forked from bartvdbraak/blender
116 lines
5.2 KiB
C++
116 lines
5.2 KiB
C++
/**
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef _IPHYSICSENVIRONMENT
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#define _IPHYSICSENVIRONMENT
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#include <vector>
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#include "PHY_DynamicTypes.h"
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class PHY_IVehicle;
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/**
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* Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
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* A derived class may be able to 'construct' entities by loading and/or converting
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*/
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class PHY_IPhysicsEnvironment
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{
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public:
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virtual ~PHY_IPhysicsEnvironment();
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virtual void beginFrame() = 0;
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virtual void endFrame() = 0;
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/// Perform an integration step of duration 'timeStep'.
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virtual bool proceedDeltaTime(double curTime,float timeStep)=0;
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virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
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//returns 0.f if no fixed timestep is used
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virtual float getFixedTimeStep()=0;
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///setDebugMode is used to support several ways of debug lines, contact point visualization
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virtual void setDebugMode(int debugMode) {}
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///setNumIterations set the number of iterations for iterative solvers
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virtual void setNumIterations(int numIter) {}
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///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
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virtual void setNumTimeSubSteps(int numTimeSubSteps){}
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///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
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virtual void setDeactivationTime(float dTime) {}
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///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
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virtual void setDeactivationLinearTreshold(float linTresh) {}
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///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
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virtual void setDeactivationAngularTreshold(float angTresh) {}
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///setContactBreakingTreshold sets tresholds to do with contact point management
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virtual void setContactBreakingTreshold(float contactBreakingTreshold) {}
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///continuous collision detection mode, very experimental for Bullet
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virtual void setCcdMode(int ccdMode) {}
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///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
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virtual void setSolverSorConstant(float sor) {}
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///setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based
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virtual void setSolverType(int solverType) {}
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///setTau sets the spring constant of a penalty based solver
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virtual void setSolverTau(float tau) {}
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///setDamping sets the damper constant of a penalty based solver
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virtual void setSolverDamping(float damping) {}
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///linear air damping for rigidbodies
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virtual void setLinearAirDamping(float damping) {}
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/// penetrationdepth setting
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virtual void setUseEpa(bool epa) {}
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virtual void setGravity(float x,float y,float z)=0;
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virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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float axis0X,float axis0Y,float axis0Z,
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float axis1X=0,float axis1Y=0,float axis1Z=0,
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float axis2X=0,float axis2Y=0,float axis2Z=0
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)=0;
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virtual void removeConstraint(int constraintid)=0;
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virtual float getAppliedImpulse(int constraintid){ return 0.f;}
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//complex constraint for vehicles
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virtual PHY_IVehicle* getVehicleConstraint(int constraintId) =0;
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virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
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float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0;
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//Methods for gamelogic collision/physics callbacks
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//todo:
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virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
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virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
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virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
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virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
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//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
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virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0;
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virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
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virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0;
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};
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#endif //_IPHYSICSENVIRONMENT
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