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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* The contents of this file may be used under the terms of either the GNU
* General Public License Version 2 or later (the "GPL", see
* http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
* later (the "BL", see http://www.blender.org/BL/ ) which has to be
* bought from the Blender Foundation to become active, in which case the
* above mentioned GPL option does not apply.
*
* The Original Code is Copyright (C) 2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef _ODEPHYSICSENVIRONMENT
#define _ODEPHYSICSENVIRONMENT
#include "PHY_IPhysicsEnvironment.h"
/**
* Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
* A derived class may be able to 'construct' entities by loading and/or converting
*/
class ODEPhysicsEnvironment : public PHY_IPhysicsEnvironment
{
bool m_useFixedTimeStep;
float m_fixedTimeStep;
float m_currentTime;
public:
ODEPhysicsEnvironment();
virtual ~ODEPhysicsEnvironment();
virtual void beginFrame() {}
virtual void endFrame() {}
// Perform an integration step of duration 'timeStep'.
virtual bool proceedDeltaTime(double curTime,float timeStep);
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep);
virtual float getFixedTimeStep();
virtual void setGravity(float x,float y,float z);
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axisX,float axisY,float axisZ);
virtual void removeConstraint(void * constraintid);
virtual PHY_IPhysicsController* rayTest(PHY_IRayCastFilterCallback &filterCallback,float fromX,float fromY,float fromZ, float toX,float toY,float toZ);
//gamelogic callbacks
virtual void addSensor(PHY_IPhysicsController* ctrl) {}
virtual void removeSensor(PHY_IPhysicsController* ctrl) {}
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)
{
}
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl) {}
virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl) {}
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;}
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;}
struct dxWorld* GetOdeWorld() { return m_OdeWorld; };
struct dxSpace* GetOdeSpace() { return m_OdeSpace;};
private:
// ODE physics response
struct dxWorld* m_OdeWorld;
// ODE collision detection
struct dxSpace* m_OdeSpace;
void ClearOdeContactGroup();
struct dxJointGroup* m_OdeContactGroup;
struct dxJointGroup* m_JointGroup;
static void OdeNearCallback(void *data, struct dxGeom* o1, struct dxGeom* o2);
int GetNumOdeContacts();
};
#endif //_ODEPHYSICSENVIRONMENT
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