PhysicsBodyNewton.h

/* ScummVM - Graphic Adventure Engine
 *
 * ScummVM is the legal property of its developers, whose names
 * are too numerous to list here. Please refer to the COPYRIGHT
 * file distributed with this source distribution.
 *
 * 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.
 *
 * 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, see <http://www.gnu.org/licenses/>.
 *
 */

/*
 * Copyright (C) 2006-2010 - Frictional Games
 *
 * This file is part of HPL1 Engine.
 */

#ifndef HPL_PHYSICS_BODY_NEWTON_H
#define HPL_PHYSICS_BODY_NEWTON_H

#include "hpl1/engine/libraries/newton/Newton.h"

#include "hpl1/engine/physics/PhysicsBody.h"

namespace hpl {

class cPhysicsBodyNewtonCallback : public iEntityCallback {
    void OnTransformUpdate(iEntity3D *apEntity);
};

class cPhysicsBodyNewton : public iPhysicsBody {
    friend class cPhysicsBodyNewtonCallback;

public:
    cPhysicsBodyNewton(const tString &asName, iPhysicsWorld *apWorld, iCollideShape *apShape);
    ~cPhysicsBodyNewton();

    void SetMaterial(iPhysicsMaterial *apMaterial);

    void SetLinearVelocity(const cVector3f &avVel);
    cVector3f GetLinearVelocity() const;
    void SetAngularVelocity(const cVector3f &avVel);
    cVector3f GetAngularVelocity() const;
    void SetLinearDamping(float afDamping);
    float GetLinearDamping() const;
    void SetAngularDamping(float afDamping);
    float GetAngularDamping() const;
    void SetMaxLinearSpeed(float afSpeed);
    float GetMaxLinearSpeed() const;
    void SetMaxAngularSpeed(float afDamping);
    float GetMaxAngularSpeed() const;
    cMatrixf GetInertiaMatrix();

    void SetMass(float afMass);
    float GetMass() const;
    void SetMassCentre(const cVector3f &avCentre);
    cVector3f GetMassCentre() const;

    void AddForce(const cVector3f &avForce);
    void AddForceAtPosition(const cVector3f &avForce, const cVector3f &avPos);
    void AddTorque(const cVector3f &avTorque);
    void AddImpulse(const cVector3f &avImpulse);
    void AddImpulseAtPosition(const cVector3f &avImpulse, const cVector3f &avPos);

    void SetEnabled(bool abEnabled);
    bool GetEnabled() const;
    void SetAutoDisable(bool abEnabled);
    bool GetAutoDisable() const;
#if 0
    void SetAutoDisableLinearThreshold(float afThresold);
    float GetAutoDisableLinearThreshold() const;
    void SetAutoDisableAngularThreshold(float afThresold);
    float GetAutoDisableAngularThreshold() const;
    void SetAutoDisableNumSteps(int alNum);
    int GetAutoDisableNumSteps() const;
#endif
    void SetContinuousCollision(bool abOn);
    bool GetContinuousCollision();

    void SetGravity(bool abEnabled);
    bool GetGravity() const;

    void RenderDebugGeometry(iLowLevelGraphics *apLowLevel, const cColor &aColor);

    NewtonBody *GetNewtonBody() { return mpNewtonBody; }

    void ClearForces();

    void DeleteLowLevel();

    static void SetUseCallback(bool abX) { mbUseCallback = abX; }

private:
    static int BuoyancyPlaneCallback(const int32 alCollisionID, void *apContext,
                                     const float *afGlobalSpaceMatrix, float *afGlobalSpacePlane);
    static void OnTransformCallback(const NewtonBody *apBody, const dFloat *apMatrix, int32);
    static void OnUpdateCallback(NewtonBody *apBody, float, int32);

    NewtonBody *mpNewtonBody;
    NewtonWorld *mpNewtonWorld;

    cPhysicsBodyNewtonCallback *mpCallback;

    static bool mbUseCallback;

    // Properties
    bool mbGravity;

    float mfMaxLinearSpeed;
    float mfMaxAngularSpeed;
    float mfMass;

    float mfAutoDisableLinearThreshold;
    float mfAutoDisableAngularThreshold;
    int mlAutoDisableNumSteps;

    // Forces that will be set and clear on update callback
    cVector3f mvTotalForce;
    cVector3f mvTotalTorque;
};

} // namespace hpl

#endif // HPL_PHYSICS_BODY_NEWTON_H