blender/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h

/*
 * ***** BEGIN GPL 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.
 *
 * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
 */

/** \file PHY_IPhysicsEnvironment.h
 *  \ingroup phys
 */

#ifndef __PHY_IPHYSICSENVIRONMENT_H__
#define __PHY_IPHYSICSENVIRONMENT_H__

#include <vector>
#include "PHY_DynamicTypes.h"

#ifdef WITH_CXX_GUARDEDALLOC
#include "MEM_guardedalloc.h"
#endif

class PHY_IVehicle;
class PHY_ICharacter;
class RAS_MeshObject;
class PHY_IPhysicsController;

/**
 * pass back information from rayTest
 */
struct PHY_RayCastResult
{
	PHY_IPhysicsController* m_controller;
	PHY__Vector3			m_hitPoint;
	PHY__Vector3			m_hitNormal;
	const RAS_MeshObject*	m_meshObject;	// !=NULL for mesh object (only for Bullet controllers) 
	int						m_polygon;		// index of the polygon hit by the ray,
											// only if m_meshObject != NULL
	int                     m_hitUVOK;		// !=0 if UV coordinate in m_hitUV is valid
	PHY__Vector2			m_hitUV;		// UV coordinates of hit point
};

/**
 * This class replaces the ignoreController parameter of rayTest function. 
 * It allows more sophisticated filtering on the physics controller before computing the ray intersection to save CPU. 
 * It is only used to its full extend by the Ccd physics environment (Bullet).
 */
class PHY_IRayCastFilterCallback
{
public:
	PHY_IPhysicsController* m_ignoreController;
	bool					m_faceNormal;
	bool					m_faceUV;

	virtual		~PHY_IRayCastFilterCallback()
	{
	}

	virtual	bool needBroadphaseRayCast(PHY_IPhysicsController* controller)
	{
		return true;
	}

	virtual void reportHit(PHY_RayCastResult* result) = 0;

	PHY_IRayCastFilterCallback(PHY_IPhysicsController* ignoreController, bool faceNormal=false, bool faceUV=false) 
		:m_ignoreController(ignoreController),
		m_faceNormal(faceNormal),
		m_faceUV(faceUV)
	{
	}


#ifdef WITH_CXX_GUARDEDALLOC
	MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IRayCastFilterCallback")
#endif
};

/**
*	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,float interval)=0;
		///draw debug lines (make sure to call this during the render phase, otherwise lines are not drawn properly)
		virtual void		debugDrawWorld() {}
		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 behavior
		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	void		getGravity(PHY__Vector3& grav) = 0;

		virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
			float pivotX,float pivotY,float pivotZ,
			float axis0X,float axis0Y,float axis0Z,
			float axis1X=0,float axis1Y=0,float axis1Z=0,
			float axis2X=0,float axis2Y=0,float axis2Z=0,int flag=0
		)=0;
		virtual void		removeConstraint(int	constraintid)=0;
		virtual float		getAppliedImpulse(int	constraintid) { return 0.0f; }


		//complex constraint for vehicles
		virtual PHY_IVehicle*	getVehicleConstraint(int constraintId) =0;

		// Character physics wrapper
		virtual PHY_ICharacter*	getCharacterController(class KX_GameObject* ob) =0;

		virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback, float fromX,float fromY,float fromZ, float toX,float toY,float toZ)=0;

		//culling based on physical broad phase
		// the plane number must be set as follow: near, far, left, right, top, botton
		// the near plane must be the first one and must always be present, it is used to get the direction of the view
		virtual bool cullingTest(PHY_CullingCallback callback, void *userData, PHY__Vector4* planeNormals, int planeNumber, int occlusionRes, const int *viewport, double modelview[16], double projection[16]) = 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 bool requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
		virtual bool removeCollisionCallback(PHY_IPhysicsController* ctrl)=0;
		//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
		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;
		virtual float	getConstraintParam(int constraintId,int param) = 0;
		
		virtual void	exportFile(const char* filename) {};


#ifdef WITH_CXX_GUARDEDALLOC
	MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_IPhysicsEnvironment")
#endif
};

#endif  /* __PHY_IPHYSICSENVIRONMENT_H__ */