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/**
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#ifndef _IPHYSICSENVIRONMENT
#define _IPHYSICSENVIRONMENT
#include <vector>
#include "PHY_DynamicTypes.h"
class PHY_IVehicle;
/**
* 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 PHY_IPhysicsEnvironment
{
public:
virtual ~PHY_IPhysicsEnvironment();
virtual void beginFrame() = 0;
virtual void endFrame() = 0;
/// Perform an integration step of duration 'timeStep'.
virtual bool proceedDeltaTime(double curTime,float timeStep)=0;
virtual void setFixedTimeStep(bool useFixedTimeStep,float fixedTimeStep)=0;
//returns 0.f if no fixed timestep is used
virtual float getFixedTimeStep()=0;
///setDebugMode is used to support several ways of debug lines, contact point visualization
virtual void setDebugMode(int debugMode) {}
///setNumIterations set the number of iterations for iterative solvers
virtual void setNumIterations(int numIter) {}
///setNumTimeSubSteps set the number of divisions of the timestep. Tradeoff quality versus performance.
virtual void setNumTimeSubSteps(int numTimeSubSteps){}
///setDeactivationTime sets the minimum time that an objects has to stay within the velocity tresholds until it gets fully deactivated
virtual void setDeactivationTime(float dTime) {}
///setDeactivationLinearTreshold sets the linear velocity treshold, see setDeactivationTime
virtual void setDeactivationLinearTreshold(float linTresh) {}
///setDeactivationAngularTreshold sets the angular velocity treshold, see setDeactivationTime
virtual void setDeactivationAngularTreshold(float angTresh) {}
///setContactBreakingTreshold sets tresholds to do with contact point management
virtual void setContactBreakingTreshold(float contactBreakingTreshold) {}
///continuous collision detection mode, very experimental for Bullet
virtual void setCcdMode(int ccdMode) {}
///successive overrelaxation constant, in case PSOR is used, values in between 1 and 2 guarantee converging behaviour
virtual void setSolverSorConstant(float sor) {}
///setSolverType, internal setting, chooses solvertype, PSOR, Dantzig, impulse based, penalty based
virtual void setSolverType(int solverType) {}
///setTau sets the spring constant of a penalty based solver
virtual void setSolverTau(float tau) {}
///setDamping sets the damper constant of a penalty based solver
virtual void setSolverDamping(float damping) {}
///linear air damping for rigidbodies
virtual void setLinearAirDamping(float damping) {}
/// penetrationdepth setting
virtual void setUseEpa(bool epa) {}
virtual void setGravity(float x,float y,float z)=0;
virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
float pivotX,float pivotY,float pivotZ,
float axis0X,float axis0Y,float axis0Z,
float axis1X=0,float axis1Y=0,float axis1Z=0,
float axis2X=0,float axis2Y=0,float axis2Z=0
)=0;
virtual void removeConstraint(int constraintid)=0;
virtual float getAppliedImpulse(int constraintid){ return 0.f;}
//complex constraint for vehicles
virtual PHY_IVehicle* getVehicleConstraint(int constraintId) =0;
virtual PHY_IPhysicsController* rayTest(PHY_IPhysicsController* ignoreClient, float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ)=0;
//Methods for gamelogic collision/physics callbacks
//todo:
virtual void addSensor(PHY_IPhysicsController* ctrl)=0;
virtual void removeSensor(PHY_IPhysicsController* ctrl)=0;
virtual void addTouchCallback(int response_class, PHY_ResponseCallback callback, void *user)=0;
virtual void requestCollisionCallback(PHY_IPhysicsController* ctrl)=0;
virtual void removeCollisionCallback(PHY_IPhysicsController* ctrl)=0;
//These two methods are *solely* used to create controllers for sensor! Don't use for anything else
virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0;
virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0;
virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0;
};
#endif //_IPHYSICSENVIRONMENT
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