iBodyGroup, 0, 0, 1);
00265 
00286 struct iBodyGroup : public iBase
00287 {
00289    virtual void AddBody (iRigidBody *body) = 0;
00291    virtual void RemoveBody (iRigidBody *body) = 0;
00293    virtual bool BodyInGroup (iRigidBody *body) = 0;
00294 };
00295 
00296 SCF_VERSION (iRigidBody, 0, 0, 2);
00297 
00317 struct iRigidBody : public iBase
00318 {
00320   virtual iObject *QueryObject (void) = 0;
00326   virtual bool MakeStatic (void) = 0;
00328   virtual bool MakeDynamic (void) = 0;
00330   virtual bool IsStatic (void) = 0;
00331 
00333   virtual csRef<iBodyGroup> GetGroup (void) = 0;
00334 
00349   virtual bool AttachColliderMesh (iMeshWrapper* mesh,
00350     const csOrthoTransform& trans, float friction, float density,
00351     float elasticity, float softness = 0.01f) = 0;
00352 
00367   virtual bool AttachColliderCylinder (float length, float radius,
00368     const csOrthoTransform& trans, float friction, float density,
00369     float elasticity, float softness = 0.01f) = 0;
00370 
00385   virtual bool AttachColliderBox (const csVector3 &size,
00386     const csOrthoTransform& trans, float friction, float density,
00387     float elasticity, float softness = 0.01f) = 0;
00388 
00403   virtual bool AttachColliderSphere (float radius, const csVector3 &offset,
00404     float friction, float density, float elasticity,
00405     float softness = 0.01f) = 0;
00406 
00421   virtual bool AttachColliderPlane (const csPlane3 &plane, float friction,
00422     float density, float elasticity, float softness = 0.01f) = 0;
00423 
00425   virtual void SetPosition (const csVector3& trans) = 0;
00427   virtual const csVector3 GetPosition () const = 0;
00429   virtual void SetOrientation (const csMatrix3& trans) = 0;
00431   virtual const csMatrix3 GetOrientation () const = 0;
00433   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00435   virtual const csOrthoTransform GetTransform () const = 0;
00437   virtual void SetLinearVelocity (const csVector3& vel) = 0;
00439   virtual const csVector3 GetLinearVelocity () const = 0;
00441   virtual void SetAngularVelocity (const csVector3& vel) = 0;
00443   virtual const csVector3 GetAngularVelocity () const = 0;
00444 
00446   virtual void SetProperties (float mass, const csVector3& center,
00447     const csMatrix3& inertia) = 0;
00449   virtual void GetProperties (float* mass, csVector3* center,
00450     csMatrix3* inertia) = 0;
00452   virtual void AdjustTotalMass (float targetmass) = 0;
00453 
00455   virtual void AddForce (const csVector3& force) = 0;
00457   virtual void AddTorque (const csVector3& force) = 0;
00459   virtual void AddRelForce (const csVector3& force) = 0;
00461   virtual void AddRelTorque (const csVector3& force) = 0 ;
00466   virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0;
00471   virtual void AddForceAtRelPos (const csVector3& force,
00472     const csVector3& pos) = 0;
00477   virtual void AddRelForceAtPos (const csVector3& force,
00478     const csVector3& pos) = 0;
00483   virtual void AddRelForceAtRelPos (const csVector3& force,
00484     const csVector3& pos) = 0;
00485 
00487   virtual const csVector3 GetForce () const = 0;
00489   virtual const csVector3 GetTorque () const = 0;
00490 
00491   /*
00493   virtual const csVector3& GetRelForce () const = 0;
00495   virtual const csVector3& GetRelTorque () const = 0;
00496   */
00497 
00498   /*
00500   virtual int GetJointCount () const = 0;
00501   */
00502 
00504   virtual void AttachMesh (iMeshWrapper* mesh) = 0;
00506   virtual csRef<iMeshWrapper> GetAttachedMesh () = 0;
00507 
00512   virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0;
00517   virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0;
00518 
00520   virtual void Collision (iRigidBody *other) = 0;
00521 
00523   virtual void Update () = 0;
00524 };
00525 
00526 SCF_VERSION (iJoint, 0, 0, 1);
00527 
00544 struct iJoint : public iBase
00545 {
00547   virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0;
00549   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00555   virtual void SetTransform (const csOrthoTransform &trans) = 0;
00557   virtual csOrthoTransform GetTransform () = 0;
00565   virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0;
00567   virtual bool IsXTransConstrained () = 0;
00569   virtual bool IsYTransConstrained () = 0;
00571   virtual bool IsZTransConstrained () = 0;
00573   virtual void SetMinimumDistance (const csVector3 &min) = 0;
00575   virtual csVector3 GetMinimumDistance () = 0;
00577   virtual void SetMaximumDistance (const csVector3 &max) = 0;
00579   virtual csVector3 GetMaximumDistance () = 0;
00585   virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0;
00587   virtual bool IsXRotConstrained () = 0;
00589   virtual bool IsYRotConstrained () = 0;
00591   virtual bool IsZRotConstrained () = 0;
00593   virtual void SetMinimumAngle (const csVector3 &min) = 0;
00595   virtual csVector3 GetMinimumAngle () = 0;
00597   virtual void SetMaximumAngle (const csVector3 &max) = 0;
00599   virtual csVector3 GetMaximumAngle () = 0;
00600 
00606   virtual void SetBounce (const csVector3 & bounce ) = 0;
00608   virtual csVector3 GetBounce () = 0;
00610   virtual void SetDesiredVelocity (const csVector3 & velocity ) = 0;
00611   virtual csVector3 GetDesiredVelocity () = 0;
00613   virtual void SetMaxForce (const csVector3 & maxForce ) = 0;
00614   virtual csVector3 GetMaxForce () = 0;
00615 };
00616 
00617 #endif // __CS_IVARIA_DYNAMICS_H__
00618 

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