include/VR3PhysicsSimulator.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 // Copyright (C) 2010 Daniele Giannetti 00013 // 00014 // This file is part of VR3Lib. 00015 // The VR3Lib is free software, but is distributed in the static precompiled 00016 // version as it is NOT open source. The VR3Lib may be used in any virtual 00017 // reality application free of charge, but it must be clearly stated that this 00018 // library is used in the application EULA and distribution license 00019 // (for both free and proprietary applications). 00021 00022 #ifndef __VR3PHYSICSSIMULATOR_H__ 00023 #define __VR3PHYSICSSIMULATOR_H__ 00024 00025 // windows only 00026 #if (defined(_WIN32) || defined(_WIN64)) && !defined(VR3CONF_NOPHYSICS) 00027 00028 // STL set include 00029 #include <set> 00030 // STL map include 00031 #include <map> 00032 // C++0x hash map include 00033 #include <unordered_map> 00034 // Physical mesh include 00035 #include <VR3PhyMesh.h> 00036 00038 00205 class VR3PhysicsSimulator { 00207 friend class VR3Obj; 00209 friend class VR3Scene; 00210 00212 static VR3PhysicsSimulator* ms_activesimulator; 00213 00215 00221 int m_mode; 00222 00224 struct MapElement { 00226 VR3PhyMesh* phymesh; 00228 void* actor; 00230 void* material; 00232 00233 NxReal scaled_bbox[6]; 00235 GLfloat init_transfmat[16]; 00236 }; 00237 00239 bool m_prepared; 00241 bool m_simulating; 00242 00244 int m_solveriter; 00245 00247 std::set<const VR3Obj*> m_objects; 00249 std::set<VR3PhyMesh*> m_phymeshes; 00251 00253 std::unordered_map<const VR3Obj*, MapElement> m_simobjects; 00255 00256 std::map<int, void*> m_joints; 00257 00259 void* m_SDK; 00261 void* m_scene; 00263 void* m_cookinterface; 00264 00266 long long m_freq; 00268 long long m_previoustime; 00269 00271 const VR3Obj* m_movobj; 00273 void* m_movmat; 00274 00276 VR3PhysicsSimulator(const VR3PhysicsSimulator&); 00278 VR3PhysicsSimulator& operator = (const VR3PhysicsSimulator&); 00279 00280 //------------------------ Actors Cooking Functions --------------------------// 00281 00283 00284 00286 00296 void CookStaticActor(const VR3Obj* obj, MapElement* elem); 00297 00299 00311 void CookNonStaticActor(const VR3Obj* obj, MapElement* elem); 00312 00314 00315 //----------------------- Results Fetching Functions -------------------------// 00316 00318 00319 00321 00335 void CollectResults(); 00336 00338 00350 bool GetModelMat(const VR3Obj* obj, GLfloat* modelmat); 00351 00353 00354 public: 00355 00356 //------------------- Active Physics Simulator Management --------------------// 00357 00359 00360 00362 00367 static VR3PhysicsSimulator* GetActiveSimulator() 00368 { return ms_activesimulator; } 00369 00371 00376 void Activate(); 00377 00379 00384 void Deactivate(); 00385 00387 00392 bool IsSimulating() 00393 { return m_simulating; } 00394 00396 00401 bool HasBeenPrepared() 00402 { return m_prepared; } 00403 00404 //----------------------- Constructor and Destructor -------------------------// 00405 00407 00408 00410 00433 VR3PhysicsSimulator( int mode = VR3PHYSIM_AUTOMATIC, 00434 int solveriter = VR3PHYSIM_DEF_ITERNUM, 00435 float timestep = VR3PHYSIM_DEF_TIMESTEP, 00436 int maxsteps = VR3PHYSIM_DEF_MAXSTEPS ); 00437 00439 00443 ~VR3PhysicsSimulator(); 00444 00446 00447 //---------------------- Scene Parameters Management -------------------------// 00448 00450 00451 00453 00456 void SetGravity(NxReal gx, NxReal gy, NxReal gz); 00457 00459 00460 //---------------- Movement Constraint Management Functions ------------------// 00461 00480 00482 00489 int AddFixedJoint(const VR3Obj* o1, const VR3Obj* o2); 00490 00492 00499 int AddFixedJoint(const VR3Obj* o); 00500 00502 00516 int AddDistanceJoint( const VR3Obj* o1, const VR3Obj* o2, 00517 NxReal mindist, NxReal maxdist, 00518 bool collide); 00519 00521 00530 int AddDistanceJoint( const VR3Obj* o, 00531 NxReal pointX, NxReal pointY, NxReal pointZ, 00532 NxReal mindist, NxReal maxdist ); 00533 00535 00554 int AddRevoluteJoint( const VR3Obj* o1, const VR3Obj* o2, 00555 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00556 NxReal axisX, NxReal axisY, NxReal axisZ, 00557 bool collide); 00558 00560 00571 int AddRevoluteJoint( const VR3Obj* o, 00572 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00573 NxReal axisX, NxReal axisY, NxReal axisZ ); 00574 00576 00586 int AddSphericalJoint( const VR3Obj* o1, const VR3Obj* o2, 00587 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00588 bool collide ); 00589 00591 00599 int AddSphericalJoint( const VR3Obj* o, 00600 NxReal anchorX, NxReal anchorY, NxReal anchorZ ); 00601 00603 00614 int AddPrismaticJoint( const VR3Obj* o1, const VR3Obj* o2, 00615 NxReal axisX, NxReal axisY, NxReal axisZ, 00616 bool collide ); 00617 00619 00627 int AddPrismaticJoint( const VR3Obj* o, 00628 NxReal axisX, NxReal axisY, NxReal axisZ ); 00629 00631 00648 int AddCylindricalJoint( const VR3Obj* o1, const VR3Obj* o2, 00649 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00650 NxReal axisX, NxReal axisY, NxReal axisZ, 00651 bool collide ); 00652 00654 00666 int AddCylindricalJoint( const VR3Obj* o, 00667 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00668 NxReal axisX, NxReal axisY, NxReal axisZ ); 00669 00671 00690 int AddPulleyJoint( const VR3Obj* o1, const VR3Obj* o2, 00691 NxReal p1X, NxReal p1Y, NxReal p1Z, 00692 NxReal p2X, NxReal p2Y, NxReal p2Z, 00693 NxReal stiffness, NxReal ratio, bool collide ); 00694 00696 00714 int AddPointInPlaneJoint( const VR3Obj* o1, const VR3Obj* o2, 00715 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00716 NxReal normX, NxReal normY, NxReal normZ, 00717 bool collide ); 00718 00720 00731 int AddPointInPlaneJoint( const VR3Obj* o, 00732 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00733 NxReal normX, NxReal normY, NxReal normZ ); 00734 00736 00751 int AddPointOnLineJoint( const VR3Obj* o1, const VR3Obj* o2, 00752 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00753 NxReal lineX, NxReal lineY, NxReal lineZ, 00754 bool collide ); 00755 00757 00768 int AddPointOnLineJoint( const VR3Obj* o, 00769 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00770 NxReal lineX, NxReal lineY, NxReal lineZ ); 00771 00773 00802 int AddGenericJoint( const VR3Obj* o1, const VR3Obj* o2, 00803 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00804 NxReal xaxisX, NxReal xaxisY, NxReal xaxisZ, 00805 NxReal yaxisX, NxReal yaxisY, NxReal yaxisZ, 00806 bool xtrans, bool ytrans, bool ztrans, 00807 bool xrot, bool yrot, bool zrot, bool collide ); 00808 00810 00827 int AddGenericJoint( const VR3Obj* o, 00828 NxReal anchorX, NxReal anchorY, NxReal anchorZ, 00829 NxReal xaxisX, NxReal xaxisY, NxReal xaxisZ, 00830 NxReal yaxisX, NxReal yaxisY, NxReal yaxisZ, 00831 bool xtrans, bool ytrans, bool ztrans, 00832 bool xrot, bool yrot, bool zrot ); 00833 00835 00841 void DeleteJoint(int jointID); 00842 00844 00845 //----------------- Force and Torque Application Functions -------------------// 00846 00870 00872 00884 void ObjAddForce( const VR3Obj* obj, 00885 NxReal dx, NxReal dy, NxReal dz, 00886 NxReal mag ); 00887 00889 00901 void ObjAddForce( const VR3Obj* obj, 00902 NxReal px, NxReal py, NxReal pz, 00903 NxReal dx, NxReal dy, NxReal dz, 00904 NxReal mag ); 00905 00907 00919 void ObjAddTorque( const VR3Obj* obj, 00920 NxReal dx, NxReal dy, NxReal dz, 00921 NxReal mag ); 00922 00924 00925 //----------------------- Position and Orientation ---------------------------// 00926 00962 00964 00970 void ObjBeginMove(const VR3Obj* obj); 00971 00973 00981 void ObjTranslate(NxReal x, NxReal y, NxReal z); 00982 00984 00993 void ObjRotate(NxReal ax, NxReal ay, NxReal az); 00994 00996 01005 void ObjRotate( NxReal cx, NxReal cy, NxReal cz, 01006 NxReal ax, NxReal ay, NxReal az ); 01007 01009 01015 void ObjRestore(); 01016 01018 01022 void ObjEndMove(); 01023 01025 01026 //---------------------- Simulation Parameter Setting ------------------------// 01027 01029 01033 01035 01042 void ObjSetMass(const VR3Obj* obj, NxReal mass); 01043 01045 01058 void ObjSetLinearVelocity( const VR3Obj* obj, 01059 NxReal dx, NxReal dy, NxReal dz, 01060 NxReal vel ); 01061 01063 01076 void ObjSetAngularVelocity( const VR3Obj* obj, 01077 NxReal dx, NxReal dy, NxReal dz, 01078 NxReal avel ); 01079 01081 01090 void ObjSetLinearDamping(const VR3Obj* obj, NxReal damping); 01091 01093 01102 void ObjSetAngularDamping(const VR3Obj* obj, NxReal adamping); 01103 01105 01112 void ObjSetMaxAngularVelocity(const VR3Obj* obj, NxReal maxavel); 01113 01115 01120 void ObjSetStaticFriction(const VR3Obj* obj, NxReal sfri); 01121 01123 01128 void ObjSetDynamicFriction(const VR3Obj* obj, NxReal dfri); 01129 01131 01136 void ObjSetBounciness(const VR3Obj* obj, NxReal bou); 01137 01139 01155 void ObjSetSkinWidth(const VR3Obj* obj, NxReal swidth = -1.0f); 01156 01158 01164 void ObjAffectedByGravity(const VR3Obj* obj, bool flag); 01165 01167 01171 void ObjCollide(const VR3Obj* obj, bool flag); 01172 01174 01175 //----------------------- Simulation Data Extraction -------------------------// 01176 01178 01182 01184 01195 int ObjGetType(const VR3Obj* obj); 01196 01198 01203 void ObjGetCenterOfMassPos(const VR3Obj* obj, NxReal* pos); 01204 01206 01216 NxReal ObjGetMass(const VR3Obj* obj); 01217 01219 01228 void ObjGetInertiaTensor(const VR3Obj* obj, NxReal* tens); 01229 01231 01238 void ObjGetLinearVelocity(const VR3Obj* obj, NxReal* vel); 01239 01241 01247 void ObjGetAngularVelocity(const VR3Obj* obj, NxReal* avel); 01248 01250 01259 void ObjGetPointVelocity( const VR3Obj* obj, 01260 NxReal x, NxReal y, NxReal z, 01261 NxReal* vel ); 01262 01264 01271 void ObjGetLinearMomentum(const VR3Obj* obj, NxReal* mom); 01272 01274 01281 void ObjGetAngularMomentum(const VR3Obj* obj, NxReal* amom); 01282 01284 01291 NxReal ObjGetKineticEnergy(const VR3Obj* obj); 01292 01294 01299 NxReal ObjGetStaticFriction(const VR3Obj* obj); 01300 01302 01307 NxReal ObjGetDynamicFriction(const VR3Obj* obj); 01308 01310 01315 NxReal ObjGetBounciness(const VR3Obj* obj); 01316 01318 01328 NxReal ObjGetSkinWidth(const VR3Obj* obj); 01329 01331 01332 //--------------------- Point Transformation Functions -----------------------// 01333 01335 01336 01338 01353 void ObjLocalToWorld( const VR3Obj* obj, 01354 const GLfloat* inpoint, GLfloat* outpoint ); 01355 01357 01372 bool ObjPointInBBox( const VR3Obj* obj, 01373 NxReal x, NxReal y, NxReal z ); 01374 01376 01377 //--------------------- Object Registration Functions ------------------------// 01378 01380 01381 01382 private: 01383 01385 01396 void AutoSimulateObject(const VR3Obj* obj, bool simulate); 01397 01398 public: 01399 01401 01411 void SimulateObject(const VR3Obj* obj, bool simulate); 01412 01414 01415 //-------------------- Simulation Management Functions -----------------------// 01416 01418 01419 01421 01437 void PrepareSimulation(); 01438 01440 01445 void StartSimulation(); 01446 01448 01451 void HaltSimulation(); 01452 01454 01458 void ResetSimulation(); 01459 01461 01466 void EndSimulation(); 01467 01469 01470 //------------------------ Timer Management Functions ------------------------// 01471 01473 01474 01476 01480 void ResetTimer(); 01481 01483 01492 NxReal GetElapsedTime(); 01493 01495 01496 }; 01497 01498 #endif // windows only 01499 01500 #endif
