CrystalSpace

Public API Reference

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 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, 1);
00294 
00305 struct iDynamicsCollisionCallback : public iBase
00306 {
00307   virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody) = 0;
00308 };
00309 
00310 SCF_VERSION (iBodyGroup, 0, 0, 1);
00311 
00328 struct iBodyGroup : public iBase
00329 {
00331    virtual void AddBody (iRigidBody *body) = 0;
00333    virtual void RemoveBody (iRigidBody *body) = 0;
00335    virtual bool BodyInGroup (iRigidBody *body) = 0;
00336 };
00337 
00353 struct iRigidBody : public virtual iBase
00354 {
00355   SCF_INTERFACE (iRigidBody, 0, 0, 2);
00356 
00358   virtual iObject *QueryObject (void) = 0;
00364   virtual bool MakeStatic (void) = 0;
00366   virtual bool MakeDynamic (void) = 0;
00368   virtual bool IsStatic (void) = 0;
00372   virtual bool Disable (void) = 0;
00374   virtual bool Enable (void) = 0;
00376   virtual bool IsEnabled (void) = 0;  
00377 
00379   virtual csRef<iBodyGroup> GetGroup (void) = 0;
00380 
00396   virtual bool AttachColliderMesh (iMeshWrapper* mesh,
00397     const csOrthoTransform& trans, float friction, float density,
00398     float elasticity, float softness = 0.01f) = 0;
00399 
00416   virtual bool AttachColliderCylinder (float length, float radius,
00417     const csOrthoTransform& trans, float friction, float density,
00418     float elasticity, float softness = 0.01f) = 0;
00419 
00435   virtual bool AttachColliderBox (const csVector3 &size,
00436     const csOrthoTransform& trans, float friction, float density,
00437     float elasticity, float softness = 0.01f) = 0;
00438 
00454   virtual bool AttachColliderSphere (float radius, const csVector3 &offset,
00455     float friction, float density, float elasticity,
00456     float softness = 0.01f) = 0;
00457 
00472   virtual bool AttachColliderPlane (const csPlane3 &plane, float friction,
00473     float density, float elasticity, float softness = 0.01f) = 0;
00474 
00481   virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0;
00482 
00484   virtual void DestroyColliders () = 0;
00485 
00487   virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0;
00488 
00490   virtual void SetPosition (const csVector3& trans) = 0;
00492   virtual const csVector3 GetPosition () const = 0;
00494   virtual void SetOrientation (const csMatrix3& trans) = 0;
00496   virtual const csMatrix3 GetOrientation () const = 0;
00498   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00500   virtual const csOrthoTransform GetTransform () const = 0;
00502   virtual void SetLinearVelocity (const csVector3& vel) = 0;
00504   virtual const csVector3 GetLinearVelocity () const = 0;
00506   virtual void SetAngularVelocity (const csVector3& vel) = 0;
00508   virtual const csVector3 GetAngularVelocity () const = 0;
00509 
00511   virtual void SetProperties (float mass, const csVector3& center,
00512     const csMatrix3& inertia) = 0;
00514   virtual void GetProperties (float* mass, csVector3* center,
00515     csMatrix3* inertia) = 0;
00517   virtual float GetMass () = 0;
00519   virtual csVector3 GetCenter () = 0;
00521   virtual csMatrix3 GetInertia () = 0;
00522 
00524   virtual void AdjustTotalMass (float targetmass) = 0;
00525 
00527   virtual void AddForce (const csVector3& force) = 0;
00529   virtual void AddTorque (const csVector3& force) = 0;
00531   virtual void AddRelForce (const csVector3& force) = 0;
00533   virtual void AddRelTorque (const csVector3& force) = 0 ;
00538   virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0;
00543   virtual void AddForceAtRelPos (const csVector3& force,
00544     const csVector3& pos) = 0;
00549   virtual void AddRelForceAtPos (const csVector3& force,
00550     const csVector3& pos) = 0;
00555   virtual void AddRelForceAtRelPos (const csVector3& force,
00556     const csVector3& pos) = 0;
00557 
00559   virtual const csVector3 GetForce () const = 0;
00561   virtual const csVector3 GetTorque () const = 0;
00562 
00563   /*
00565   virtual const csVector3& GetRelForce () const = 0;
00567   virtual const csVector3& GetRelTorque () const = 0;
00568   */
00569 
00570   /*
00572   virtual int GetJointCount () const = 0;
00573   */
00574 
00576   virtual void AttachMesh (iMeshWrapper* mesh) = 0;
00578   virtual iMeshWrapper* GetAttachedMesh () = 0;
00580   virtual void AttachLight (iLight* light) = 0;
00582   virtual iLight* GetAttachedLight () = 0;
00584   virtual void AttachCamera (iCamera* camera) = 0;
00586   virtual iCamera* GetAttachedCamera () = 0;
00587 
00592   virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0;
00597   virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0;
00598 
00600   virtual void Collision (iRigidBody *other) = 0;
00601 
00603   virtual void Update () = 0;
00604 
00606   virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0;
00607 
00609   virtual int GetColliderCount () = 0;
00610 };
00611 
00612 enum csColliderGeometryType
00613 {
00614   NO_GEOMETRY,
00615   BOX_COLLIDER_GEOMETRY,
00616   PLANE_COLLIDER_GEOMETRY,
00617   TRIMESH_COLLIDER_GEOMETRY,
00618   CYLINDER_COLLIDER_GEOMETRY,
00619   SPHERE_COLLIDER_GEOMETRY
00620 };
00621 
00622 
00623 SCF_VERSION (iDynamicsColliderCollisionCallback, 0, 0, 1);
00624 
00634 struct iDynamicsColliderCollisionCallback : public iBase
00635 {
00636   virtual void Execute (iDynamicsSystemCollider *thiscollider, 
00637     iDynamicsSystemCollider *othercollider) = 0;
00638   virtual void Execute (iDynamicsSystemCollider *thiscollider, 
00639     iRigidBody *otherbody) = 0;
00640 };
00641 
00642 
00643 struct iGeneralFactoryState;
00644 class csBox3;
00645 class csSphere;
00646 class csReversibleTransform;
00647 
00667 struct iDynamicsSystemCollider : public virtual iBase
00668 {
00669   SCF_INTERFACE (iDynamicsSystemCollider, 0, 0, 1);
00670 
00672   virtual bool CreateSphereGeometry (const csSphere& sphere) = 0;
00673 
00675   virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0;
00676 
00678   virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0;
00679 
00681   virtual bool CreateBoxGeometry (const csVector3& box_size) = 0;
00682 
00684   virtual bool CreateCCylinderGeometry (float length, float radius) = 0;
00685 
00686   //FIXME: This should be implememented, but it is not so obvious - it
00687   //should be valid also for static colliders.
00688   virtual void SetCollisionCallback (
00689         iDynamicsColliderCollisionCallback* cb) = 0;
00690 
00692   virtual void SetFriction (float friction) = 0;
00693 
00695   virtual void SetSoftness (float softness) = 0;
00696 
00702   virtual void SetDensity (float density) = 0;
00703 
00705   virtual void SetElasticity (float elasticity) = 0;
00706   
00708   virtual float GetFriction () = 0;
00709 
00711   virtual float GetSoftness () = 0;
00712 
00714   virtual float GetDensity () = 0;
00715 
00717   virtual float GetElasticity () = 0;
00718 
00720   virtual void FillWithColliderGeometry (
00721         csRef<iGeneralFactoryState> genmesh_fact) = 0;
00722 
00724   virtual csColliderGeometryType GetGeometryType () = 0;
00725 
00727   virtual csOrthoTransform GetTransform () = 0;
00728 
00733   virtual csOrthoTransform GetLocalTransform () = 0;
00734 
00739   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00740 
00745   virtual bool GetBoxGeometry (csVector3& size) = 0; 
00746 
00751   virtual bool GetSphereGeometry (csSphere& sphere) = 0;
00752 
00757   virtual bool GetPlaneGeometry (csPlane3& plane) = 0; 
00758 
00763   virtual bool GetCylinderGeometry (float& length, float& radius) = 0; 
00764 
00770   virtual void MakeStatic () = 0;
00771 
00776   virtual void MakeDynamic () = 0;
00777 
00779   virtual bool IsStatic () = 0;
00780 };
00781 
00782 SCF_VERSION (iJoint, 0, 0, 1);
00783 
00797 struct iJoint : public iBase
00798 {
00800   virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0;
00802   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00808   virtual void SetTransform (const csOrthoTransform &trans) = 0;
00810   virtual csOrthoTransform GetTransform () = 0;
00818   virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0;
00820   virtual bool IsXTransConstrained () = 0;
00822   virtual bool IsYTransConstrained () = 0;
00824   virtual bool IsZTransConstrained () = 0;
00826   virtual void SetMinimumDistance (const csVector3 &min) = 0;
00828   virtual csVector3 GetMinimumDistance () = 0;
00830   virtual void SetMaximumDistance (const csVector3 &max) = 0;
00832   virtual csVector3 GetMaximumDistance () = 0;
00838   virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0;
00840   virtual bool IsXRotConstrained () = 0;
00842   virtual bool IsYRotConstrained () = 0;
00844   virtual bool IsZRotConstrained () = 0;
00846   virtual void SetMinimumAngle (const csVector3 &min) = 0;
00848   virtual csVector3 GetMinimumAngle () = 0;
00850   virtual void SetMaximumAngle (const csVector3 &max) = 0;
00852   virtual csVector3 GetMaximumAngle () = 0;
00853 
00859   virtual void SetBounce (const csVector3 & bounce ) = 0;
00861   virtual csVector3 GetBounce () = 0;
00863   virtual void SetDesiredVelocity (const csVector3 & velocity ) = 0;
00864   virtual csVector3 GetDesiredVelocity () = 0;
00866   virtual void SetMaxForce (const csVector3 & maxForce ) = 0;
00867   virtual csVector3 GetMaxForce () = 0;
00868 };
00869 
00870 #endif // __CS_IVARIA_DYNAMICS_H__
00871 

Generated for Crystal Space by doxygen 1.4.6