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1153 lines
50 KiB
1153 lines
50 KiB
5 years ago
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//========= Copyright Valve Corporation, All rights reserved. ============//
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//
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// Purpose: Public interfaces to vphysics DLL
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//
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// $NoKeywords: $
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//=============================================================================//
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#ifndef VPHYSICS_INTERFACE_H
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#define VPHYSICS_INTERFACE_H
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#ifdef _WIN32
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#pragma once
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#endif
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#include "tier1/interface.h"
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#include "appframework/IAppSystem.h"
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#include "mathlib/vector.h"
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#include "mathlib/vector4d.h"
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#include "vcollide.h"
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// ------------------------------------------------------------------------------------
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// UNITS:
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// ------------------------------------------------------------------------------------
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// NOTE: Coordinates are in HL units. 1 unit == 1 inch. X is east (forward), Y is north (left), Z is up (up)
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// QAngle are pitch (around y), Yaw (around Z), Roll (around X)
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// AngularImpulse are exponetial maps (an axis in HL units scaled by a "twist" angle in degrees)
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// They can be transformed like normals/covectors and added linearly
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// mass is kg, volume is in^3, acceleration is in/s^2, velocity is in/s
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// density is kg/m^3 (water ~= 998 at room temperature)
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// preferably, these would be in kg/in^3, but the range of those numbers makes them not very human readable
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// having water be about 1000 is really convenient for data entry.
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// Since volume is in in^3 and density is in kg/m^3:
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// density = (mass / volume) * CUBIC_METERS_PER_CUBIC_INCH
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// Force is applied using impulses (kg*in/s)
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// Torque is applied using impulses (kg*degrees/s)
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// ------------------------------------------------------------------------------------
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#define METERS_PER_INCH (0.0254f)
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#define CUBIC_METERS_PER_CUBIC_INCH (METERS_PER_INCH*METERS_PER_INCH*METERS_PER_INCH)
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// 2.2 lbs / kg
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#define POUNDS_PER_KG (2.2f)
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#define KG_PER_POUND (1.0f/POUNDS_PER_KG)
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// convert from pounds to kg
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#define lbs2kg(x) ((x)*KG_PER_POUND)
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#define kg2lbs(x) ((x)*POUNDS_PER_KG)
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const float VPHYSICS_MIN_MASS = 0.1f;
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const float VPHYSICS_MAX_MASS = 5e4f;
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class IPhysicsObject;
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class IPhysicsEnvironment;
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class IPhysicsSurfaceProps;
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class IPhysicsConstraint;
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class IPhysicsConstraintGroup;
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class IPhysicsFluidController;
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class IPhysicsSpring;
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class IPhysicsVehicleController;
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class IConvexInfo;
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class IPhysicsObjectPairHash;
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class IPhysicsCollisionSet;
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class IPhysicsPlayerController;
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class IPhysicsFrictionSnapshot;
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struct Ray_t;
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struct constraint_ragdollparams_t;
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struct constraint_hingeparams_t;
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struct constraint_fixedparams_t;
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struct constraint_ballsocketparams_t;
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struct constraint_slidingparams_t;
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struct constraint_pulleyparams_t;
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struct constraint_lengthparams_t;
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struct constraint_groupparams_t;
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struct vehicleparams_t;
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struct matrix3x4_t;
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struct fluidparams_t;
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struct springparams_t;
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struct objectparams_t;
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struct debugcollide_t;
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class CGameTrace;
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typedef CGameTrace trace_t;
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struct physics_stats_t;
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struct physics_performanceparams_t;
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struct virtualmeshparams_t;
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//enum PhysInterfaceId_t;
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struct physsaveparams_t;
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struct physrestoreparams_t;
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struct physprerestoreparams_t;
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enum PhysInterfaceId_t
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{
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PIID_UNKNOWN,
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PIID_IPHYSICSOBJECT,
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PIID_IPHYSICSFLUIDCONTROLLER,
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PIID_IPHYSICSSPRING,
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PIID_IPHYSICSCONSTRAINTGROUP,
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PIID_IPHYSICSCONSTRAINT,
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PIID_IPHYSICSSHADOWCONTROLLER,
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PIID_IPHYSICSPLAYERCONTROLLER,
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PIID_IPHYSICSMOTIONCONTROLLER,
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PIID_IPHYSICSVEHICLECONTROLLER,
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PIID_IPHYSICSGAMETRACE,
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PIID_NUM_TYPES
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};
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class ISave;
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class IRestore;
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#define VPHYSICS_DEBUG_OVERLAY_INTERFACE_VERSION "VPhysicsDebugOverlay001"
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abstract_class IVPhysicsDebugOverlay
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{
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public:
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virtual void AddEntityTextOverlay(int ent_index, int line_offset, float duration, int r, int g, int b, int a, PRINTF_FORMAT_STRING const char *format, ...) = 0;
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virtual void AddBoxOverlay(const Vector& origin, const Vector& mins, const Vector& max, QAngle const& orientation, int r, int g, int b, int a, float duration) = 0;
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virtual void AddTriangleOverlay(const Vector& p1, const Vector& p2, const Vector& p3, int r, int g, int b, int a, bool noDepthTest, float duration) = 0;
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virtual void AddLineOverlay(const Vector& origin, const Vector& dest, int r, int g, int b,bool noDepthTest, float duration) = 0;
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virtual void AddTextOverlay(const Vector& origin, float duration, PRINTF_FORMAT_STRING const char *format, ...) = 0;
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virtual void AddTextOverlay(const Vector& origin, int line_offset, float duration, PRINTF_FORMAT_STRING const char *format, ...) = 0;
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virtual void AddScreenTextOverlay(float flXPos, float flYPos,float flDuration, int r, int g, int b, int a, const char *text) = 0;
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virtual void AddSweptBoxOverlay(const Vector& start, const Vector& end, const Vector& mins, const Vector& max, const QAngle & angles, int r, int g, int b, int a, float flDuration) = 0;
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virtual void AddTextOverlayRGB(const Vector& origin, int line_offset, float duration, float r, float g, float b, float alpha, PRINTF_FORMAT_STRING const char *format, ...) = 0;
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};
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#define VPHYSICS_INTERFACE_VERSION "VPhysics031"
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abstract_class IPhysics : public IAppSystem
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{
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public:
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virtual IPhysicsEnvironment *CreateEnvironment( void ) = 0;
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virtual void DestroyEnvironment( IPhysicsEnvironment * ) = 0;
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virtual IPhysicsEnvironment *GetActiveEnvironmentByIndex( int index ) = 0;
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// Creates a fast hash of pairs of objects
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// Useful for maintaining a table of object relationships like pairs that do not collide.
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virtual IPhysicsObjectPairHash *CreateObjectPairHash() = 0;
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virtual void DestroyObjectPairHash( IPhysicsObjectPairHash *pHash ) = 0;
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// holds a cache of these by id. So you can get by id to search for the previously created set
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// UNDONE: Sets are currently limited to 32 elements. More elements will return NULL in create.
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// NOTE: id is not allowed to be zero.
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virtual IPhysicsCollisionSet *FindOrCreateCollisionSet( unsigned int id, int maxElementCount ) = 0;
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virtual IPhysicsCollisionSet *FindCollisionSet( unsigned int id ) = 0;
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virtual void DestroyAllCollisionSets() = 0;
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};
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// CPhysConvex is a single convex solid
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class CPhysConvex;
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// CPhysPolysoup is an abstract triangle soup mesh
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class CPhysPolysoup;
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class ICollisionQuery;
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class IVPhysicsKeyParser;
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struct convertconvexparams_t;
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class CPackedPhysicsDescription;
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class CPolyhedron;
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// UNDONE: Find a better place for this? Should be in collisionutils, but it's needs VPHYSICS' solver.
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struct truncatedcone_t
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{
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Vector origin;
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Vector normal;
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float h; // height of the cone (hl units)
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float theta; // cone angle (degrees)
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};
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#define VPHYSICS_COLLISION_INTERFACE_VERSION "VPhysicsCollision007"
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abstract_class IPhysicsCollision
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{
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public:
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virtual ~IPhysicsCollision( void ) {}
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// produce a convex element from verts (convex hull around verts)
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virtual CPhysConvex *ConvexFromVerts( Vector **pVerts, int vertCount ) = 0;
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// produce a convex element from planes (csg of planes)
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virtual CPhysConvex *ConvexFromPlanes( float *pPlanes, int planeCount, float mergeDistance ) = 0;
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// calculate volume of a convex element
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virtual float ConvexVolume( CPhysConvex *pConvex ) = 0;
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virtual float ConvexSurfaceArea( CPhysConvex *pConvex ) = 0;
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// store game-specific data in a convex solid
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virtual void SetConvexGameData( CPhysConvex *pConvex, unsigned int gameData ) = 0;
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// If not converted, free the convex elements with this call
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virtual void ConvexFree( CPhysConvex *pConvex ) = 0;
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virtual CPhysConvex *BBoxToConvex( const Vector &mins, const Vector &maxs ) = 0;
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// produce a convex element from a convex polyhedron
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virtual CPhysConvex *ConvexFromConvexPolyhedron( const CPolyhedron &ConvexPolyhedron ) = 0;
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// produce a set of convex triangles from a convex polygon, normal is assumed to be on the side with forward point ordering, which should be clockwise, output will need to be able to hold exactly (iPointCount-2) convexes
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virtual void ConvexesFromConvexPolygon( const Vector &vPolyNormal, const Vector *pPoints, int iPointCount, CPhysConvex **pOutput ) = 0;
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// concave objects
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// create a triangle soup
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virtual CPhysPolysoup *PolysoupCreate( void ) = 0;
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// destroy the container and memory
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virtual void PolysoupDestroy( CPhysPolysoup *pSoup ) = 0;
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// add a triangle to the soup
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virtual void PolysoupAddTriangle( CPhysPolysoup *pSoup, const Vector &a, const Vector &b, const Vector &c, int materialIndex7bits ) = 0;
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// convert the convex into a compiled collision model
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virtual CPhysCollide *ConvertPolysoupToCollide( CPhysPolysoup *pSoup, bool useMOPP ) = 0;
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// Convert an array of convex elements to a compiled collision model (this deletes the convex elements)
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virtual CPhysCollide *ConvertConvexToCollide( CPhysConvex **pConvex, int convexCount ) = 0;
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virtual CPhysCollide *ConvertConvexToCollideParams( CPhysConvex **pConvex, int convexCount, const convertconvexparams_t &convertParams ) = 0;
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// Free a collide that was created with ConvertConvexToCollide()
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virtual void DestroyCollide( CPhysCollide *pCollide ) = 0;
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// Get the memory size in bytes of the collision model for serialization
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virtual int CollideSize( CPhysCollide *pCollide ) = 0;
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// serialize the collide to a block of memory
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virtual int CollideWrite( char *pDest, CPhysCollide *pCollide, bool bSwap = false ) = 0;
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// unserialize the collide from a block of memory
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virtual CPhysCollide *UnserializeCollide( char *pBuffer, int size, int index ) = 0;
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// compute the volume of a collide
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virtual float CollideVolume( CPhysCollide *pCollide ) = 0;
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// compute surface area for tools
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virtual float CollideSurfaceArea( CPhysCollide *pCollide ) = 0;
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// Get the support map for a collide in the given direction
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virtual Vector CollideGetExtent( const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, const Vector &direction ) = 0;
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// Get an AABB for an oriented collision model
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virtual void CollideGetAABB( Vector *pMins, Vector *pMaxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles ) = 0;
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virtual void CollideGetMassCenter( CPhysCollide *pCollide, Vector *pOutMassCenter ) = 0;
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virtual void CollideSetMassCenter( CPhysCollide *pCollide, const Vector &massCenter ) = 0;
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// get the approximate cross-sectional area projected orthographically on the bbox of the collide
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// NOTE: These are fractional areas - unitless. Basically this is the fraction of the OBB on each axis that
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// would be visible if the object were rendered orthographically.
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// NOTE: This has been precomputed when the collide was built or this function will return 1,1,1
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virtual Vector CollideGetOrthographicAreas( const CPhysCollide *pCollide ) = 0;
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virtual void CollideSetOrthographicAreas( CPhysCollide *pCollide, const Vector &areas ) = 0;
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// query the vcollide index in the physics model for the instance
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virtual int CollideIndex( const CPhysCollide *pCollide ) = 0;
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// Convert a bbox to a collide
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virtual CPhysCollide *BBoxToCollide( const Vector &mins, const Vector &maxs ) = 0;
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virtual int GetConvexesUsedInCollideable( const CPhysCollide *pCollideable, CPhysConvex **pOutputArray, int iOutputArrayLimit ) = 0;
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// Trace an AABB against a collide
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virtual void TraceBox( const Vector &start, const Vector &end, const Vector &mins, const Vector &maxs, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr ) = 0;
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virtual void TraceBox( const Ray_t &ray, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr ) = 0;
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virtual void TraceBox( const Ray_t &ray, unsigned int contentsMask, IConvexInfo *pConvexInfo, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr ) = 0;
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// Trace one collide against another
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virtual void TraceCollide( const Vector &start, const Vector &end, const CPhysCollide *pSweepCollide, const QAngle &sweepAngles, const CPhysCollide *pCollide, const Vector &collideOrigin, const QAngle &collideAngles, trace_t *ptr ) = 0;
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// relatively slow test for box vs. truncated cone
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virtual bool IsBoxIntersectingCone( const Vector &boxAbsMins, const Vector &boxAbsMaxs, const truncatedcone_t &cone ) = 0;
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// loads a set of solids into a vcollide_t
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virtual void VCollideLoad( vcollide_t *pOutput, int solidCount, const char *pBuffer, int size, bool swap = false ) = 0;
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// destroyts the set of solids created by VCollideLoad
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virtual void VCollideUnload( vcollide_t *pVCollide ) = 0;
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// begins parsing a vcollide. NOTE: This keeps pointers to the text
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// If you free the text and call members of IVPhysicsKeyParser, it will crash
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virtual IVPhysicsKeyParser *VPhysicsKeyParserCreate( const char *pKeyData ) = 0;
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// Free the parser created by VPhysicsKeyParserCreate
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virtual void VPhysicsKeyParserDestroy( IVPhysicsKeyParser *pParser ) = 0;
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// creates a list of verts from a collision mesh
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virtual int CreateDebugMesh( CPhysCollide const *pCollisionModel, Vector **outVerts ) = 0;
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// destroy the list of verts created by CreateDebugMesh
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virtual void DestroyDebugMesh( int vertCount, Vector *outVerts ) = 0;
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// create a queryable version of the collision model
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virtual ICollisionQuery *CreateQueryModel( CPhysCollide *pCollide ) = 0;
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// destroy the queryable version
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virtual void DestroyQueryModel( ICollisionQuery *pQuery ) = 0;
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virtual IPhysicsCollision *ThreadContextCreate( void ) = 0;
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virtual void ThreadContextDestroy( IPhysicsCollision *pThreadContex ) = 0;
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virtual CPhysCollide *CreateVirtualMesh( const virtualmeshparams_t ¶ms ) = 0;
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virtual bool SupportsVirtualMesh() = 0;
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virtual bool GetBBoxCacheSize( int *pCachedSize, int *pCachedCount ) = 0;
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// extracts a polyhedron that defines a CPhysConvex's shape
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virtual CPolyhedron *PolyhedronFromConvex( CPhysConvex * const pConvex, bool bUseTempPolyhedron ) = 0;
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// dumps info about the collide to Msg()
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virtual void OutputDebugInfo( const CPhysCollide *pCollide ) = 0;
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virtual unsigned int ReadStat( int statID ) = 0;
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};
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// this can be used to post-process a collision model
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abstract_class ICollisionQuery
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{
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public:
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virtual ~ICollisionQuery() {}
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// number of convex pieces in the whole solid
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virtual int ConvexCount( void ) = 0;
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// triangle count for this convex piece
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|
|
virtual int TriangleCount( int convexIndex ) = 0;
|
||
|
|
// get the stored game data
|
||
|
|
virtual unsigned int GetGameData( int convexIndex ) = 0;
|
||
|
|
// Gets the triangle's verts to an array
|
||
|
|
virtual void GetTriangleVerts( int convexIndex, int triangleIndex, Vector *verts ) = 0;
|
||
|
|
|
||
|
|
// UNDONE: This doesn't work!!!
|
||
|
|
virtual void SetTriangleVerts( int convexIndex, int triangleIndex, const Vector *verts ) = 0;
|
||
|
|
|
||
|
|
// returns the 7-bit material index
|
||
|
|
virtual int GetTriangleMaterialIndex( int convexIndex, int triangleIndex ) = 0;
|
||
|
|
// sets a 7-bit material index for this triangle
|
||
|
|
virtual void SetTriangleMaterialIndex( int convexIndex, int triangleIndex, int index7bits ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: Ray traces from game engine.
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
abstract_class IPhysicsGameTrace
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual void VehicleTraceRay( const Ray_t &ray, void *pVehicle, trace_t *pTrace ) = 0;
|
||
|
|
virtual void VehicleTraceRayWithWater( const Ray_t &ray, void *pVehicle, trace_t *pTrace ) = 0;
|
||
|
|
virtual bool VehiclePointInWater( const Vector &vecPoint ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
// The caller should implement this to return contents masks per convex on a collide
|
||
|
|
abstract_class IConvexInfo
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual unsigned int GetContents( int convexGameData ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
class CPhysicsEventHandler;
|
||
|
|
abstract_class IPhysicsCollisionData
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual void GetSurfaceNormal( Vector &out ) = 0; // normal points toward second object (object index 1)
|
||
|
|
virtual void GetContactPoint( Vector &out ) = 0; // contact point of collision (in world space)
|
||
|
|
virtual void GetContactSpeed( Vector &out ) = 0; // speed of surface 1 relative to surface 0 (in world space)
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
struct vcollisionevent_t
|
||
|
|
{
|
||
|
|
IPhysicsObject *pObjects[2];
|
||
|
|
int surfaceProps[2];
|
||
|
|
bool isCollision;
|
||
|
|
bool isShadowCollision;
|
||
|
|
float deltaCollisionTime;
|
||
|
|
|
||
|
|
float collisionSpeed; // only valid at postCollision
|
||
|
|
IPhysicsCollisionData *pInternalData; // may change pre/post collision
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsCollisionEvent
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
// returns the two objects that collided, time between last collision of these objects
|
||
|
|
// and an opaque data block of collision information
|
||
|
|
// NOTE: PreCollision/PostCollision ALWAYS come in matched pairs!!!
|
||
|
|
virtual void PreCollision( vcollisionevent_t *pEvent ) = 0;
|
||
|
|
virtual void PostCollision( vcollisionevent_t *pEvent ) = 0;
|
||
|
|
|
||
|
|
// This is a scrape event. The object has scraped across another object consuming the indicated energy
|
||
|
|
virtual void Friction( IPhysicsObject *pObject, float energy, int surfaceProps, int surfacePropsHit, IPhysicsCollisionData *pData ) = 0;
|
||
|
|
|
||
|
|
virtual void StartTouch( IPhysicsObject *pObject1, IPhysicsObject *pObject2, IPhysicsCollisionData *pTouchData ) = 0;
|
||
|
|
virtual void EndTouch( IPhysicsObject *pObject1, IPhysicsObject *pObject2, IPhysicsCollisionData *pTouchData ) = 0;
|
||
|
|
|
||
|
|
virtual void FluidStartTouch( IPhysicsObject *pObject, IPhysicsFluidController *pFluid ) = 0;
|
||
|
|
virtual void FluidEndTouch( IPhysicsObject *pObject, IPhysicsFluidController *pFluid ) = 0;
|
||
|
|
|
||
|
|
virtual void PostSimulationFrame() = 0;
|
||
|
|
|
||
|
|
virtual void ObjectEnterTrigger( IPhysicsObject *pTrigger, IPhysicsObject *pObject ) {}
|
||
|
|
virtual void ObjectLeaveTrigger( IPhysicsObject *pTrigger, IPhysicsObject *pObject ) {}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
abstract_class IPhysicsObjectEvent
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
// these can be used to optimize out queries on sleeping objects
|
||
|
|
// Called when an object is woken after sleeping
|
||
|
|
virtual void ObjectWake( IPhysicsObject *pObject ) = 0;
|
||
|
|
// called when an object goes to sleep (no longer simulating)
|
||
|
|
virtual void ObjectSleep( IPhysicsObject *pObject ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsConstraintEvent
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
// the constraint is now inactive, the game code is required to delete it or re-activate it.
|
||
|
|
virtual void ConstraintBroken( IPhysicsConstraint * ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct hlshadowcontrol_params_t
|
||
|
|
{
|
||
|
|
Vector targetPosition;
|
||
|
|
QAngle targetRotation;
|
||
|
|
float maxAngular;
|
||
|
|
float maxDampAngular;
|
||
|
|
float maxSpeed;
|
||
|
|
float maxDampSpeed;
|
||
|
|
float dampFactor;
|
||
|
|
float teleportDistance;
|
||
|
|
};
|
||
|
|
|
||
|
|
// UNDONE: At some point allow this to be parameterized using hlshadowcontrol_params_t.
|
||
|
|
// All of the infrastructure is in place to do that.
|
||
|
|
abstract_class IPhysicsShadowController
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsShadowController( void ) {}
|
||
|
|
|
||
|
|
virtual void Update( const Vector &position, const QAngle &angles, float timeOffset ) = 0;
|
||
|
|
virtual void MaxSpeed( float maxSpeed, float maxAngularSpeed ) = 0;
|
||
|
|
virtual void StepUp( float height ) = 0;
|
||
|
|
|
||
|
|
// If the teleport distance is non-zero, the object will be teleported to
|
||
|
|
// the target location when the error exceeds this quantity.
|
||
|
|
virtual void SetTeleportDistance( float teleportDistance ) = 0;
|
||
|
|
virtual bool AllowsTranslation() = 0;
|
||
|
|
virtual bool AllowsRotation() = 0;
|
||
|
|
|
||
|
|
// There are two classes of shadow objects:
|
||
|
|
// 1) Game physics controlled, shadow follows game physics (this is the default)
|
||
|
|
// 2) Physically controlled - shadow position is a target, but the game hasn't guaranteed that the space can be occupied by this object
|
||
|
|
virtual void SetPhysicallyControlled( bool isPhysicallyControlled ) = 0;
|
||
|
|
virtual bool IsPhysicallyControlled() = 0;
|
||
|
|
virtual void GetLastImpulse( Vector *pOut ) = 0;
|
||
|
|
virtual void UseShadowMaterial( bool bUseShadowMaterial ) = 0;
|
||
|
|
virtual void ObjectMaterialChanged( int materialIndex ) = 0;
|
||
|
|
|
||
|
|
|
||
|
|
//Basically get the last inputs to IPhysicsShadowController::Update(), returns last input to timeOffset in Update()
|
||
|
|
virtual float GetTargetPosition( Vector *pPositionOut, QAngle *pAnglesOut ) = 0;
|
||
|
|
|
||
|
|
virtual float GetTeleportDistance( void ) = 0;
|
||
|
|
virtual void GetMaxSpeed( float *pMaxSpeedOut, float *pMaxAngularSpeedOut ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
class CPhysicsSimObject;
|
||
|
|
class IPhysicsMotionController;
|
||
|
|
|
||
|
|
// Callback for simulation
|
||
|
|
class IMotionEvent
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
// These constants instruct the simulator as to how to apply the values copied to linear & angular
|
||
|
|
// GLOBAL/LOCAL refer to the coordinate system of the values, whereas acceleration/force determine whether or not
|
||
|
|
// mass is divided out (forces must be divided by mass to compute acceleration)
|
||
|
|
enum simresult_e { SIM_NOTHING = 0, SIM_LOCAL_ACCELERATION, SIM_LOCAL_FORCE, SIM_GLOBAL_ACCELERATION, SIM_GLOBAL_FORCE };
|
||
|
|
virtual simresult_e Simulate( IPhysicsMotionController *pController, IPhysicsObject *pObject, float deltaTime, Vector &linear, AngularImpulse &angular ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
abstract_class IPhysicsMotionController
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsMotionController( void ) {}
|
||
|
|
virtual void SetEventHandler( IMotionEvent *handler ) = 0;
|
||
|
|
virtual void AttachObject( IPhysicsObject *pObject, bool checkIfAlreadyAttached ) = 0;
|
||
|
|
virtual void DetachObject( IPhysicsObject *pObject ) = 0;
|
||
|
|
|
||
|
|
// returns the number of objects currently attached to the controller
|
||
|
|
virtual int CountObjects( void ) = 0;
|
||
|
|
// NOTE: pObjectList is an array with at least CountObjects() allocated
|
||
|
|
virtual void GetObjects( IPhysicsObject **pObjectList ) = 0;
|
||
|
|
// detaches all attached objects
|
||
|
|
virtual void ClearObjects( void ) = 0;
|
||
|
|
// wakes up all attached objects
|
||
|
|
virtual void WakeObjects( void ) = 0;
|
||
|
|
|
||
|
|
enum priority_t
|
||
|
|
{
|
||
|
|
LOW_PRIORITY = 0,
|
||
|
|
MEDIUM_PRIORITY = 1,
|
||
|
|
HIGH_PRIORITY = 2,
|
||
|
|
};
|
||
|
|
virtual void SetPriority( priority_t priority ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
// -------------------
|
||
|
|
// Collision filter function. Return 0 if objects should not be tested for collisions, nonzero otherwise
|
||
|
|
// Install with IPhysicsEnvironment::SetCollisionFilter()
|
||
|
|
// -------------------
|
||
|
|
abstract_class IPhysicsCollisionSolver
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual int ShouldCollide( IPhysicsObject *pObj0, IPhysicsObject *pObj1, void *pGameData0, void *pGameData1 ) = 0;
|
||
|
|
virtual int ShouldSolvePenetration( IPhysicsObject *pObj0, IPhysicsObject *pObj1, void *pGameData0, void *pGameData1, float dt ) = 0;
|
||
|
|
|
||
|
|
// pObject has already done the max number of collisions this tick, should we freeze it to save CPU?
|
||
|
|
virtual bool ShouldFreezeObject( IPhysicsObject *pObject ) = 0;
|
||
|
|
|
||
|
|
// The system has already done too many collision checks, performance will suffer.
|
||
|
|
// How many more should it do?
|
||
|
|
virtual int AdditionalCollisionChecksThisTick( int currentChecksDone ) = 0;
|
||
|
|
|
||
|
|
// This list of objects is in a connected contact graph that is too large to solve quickly
|
||
|
|
// return true to freeze the system, false to solve it
|
||
|
|
virtual bool ShouldFreezeContacts( IPhysicsObject **pObjectList, int objectCount ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
enum PhysicsTraceType_t
|
||
|
|
{
|
||
|
|
VPHYSICS_TRACE_EVERYTHING = 0,
|
||
|
|
VPHYSICS_TRACE_STATIC_ONLY,
|
||
|
|
VPHYSICS_TRACE_MOVING_ONLY,
|
||
|
|
VPHYSICS_TRACE_TRIGGERS_ONLY,
|
||
|
|
VPHYSICS_TRACE_STATIC_AND_MOVING,
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsTraceFilter
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual bool ShouldHitObject( IPhysicsObject *pObject, int contentsMask ) = 0;
|
||
|
|
virtual PhysicsTraceType_t GetTraceType() const = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsEnvironment
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsEnvironment( void ) {}
|
||
|
|
|
||
|
|
virtual void SetDebugOverlay( CreateInterfaceFn debugOverlayFactory ) = 0;
|
||
|
|
virtual IVPhysicsDebugOverlay *GetDebugOverlay( void ) = 0;
|
||
|
|
|
||
|
|
// gravity is a 3-vector in in/s^2
|
||
|
|
virtual void SetGravity( const Vector &gravityVector ) = 0;
|
||
|
|
virtual void GetGravity( Vector *pGravityVector ) const = 0;
|
||
|
|
|
||
|
|
// air density is in kg / m^3 (water is 1000)
|
||
|
|
// This controls drag, air that is more dense has more drag.
|
||
|
|
virtual void SetAirDensity( float density ) = 0;
|
||
|
|
virtual float GetAirDensity( void ) const = 0;
|
||
|
|
|
||
|
|
// object creation
|
||
|
|
// create a polygonal object. pCollisionModel was created by the physics builder DLL in a pre-process.
|
||
|
|
virtual IPhysicsObject *CreatePolyObject( const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams ) = 0;
|
||
|
|
// same as above, but this one cannot move or rotate (infinite mass/inertia)
|
||
|
|
virtual IPhysicsObject *CreatePolyObjectStatic( const CPhysCollide *pCollisionModel, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams ) = 0;
|
||
|
|
// Create a perfectly spherical object
|
||
|
|
virtual IPhysicsObject *CreateSphereObject( float radius, int materialIndex, const Vector &position, const QAngle &angles, objectparams_t *pParams, bool isStatic ) = 0;
|
||
|
|
// destroy an object created with CreatePolyObject() or CreatePolyObjectStatic()
|
||
|
|
virtual void DestroyObject( IPhysicsObject * ) = 0;
|
||
|
|
|
||
|
|
// Create a polygonal fluid body out of the specified collision model
|
||
|
|
// This object will affect any other objects that collide with the collision model
|
||
|
|
virtual IPhysicsFluidController *CreateFluidController( IPhysicsObject *pFluidObject, fluidparams_t *pParams ) = 0;
|
||
|
|
// Destroy an object created with CreateFluidController()
|
||
|
|
virtual void DestroyFluidController( IPhysicsFluidController * ) = 0;
|
||
|
|
|
||
|
|
// Create a simulated spring that connects 2 objects
|
||
|
|
virtual IPhysicsSpring *CreateSpring( IPhysicsObject *pObjectStart, IPhysicsObject *pObjectEnd, springparams_t *pParams ) = 0;
|
||
|
|
virtual void DestroySpring( IPhysicsSpring * ) = 0;
|
||
|
|
|
||
|
|
// Create a constraint in the space of pReferenceObject which is attached by the constraint to pAttachedObject
|
||
|
|
virtual IPhysicsConstraint *CreateRagdollConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_ragdollparams_t &ragdoll ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreateHingeConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_hingeparams_t &hinge ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreateFixedConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_fixedparams_t &fixed ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreateSlidingConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_slidingparams_t &sliding ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreateBallsocketConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_ballsocketparams_t &ballsocket ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreatePulleyConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_pulleyparams_t &pulley ) = 0;
|
||
|
|
virtual IPhysicsConstraint *CreateLengthConstraint( IPhysicsObject *pReferenceObject, IPhysicsObject *pAttachedObject, IPhysicsConstraintGroup *pGroup, const constraint_lengthparams_t &length ) = 0;
|
||
|
|
|
||
|
|
virtual void DestroyConstraint( IPhysicsConstraint * ) = 0;
|
||
|
|
|
||
|
|
virtual IPhysicsConstraintGroup *CreateConstraintGroup( const constraint_groupparams_t &groupParams ) = 0;
|
||
|
|
virtual void DestroyConstraintGroup( IPhysicsConstraintGroup *pGroup ) = 0;
|
||
|
|
|
||
|
|
virtual IPhysicsShadowController *CreateShadowController( IPhysicsObject *pObject, bool allowTranslation, bool allowRotation ) = 0;
|
||
|
|
virtual void DestroyShadowController( IPhysicsShadowController * ) = 0;
|
||
|
|
|
||
|
|
virtual IPhysicsPlayerController *CreatePlayerController( IPhysicsObject *pObject ) = 0;
|
||
|
|
virtual void DestroyPlayerController( IPhysicsPlayerController * ) = 0;
|
||
|
|
|
||
|
|
virtual IPhysicsMotionController *CreateMotionController( IMotionEvent *pHandler ) = 0;
|
||
|
|
virtual void DestroyMotionController( IPhysicsMotionController *pController ) = 0;
|
||
|
|
|
||
|
|
virtual IPhysicsVehicleController *CreateVehicleController( IPhysicsObject *pVehicleBodyObject, const vehicleparams_t ¶ms, unsigned int nVehicleType, IPhysicsGameTrace *pGameTrace ) = 0;
|
||
|
|
virtual void DestroyVehicleController( IPhysicsVehicleController * ) = 0;
|
||
|
|
|
||
|
|
// install a function to filter collisions/penentration
|
||
|
|
virtual void SetCollisionSolver( IPhysicsCollisionSolver *pSolver ) = 0;
|
||
|
|
|
||
|
|
// run the simulator for deltaTime seconds
|
||
|
|
virtual void Simulate( float deltaTime ) = 0;
|
||
|
|
// true if currently running the simulator (i.e. in a callback during physenv->Simulate())
|
||
|
|
virtual bool IsInSimulation() const = 0;
|
||
|
|
|
||
|
|
// Manage the timestep (period) of the simulator. The main functions are all integrated with
|
||
|
|
// this period as dt.
|
||
|
|
virtual float GetSimulationTimestep() const = 0;
|
||
|
|
virtual void SetSimulationTimestep( float timestep ) = 0;
|
||
|
|
|
||
|
|
// returns the current simulation clock's value. This is an absolute time.
|
||
|
|
virtual float GetSimulationTime() const = 0;
|
||
|
|
virtual void ResetSimulationClock() = 0;
|
||
|
|
// returns the current simulation clock's value at the next frame. This is an absolute time.
|
||
|
|
virtual float GetNextFrameTime( void ) const = 0;
|
||
|
|
|
||
|
|
// Collision callbacks (game code collision response)
|
||
|
|
virtual void SetCollisionEventHandler( IPhysicsCollisionEvent *pCollisionEvents ) = 0;
|
||
|
|
virtual void SetObjectEventHandler( IPhysicsObjectEvent *pObjectEvents ) = 0;
|
||
|
|
virtual void SetConstraintEventHandler( IPhysicsConstraintEvent *pConstraintEvents ) = 0;
|
||
|
|
|
||
|
|
virtual void SetQuickDelete( bool bQuick ) = 0;
|
||
|
|
|
||
|
|
virtual int GetActiveObjectCount() const = 0;
|
||
|
|
virtual void GetActiveObjects( IPhysicsObject **pOutputObjectList ) const = 0;
|
||
|
|
virtual const IPhysicsObject **GetObjectList( int *pOutputObjectCount ) const = 0;
|
||
|
|
virtual bool TransferObject( IPhysicsObject *pObject, IPhysicsEnvironment *pDestinationEnvironment ) = 0;
|
||
|
|
|
||
|
|
virtual void CleanupDeleteList( void ) = 0;
|
||
|
|
virtual void EnableDeleteQueue( bool enable ) = 0;
|
||
|
|
|
||
|
|
// Save/Restore methods
|
||
|
|
virtual bool Save( const physsaveparams_t ¶ms ) = 0;
|
||
|
|
virtual void PreRestore( const physprerestoreparams_t ¶ms ) = 0;
|
||
|
|
virtual bool Restore( const physrestoreparams_t ¶ms ) = 0;
|
||
|
|
virtual void PostRestore() = 0;
|
||
|
|
|
||
|
|
// Debugging:
|
||
|
|
virtual bool IsCollisionModelUsed( CPhysCollide *pCollide ) const = 0;
|
||
|
|
|
||
|
|
// Physics world version of the enginetrace API:
|
||
|
|
virtual void TraceRay( const Ray_t &ray, unsigned int fMask, IPhysicsTraceFilter *pTraceFilter, trace_t *pTrace ) = 0;
|
||
|
|
virtual void SweepCollideable( const CPhysCollide *pCollide, const Vector &vecAbsStart, const Vector &vecAbsEnd,
|
||
|
|
const QAngle &vecAngles, unsigned int fMask, IPhysicsTraceFilter *pTraceFilter, trace_t *pTrace ) = 0;
|
||
|
|
|
||
|
|
// performance tuning
|
||
|
|
virtual void GetPerformanceSettings( physics_performanceparams_t *pOutput ) const = 0;
|
||
|
|
virtual void SetPerformanceSettings( const physics_performanceparams_t *pSettings ) = 0;
|
||
|
|
|
||
|
|
// perf/cost statistics
|
||
|
|
virtual void ReadStats( physics_stats_t *pOutput ) = 0;
|
||
|
|
virtual void ClearStats() = 0;
|
||
|
|
|
||
|
|
virtual unsigned int GetObjectSerializeSize( IPhysicsObject *pObject ) const = 0;
|
||
|
|
virtual void SerializeObjectToBuffer( IPhysicsObject *pObject, unsigned char *pBuffer, unsigned int bufferSize ) = 0;
|
||
|
|
virtual IPhysicsObject *UnserializeObjectFromBuffer( void *pGameData, unsigned char *pBuffer, unsigned int bufferSize, bool enableCollisions ) = 0;
|
||
|
|
|
||
|
|
|
||
|
|
virtual void EnableConstraintNotify( bool bEnable ) = 0;
|
||
|
|
virtual void DebugCheckContacts(void) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
enum callbackflags
|
||
|
|
{
|
||
|
|
CALLBACK_GLOBAL_COLLISION = 0x0001,
|
||
|
|
CALLBACK_GLOBAL_FRICTION = 0x0002,
|
||
|
|
CALLBACK_GLOBAL_TOUCH = 0x0004,
|
||
|
|
CALLBACK_GLOBAL_TOUCH_STATIC = 0x0008,
|
||
|
|
CALLBACK_SHADOW_COLLISION = 0x0010,
|
||
|
|
CALLBACK_GLOBAL_COLLIDE_STATIC = 0x0020,
|
||
|
|
CALLBACK_IS_VEHICLE_WHEEL = 0x0040,
|
||
|
|
CALLBACK_FLUID_TOUCH = 0x0100,
|
||
|
|
CALLBACK_NEVER_DELETED = 0x0200, // HACKHACK: This means this object will never be deleted (set on the world)
|
||
|
|
CALLBACK_MARKED_FOR_DELETE = 0x0400, // This allows vphysics to skip some work for this object since it will be
|
||
|
|
// deleted later this frame. (Set automatically by destroy calls)
|
||
|
|
CALLBACK_ENABLING_COLLISION = 0x0800, // This is active during the time an object is enabling collisions
|
||
|
|
// allows us to skip collisions between "new" objects and objects marked for delete
|
||
|
|
CALLBACK_DO_FLUID_SIMULATION = 0x1000, // remove this to opt out of fluid simulations
|
||
|
|
CALLBACK_IS_PLAYER_CONTROLLER= 0x2000, // HACKHACK: Set this on players until player cotrollers are unified with shadow controllers
|
||
|
|
CALLBACK_CHECK_COLLISION_DISABLE = 0x4000,
|
||
|
|
CALLBACK_MARKED_FOR_TEST = 0x8000, // debug -- marked object is being debugged
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsObject
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsObject( void ) {}
|
||
|
|
|
||
|
|
// returns true if this object is static/unmoveable
|
||
|
|
// NOTE: returns false for objects that are not created static, but set EnableMotion(false);
|
||
|
|
// Call IsMoveable() to find if the object is static OR has motion disabled
|
||
|
|
virtual bool IsStatic() const = 0;
|
||
|
|
virtual bool IsAsleep() const = 0;
|
||
|
|
virtual bool IsTrigger() const = 0;
|
||
|
|
virtual bool IsFluid() const = 0; // fluids are special triggers with fluid controllers attached, they return true to IsTrigger() as well!
|
||
|
|
virtual bool IsHinged() const = 0;
|
||
|
|
virtual bool IsCollisionEnabled() const = 0;
|
||
|
|
virtual bool IsGravityEnabled() const = 0;
|
||
|
|
virtual bool IsDragEnabled() const = 0;
|
||
|
|
virtual bool IsMotionEnabled() const = 0;
|
||
|
|
virtual bool IsMoveable() const = 0; // legacy: IsMotionEnabled() && !IsStatic()
|
||
|
|
virtual bool IsAttachedToConstraint(bool bExternalOnly) const = 0;
|
||
|
|
|
||
|
|
// Enable / disable collisions for this object
|
||
|
|
virtual void EnableCollisions( bool enable ) = 0;
|
||
|
|
// Enable / disable gravity for this object
|
||
|
|
virtual void EnableGravity( bool enable ) = 0;
|
||
|
|
// Enable / disable air friction / drag for this object
|
||
|
|
virtual void EnableDrag( bool enable ) = 0;
|
||
|
|
// Enable / disable motion (pin / unpin the object)
|
||
|
|
virtual void EnableMotion( bool enable ) = 0;
|
||
|
|
|
||
|
|
// Game can store data in each object (link back to game object)
|
||
|
|
virtual void SetGameData( void *pGameData ) = 0;
|
||
|
|
virtual void *GetGameData( void ) const = 0;
|
||
|
|
// This flags word can be defined by the game as well
|
||
|
|
virtual void SetGameFlags( unsigned short userFlags ) = 0;
|
||
|
|
virtual unsigned short GetGameFlags( void ) const = 0;
|
||
|
|
virtual void SetGameIndex( unsigned short gameIndex ) = 0;
|
||
|
|
virtual unsigned short GetGameIndex( void ) const = 0;
|
||
|
|
|
||
|
|
// setup various callbacks for this object
|
||
|
|
virtual void SetCallbackFlags( unsigned short callbackflags ) = 0;
|
||
|
|
// get the current callback state for this object
|
||
|
|
virtual unsigned short GetCallbackFlags( void ) const = 0;
|
||
|
|
|
||
|
|
// "wakes up" an object
|
||
|
|
// NOTE: ALL OBJECTS ARE "Asleep" WHEN CREATED
|
||
|
|
virtual void Wake( void ) = 0;
|
||
|
|
virtual void Sleep( void ) = 0;
|
||
|
|
// call this when the collision filter conditions change due to this
|
||
|
|
// object's state (e.g. changing solid type or collision group)
|
||
|
|
virtual void RecheckCollisionFilter() = 0;
|
||
|
|
// NOTE: Contact points aren't updated when collision rules change, call this to force an update
|
||
|
|
// UNDONE: Force this in RecheckCollisionFilter() ?
|
||
|
|
virtual void RecheckContactPoints() = 0;
|
||
|
|
|
||
|
|
// mass accessors
|
||
|
|
virtual void SetMass( float mass ) = 0;
|
||
|
|
virtual float GetMass( void ) const = 0;
|
||
|
|
// get 1/mass (it's cached)
|
||
|
|
virtual float GetInvMass( void ) const = 0;
|
||
|
|
virtual Vector GetInertia( void ) const = 0;
|
||
|
|
virtual Vector GetInvInertia( void ) const = 0;
|
||
|
|
virtual void SetInertia( const Vector &inertia ) = 0;
|
||
|
|
|
||
|
|
virtual void SetDamping( const float *speed, const float *rot ) = 0;
|
||
|
|
virtual void GetDamping( float *speed, float *rot ) const = 0;
|
||
|
|
|
||
|
|
// coefficients are optional, pass either
|
||
|
|
virtual void SetDragCoefficient( float *pDrag, float *pAngularDrag ) = 0;
|
||
|
|
virtual void SetBuoyancyRatio( float ratio ) = 0; // Override bouyancy
|
||
|
|
|
||
|
|
// material index
|
||
|
|
virtual int GetMaterialIndex() const = 0;
|
||
|
|
virtual void SetMaterialIndex( int materialIndex ) = 0;
|
||
|
|
|
||
|
|
// contents bits
|
||
|
|
virtual unsigned int GetContents() const = 0;
|
||
|
|
virtual void SetContents( unsigned int contents ) = 0;
|
||
|
|
|
||
|
|
// Get the radius if this is a sphere object (zero if this is a polygonal mesh)
|
||
|
|
virtual float GetSphereRadius() const = 0;
|
||
|
|
virtual float GetEnergy() const = 0;
|
||
|
|
virtual Vector GetMassCenterLocalSpace() const = 0;
|
||
|
|
|
||
|
|
// NOTE: This will teleport the object
|
||
|
|
virtual void SetPosition( const Vector &worldPosition, const QAngle &angles, bool isTeleport ) = 0;
|
||
|
|
virtual void SetPositionMatrix( const matrix3x4_t&matrix, bool isTeleport ) = 0;
|
||
|
|
|
||
|
|
virtual void GetPosition( Vector *worldPosition, QAngle *angles ) const = 0;
|
||
|
|
virtual void GetPositionMatrix( matrix3x4_t *positionMatrix ) const = 0;
|
||
|
|
// force the velocity to a new value
|
||
|
|
// NOTE: velocity is in worldspace, angularVelocity is relative to the object's
|
||
|
|
// local axes (just like pev->velocity, pev->avelocity)
|
||
|
|
virtual void SetVelocity( const Vector *velocity, const AngularImpulse *angularVelocity ) = 0;
|
||
|
|
|
||
|
|
// like the above, but force the change into the simulator immediately
|
||
|
|
virtual void SetVelocityInstantaneous( const Vector *velocity, const AngularImpulse *angularVelocity ) = 0;
|
||
|
|
|
||
|
|
// NOTE: velocity is in worldspace, angularVelocity is relative to the object's
|
||
|
|
// local axes (just like pev->velocity, pev->avelocity)
|
||
|
|
virtual void GetVelocity( Vector *velocity, AngularImpulse *angularVelocity ) const = 0;
|
||
|
|
|
||
|
|
// NOTE: These are velocities, not forces. i.e. They will have the same effect regardless of
|
||
|
|
// the object's mass or inertia
|
||
|
|
virtual void AddVelocity( const Vector *velocity, const AngularImpulse *angularVelocity ) = 0;
|
||
|
|
// gets a velocity in the object's local frame of reference at a specific point
|
||
|
|
virtual void GetVelocityAtPoint( const Vector &worldPosition, Vector *pVelocity ) const = 0;
|
||
|
|
// gets the velocity actually moved by the object in the last simulation update
|
||
|
|
virtual void GetImplicitVelocity( Vector *velocity, AngularImpulse *angularVelocity ) const = 0;
|
||
|
|
// NOTE: These are here for convenience, but you can do them yourself by using the matrix
|
||
|
|
// returned from GetPositionMatrix()
|
||
|
|
// convenient coordinate system transformations (params - dest, src)
|
||
|
|
virtual void LocalToWorld( Vector *worldPosition, const Vector &localPosition ) const = 0;
|
||
|
|
virtual void WorldToLocal( Vector *localPosition, const Vector &worldPosition ) const = 0;
|
||
|
|
|
||
|
|
// transforms a vector (no translation) from object-local to world space
|
||
|
|
virtual void LocalToWorldVector( Vector *worldVector, const Vector &localVector ) const = 0;
|
||
|
|
// transforms a vector (no translation) from world to object-local space
|
||
|
|
virtual void WorldToLocalVector( Vector *localVector, const Vector &worldVector ) const = 0;
|
||
|
|
|
||
|
|
// push on an object
|
||
|
|
// force vector is direction & magnitude of impulse kg in / s
|
||
|
|
virtual void ApplyForceCenter( const Vector &forceVector ) = 0;
|
||
|
|
virtual void ApplyForceOffset( const Vector &forceVector, const Vector &worldPosition ) = 0;
|
||
|
|
// apply torque impulse. This will change the angular velocity on the object.
|
||
|
|
// HL Axes, kg degrees / s
|
||
|
|
virtual void ApplyTorqueCenter( const AngularImpulse &torque ) = 0;
|
||
|
|
|
||
|
|
// Calculates the force/torque on the center of mass for an offset force impulse (pass output to ApplyForceCenter / ApplyTorqueCenter)
|
||
|
|
virtual void CalculateForceOffset( const Vector &forceVector, const Vector &worldPosition, Vector *centerForce, AngularImpulse *centerTorque ) const = 0;
|
||
|
|
// Calculates the linear/angular velocities on the center of mass for an offset force impulse (pass output to AddVelocity)
|
||
|
|
virtual void CalculateVelocityOffset( const Vector &forceVector, const Vector &worldPosition, Vector *centerVelocity, AngularImpulse *centerAngularVelocity ) const = 0;
|
||
|
|
// calculate drag scale
|
||
|
|
virtual float CalculateLinearDrag( const Vector &unitDirection ) const = 0;
|
||
|
|
virtual float CalculateAngularDrag( const Vector &objectSpaceRotationAxis ) const = 0;
|
||
|
|
|
||
|
|
// returns true if the object is in contact with another object
|
||
|
|
// if true, puts a point on the contact surface in contactPoint, and
|
||
|
|
// a pointer to the object in contactObject
|
||
|
|
// NOTE: You can pass NULL for either to avoid computations
|
||
|
|
// BUGBUG: Use CreateFrictionSnapshot instead of this - this is a simple hack
|
||
|
|
virtual bool GetContactPoint( Vector *contactPoint, IPhysicsObject **contactObject ) const = 0;
|
||
|
|
|
||
|
|
// refactor this a bit - move some of this to IPhysicsShadowController
|
||
|
|
virtual void SetShadow( float maxSpeed, float maxAngularSpeed, bool allowPhysicsMovement, bool allowPhysicsRotation ) = 0;
|
||
|
|
virtual void UpdateShadow( const Vector &targetPosition, const QAngle &targetAngles, bool tempDisableGravity, float timeOffset ) = 0;
|
||
|
|
|
||
|
|
// returns number of ticks since last Update() call
|
||
|
|
virtual int GetShadowPosition( Vector *position, QAngle *angles ) const = 0;
|
||
|
|
virtual IPhysicsShadowController *GetShadowController( void ) const = 0;
|
||
|
|
virtual void RemoveShadowController() = 0;
|
||
|
|
// applies the math of the shadow controller to this object.
|
||
|
|
// for use in your own controllers
|
||
|
|
// returns the new value of secondsToArrival with dt time elapsed
|
||
|
|
virtual float ComputeShadowControl( const hlshadowcontrol_params_t ¶ms, float secondsToArrival, float dt ) = 0;
|
||
|
|
|
||
|
|
|
||
|
|
virtual const CPhysCollide *GetCollide( void ) const = 0;
|
||
|
|
virtual const char *GetName() const = 0;
|
||
|
|
|
||
|
|
virtual void BecomeTrigger() = 0;
|
||
|
|
virtual void RemoveTrigger() = 0;
|
||
|
|
|
||
|
|
// sets the object to be hinged. Fixed it place, but able to rotate around one axis.
|
||
|
|
virtual void BecomeHinged( int localAxis ) = 0;
|
||
|
|
// resets the object to original state
|
||
|
|
virtual void RemoveHinged() = 0;
|
||
|
|
|
||
|
|
// used to iterate the contact points of an object
|
||
|
|
virtual IPhysicsFrictionSnapshot *CreateFrictionSnapshot() = 0;
|
||
|
|
virtual void DestroyFrictionSnapshot( IPhysicsFrictionSnapshot *pSnapshot ) = 0;
|
||
|
|
|
||
|
|
// dumps info about the object to Msg()
|
||
|
|
virtual void OutputDebugInfo() const = 0;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
abstract_class IPhysicsSpring
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsSpring( void ) {}
|
||
|
|
virtual void GetEndpoints( Vector *worldPositionStart, Vector *worldPositionEnd ) = 0;
|
||
|
|
virtual void SetSpringConstant( float flSpringContant) = 0;
|
||
|
|
virtual void SetSpringDamping( float flSpringDamping) = 0;
|
||
|
|
virtual void SetSpringLength( float flSpringLenght) = 0;
|
||
|
|
|
||
|
|
// Get the starting object
|
||
|
|
virtual IPhysicsObject *GetStartObject( void ) = 0;
|
||
|
|
|
||
|
|
// Get the end object
|
||
|
|
virtual IPhysicsObject *GetEndObject( void ) = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: These properties are defined per-material. This is accessible at
|
||
|
|
// each triangle in a collision mesh
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct surfacephysicsparams_t
|
||
|
|
{
|
||
|
|
// vphysics physical properties
|
||
|
|
float friction;
|
||
|
|
float elasticity; // collision elasticity - used to compute coefficient of restitution
|
||
|
|
float density; // physical density (in kg / m^3)
|
||
|
|
float thickness; // material thickness if not solid (sheet materials) in inches
|
||
|
|
float dampening;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct surfaceaudioparams_t
|
||
|
|
{
|
||
|
|
// sounds / audio data
|
||
|
|
float reflectivity; // like elasticity, but how much sound should be reflected by this surface
|
||
|
|
float hardnessFactor; // like elasticity, but only affects impact sound choices
|
||
|
|
float roughnessFactor; // like friction, but only affects scrape sound choices
|
||
|
|
|
||
|
|
// audio thresholds
|
||
|
|
float roughThreshold; // surface roughness > this causes "rough" scrapes, < this causes "smooth" scrapes
|
||
|
|
float hardThreshold; // surface hardness > this causes "hard" impacts, < this causes "soft" impacts
|
||
|
|
float hardVelocityThreshold; // collision velocity > this causes "hard" impacts, < this causes "soft" impacts
|
||
|
|
// NOTE: Hard impacts must meet both hardnessFactor AND velocity thresholds
|
||
|
|
};
|
||
|
|
|
||
|
|
struct surfacesoundnames_t
|
||
|
|
{
|
||
|
|
unsigned short stepleft;
|
||
|
|
unsigned short stepright;
|
||
|
|
|
||
|
|
unsigned short impactSoft;
|
||
|
|
unsigned short impactHard;
|
||
|
|
|
||
|
|
unsigned short scrapeSmooth;
|
||
|
|
unsigned short scrapeRough;
|
||
|
|
|
||
|
|
unsigned short bulletImpact;
|
||
|
|
unsigned short rolling;
|
||
|
|
|
||
|
|
unsigned short breakSound;
|
||
|
|
unsigned short strainSound;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct surfacesoundhandles_t
|
||
|
|
{
|
||
|
|
short stepleft;
|
||
|
|
short stepright;
|
||
|
|
|
||
|
|
short impactSoft;
|
||
|
|
short impactHard;
|
||
|
|
|
||
|
|
short scrapeSmooth;
|
||
|
|
short scrapeRough;
|
||
|
|
|
||
|
|
short bulletImpact;
|
||
|
|
short rolling;
|
||
|
|
|
||
|
|
short breakSound;
|
||
|
|
short strainSound;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct surfacegameprops_t
|
||
|
|
{
|
||
|
|
// game movement data
|
||
|
|
float maxSpeedFactor; // Modulates player max speed when walking on this surface
|
||
|
|
float jumpFactor; // Indicates how much higher the player should jump when on the surface
|
||
|
|
// Game-specific data
|
||
|
|
unsigned short material;
|
||
|
|
// Indicates whether or not the player is on a ladder.
|
||
|
|
unsigned char climbable;
|
||
|
|
unsigned char pad;
|
||
|
|
};
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: Each different material has an entry like this
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct surfacedata_t
|
||
|
|
{
|
||
|
|
surfacephysicsparams_t physics; // physics parameters
|
||
|
|
surfaceaudioparams_t audio; // audio parameters
|
||
|
|
surfacesoundnames_t sounds; // names of linked sounds
|
||
|
|
surfacegameprops_t game; // Game data / properties
|
||
|
|
|
||
|
|
surfacesoundhandles_t soundhandles;
|
||
|
|
};
|
||
|
|
|
||
|
|
#define VPHYSICS_SURFACEPROPS_INTERFACE_VERSION "VPhysicsSurfaceProps001"
|
||
|
|
abstract_class IPhysicsSurfaceProps
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsSurfaceProps( void ) {}
|
||
|
|
|
||
|
|
// parses a text file containing surface prop keys
|
||
|
|
virtual int ParseSurfaceData( const char *pFilename, const char *pTextfile ) = 0;
|
||
|
|
// current number of entries in the database
|
||
|
|
virtual int SurfacePropCount( void ) const = 0;
|
||
|
|
|
||
|
|
virtual int GetSurfaceIndex( const char *pSurfacePropName ) const = 0;
|
||
|
|
virtual void GetPhysicsProperties( int surfaceDataIndex, float *density, float *thickness, float *friction, float *elasticity ) const = 0;
|
||
|
|
|
||
|
|
virtual surfacedata_t *GetSurfaceData( int surfaceDataIndex ) = 0;
|
||
|
|
virtual const char *GetString( unsigned short stringTableIndex ) const = 0;
|
||
|
|
|
||
|
|
|
||
|
|
virtual const char *GetPropName( int surfaceDataIndex ) const = 0;
|
||
|
|
|
||
|
|
// sets the global index table for world materials
|
||
|
|
// UNDONE: Make this per-CPhysCollide
|
||
|
|
virtual void SetWorldMaterialIndexTable( int *pMapArray, int mapSize ) = 0;
|
||
|
|
|
||
|
|
// NOTE: Same as GetPhysicsProperties, but maybe more convenient
|
||
|
|
virtual void GetPhysicsParameters( int surfaceDataIndex, surfacephysicsparams_t *pParamsOut ) const = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
abstract_class IPhysicsFluidController
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~IPhysicsFluidController( void ) {}
|
||
|
|
|
||
|
|
virtual void SetGameData( void *pGameData ) = 0;
|
||
|
|
virtual void *GetGameData( void ) const = 0;
|
||
|
|
|
||
|
|
virtual void GetSurfacePlane( Vector *pNormal, float *pDist ) const = 0;
|
||
|
|
virtual float GetDensity() const = 0;
|
||
|
|
virtual void WakeAllSleepingObjects() = 0;
|
||
|
|
virtual int GetContents() const = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: parameter block for creating fluid dynamic motion
|
||
|
|
// UNDONE: Expose additional fluid model paramters?
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct fluidparams_t
|
||
|
|
{
|
||
|
|
Vector4D surfacePlane; // x,y,z normal, dist (plane constant) fluid surface
|
||
|
|
Vector currentVelocity; // velocity of the current in inches/second
|
||
|
|
float damping; // damping factor for buoyancy (tweak)
|
||
|
|
float torqueFactor;
|
||
|
|
float viscosityFactor;
|
||
|
|
void *pGameData;
|
||
|
|
bool useAerodynamics;// true if this controller should calculate surface pressure
|
||
|
|
int contents;
|
||
|
|
|
||
|
|
fluidparams_t() {}
|
||
|
|
fluidparams_t( fluidparams_t const& src )
|
||
|
|
{
|
||
|
|
Vector4DCopy( src.surfacePlane, surfacePlane );
|
||
|
|
VectorCopy( src.currentVelocity, currentVelocity );
|
||
|
|
damping = src.damping;
|
||
|
|
torqueFactor = src.torqueFactor;
|
||
|
|
viscosityFactor = src.viscosityFactor;
|
||
|
|
contents = src.contents;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: parameter block for creating linear springs
|
||
|
|
// UNDONE: Expose additional spring model paramters?
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct springparams_t
|
||
|
|
{
|
||
|
|
springparams_t()
|
||
|
|
{
|
||
|
|
memset( this, 0, sizeof(*this) );
|
||
|
|
}
|
||
|
|
float constant; // spring constant
|
||
|
|
float naturalLength;// relaxed length
|
||
|
|
float damping; // damping factor
|
||
|
|
float relativeDamping; // relative damping (damping proportional to the change in the relative position of the objects)
|
||
|
|
Vector startPosition;
|
||
|
|
Vector endPosition;
|
||
|
|
bool useLocalPositions; // start & end Position are in local space to start and end objects if this is true
|
||
|
|
bool onlyStretch; // only apply forces when the length is greater than the natural length
|
||
|
|
};
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: parameter block for creating polygonal objects
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct objectparams_t
|
||
|
|
{
|
||
|
|
Vector *massCenterOverride;
|
||
|
|
float mass;
|
||
|
|
float inertia;
|
||
|
|
float damping;
|
||
|
|
float rotdamping;
|
||
|
|
float rotInertiaLimit;
|
||
|
|
const char *pName; // used only for debugging
|
||
|
|
void *pGameData;
|
||
|
|
float volume;
|
||
|
|
float dragCoefficient;
|
||
|
|
bool enableCollisions;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct convertconvexparams_t
|
||
|
|
{
|
||
|
|
bool buildOuterConvexHull;
|
||
|
|
bool buildDragAxisAreas;
|
||
|
|
bool buildOptimizedTraceTables;
|
||
|
|
float dragAreaEpsilon;
|
||
|
|
CPhysConvex *pForcedOuterHull;
|
||
|
|
|
||
|
|
void Defaults()
|
||
|
|
{
|
||
|
|
dragAreaEpsilon = 0.25f; // 0.5in x 0.5in square
|
||
|
|
buildOuterConvexHull = false;
|
||
|
|
buildDragAxisAreas = false;
|
||
|
|
buildOptimizedTraceTables = false;
|
||
|
|
pForcedOuterHull = NULL;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Physics interface IDs
|
||
|
|
//
|
||
|
|
// Note that right now the order of the enum also defines the order of save/load
|
||
|
|
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
// Purpose: parameter blocks for save and load operations
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
struct physsaveparams_t
|
||
|
|
{
|
||
|
|
ISave *pSave;
|
||
|
|
void *pObject;
|
||
|
|
PhysInterfaceId_t type;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct physrestoreparams_t
|
||
|
|
{
|
||
|
|
IRestore *pRestore;
|
||
|
|
void **ppObject;
|
||
|
|
PhysInterfaceId_t type;
|
||
|
|
void *pGameData;
|
||
|
|
const char *pName; // used only for debugging
|
||
|
|
const CPhysCollide *pCollisionModel;
|
||
|
|
IPhysicsEnvironment *pEnvironment;
|
||
|
|
IPhysicsGameTrace *pGameTrace;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct physrecreateparams_t
|
||
|
|
{
|
||
|
|
void *pOldObject;
|
||
|
|
void *pNewObject;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct physprerestoreparams_t
|
||
|
|
{
|
||
|
|
int recreatedObjectCount;
|
||
|
|
physrecreateparams_t recreatedObjectList[1];
|
||
|
|
};
|
||
|
|
|
||
|
|
//-------------------------------------
|
||
|
|
|
||
|
|
#define DEFINE_PIID( type, enumval ) \
|
||
|
|
template <> inline PhysInterfaceId_t GetPhysIID<type>( type ** ) { return enumval; }
|
||
|
|
|
||
|
|
template <class PHYSPTR> inline PhysInterfaceId_t GetPhysIID(PHYSPTR **); // will get link error if no match
|
||
|
|
|
||
|
|
DEFINE_PIID( IPhysicsObject, PIID_IPHYSICSOBJECT );
|
||
|
|
DEFINE_PIID( IPhysicsFluidController, PIID_IPHYSICSFLUIDCONTROLLER );
|
||
|
|
DEFINE_PIID( IPhysicsSpring, PIID_IPHYSICSSPRING );
|
||
|
|
DEFINE_PIID( IPhysicsConstraintGroup, PIID_IPHYSICSCONSTRAINTGROUP );
|
||
|
|
DEFINE_PIID( IPhysicsConstraint, PIID_IPHYSICSCONSTRAINT );
|
||
|
|
DEFINE_PIID( IPhysicsShadowController, PIID_IPHYSICSSHADOWCONTROLLER );
|
||
|
|
DEFINE_PIID( IPhysicsPlayerController, PIID_IPHYSICSPLAYERCONTROLLER );
|
||
|
|
DEFINE_PIID( IPhysicsMotionController, PIID_IPHYSICSMOTIONCONTROLLER );
|
||
|
|
DEFINE_PIID( IPhysicsVehicleController, PIID_IPHYSICSVEHICLECONTROLLER );
|
||
|
|
DEFINE_PIID( IPhysicsGameTrace, PIID_IPHYSICSGAMETRACE );
|
||
|
|
|
||
|
|
//-----------------------------------------------------------------------------
|
||
|
|
|
||
|
|
#endif // VPHYSICS_INTERFACE_H
|