180 lines
8.3 KiB
C
180 lines
8.3 KiB
C
|
|
||
|
|
#ifndef __PHYSICS_H__
|
||
|
|
#define __PHYSICS_H__
|
||
|
|
|
||
|
|
/*
|
||
|
|
===============================================================================
|
||
|
|
|
||
|
|
Physics abstract class
|
||
|
|
|
||
|
|
A physics object is a tool to manipulate the position and orientation of
|
||
|
|
an entity. The physics object is a container for idClipModels used for
|
||
|
|
collision detection. The physics deals with moving these collision models
|
||
|
|
through the world according to the laws of physics or other rules.
|
||
|
|
|
||
|
|
The mass of a clip model is the volume of the clip model times the density.
|
||
|
|
An arbitrary mass can however be set for specific clip models or the
|
||
|
|
whole physics object. The contents of a clip model is a set of bit flags
|
||
|
|
that define the contents. The clip mask defines the contents a clip model
|
||
|
|
collides with.
|
||
|
|
|
||
|
|
The linear velocity of a physics object is a vector that defines the
|
||
|
|
translation of the center of mass in units per second. The angular velocity
|
||
|
|
of a physics object is a vector that passes through the center of mass. The
|
||
|
|
direction of this vector defines the axis of rotation and the magnitude
|
||
|
|
defines the rate of rotation about the axis in radians per second.
|
||
|
|
The gravity is the change in velocity per second due to gravitational force.
|
||
|
|
|
||
|
|
Entities update their visual position and orientation from the physics
|
||
|
|
using GetOrigin() and GetAxis(). Direct origin and axis changes of
|
||
|
|
entities should go through the physics. In other words the physics origin
|
||
|
|
and axis are updated first and the entity updates it's visual position
|
||
|
|
from the physics.
|
||
|
|
|
||
|
|
===============================================================================
|
||
|
|
*/
|
||
|
|
|
||
|
|
#define CONTACT_EPSILON 0.25f // maximum contact seperation distance
|
||
|
|
|
||
|
|
class idEntity;
|
||
|
|
|
||
|
|
typedef struct impactInfo_s {
|
||
|
|
float invMass; // inverse mass
|
||
|
|
idMat3 invInertiaTensor; // inverse inertia tensor
|
||
|
|
idVec3 position; // impact position relative to center of mass
|
||
|
|
idVec3 velocity; // velocity at the impact position
|
||
|
|
} impactInfo_t;
|
||
|
|
|
||
|
|
|
||
|
|
class idPhysics : public idClass {
|
||
|
|
|
||
|
|
public:
|
||
|
|
ABSTRACT_PROTOTYPE( idPhysics );
|
||
|
|
|
||
|
|
virtual ~idPhysics( void );
|
||
|
|
static int SnapTimeToPhysicsFrame( int t );
|
||
|
|
|
||
|
|
// Must not be virtual
|
||
|
|
void Save( idSaveGame *savefile ) const;
|
||
|
|
void Restore( idRestoreGame *savefile );
|
||
|
|
|
||
|
|
public: // common physics interface
|
||
|
|
// set pointer to entity using physics
|
||
|
|
virtual void SetSelf( idEntity *e ) = 0;
|
||
|
|
// clip models
|
||
|
|
virtual void SetClipModel( idClipModel *model, float density, int id = 0, bool freeOld = true ) = 0;
|
||
|
|
virtual void SetClipBox( const idBounds &bounds, float density );
|
||
|
|
virtual idClipModel * GetClipModel( int id = 0 ) const = 0;
|
||
|
|
virtual int GetNumClipModels( void ) const = 0;
|
||
|
|
// get/set the mass of a specific clip model or the whole physics object
|
||
|
|
virtual void SetMass( float mass, int id = -1 ) = 0;
|
||
|
|
virtual float GetMass( int id = -1 ) const = 0;
|
||
|
|
|
||
|
|
// RAVEN BEGIN
|
||
|
|
// bdube: added center mass
|
||
|
|
// get the center of mass origin
|
||
|
|
virtual idVec3 GetCenterMass ( int id = -1 ) const = 0;
|
||
|
|
// RAVEN END
|
||
|
|
|
||
|
|
// get/set the contents of a specific clip model or the whole physics object
|
||
|
|
virtual void SetContents( int contents, int id = -1 ) = 0;
|
||
|
|
virtual int GetContents( int id = -1 ) const = 0;
|
||
|
|
// get/set the contents a specific clip model or the whole physics object collides with
|
||
|
|
virtual void SetClipMask( int mask, int id = -1 ) = 0;
|
||
|
|
virtual int GetClipMask( int id = -1 ) const = 0;
|
||
|
|
// get the bounds of a specific clip model or the whole physics object
|
||
|
|
virtual const idBounds & GetBounds( int id = -1 ) const = 0;
|
||
|
|
virtual const idBounds & GetAbsBounds( int id = -1 ) const = 0;
|
||
|
|
// evaluate the physics with the given time step, returns true if the object moved
|
||
|
|
virtual bool Evaluate( int timeStepMSec, int endTimeMSec ) = 0;
|
||
|
|
// update the time without moving
|
||
|
|
virtual void UpdateTime( int endTimeMSec ) = 0;
|
||
|
|
// get the last physics update time
|
||
|
|
virtual int GetTime( void ) const = 0;
|
||
|
|
// collision interaction between different physics objects
|
||
|
|
virtual void GetImpactInfo( const int id, const idVec3 &point, impactInfo_t *info ) const = 0;
|
||
|
|
virtual void ApplyImpulse( const int id, const idVec3 &point, const idVec3 &impulse ) = 0;
|
||
|
|
virtual void AddForce( const int id, const idVec3 &point, const idVec3 &force ) = 0;
|
||
|
|
virtual void Activate( void ) = 0;
|
||
|
|
virtual void PutToRest( void ) = 0;
|
||
|
|
virtual bool IsAtRest( void ) const = 0;
|
||
|
|
virtual int GetRestStartTime( void ) const = 0;
|
||
|
|
virtual bool IsPushable( void ) const = 0;
|
||
|
|
// RAVEN BEGIN
|
||
|
|
// bdube: water interraction
|
||
|
|
virtual bool IsInWater ( void ) const = 0;
|
||
|
|
// RAVEN END
|
||
|
|
// save and restore the physics state
|
||
|
|
virtual void SaveState( void ) = 0;
|
||
|
|
virtual void RestoreState( void ) = 0;
|
||
|
|
// set the position and orientation in master space or world space if no master set
|
||
|
|
virtual void SetOrigin( const idVec3 &newOrigin, int id = -1 ) = 0;
|
||
|
|
virtual void SetAxis( const idMat3 &newAxis, int id = -1 ) = 0;
|
||
|
|
// translate or rotate the physics object in world space
|
||
|
|
virtual void Translate( const idVec3 &translation, int id = -1 ) = 0;
|
||
|
|
virtual void Rotate( const idRotation &rotation, int id = -1 ) = 0;
|
||
|
|
// get the position and orientation in world space
|
||
|
|
virtual const idVec3 & GetOrigin( int id = 0 ) const = 0;
|
||
|
|
virtual const idMat3 & GetAxis( int id = 0 ) const = 0;
|
||
|
|
// set linear and angular velocity
|
||
|
|
virtual void SetLinearVelocity( const idVec3 &newLinearVelocity, int id = 0 ) = 0;
|
||
|
|
virtual void SetAngularVelocity( const idVec3 &newAngularVelocity, int id = 0 ) = 0;
|
||
|
|
// get linear and angular velocity
|
||
|
|
virtual const idVec3 & GetLinearVelocity( int id = 0 ) const = 0;
|
||
|
|
virtual const idVec3 & GetAngularVelocity( int id = 0 ) const = 0;
|
||
|
|
// gravity
|
||
|
|
virtual void SetGravity( const idVec3 &newGravity ) = 0;
|
||
|
|
virtual const idVec3 & GetGravity( void ) const = 0;
|
||
|
|
virtual const idVec3 & GetGravityNormal( void ) const = 0;
|
||
|
|
// get first collision when translating or rotating this physics object
|
||
|
|
virtual void ClipTranslation( trace_t &results, const idVec3 &translation, const idClipModel *model ) const = 0;
|
||
|
|
virtual void ClipRotation( trace_t &results, const idRotation &rotation, const idClipModel *model ) const = 0;
|
||
|
|
virtual int ClipContents( const idClipModel *model ) const = 0;
|
||
|
|
// disable/enable the clip models contained by this physics object
|
||
|
|
virtual void DisableClip( void ) = 0;
|
||
|
|
virtual void EnableClip( void ) = 0;
|
||
|
|
// link/unlink the clip models contained by this physics object
|
||
|
|
virtual void UnlinkClip( void ) = 0;
|
||
|
|
virtual void LinkClip( void ) = 0;
|
||
|
|
// contacts
|
||
|
|
virtual bool EvaluateContacts( void ) = 0;
|
||
|
|
virtual int GetNumContacts( void ) const = 0;
|
||
|
|
virtual const contactInfo_t &GetContact( int num ) const = 0;
|
||
|
|
virtual void ClearContacts( void ) = 0;
|
||
|
|
virtual void AddContactEntity( idEntity *e ) = 0;
|
||
|
|
virtual void RemoveContactEntity( idEntity *e ) = 0;
|
||
|
|
// ground contacts
|
||
|
|
virtual bool HasGroundContacts( void ) const = 0;
|
||
|
|
virtual bool IsGroundEntity( int entityNum ) const = 0;
|
||
|
|
virtual bool IsGroundClipModel( int entityNum, int id ) const = 0;
|
||
|
|
// RAVEN BEGIN
|
||
|
|
// abahr
|
||
|
|
virtual const idVec3 GetContactNormal() const { return vec3_zero; }
|
||
|
|
virtual const idVec3 GetGroundContactNormal() const { return vec3_zero; }
|
||
|
|
virtual idEntity* GetSelf() const = 0;
|
||
|
|
// RAVEN END
|
||
|
|
// set the master entity for objects bound to a master
|
||
|
|
virtual void SetMaster( idEntity *master, const bool orientated = true ) = 0;
|
||
|
|
// set pushed state
|
||
|
|
virtual void SetPushed( int deltaTime ) = 0;
|
||
|
|
virtual const idVec3 & GetPushedLinearVelocity( const int id = 0 ) const = 0;
|
||
|
|
virtual const idVec3 & GetPushedAngularVelocity( const int id = 0 ) const = 0;
|
||
|
|
// get blocking info, returns NULL if the object is not blocked
|
||
|
|
virtual const trace_t * GetBlockingInfo( void ) const = 0;
|
||
|
|
virtual idEntity * GetBlockingEntity( void ) const = 0;
|
||
|
|
// movement end times in msec for reached events at the end of predefined motion
|
||
|
|
virtual int GetLinearEndTime( void ) const = 0;
|
||
|
|
virtual int GetAngularEndTime( void ) const = 0;
|
||
|
|
// networking
|
||
|
|
virtual void WriteToSnapshot( idBitMsgDelta &msg ) const = 0;
|
||
|
|
virtual void ReadFromSnapshot( const idBitMsgDelta &msg ) = 0;
|
||
|
|
|
||
|
|
// RAVEN BEGIN
|
||
|
|
// kfuller: we want to debug draw the bbox
|
||
|
|
virtual void DebugDraw() {}
|
||
|
|
// RAVEN END
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* !__PHYSICS_H__ */
|