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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 00069 virtual void EnableQuickStep (bool enable) = 0; 00070 virtual bool QuickStepEnabled () = 0; 00071 virtual void SetQuickStepIterations (int iter) = 0; 00072 virtual int QuickStepIterations () = 0; 00073 00089 virtual void EnableFrameRate (bool enable) = 0; 00090 virtual bool FrameRateEnabled () = 0; 00091 00092 virtual void SetFrameRate (float hz) = 0; 00093 virtual float FrameRate () = 0; 00094 00095 virtual void SetFrameLimit (float hz) = 0; 00096 virtual float FrameLimit () = 0; 00097 00098 virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00099 virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00100 00106 virtual void EnableEventProcessing (bool enable) = 0; 00107 virtual bool EventProcessingEnabled () = 0; 00108 00120 virtual void EnableFastObjects (bool enable) = 0; 00121 virtual bool FastObjectsEnabled () = 0; 00122 00123 }; 00124 00125 SCF_VERSION (iODEDynamicSystemState, 0, 0, 1); 00126 00132 struct iODEDynamicSystemState : public iBase 00133 { 00139 virtual void SetERP (float erp) = 0; 00140 virtual float ERP () = 0; 00141 00147 virtual void SetCFM (float cfm) = 0; 00148 virtual float CFM () = 0; 00149 00155 virtual void EnableStepFast (bool enable) = 0; 00156 virtual bool StepFastEnabled () = 0; 00157 virtual void SetStepFastIterations (int iter) = 0; 00158 virtual int StepFastIterations () = 0; 00159 00160 virtual void EnableQuickStep (bool enable) = 0; 00161 virtual bool QuickStepEnabled () = 0; 00162 virtual void SetQuickStepIterations (int iter) = 0; 00163 virtual int QuickStepIterations () = 0; 00164 00169 virtual void EnableAutoDisable (bool enable) = 0; 00170 virtual bool AutoDisableEnabled () =0; 00180 virtual void SetAutoDisableParams (float linear, float angular, int steps, 00181 float time)=0; 00182 00199 virtual void EnableFrameRate (bool enable) = 0; 00200 virtual bool FrameRateEnabled () = 0; 00201 00202 virtual void SetFrameRate (float hz) = 0; 00203 virtual float FrameRate () = 0; 00204 00205 virtual void SetFrameLimit (float hz) = 0; 00206 virtual float FrameLimit () = 0; 00207 00208 virtual void AddFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00209 virtual void RemoveFrameUpdateCallback (iODEFrameUpdateCallback *cb) = 0; 00210 00224 virtual void EnableFastObjects (bool enable) = 0; 00225 virtual bool FastObjectsEnabled () = 0; 00226 00227 }; 00228 00233 enum ODEJointType 00234 { 00235 CS_ODE_JOINT_TYPE_BALL = dJointTypeBall, 00236 CS_ODE_JOINT_TYPE_HINGE = dJointTypeHinge, 00237 CS_ODE_JOINT_TYPE_SLIDER = dJointTypeSlider, 00238 CS_ODE_JOINT_TYPE_CONTACT = dJointTypeContact, 00239 CS_ODE_JOINT_TYPE_UNIVERSAL = dJointTypeUniversal, 00240 CS_ODE_JOINT_TYPE_HINGE2 = dJointTypeHinge2, 00241 CS_ODE_JOINT_TYPE_FIXED = dJointTypeFixed, 00242 CS_ODE_JOINT_TYPE_AMOTOR = dJointTypeAMotor 00243 }; 00244 00245 00246 SCF_VERSION (iODEJointState, 0, 0, 2); 00247 00249 struct iODEJointState : public iBase 00250 { 00251 virtual ODEJointType GetType() = 0; 00252 00253 // Baaad interface. Are those number axes? If so, perhaps pass it as 00254 // parameter. 00255 virtual void SetLoStop (float value) = 0; 00256 virtual void SetHiStop (float value) = 0; 00257 virtual void SetVel (float value) = 0; 00258 virtual void SetFMax (float value) = 0; 00259 virtual void SetFudgeFactor (float value) = 0; 00260 virtual void SetBounce (float value) = 0; 00261 virtual void SetCFM (float value) = 0; 00262 virtual void SetStopERP (float value) = 0; 00263 virtual void SetStopCFM (float value) = 0; 00264 virtual void SetSuspensionERP (float value) = 0; 00265 virtual void SetSuspensionCFM (float value) = 0; 00266 00267 virtual void SetLoStop2 (float value) = 0; 00268 virtual void SetHiStop2 (float value) = 0; 00269 virtual void SetVel2 (float value) = 0; 00270 virtual void SetFMax2 (float value) = 0; 00271 virtual void SetFudgeFactor2 (float value) = 0; 00272 virtual void SetBounce2 (float value) = 0; 00273 virtual void SetCFM2 (float value) = 0; 00274 virtual void SetStopERP2 (float value) = 0; 00275 virtual void SetStopCFM2 (float value) = 0; 00276 virtual void SetSuspensionERP2 (float value) = 0; 00277 virtual void SetSuspensionCFM2 (float value) = 0; 00278 00279 virtual void SetLoStop3 (float value) = 0; 00280 virtual void SetHiStop3 (float value) = 0; 00281 virtual void SetVel3 (float value) = 0; 00282 virtual void SetFMax3 (float value) = 0; 00283 virtual void SetFudgeFactor3 (float value) = 0; 00284 virtual void SetBounce3 (float value) = 0; 00285 virtual void SetCFM3 (float value) = 0; 00286 virtual void SetStopERP3 (float value) = 0; 00287 virtual void SetStopCFM3 (float value) = 0; 00288 virtual void SetSuspensionERP3 (float value) = 0; 00289 virtual void SetSuspensionCFM3 (float value) = 0; 00290 00291 virtual float GetLoStop () = 0; 00292 virtual float GetHiStop () = 0; 00293 virtual float GetVel () = 0; 00294 virtual float GetFMax () = 0; 00295 virtual float GetFudgeFactor () = 0; 00296 virtual float GetBounce () = 0; 00297 virtual float GetCFM () = 0; 00298 virtual float GetStopERP () = 0; 00299 virtual float GetStopCFM () = 0; 00300 virtual float GetSuspensionERP () = 0; 00301 virtual float GetSuspensionCFM () = 0; 00302 00303 virtual float GetLoStop2 () = 0; 00304 virtual float GetHiStop2 () = 0; 00305 virtual float GetVel2 () = 0; 00306 virtual float GetFMax2 () = 0; 00307 virtual float GetFudgeFactor2 () = 0; 00308 virtual float GetBounce2 () = 0; 00309 virtual float GetCFM2 () = 0; 00310 virtual float GetStopERP2 () = 0; 00311 virtual float GetStopCFM2 () = 0; 00312 virtual float GetSuspensionERP2 () = 0; 00313 virtual float GetSuspensionCFM2 () = 0; 00314 00315 virtual float GetLoStop3 () = 0; 00316 virtual float GetHiStop3 () = 0; 00317 virtual float GetVel3 () = 0; 00318 virtual float GetFMax3 () = 0; 00319 virtual float GetFudgeFactor3 () = 0; 00320 virtual float GetBounce3 () = 0; 00321 virtual float GetCFM3 () = 0; 00322 virtual float GetStopERP3 () = 0; 00323 virtual float GetStopCFM3 () = 0; 00324 virtual float GetSuspensionERP3 () = 0; 00325 virtual float GetSuspensionCFM3 () = 0; 00326 00327 // This is a very ugly hack quite specific to NmS 00328 virtual void SetHinge2Axis1 (const csVector3& axis) = 0; 00329 virtual void SetHinge2Axis2 (const csVector3& axis) = 0; 00330 virtual void SetHinge2Anchor (const csVector3& point) = 0; 00331 }; 00332 00333 #endif // __CS_IVARIA_ODE_H__
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