Physics.h

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// Copyright (C) 2005 Dave Griffiths
//
// 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.

#include <ode/ode.h>
#include "Renderer.h"
#include <set>

#ifndef FLUXUS_PHYSICS
#define FLUXUS_PHYSICS

namespace Fluxus
{

class Physics
{
public:
    Physics(Renderer *r);
    virtual ~Physics();
    
    enum BoundingType {BOX,CYLINDER,SPHERE};
    enum ObjectType {ACTIVE,PASSIVE};
    
    void Tick();
    
    void Render();
    
    void MakeActive(int ID,float MassBoundingType, BoundingType Bound=BOX);
    void MakePassive(int ID,float MassBoundingType, BoundingType Bound=BOX);
    
    void Free(int ID);
    void Clear();
    void RegisterRenderer(Renderer* s) { m_Renderer=s; }
    void GroundPlane(dVector ori, float off);
    void Kick(int ID, dVector v);
    void Twist(int ID, dVector v);
    void SetMass(int ID, float mass);
    void SetCollisions(bool s) { m_Collisions=s; }
    void SetGravity(const dVector &g);
    void SetGlobalSurfaceParams(float slip1, float slip2, float softerp, float softcfm) 
        { m_Slip1=slip1; m_Slip2=slip2; m_SoftErp=softerp; m_SoftCfm=softcfm; }
        
    int CreateJointFixed(int Ob1);
    int CreateJointBall(int Ob1, int Ob2, dVector Anchor);
    int CreateJointHinge(int Ob1, int Ob2, dVector Anchor, dVector Hinge);
    int CreateJointSlider(int Ob1, int Ob2, dVector Hinge);
    int CreateJointHinge2(int Ob1, int Ob2, dVector Anchor, dVector Hinge[2]);
    int CreateJointAMotor(int Ob1, int Ob2, dVector Axis);
    void SetJointAngle(int ID, float force, float angle); 
    void SetJointParam(int ID, const string &Param, float Value);
    
    int GetMaxObjectCount() { return m_MaxObjectCount; }
    void SetMaxObjectCount(int s) { m_MaxObjectCount=s; }

    bool HasCollided(int Ob);
    
private:
    // helpers that use ode types for convienience, and so it can be built with double support
    void DrawLocator(dVector3 pos);
    void DrawAxis(dVector3 pos, dVector3 dir);

    enum JointType {BallJoint,HingeJoint,SliderJoint,ContactJoint,UniversalJoint,Hinge2Joint,FixedJoint,AMotorJoint};

    class Object
    {
    public:
        Object();
        ~Object();
        ObjectType Type;
        dBodyID Body;
        dGeomID Bound;
        Primitive *Prim;
    };
    
    class JointObject
    {
    public:
        JointObject();
        ~JointObject();
        dJointID Joint;
        JointType Type;
    };
    
    void UpdatePrimitives();
    
    static void NearCallback(void *data, dGeomID o1, dGeomID o2);
    void NearCallback_i(dGeomID o1, dGeomID o2);
    
    dWorldID m_World;
    dSpaceID m_Space;
    dGeomID m_Ground;
    
    map<int,Object*>       m_ObjectMap;
    map<int,dGeomID>       m_GroupMap;
    map<int,JointObject*>  m_JointMap;
    deque<int>             m_History;
    set<dBodyID>           m_CollisionRecord;
    
    Renderer *m_Renderer;
    int m_MaxObjectCount;
    bool m_GroundCreated;
    dJointGroupID m_ContactGroup;
    int m_NextJointID;
    bool m_Collisions;

    float m_Slip1;
    float m_Slip2;
    float m_SoftErp;
    float m_SoftCfm;
};

};

#endif

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