[1919] | 1 | #ifndef _OGREODEWORLD_H_ |
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| 2 | #define _OGREODEWORLD_H_ |
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| 3 | |
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| 4 | #include "OgreOdePreReqs.h" |
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| 5 | #include "OgreOdeMaintainedList.h" |
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| 6 | #include "OgreSingleton.h" |
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| 7 | |
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| 8 | #include <map> |
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| 9 | |
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| 10 | namespace OgreOde |
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| 11 | { |
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| 12 | /** The main class which you will use to simulate your world. |
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| 13 | * |
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| 14 | * This is the core class of OgreOde, it is directly analogous to the ODE world except that |
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| 15 | * in OgreOde you can have only one world, which is why it is Singleton. |
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| 16 | * |
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| 17 | * A World is a container for all the bodies and geometries in you simulation. You also |
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| 18 | * use it to set global options for things like gravity, ERP, CFM and automatic sleeping. |
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| 19 | * Also, the World is what you step when you want to advance your simulation by a certain time |
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| 20 | * period. |
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| 21 | */ |
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| 22 | class _OgreOdeExport World |
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| 23 | { |
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| 24 | friend class Body; |
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| 25 | friend class JointGroup; |
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| 26 | friend class Joint; |
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| 27 | friend class Space; |
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| 28 | friend class Geometry; |
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| 29 | friend class StepHandler; |
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| 30 | |
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| 31 | public: |
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| 32 | /** Construct a new World. |
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| 33 | * |
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| 34 | * You will need to call this to create the World into which you cabn place your physical objects. |
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| 35 | * The World requires a reference to the scene manager you are using in order to create things |
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| 36 | * like nodes for debug objects and to obtain configuration options for world geometry. |
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| 37 | * |
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| 38 | * \param manager The scene manager you are using. |
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| 39 | */ |
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| 40 | World(Ogre::SceneManager* manager); |
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| 41 | ~World(); |
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| 42 | |
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| 43 | void setGravity(const Ogre::Vector3& gravity = Ogre::Vector3::ZERO); |
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| 44 | const Ogre::Vector3& getGravity(); |
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| 45 | |
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| 46 | void setHistorySize (size_t historySize); |
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| 47 | size_t getHistorySize () const; |
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| 48 | |
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| 49 | void setERP(Ogre::Real erp = 0.2); |
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| 50 | Ogre::Real getERP(); |
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| 51 | void setCFM(Ogre::Real cfm = 10e-5); |
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| 52 | Ogre::Real getCFM(); |
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| 53 | |
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| 54 | void setContactCorrectionVelocity(Ogre::Real velocity = 0.1); |
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| 55 | void setContactSurfaceLayer(Ogre::Real layer = 0.001); |
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| 56 | |
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| 57 | void setAutoSleep(bool auto_sleep = false); |
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| 58 | bool getAutoSleep(); |
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| 59 | void setAutoSleepLinearThreshold(Ogre::Real linear_threshold = 0.01); |
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| 60 | Ogre::Real getAutoSleepLinearThreshold(); |
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| 61 | void setAutoSleepAngularThreshold(Ogre::Real angular_threshold = 0.01); |
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| 62 | Ogre::Real getAutoSleepAngularThreshold(); |
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| 63 | void setAutoSleepSteps(int steps = 10); |
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| 64 | int getAutoSleepSteps(); |
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| 65 | void setAutoSleepTime(Ogre::Real time = 0); |
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| 66 | Ogre::Real getAutoSleepTime(); |
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| 67 | void setAutoSleepAverageSamplesCount(unsigned int time = 10); |
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| 68 | size_t getAutoSleepAverageSamplesCount(); |
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| 69 | inline void step(Ogre::Real stepsize); |
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| 70 | inline void quickStep(Ogre::Real stepsize); |
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| 71 | inline void fastStep(Ogre::Real stepsize); |
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| 72 | |
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| 73 | void setQuickStepIterations(int iterations); |
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| 74 | int getQuickStepIterations(); |
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| 75 | |
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| 76 | Body* findBody(Ogre::SceneNode* node); |
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| 77 | Body* findBody(const Ogre::String& name); |
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| 78 | |
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| 79 | inline void clearContacts(); |
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| 80 | |
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| 81 | void setCollisionListener(CollisionListener* collision_listener); |
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| 82 | CollisionListener* getCollisionListener(); |
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| 83 | |
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| 84 | void setShowDebugGeometries(bool show); |
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| 85 | bool getShowDebugGeometries(){return _show_debug_geoms;} |
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| 86 | |
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| 87 | void setShowDebugContact(bool show); |
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| 88 | bool getShowDebugContact(){return _show_debug_contact;} |
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| 89 | |
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| 90 | inline void notifyGeometry(Body* body); |
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| 91 | |
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| 92 | Space* getDefaultSpace(){return _default_space;} |
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| 93 | void setDefaultSpace(Space* space); |
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| 94 | |
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| 95 | inline Ogre::SceneManager* getSceneManager(){return _manager;} |
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| 96 | |
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| 97 | void setDamping(Ogre::Real linear_damping,Ogre::Real angular_damping); |
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| 98 | Ogre::Real getLinearDamping(); |
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| 99 | Ogre::Real getAngularDamping(); |
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| 100 | |
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| 101 | inline void synchronise(); |
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| 102 | |
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| 103 | inline void updateDrawState(); |
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| 104 | inline void updatePreviousState(); |
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| 105 | inline void updateCurrentState(); |
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| 106 | inline void interpolateDrawState(const Ogre::Real alpha); |
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| 107 | |
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| 108 | |
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| 109 | inline MaintainedList<Body> &getBodyList() {return _body_list;} |
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| 110 | inline MaintainedList<Joint> &getJointList() {return _joint_list;} |
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| 111 | inline MaintainedList<JointGroup> &getJointGroupList(){return _joint_group_list;} |
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| 112 | inline MaintainedList<Geometry> &getGeometryList() {return _geometry_list;} |
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| 113 | inline MaintainedList<Space> &getSpaceList() {return _space_list;} |
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| 114 | |
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| 115 | inline dWorldID getWorldID(); |
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| 116 | protected: |
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| 117 | |
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| 118 | inline dJointGroupID getContactGroupID(); |
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| 119 | static void collisionCallback(void *data, |
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| 120 | dGeomID geom_a, |
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| 121 | dGeomID geom_b); |
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| 122 | |
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| 123 | protected: |
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| 124 | dWorldID _world; |
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| 125 | dJointGroupID _contacts; |
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| 126 | |
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| 127 | Space* _default_space; |
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| 128 | |
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| 129 | static CollisionListener* _collision_listener; |
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| 130 | |
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| 131 | MaintainedList<Body> _body_list; |
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| 132 | MaintainedList<Joint> _joint_list; |
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| 133 | MaintainedList<JointGroup> _joint_group_list; |
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| 134 | MaintainedList<Geometry> _geometry_list; |
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| 135 | MaintainedList<Space> _space_list; |
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| 136 | |
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| 137 | bool _show_debug_geoms; |
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| 138 | bool _show_debug_contact; |
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| 139 | |
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| 140 | Ogre::SceneManager* _manager; |
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| 141 | |
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| 142 | Ogre::Vector3 _gravity; |
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| 143 | dReal _linear_damping,_angular_damping; |
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| 144 | size_t _history_size; |
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| 145 | }; |
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| 146 | |
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| 147 | |
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| 148 | //------------------------------------------------------------------------------------------------ |
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| 149 | //INLINED Methods |
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| 150 | //------------------------------------------------------------------------------------------------ |
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| 151 | //------------------------------------------------------------------------------------------------ |
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| 152 | inline dWorldID World::getWorldID() |
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| 153 | { |
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| 154 | return _world; |
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| 155 | } |
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| 156 | //------------------------------------------------------------------------------------------------ |
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| 157 | inline dJointGroupID World::getContactGroupID() |
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| 158 | { |
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| 159 | return _contacts; |
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| 160 | } |
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| 161 | //------------------------------------------------------------------------------------------------ |
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| 162 | inline void World::notifyGeometry(Body* body) |
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| 163 | { |
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| 164 | _geometry_list.notify(body); |
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| 165 | } |
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| 166 | //------------------------------------------------------------------------------------------------ |
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| 167 | inline void World::synchronise() |
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| 168 | { |
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| 169 | _body_list.synchronise (); |
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| 170 | } |
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| 171 | //------------------------------------------------------------------------------------------------ |
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| 172 | inline void World::updateDrawState() |
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| 173 | { |
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| 174 | _body_list.updateDrawState (); |
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| 175 | if (_show_debug_contact) |
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| 176 | _geometry_list.updateDebugContact(); |
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| 177 | } |
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| 178 | //------------------------------------------------------------------------------------------------ |
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| 179 | inline void World::interpolateDrawState(const Ogre::Real alpha) |
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| 180 | { |
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| 181 | _body_list.interpolateDrawState(alpha); |
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| 182 | if (_show_debug_contact) |
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| 183 | _geometry_list.updateDebugContact(); |
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| 184 | } |
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| 185 | //------------------------------------------------------------------------------------------------ |
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| 186 | inline void World::updatePreviousState() |
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| 187 | { |
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| 188 | _body_list.updatePreviousState(); |
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| 189 | } |
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| 190 | //------------------------------------------------------------------------------------------------ |
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| 191 | inline void World::updateCurrentState() |
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| 192 | { |
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| 193 | _body_list.updateCurrentState (); |
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| 194 | } |
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| 195 | //------------------------------------------------------------------------------------------------ |
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| 196 | inline void World::clearContacts() |
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| 197 | { |
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| 198 | dJointGroupEmpty(_contacts); |
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| 199 | } |
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| 200 | //------------------------------------------------------------------------------------------------ |
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| 201 | inline void World::step(Ogre::Real stepsize) |
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| 202 | { |
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| 203 | dWorldStep(_world,(dReal)stepsize); |
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| 204 | } |
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| 205 | //------------------------------------------------------------------------------------------------ |
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| 206 | inline void World::quickStep(Ogre::Real stepsize) |
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| 207 | { |
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| 208 | dWorldQuickStep(_world,(dReal)stepsize); |
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| 209 | } |
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| 210 | //------------------------------------------------------------------------------------------------ |
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| 211 | inline void World::fastStep(Ogre::Real stepsize) |
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| 212 | { |
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| 213 | dWorldStepFast1(_world,(dReal)stepsize,20); |
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| 214 | } |
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| 215 | } |
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| 216 | #endif |
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