orxPhysics.h

Go to the documentation of this file.

/* Orx - Portable Game Engine
 *
 * Copyright (c) 2008- Orx-Project
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 *    1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 *
 *    2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 *
 *    3. This notice may not be removed or altered from any source
 *    distribution.
 */


 
 
#ifndef _orxPHYSICS_H_
#define _orxPHYSICS_H_
 
 
#include "orxInclude.h"
#include "plugin/orxPluginCore.h"
#include "math/orxAABox.h"
 

#define orxBODY_DEF_KU32_FLAG_NONE                    0x00000000  
 
#define orxBODY_DEF_KU32_FLAG_2D                      0x00000001  
#define orxBODY_DEF_KU32_FLAG_DYNAMIC                 0x00000002  
#define orxBODY_DEF_KU32_FLAG_HIGH_SPEED              0x00000004  
#define orxBODY_DEF_KU32_FLAG_FIXED_ROTATION          0x00000008  
#define orxBODY_DEF_KU32_FLAG_CAN_MOVE                0x00000010  
#define orxBODY_DEF_KU32_FLAG_ALLOW_SLEEP             0x00000020  
 
#define orxBODY_DEF_KU32_MASK_ALL                     0xFFFFFFFF  

#define orxBODY_PART_DEF_KU32_FLAG_NONE               0x00000000  
 
#define orxBODY_PART_DEF_KU32_FLAG_SPHERE             0x00000001  
#define orxBODY_PART_DEF_KU32_FLAG_BOX                0x00000002  
#define orxBODY_PART_DEF_KU32_FLAG_MESH               0x00000004  
#define orxBODY_PART_DEF_KU32_FLAG_EDGE               0x00000008  
#define orxBODY_PART_DEF_KU32_FLAG_CHAIN              0x00000010  
 
#define orxBODY_PART_DEF_KU32_MASK_TYPE               0x0000001F 
 
#define orxBODY_PART_DEF_KU32_FLAG_SOLID              0x10000000  
 
#define orxBODY_PART_DEF_KU32_MASK_ALL                0xFFFFFFFF  

#define orxBODY_JOINT_DEF_KU32_FLAG_NONE              0x00000000  
 
#define orxBODY_JOINT_DEF_KU32_FLAG_REVOLUTE          0x00000001  
#define orxBODY_JOINT_DEF_KU32_FLAG_PRISMATIC         0x00000002  
#define orxBODY_JOINT_DEF_KU32_FLAG_SPRING            0x00000004  
#define orxBODY_JOINT_DEF_KU32_FLAG_ROPE              0x00000008  
#define orxBODY_JOINT_DEF_KU32_FLAG_PULLEY            0x00000010  
#define orxBODY_JOINT_DEF_KU32_FLAG_SUSPENSION        0x00000020  
#define orxBODY_JOINT_DEF_KU32_FLAG_WELD              0x00000040  
#define orxBODY_JOINT_DEF_KU32_FLAG_FRICTION          0x00000080  
#define orxBODY_JOINT_DEF_KU32_FLAG_GEAR              0x00000100  
 
#define orxBODY_JOINT_DEF_KU32_MASK_TYPE              0x00000FFF  
 
#define orxBODY_JOINT_DEF_KU32_FLAG_COLLIDE           0x10000000  
#define orxBODY_JOINT_DEF_KU32_FLAG_ROTATION_LIMIT    0x20000000  
#define orxBODY_JOINT_DEF_KU32_FLAG_MOTOR             0x40000000  
#define orxBODY_JOINT_DEF_KU32_FLAG_TRANSLATION_LIMIT 0x80000000  
 
#define orxBODY_JOINT_DEF_KU32_MASK_ALL               0xFFFFFFFF  
 

#define orxBODY_PART_DEF_KU32_MESH_VERTEX_NUMBER      8
 

typedef struct __orxBODY_DEF_t
{
  orxVECTOR vPosition;                                
  orxFLOAT  fRotation;                                
  orxFLOAT  fInertia;                                 
  orxFLOAT  fMass;                                    
  orxFLOAT  fLinearDamping;                           
  orxFLOAT  fAngularDamping;                          
  orxU32    u32Flags;                                 
 
} orxBODY_DEF;

typedef struct __orxBODY_PART_DEF_t
{
  orxVECTOR vScale;                                   
  orxFLOAT  fFriction;                                
  orxFLOAT  fRestitution;                             
  orxFLOAT  fDensity;                                 
  orxU16    u16SelfFlags;                             
  orxU16    u16CheckMask;                             
  orxU32    u32Flags;                                 
 
  union
  {
    struct
    {
      orxVECTOR vCenter;                              
      orxFLOAT  fRadius;                              
    } stSphere;                                       
 
    struct
    {
      orxAABOX  stBox;                                
    } stAABox;                                        
 
    struct
    {
      orxU32    u32VertexCount;                       
      orxVECTOR avVertices[orxBODY_PART_DEF_KU32_MESH_VERTEX_NUMBER]; 
 
    } stMesh;
 
    struct
    {
      orxVECTOR avVertices[2];                        
      orxVECTOR vPrevious;                            
      orxVECTOR vNext;                                
      orxBOOL   bHasPrevious;                         
      orxBOOL   bHasNext;                             
 
    } stEdge;
 
    struct
    {
      orxVECTOR vPrevious;                            
      orxVECTOR vNext;                                
      orxVECTOR*avVertices;                           
      orxU32    u32VertexCount;                       
      orxBOOL   bIsLoop;                              
      orxBOOL   bHasPrevious;                         
      orxBOOL   bHasNext;                             
 
    } stChain;
 
  };                                                  
 
} orxBODY_PART_DEF;

typedef struct __orxBODY_JOINT_DEF_t
{
  orxVECTOR     vSrcScale;                            
  orxVECTOR     vDstScale;                            
  orxVECTOR     vSrcAnchor;                           
  orxVECTOR     vDstAnchor;                           
 
  union
  {
    struct
    {
      orxFLOAT  fDefaultRotation;                     
      orxFLOAT  fMinRotation;                         
      orxFLOAT  fMaxRotation;                         
      orxFLOAT  fMotorSpeed;                          
      orxFLOAT  fMaxMotorTorque;                      
 
    } stRevolute;                                     
 
    struct
    {
      orxVECTOR vTranslationAxis;                     
      orxFLOAT  fDefaultRotation;                     
      orxFLOAT  fMinTranslation;                      
      orxFLOAT  fMaxTranslation;                      
      orxFLOAT  fMotorSpeed;                          
      orxFLOAT  fMaxMotorForce;                       
 
    } stPrismatic;                                    
 
    struct
    {
      orxFLOAT  fLength;                              
      orxFLOAT  fFrequency;                           
      orxFLOAT  fDamping;                             
 
    } stSpring;                                       
 
    struct
    {
      orxFLOAT  fLength;                              
 
    } stRope;                                         
 
    struct
    {
      orxVECTOR vSrcGroundAnchor;                     
      orxVECTOR vDstGroundAnchor;                     
      orxFLOAT  fLengthRatio;                         
      orxFLOAT  fSrcLength;                           
      orxFLOAT  fMaxSrcLength;                        
      orxFLOAT  fDstLength;                           
      orxFLOAT  fMaxDstLength;                        
 
    } stPulley;                                       
 
    struct
    {
      orxVECTOR vTranslationAxis;                     
      orxFLOAT  fFrequency;                           
      orxFLOAT  fDamping;                             
      orxFLOAT  fMotorSpeed;                          
      orxFLOAT  fMaxMotorForce;                       
 
    } stSuspension;                                   
 
    struct
    {
      orxFLOAT  fDefaultRotation;                     
 
    } stWeld;                                         
 
    struct
    {
      orxFLOAT  fMaxForce;                            
      orxFLOAT  fMaxTorque;                           
 
    } stFriction;                                     
 
    struct
    {
      const orxSTRING zSrcJointName;                  
      const orxSTRING zDstJointName;                  
      orxFLOAT        fJointRatio;                    
 
    } stGear;                                         
 
  };                                                  
 
  orxU32        u32Flags;                             
 
} orxBODY_JOINT_DEF;
 

typedef enum __orxPHYSICS_EVENT_t
{
  orxPHYSICS_EVENT_CONTACT_ADD = 0,
  orxPHYSICS_EVENT_CONTACT_REMOVE,
 
  orxPHYSICS_EVENT_NUMBER,
 
  orxPHYSICS_EVENT_NONE = orxENUM_NONE
 
} orxPHYSICS_EVENT;

typedef struct __orxPHYSICS_EVENT_PAYLOAD_t
{
  orxVECTOR                 vPosition;                
  orxVECTOR                 vNormal;                  
  struct __orxBODY_PART_t  *pstSenderPart;            
  struct __orxBODY_PART_t  *pstRecipientPart;         
 
} orxPHYSICS_EVENT_PAYLOAD;

typedef struct __orxPHYSICS_BODY_t                    orxPHYSICS_BODY;

typedef struct __orxPHYSICS_BODY_PART_t               orxPHYSICS_BODY_PART;

typedef struct __orxPHYSICS_BODY_JOINT_t              orxPHYSICS_BODY_JOINT;
 

#define orxPHYSICS_KZ_CONFIG_SECTION                  "Physics"
#define orxPHYSICS_KZ_CONFIG_GRAVITY                  "Gravity"
#define orxPHYSICS_KZ_CONFIG_ALLOW_SLEEP              "AllowSleep"
#define orxPHYSICS_KZ_CONFIG_ITERATIONS               "IterationsPerStep"
#define orxPHYSICS_KZ_CONFIG_RATIO                    "DimensionRatio"
#define orxPHYSICS_KZ_CONFIG_STEP_FREQUENCY           "StepFrequency"
#define orxPHYSICS_KZ_CONFIG_SHOW_DEBUG               "ShowDebug"
#define orxPHYSICS_KZ_CONFIG_COLLISION_FLAG_LIST      "CollisionFlagList"
#define orxPHYSICS_KZ_CONFIG_INTERPOLATE              "Interpolate"
 
 
/***************************************************************************
 * Functions directly implemented by orx core
 ***************************************************************************/

extern orxDLLAPI void orxFASTCALL                     orxPhysics_Setup();
 

extern orxDLLAPI const orxSTRING orxFASTCALL          orxPhysics_GetCollisionFlagName(orxU32 _u32Flag);

extern orxDLLAPI orxU32 orxFASTCALL                   orxPhysics_GetCollisionFlagValue(const orxSTRING _zFlag);
 
 
/***************************************************************************
 * Functions extended by plugins
 ***************************************************************************/

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_Init();

extern orxDLLAPI void orxFASTCALL                     orxPhysics_Exit();
 

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetGravity(const orxVECTOR *_pvGravity);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetGravity(orxVECTOR *_pvGravity);
 

extern orxDLLAPI orxPHYSICS_BODY *orxFASTCALL         orxPhysics_CreateBody(const orxHANDLE _hUserData, const orxBODY_DEF *_pstBodyDef);

extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeleteBody(orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxPHYSICS_BODY_PART *orxFASTCALL    orxPhysics_CreatePart(orxPHYSICS_BODY *_pstBody, const orxHANDLE _hUserData, const orxBODY_PART_DEF *_pstBodyPartDef);

extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeletePart(orxPHYSICS_BODY_PART *_pstBodyPart);
 

extern orxDLLAPI orxPHYSICS_BODY_JOINT *orxFASTCALL   orxPhysics_CreateJoint(orxPHYSICS_BODY *_pstSrcBody, orxPHYSICS_BODY *_pstDstBody, const orxHANDLE _hUserData, const orxBODY_JOINT_DEF *_pstBodyJointDef);

extern orxDLLAPI void orxFASTCALL                     orxPhysics_DeleteJoint(orxPHYSICS_BODY_JOINT *_pstBodyJoint);
 

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPosition(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvPosition);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetRotation(orxPHYSICS_BODY *_pstBody, orxFLOAT _fRotation);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetSpeed(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvSpeed);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetAngularVelocity(orxPHYSICS_BODY *_pstBody, orxFLOAT _fVelocity);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetCustomGravity(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvCustomGravity);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetFixedRotation(orxPHYSICS_BODY *_pstBody, orxBOOL _bFixed);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetDynamic(orxPHYSICS_BODY *_pstBody, orxBOOL _bDynamic);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetAllowMoving(orxPHYSICS_BODY *_pstBody, orxBOOL _bAllowMoving);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetPosition(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvPosition);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetRotation(const orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetSpeed(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvSpeed);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetSpeedAtWorldPosition(const orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvPosition, orxVECTOR *_pvSpeed);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetAngularVelocity(const orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetCustomGravity(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvCustomGravity);

extern orxDLLAPI orxBOOL orxFASTCALL                  orxPhysics_IsFixedRotation(const orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetMass(const orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetMassCenter(const orxPHYSICS_BODY *_pstBody, orxVECTOR *_pvMassCenter);
 

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetLinearDamping(orxPHYSICS_BODY *_pstBody, orxFLOAT _fDamping);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetAngularDamping(orxPHYSICS_BODY *_pstBody, orxFLOAT _fDamping);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetLinearDamping(const orxPHYSICS_BODY *_pstBody);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetAngularDamping(const orxPHYSICS_BODY *_pstBody);
 

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyTorque(orxPHYSICS_BODY *_pstBody, orxFLOAT _fTorque);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyForce(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvForce, const orxVECTOR *_pvPoint);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_ApplyImpulse(orxPHYSICS_BODY *_pstBody, const orxVECTOR *_pvImpulse, const orxVECTOR *_pvPoint);
 

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartSelfFlags(orxPHYSICS_BODY_PART *_pstBodyPart, orxU16 _u16SelfFlags);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartCheckMask(orxPHYSICS_BODY_PART *_pstBodyPart, orxU16 _u16CheckMask);

extern orxDLLAPI orxU16 orxFASTCALL                   orxPhysics_GetPartSelfFlags(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxU16 orxFASTCALL                   orxPhysics_GetPartCheckMask(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartSolid(orxPHYSICS_BODY_PART *_pstBodyPart, orxBOOL _bSolid);

extern orxDLLAPI orxBOOL orxFASTCALL                  orxPhysics_IsPartSolid(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartFriction(orxPHYSICS_BODY_PART *_pstBodyPart, orxFLOAT _fFriction);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetPartFriction(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartRestitution(orxPHYSICS_BODY_PART *_pstBodyPart, orxFLOAT _fRestitution);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetPartRestitution(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxSTATUS orxFASTCALL                orxPhysics_SetPartDensity(orxPHYSICS_BODY_PART *_pstBodyPart, orxFLOAT _fDensity);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetPartDensity(const orxPHYSICS_BODY_PART *_pstBodyPart);

extern orxDLLAPI orxBOOL orxFASTCALL                  orxPhysics_IsInsidePart(const orxPHYSICS_BODY_PART *_pstBodyPart, const orxVECTOR *_pvPosition);
 

extern orxDLLAPI void orxFASTCALL                     orxPhysics_EnableMotor(orxPHYSICS_BODY_JOINT *_pstBodyJoint, orxBOOL _bEnable);

extern orxDLLAPI void orxFASTCALL                     orxPhysics_SetJointMotorSpeed(orxPHYSICS_BODY_JOINT *_pstBodyJoint, orxFLOAT _fSpeed);

extern orxDLLAPI void orxFASTCALL                     orxPhysics_SetJointMaxMotorTorque(orxPHYSICS_BODY_JOINT *_pstBodyJoint, orxFLOAT _fMaxTorque);
 

extern orxDLLAPI orxVECTOR *orxFASTCALL               orxPhysics_GetJointReactionForce(const orxPHYSICS_BODY_JOINT *_pstBodyJoint, orxVECTOR *_pvForce);

extern orxDLLAPI orxFLOAT orxFASTCALL                 orxPhysics_GetJointReactionTorque(const orxPHYSICS_BODY_JOINT *_pstBodyJoint);
 

extern orxDLLAPI orxHANDLE orxFASTCALL                orxPhysics_Raycast(const orxVECTOR *_pvBegin, const orxVECTOR *_pvEnd, orxU16 _u16SelfFlags, orxU16 _u16CheckMask, orxBOOL _bEarlyExit, orxVECTOR *_pvContact, orxVECTOR *_pvNormal);
 

extern orxDLLAPI orxU32 orxFASTCALL                   orxPhysics_BoxPick(const orxAABOX *_pstBox, orxU16 _u16SelfFlags, orxU16 _u16CheckMask, orxHANDLE _ahUserDataList[], orxU32 _u32Number);
 

extern orxDLLAPI void orxFASTCALL                     orxPhysics_EnableSimulation(orxBOOL _bEnable);
 
#endif /* _orxPHYSICS_H_ */