PhysicsWorldNewton.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_WORLD_NEWTON_H
#define HPL_PHYSICS_WORLD_NEWTON_H

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

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

namespace hpl {
class cPhysicsWorldNewton : public iPhysicsWorld {
public:
    cPhysicsWorldNewton();
    ~cPhysicsWorldNewton();

    void Simulate(float afTimeStep);

    void SetMaxTimeStep(float afTimeStep);
    float GetMaxTimeStep();

    void SetWorldSize(const cVector3f &avMin, const cVector3f &avMax);
    cVector3f GetWorldSizeMin();
    cVector3f GetWorldSizeMax();

    void SetGravity(const cVector3f &avGravity);
    cVector3f GetGravity();

    void SetAccuracyLevel(ePhysicsAccuracy aAccuracy);
    ePhysicsAccuracy GetAccuracyLevel();

    iCollideShape *CreateNullShape();
    iCollideShape *CreateBoxShape(const cVector3f &avSize, cMatrixf *apOffsetMtx);
    iCollideShape *CreateSphereShape(const cVector3f &avRadii, cMatrixf *apOffsetMtx);
    iCollideShape *CreateCylinderShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx);
    iCollideShape *CreateCapsuleShape(float afRadius, float afHeight, cMatrixf *apOffsetMtx);
    iCollideShape *CreateMeshShape(iVertexBuffer *apVtxBuffer);
    iCollideShape *CreateCompundShape(tCollideShapeVec &avShapes);

    iPhysicsJointBall *CreateJointBall(const tString &asName, const cVector3f &avPivotPoint,
                                       iPhysicsBody *apParentBody, iPhysicsBody *apChildBody);
    iPhysicsJointHinge *CreateJointHinge(const tString &asName, const cVector3f &avPivotPoint,
                                         const cVector3f &avPinDir,
                                         iPhysicsBody *apParentBody, iPhysicsBody *apChildBody);
    iPhysicsJointSlider *CreateJointSlider(const tString &asName, const cVector3f &avPivotPoint,
                                           const cVector3f &avPinDir,
                                           iPhysicsBody *apParentBody, iPhysicsBody *apChildBody);
    iPhysicsJointScrew *CreateJointScrew(const tString &asName, const cVector3f &avPivotPoint,
                                         const cVector3f &avPinDir,
                                         iPhysicsBody *apParentBody, iPhysicsBody *apChildBody);

    iPhysicsBody *CreateBody(const tString &asName, iCollideShape *apShape);

    iCharacterBody *CreateCharacterBody(const tString &asName, const cVector3f &avSize);

    iPhysicsMaterial *CreateMaterial(const tString &asName);

    iPhysicsController *CreateController(const tString &asName);

    void CastRay(iPhysicsRayCallback *apCallback,
                 const cVector3f &avOrigin, const cVector3f &avEnd,
                 bool abCalcDist, bool abCalcNormal, bool abCalcPoint,
                 bool abUsePrefilter = false);

    bool CheckShapeCollision(iCollideShape *apShapeA, const cMatrixf &a_mtxA,
                             iCollideShape *apShapeB, const cMatrixf &a_mtxB,
                             cCollideData &aCollideData, int alMaxPoints, bool correctNormalDirection = false);

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

    NewtonWorld *GetNewtonWorld() { return mpNewtonWorld; }

private:
    NewtonWorld *mpNewtonWorld;

    float *mpTempPoints;
    float *mpTempNormals;
    float *mpTempDepths;

    cVector3f mvWorldSizeMin;
    cVector3f mvWorldSizeMax;
    cVector3f mvGravity;
    float mfMaxTimeStep;

    ePhysicsAccuracy mAccuracy;
};

} // namespace hpl

#endif // HPL_PHYSICS_WORLD_NEWTON_H