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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 struct iSkeletonBone;
00032 
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 
00047 struct iDynamics : public iBase
00048 {
00050   virtual csPtr<iDynamicSystem> CreateSystem () = 0;
00051   
00053   virtual void RemoveSystem (iDynamicSystem* system) = 0;
00054 
00056   virtual iDynamicSystem* FindSystem (const char *name) = 0;
00057 
00059   virtual void Step (float stepsize) = 0;
00060 };
00061 
00062 SCF_VERSION (iDynamicSystem, 0, 0, 2);
00063 
00070 struct iDynamicSystem : public iBase
00071 {
00073   virtual iObject *QueryObject (void) = 0;
00075   virtual void SetGravity (const csVector3& v) = 0;
00077   virtual const csVector3 GetGravity () const = 0;
00078 
00080   virtual void Step (float stepsize) = 0;
00081 
00083   virtual csPtr<iRigidBody> CreateBody () = 0;
00084 
00086   virtual void RemoveBody( iRigidBody* body ) = 0;
00087 
00089   virtual iRigidBody *FindBody (const char *name) = 0;
00090 
00092   virtual csPtr<iBodyGroup> CreateGroup () = 0;
00093 
00095   virtual void RemoveGroup (iBodyGroup* group) = 0;
00096 
00098   virtual csPtr<iJoint> CreateJoint () = 0;
00099 
00101   virtual void RemoveJoint (iJoint* joint) = 0;
00102 
00104   virtual iDynamicsMoveCallback* GetDefaultMoveCallback () = 0;
00105 };
00106 
00107 SCF_VERSION (iDynamicsMoveCallback, 0, 0, 1);
00108 
00113 struct iDynamicsMoveCallback : public iBase
00114 {
00115   virtual void Execute (iMeshWrapper* mesh, csOrthoTransform& t) = 0;
00116   virtual void Execute (iSkeletonBone* bone, csOrthoTransform& t) = 0;
00117 };
00118 
00119 SCF_VERSION (iDynamicsCollisionCallback, 0, 0, 1);
00120 
00124 struct iDynamicsCollisionCallback : public iBase
00125 {
00126   virtual void Execute (iRigidBody *thisbody, iRigidBody *otherbody) = 0;
00127 };
00128 
00129 SCF_VERSION (iBodyGroup, 0, 0, 1);
00130 
00138 struct iBodyGroup : public iBase
00139 {
00141    virtual void AddBody (iRigidBody *body) = 0;
00143    virtual void RemoveBody (iRigidBody *body) = 0;
00145    virtual bool BodyInGroup (iRigidBody *body) = 0;
00146 };
00147 
00148 SCF_VERSION (iRigidBody, 0, 0, 2);
00149 
00156 struct iRigidBody : public iBase
00157 {
00159   virtual iObject *QueryObject (void) = 0;
00165   virtual bool MakeStatic (void) = 0;
00167   virtual bool MakeDynamic (void) = 0;
00169   virtual bool IsStatic (void) = 0;
00170 
00172   virtual csRef<iBodyGroup> GetGroup (void) = 0;
00173 
00175   virtual bool AttachColliderMesh (iMeshWrapper* mesh,
00176         const csOrthoTransform& trans, float friction, float density,
00177         float elasticity) = 0;
00179   virtual bool AttachColliderCylinder (float length, float radius,
00180         const csOrthoTransform& trans, float friction, float density,
00181         float elasticity) = 0;
00182   virtual bool AttachColliderBox (const csVector3 &size,
00183         const csOrthoTransform& trans, float friction, float density,
00184         float elasticity) = 0;
00185   virtual bool AttachColliderSphere (float radius, const csVector3 &offset,
00186         float friction, float density, float elasticity) = 0;
00187   virtual bool AttachColliderPlane (const csPlane3 &plane, float friction,
00188     float density, float elasticity) = 0;
00189 
00191   virtual void SetPosition (const csVector3& trans) = 0;
00193   virtual const csVector3 GetPosition () const = 0;
00195   virtual void SetOrientation (const csMatrix3& trans) = 0;
00197   virtual const csMatrix3 GetOrientation () const = 0;
00199   virtual void SetTransform (const csOrthoTransform& trans) = 0;
00201   virtual const csOrthoTransform GetTransform () const = 0;
00203   virtual void SetLinearVelocity (const csVector3& vel) = 0;
00205   virtual const csVector3 GetLinearVelocity () const = 0;
00207   virtual void SetAngularVelocity (const csVector3& vel) = 0;
00209   virtual const csVector3 GetAngularVelocity () const = 0;
00210 
00212   virtual void SetProperties (float mass, const csVector3& center,
00213         const csMatrix3& inertia) = 0;
00215   virtual void GetProperties (float* mass, csVector3* center,
00216     csMatrix3* inertia) = 0;
00218   virtual void AdjustTotalMass (float targetmass) = 0;
00219 
00221   virtual void AddForce (const csVector3& force) = 0;
00223   virtual void AddTorque (const csVector3& force) = 0;
00225   virtual void AddRelForce (const csVector3& force) = 0;
00227   virtual void AddRelTorque (const csVector3& force) = 0 ;
00232   virtual void AddForceAtPos (const csVector3& force, const csVector3& pos) = 0;
00237   virtual void AddForceAtRelPos (const csVector3& force,
00238     const csVector3& pos) = 0;
00243   virtual void AddRelForceAtPos (const csVector3& force,
00244         const csVector3& pos) = 0;
00249   virtual void AddRelForceAtRelPos (const csVector3& force,
00250         const csVector3& pos) = 0;
00251 
00253   virtual const csVector3 GetForce () const = 0;
00255   virtual const csVector3 GetTorque () const = 0;
00256 
00257   /*
00259   virtual const csVector3& GetRelForce () const = 0;
00261   virtual const csVector3& GetRelTorque () const = 0;
00262   */
00263 
00264   /*
00266   virtual int GetJointCount () const = 0;
00267   */
00268 
00270   virtual void AttachMesh (iMeshWrapper* mesh) = 0;
00272   virtual csRef<iMeshWrapper> GetAttachedMesh () = 0;
00274   virtual void AttachBone (iSkeletonBone* bone) = 0;
00276   virtual csRef<iSkeletonBone> GetAttachedBone () = 0;
00277 
00282   virtual void SetMoveCallback (iDynamicsMoveCallback* cb) = 0;
00287   virtual void SetCollisionCallback (iDynamicsCollisionCallback* cb) = 0;
00288 
00290   virtual void Collision (iRigidBody *other) = 0;
00291 
00293   virtual void Update () = 0;
00294 };
00295 
00296 SCF_VERSION (iJoint, 0, 0, 1);
00297 
00305 struct iJoint : public iBase
00306 {
00308   virtual void Attach (iRigidBody* body1, iRigidBody* body2) = 0;
00310   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
00316   virtual void SetTransform (const csOrthoTransform &trans) = 0;
00318   virtual csOrthoTransform GetTransform () = 0;
00326   virtual void SetTransConstraints (bool X, bool Y, bool Z) = 0;
00328   virtual bool IsXTransConstrained () = 0;
00330   virtual bool IsYTransConstrained () = 0;
00332   virtual bool IsZTransConstrained () = 0;
00334   virtual void SetMinimumDistance (const csVector3 &min) = 0;
00336   virtual csVector3 GetMinimumDistance () = 0;
00338   virtual void SetMaximumDistance (const csVector3 &max) = 0;
00340   virtual csVector3 GetMaximumDistance () = 0;
00346   virtual void SetRotConstraints (bool X, bool Y, bool Z) = 0;
00348   virtual bool IsXRotConstrained () = 0;
00350   virtual bool IsYRotConstrained () = 0;
00352   virtual bool IsZRotConstrained () = 0;
00354   virtual void SetMinimumAngle (const csVector3 &min) = 0;
00356   virtual csVector3 GetMinimumAngle () = 0;
00358   virtual void SetMaximumAngle (const csVector3 &max) = 0;
00360   virtual csVector3 GetMaximumAngle () = 0;
00361 };
00362 
00363 #endif // __CS_IVARIA_DYNAMICS_H__
00364 

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