213 lines
9.9 KiB
C
213 lines
9.9 KiB
C
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// Copyright (C) 2007 Id Software, Inc.
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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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class idClipModel;
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struct trace_t;
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struct contactInfo_t;
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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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typedef struct contactInfoExt_s {
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float contactForceMax;
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float contactForceVelocity;
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idVec3 contactFriction;
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idMat3 frictionAxes;
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idVec3 motorDirection;
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float motorForce;
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float motorSpeed;
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bool rested;
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} contactInfoExt_t;
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typedef struct constraintInfo_s {
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idVec6 j;
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int boxIndex;
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float hi;
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float lo;
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float error;
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float lm;
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float c;
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idVec3 pos;
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} constraintInfo_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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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 mass distribution
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virtual const idMat3& GetInertiaTensor( int id = -1 ) const = 0;
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virtual const idVec3& GetCenterOfMass( void ) 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 AddForce( const idVec3& force ) = 0;
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virtual void AddTorque( const idVec3& torque ) = 0;
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virtual void Activate( void ) = 0;
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virtual void PutToRest( void ) = 0;
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virtual void SetComeToRest( bool value ) = 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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virtual void EnableImpact( void ) = 0;
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virtual void DisableImpact( void ) = 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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// only implemented by multiple clipmodel rigid body physics
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virtual void DisableGravity( bool disable ) { ; }
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virtual idVec3 EvaluatePosition( void ) const;
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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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virtual void DisableClip( bool activateContacting = true ) = 0;
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virtual void EnableClip( void ) = 0;
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// contacts
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virtual bool EvaluateContacts( CLIP_DEBUG_PARMS_DECLARATION_ONLY ) = 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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virtual void ApplyNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& newState ) { ; }
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virtual void ReadNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, const idBitMsg& msg ) const { ; }
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virtual void WriteNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& baseState, sdEntityStateNetworkData& newState, idBitMsg& msg ) const { ; }
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virtual bool CheckNetworkStateChanges( networkStateMode_t mode, const sdEntityStateNetworkData& baseState ) const { return false; }
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virtual void ResetNetworkState( networkStateMode_t mode, const sdEntityStateNetworkData& newState ) { ; }
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virtual sdEntityStateNetworkData* CreateNetworkStructure( networkStateMode_t mode ) const { return NULL; }
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virtual void DrawDebugInfo( void ) = 0;
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virtual float InWater( void ) const = 0;
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virtual bool AllowInhibit( void ) const = 0;
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protected:
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// utility functions:
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// wake any and all entities contacting the clip model
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static void WakeEntitiesContacting( idEntity* self, const idClipModel* clipModel );
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};
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#endif /* !__PHYSICS_H__ */
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