World.h

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//-----------------------------------------------------------------------------------
//
// Pro-Vocation Light Engine (PVLE)
// Copyright (C) 2007-2009  Sukender, KinoX & Buzib
// For more information, contact us : sukender@free.fr
//
// 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 3 of the License, or
// (at your option) any later version.
//
// For any use that is not compatible with the terms of the GNU 
// General Public License, please contact the authors for alternative
// licensing options.
//
// 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.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
//
//-----------------------------------------------------------------------------------

#ifndef PHY_WORLD_H
#define PHY_WORLD_H

// Temporary forced activation of wrapping functionnality for PVLE physics
#ifndef ENABLE_PHYSICS_BASIC_WRAPPING
    //#define ENABLE_PHYSICS_BASIC_WRAPPING
#endif
#ifndef ENABLE_PHYSICS_EXTRA_WRAPPING
    //#define ENABLE_PHYSICS_EXTRA_WRAPPING
#endif

#include <PVLE/Export.h>
#include <osg/Vec3>
#include <osg/ref_ptr>
#include <osg/Referenced>
#include <PVLE/Util/Singleton.h>
#include <PVLE/Util/TracedException.h>

#include <ode/ode.h>
#include <PVLE/Physics/Converters.h>
#include <PVLE/Physics/Space.h>
#include <PVLE/Physics/Joint.h>

/*
Definitions :

*** ODE ***
Body : Mass, position and velocity (= physical object without collisions detection).
Joint : Constraint between bodies.
Geom : Geometry for collisions (a fixed ground for example).
Geom with attached body : Full physical object (Collisions, mass, etc...).
Space : Contains geoms (or spaces). Has no position. Is a geom.
World : Global thing, used for the entire simulation.

*** PVLE (differencies) ***
World : Global thing, used for the entire simulation. Contains a default space.
Geom : Contains surface parameters applied on collisions.
*/


namespace Physics {

class AbstractGeom;
class World;


class NearCallback {
public:
    virtual void operator()(World * pWorld, AbstractGeom * pG1, AbstractGeom * pG2);

    static void toPVLENearCallback(void * data, dGeomID o1, dGeomID o2);
};


// PVLE overloads

inline void dWorldSetGravity(dWorldID id, const osg::Vec3 & force) { dWorldSetGravity(id, force.x(), force.y(), force.z()); }
inline osg::Vec3 dWorldGetGravityV(dWorldID id) { dVector3 v; dWorldGetGravity(id, v); return toGraphVec3(v); }


//class Space;
//class JointGroup;

class PVLE_EXPORT World : public osg::Referenced {
public:
    World();
    World(const osg::Vec3 & worldBox);
    World(Space * space);

#ifdef ENABLE_PHYSICS_BASIC_WRAPPING
    void setGravity(const osg::Vec3 & force) { dWorldSetGravity(id, force.x(), force.y(), force.z()); }
    osg::Vec3 getGravity() const { dVector3 v; dWorldGetGravity(id, v); return toGraphVec3(v); }
#endif

    void setUseQuickStep(bool flag) { bUseQuick = flag; }       
    bool getUseQuickStep() const { return bUseQuick; }

#ifdef ENABLE_PHYSICS_EXTRA_WRAPPING
    void setQuickStepNumIterations(int n) { dWorldSetQuickStepNumIterations(id, n); }
    int getQuickStepNumIterations() const { return dWorldGetQuickStepNumIterations(id); }

    void setERP(dReal erp) { dWorldSetERP (id, erp); }
    dReal getERP() { return dWorldGetERP (id); }

    void setCFM(dReal cfm) { dWorldSetCFM (id, cfm); }
    dReal getCFM() { return dWorldGetCFM (id); }
#endif

    void step(dReal stepSize);

    Space * getGlobalSpace() { return pSpace.get(); }
    const Space * getGlobalSpace() const { return pSpace.get(); }

    void setNearCallback(NearCallback * pNcb) { this->pNcb = pNcb; }
    NearCallback * getNearCallback() { return pNcb; }
    const NearCallback * getNearCallback() const { return pNcb; }

    JointGroup * getContactGroup() { return pContactGroup.get(); };
    const JointGroup * getContactGroup() const { return pContactGroup.get(); };

#ifdef ENABLE_PHYSICS_EXTRA_WRAPPING
    void setContactSurfaceLayer(dReal depth) { dWorldSetContactSurfaceLayer(id, depth); }
    dReal getContactSurfaceLayer() { return dWorldGetContactSurfaceLayer(id); }

    void setContactMaxCorrectingVel(dReal vel) { dWorldSetContactMaxCorrectingVel(id, vel); }
    dReal getContactMaxCorrectingVel() { return dWorldGetContactMaxCorrectingVel(id); }


    void setAutoDisable(bool enable) { dWorldSetAutoDisableFlag(id, enable ? 1 : 0); }
    bool getAutoDisable() const { return dWorldGetAutoDisableFlag(id)!=0; }

    void setAutoEnableDepthSF1(bool enable) { dWorldSetAutoEnableDepthSF1(id, enable ? 1 : 0); }
    bool getAutoEnableDepthSF1() const { return dWorldGetAutoEnableDepthSF1(id)!=0; }

    void setAutoDisableLinearThreshold(dReal value) { dWorldSetAutoDisableLinearThreshold(id, value); }
    dReal getAutoDisableLinearThreshold() const { return dWorldGetAutoDisableLinearThreshold(id); }

    void setAutoDisableAngularThreshold(dReal value) { dWorldSetAutoDisableAngularThreshold(id, value); }
    dReal getAutoDisableAngularThreshold() const { return dWorldGetAutoDisableAngularThreshold(id); }

    //void setAutoDisableLinearAverageThreshold(dReal value) { dWorldSetAutoDisableLinearAverageThreshold(id, value); }
    //dReal getAutoDisableLinearAverageThreshold() const { return dWorldGetAutoDisableLinearAverageThreshold(id); }

    //void setAutoDisableAngularAverageThreshold(dReal value) { dWorldSetAutoDisableAngularAverageThreshold(id, value); }
    //dReal getAutoDisableAngularAverageThreshold() const { return dWorldGetAutoDisableAngularAverageThreshold(id); }

    void setAutoDisableSteps(dReal value) { dWorldSetAutoDisableSteps(id, value); }
    dReal getAutoDisableSteps() const { return dWorldGetAutoDisableSteps(id); }

    void setAutoDisableTime(dReal value) { dWorldSetAutoDisableTime(id, value); }
    dReal getAutoDisableTime() const { return dWorldGetAutoDisableTime(id); }

    void setAutoDisableAverageSamplesCount(unsigned int value) { dWorldSetAutoDisableAverageSamplesCount(id, value); }
    dReal getAutoDisableAverageSamplesCount() const { return dWorldGetAutoDisableAverageSamplesCount(id); }



    void setMaxAngularVel(dReal maxAngularVel) { dWorldSetMaxAngularSpeed(id, maxAngularVel); }
    dReal getMaxAngularVel() const { return dWorldGetMaxAngularSpeed(id); }

    //ODE_API dReal dWorldGetLinearDampingThreshold (dWorldID w);
    //ODE_API void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold);
    //ODE_API dReal dWorldGetAngularDampingThreshold (dWorldID w);
    //ODE_API void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold);
    //ODE_API dReal dWorldGetLinearDamping (dWorldID w);
    //ODE_API void dWorldSetLinearDamping (dWorldID w, dReal scale);
    //ODE_API dReal dWorldGetAngularDamping (dWorldID w);
    //ODE_API void dWorldSetAngularDamping(dWorldID w, dReal scale);
    //ODE_API void dWorldSetDamping(dWorldID w, dReal linear_scale, dReal angular_scale);

#endif

    operator dWorldID() { return id; }
    operator const dWorldID() const { return id; }

protected:
    friend class Body;
    friend class Joint;             // Needed for creation
    friend class JointGroup;        // Needed for groupped joint creation
    friend class NearCallback;      // Needed calling spaceCollide*()

    mutable dWorldID id;
    osg::ref_ptr<Space> pSpace;     
    osg::ref_ptr<JointGroup> pContactGroup;

    bool bUseQuick;

    void init();

    class ODEHolder : public Util::Singleton<ODEHolder> {
    public:
        ODEHolder() {
            int res = dInitODE2(0);
            if (res==0) THROW_TRACED_EXCEPTION("Unable to initialize ODE physics engine");
        }
        virtual ~ODEHolder() { dCloseODE(); }
    };

    NearCallback * pNcb;

    void resetSpaceCollideFlag(Space * pCurSpace);
    void spaceCollide(Space * pCurSpace);
    void spaceCollide2(AbstractGeom * pAGeom1, AbstractGeom * pAGeom2);

    virtual ~World();       // No need to be virtual, except for forcing the derived objects to also behave the same
};


}   // namespace Physics

#endif  // PHY_WORLD_H

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