Main Page | Modules | Namespace List | Class Hierarchy | Alphabetical List | Class List | Directories | File List | Namespace Members | Class Members | File Members | Related Pages
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 00025 00026 struct iBodyGroup; 00027 struct iJoint; 00028 struct iMeshWrapper; 00029 struct iObject; 00030 struct iPolygonMesh; 00031 struct iRigidBody; 00032 00033 class csMatrix3; 00034 class csOrthoTransform; 00035 class csPlane3; 00036 class csVector3; 00037 00038 struct iDynamicsCollisionCallback; 00039 struct iDynamicsMoveCallback; 00040 struct iDynamicSystem; 00041 00042 SCF_VERSION (iDynamics, 0, 0, 2); 00043 00061 struct iDynamics : public iBase 00062 { 00064 virtual csPtr<iDynamicSystem> CreateSystem () = 0; 00065 00067 virtual void RemoveSystem (iDynamicSystem* system) = 0; 00068 00070 virtual iDynamicSystem* FindSystem (const char *name) = 0; 00071 00073 virtual void Step (float stepsize) = 0; 00074 }; 00075 00076 SCF_VERSION (iDynamicSystem, 0, 0, 2); 00077 00078 struct iDynamicsSystemCollider; 00079 00095 struct iDynamicSystem : public iBase 00096 { 00098 virtual iObject *QueryObject (void) = 0; 00100 virtual void SetGravity (const csVector3& v) = 0; 00102 virtual const csVector3 GetGravity () const = 0; 00104 virtual void SetLinearDampener (float d) = 0; 00106 virtual float GetLinearDampener () const = 0; 00108 virtual void SetRollingDampener (float d) = 0; 00110 virtual float GetRollingDampener () const = 0; 00111 00116 virtual void EnableAutoDisable (bool enable) = 0; 00117 virtual bool AutoDisableEnabled () =0; 00125 virtual void SetAutoDisableParams (float linear, float angular, int steps, float time)=0; 00126 00128 virtual void Step (float stepsize) = 0; 00129 00131 virtual csPtr<iRigidBody> CreateBody () = 0; 00132 00134 virtual void RemoveBody (iRigidBody* body) = 0; 00135 00137 virtual iRigidBody *FindBody (const char *name) = 0; 00138 00140 virtual iRigidBody *GetBody (unsigned int index) = 0; 00141 00143 virtual int GetBodysCount () = 0; 00144 00146 virtual csPtr<iBodyGroup> CreateGroup () = 0; 00147 00149 virtual void RemoveGroup (iBodyGroup* group) = 0; 00150 00152 virtual csPtr<iJoint> CreateJoint () = 0; 00153 00155 virtual void RemoveJoint (iJoint* joint) = 0; 00156 00158 virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0; 00159 00173 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00174 const csOrthoTransform& trans, float friction, 00175 float elasticity, float softness = 0.01f) = 0; 00176 00191 virtual bool AttachColliderCylinder (float length, float radius, 00192 const csOrthoTransform& trans, float friction, 00193 float elasticity, float softness = 0.01f) = 0; 00194 00208 virtual bool AttachColliderBox (const csVector3 &size, 00209 const csOrthoTransform& trans, float friction, 00210 float elasticity, float softness = 0.01f) = 0; 00211 00226 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00227 float friction, float elasticity, float softness = 0.01f) = 0; 00228 00241 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00242 float elasticity, float softness = 0.01f) = 0; 00243 00245 virtual void DestroyColliders () = 0; 00246 00248 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00249 00251 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00252 00258 virtual csRef<iDynamicsSystemCollider> CreateCollider () = 0; 00259 00261 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00262 00264 virtual int GetColliderCount () = 0; 00265 }; 00266 00267 SCF_VERSION (iDynamicsMoveCallback, 0, 0, 1); 00268 00283 struct iDynamicsMoveCallback : public iBase 00284 { 00285 virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0; 00286 virtual void Execute (csOrthoTransform& t) = 0; 00287 }; 00288 00289 SCF_VERSION (iDynamicsCollisionCallback, 0, 0, 1); 00290 00303 struct iDynamicsCollisionCallback : public iBase 00304 { 00305 virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody) = 0; 00306 }; 00307 00308 SCF_VERSION (iBodyGroup, 0, 0, 1); 00309 00330 struct iBodyGroup : public iBase 00331 { 00333 virtual void AddBody (iRigidBody *body) = 0; 00335 virtual void RemoveBody (iRigidBody *body) = 0; 00337 virtual bool BodyInGroup (iRigidBody *body) = 0; 00338 }; 00339 00340 SCF_VERSION (iRigidBody, 0, 0, 2); 00341 00361 struct iRigidBody : public iBase 00362 { 00364 virtual iObject *QueryObject (void) = 0; 00370 virtual bool MakeStatic (void) = 0; 00372 virtual bool MakeDynamic (void) = 0; 00374 virtual bool IsStatic (void) = 0; 00378 virtual bool Disable (void) = 0; 00380 virtual bool Enable (void) = 0; 00382 virtual bool IsEnabled (void) = 0; 00383 00385 virtual csRef<iBodyGroup> GetGroup (void) = 0; 00386 00402 virtual bool AttachColliderMesh (iMeshWrapper* mesh, 00403 const csOrthoTransform& trans, float friction, float density, 00404 float elasticity, float softness = 0.01f) = 0; 00405 00422 virtual bool AttachColliderCylinder (float length, float radius, 00423 const csOrthoTransform& trans, float friction, float density, 00424 float elasticity, float softness = 0.01f) = 0; 00425 00441 virtual bool AttachColliderBox (const csVector3 &size, 00442 const csOrthoTransform& trans, float friction, float density, 00443 float elasticity, float softness = 0.01f) = 0; 00444 00460 virtual bool AttachColliderSphere (float radius, const csVector3 &offset, 00461 float friction, float density, float elasticity, 00462 float softness = 0.01f) = 0; 00463 00478 virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, 00479 float density, float elasticity, float softness = 0.01f) = 0; 00480 00487 virtual void AttachCollider (iDynamicsSystemCollider* collider) = 0; 00488 00490 virtual void DestroyColliders () = 0; 00491 00493 virtual void DestroyCollider (iDynamicsSystemCollider* collider) = 0; 00494 00496 virtual void SetPosition (const csVector3& trans) = 0; 00498 virtual const csVector3 GetPosition () const = 0; 00500 virtual void SetOrientation (const csMatrix3& trans) = 0; 00502 virtual const csMatrix3 GetOrientation () const = 0; 00504 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00506 virtual const csOrthoTransform GetTransform () const = 0; 00508 virtual void SetLinearVelocity (const csVector3& vel) = 0; 00510 virtual const csVector3 GetLinearVelocity () const = 0; 00512 virtual void SetAngularVelocity (const csVector3& vel) = 0; 00514 virtual const csVector3 GetAngularVelocity () const = 0; 00515 00517 virtual void SetProperties (float mass, const csVector3& center, 00518 const csMatrix3& inertia) = 0; 00520 virtual void GetProperties (float* mass, csVector3* center, 00521 csMatrix3* inertia) = 0; 00523 virtual float GetMass () = 0; 00525 virtual csVector3 GetCenter () = 0; 00527 virtual csMatrix3 GetInertia () = 0; 00528 00530 virtual void AdjustTotalMass (float targetmass) = 0; 00531 00533 virtual void AddForce (const csVector3& force) = 0; 00535 virtual void AddTorque (const csVector3& force) = 0; 00537 virtual void AddRelForce (const csVector3& force) = 0; 00539 virtual void AddRelTorque (const csVector3& force) = 0 ; 00544 virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0; 00549 virtual void AddForceAtRelPos (const csVector3& force, 00550 const csVector3& pos) = 0; 00555 virtual void AddRelForceAtPos (const csVector3& force, 00556 const csVector3& pos) = 0; 00561 virtual void AddRelForceAtRelPos (const csVector3& force, 00562 const csVector3& pos) = 0; 00563 00565 virtual const csVector3 GetForce () const = 0; 00567 virtual const csVector3 GetTorque () const = 0; 00568 00569 /* 00571 virtual const csVector3& GetRelForce () const = 0; 00573 virtual const csVector3& GetRelTorque () const = 0; 00574 */ 00575 00576 /* 00578 virtual int GetJointCount () const = 0; 00579 */ 00580 00582 virtual void AttachMesh (iMeshWrapper* mesh) = 0; 00584 virtual csRef<iMeshWrapper> GetAttachedMesh () = 0; 00585 00590 virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0; 00595 virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0; 00596 00598 virtual void Collision (iRigidBody *other) = 0; 00599 00601 virtual void Update () = 0; 00602 00604 virtual csRef<iDynamicsSystemCollider> GetCollider (unsigned int index) = 0; 00605 00607 virtual int GetColliderCount () = 0; 00608 }; 00609 00610 enum csColliderGeometryType 00611 { 00612 BOX_COLLIDER_GEOMETRY = 1, 00613 PLANE_COLLIDER_GEOMETRY, 00614 TRIMESH_COLLIDER_GEOMETRY, 00615 CYLINDER_COLLIDER_GEOMETRY, 00616 SPHERE_COLLIDER_GEOMETRY 00617 }; 00618 00619 SCF_VERSION (iDynamicsSystemCollider, 0, 0, 1); 00620 00621 struct iGeneralFactoryState; 00622 struct csBox3; 00623 struct csSphere; 00624 struct csReversibleTransform; 00625 00650 struct iDynamicsSystemCollider : public iBase 00651 { 00653 virtual bool CreateSphereGeometry (const csSphere& sphere) = 0; 00654 00656 virtual bool CreatePlaneGeometry (const csPlane3& plane) = 0; 00657 00659 virtual bool CreateMeshGeometry (iMeshWrapper *mesh) = 0; 00660 00662 virtual bool CreateBoxGeometry (const csVector3& box_size) = 0; 00663 00665 virtual bool CreateCCylinderGeometry (float length, float radius) = 0; 00666 00667 //FIXME: This should be implememented, but it is not so obvious - it 00668 //should be valid also for static colliders. 00669 //virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0; 00670 00672 virtual void SetFriction (float friction) = 0; 00673 00675 virtual void SetSoftness (float softness) = 0; 00676 00682 virtual void SetDensity (float density) = 0; 00683 00685 virtual void SetElasticity (float elasticity) = 0; 00686 00688 virtual float GetFriction () = 0; 00689 00691 virtual float GetSoftness () = 0; 00692 00694 virtual float GetDensity () = 0; 00695 00697 virtual float GetElasticity () = 0; 00698 00700 virtual void FillWithColliderGeometry (csRef<iGeneralFactoryState> genmesh_fact) = 0; 00701 00703 virtual csColliderGeometryType GetGeometryType () = 0; 00704 00706 virtual csOrthoTransform GetTransform () = 0; 00707 00712 virtual void SetTransform (const csOrthoTransform& trans) = 0; 00713 }; 00714 00715 SCF_VERSION (iJoint, 0, 0, 1); 00716 00733 struct iJoint : public iBase 00734 { 00736 virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0; 00738 virtual csRef<iRigidBody> GetAttachedBody (int body) = 0; 00744 virtual void SetTransform (const csOrthoTransform &trans) = 0; 00746 virtual csOrthoTransform GetTransform () = 0; 00754 virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0; 00756 virtual bool IsXTransConstrained () = 0; 00758 virtual bool IsYTransConstrained () = 0; 00760 virtual bool IsZTransConstrained () = 0; 00762 virtual void SetMinimumDistance (const csVector3 &min) = 0; 00764 virtual csVector3 GetMinimumDistance () = 0; 00766 virtual void SetMaximumDistance (const csVector3 &max) = 0; 00768 virtual csVector3 GetMaximumDistance () = 0; 00774 virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0; 00776 virtual bool IsXRotConstrained () = 0; 00778 virtual bool IsYRotConstrained () = 0; 00780 virtual bool IsZRotConstrained () = 0; 00782 virtual void SetMinimumAngle (const csVector3 &min) = 0; 00784 virtual csVector3 GetMinimumAngle () = 0; 00786 virtual void SetMaximumAngle (const csVector3 &max) = 0; 00788 virtual csVector3 GetMaximumAngle () = 0; 00789 00795 virtual void SetBounce (const csVector3 & bounce ) = 0; 00797 virtual csVector3 GetBounce () = 0; 00799 virtual void SetDesiredVelocity (const csVector3 & velocity ) = 0; 00800 virtual csVector3 GetDesiredVelocity () = 0; 00802 virtual void SetMaxForce (const csVector3 & maxForce ) = 0; 00803 virtual csVector3 GetMaxForce () = 0; 00804 }; 00805 00806 #endif // __CS_IVARIA_DYNAMICS_H__ 00807
Generated for Crystal Space by doxygen 1.4.4