forked from bartvdbraak/blender
28bbf2d616
- only 6DOF constraint shows buttons for limits - added python support for rigidbody constraint (untested, but required for COLLADA Physics support)
115 lines
5.2 KiB
C++
115 lines
5.2 KiB
C++
/**
|
|
* $Id$
|
|
*
|
|
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
|
|
*
|
|
* This program is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2
|
|
* of the License, or (at your option) any later version. The Blender
|
|
* Foundation also sells licenses for use in proprietary software under
|
|
* the Blender License. See http://www.blender.org/BL/ for information
|
|
* about this.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software Foundation,
|
|
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
|
*
|
|
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
|
* All rights reserved.
|
|
*
|
|
* The Original Code is: all of this file.
|
|
*
|
|
* Contributor(s): none yet.
|
|
*
|
|
* ***** END GPL/BL DUAL LICENSE BLOCK *****
|
|
*/
|
|
|
|
#ifndef _IPHYSICSENVIRONMENT
|
|
#define _IPHYSICSENVIRONMENT
|
|
|
|
#include <vector>
|
|
#include "PHY_DynamicTypes.h"
|
|
class PHY_IVehicle;
|
|
|
|
/**
|
|
* Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
|
|
* A derived class may be able to 'construct' entities by loading and/or converting
|
|
*/
|
|
class PHY_IPhysicsEnvironment
|
|
{
|
|
public:
|
|
virtual ~PHY_IPhysicsEnvironment();
|
|
virtual void beginFrame() = 0;
|
|
virtual void endFrame() = 0;
|
|
/// Perform an integration step of duration 'timeStep'.
|
|
virtual bool proceedDeltaTime(double curTime,float timeStep)=0;
|
|
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
|
|
//returns 0.f if no fixed timestep is used
|
|
virtual float getFixedTimeStep()=0;
|
|
|
|
///setDebugMode is used to support several ways of debug lines, contact point visualization
|
|
virtual void setDebugMode(int debugMode) {}
|
|
///setNumIterations set the number of iterations for iterative solvers
|
|
virtual void setNumIterations(int numIter) {}
|
|
///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
|
|
virtual void setNumTimeSubSteps(int numTimeSubSteps){}
|
|
///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
|
|
virtual void setDeactivationTime(float dTime) {}
|
|
///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
|
|
virtual void setDeactivationLinearTreshold(float linTresh) {}
|
|
///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
|
|
virtual void setDeactivationAngularTreshold(float angTresh) {}
|
|
///setContactBreakingTreshold sets tresholds to do with contact point management
|
|
virtual void setContactBreakingTreshold(float contactBreakingTreshold) {}
|
|
///continuous collision detection mode, very experimental for Bullet
|
|
virtual void setCcdMode(int ccdMode) {}
|
|
///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
|
|
virtual void setSolverSorConstant(float sor) {}
|
|
///setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based
|
|
virtual void setSolverType(int solverType) {}
|
|
///setTau sets the spring constant of a penalty based solver
|
|
virtual void setSolverTau(float tau) {}
|
|
///setDamping sets the damper constant of a penalty based solver
|
|
virtual void setSolverDamping(float damping) {}
|
|
///linear air damping for rigidbodies
|
|
virtual void setLinearAirDamping(float damping) {}
|
|
/// penetrationdepth setting
|
|
virtual void setUseEpa(bool epa) {}
|
|
|
|
virtual void setGravity(float x,float y,float z)=0;
|
|
|
|
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
|
|
float pivotX,float pivotY,float pivotZ,
|
|
float axisX,float axisY,float axisZ)=0;
|
|
virtual void removeConstraint(int constraintid)=0;
|
|
virtual float getAppliedImpulse(int constraintid){ return 0.f;}
|
|
|
|
|
|
//complex constraint for vehicles
|
|
virtual PHY_IVehicle* getVehicleConstraint(int constraintId) =0;
|
|
|
|
virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
|
|
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0;
|
|
|
|
|
|
//Methods for gamelogic collision/physics callbacks
|
|
//todo:
|
|
virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
|
|
virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
|
|
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
|
|
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
|
|
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0;
|
|
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
|
|
|
|
virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0;
|
|
};
|
|
|
|
#endif //_IPHYSICSENVIRONMENT
|
|
|