orx: include/physics/orxPhysics.h Source File

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00001 /* Orx - Portable Game Engine
00002  *
00003  * Copyright (c) 2008-2011 Orx-Project
00004  *
00005  * This software is provided 'as-is', without any express or implied
00006  * warranty. In no event will the authors be held liable for any damages
00007  * arising from the use of this software.
00008  *
00009  * Permission is granted to anyone to use this software for any purpose,
00010  * including commercial applications, and to alter it and redistribute it
00011  * freely, subject to the following restrictions:
00012  *
00013  *    1. The origin of this software must not be misrepresented; you must not
00014  *    claim that you wrote the original software. If you use this software
00015  *    in a product, an acknowledgment in the product documentation would be
00016  *    appreciated but is not required.
00017  *
00018  *    2. Altered source versions must be plainly marked as such, and must not be
00019  *    misrepresented as being the original software.
00020  *
00021  *    3. This notice may not be removed or altered from any source
00022  *    distribution.
00023  */
00024 
00043 #ifndef _orxPHYSICS_H_
00044 #define _orxPHYSICS_H_
00045 
00046 
00047 #include "orxInclude.h"
00048 #include "plugin/orxPluginCore.h"
00049 #include "math/orxAABox.h"
00050 
00051 
00054 #define orxBODY_DEF_KU32_FLAG_NONE                    0x00000000  
00056 #define orxBODY_DEF_KU32_FLAG_2D                      0x00000001  
00057 #define orxBODY_DEF_KU32_FLAG_DYNAMIC                 0x00000002  
00058 #define orxBODY_DEF_KU32_FLAG_HIGH_SPEED              0x00000004  
00059 #define orxBODY_DEF_KU32_FLAG_FIXED_ROTATION          0x00000008  
00060 #define orxBODY_DEF_KU32_FLAG_CAN_SLIDE               0x00000010  
00061 #define orxBODY_DEF_KU32_FLAG_CAN_MOVE                0x00000020  
00062 #define orxBODY_DEF_KU32_FLAG_ALLOW_SLEEP             0x00000040  
00064 #define orxBODY_DEF_KU32_MASK_ALL                     0xFFFFFFFF  
00068 #define orxBODY_PART_DEF_KU32_FLAG_NONE               0x00000000  
00070 #define orxBODY_PART_DEF_KU32_FLAG_SPHERE             0x00000001  
00071 #define orxBODY_PART_DEF_KU32_FLAG_BOX                0x00000002  
00072 #define orxBODY_PART_DEF_KU32_FLAG_MESH               0x00000004  
00074 #define orxBODY_PART_DEF_KU32_MASK_TYPE               0x00000007 
00076 #define orxBODY_PART_DEF_KU32_FLAG_SOLID              0x10000000  
00078 #define orxBODY_PART_DEF_KU32_MASK_ALL                0xFFFFFFFF  
00082 #define orxBODY_JOINT_DEF_KU32_FLAG_NONE              0x00000000  
00084 #define orxBODY_JOINT_DEF_KU32_FLAG_REVOLUTE          0x00000001  
00085 #define orxBODY_JOINT_DEF_KU32_FLAG_PRISMATIC         0x00000002  
00086 #define orxBODY_JOINT_DEF_KU32_FLAG_SPRING            0x00000004  
00087 #define orxBODY_JOINT_DEF_KU32_FLAG_ROPE              0x00000008  
00088 #define orxBODY_JOINT_DEF_KU32_FLAG_PULLEY            0x00000010  
00089 #define orxBODY_JOINT_DEF_KU32_FLAG_SUSPENSION        0x00000020  
00090 #define orxBODY_JOINT_DEF_KU32_FLAG_WELD              0x00000040  
00091 #define orxBODY_JOINT_DEF_KU32_FLAG_FRICTION          0x00000080  
00092 #define orxBODY_JOINT_DEF_KU32_FLAG_GEAR              0x00000100  
00094 #define orxBODY_JOINT_DEF_KU32_MASK_TYPE              0x000000FF  
00096 #define orxBODY_JOINT_DEF_KU32_FLAG_COLLIDE           0x10000000  
00097 #define orxBODY_JOINT_DEF_KU32_FLAG_ROTATION_LIMIT    0x20000000  
00098 #define orxBODY_JOINT_DEF_KU32_FLAG_MOTOR             0x40000000  
00099 #define orxBODY_JOINT_DEF_KU32_FLAG_TRANSLATION_LIMIT 0x80000000  
00101 #define orxBODY_JOINT_DEF_KU32_MASK_ALL               0xFFFFFFFF  
00106 #define orxBODY_PART_DEF_KU32_MESH_VERTEX_NUMBER      8
00107 
00108 
00111 typedef struct __orxBODY_DEF_t
00112 {
00113   orxVECTOR vPosition;                      
00114   orxFLOAT  fRotation;                      
00115   orxFLOAT  fInertia;                       
00116   orxFLOAT  fMass;                          
00117   orxFLOAT  fLinearDamping;                 
00118   orxFLOAT  fAngularDamping;                
00119   orxU32    u32Flags;                       
00121 } orxBODY_DEF;
00122 
00125 typedef struct __orxBODY_PART_DEF_t
00126 {
00127   orxVECTOR vScale;                         
00128   orxFLOAT  fFriction;                      
00129   orxFLOAT  fRestitution;                   
00130   orxFLOAT  fDensity;                       
00131   orxU16    u16SelfFlags;                   
00132   orxU16    u16CheckMask;                   
00133   orxU32    u32Flags;                       
00135   union
00136   {
00137     struct
00138     {
00139       orxVECTOR vCenter;                    
00140       orxFLOAT  fRadius;                    
00141     } stSphere;                             
00143     struct
00144     {
00145       orxAABOX  stBox;                      
00146     } stAABox;                              
00148     struct
00149     {
00150       orxU32    u32VertexCounter;           
00151       orxVECTOR avVertices[orxBODY_PART_DEF_KU32_MESH_VERTEX_NUMBER]; 
00153     } stMesh;
00154 
00155   };                                        
00157 } orxBODY_PART_DEF;
00158 
00161 typedef struct __orxBODY_JOINT_DEF_t
00162 {
00163   orxVECTOR     vSrcScale;                  
00164   orxVECTOR     vDstScale;                  
00165   orxVECTOR     vSrcAnchor;                 
00166   orxVECTOR     vDstAnchor;                 
00167   orxU32        u32Flags;                   
00169   union
00170   {
00171     struct
00172     {
00173       orxFLOAT  fDefaultRotation;           
00174       orxFLOAT  fMinRotation;               
00175       orxFLOAT  fMaxRotation;               
00176       orxFLOAT  fMotorSpeed;                
00177       orxFLOAT  fMaxMotorTorque;            
00179     } stRevolute;                           
00181     struct
00182     {
00183       orxFLOAT  fDefaultRotation;           
00184       orxVECTOR vTranslationAxis;           
00185       orxFLOAT  fMinTranslation;            
00186       orxFLOAT  fMaxTranslation;            
00187       orxFLOAT  fMotorSpeed;                
00188       orxFLOAT  fMaxMotorForce;             
00190     } stPrismatic;                          
00192     struct
00193     {
00194       orxFLOAT  fLength;                    
00195       orxFLOAT  fFrequency;                 
00196       orxFLOAT  fDamping;                   
00198     } stSpring;                             
00200     struct
00201     {
00202       orxFLOAT  fLength;                    
00204     } stRope;                               
00206     struct
00207     {
00208       orxFLOAT  fLengthRatio;               
00209       orxVECTOR vSrcGroundAnchor;           
00210       orxVECTOR vDstGroundAnchor;           
00211       orxFLOAT  fSrcLength;                 
00212       orxFLOAT  fMaxSrcLength;              
00213       orxFLOAT  fDstLength;                 
00214       orxFLOAT  fMaxDstLength;              
00216     } stPulley;                             
00218     struct
00219     {
00220       orxVECTOR vTranslationAxis;           
00221       orxFLOAT  fMinTranslation;            
00222       orxFLOAT  fMaxTranslation;            
00223       orxFLOAT  fMotorSpeed;                
00224       orxFLOAT  fMaxMotorForce;             
00226     } stSuspension;                         
00228     struct
00229     {
00230       orxFLOAT  fDefaultRotation;           
00232     } stWeld;                               
00234     struct
00235     {
00236       orxFLOAT  fMaxForce;                  
00237       orxFLOAT  fMaxTorque;                 
00239     } stFriction;                           
00241     struct
00242     {
00243       const orxSTRING zSrcJointName;        
00244       const orxSTRING zDstJointName;        
00245       orxFLOAT        fJointRatio;          
00247     } stGear;                               
00249   };                                        
00251 } orxBODY_JOINT_DEF;
00252 
00253 
00256 typedef enum __orxPHYSICS_EVENT_t
00257 {
00258   orxPHYSICS_EVENT_CONTACT_ADD = 0,
00259   orxPHYSICS_EVENT_CONTACT_REMOVE,
00260 
00261   orxPHYSICS_EVENT_NUMBER,
00262 
00263   orxPHYSICS_EVENT_NONE = orxENUM_NONE
00264 
00265 } orxPHYSICS_EVENT;
00266 
00269 typedef struct __orxPHYSICS_EVENT_PAYLOAD_t
00270 {
00271   orxVECTOR       vPosition;              
00272   orxVECTOR       vNormal;                
00273   const orxSTRING zSenderPartName;        
00274   const orxSTRING zRecipientPartName;     
00276 } orxPHYSICS_EVENT_PAYLOAD;
00277 
00280 typedef struct __orxPHYSICS_BODY_t        orxPHYSICS_BODY;
00281 
00284 typedef struct __orxPHYSICS_BODY_PART_t   orxPHYSICS_BODY_PART;
00285 
00288 typedef struct __orxPHYSICS_BODY_JOINT_t  orxPHYSICS_BODY_JOINT;
00289 
00290 
00293 #define orxPHYSICS_KZ_CONFIG_SECTION      "Physics"
00294 #define orxPHYSICS_KZ_CONFIG_GRAVITY      "Gravity"
00295 #define orxPHYSICS_KZ_CONFIG_ALLOW_SLEEP  "AllowSleep"
00296 #define orxPHYSICS_KZ_CONFIG_ITERATIONS   "IterationsPerStep"
00297 #define orxPHYSICS_KZ_CONFIG_FREQUENCY    "SimulationFrequency"
00298 #define orxPHYSICS_KZ_CONFIG_RATIO        "DimensionRatio"
00299 #define orxPHYSICS_KZ_CONFIG_FIXED_DT     "FixedDT"
00300 
00301 
00302 /***************************************************************************
00303  * Functions directly implemented by orx core
00304  ***************************************************************************/
00305 
00308 extern orxDLLAPI void orxFASTCALL                     orxPhysics_Setup();
00309 
00310 
00311 /***************************************************************************
00312  * Functions extended by plugins
00313  ***************************************************************************/
00314 
00318 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_Init();
00319 
00322 extern orxDLLAPI void orxFASTCALL                     orxPhysics_Exit();
00323 
00324 
00329 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetGravity(const orxVECTOR *_pvGravity);
00330 
00335 extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetGravity(orxVECTOR *_pvGravity);
00336 
00337 
00343 extern orxDLLAPI orxPHYSICS_BODY *orxFASTCALL         orxPhysics_CreateBody(const orxHANDLE _hUserData, const orxBODY_DEF *_pstBodyDef);
00344 
00348 extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeleteBody(orxPHYSICS_BODY *_pstBody);
00349 
00356 extern orxDLLAPI orxPHYSICS_BODY_PART *orxFASTCALL    orxPhysics_CreateBodyPart(orxPHYSICS_BODY *_pstBody, const orxHANDLE _hUserData, const orxBODY_PART_DEF *_pstBodyPartDef);
00357 
00361 extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeleteBodyPart(orxPHYSICS_BODY_PART *_pstBodyPart);
00362 
00363 
00371 extern orxDLLAPI orxPHYSICS_BODY_JOINT *orxFASTCALL   orxPhysics_CreateBodyJoint(orxPHYSICS_BODY *_pstSrcBody, orxPHYSICS_BODY *_pstDstBody, const orxHANDLE _hUserData, const orxBODY_JOINT_DEF *_pstBodyJointDef);
00372 
00376 extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeleteBodyJoint(orxPHYSICS_BODY_JOINT *_pstBodyJoint);
00377 
00378 
00384 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPosition(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvPosition);
00385 
00391 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetRotation(orxPHYSICS_BODY *_pstBody, orxFLOAT _fRotation);
00392 
00398 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetSpeed(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvSpeed);
00399 
00405 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetAngularVelocity(orxPHYSICS_BODY *_pstBody, orxFLOAT _fVelocity);
00406 
00412 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetCustomGravity(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvCustomGravity);
00413 
00419 extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetPosition(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvPosition);
00420 
00425 extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetRotation(const orxPHYSICS_BODY *_pstBody);
00426 
00432 extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetSpeed(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvSpeed);
00433 
00438 extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetAngularVelocity(const orxPHYSICS_BODY *_pstBody);
00439 
00445 extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetCustomGravity(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvCustomGravity);
00446 
00451 extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetMass(const orxPHYSICS_BODY *_pstBody);
00452 
00458 extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetMassCenter(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvMassCenter);
00459 
00460 
00466 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetLinearDamping(orxPHYSICS_BODY *_pstBody, orxFLOAT _fDamping);
00467 
00473 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetAngularDamping(orxPHYSICS_BODY *_pstBody, orxFLOAT _fDamping);
00474 
00479 extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetLinearDamping(const orxPHYSICS_BODY *_pstBody);
00480 
00485 extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetAngularDamping(const orxPHYSICS_BODY *_pstBody);
00486 
00487 
00493 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyTorque(orxPHYSICS_BODY *_pstBody, orxFLOAT _fTorque);
00494 
00501 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyForce(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvForce, const orxVECTOR *_pvPoint);
00502 
00509 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyImpulse(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvImpulse, const orxVECTOR *_pvPoint);
00510 
00511 
00517 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetSelfFlags(orxPHYSICS_BODY_PART *_pstBodyPart, orxU16 _u16SelfFlags);
00518 
00524 extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetCheckMask(orxPHYSICS_BODY_PART *_pstBodyPart, orxU16 _u16CheckMask);
00525 
00530 extern orxDLLAPI orxU16 orxFASTCALL                   orxPhysics_GetSelfFlags(const orxPHYSICS_BODY_PART *_pstBodyPart);
00531 
00536 extern orxDLLAPI orxU16 orxFASTCALL                   orxPhysics_GetCheckMask(const orxPHYSICS_BODY_PART *_pstBodyPart);
00537 
00538 
00549 extern orxDLLAPI orxHANDLE orxFASTCALL                orxPhysics_Raycast(const orxVECTOR *_pvStart, const orxVECTOR *_pvEnd, orxU16 _u16SelfFlags, orxU16 _u16CheckMask, orxBOOL _bEarlyExit, orxVECTOR *_pvContact, orxVECTOR *_pvNormal);
00550 
00551 
00555 extern orxDLLAPI void orxFASTCALL                     orxPhysics_EnableSimulation(orxBOOL _bEnable);
00556 
00557 #endif /* _orxPHYSICS_H_ */
00558