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# ivaria/ode.h

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    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
    00027 #include "csutil/scf_interface.h"
    00028
    00033 struct iODEFrameUpdateCallback : public virtual iBase
    00034 {
    00035   SCF_INTERFACE(iODEFrameUpdateCallback, 2, 0, 0);
    00036
    00038   virtual void Execute (float stepsize) = 0;
    00039 };
    00040
    00045 struct iODEDynamicState : public virtual iBase
    00046 {
    00047   SCF_INTERFACE(iODEDynamicState, 2, 0, 0);
    00048
    00049
    00051   virtual void SetGlobalERP (float erp) = 0;
    00052   virtual float GlobalERP () = 0;
    00053
    00055   virtual void SetGlobalCFM (float cfm) = 0;
    00056   virtual float GlobalCFM () = 0;
    00057
    00059   virtual void EnableStepFast (bool enable) = 0;
    00060   virtual bool StepFastEnabled () = 0;
    00061   virtual void SetStepFastIterations (int iter) = 0;
    00062   virtual int StepFastIterations () = 0;
    00063
    00064   virtual void EnableQuickStep (bool enable) = 0;
    00065   virtual bool QuickStepEnabled () = 0;
    00066   virtual void SetQuickStepIterations (int iter) = 0;
    00067   virtual int QuickStepIterations () = 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 struct iODEBallJoint;
    00121 struct iODEHingeJoint;
    00122 struct iODEHinge2Joint;
    00123 struct iODEAMotorJoint;
    00124 struct iODEUniversalJoint;
    00125 struct iODESliderJoint;
    00126
    00132 struct iODEDynamicSystemState : public virtual iBase
    00133 {
    00134   SCF_INTERFACE(iODEDynamicSystemState, 2, 0, 0);
    00135
    00141   virtual void SetERP (float erp) = 0;
    00142   virtual float ERP () = 0;
    00143
    00149   virtual void SetCFM (float cfm) = 0;
    00150   virtual float CFM () = 0;
    00151
    00157   virtual void EnableStepFast (bool enable) = 0;
    00158   virtual bool StepFastEnabled () = 0;
    00159   virtual void SetStepFastIterations (int iter) = 0;
    00160   virtual int StepFastIterations () = 0;
    00161
    00162   virtual void EnableQuickStep (bool enable) = 0;
    00163   virtual bool QuickStepEnabled () = 0;
    00164   virtual void SetQuickStepIterations (int iter) = 0;
    00165   virtual int QuickStepIterations () = 0;
    00166
    00172   virtual void EnableAutoDisable (bool enable) = 0;
    00173   virtual bool AutoDisableEnabled () =0;
    00183   virtual void SetAutoDisableParams (float linear, float angular, int steps,
    00184     float time)=0;
    00185
    00202   virtual void EnableFrameRate (bool enable) = 0;
    00203   virtual bool FrameRateEnabled () = 0;
    00204
    00205   virtual void SetFrameRate (float hz) = 0;
    00206   virtual float FrameRate () = 0;
    00207
    00208   virtual void SetFrameLimit (float hz) = 0;
    00209   virtual float FrameLimit () = 0;
    00210
    00211   virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
    00212   virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0;
    00213
    00227   virtual void EnableFastObjects (bool enable) = 0;
    00228   virtual bool FastObjectsEnabled () = 0;
    00229
    00231   virtual csPtr<iODEBallJoint> CreateBallJoint () = 0;
    00232
    00234   virtual csPtr<iODEHingeJoint> CreateHingeJoint () = 0;
    00235
    00237   virtual csPtr<iODEHinge2Joint> CreateHinge2Joint () = 0;
    00238
    00240   virtual csPtr<iODEAMotorJoint> CreateAMotorJoint () = 0;
    00241
    00243   virtual csPtr<iODEUniversalJoint> CreateUniversalJoint () = 0;
    00244
    00246   virtual csPtr<iODESliderJoint> CreateSliderJoint () = 0;
    00247
    00249   virtual void RemoveJoint (iODEBallJoint* joint) = 0;
    00250
    00252   virtual void RemoveJoint (iODEHingeJoint* joint) = 0;
    00253
    00255   virtual void RemoveJoint (iODEAMotorJoint* joint) = 0;
    00256
    00258   virtual void RemoveJoint (iODEUniversalJoint* joint) = 0;
    00259
    00261   virtual void RemoveJoint (iODESliderJoint* joint) = 0;
    00262
    00264   virtual void RemoveJoint (iODEHinge2Joint* joint) = 0;
    00265
    00273   virtual void SetContactMaxCorrectingVel (float v) = 0;
    00274
    00281   virtual float GetContactMaxCorrectingVel () = 0;
    00282
    00292   virtual void SetContactSurfaceLayer (float depth) = 0;
    00293
    00303   virtual float GetContactSurfaceLayer () = 0;
    00304 };
    00305
    00309 enum ODEJointType
    00310 {
    00311   CS_ODE_JOINT_TYPE_UNKNOWN = -1,
    00312   CS_ODE_JOINT_TYPE_BALL,
    00313   CS_ODE_JOINT_TYPE_HINGE,
    00314   CS_ODE_JOINT_TYPE_SLIDER,
    00315   CS_ODE_JOINT_TYPE_CONTACT,
    00316   CS_ODE_JOINT_TYPE_UNIVERSAL,
    00317   CS_ODE_JOINT_TYPE_HINGE2,
    00318   CS_ODE_JOINT_TYPE_FIXED,
    00319   CS_ODE_JOINT_TYPE_AMOTOR
    00320 };
    00321
    00325 struct iODEJointState : public virtual iBase
    00326 {
    00327   SCF_INTERFACE(iODEJointState, 2, 0, 0);
    00328
    00329   virtual ODEJointType GetType() = 0;
    00330
    00335   virtual void SetLoStop (const csVector3 &value) = 0;
    00336
    00342   virtual void SetHiStop (const csVector3 &value) = 0;
    00343
    00345   virtual void SetVel (const csVector3 &value) = 0;
    00346
    00352   virtual void SetFMax (const csVector3 &value) = 0;
    00353
    00364   virtual void SetFudgeFactor (const csVector3 &value) = 0;
    00365
    00371   virtual void SetBounce (const csVector3 &value) = 0;
    00372
    00377   virtual void SetCFM (const csVector3 &value) = 0;
    00378
    00380   virtual void SetStopERP (const csVector3 &value) = 0;
    00381
    00388   virtual void SetStopCFM (const csVector3 &value) = 0;
    00389
    00391   virtual void SetSuspensionERP (const csVector3 &value) = 0;
    00392
    00394   virtual void SetSuspensionCFM (const csVector3 &value) = 0;
    00395
    00397   virtual csVector3 GetLoStop () = 0;
    00398
    00400   virtual csVector3 GetHiStop () = 0;
    00401
    00403   virtual csVector3 GetVel () = 0;
    00404
    00409   virtual csVector3 GetMaxForce () = 0;
    00410
    00412   virtual csVector3 GetFudgeFactor () = 0;
    00413
    00415   virtual csVector3 GetBounce () = 0;
    00416
    00421   virtual csVector3 GetCFM () = 0;
    00422
    00424   virtual csVector3 GetStopERP () = 0;
    00425
    00427   virtual csVector3 GetStopCFM () = 0;
    00428
    00430   virtual csVector3 GetSuspensionERP () = 0;
    00431
    00433   virtual csVector3 GetSuspensionCFM () = 0;
    00434
    00435 };
    00436
    00440 struct iODEGeneralJointState : public virtual iBase
    00441 {
    00442   SCF_INTERFACE(iODEGeneralJointState, 2, 0, 0);
    00443
    00448   virtual void SetLoStop (float value, int axis) = 0;
    00449
    00455   virtual void SetHiStop (float value, int axis) = 0;
    00456
    00458   virtual void SetVel (float value, int axis) = 0;
    00459
    00465   virtual void SetFMax (float value, int axis) = 0;
    00466
    00477   virtual void SetFudgeFactor (float value, int axis) = 0;
    00478
    00484   virtual void SetBounce (float value, int axis) = 0;
    00485
    00490   virtual void SetCFM (float value, int axis) = 0;
    00491
    00493   virtual void SetStopERP (float value, int axis) = 0;
    00494
    00501   virtual void SetStopCFM (float value, int axis) = 0;
    00502
    00504   virtual void SetSuspensionERP (float value, int axis) = 0;
    00505
    00507   virtual void SetSuspensionCFM (float value, int axis) = 0;
    00508
    00510   virtual float GetLoStop (int axis) = 0;
    00511
    00513   virtual float GetHiStop (int axis) = 0;
    00514
    00516   virtual float GetVel (int axis) = 0;
    00517
    00522   virtual float GetFMax (int axis) = 0;
    00523
    00525   virtual float GetFudgeFactor (int axis) = 0;
    00526
    00528   virtual float GetBounce (int axis) = 0;
    00529
    00534   virtual float GetCFM (int axis) = 0;
    00535
    00537   virtual float GetStopERP (int axis) = 0;
    00538
    00540   virtual float GetStopCFM (int axis) = 0;
    00541
    00543   virtual float GetSuspensionERP (int axis) = 0;
    00544
    00546   virtual float GetSuspensionCFM (int axis) = 0;
    00547
    00555   virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;
    00556
    00558   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
    00559
    00561   virtual csVector3 GetFeedbackForce1 () = 0;
    00562
    00564   virtual csVector3 GetFeedbackTorque1 () = 0;
    00565
    00567   virtual csVector3 GetFeedbackForce2 () = 0;
    00568
    00570   virtual csVector3 GetFeedbackTorque2 () = 0;
    00571
    00572 };
    00573
    00574 struct iODESliderJoint : public iODEGeneralJointState
    00575 {
    00576   SCF_INTERFACE(iODESliderJoint, 2, 0, 0);
    00577
    00579   virtual void SetSliderAxis (float x, float y, float z) = 0;
    00580
    00582   virtual csVector3 GetSliderAxis () = 0;
    00583
    00589   virtual float GetSliderPosition () = 0;
    00590
    00592   virtual float GetSliderPositionRate () = 0;
    00593 };
    00594
    00602 struct iODEUniversalJoint : public iODEGeneralJointState
    00603 {
    00604   SCF_INTERFACE(iODEUniversalJoint, 2, 0, 0);
    00605
    00607   virtual void SetUniversalAnchor (float x, float y, float z) = 0;
    00608
    00610   virtual void SetUniversalAxis1 (float x, float y, float z) = 0;
    00611
    00613   virtual void SetUniversalAxis2 (float x, float y, float z) = 0;
    00614
    00620   virtual csVector3 GetUniversalAnchor1 () = 0;
    00621
    00627   virtual csVector3 GetUniversalAnchor2 () = 0;
    00628
    00630   virtual csVector3 GetUniversalAxis1 () = 0;
    00631
    00633   virtual csVector3 GetUniversalAxis2 () = 0;
    00634
    00635 };
    00636
    00637 enum ODEAMotorMode
    00638 {
    00639   CS_ODE_AMOTOR_MODE_UNKNOWN = -1,
    00640
    00641   CS_ODE_AMOTOR_MODE_USER = 0,
    00642   CS_ODE_AMOTOR_MODE_EULER,
    00643
    00644   CS_ODE_AMOTOR_MODE_LAST
    00645 };
    00646
    00658 struct iODEAMotorJoint : public iODEGeneralJointState
    00659 {
    00660   SCF_INTERFACE(iODEAMotorJoint, 2, 0, 0);
    00661
    00671   virtual void SetAMotorMode (ODEAMotorMode mode) = 0;
    00672
    00676   virtual ODEAMotorMode GetAMotorMode () = 0;
    00677
    00684   virtual void SetAMotorNumAxes (int axis_num) = 0;
    00685
    00690   virtual int GetAMotorNumAxes () = 0;
    00691
    00701   virtual void SetAMotorAxis (int axis_num, int rel_orient, float x, float y,
    00702         float z) = 0;
    00703
    00712   virtual void SetAMotorAxis (int axis_num, int rel_orient,
    00713         const csVector3 &axis) = 0;
    00714
    00718   virtual csVector3 GetAMotorAxis (int axis_num) = 0;
    00719
    00726   virtual int GetAMotorAxisRelOrientation (int axis_num) = 0;
    00727
    00735   virtual void SetAMotorAngle (int axis_num, float angle) = 0;
    00736
    00742   virtual float GetAMotorAngle (int axis_num) = 0;
    00743
    00749   virtual float GetAMotorAngleRate (int axis_num) = 0;
    00750 };
    00751
    00756 struct iODEHinge2Joint : public iODEGeneralJointState
    00757 {
    00758   SCF_INTERFACE(iODEHinge2Joint, 2, 0, 0);
    00759
    00764   virtual void SetHingeAnchor (const csVector3 &pos) = 0;
    00765
    00769   virtual void SetHingeAxis1 (const csVector3 &axis) = 0;
    00770
    00774   virtual void SetHingeAxis2 (const csVector3 &axis) = 0;
    00775
    00776
    00781   virtual csVector3 GetHingeAnchor1 () = 0;
    00782
    00787   virtual csVector3 GetHingeAnchor2 () = 0;
    00788
    00792   virtual csVector3 GetHingeAxis1 () = 0;
    00793
    00797   virtual csVector3 GetHingeAxis2 () = 0;
    00798
    00805   virtual float GetHingeAngle () = 0;
    00806
    00810   virtual float GetHingeAngleRate1 () = 0;
    00811
    00815   virtual float GetHingeAngleRate2 () = 0;
    00816
    00820   virtual csVector3 GetAnchorError () = 0;
    00821
    00822 };
    00823
    00827 struct iODEHingeJoint : public iODEGeneralJointState
    00828 {
    00829   SCF_INTERFACE(iODEHingeJoint, 2, 0, 0);
    00830
    00835   virtual void SetHingeAnchor (const csVector3 &pos) = 0;
    00836
    00840   virtual void SetHingeAxis (const csVector3 &axis) = 0;
    00841
    00846   virtual csVector3 GetHingeAnchor1 () = 0;
    00847
    00852   virtual csVector3 GetHingeAnchor2 () = 0;
    00853
    00857   virtual csVector3 GetHingeAxis () = 0;
    00858
    00865   virtual float GetHingeAngle () = 0;
    00866
    00870   virtual float GetHingeAngleRate () = 0;
    00871
    00875   virtual csVector3 GetAnchorError () = 0;
    00876
    00877 };
    00878
    00882 struct iODEBallJoint : public virtual iBase
    00883 {
    00884   SCF_INTERFACE(iODEBallJoint, 2, 0, 0);
    00885
    00890   virtual void SetBallAnchor (const csVector3 &pos) = 0;
    00891
    00896   virtual csVector3 GetBallAnchor1 () = 0;
    00897
    00902   virtual csVector3 GetBallAnchor2 () = 0;
    00903
    00907   virtual csVector3 GetAnchorError () = 0;
    00908
    00916   virtual void Attach (iRigidBody *body1, iRigidBody *body2) = 0;
    00917
    00919   virtual csRef<iRigidBody> GetAttachedBody (int body) = 0;
    00920
    00922   virtual csVector3 GetFeedbackForce1 () = 0;
    00923
    00925   virtual csVector3 GetFeedbackTorque1 () = 0;
    00926
    00928   virtual csVector3 GetFeedbackForce2 () = 0;
    00929
    00931   virtual csVector3 GetFeedbackTorque2 () = 0;
    00932 };
    00933
    00934 #endif // __CS_IVARIA_ODE_H__