184 lines
9.2 KiB
C
184 lines
9.2 KiB
C
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/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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#ifndef __PHYSICS_H__
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#define __PHYSICS_H__
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/*
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===============================================================================
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Physics abstract class
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A physics object is a tool to manipulate the position and orientation of
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an entity. The physics object is a container for idClipModels used for
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collision detection. The physics deals with moving these collision models
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through the world according to the laws of physics or other rules.
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The mass of a clip model is the volume of the clip model times the density.
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An arbitrary mass can however be set for specific clip models or the
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whole physics object. The contents of a clip model is a set of bit flags
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that define the contents. The clip mask defines the contents a clip model
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collides with.
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The linear velocity of a physics object is a vector that defines the
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translation of the center of mass in units per second. The angular velocity
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of a physics object is a vector that passes through the center of mass. The
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direction of this vector defines the axis of rotation and the magnitude
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defines the rate of rotation about the axis in radians per second.
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The gravity is the change in velocity per second due to gravitational force.
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Entities update their visual position and orientation from the physics
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using GetOrigin() and GetAxis(). Direct origin and axis changes of
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entities should go through the physics. In other words the physics origin
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and axis are updated first and the entity updates it's visual position
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from the physics.
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===============================================================================
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*/
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#define CONTACT_EPSILON 0.25f // maximum contact seperation distance
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class idEntity;
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typedef struct impactInfo_s {
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float invMass; // inverse mass
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idMat3 invInertiaTensor; // inverse inertia tensor
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idVec3 position; // impact position relative to center of mass
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idVec3 velocity; // velocity at the impact position
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} impactInfo_t;
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class idPhysics : public idClass {
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public:
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ABSTRACT_PROTOTYPE( idPhysics );
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virtual ~idPhysics( void );
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static int SnapTimeToPhysicsFrame( int t );
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// Must not be virtual
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void Save( idSaveGame *savefile ) const;
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void Restore( idRestoreGame *savefile );
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public: // common physics interface
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// set pointer to entity using physics
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virtual void SetSelf( idEntity *e ) = 0;
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// clip models
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virtual void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true ) = 0;
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virtual void SetClipBox( const idBounds &bounds, float density );
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virtual idClipModel * GetClipModel( int id = 0 ) const = 0;
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virtual int GetNumClipModels( void ) const = 0;
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// get/set the mass of a specific clip model or the whole physics object
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virtual void SetMass( float mass, int id = -1 ) = 0;
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virtual float GetMass( int id = -1 ) const = 0;
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// get/set the contents of a specific clip model or the whole physics object
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virtual void SetContents( int contents, int id = -1 ) = 0;
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virtual int GetContents( int id = -1 ) const = 0;
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// get/set the contents a specific clip model or the whole physics object collides with
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virtual void SetClipMask( int mask, int id = -1 ) = 0;
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virtual int GetClipMask( int id = -1 ) const = 0;
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// get the bounds of a specific clip model or the whole physics object
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virtual const idBounds & GetBounds( int id = -1 ) const = 0;
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virtual const idBounds & GetAbsBounds( int id = -1 ) const = 0;
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// evaluate the physics with the given time step, returns true if the object moved
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virtual bool Evaluate( int timeStepMSec, int endTimeMSec ) = 0;
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// update the time without moving
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virtual void UpdateTime( int endTimeMSec ) = 0;
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// get the last physics update time
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virtual int GetTime( void ) const = 0;
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// collision interaction between different physics objects
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virtual void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const = 0;
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virtual void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse ) = 0;
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virtual void AddForce( const int id, const idVec3 &point, const idVec3 &force ) = 0;
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virtual void Activate( void ) = 0;
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virtual void PutToRest( void ) = 0;
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virtual bool IsAtRest( void ) const = 0;
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virtual int GetRestStartTime( void ) const = 0;
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virtual bool IsPushable( void ) const = 0;
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// save and restore the physics state
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virtual void SaveState( void ) = 0;
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virtual void RestoreState( void ) = 0;
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// set the position and orientation in master space or world space if no master set
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virtual void SetOrigin( const idVec3 &newOrigin, int id = -1 ) = 0;
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virtual void SetAxis( const idMat3 &newAxis, int id = -1 ) = 0;
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// translate or rotate the physics object in world space
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virtual void Translate( const idVec3 &translation, int id = -1 ) = 0;
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virtual void Rotate( const idRotation &rotation, int id = -1 ) = 0;
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// get the position and orientation in world space
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virtual const idVec3 & GetOrigin( int id = 0 ) const = 0;
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virtual const idMat3 & GetAxis( int id = 0 ) const = 0;
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// set linear and angular velocity
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virtual void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 ) = 0;
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virtual void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 ) = 0;
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// get linear and angular velocity
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virtual const idVec3 & GetLinearVelocity( int id = 0 ) const = 0;
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virtual const idVec3 & GetAngularVelocity( int id = 0 ) const = 0;
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// gravity
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virtual void SetGravity( const idVec3 &newGravity ) = 0;
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virtual const idVec3 & GetGravity( void ) const = 0;
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virtual const idVec3 & GetGravityNormal( void ) const = 0;
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// get first collision when translating or rotating this physics object
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virtual void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const = 0;
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virtual void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const = 0;
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virtual int ClipContents( const idClipModel *model ) const = 0;
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// disable/enable the clip models contained by this physics object
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virtual void DisableClip( void ) = 0;
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virtual void EnableClip( void ) = 0;
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// link/unlink the clip models contained by this physics object
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virtual void UnlinkClip( void ) = 0;
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virtual void LinkClip( void ) = 0;
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// contacts
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virtual bool EvaluateContacts( void ) = 0;
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virtual int GetNumContacts( void ) const = 0;
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virtual const contactInfo_t &GetContact( int num ) const = 0;
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virtual void ClearContacts( void ) = 0;
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virtual void AddContactEntity( idEntity *e ) = 0;
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virtual void RemoveContactEntity( idEntity *e ) = 0;
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// ground contacts
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virtual bool HasGroundContacts( void ) const = 0;
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virtual bool IsGroundEntity( int entityNum ) const = 0;
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virtual bool IsGroundClipModel( int entityNum, int id ) const = 0;
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// set the master entity for objects bound to a master
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virtual void SetMaster( idEntity *master, const bool orientated = true ) = 0;
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// set pushed state
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virtual void SetPushed( int deltaTime ) = 0;
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virtual const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const = 0;
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virtual const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const = 0;
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// get blocking info, returns NULL if the object is not blocked
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virtual const trace_t * GetBlockingInfo( void ) const = 0;
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virtual idEntity * GetBlockingEntity( void ) const = 0;
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// movement end times in msec for reached events at the end of predefined motion
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virtual int GetLinearEndTime( void ) const = 0;
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virtual int GetAngularEndTime( void ) const = 0;
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// networking
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virtual void WriteToSnapshot( idBitMsgDelta &msg ) const = 0;
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virtual void ReadFromSnapshot( const idBitMsgDelta &msg ) = 0;
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};
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#endif /* !__PHYSICS_H__ */
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