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__
Generated for Crystal Space by doxygen 1.2.18