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ivaria/ode.h

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 
00023 #define int8 ode_int8
00024 #define uint8 ode_uint8
00025 #define int32 ode_int32
00026 #define uint32 ode_uint32
00027 #include <ode/ode.h>
00028 #undef ode_uint32
00029 #undef ode_int32
00030 #undef ode_uint8
00031 #undef ode_int8
00032 
00033 SCF_VERSION (iODEFrameUpdateCallback, 0, 0, 1);
00034 
00040 struct iODEFrameUpdateCallback : public iBase
00041 {
00043   virtual void Execute (float stepsize) = 0;
00044 };
00045 
00046 SCF_VERSION (iODEDynamicState, 0, 0, 1);
00047 
00053 struct iODEDynamicState : public iBase
00054 {
00055 
00057   virtual void SetGlobalERP (float erp) = 0;
00058   virtual float GlobalERP () = 0;
00059 
00061   virtual void SetGlobalCFM (float cfm) = 0;
00062   virtual float GlobalCFM () = 0;
00063 
00065   virtual void EnableStepFast (bool enable) = 0;
00066   virtual bool StepFastEnabled () = 0;
00067   virtual void SetStepFastIterations (int iter) = 0;
00068   virtual int StepFastIterations () = 0;
00069 
00085   virtual void EnableFrameRate (bool enable) = 0;
00086   virtual bool FrameRateEnabled () = 0;
00087 
00088   virtual void SetFrameRate (float hz) = 0;
00089   virtual float FrameRate () = 0;
00090 
00091   virtual void SetFrameLimit (float hz) = 0;
00092   virtual float FrameLimit () = 0;
00093 
00094   virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00095   virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00096 
00102   virtual void EnableEventProcessing (bool enable) = 0;
00103   virtual bool EventProcessingEnabled () = 0;
00104 
00116   virtual void EnableFastObjects (bool enable) = 0;
00117   virtual bool FastObjectsEnabled () = 0;
00118 
00119 };
00120 
00121 SCF_VERSION (iODEDynamicSystemState, 0, 0, 1);
00122 
00129 struct iODEDynamicSystemState : public iBase
00130 {
00136   virtual void SetERP (float erp) = 0;
00137   virtual float ERP () = 0;
00138 
00144   virtual void SetCFM (float cfm) = 0;
00145   virtual float CFM () = 0;
00146 
00152   virtual void EnableStepFast (bool enable) = 0;
00153   virtual bool StepFastEnabled () = 0;
00154   virtual void SetStepFastIterations (int iter) = 0;
00155   virtual int StepFastIterations () = 0;
00156 
00173   virtual void EnableFrameRate (bool enable) = 0;
00174   virtual bool FrameRateEnabled () = 0;
00175 
00176   virtual void SetFrameRate (float hz) = 0;
00177   virtual float FrameRate () = 0;
00178 
00179   virtual void SetFrameLimit (float hz) = 0;
00180   virtual float FrameLimit () = 0;
00181 
00182   virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00183   virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
00184 
00198   virtual void EnableFastObjects (bool enable) = 0;
00199   virtual bool FastObjectsEnabled () = 0;
00200 
00201 };
00202 
00203 SCF_VERSION (iODEJointState, 0, 0, 1);
00204 
00209 enum ODEJointType
00210 {
00211   CS_ODE_JOINT_TYPE_BALL = dJointTypeBall,
00212   CS_ODE_JOINT_TYPE_HINGE = dJointTypeHinge,
00213   CS_ODE_JOINT_TYPE_SLIDER = dJointTypeSlider,
00214   CS_ODE_JOINT_TYPE_CONTACT = dJointTypeContact,
00215   CS_ODE_JOINT_TYPE_UNIVERSAL = dJointTypeUniversal,
00216   CS_ODE_JOINT_TYPE_HINGE2 = dJointTypeHinge2,
00217   CS_ODE_JOINT_TYPE_FIXED = dJointTypeFixed,
00218   CS_ODE_JOINT_TYPE_AMOTOR = dJointTypeAMotor
00219 };
00220 
00221 
00222 struct iODEJointState : public iBase
00223 {
00224   virtual ODEJointType GetType() = 0;
00225 
00226   // Baaad interface. Are those number axes? If so, perhaps pass it as
00227   // parameter.
00228   virtual void SetLoStop (float value) = 0;
00229   virtual void SetHiStop (float value) = 0;
00230   virtual void SetVel (float value) = 0;
00231   virtual void SetFMax (float value) = 0;
00232   virtual void SetFudgeFactor (float value) = 0;
00233   virtual void SetBounce (float value) = 0;
00234   virtual void SetCFM (float value) = 0;
00235   virtual void SetStopERP (float value) = 0;
00236   virtual void SetStopCFM (float value) = 0;
00237   virtual void SetSuspensionERP (float value) = 0;
00238   virtual void SetSuspensionCFM (float value) = 0;
00239 
00240   virtual void SetLoStop2 (float value) = 0;
00241   virtual void SetHiStop2 (float value) = 0;
00242   virtual void SetVel2 (float value) = 0;
00243   virtual void SetFMax2 (float value) = 0;
00244   virtual void SetFudgeFactor2 (float value) = 0;
00245   virtual void SetBounce2 (float value) = 0;
00246   virtual void SetCFM2 (float value) = 0;
00247   virtual void SetStopERP2 (float value) = 0;
00248   virtual void SetStopCFM2 (float value) = 0;
00249   virtual void SetSuspensionERP2 (float value) = 0;
00250   virtual void SetSuspensionCFM2 (float value) = 0;
00251 
00252   virtual void SetLoStop3 (float value) = 0;
00253   virtual void SetHiStop3 (float value) = 0;
00254   virtual void SetVel3 (float value) = 0;
00255   virtual void SetFMax3 (float value) = 0;
00256   virtual void SetFudgeFactor3 (float value) = 0;
00257   virtual void SetBounce3 (float value) = 0;
00258   virtual void SetCFM3 (float value) = 0;
00259   virtual void SetStopERP3 (float value) = 0;
00260   virtual void SetStopCFM3 (float value) = 0;
00261   virtual void SetSuspensionERP3 (float value) = 0;
00262   virtual void SetSuspensionCFM3 (float value) = 0;
00263 
00264   virtual float GetLoStop (float value) = 0;
00265   virtual float GetHiStop (float value) = 0;
00266   virtual float GetVel (float value) = 0;
00267   virtual float GetFMax (float value) = 0;
00268   virtual float GetFudgeFactor (float value) = 0;
00269   virtual float GetBounce (float value) = 0;
00270   virtual float GetCFM (float value) = 0;
00271   virtual float GetStopERP (float value) = 0;
00272   virtual float GetStopCFM (float value) = 0;
00273   virtual float GetSuspensionERP (float value) = 0;
00274   virtual float GetSuspensionCFM (float value) = 0;
00275 
00276   virtual float GetLoStop2 (float value) = 0;
00277   virtual float GetHiStop2 (float value) = 0;
00278   virtual float GetVel2 (float value) = 0;
00279   virtual float GetFMax2 (float value) = 0;
00280   virtual float GetFudgeFactor2 (float value) = 0;
00281   virtual float GetBounce2 (float value) = 0;
00282   virtual float GetCFM2 (float value) = 0;
00283   virtual float GetStopERP2 (float value) = 0;
00284   virtual float GetStopCFM2 (float value) = 0;
00285   virtual float GetSuspensionERP2 (float value) = 0;
00286   virtual float GetSuspensionCFM2 (float value) = 0;
00287 
00288   virtual float GetLoStop3 (float value) = 0;
00289   virtual float GetHiStop3 (float value) = 0;
00290   virtual float GetVel3 (float value) = 0;
00291   virtual float GetFMax3 (float value) = 0;
00292   virtual float GetFudgeFactor3 (float value) = 0;
00293   virtual float GetBounce3 (float value) = 0;
00294   virtual float GetCFM3 (float value) = 0;
00295   virtual float GetStopERP3 (float value) = 0;
00296   virtual float GetStopCFM3 (float value) = 0;
00297   virtual float GetSuspensionERP3 (float value) = 0;
00298   virtual float GetSuspensionCFM3 (float value) = 0;
00299 
00300   // This is a very ugly hack quite specific to NmS
00301   virtual void SetHinge2Axis1 (const csVector3& axis) = 0;
00302   virtual void SetHinge2Axis2 (const csVector3& axis) = 0;
00303   virtual void SetHinge2Anchor (const csVector3& point) = 0;
00304 };
00305 
00306 
00307 #endif // __CS_IVARIA_ODE_H__

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