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 uint32 00029 #undef int32 00030 #undef uint8 00031 #undef 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 00052 struct iODEDynamicState : public iBase 00053 { 00054 00056 virtual void SetGlobalERP (float erp) = 0; 00057 virtual float GlobalERP () = 0; 00058 00060 virtual void SetGlobalCFM (float cfm) = 0; 00061 virtual float GlobalCFM () = 0; 00062 00064 virtual void EnableStepFast (bool enable) = 0; 00065 virtual bool StepFastEnabled () = 0; 00066 virtual void SetStepFastIterations (int iter) = 0; 00067 virtual int StepFastIterations () = 0; 00068 00084 virtual void EnableFrameRate (bool enable) = 0; 00085 virtual bool FrameRateEnabled () = 0; 00086 00087 virtual void SetFrameRate (float hz) = 0; 00088 virtual float FrameRate () = 0; 00089 00090 virtual void SetFrameLimit (float hz) = 0; 00091 virtual float FrameLimit () = 0; 00092 00093 virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00094 virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00095 00101 virtual void EnableEventProcessing (bool enable) = 0; 00102 virtual bool EventProcessingEnabled () = 0; 00103 00115 virtual void EnableFastObjects (bool enable) = 0; 00116 virtual bool FastObjectsEnabled () = 0; 00117 00118 }; 00119 00120 SCF_VERSION (iODEDynamicSystemState, 0, 0, 1); 00121 00127 struct iODEDynamicSystemState : public iBase 00128 { 00134 virtual void SetERP (float erp) = 0; 00135 virtual float ERP () = 0; 00136 00142 virtual void SetCFM (float cfm) = 0; 00143 virtual float CFM () = 0; 00144 00150 virtual void EnableStepFast (bool enable) = 0; 00151 virtual bool StepFastEnabled () = 0; 00152 virtual void SetStepFastIterations (int iter) = 0; 00153 virtual int StepFastIterations () = 0; 00154 00171 virtual void EnableFrameRate (bool enable) = 0; 00172 virtual bool FrameRateEnabled () = 0; 00173 00174 virtual void SetFrameRate (float hz) = 0; 00175 virtual float FrameRate () = 0; 00176 00177 virtual void SetFrameLimit (float hz) = 0; 00178 virtual float FrameLimit () = 0; 00179 00180 virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00181 virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00182 00196 virtual void EnableFastObjects (bool enable) = 0; 00197 virtual bool FastObjectsEnabled () = 0; 00198 00199 }; 00200 00205 enum ODEJointType 00206 { 00207 CS_ODE_JOINT_TYPE_BALL = dJointTypeBall, 00208 CS_ODE_JOINT_TYPE_HINGE = dJointTypeHinge, 00209 CS_ODE_JOINT_TYPE_SLIDER = dJointTypeSlider, 00210 CS_ODE_JOINT_TYPE_CONTACT = dJointTypeContact, 00211 CS_ODE_JOINT_TYPE_UNIVERSAL = dJointTypeUniversal, 00212 CS_ODE_JOINT_TYPE_HINGE2 = dJointTypeHinge2, 00213 CS_ODE_JOINT_TYPE_FIXED = dJointTypeFixed, 00214 CS_ODE_JOINT_TYPE_AMOTOR = dJointTypeAMotor 00215 }; 00216 00217 00218 SCF_VERSION (iODEJointState, 0, 0, 2); 00219 00221 struct iODEJointState : public iBase 00222 { 00223 virtual ODEJointType GetType() = 0; 00224 00225 // Baaad interface. Are those number axes? If so, perhaps pass it as 00226 // parameter. 00227 virtual void SetLoStop (float value) = 0; 00228 virtual void SetHiStop (float value) = 0; 00229 virtual void SetVel (float value) = 0; 00230 virtual void SetFMax (float value) = 0; 00231 virtual void SetFudgeFactor (float value) = 0; 00232 virtual void SetBounce (float value) = 0; 00233 virtual void SetCFM (float value) = 0; 00234 virtual void SetStopERP (float value) = 0; 00235 virtual void SetStopCFM (float value) = 0; 00236 virtual void SetSuspensionERP (float value) = 0; 00237 virtual void SetSuspensionCFM (float value) = 0; 00238 00239 virtual void SetLoStop2 (float value) = 0; 00240 virtual void SetHiStop2 (float value) = 0; 00241 virtual void SetVel2 (float value) = 0; 00242 virtual void SetFMax2 (float value) = 0; 00243 virtual void SetFudgeFactor2 (float value) = 0; 00244 virtual void SetBounce2 (float value) = 0; 00245 virtual void SetCFM2 (float value) = 0; 00246 virtual void SetStopERP2 (float value) = 0; 00247 virtual void SetStopCFM2 (float value) = 0; 00248 virtual void SetSuspensionERP2 (float value) = 0; 00249 virtual void SetSuspensionCFM2 (float value) = 0; 00250 00251 virtual void SetLoStop3 (float value) = 0; 00252 virtual void SetHiStop3 (float value) = 0; 00253 virtual void SetVel3 (float value) = 0; 00254 virtual void SetFMax3 (float value) = 0; 00255 virtual void SetFudgeFactor3 (float value) = 0; 00256 virtual void SetBounce3 (float value) = 0; 00257 virtual void SetCFM3 (float value) = 0; 00258 virtual void SetStopERP3 (float value) = 0; 00259 virtual void SetStopCFM3 (float value) = 0; 00260 virtual void SetSuspensionERP3 (float value) = 0; 00261 virtual void SetSuspensionCFM3 (float value) = 0; 00262 00263 virtual float GetLoStop () = 0; 00264 virtual float GetHiStop () = 0; 00265 virtual float GetVel () = 0; 00266 virtual float GetFMax () = 0; 00267 virtual float GetFudgeFactor () = 0; 00268 virtual float GetBounce () = 0; 00269 virtual float GetCFM () = 0; 00270 virtual float GetStopERP () = 0; 00271 virtual float GetStopCFM () = 0; 00272 virtual float GetSuspensionERP () = 0; 00273 virtual float GetSuspensionCFM () = 0; 00274 00275 virtual float GetLoStop2 () = 0; 00276 virtual float GetHiStop2 () = 0; 00277 virtual float GetVel2 () = 0; 00278 virtual float GetFMax2 () = 0; 00279 virtual float GetFudgeFactor2 () = 0; 00280 virtual float GetBounce2 () = 0; 00281 virtual float GetCFM2 () = 0; 00282 virtual float GetStopERP2 () = 0; 00283 virtual float GetStopCFM2 () = 0; 00284 virtual float GetSuspensionERP2 () = 0; 00285 virtual float GetSuspensionCFM2 () = 0; 00286 00287 virtual float GetLoStop3 () = 0; 00288 virtual float GetHiStop3 () = 0; 00289 virtual float GetVel3 () = 0; 00290 virtual float GetFMax3 () = 0; 00291 virtual float GetFudgeFactor3 () = 0; 00292 virtual float GetBounce3 () = 0; 00293 virtual float GetCFM3 () = 0; 00294 virtual float GetStopERP3 () = 0; 00295 virtual float GetStopCFM3 () = 0; 00296 virtual float GetSuspensionERP3 () = 0; 00297 virtual float GetSuspensionCFM3 () = 0; 00298 00299 // This is a very ugly hack quite specific to NmS 00300 virtual void SetHinge2Axis1 (const csVector3& axis) = 0; 00301 virtual void SetHinge2Axis2 (const csVector3& axis) = 0; 00302 virtual void SetHinge2Anchor (const csVector3& point) = 0; 00303 }; 00304 00305 #endif // __CS_IVARIA_ODE_H__
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