first commit

include/engine/physic/physic_constraint.h

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+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSIC_CONSTRAINT__
+#define	__NPHYSIC_CONSTRAINT__
+
+
+		#include "physic/physic_item.h"
+		#include "physic/physic_constraint_desc.h"
+
+namespace GS {
+	class Matrix4;
+	namespace S3D {
+
+/*
+	@short	Base physic constraint.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+class	PhysicConstraint
+{
+protected:
+
+		PhysicConstraintDesc::Type type;
+		sPhysicItem		item_a, item_b;
+
+public:
+
+virtual	void			SetPivotA(const Matrix4 &) = 0;
+virtual	void			SetPivotB(const Matrix4 &) = 0;
+
+virtual	bool			SetupConstraint(const PhysicConstraintDesc &) = 0;
+virtual	void			DeleteConstraint() = 0;
+
+virtual	void			Enable(bool = true) = 0;
+
+		PhysicConstraint() : type(PhysicConstraintDesc::TypeNone) {}
+virtual	~PhysicConstraint() {}
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSIC_CONSTRAINT__

include/engine/physic/physic_constraint_desc.h

@@ -0,0 +1,43 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSIC_CONSTRAINT_DESC__
+#define	__NPHYSIC_CONSTRAINT_DESC__
+
+
+		#include "scene3d/mitem.h"
+		#include "math/matrix4.h"
+		#include "memory/nweak_ptr.h"
+
+
+namespace GS {
+	namespace NML { class Tag; }
+	namespace S3D {
+
+//
+struct	PhysicConstraintDesc
+{
+enum	Type
+{
+		TypeNone		=	0,
+		TypePoint,
+		TypeHinge
+};
+
+		Type			type;
+
+		WeakPtr <MItem> item_a, item_b;
+		Matrix4			pivot_a, pivot_b;
+
+		bool			FromMetaTag(NML::Tag &);
+		NML::Tag		*AsMetaTag() const;
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSIC_CONSTRAINT_DESC__

include/engine/physic/physic_item.h

@@ -0,0 +1,122 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSICITEM__
+#define	__NPHYSICITEM__
+
+
+		#include "memory/nshared_ptr.h"
+		#include "ntypes.h"
+
+
+namespace GS {
+	struct Vector4;
+	class Matrix3;
+	class Matrix4;
+
+	namespace S3D {
+		struct PhysicItemDesc;
+		class PhysicWorld;
+
+/*!
+	@short	Abstract physic item.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+class	PhysicItem : public SharedObject
+{
+protected:
+
+		void			*user_ptr;
+
+public:
+
+		void			SetUserPointer(void *p) { user_ptr = p; }
+		void			*GetUserPointer() const { return user_ptr; }
+
+virtual	void			SetSelfMask(uint) = 0;
+virtual	void			SetCollisionMask(uint) = 0;
+
+virtual	void			SetLinearFactor(const Vector4 &) = 0;
+virtual	void			SetAngularFactor(const Vector4 &) = 0;
+
+virtual	void			SetScale(const Vector4 &) = 0;
+virtual	Vector4			GetScale() const = 0;
+
+virtual	void			SetGravity(const Vector4 &) = 0;
+virtual	Vector4			GetGravity() const = 0;
+virtual	void			ApplyImpulse(const Vector4 &I, const Vector4 *p = 0) = 0;
+virtual	void			ApplyForce(const Vector4 &F, const Vector4 *p = 0) = 0;
+virtual	void			ApplyTorque(const Vector4 &) = 0;
+
+virtual	void			SetAngularVelocity(const Vector4 &) = 0;
+virtual	Vector4			GetAngularVelocity() const = 0;
+virtual	void			SetLinearVelocity(const Vector4 &) = 0;
+virtual	Vector4			GetLinearVelocity() const = 0;
+
+virtual	Vector4			GetLocalPointVelocity(const Vector4 &) const = 0;
+virtual	Vector4			GetWorldPointVelocity(const Vector4 &) const = 0;
+
+virtual	void			SetLinearDamping(float) = 0;
+virtual	float			GetLinearDamping() const = 0;
+virtual	void			SetAngularDamping(float) = 0;
+virtual	float			GetAngularDamping() const = 0;
+
+virtual	Vector4			GetCenterOfMass() const = 0;
+
+/*!
+	@short	Vehicle.
+	@{
+*/
+virtual	void			VehicleSetForce(float nUnused(F), uint nUnused(wheel_index)) = 0;
+virtual	void			VehicleSetBrake(float nUnused(F), uint nUnused(wheel_index)) = 0;
+virtual	void			VehicleSetSteering(float nUnused(v), uint nUnused(wheel_index)) = 0;
+virtual	void			VehicleSetFriction(float nUnused(f), uint nUnused(wheel_index)) = 0;
+
+		/// Get wheel matrix as returned by the model.
+virtual	Matrix4			VehicleGetWheelMatrix(uint nUnused(wheel_index)) = 0;
+/// @}
+
+/*!
+	@short	Character.
+	@{
+*/
+virtual	void			CharacterSetRotationMatrix(const Matrix3 &) = 0;
+virtual	void			CharacterSetVelocity(const Vector4 &) = 0;
+/// @}
+
+		/*!
+			@short	Get graphic matrix.
+
+			This is usually an interpolated version of the internal
+			current and previous matrices.
+		*/
+virtual	void			GetGraphicMatrix(Matrix4 &) = 0;
+virtual	void			SetEngineMatrix(const Matrix4 &) = 0;
+virtual	void			GetMatrix(Matrix4 &) = 0;
+virtual	void			SetMatrix(const Matrix4 &) = 0;
+
+virtual	void			SetSleeping(bool = false) = 0;
+virtual	bool			IsSleeping() const = 0;
+virtual	void			SetActive(bool = true) = 0;
+virtual	bool			GetActive() const = 0;
+
+virtual	void			ResetBody() = 0;
+
+virtual	bool			SetupBody(const PhysicItemDesc &, PhysicWorld *) = 0;
+virtual	void			ForceUpdateMassShapePhysic(const PhysicItemDesc &, PhysicWorld *) = 0;
+virtual	void			DeleteBody() = 0;
+
+		PhysicItem() : user_ptr(0) {}
+virtual	~PhysicItem() {}
+};
+
+typedef	SharedPtr <PhysicItem> sPhysicItem;
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSICITEM__

include/engine/physic/physic_item_desc.h

@@ -0,0 +1,89 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSICITEMDESC__
+#define	__NPHYSICITEMDESC__
+
+
+		#include "physic/physic_shape.h"
+		#include "physic/physic_wheel.h"
+		#include "memory/bit_field.h"
+
+
+namespace GS {
+	namespace S3D {
+
+//
+struct	PhysicItemDesc
+{
+		/// Physic mode.
+enum	Mode
+{
+		Mode_None				=	0,
+		Mode_Static,
+		Mode_Kinematic,
+		Mode_Dynamic,
+		Mode_Character,
+		Mode_Vehicle
+};
+
+		/// Physic flag.
+enum
+{
+		PhysicFlag_None			=	0,
+		PhysicFlag_NoGravity	=	(1 << 0),
+		PhysicFlag_Ghost		=	(1 << 1)
+};
+
+		Mode			physic_mode;
+		BitField		physic_flags;
+
+		uint			self_mask, collision_mask;
+
+		AutoList <PhysicShape *> shape_list;
+
+		float			linear_damping, angular_damping;
+		Vector4			linear_factor, angular_factor;
+
+struct	Vehicle
+{
+		AutoList <PhysicWheel *> wheel_list;
+};
+		Vehicle			vehicle;
+
+struct	Character
+{
+		float	radius;
+		float	height;
+		float	max_step;
+
+		Character() : radius(1), height(1), max_step(0.2f) {}
+};
+		Character		character;
+
+		float			GetMass() const;
+
+		bool			FromMetaTag(NML::Tag &);
+		NML::Tag		*AsMetaTag() const;
+
+		PhysicItemDesc()
+		{
+			physic_mode = Mode_None;
+
+			linear_factor.Set(1, 1, 1);
+			angular_factor.Set(1, 1, 1);
+			linear_damping = 1;
+			angular_damping = 1;
+
+			self_mask = collision_mask = 1;
+		}
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSICITEMDESC__

include/engine/physic/physic_message.h

@@ -0,0 +1,57 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSIC_MESSAGE__
+#define	__NPHYSIC_MESSAGE__
+
+
+class	nPhysicConstraint;
+class	nPhysicItem;
+
+
+/*
+	@short	Physic message enum.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+enum	nPhysicMessage
+{
+	PhysicMsg_None					=	0,		///< No message.
+
+	PhysicMsg_AddingConstraint,
+	PhysicMsg_ConstraintAdded,
+	PhysicMsg_DeletingConstraint,
+	PhysicMsg_ConstraintDeleted,
+
+	PhysicMsg_LastMessage
+};
+
+/*
+	@short	Physic message return value.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+enum	nPhysicReturnValue
+{
+	PhysicReturn_Ok					=	0
+};
+
+//
+struct	nPhysicConstraintMessage
+{
+		nPhysicConstraint	*c;
+		nPhysicConstraintMessage(nPhysicConstraint *_c)
+		{	c = _c;	}
+};
+
+/// Physic listener.
+class	nPhysicListener
+{
+public:
+
+virtual	nPhysicReturnValue	ProcessMessage(nPhysicMessage message, void *parm) = 0;
+};
+
+
+#endif	// __NPHYSIC_MESSAGE__

include/engine/physic/physic_shape.h

@@ -0,0 +1,89 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSICSHAPE__
+#define	__NPHYSICSHAPE__
+
+
+		#include "physic/physic_wheel.h"
+		#include "container/narray.h"
+		#include "nstring/nstring.h"
+
+
+namespace GS {
+	namespace NML { class Tag; }
+	namespace S3D {
+
+/*!
+	@short	Physic shape.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+struct	PhysicShape
+{
+enum	Type
+{
+		TypeNone	=	0,
+		TypeBox,
+		TypeSphere,
+		TypeConvex,
+		TypeCylinder,
+		TypeCone,
+		TypeCapsule,
+		TypeMesh,
+		TypeHeightmap
+};
+
+protected:
+
+		Type			type;
+
+		int				width, height;
+		Array <float> heightmap;
+
+		float			resolution;
+
+public:
+
+		void			Free();
+
+		Matrix4			GetMatrix();
+		void			SetMatrix(const Matrix4 &);
+
+		String			path;
+
+		Vector4			position,				///< Position.
+						rotation,				///< Rotation.
+						scale,					///< Scale.
+						dimensions;				///< Dimensions.
+
+		float			mass,
+						restitution,
+						dynamic_friction,
+						static_friction;
+
+		float			*GetHeightmap() const { return heightmap; }
+		int				GetWidth() const { return width; }
+		int				GetHeight() const { return height; }
+		float			GetResolution() const { return resolution; }
+
+		bool			Set(float *heightmap, int width, int height, float resolution);
+		bool			Set(Type, const char *path);
+		bool			Set(Type = TypeNone, const Vector4 & = Vector4(1, 1, 1));
+
+		Type			GetType() const { return type; }
+
+		bool			FromMetaTag(NML::Tag &);
+		NML::Tag		*AsMetaTag() const;
+
+		PhysicShape();
+		~PhysicShape();
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSICSHAPE__

include/engine/physic/physic_wheel.h

@@ -0,0 +1,61 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSICWHEEL__
+#define	__NPHYSICWHEEL__
+
+
+		#include "math/matrix4.h"
+		#include "memory/nshared_ptr.h"
+		#include "container/nlist.h"
+
+
+namespace GS {
+	namespace NML { class Tag; }
+	namespace S3D {
+
+/*!
+	@short	Abstract physic wheel for the physic vehicle model.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+struct	PhysicWheel
+{
+/*!
+	@name	Wheel section.
+	@{
+*/
+		float			friction, radius;
+/*!
+	@}
+	@name	Suspension section.
+	@{
+*/
+		Matrix4			ref_matrix;		///< Suspension origin in vehicle body space.
+
+		float			rest_length,
+						max_compression,
+						stiffness,
+						damping;
+/// @}
+
+/*!
+	@name	Serialization.
+	@{
+*/
+		bool			FromMetaTag(NML::Tag &tag);
+		NML::Tag		*AsMetaTag() const;
+/// @}
+
+		PhysicWheel();
+};
+
+typedef	List <PhysicWheel *> PhysicWheelList;
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSICWHEEL__

include/engine/physic/physic_world.h

@@ -0,0 +1,137 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NPHYSICWORLD__
+#define	__NPHYSICWORLD__
+
+
+		#include "physic/physic_world_interface.h"
+		#include "physic/physic_message.h"
+		#include "math/vector.h"
+		#include "timing/benchmark.h"
+		#include "container/nlist.h"
+		#include "nstring/nstring.h"
+
+
+namespace GS {
+
+	namespace Core { class Camera; }
+
+	namespace Render {
+		class Renderer;
+		class RasterFont;
+	}
+	namespace S3D {
+		class PhysicItem;
+		class PhysicConstraint;
+		struct PhysicShape;
+
+		using Core::Camera;
+		using Render::Renderer;
+		using Render::RasterFont;
+
+/// Raytrace hit result structure.
+struct	PhysicTrace
+{
+		Vector4			n, p;		///< Intersection normal and point in world space.
+		String			m;			///< Material name at intersection point.
+		PhysicShape		*s;
+		PhysicItem		*i;
+
+		PhysicTrace() : m(0), s(0), i(0) {}
+};
+
+/// Collision pair.
+struct	CollisionPair
+{
+		PhysicItem		*a, *b;
+		uint			contact_count;
+		Vector4			contact[4], normal[4];
+
+		CollisionPair() : a(0), b(0), contact_count(0) {}
+};
+
+/*
+	@short	Abstract physic world.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+class	PhysicWorld
+{
+protected:
+
+		float			timestep,
+						substep_dt;
+		Vector4			gravity;
+
+		IPhysicWorld	*world_interface;
+
+public:
+
+		Benchmark	bench_step;
+
+virtual	PhysicItem		*NewItem() = 0;
+virtual	PhysicConstraint *NewConstraint() = 0;
+
+		/// Clear convex/mesh cache.
+virtual	void			ClearConvexMeshCache() = 0;
+
+virtual	bool			HasDebugger() const { return false; }
+virtual	void			CreateDebugger(Renderer * = 0) {}
+
+		/// Draw debug informations (native library display).
+virtual	void			DrawDebug(Renderer &, Camera *, RasterFont *, bool xray_first_pass) {}
+
+		void			SetWorldInterface(IPhysicWorld *i) { world_interface = i; }
+		IPhysicWorld	*GetWorldInterface() const { return world_interface; }
+
+		void			SetTimestep(float t = 1.f / 60.f) { timestep = t; }
+		float			GetTimestep() const { return timestep; }
+
+		void			SetGravity(const Vector4 &g) { gravity = g; }
+const	Vector4			&GetGravity() const { return gravity; }
+
+virtual	bool			Create() = 0;
+virtual	void			Delete() = 0;
+
+		/// Raytrace world.
+virtual	bool			Raytrace(const Vector4 &s, const Vector4 &d, PhysicTrace &hit, int collision_mask = ~0, int shape_mask = ~0, float max_distance = -1.f) = 0;
+
+		/// Return the number of collision pair in the previous step.
+virtual	uint			GetCollisionPairCount() = 0;
+		/// Return the number of collision pair in the previous step.
+virtual	bool			GetCollisionPair(uint n, CollisionPair &) = 0;
+
+virtual	void			Step(const Time &dt) = 0;
+
+/*!
+	@name	Low-level message broadcasting system.
+	@{
+*/
+protected:
+
+		/// Physics message listener.
+		List <nPhysicListener *> listener_list;
+
+public:
+
+		bool			RegisterMessageListener(nPhysicListener *listener) { return asbool(listener_list.Add(listener)); }
+		bool			UnregisterMessageListener(nPhysicListener *listener) { return listener_list.Remove(listener); }
+		void			BroadcastMessage(nPhysicMessage msg, void *parm = 0)
+		{
+			ListForeachPtr(nPhysicListener *, listener, listener_list)
+				listener->ProcessMessage(msg, parm);
+		}
+/// @}
+
+		PhysicWorld();
+virtual	~PhysicWorld() {}
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __NPHYSICWORLD__

include/engine/physic/physic_world_interface.h

@@ -0,0 +1,30 @@
+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__PHYSICWORLDINTERFACE__
+#define	__PHYSICWORLDINTERFACE__
+
+
+namespace GS {
+	namespace S3D {
+
+/*
+	@short	Physic world interface.
+	@author	Emmanuel Julien (ejulien@gsworks.fr)
+*/
+struct	IPhysicWorld
+{
+		/// Called whenever a physic tick is done.
+virtual	void			PhysicStep(float, bool = true) {}
+
+virtual	~IPhysicWorld() {}
+};
+
+	} // S3D
+} // GS
+
+
+#endif	// __PHYSICWORLDINTERFACE__