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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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