physics/ODESolidSystem

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/* **-*-c++-*-**************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file 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. (http://www.gnu.org)
  
  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
  
  $Id: ODESolidSystem 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.12 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
  
****************************************************************************/

#ifndef _PHYSICS_ODESOLIDSYSTEM_
#define _PHYSICS_ODESOLIDSYSTEM_

#include <base/reflist>
#include <physics/physics>
#include <physics/SolidSystem>
#include <physics/CollidableGroup>
#include <physics/PotentialCollisionListener>

#include <ode/ode.h>


namespace physics {


class ODESolidSystem : public SolidSystem, public PotentialCollisionListener
{
public:
  ODESolidSystem();
  ODESolidSystem(const ODESolidSystem& ss);
  virtual ~ODESolidSystem();
  
  virtual String className() const { return String("ODESolidSystem"); }
  
  virtual ref<Solid>             createSolid(ref<const Shape> shape, ref<const Material> material);  ///< create a new Solid
  virtual ref<ConstraintGroup>   createConstraintGroup();  ///< new ConstraintGroup

  virtual ref<BallJoint>         createBallJoint();        ///< new Ball & Socket joint constraint
  virtual ref<HingeJoint>        createHingeJoint();       ///< new Hinge joint constraint
  virtual ref<DoubleHingeJoint>  createDoubleHingeJoint(); ///< new Double Hinge joint constraint
  virtual ref<SliderJoint>       createSliderJoint();      ///< new Slider joint constraint
  virtual ref<UniversalJoint>    createUniversalJoint();   ///< new Universal joint constraint

  virtual ref<FixedConstraint>   createFixedConstraint();  ///< new FixedConstraint
  virtual ref<ContactConstraint> createContactConstraint();///< new ContactConstraint

  virtual ref<Motor>             createMotor();            ///< new Joint Motor

  virtual void setGround(ref<Solid> ground, const Point3& position); ///< Set the ground Solid (which is fixed to the world frame and doesn't move from position)
  virtual ref<Solid> getGround() const;      ///< Get the ground Solid
  virtual void setGravity(const Vector3& v); ///< set acceleration due to gravity
  
  virtual void addSolid(ref<Solid> solid); ///< add solid to the system (Solid must be from createSolid()
  virtual void removeSolid(ref<const Solid> solid); ///< remove solid from the system

  virtual void addConstraintGroup(ref<ConstraintGroup> group); ///< add a constraint group to the system
  virtual void removeConstraintGroup(ref<const ConstraintGroup> group); ///< remove constraint group from the system

  virtual void setCollidable(ref<Collidable> collidable) { this->collidable = collidable; }

  virtual void setCollisionCuller(ref<CollisionCuller> collisionCuller);       ///< called to cull Collidables from collision detection
  virtual ref<CollisionCuller>   getCollisionCuller() const;   ///< get the current CollisionCuller
  
  virtual void setCollisionDetector(ref<CollisionDetector> collisionDetector); ///< called to detect collisions
  virtual ref<CollisionDetector> getCollisionDetector() const; ///< get the current CollisionDetector (or null if none)

  virtual void setCollisionResponseHandler(ref<CollisionResponseHandler> collisionResponseHandler); ///< called to handle collisions
  virtual ref<CollisionResponseHandler> getCollisionResponseHandler() const; 

  virtual void setParameter(const String& name, Real value);

  // Simulatable
  virtual void preSimulate();
  virtual void simulateForSimTime(const base::Time& dt);

  // Visual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Visual::Attributes visualAttributes=0) const;
  
  // CollidableProvider
  virtual ref<Collidable> createCollidable(CollidableFlags flags = 0);
  
  // PotentialCollisionListener
  virtual void reset();
  virtual void potentialCollision(ref<const Collidable> collidable1, ref<const Collidable> collidable2);

protected:
  bool active; ///< if false, physics simulation or collision detection is performed
  
  dWorldID worldID; ///< ODE's World ID

  typedef base::reflist<Solid> Solids; 
  Solids solids;
  
  typedef base::reflist<ConstraintGroup> ConstraintGroups;
  ConstraintGroups constraintGroups;

  enum CollisionListenMode { HandleCollisions, RecordInterpenetrations };
  CollisionListenMode collisionListenMode;
  bool initialPenetrations;
  typedef std::pair< ref<const Collidable>, ref<const Collidable> > CollidablePair;
  typedef array<CollidablePair> PenetratingPairs;
  PenetratingPairs initiallyPenetratingPairs;

  ref<CollisionCuller>   collisionCuller;
  ref<CollisionDetector> collisionDetector;
  ref<CollisionResponseHandler> collisionHandler;
  
  ref<Collidable> collidable;
  
  ref<Solid> ground; ///< the Solid ground (or 0)
  dJointID groundJoint; ///< fixed joint that connects the ground Solid to the world frame.

  bool preSimulateCalled;

  // for Visual
  mutable Visual::Attributes attributes;
  mutable ref_ptr<osg::Group> node; // ==0 => no Visual has been created

  void updateVisual() const;
};

} // physics


#endif

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