/*
* All or portions of this file Copyright (c) Amazon.com, Inc. or its affiliates or
* its licensors.
*
* For complete copyright and license terms please see the LICENSE at the root of this
* distribution (the "License"). All use of this software is governed by the License,
* or, if provided, by the license below or the license accompanying this file. Do not
* remove or modify any license notices. This file is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
*
*/
// Original file Copyright Crytek GMBH or its affiliates, used under license.
// Description : declarations of all physics interfaces and structures
#ifndef CRYINCLUDE_CRYCOMMON_PHYSINTERFACE_H
#define CRYINCLUDE_CRYCOMMON_PHYSINTERFACE_H
#pragma once
#include <SerializeFwd.h>
#include "Cry_Geo.h"
#include "stridedptr.h"
#include "primitives.h"
#ifdef NEED_ENDIAN_SWAP
#include "CryEndian.h"
#endif
#include <ISystem.h>
//////////////////////////////////////////////////////////////////////////
// Physics defines.
//////////////////////////////////////////////////////////////////////////
// Assert if CryPhysics is disabled and still used
#define ENABLE_CRY_PHYSICS_USAGE_ASSERT 0
enum EPE_Params
{
ePE_params_pos = 0,
ePE_player_dimensions = 1,
ePE_params_car = 2,
ePE_params_particle = 3,
ePE_player_dynamics = 4,
ePE_params_joint = 5,
ePE_params_part = 6,
ePE_params_sensors = 7,
ePE_params_articulated_body = 8,
ePE_params_outer_entity = 9,
ePE_simulation_params = 10,
ePE_params_foreign_data = 11,
ePE_params_buoyancy = 12,
ePE_params_rope = 13,
ePE_params_bbox = 14,
ePE_params_flags = 15,
ePE_params_wheel = 16,
ePE_params_softbody = 17,
ePE_params_area = 18,
ePE_tetrlattice_params = 19,
ePE_params_ground_plane = 20,
ePE_params_structural_joint = 21,
ePE_params_waterman = 22,
ePE_params_timeout = 23,
ePE_params_skeleton = 24,
ePE_params_structural_initial_velocity = 25,
ePE_params_collision_class = 26,
ePE_Params_Count
};
enum EPE_Action
{
ePE_action_move = 1,
ePE_action_impulse = 2,
ePE_action_drive = 3,
ePE_action_reset = 4,
ePE_action_add_constraint = 5,
ePE_action_update_constraint = 6,
ePE_action_register_coll_event = 7,
ePE_action_awake = 8,
ePE_action_remove_all_parts = 9,
ePE_action_set_velocity = 10,
ePE_action_attach_points = 11,
ePE_action_target_vtx = 12,
ePE_action_reset_part_mtx = 13,
ePE_action_notify = 14,
ePE_action_auto_part_detachment = 15,
ePE_action_move_parts = 16,
ePE_action_batch_parts_update = 17,
ePE_action_slice = 18,
pPE_action_syncliving = 19,
ePE_Action_Count
};
enum EPE_GeomParams
{
ePE_geomparams = 0,
ePE_cargeomparams = 1,
ePE_articgeomparams = 2,
ePE_GeomParams_Count
};
enum EPE_Status
{
ePE_status_pos = 1,
ePE_status_living = 2,
ePE_status_vehicle = 4,
ePE_status_wheel = 5,
ePE_status_joint = 6,
ePE_status_awake = 7,
ePE_status_dynamics = 8,
ePE_status_collisions = 9,
ePE_status_id = 10,
ePE_status_timeslices = 11,
ePE_status_nparts = 12,
ePE_status_contains_point = 13,
ePE_status_rope = 14,
ePE_status_vehicle_abilities = 15,
ePE_status_placeholder = 16,
ePE_status_softvtx = 17,
ePE_status_sensors = 18,
ePE_status_sample_contact_area = 19,
ePE_status_caps = 20,
ePE_status_check_stance = 21,
ePE_status_waterman = 22,
ePE_status_area = 23,
ePE_status_extent = 24,
ePE_status_random = 25,
ePE_status_constraint = 26,
ePE_status_netpos = 27,
ePE_Status_Count
};
//Please update CStatoscope::AddPhysEntity when changing this enum
enum pe_type
{
PE_NONE = 0, PE_STATIC = 1, PE_RIGID = 2, PE_WHEELEDVEHICLE = 3, PE_LIVING = 4, PE_PARTICLE = 5, PE_ARTICULATED = 6, PE_ROPE = 7, PE_SOFT = 8, PE_AREA = 9
};
enum sim_class
{
SC_STATIC = 0, SC_SLEEPING_RIGID = 1, SC_ACTIVE_RIGID = 2, SC_LIVING = 3, SC_INDEPENDENT = 4, SC_TRIGGER = 6, SC_DELETED = 7
};
struct IGeometry;
struct IPhysicalEntity;
struct IGeomManager;
#if ENABLE_CRY_PHYSICS
struct IPhysicalWorld;
#endif
struct IPhysRenderer;
class ICrySizer;
struct IDeferredPhysicsEvent;
struct ILog;
IPhysicalEntity* const WORLD_ENTITY = (IPhysicalEntity*)-10;
#ifndef USE_IMPROVED_RIGID_ENTITY_SYNCHRONISATION
# define USE_IMPROVED_RIGID_ENTITY_SYNCHRONISATION 1
#endif
/**
* 64-bit wrapper for foreign data on physical entities.
* Int and pointer values are regularly stored in foreign data, but we now also support
* 64-bit unsigned integers (AZ::EntityId).
* - Supports implicit two-way conversion as integer, pointer, int, or 64-bit unsigned integer.
* - Supports casting to typed pointers for compatibility with original void* foreign data.
*/
class PhysicsForeignData final
{
public:
PhysicsForeignData()
: m_data(0) {}
/// Explicit or implicit creation from pointer, int, or unsigned int types.
PhysicsForeignData(void* data)
: m_data(reinterpret_cast<uint64>(data)) {}
PhysicsForeignData(int data)
: m_data(static_cast<uint64>(data)) {}
PhysicsForeignData(uint64 data)
: m_data(static_cast<uint64>(data)) {}
/// Comparison operators.
bool operator==(const PhysicsForeignData& rhs) const
{
return m_data == rhs.m_data;
}
bool operator!=(const PhysicsForeignData& rhs) const
{
return m_data != rhs.m_data;
}
template<typename T>
bool operator==(T* data) const
{
return reinterpret_cast<T*>(m_data) == data;
}
template<typename T>
bool operator==(const T* data) const
{
return reinterpret_cast<const T*>(m_data) == data;
}
bool operator==(int data) const
{
return static_cast<int>(m_data) == data;
}
bool operator==(uint64 data) const
{
return m_data == data;
}
/// Using CryPhysics' existing pattern for marking fields as unused.
void MarkUnused()
{
m_data = uint64(1 << 31);
}
bool IsUnused() const
{
return m_data == uint64(1 << 31);
}
/// Bool operator for: if (foreignData)
operator bool() const
{
return m_data != 0;
}
/// Void* cast conversion
operator void*() const
{
return reinterpret_cast<void*>(m_data);
}
/// int cast conversion
operator int() const
{
return static_cast<int>(m_data);
}
/// 64-bit unsigned int cast conversion
operator uint64() const
{
return m_data;
}
/// Cast conversion to pointers or arbitrary types.
template<typename T>
operator T*() const
{
return reinterpret_cast<T*>(m_data);
}
private:
uint64 m_data; ///< Underlying 64-bit storage.
};
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// IPhysicsStreamer Interface /////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
// this is a callback interface for on-demand physicalization, physics gets a pointer to an implementation
struct IPhysicsStreamer
{
// <interfuscator:shuffle>
virtual ~IPhysicsStreamer(){}
// called whenever a placeholder (created through CreatePhysicalPlaceholder) requests a full entity
virtual int CreatePhysicalEntity(PhysicsForeignData foreignData, int iForeignData, int iForeignFlags) = 0;
// called whenever a placeholder-owned entity expires
virtual int DestroyPhysicalEntity(IPhysicalEntity* pent) = 0;
// called when on-demand entities in a box need to be physicalized
// (the grid is activated once RegisterBBoxInPODGrid is called)
virtual int CreatePhysicalEntitiesInBox(const Vec3& boxMin, const Vec3& boxMax) = 0;
// called when on-demand physicalized box expires.
// the streamer is expected to delete those that have a 0 refcounter, and keep the rest
virtual int DestroyPhysicalEntitiesInBox(const Vec3& boxMin, const Vec3& boxMax) = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////// IPhysRenderer Interface /////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
// this is a callback interface for debug rendering, physics gets a pointer to an implementation
struct IPhysRenderer
{
// <interfuscator:shuffle>
virtual ~IPhysRenderer(){}
// draws helpers for the specified geometry (idxColor is in 0..7 range)
virtual void DrawGeometry(IGeometry* pGeom, struct geom_world_data* pgwd, int idxColor = 0, int bSlowFadein = 0, const Vec3& sweepDir = Vec3(0)) = 0;
// draws a line for wireframe helpers
virtual void DrawLine(const Vec3& pt0, const Vec3& pt1, int idxColor = 0, int bSlowFadein = 0) = 0;
// gets a descriptive name of the phys entity's owner (used solely for debug output)
virtual const char* GetForeignName(PhysicsForeignData foreignData, int iForeignData, int iForeignFlags) = 0;
// draws a text line (stauration is 0..1 and is currently used to represent stress level on a breakable joint)
virtual void DrawText(const Vec3& pt, const char* txt, int idxColor, float saturation = 0) = 0;
// sets an offset that is to be added to all subsequent draw requests
virtual Vec3 SetOffset(const Vec3& offs = Vec3(ZERO)) = 0;
// draw a frame or a partial frame using a scale for the axes.
// pnt is the world space position
// axes are the 3 axes normalized
// scale is a scale applied on the axes
// limits are the x, y, z radians for the Y, Z, X plane. If the pointer is not null, limits will be drawn in form of arcs.
// bitfield for what axes are locked
virtual void DrawFrame(const Vec3& pnt, const Vec3* axes, const float scale, const Vec3* limits, const int axes_locked) = 0;
// </interfuscator:shuffle>
};
class CMemStream
{ // For "fastload" serialization
public:
ILINE CMemStream(bool swap)
{
Prealloc();
m_iPos = 0;
bDeleteBuf = true;
bSwapEndian = swap;
bMeasureOnly = 0;
}
ILINE CMemStream(void* pbuf, int sz, bool swap)
{
m_pBuf = (char*)pbuf;
m_nSize = sz;
m_iPos = 0;
bDeleteBuf = false;
bSwapEndian = swap;
bMeasureOnly = 0;
}
ILINE CMemStream()
{
m_pBuf = (char*)m_dummyBuf;
m_iPos = 0;
m_nSize = 0;
bDeleteBuf = false;
bSwapEndian = false;
bMeasureOnly = -1;
}
virtual ~CMemStream()
{
if (bDeleteBuf)
{
CryModuleFree(m_pBuf);
}
}
virtual void Prealloc()
{
m_pBuf = (char*)CryModuleMalloc(m_nSize = 0x1000);
}
ILINE void* GetBuf() { return m_pBuf; }
ILINE int GetUsedSize() { return m_iPos; }
ILINE int GetAllocatedSize() { return m_nSize; }
template<class ftype>
ILINE void Write(const ftype& op) { Write(&op, sizeof(op)); }
ILINE void Write(const void* pbuf, int sz)
{
#if defined(MEMSTREAM_DEBUG)
if (bMeasureOnly <= 0 && m_nSize && m_iPos + sz > m_nSize)
{
printf("overflow: %d + %d >= %d\n", m_iPos, sz, m_nSize);
}
#endif
if (!bMeasureOnly)
{
if (m_iPos + sz > m_nSize)
{
GrowBuf(sz);
}
memcpy(m_pBuf + m_iPos, pbuf, (unsigned int)sz);
}
m_iPos += sz;
}
virtual void GrowBuf(int sz)
{
int prevsz = m_nSize;
char* prevbuf = m_pBuf;
m_pBuf = (char*)CryModuleMalloc(m_nSize = (m_iPos + sz - 1 & ~0xFFF) + 0x1000);
memcpy(m_pBuf, prevbuf, (unsigned int)prevsz);
CryModuleFree(prevbuf);
}
template<class ftype>
ILINE void Read(ftype& op)
{
ReadRaw(&op, sizeof(op));
#if defined (NEED_ENDIAN_SWAP)
if (bSwapEndian)
{
SwapEndian(op);
}
#endif
}
template<class ftype>
ILINE ftype Read()
{
ftype val;
Read(val);
return val;
}
template<class ftype>
ILINE void ReadType(ftype* op, int count = 1)
{
ReadRaw(op, sizeof(*op) * count);
#if defined (NEED_ENDIAN_SWAP)
if (bSwapEndian)
{
while (count-- > 0)
{
SwapEndian(*op++);
}
}
#endif
}
ILINE void ReadRaw(void* pbuf, int sz)
{
#if defined(MEMSTREAM_DEBUG)
if (bMeasureOnly <= 0 && m_nSize && m_iPos + sz > m_nSize)
{
printf("overflow: %d + %d >= %d\n", m_iPos, sz, m_nSize);
}
#endif
memcpy(pbuf, (m_pBuf + m_iPos), (unsigned int)sz);
m_iPos += sz;
}
char* m_pBuf, m_dummyBuf[4];
int m_iPos, m_nSize;
bool bDeleteBuf;
bool bSwapEndian;
int bMeasureOnly;
};
// Workaround for bug in GCC 4.8. The kind of access patterns here leads to an internal
// compiler error in GCC 4.8 when optimizing with debug symbols. Two possible solutions
// are available, compile in Profile mode without debug symbols or remove optimizations
// in the code where the bug occurs
// see http://gcc.gnu.org/bugzilla/show_bug.cgi?id=59776
#if defined(_PROFILE) && !defined(__clang__) && (__GNUC__ == 4) && (__GNUC_MINOR__ == 8)
// Cannot use #pragma GCC optimize("O0") because it causes a system crash when using
// the gcc compiler for another platform
#define CRY_GCC48_AVOID_OPTIMIZE __attribute__((optimize("-O0")))
#else
#define CRY_GCC48_AVOID_OPTIMIZE
#endif
// unused_marker deliberately fills a variable with invalid data,
// so that later is_unused() can check whether it was initialized
// (this is used in all physics params/status/action structures)
class unused_marker
{
public:
union f2i
{
float f;
uint32 i;
};
union d2i
{
double d;
uint32 i[2];
};
unused_marker() {}
unused_marker& operator,(float& x) CRY_GCC48_AVOID_OPTIMIZE;
unused_marker& operator,(double& x) CRY_GCC48_AVOID_OPTIMIZE;
unused_marker& operator,(int& x) CRY_GCC48_AVOID_OPTIMIZE;
unused_marker& operator,(unsigned int& x) CRY_GCC48_AVOID_OPTIMIZE;
unused_marker& operator,(PhysicsForeignData& x) CRY_GCC48_AVOID_OPTIMIZE;
template<class ref>
unused_marker& operator,(ref*& x) { x = (ref*)-1; return *this; }
template<class F>
unused_marker& operator,(Vec3_tpl<F>& x) { return *this, x.x; }
template<class F>
unused_marker& operator,(Quat_tpl<F>& x) { return *this, x.w; }
template<class F>
unused_marker& operator,(strided_pointer<F>& x) { return *this, x.data; }
};
inline unused_marker& unused_marker::operator,(float& x) { *alias_cast<int*>(&x) = 0xFFBFFFFF; return *this; }
inline unused_marker& unused_marker::operator,(double& x) { (alias_cast<int*>(&x))[false ? 1 : 0] = 0xFFF7FFFF; return *this; }
inline unused_marker& unused_marker::operator,(int& x) { x = 1 << 31; return *this; }
inline unused_marker& unused_marker::operator,(unsigned int& x) { x = 1u << 31; return *this; }
inline unused_marker& unused_marker::operator,(PhysicsForeignData& x) { x.MarkUnused(); return *this; }
#undef CRY_GCC48_AVOID_OPTIMIZE
inline bool is_unused(const float& x) { unused_marker::f2i u; u.f = x; return (u.i & 0xFFA00000) == 0xFFA00000; }
inline bool is_unused(int x) { return x == 1 << 31; }
inline bool is_unused(unsigned int x) { return x == 1u << 31; }
inline bool is_unused(const PhysicsForeignData& x) { return x.IsUnused(); }
template<class ref>
bool is_unused(ref* x) { return x == (ref*)-1; }
template<class ref>
bool is_unused(strided_pointer<ref> x) { return is_unused(x.data); }
template<class F>
bool is_unused(const Ang3_tpl<F>& x) { return is_unused(x.x); }
template<class F>
bool is_unused(const Vec3_tpl<F>& x) { return is_unused(x.x); }
template<class F>
bool is_unused(const Quat_tpl<F>& x) { return is_unused(x.w); }
inline bool is_unused(const double& x) { unused_marker::d2i u; u.d = x; return (u.i[eLittleEndian ? 1 : 0] & 0xFFF40000) == 0xFFF40000; }
#define MARK_UNUSED unused_marker(),
// validators do nothing in the interface, but inside the physics they are redefined
// so that they check the input for consistency and report errors
#if !defined(VALIDATOR_LOG)
#define VALIDATOR_LOG(pLog, str)
#define VALIDATORS_START
#define VALIDATOR(member)
#define VALIDATOR_NORM(member)
#define VALIDATOR_NORM_MSG(member, msg, member1)
#define VALIDATOR_RANGE(member, minval, maxval)
#define VALIDATOR_RANGE2(member, minval, maxval)
#define VALIDATORS_END
#endif
////////// physics entity collision filtering class enums /////////////////
enum pe_collision_class
{
/// reserved basic collision classes
collision_class_terrain = 1 << 0,
collision_class_wheeled = 1 << 1,
collision_class_living = 1 << 2,
collision_class_articulated = 1 << 3,
collision_class_soft = 1 << 4,
collision_class_rope = 1 << 5,
collision_class_particle = 1 << 6,
// begin game specific ones from this enum
collision_class_game = 1 << 10,
};
struct SCollisionClass
{
uint32 type; // collision_class flags to identify the enity
uint32 ignore; // another entity will be ignored if *any* of these bits are set in its type
SCollisionClass() {}
SCollisionClass(uint32 t, uint32 i)
{
type = t;
ignore = i;
}
};
ILINE int IgnoreCollision(const SCollisionClass& a, const SCollisionClass& b)
{
return (a.type & b.ignore) | (b.type & a.ignore);
}
// in physics interface [almost] all parameters are passed via structures
// this allows having stable interface methods and flexible default arguments system
////////////////////////// Params structures /////////////////////
////////// common params
struct pe_params
{
int type;
};
struct pe_params_pos
: pe_params // Sets position and orientation of entity
{
enum entype
{
type_id = ePE_params_pos
};
pe_params_pos()
{
type = type_id;
MARK_UNUSED pos, scale, q, iSimClass;
pMtx3x4 = 0;
pMtx3x3 = 0;
bRecalcBounds = 1;
bEntGridUseOBB = 0;
}
Vec3 pos;
quaternionf q;
float scale; // note that since there's no per-entity scale, it gets 'baked' into individual parts' scales
Matrix34* pMtx3x4; // optional position+orientation
Matrix33* pMtx3x3; // optional orientation via 3x3 matrix
int iSimClass; // see the sim_class enum
int bRecalcBounds; // tells to recompute the bounding boxes
bool bEntGridUseOBB; // whether or not to use part OBBs rather than object AABB when registering in the entity grid
VALIDATORS_START
VALIDATOR(pos)
VALIDATOR_NORM_MSG(q, "(perhaps non-uniform scaling was used?)", pos)
VALIDATOR(scale)
VALIDATORS_END
};
struct pe_params_bbox
: pe_params
{
enum entype
{
type_id = ePE_params_bbox
};
pe_params_bbox() { type = type_id; MARK_UNUSED BBox[0], BBox[1]; }
Vec3 BBox[2]; // force this bounding box (note that if the entity recomputes it later, it'll override this)
VALIDATORS_START
VALIDATOR(BBox[0])
VALIDATOR(BBox[1])
VALIDATORS_END
};
struct pe_params_outer_entity
: pe_params
{
enum entype
{
type_id = ePE_params_outer_entity
};
pe_params_outer_entity() { type = type_id; pOuterEntity = 0; pBoundingGeometry = 0; }
IPhysicalEntity* pOuterEntity; // outer entity is used to group together SC_INDEPENDENT entities (example: ropes on a tree trunk)
IGeometry* pBoundingGeometry; // optional geometry to test containment (used in pe_status_contains_point)
};
struct ITetrLattice;
struct pe_params_part
: pe_params // Sets geometrical parameters of entity part
{
enum entype
{
type_id = ePE_params_part
};
pe_params_part()
{
type = type_id;
MARK_UNUSED pos, q, scale, partid, ipart, mass, density, pPhysGeom, pPhysGeomProxy, idmatBreakable, pLattice, pMatMapping, minContactDist, flagsCond, idSkeleton, invTimeStep, idParent;
pMtx3x4 = 0;
pMtx3x3 = 0;
bRecalcBBox = 1;
bAddrefGeoms = 0;
flagsOR = flagsColliderOR = 0;
flagsAND = flagsColliderAND = (unsigned)-1;
}
int partid; // partid identifier of part
int ipart; // optionally, internal part slot number
int bRecalcBBox; // whether entity's bounding box should be recalculated
Vec3 pos;
quaternionf q;
float scale;
Matrix34* pMtx3x4; // optional position+orientation
Matrix33* pMtx3x3; // optional orientation via 3x3 matrix
unsigned int flagsCond; // if partid and ipart are not specified, check for parts with flagsCond set
unsigned int flagsOR, flagsAND; // new flags = (flags & flagsAND) | flagsOR
unsigned int flagsColliderOR, flagsColliderAND;
float mass; // either mass of density should be set; mass = density*volume
float density;
float minContactDist; // threshold for contact points generation
struct phys_geometry* pPhysGeom, * pPhysGeomProxy; // if present and different from pPhysGeomProxy, pPhysGeom is used for raytracing
int idmatBreakable; // if >=0, the part is procedurally breakable with this mat_id (see AddExplosionShape)
ITetrLattice* pLattice; // lattice is used for soft bodies and procedural structural breaking
int idSkeleton; // part with this id becomes this part's deformation skeleton
int* pMatMapping; // material mapping table for this part
int nMats; // number of pMatMapping entries
float invTimeStep; // 1.0f/time_step, ragdolls will compute joint's velocity if this and position is set
int bAddrefGeoms; // AddRef returned geometries if used in GetParams
int idParent; // parent for hierarchical breaking; it hides all children until at least one of them breaks off
VALIDATORS_START
VALIDATOR(pos)
VALIDATOR_NORM_MSG(q, "(perhaps non-uniform scaling was used in the asset?)", pt)
VALIDATOR(scale)
VALIDATORS_END
};
struct pe_params_sensors
: pe_params // Attaches optional ray sensors to an entity; only living entities support it
{
enum entype
{
type_id = ePE_params_sensors
};
pe_params_sensors() { type = type_id; nSensors = 0; pOrigins = 0; pDirections = 0; }
int nSensors; // nSensors number of sensors
const Vec3* pOrigins; // pOrigins sensors origins in entity CS
const Vec3* pDirections; // pDirections sensors directions (dir*ray length) in entity CS
};
struct pe_simulation_params
: pe_params
{
enum entype
{
type_id = ePE_simulation_params
};
pe_simulation_params()
{
type = type_id;
MARK_UNUSED maxTimeStep, gravity, minEnergy, damping, iSimClass,
dampingFreefall, gravityFreefall, mass, density, maxLoggedCollisions, maxRotVel, disablePreCG, maxFriction, collTypes;
}
int iSimClass;
float maxTimeStep; // maximum time step that entity can accept (larger steps will be split)
float minEnergy; // minimun of kinetic energy below which entity falls asleep (divided by mass)
float damping; // damped velocity = oridinal velocity * (1 - damping*time interval)
Vec3 gravity; // per-entity gravity (note that if there are any phys areas with gravity, they will override it unless pef_ignore_areas is set
float dampingFreefall; // damping and gravity used when there are no collisions,
Vec3 gravityFreefall; // NOTE: if left unused, gravity value will be substituted (if provided)
float maxRotVel; // rotational velocity is clamped to this value
float mass; // either mass of density should be set; mass = density*volume
float density;
int maxLoggedCollisions; // maximum EventPhysCollisions reported per frame (only supported by rigid bodies/ragdolls/vehicles)
int disablePreCG; // disables Pre-CG solver for the group this body is in (recommended for balls)
float maxFriction; // sets upper friction limit for this object and all objects it's currently in contact with
int collTypes; // collision types (a combination of ent_xxx flags)
};
struct pe_params_foreign_data
: pe_params
{
enum entype
{
type_id = ePE_params_foreign_data
};
pe_params_foreign_data() { type = type_id; MARK_UNUSED pForeignData, iForeignData, iForeignFlags; iForeignFlagsAND = -1; iForeignFlagsOR = 0; }
PhysicsForeignData pForeignData; // foreign data is an arbitrary pointer used to associate physical entity with its owner object
int iForeignData; // foreign data types (defined in IPhysics.h)
int iForeignFlags; // any flags the owner wants to store
int iForeignFlagsAND, iForeignFlagsOR; // when setting, flagsNew = flags & flagsAND | flagsOR
};
struct pe_params_buoyancy
: pe_params
{
enum entype
{
type_id = ePE_params_buoyancy
};
pe_params_buoyancy()
{
type = type_id;
iMedium = 0;
MARK_UNUSED waterDensity, kwaterDensity, waterDamping,
waterPlane.n, waterPlane.origin, waterEmin, waterResistance, kwaterResistance, waterFlow, flowVariance;
};
float waterDensity; // overrides water density from the current water volume for an entity; sets for water areas
float kwaterDensity; // scales water density from the current water volume (used for entities only)
// NOTE: for entities , waterDensity override is stored as kwaterDensity relative to the global area's density
float waterDamping; // uniform damping while submerged, will be scaled with submerged fraction
float waterResistance, kwaterResistance; // water's medium resistance; same comments on water and kwater.. apply
Vec3 waterFlow; // flow's movement vector; can only be set for a water area
float flowVariance; // not yet supported
primitives::plane waterPlane; // positive normal = above the water surface
float waterEmin; // sleep energy while floating with no contacts (see minEnergy in pe_simulation_params)
int iMedium; // 0 for water, 1 for air
};
enum phentity_flags
{
// PE_PARTICLE-specific flags
particle_single_contact = 0x01, // full stop after first contact
particle_constant_orientation = 0x02, // forces constant orientation
particle_no_roll = 0x04, // 'sliding' mode; entity's 'normal' vector axis will be alinged with the ground normal
particle_no_path_alignment = 0x08, // unless set, entity's y axis will be aligned along the movement trajectory
particle_no_spin = 0x10, // disables spinning while flying
particle_no_self_collisions = 0x100, // disables collisions with other particles
particle_no_impulse = 0x200, // particle will not add hit impulse (expecting that some other system will)
// PE_LIVING-specific flags
lef_push_objects = 0x01, lef_push_players = 0x02, // push objects and players during contacts
lef_snap_velocities = 0x04, // quantizes velocities after each step (was ised in MP for precise deterministic sync)
lef_loosen_stuck_checks = 0x08, // don't do additional intersection checks after each step (recommended for NPCs to improve performance)
lef_report_sliding_contacts = 0x10, // unless set, 'grazing' contacts are not reported
// PE_ROPE-specific flags
rope_findiff_attached_vel = 0x01, // approximate velocity of the parent object as v = (pos1-pos0)/time_interval
rope_no_solver = 0x02, // no velocity solver; will rely on stiffness (if set) and positional length enforcement
rope_ignore_attachments = 0x4, // no collisions with objects the rope is attached to
rope_target_vtx_rel0 = 0x08, rope_target_vtx_rel1 = 0x10, // whether target vertices are set in the parent entity's frame
rope_subdivide_segs = 0x100, // turns on 'dynamic subdivision' mode (only in this mode contacts in a strained state are handled correctly)
rope_no_tears = 0x200, // rope will not tear when it reaches its force limit, but stretch
rope_collides = 0x200000, // rope will collide with objects other than the terrain
rope_collides_with_terrain = 0x400000, // rope will collide with the terrain
rope_collides_with_attachment = 0x80, // rope will collide with the objects it's attached to even if the other collision flags are not set
rope_no_stiffness_when_colliding = 0x10000000, // rope will use stiffness 0 if it has contacts
// PE_SOFT-specific flags
se_skip_longest_edges = 0x01, // the longest edge in each triangle with not participate in the solver
se_rigid_core = 0x02, // soft body will have an additional rigid body core
// PE_RIGID-specific flags (note that PE_ARTICULATED and PE_WHEELEDVEHICLE are derived from it)
ref_use_simple_solver = 0x01, // use penalty-based solver (obsolete)
ref_no_splashes = 0x04, // will not generate EventPhysCollisions when contacting water
ref_checksum_received = 0x04, ref_checksum_outofsync = 0x08, // obsolete
ref_small_and_fast = 0x100, // entity will trace rays against alive characters; set internally unless overriden
// PE_ARTICULATED-specific flags
aef_recorded_physics = 0x02, // specifies a an entity that contains pre-baked physics simulation
// PE_WHEELEDVEHICLE-specific flags
wwef_fake_inner_wheels = 0x08, // exclude wheels between the first and the last one from the solver
// (only wheels with non-0 suspension are considered)
// general flags
pef_parts_traceable = 0x10, // each entity part will be registered separately in the entity grid
pef_disabled = 0x20, // entity will not be simulated
pef_never_break = 0x40, // entity will not break or deform other objects
pef_deforming = 0x80, // entity undergoes a dynamic breaking/deforming
pef_pushable_by_players = 0x200, // entity can be pushed by playerd
pef_traceable = 0x400, particle_traceable = 0x400, rope_traceable = 0x400, // entity is registered in the entity grid
pef_update = 0x800, // only entities with this flag are updated if ent_flagged_only is used in TimeStep()
pef_monitor_state_changes = 0x1000, // generate immediate events for simulation class changed (typically rigid bodies falling asleep)
pef_monitor_collisions = 0x2000, // generate immediate events for collisions
pef_monitor_env_changes = 0x4000, // generate immediate events when something breaks nearby
pef_never_affect_triggers = 0x8000, // don't generate events when moving through triggers
pef_invisible = 0x10000, // will apply certain optimizations for invisible entities
pef_ignore_ocean = 0x20000, // entity will ignore global water area
pef_fixed_damping = 0x40000, // entity will force its damping onto the entire group
pef_monitor_poststep = 0x80000, // entity will generate immediate post step events
pef_always_notify_on_deletion = 0x100000, // when deleted, entity will awake objects around it even if it's not referenced (has refcount 0)
pef_override_impulse_scale = 0x200000, // entity will ignore breakImpulseScale in PhysVars
pef_players_can_break = 0x400000, // playes can break the entiy by bumping into it
pef_cannot_squash_players = 0x10000000, // entity will never trigger 'squashed' state when colliding with players
pef_ignore_areas = 0x800000, // entity will ignore phys areas (gravity and water)
pef_log_state_changes = 0x1000000, // entity will log simulation class change events
pef_log_collisions = 0x2000000, // entity will log collision events
pef_log_env_changes = 0x4000000, // entity will log EventPhysEnvChange when something breaks nearby
pef_log_poststep = 0x8000000, // entity will log EventPhysPostStep events
};
struct pe_params_flags
: pe_params
{
enum entype
{
type_id = ePE_params_flags
};
pe_params_flags() { type = type_id; MARK_UNUSED flags, flagsOR, flagsAND; }
unsigned int flags;
unsigned int flagsOR; // when setting, flagsNew = (flags set ? flags:flagsOld) & flagsAND | flagsOR
unsigned int flagsAND; // when getting, only flags is filled
};
struct pe_params_collision_class
: pe_params
{
enum entype
{
type_id = ePE_params_collision_class
};
pe_params_collision_class() { type = type_id; collisionClassOR.type = collisionClassOR.ignore = 0; collisionClassAND.type = collisionClassAND.ignore = (unsigned)-1; }
SCollisionClass collisionClassOR; // When getting both collisionClassOR and collisionClassAND are filled out
SCollisionClass collisionClassAND; // When setting first collisionClassAND is applied to mask bits, then collisionClassOR is applied to turn on collision bits
};
struct pe_params_ground_plane
: pe_params
{
// used for breakable objects; pieces that are below ground (at least partially) stay in the entity
enum entype
{
type_id = ePE_params_ground_plane
};
pe_params_ground_plane() { type = type_id; iPlane = 0; MARK_UNUSED ground.origin, ground.n; }
int iPlane; // index of the plane to be set (-1 removes existing planes)
primitives::plane ground;
};
enum special_joint_ids
{
joint_impulse = 1000000
};
struct pe_params_structural_joint
: pe_params
{
enum entype
{
type_id = ePE_params_structural_joint
};
pe_params_structural_joint()
{
type = type_id;
id = 0;
bReplaceExisting = 0;
MARK_UNUSED idx, partid[0], partid[1], pt, n, maxForcePush, maxForcePull, maxForceShift, maxTorqueBend, maxTorqueTwist, damageAccum, damageAccumThresh,
bBreakable, szSensor, bBroken, partidEpicenter, axisx, limitConstraint, bConstraintWillIgnoreCollisions, dampingConstraint;
}
int id; // joint's 'foreign' identifier
int idx; // joint's internal index
int bReplaceExisting; // if not set, SetParams will add a new joint even if id is already used
int partid[2]; // ids of the parts this joint connects (-1 for ground)
Vec3 pt; // point in entity space
Vec3 n; // push/pull direction in entity space
Vec3 axisx; // x axis in entity frame; only used for joints that can become dynamic constraints
float maxForcePush, maxForcePull, maxForceShift; // linear force limits
float maxTorqueBend, maxTorqueTwist; // angular force (torque) limits
float damageAccum, damageAccumThresh; // fraction of tension that gets accumulated, can be used to emulate an health system
Vec3 limitConstraint; // x=min angle, y=max angle, z=force limit
int bBreakable; // joint is at all breakable
int bConstraintWillIgnoreCollisions; // dynamic constraints will have constraint_ignore_buddy flag
int bDirectBreaksOnly; // joint can only be broken by direct impulses to one of the parts it connects
float dampingConstraint; // dynamic constraint's damping
float szSensor; // sensor geometry size; used to re-attach the joint when parts break off
int bBroken; // joint is broken
int partidEpicenter; // tension recomputation will start from this part (used for network playback, for instance)
};
struct pe_params_structural_initial_velocity
: pe_params
{
// Setting of initial velocities of parts before breaking joints on clients through pe_params_structural_joint
enum entype
{
type_id = ePE_params_structural_initial_velocity
};
pe_params_structural_initial_velocity() { type = type_id; }
int partid; // id of the part to prepare for breakage
Vec3 v; // Initial velocity
Vec3 w; // Initial ang velocity
};
struct pe_params_timeout
: pe_params
{
// entities can be forced to go to sleep after some time without external impulses
enum entype
{
type_id = ePE_params_timeout
};
pe_params_timeout() { type = type_id; MARK_UNUSED timeIdle, maxTimeIdle; }
float timeIdle; // current 'idle' time (time without any 'prods' from outside)
float maxTimeIdle; // sleep when timeIdle>maxTimeIdle; 0 turns this feature off
};
struct pe_params_skeleton
: pe_params
{
// skeleton is a hidden mesh that uses cloth simulation to skin the main physics geometry
enum entype
{
type_id = ePE_params_skeleton
};
pe_params_skeleton() { type = type_id; MARK_UNUSED partid, ipart, stiffness, thickness, maxStretch, maxImpulse, timeStep, nSteps, hardness, explosionScale, bReset; }
int partid; // id of the skinned part
int ipart; // ..or its internal index
float stiffness; // skeleton's hardness against bending and shearing
float thickness; // skeleton's thickness for collisions
float maxStretch; // skeleton's maximal stretching
float maxImpulse; // skeleton impulse cap
float timeStep; // time step, used to simulate the skeleton (typically small)
int nSteps; // number of skeleton sub-steps per each structure update
float hardness; // skeleton's hardness against stretching
float explosionScale; // skeleton's explosion impulse scale
int bReset; // resets the skeleton to its original pose
};
////////// articulated entity params
enum joint_flags
{
angle0_locked = 1, all_angles_locked = 7, angle0_limit_reached = 010, angle0_auto_kd = 0100, joint_no_gravity = 01000,
joint_isolated_accelerations = 02000, joint_expand_hinge = 04000, angle0_gimbal_locked = 010000,
joint_dashpot_reached = 0100000, joint_ignore_impulses = 0200000
};
struct pe_params_joint
: pe_params
{
enum entype
{
type_id = ePE_params_joint
};
pe_params_joint()
{
type = type_id;
for (int i = 0; i < 3; i++)
{
MARK_UNUSED limits[0][i], limits[1][i], qdashpot[i], kdashpot[i], bounciness[i], q[i], qext[i], ks[i], kd[i], qtarget[i];
}
bNoUpdate = 0;
pMtx0 = 0;
flagsPivot = 3;
MARK_UNUSED flags, q0, pivot, ranimationTimeStep, nSelfCollidingParts, animationTimeStep, op[0];
}
unsigned int flags; // should be a combination of angle0,1,2_locked, angle0,1,2_auto_kd, joint_no_gravity
int flagsPivot; // if bit 0 is set, update pivot point in parent frame, if bit 1 - in child
Vec3 pivot; // joint pivot in entity CS
quaternionf q0; // orientation of child in parent coordinates that corresponds to angles (0,0,0)
Matrix33* pMtx0; // same as q0
Vec3 limits[2]; // limits for each angle
Vec3 bounciness; // bounciness for each angle (applied when limit is reached)
Vec3 ks, kd; // stiffness and damping koefficients for each angle angular spring
Vec3 qdashpot; // limit vicinity where joints starts resisting movement
Vec3 kdashpot; // when dashpot is activated, this is roughly the angular speed, stopped in 2 sec
Ang3 q; // angles values
Ang3 qext; // additional angles values (angle[i] = q[i]+qext[i]; only q[i] is taken into account
// while calculating spring torque
Ang3 qtarget;
int op[2]; // body identifiers of parent (optional) and child respectively
int nSelfCollidingParts, * pSelfCollidingParts; // part ids of only parts that should be checked for self-collision
int bNoUpdate; // omit recalculation of body parameters after changing this joint
float animationTimeStep; // used to calculate joint velocities of animation
float ranimationTimeStep; // 1/animation time step, can be not specified (specifying just saves extra division operation)
VALIDATORS_START
VALIDATOR(pivot)
VALIDATOR_NORM(q0)
VALIDATOR(q)
VALIDATOR(qext)
VALIDATORS_END
};
struct pe_params_articulated_body
: pe_params
{
enum entype
{
type_id = ePE_params_articulated_body
};
pe_params_articulated_body()
{
type = type_id;
MARK_UNUSED bGrounded, bInheritVel, bCheckCollisions, bCollisionResp, nJointsAlloc;
MARK_UNUSED bGrounded, bInheritVel, bCheckCollisions, bCollisionResp, a, wa, w, v, pivot, scaleBounceResponse, posHostPivot, qHostPivot;
MARK_UNUSED bAwake, pHost, nCollLyingMode, gravityLyingMode, dampingLyingMode, minEnergyLyingMode, iSimType, iSimTypeLyingMode, nRoots;
bApply_dqext = 0;
bRecalcJoints = 1;
}
int bGrounded; // whether body's pivot is firmly attached to something or free
int bCheckCollisions; // only works with bCollisionResp set
int bCollisionResp; // when on, uses 'ragdoll' simulation mode, when off - 'skeleton' (for hit simulation on alive actors)
Vec3 pivot; // attachment position for grounded entities
Vec3 a; // acceleration of the ground for grounded entities
Vec3 wa; // angular acceleration of the ground for grounded entities
Vec3 w; // angular velocity of the ground for grounded entities
Vec3 v; // linear velocity of the ground for grounded entities
float scaleBounceResponse; // scales impulsive torque that is applied at a joint that has just reached its limit
int bApply_dqext; // adds current dqext to joints velocities. dqext is the speed of external animation and is calculated each time
// qext is set for joint (as difference between new value and current value, multiplied by inverse of animation timestep)
int bAwake; // current state
IPhysicalEntity* pHost; // 'ground' entity
Vec3 posHostPivot; // attachment position inside pHost
quaternionf qHostPivot;
int bInheritVel; // take pHost velocity into account during the simulation
int nCollLyingMode; // number of contacts that triggers 'lying mode'
Vec3 gravityLyingMode; // gravity override in lying mode
float dampingLyingMode; // damping override
float minEnergyLyingMode; // sleep speed override
int iSimType; // simulation type: 0-'joint-based', 1-'body-based'; fast motion forces joint-based mode automatically
int iSimTypeLyingMode; // simulation type override
int nRoots; // only used in GetParams
int nJointsAlloc; // pre-allocates this amount of joints and parts
int bRecalcJoints; // re-build geometry positions from joint agnles
};
////////// living entity params
struct pe_player_dimensions
: pe_params
{
enum entype
{
type_id = ePE_player_dimensions
};
pe_player_dimensions()
: dirUnproj(0, 0, 1)
, maxUnproj(0)
{
type = type_id;
MARK_UNUSED sizeCollider, heightPivot, heightCollider, heightEye, heightHead, headRadius, bUseCapsule, groundContactEps;
}
float heightPivot; // offset from central ground position that is considered entity center
float heightEye; // vertical offset of camera
Vec3 sizeCollider; // collision cylinder dimensions
float heightCollider; // vertical offset of collision geometry center
float headRadius; // radius of the 'head' geometry (used for camera offset)
float heightHead; // center.z of the head geometry
Vec3 dirUnproj; // unprojection direction to test in case the new position overlaps with the environment (can be 0 for 'auto')
float maxUnproj; // maximum allowed unprojection
int bUseCapsule; // switches between capsule and cylinder collider geometry
float groundContactEps; // the amount that the living needs to move upwards before ground contact is lost. defaults to which ever is greater 0.004, or 0.01*geometryHeight
VALIDATORS_START
VALIDATOR(heightPivot)
VALIDATOR(heightEye)
VALIDATOR_RANGE2(sizeCollider, 0, 100)
VALIDATORS_END
};
struct pe_player_dynamics
: pe_params
{
enum entype
{
type_id = ePE_player_dynamics
};
pe_player_dynamics()
{
type = type_id;
MARK_UNUSED kInertia, kInertiaAccel, kAirControl, gravity, gravity.z, nodSpeed, mass, bSwimming, surface_idx, bActive, collTypes, pLivingEntToIgnore;
MARK_UNUSED minSlideAngle, maxClimbAngle, maxJumpAngle, minFallAngle, kAirResistance, maxVelGround, timeImpulseRecover, bReleaseGroundColliderWhenNotActive;
}
float kInertia; // inertia koefficient, the more it is, the less inertia is; 0 means no inertia
float kInertiaAccel; // inertia on acceleration
float kAirControl; // air control coefficient 0..1, 1 - special value (total control of movement)
float kAirResistance; // standard air resistance
Vec3 gravity; // gravity vector
float nodSpeed; // vertical camera shake speed after landings
int bSwimming; // whether entity is swimming (is not bound to ground plane)
float mass; // mass (in kg)
int surface_idx; // surface identifier for collisions
float minSlideAngle; // if surface slope is more than this angle, player starts sliding (angle is in degrees)
float maxClimbAngle; // player cannot climb surface which slope is steeper than this angle (angle is in degrees)
float maxJumpAngle; // player is not allowed to jump towards ground if this angle is exceeded (angle is in degrees)
float minFallAngle; // player starts falling when slope is steeper than this (angle is in degrees)
float maxVelGround; // player cannot stand on surfaces that are moving faster than this
float timeImpulseRecover; // forcefully turns on inertia for that duration after receiving an impulse
int collTypes; // entity types to check collisions against
IPhysicalEntity* pLivingEntToIgnore; // ignore collisions with this *living entity* (doesn't work with other entity types)
int bActive; // 0 disables all simulation for the character, apart from moving along the requested velocity
int bReleaseGroundColliderWhenNotActive; // when not 0, if the living entity is not active, the ground collider, if any, will be explicitly released during the simulation step.
};
////////// particle entity params
struct pe_params_particle
: pe_params
{
enum entype
{
type_id = ePE_params_particle
};
pe_params_particle()
{
type = type_id;
MARK_UNUSED mass, size, thickness, wspin, accThrust, kAirResistance, kWaterResistance, velocity, heading, accLift, accThrust, gravity, waterGravity;
MARK_UNUSED surface_idx, normal, q0, minBounceVel, rollAxis, flags, pColliderToIgnore, iPierceability, areaCheckPeriod, minVel, collTypes, dontPlayHitEffect;
}
unsigned int flags; // see entity flags
float mass;
float size; // pseudo-radius
float thickness; // thickness when lying on a surface (if left unused, size will be used)
Vec3 heading; // direction of movement
float velocity; // velocity along "heading"
float kAirResistance; // air resistance koefficient, F = kv
float kWaterResistance; // same for water
float accThrust; // acceleration along direction of movement
float accLift; // acceleration that lifts particle with the current speed
int surface_idx;
Vec3 wspin; // angular velocity
Vec3 gravity; // stores this gravity and uses it if the current area's gravity is equal to the global gravity
Vec3 waterGravity; // gravity when underwater
Vec3 normal; // aligns this direction with the surface normal when sliding
Vec3 rollAxis; // aligns this directon with the roll axis when rolling (0,0,0 to disable alignment)
quaternionf q0; // initial orientation (zero means x along direction of movement, z up)
float minBounceVel; // velocity threshold for bouncing->sliding switch
float minVel; // sleep speed threshold
IPhysicalEntity* pColliderToIgnore; // physical entity to ignore during collisions
int iPierceability; // pierceability for ray tests; pierceble hits slow the particle down, but don't stop it
int collTypes; // 'objtype' passed to RayWorldntersection
int areaCheckPeriod; // how often (in frames) world area checks are made
int dontPlayHitEffect; // prevent playing of material FX from now on
VALIDATORS_START
VALIDATOR(mass)
VALIDATOR(size)
VALIDATOR(thickness)
VALIDATOR_NORM(heading)
VALIDATOR_NORM(q0)
VALIDATORS_END
};
////////// vehicle entity params
struct pe_params_car
: pe_params
{
enum entype
{
type_id = ePE_params_car
};
pe_params_car()
{
type = type_id;
MARK_UNUSED engineMaxRPM, iIntegrationType, axleFriction, enginePower, maxSteer, maxTimeStep, minEnergy, damping, brakeTorque;
MARK_UNUSED engineMinRPM, engineShiftUpRPM, engineShiftDownRPM, engineIdleRPM, engineStartRPM, clutchSpeed, nGears, gearRatios, kStabilizer;
MARK_UNUSED slipThreshold, gearDirSwitchRPM, kDynFriction, minBrakingFriction, maxBrakingFriction, steerTrackNeutralTurn, maxGear, minGear, pullTilt;
MARK_UNUSED maxTilt, bKeepTractionWhenTilted;
}
float axleFriction; // friction torque at axes divided by mass of vehicle
float enginePower; // power of engine (about 10,000 - 100,000)
float maxSteer; // maximum steering angle
float engineMaxRPM; // engine torque decreases to 0 after reaching this rotation speed
float brakeTorque; // torque applied when breaking using the engine
int iIntegrationType; // for suspensions; 0-explicit Euler, 1-implicit Euler
float maxTimeStep; // maximum time step when vehicle has only wheel contacts
float minEnergy; // minimum awake energy when vehicle has only wheel contacts
float damping; // damping when vehicle has only wheel contacts
float minBrakingFriction; // limits the the tire friction when handbraked
float maxBrakingFriction; // limits the the tire friction when handbraked
float kStabilizer; // stabilizer force, as a multiplier for kStiffness of respective suspensions
int nWheels; // the number of wheels
float engineMinRPM; // disengages the clutch when falling behind this limit, if braking with the engine
float engineShiftUpRPM; // RPM threshold for for automatic gear switching
float engineShiftDownRPM;
float engineIdleRPM; // RPM for idle state
float engineStartRPM; // sets this RPM when activating the engine
float clutchSpeed; // clutch engagement/disengagement speed
int nGears;
float* gearRatios; // assumes 0-backward gear, 1-neutral, 2 and above - forward
int maxGear, minGear; // additional gear index clamping
float slipThreshold; // lateral speed threshold for switchig a wheel to a 'slipping' mode
float gearDirSwitchRPM; // RPM threshold for switching back and forward gears
float kDynFriction; // friction modifier for sliping wheels
float steerTrackNeutralTurn; // for tracked vehicles, steering angle that causes equal but opposite forces on tracks
float pullTilt; // for tracked vehicles, tilt angle of pulling force towards ground
float maxTilt; // maximum wheel contact normal tilt (left or right) after which it acts as a locked part of the hull; it's a cosine of the angle
int bKeepTractionWhenTilted; // keeps wheel traction in tilted mode
};
struct pe_params_wheel
: pe_params
{
enum entype
{
type_id = ePE_params_wheel
};
pe_params_wheel()
{
type = type_id;
iWheel = 0;
MARK_UNUSED bDriving, iAxle, suspLenMax, suspLenInitial, minFriction, maxFriction, surface_idx, bCanBrake, bBlocked,
bRayCast, kStiffness, kDamping, kLatFriction, Tscale, w, bCanSteer, kStiffnessWeight;
}
int iWheel;
int bDriving;
int iAxle; // wheels on the same axle align their coordinates (if only slightly misaligned)
// and apply stabilizer force (if set); axle<0 means the wheel does not affect the physics
int bCanBrake; // handbrake applies
int bBlocked; // locks the wheel (acts like a forced handbrake)
int bCanSteer; // can this wheel steer, 0 or 1
float suspLenMax; // full suspension length (relaxed)
float suspLenInitial; // length in the initial state (used for automatic computations)
float minFriction; // surface friction is cropped to this min-max range
float maxFriction;
int surface_idx;
int bRayCast; // uses raycasts instead of cylinders
float kStiffness; // if 0, will be computed based on mass distribution, lenMax, and lenInitial
float kStiffnessWeight; // When autocalculating stiffness use this weight for this wheel. Note weights for wheels in front of the centre of mass do not influence the weights of wheels behind the centre of mass
// By default all weights are 1.0 and the sum doesn't have to add up to 1.0!
// Also a <=0 weight will leave the wheel out of the autocalculation. It will be get a stiffness of weight*mass*gravity/defaultLength/numWheels. weight=-1 is a good starting point for these wheels
float kDamping; // absolute value if >=0, otherwise -(fraction of 0-oscillation damping)
float kLatFriction; // lateral friction scale (doesn't apply when on handbrake)
float Tscale; // optional driving torque scale
float w; // rotational velocity; it's computed automatically, but can be overriden if needed
};
////////// rope entity params
struct pe_params_rope
: pe_params
{
enum entype
{
type_id = ePE_params_rope
};
pe_params_rope()
{
type = type_id;
//START: Per bone UDP for stiffness, damping and thickness for touch bending vegetation
MARK_UNUSED length, mass, collDist, surface_idx, friction, nSegments, pPoints.data, pVelocities.data, pDamping, pStiffness, pThickness;
//END: Per bone UDP for stiffness, damping and thickness for touch bending vegetation
MARK_UNUSED pEntTiedTo[0], ptTiedTo[0], idPartTiedTo[0], pEntTiedTo[1], ptTiedTo[1], idPartTiedTo[1], stiffnessAnim, maxForce,
flagsCollider, nMaxSubVtx, stiffnessDecayAnim, dampingAnim, bTargetPoseActive, wind, windVariance, airResistance, waterResistance, density, collTypes,
jointLimit, jointLimitDecay, sensorRadius, frictionPull, stiffness, collisionBBox[0], penaltyScale, maxIters, attachmentZone, minSegLen, unprojLimit, noCollDist, hingeAxis;
bLocalPtTied = 0;
}
float length; // 'target' length; 0 is allowed for ropes with dynamic subdivision
float mass;
float collDist; // thickness for collisions
int surface_idx; // for collision reports; friction is overriden
float friction; // friction for free state and lateral friction in strained state
float frictionPull; // friction in pull direction in strained state
float stiffness; // stiffness against stretching (used in the solver; it's *not* a spring, though)
float stiffnessAnim; // shape-preservation stiffness
float stiffnessDecayAnim; // the final shape stiffness will be interpolated from full to full*(1-decay) at the end
float dampingAnim; // damping for shape preservation forces
int bTargetPoseActive; // 0-no target pose (no shape-preservation stiffness),
// 1-simplified target pose (vertices are pulled directly to targets)
// 2-physically correct target pose (the rope applies penalty torques at joints)
Vec3 wind; // local wind in addition to one from phys areas
float windVariance; // wariance (applied to local only)
float airResistance; // needs to be >0 in order to be affetcted by the wind
float waterResistance; // medium resistance when underwater
float density; // used only to compute buoyancy
float jointLimit; // joint rotation limit (doesn't work when both ends are tied)
float jointLimitDecay; // joint limit change (0..1) towards the unattached rope end; can be positive or negative
float sensorRadius; // size of the sensor used to re-attach the rope if the host entity breaks
float maxForce; // force limit; when breached, the rope will detach itself unless rope_no_tears is set
float penaltyScale; // for the solver in strained state with subdivision on
float attachmentZone; // don't register solver contacts within this distance around attachment points (subdivision mode)
float minSegLen; // delete segments below this length in subdivision mode
float unprojLimit; // rotational unprojection limit per frame (no-subdivision mode)
float noCollDist; // fraction of the segment near the attachment point that doesn't collide (no-subdivision mode)
int maxIters; // tweak for the internal vertex solver
int nSegments; // segment count, changin will reset vertex positions
int flagsCollider; // only collide with entity parts flagged this way
int collTypes; // a selection of ent_xxx flags to collide against
int nMaxSubVtx; // maximum internal vertices per segment in subdivision mode
Vec3 collisionBBox[2]; // bbox for entity proximity query in host's space
// (used make all ropes belonging to one host share the same box, to automatically reuse the query results)
Vec3 hingeAxis; // only allow rotation around this axis (in parent's frame if rope_target_vtx_rel is set)
strided_pointer<Vec3> pPoints;
strided_pointer<Vec3> pVelocities;
IPhysicalEntity* pEntTiedTo[2];
int bLocalPtTied; // ptTiedTo is in tied part's local coordinates
Vec3 ptTiedTo[2];
int idPartTiedTo[2];
//START: Per bone UDP for stiffness, damping and thickness for touch bending vegetation
float* pDamping;
float* pStiffness;
float* pThickness;
//END: Per bone UDP for stiffness, damping and thickness for touch bending vegetation
};
////////// soft entity params
struct pe_params_softbody
: pe_params
{
enum entype
{
type_id = ePE_params_softbody
};
pe_params_softbody()
{
type = type_id;
MARK_UNUSED thickness, maxSafeStep, ks, kdRatio, airResistance, wind, windVariance, nMaxIters,
accuracy, friction, impulseScale, explosionScale, collisionImpulseScale, maxCollisionImpulse, collTypes, waterResistance, massDecay,
shapeStiffnessNorm, shapeStiffnessTang, stiffnessAnim, stiffnessDecayAnim, dampingAnim, maxDistAnim, hostSpaceSim;
}
float thickness; // thickness for collisions
float maxSafeStep; // time step cap
float ks; // stiffness against stretching (for soft bodies, <0 means fraction of maximum stable)
float kdRatio; // damping in stretch direction, in fractions of 0-oscillation damping
float friction; // overrides material friction
float waterResistance;
float airResistance;
Vec3 wind; // wind in addition to phys area wind
float windVariance; // wind variance, in fractions of 1 (currently changes 4 times/sec)
int nMaxIters; // tweak for the solver (complexity = O(nMaxIters*numVertices))
float accuracy; // accuracy for the solver (velocity)
float impulseScale; // scale general incoming impulses
float explosionScale; // scale impulses from explosions
float collisionImpulseScale; // not used
float maxCollisionImpulse; // not used
int collTypes; // combination of ent_... flags
float massDecay; // decreases mass from attached points to free ends; mass_free = mass_attached/(1+decay) (can impove stability)
float shapeStiffnessNorm; // resistance to bending
float shapeStiffnessTang; // resistance to shearing
float stiffnessAnim; // strength of linear target pose pull
float stiffnessDecayAnim; // decay of stiffnessAnim
float dampingAnim; // damping for target pose pull
float maxDistAnim; // max deviation from the target pose at the rim; uses stiffnessDecalAnim to scale down closer to attached vtx
float hostSpaceSim; // 0 - world-space simulation, 1 - fully host-space simulation
};
/////////// area params
struct params_wavesim
{
params_wavesim() { MARK_UNUSED timeStep, waveSpeed, dampingCenter, dampingRim, minhSpread, minVel, simDepth, heightLimit, resistance; }
float timeStep; // fixed timestep used for the simulation
float waveSpeed; // wave propagation speed
float simDepth; // assumed height of moving water layer (relative to cell size)
float heightLimit; // hard limit on height changes (relative to cell size)
float resistance; // rate of velocity transfer from floating objects
float dampingCenter; // damping in the central tile
float dampingRim; // damping in the outer tiles
float minhSpread; // minimum height perturbation that activates a neighbouring tile
float minVel; // sleep speed threshold
};
struct pe_params_area
: pe_params
{
enum entype
{
type_id = ePE_params_area
};
pe_params_area() { type = type_id; MARK_UNUSED gravity, bUniform, damping, falloff0, bUseCallback, pGeom, volume, borderPad, bConvexBorder, objectVolumeThreshold, cellSize, growthReserve, volumeAccuracy; }
// water/air area params are set through pe_params_buoyancy
Vec3 gravity; // see also bUniform
float falloff0; // parametric distance (0..1) where falloff starts
int bUniform; // gravity has same direction in every point or always points to the center
int bUseCallback; // will generate immediate EventPhysArea when needs to apply params to an entity
float damping; // uniform damping
IGeometry* pGeom; // phys geometry used in the area
float volume; // the area will try to maintain this volume by adjusting water level
float volumeAccuracy; // accuracy of level computation based on volume (in fractions of the volume)
float borderPad; // after adjusting level, expand the border by this distance
int bConvexBorder; // forces convex border after water level adjustments
float objectVolumeThreshold; // only consider entities larger than this for level adjustment (set in fractions of area volume)
float cellSize; // cell size for wave simulation
params_wavesim waveSim;
float growthReserve; // assume this area increase during level adjustment (only used for wave simulation)
};
////////// water manager params
struct pe_params_waterman
: pe_params
, params_wavesim
{
enum entype
{
type_id = ePE_params_waterman
};
pe_params_waterman()
{
type = type_id;
MARK_UNUSED posViewer, nExtraTiles, nCells, tileSize, timeStep, waveSpeed,
dampingCenter, dampingRim, minhSpread, minVel, simDepth, heightLimit, resistance;
}
Vec3 posViewer; // water will only be simulated around this point
int nExtraTiles; // number of additional tiles in each direction around the one below posViewer (so total = (nExtarTiles*2+1)^2)
int nCells; // number of cells in each tile
float tileSize;
};
////////////////////////// Action structures /////////////////////
////////// common actions
struct pe_action
{
int type;
};
struct pe_action_impulse
: pe_action
{
enum entype
{
type_id = ePE_action_impulse
};
pe_action_impulse() { type = type_id; impulse.Set(0, 0, 0); MARK_UNUSED point, angImpulse, partid, ipart; iApplyTime = 2; iSource = 0; }
Vec3 impulse;
Vec3 angImpulse; // optional
Vec3 point; // point of application, in world CS, optional
int partid; // receiver part identifier
int ipart; // alternatively, part index can be used
int iApplyTime; // 0-apply immediately, 1-apply before the next time step, 2-apply after the next time step
int iSource; // reserved for internal use
VALIDATORS_START
VALIDATOR_RANGE2(impulse, 0, 1E12f)
VALIDATOR_RANGE2(angImpulse, 0, 1E8f)
VALIDATOR_RANGE2(point, 0, 1E6f)
VALIDATOR_RANGE(ipart, 0, 10000)
VALIDATORS_END
};
struct pe_action_reset
: pe_action // Resets dynamic state of an entity
{
enum entype
{
type_id = ePE_action_reset
};
pe_action_reset() { type = type_id; bClearContacts = 1; }
int bClearContacts;
};
enum constrflags // see pe_action_add_constraint
{
local_frames = 1, // pt and qframe are in respective entities' coordinate frames
world_frames = 2, // pt and qframe are in the world frame
local_frames_part = 4, // pt and qframe are if respective entity parts' coordinate frames
constraint_inactive = 0x100, // constraint does nothing, except applying _ignore_buddy if set
constraint_ignore_buddy = 0x200, // disables collisions between the constrained entities
constraint_line = 0x400, // position if constrained to a line
constraint_plane = 0x800, // position is constrained to a plane
constraint_free_position = 0x1000, // position is unconstrained
constraint_no_rotation = 0x2000, // relative rotation is fully constrained
constraint_no_enforcement = 0x4000, // disables positional enforcement during fast movement (currently disabled unconditionally)
constraint_no_tears = 0x8000 // constraint is not deleted when force limit is reached
};
struct pe_action_add_constraint
: pe_action
{
enum entype
{
type_id = ePE_action_add_constraint
};
pe_action_add_constraint()
{
type = type_id;
pBuddy = 0;
flags = world_frames;
MARK_UNUSED id, pt[0], pt[1], partid[0], partid[1], qframe[0], qframe[1], xlimits[0], yzlimits[0],
pConstraintEntity, damping, sensorRadius, maxPullForce, maxBendTorque;
}
int id; // if not set, will be auto-assigned; return value of Action()
IPhysicalEntity* pBuddy; // the second constrained entity; can be WORLD_ENTITY for static attachments
Vec3 pt[2]; // pt[0] must be set; if pt[1] is not set, assumed to be equal to pt[1]
int partid[2]; // if not set, the first part is assumed
quaternionf qframe[2]; // constraint frames for constraint angles computation; if not set, identity in the specified frame is assumed
float xlimits[2]; // rotation limits around x axis ("twist"); if xlimits[0]>=[1], x axis is locked
float yzlimits[2]; // combined yz-rotation - "bending" of x axis; yzlimits[0] is ignored and assumed to be 0 during simulation
unsigned int flags; // see enum constrflags
float damping; // internal constraint damping
float sensorRadius; // used for sampling environment and re-attaching the constraint when something breaks
float maxPullForce, maxBendTorque; // positional and rotational force limits
IPhysicalEntity* pConstraintEntity; // used internally for creating dynamic rope constraints
};
struct pe_action_update_constraint
: pe_action
{
enum entype
{
type_id = ePE_action_update_constraint
};
pe_action_update_constraint()
{
type = type_id;
MARK_UNUSED idConstraint, pt[0], pt[1], qframe[0], qframe[1], maxPullForce, maxBendTorque, damping;
flagsOR = 0;
flagsAND = (unsigned int)-1;
bRemove = 0;
flags = world_frames;
}
int idConstraint; // doesn't have to be unique - can update several constraints with one id; if not set, updates all constraints
unsigned int flagsOR;
unsigned int flagsAND;
int bRemove; // permanently delete the constraint
Vec3 pt[2]; // local_frames_part is not supported currently
quaternionf qframe[2]; // update to constraint frames
float maxPullForce, maxBendTorque;
float damping;
int flags; // generally it's better to use flagsOR and/or flagsAND
};
struct pe_action_register_coll_event
: pe_action
{
// this can be used to ask an entity to post a fake collision event to the log
enum entype
{
type_id = ePE_action_register_coll_event
};
pe_action_register_coll_event() { type = type_id; MARK_UNUSED vSelf; }
Vec3 pt; // collision point
Vec3 n; // collision normal
Vec3 v; // collider's velocity at pt
Vec3 vSelf; // optional override for the current entity's velocity at pt
float collMass; // collider's mass
IPhysicalEntity* pCollider; // collider entity
int partid[2];
int idmat[2];
short iPrim[2];
};
struct pe_action_awake
: pe_action
{
enum entype
{
type_id = ePE_action_awake
};
pe_action_awake() { type = type_id; bAwake = 1; MARK_UNUSED minAwakeTime; }
int bAwake;
float minAwakeTime; // minimum time to stay awake after executing the action; supported only by some entity types
};
struct pe_action_remove_all_parts
: pe_action
{
enum entype
{
type_id = ePE_action_remove_all_parts
};
pe_action_remove_all_parts() { type = type_id; }
};
struct pe_action_reset_part_mtx
: pe_action
{
// this will bake the part's matrix into the entity's matrix and clear the former
enum entype
{
type_id = ePE_action_reset_part_mtx
};
pe_action_reset_part_mtx() { type = type_id; MARK_UNUSED ipart, partid; }
int ipart;
int partid;
};
struct pe_action_set_velocity
: pe_action
{
enum entype
{
type_id = ePE_action_set_velocity
};
pe_action_set_velocity() { type = type_id; MARK_UNUSED ipart, partid, v, w; bRotationAroundPivot = 0; }
int ipart; // if part is not set, vel is applied to the whole entity; the distinction makes sense only for ragdolls
int partid;
Vec3 v, w;
int bRotationAroundPivot; // if set, w is rotation around the entity's pivot, otherwise around its center of mass
VALIDATORS_START
VALIDATOR_RANGE2(v, 0, 1E5f)
VALIDATOR_RANGE2(w, 0, 1E5f)
VALIDATORS_END
};
struct pe_action_notify
: pe_action
{
enum entype
{
type_id = ePE_action_notify
};
enum encodes
{
ParentChange = 0
}; // the entity this one is attached to moved; only ropes handle it ATM, by immediately enforcing length
pe_action_notify() { type = type_id; iCode = ParentChange; }
int iCode;
};
struct pe_action_auto_part_detachment
: pe_action
{
// this is used to PE_ARTICULATED entities with pre-baked physics simulation
enum entype
{
type_id = ePE_action_auto_part_detachment
};
pe_action_auto_part_detachment() { type = type_id; MARK_UNUSED threshold, autoDetachmentDist; }
float threshold; // each part will receive a breakable joint with this force limit (which is assumed to be set in fractions of gravity)
float autoDetachmentDist; // additionally, a part will auto-detach itself once it's farther than that from the entity's pivot
};
struct pe_action_move_parts
: pe_action
{
// this will move parts from one entity to another
enum entype
{
type_id = ePE_action_move_parts
};
int idStart, idEnd;
int idOffset; // added once parts are in the new entity
IPhysicalEntity* pTarget;
Matrix34 mtxRel; // mtxInNewEntity = mtxRel*mtxCurrent
pe_action_move_parts() { type = type_id; idStart = 0; idEnd = 1 << 30; idOffset = 0; mtxRel.SetIdentity(); pTarget = 0; }
};
struct pe_action_batch_parts_update
: pe_action
{
// updates positions of all parts from arrays
enum entype
{
type_id = ePE_action_batch_parts_update
};
pe_action_batch_parts_update() { type = type_id; qOffs.SetIdentity(); posOffs.zero(); numParts = 0; pnumParts = 0; pIds = 0; pValidator = 0; }
int* pIds;
strided_pointer<quaternionf> qParts;
strided_pointer<Vec3> posParts;
int numParts;
int* pnumParts;
quaternionf qOffs; // extra rotation
Vec3 posOffs; // extra offset
struct Validator
{
virtual ~Validator() {}
virtual bool Lock() = 0;
virtual void Unlock() = 0;
}* pValidator;
};
struct pe_action_slice
: pe_action
{
// slices entity's geometry with a shape
enum entype
{
type_id = ePE_action_slice
};
pe_action_slice() { type = type_id; MARK_UNUSED ipart, partid; npt = 3; }
int ipart;
int partid;
Vec3* pt;
int npt; // only 3 is supported currently
};
////////// living entity actions
struct pe_action_move
: pe_action // movement request for living entities
{
enum entype
{
type_id = ePE_action_move
};
pe_action_move() { type = type_id; iJump = 0; dt = 0; MARK_UNUSED dir; }
Vec3 dir; // requested velocity vector
int iJump; // jump mode - 1-instant velocity change, 2-just adds to current velocity
float dt; // time interval for this action (doesn't need to be set normally)
VALIDATORS_START
VALIDATOR_RANGE2(dir, 0, 1000)
VALIDATOR_RANGE(dt, 0, 2)
VALIDATORS_END
};
struct pe_action_syncliving
: pe_action // syncing living entity physics
{
enum entype
{
type_id = pPE_action_syncliving
};
pe_action_syncliving() { type = type_id; pos.zero(); vel.zero(); velRequested.zero(); }
Vec3 pos;
Vec3 vel;
Vec3 velRequested;
};
////////// vehicle entity actions
struct pe_action_drive
: pe_action
{
enum entype
{
type_id = ePE_action_drive
};
pe_action_drive() { type = type_id; MARK_UNUSED pedal, dpedal, steer, dsteer, bHandBrake, clutch, iGear; ackermanOffset = 0.f; }
float pedal; // engine pedal absolute value; active pedal always awakes the entity
float dpedal; // engine pedal delta
float steer; // steering angle absolute value
float ackermanOffset; // apply ackerman steering, 0.0 -> normal driving front wheels steer, back fixed. 1.0 -> front fixed, back steer. 0.5 -> both front and back steer
float dsteer; // steering angle delta
float clutch; // forces clutch; 0..1
int bHandBrake; // removing handbrake will automatically awaken the vehicle if it's sleeping
int iGear; // 0-back; 1-neutral; 2+-forward
};
////////// rope entity actions
struct pe_action_target_vtx
: pe_action
{
enum entype
{
type_id = ePE_action_target_vtx
};
pe_action_target_vtx() { type = type_id; MARK_UNUSED points, nPoints; posHost.zero(); qHost.SetIdentity(); }
int nPoints;
Vec3* points; // coordinate frame is world, unless the rope has one of rope_target_vtx_rel flags
Vec3 posHost; // world position of the host the vertices are attached to
Quat qHost;
};
////////// soft entity actions
struct pe_action_attach_points
: pe_action
{
enum entype
{
type_id = ePE_action_attach_points
};
pe_action_attach_points() { type = type_id; MARK_UNUSED partid, points; nPoints = 1; pEntity = WORLD_ENTITY; bLocal = 0; }
IPhysicalEntity* pEntity;
int partid;
int* piVtx; // vertex indices to be attached to pEntity.partid
Vec3* points; // can set the desired attachment points; if not set, current positions are fixed in the target's frame
int nPoints;
int bLocal; // if true, points are in the attached part's CS
};
////////////////////////// Status structures /////////////////////
////////// common statuses
struct pe_status
{
int type;
};
enum status_pos_flags
{
status_local = 1, status_thread_safe = 2, status_addref_geoms = 4
};
struct pe_status_pos
: pe_status
{
enum entype
{
type_id = ePE_status_pos
};
pe_status_pos() { type = type_id; ipart = partid = -1; flags = 0; pMtx3x4 = 0; pMtx3x3 = 0; iSimClass = 0; timeBack = 0; }
int partid; // part identifier, -1 for entire entity
int ipart; // optionally, part slot index
unsigned int flags; // status_local if part coordinates should be returned in entity CS rather than world CS
unsigned int flagsOR; // boolean OR for all parts flags of the object (or just flags for the selected part)
unsigned int flagsAND; // boolean AND for all parts flags of the object (or just flags for the selected part)
Vec3 pos; // position of center
Vec3 BBox[2]; // bounding box relative to pos (bbox[0]-min, bbox[1]-max)
quaternionf q;
float scale;
int iSimClass;
Matrix34* pMtx3x4; // optional 3x4 transformation matrix
Matrix33* pMtx3x3; // optional 3x3 rotation+scale matrix
IGeometry* pGeom, * pGeomProxy;
float timeBack; // can retrieve previous position; only supported by rigid entities; pos and q; one step back
};
// Only works when USE_IMPROVED_RIGID_ENTITY_SYNCHRONISATION is 1
struct pe_status_netpos
: pe_status
{
enum entype
{
type_id = ePE_status_netpos
};
pe_status_netpos() { type = type_id; }
Vec3 pos;
quaternionf rot;
Vec3 vel;
Vec3 angvel;
float timeOffset;
};
struct pe_status_extent
: pe_status // Caches eForm extent of entity in pGeo
{
enum entype
{
type_id = ePE_status_extent
};
pe_status_extent() { type = type_id; eForm = EGeomForm(-1); extent = 0; }
EGeomForm eForm;
float extent;
};
struct pe_status_random
: pe_status_extent // Generates random pos on entity, also caches extent
{
enum entype
{
type_id = ePE_status_random
};
pe_status_random() { type = type_id; ran.vPos.zero(); ran.vNorm.zero(); }
PosNorm ran;
};
struct pe_status_sensors
: pe_status // Requests status of attached to the entity sensors
{
enum entype
{
type_id = ePE_status_sensors
};
pe_status_sensors() { type = type_id; }
Vec3* pPoints; // pointer to array of points where sensors touch environment (assigned by physical entity)
Vec3* pNormals; // pointer to array of surface normals at points where sensors touch environment
unsigned int flags; // bitmask of flags, bit==1 - sensor touched environment
};
struct pe_status_dynamics
: pe_status
{
enum entype
{
type_id = ePE_status_dynamics
};
pe_status_dynamics()
: v(ZERO)
, w(ZERO)
, a(ZERO)
, wa(ZERO)
, centerOfMass(ZERO)
{
MARK_UNUSED partid, ipart;
type = type_id;
mass = energy = 0;
nContacts = 0;
time_interval = 0;
submergedFraction = 0;
}
int partid;
int ipart;
Vec3 v; // velocity
Vec3 w; // angular velocity
Vec3 a; // linear acceleration
Vec3 wa; // angular acceleration
Vec3 centerOfMass;
float submergedFraction; // percentage of the entity that is underwater; 0..1. not supported for individual parts
float mass; // entity's or part's mass
float energy; // kinetic energy; only supported by PE_ARTICULATED currently
int nContacts;
float time_interval; // not used
};
struct coll_history_item
{
Vec3 pt; // collision area center
Vec3 n; // collision normal in entity CS
Vec3 v[2]; // velocities of contacting bodies at the point of impact
float mass[2]; // masses of contacting bodies
float age; // age of collision event
int idCollider; // id of collider (not a pointer, since collider can be destroyed before history item is queried)
int partid[2];
int idmat[2]; // 0-this body material, 1-collider material
};
struct pe_status_collisions
: pe_status
{
// obsolete, replaced with EventPhysCollision events
enum entype
{
type_id = ePE_status_collisions
};
pe_status_collisions() { type = type_id; age = 0; len = 1; pHistory = 0; bClearHistory = 0; }
coll_history_item* pHistory; // pointer to a user-provided array of history items
int len; // length of this array
float age; // maximum age of collision events (older events are ignored)
int bClearHistory;
};
struct pe_status_id
: pe_status
{
// retrives surface id from geometry
enum entype
{
type_id = ePE_status_id
};
pe_status_id() { type = type_id; ipart = partid = -1; bUseProxy = 1; }
int ipart;
int partid;
int iPrim; // primitive index (only makes sense for meshes)
int iFeature; // feature id inside the primitive; doesn't affect the result currently
int bUseProxy; // use pPhysGeomProxy or pPhysGeom
int id; // surface id
};
struct pe_status_timeslices
: pe_status
{
// only implemented for PE_LIVING and is obsolete, although still supported
enum entype
{
type_id = ePE_status_timeslices
};
pe_status_timeslices() { type = type_id; pTimeSlices = 0; sz = 1; precision = 0.0001f; MARK_UNUSED time_interval; }
float* pTimeSlices;
int sz;
float precision; // time surplus below this threshhold will be discarded
float time_interval; // if unused, time elapsed since the last action will be used
};
struct pe_status_nparts
: pe_status // GetStuts will return the number of parts
{
enum entype
{
type_id = ePE_status_nparts
};
pe_status_nparts() { type = type_id; }
};
struct pe_status_awake
: pe_status
{
enum entype
{
type_id = ePE_status_awake
};
pe_status_awake() { type = type_id; lag = 0; }
int lag; // GetStatus returns 1 ("awake") if the entity fell asleep later than this amount of frames before
};
struct pe_status_contains_point
: pe_status
{
enum entype
{
type_id = ePE_status_contains_point
};
pe_status_contains_point() { type = type_id; }
Vec3 pt;
};
struct pe_status_placeholder
: pe_status
{
enum entype
{
type_id = ePE_status_placeholder
};
pe_status_placeholder() { type = type_id; }
IPhysicalEntity* pFullEntity; // if called on a placeholder, returns the corresponding full entity
};
struct pe_status_sample_contact_area
: pe_status
{
enum entype
{
type_id = ePE_status_sample_contact_area
};
pe_status_sample_contact_area() { type = type_id; }
Vec3 ptTest; // checks if ptTest, projected along dirTest falls inside the convex hull of this entity's contacts
Vec3 dirTest;
};
struct pe_status_caps
: pe_status
{
enum entype
{
type_id = ePE_status_caps
};
pe_status_caps() { type = type_id; }
unsigned int bCanAlterOrientation; // the entity can change orientation that is explicitly set from outside (by baking it into parts/geometries)
};
struct pe_status_constraint
: pe_status
{
enum entype
{
type_id = ePE_status_constraint
};
pe_status_constraint() { type = type_id; idx = -1; }
int id;
int idx;
int flags;
Vec3 pt[2];
Vec3 n;
IPhysicalEntity* pBuddyEntity;
IPhysicalEntity* pConstraintEntity;
};
////////// area status
struct pe_status_area
: pe_status
{
enum entype
{
type_id = ePE_status_area
};
pe_status_area() { type = type_id; bUniformOnly = false; ctr.zero(); size.zero(); vel.zero(); MARK_UNUSED gravity, pb; pLockUpdate = 0; pSurface = 0; }
// inputs.
Vec3 ctr, size; // query bounds
Vec3 vel;
bool bUniformOnly;
// outputs.
Vec3 gravity;
pe_params_buoyancy pb;
volatile int* pLockUpdate;
IGeometry* pSurface;
};
////////// living entity statuses
struct pe_status_living
: pe_status
{
enum entype
{
type_id = ePE_status_living
};
pe_status_living() { type = type_id; }
int bFlying; // whether entity has no contact with ground
float timeFlying; // for how long the entity was flying
Vec3 camOffset; // camera offset
Vec3 vel; // actual velocity (as rate of position change)
Vec3 velUnconstrained; // 'physical' movement velocity
Vec3 velRequested; // velocity requested in the last action
Vec3 velGround; // velocity of the object entity is standing on
float groundHeight; // position where the last contact with the ground occured
Vec3 groundSlope;
int groundSurfaceIdx;
int groundSurfaceIdxAux; // contact with the ground that also has default collision flags
IPhysicalEntity* pGroundCollider; // only returns an actual entity if the ground collider is not static
int iGroundColliderPart;
float timeSinceStanceChange;
//int bOnStairs; // tries to detect repeated abrupt ground height changes
int bStuck; // tries to detect cases when the entity cannot move as before because of collisions
volatile int* pLockStep; // internal timestepping lock
int iCurTime; // quantised time
int bSquashed; // entity is being pushed by heavy objects from opposite directions
};
struct pe_status_check_stance
: pe_status
{
// checks whether new dimensions cause collisions; params have the same meaning as in pe_player_dimensions
enum entype
{
type_id = ePE_status_check_stance
};
pe_status_check_stance()
: dirUnproj(0, 0, 1)
, unproj(0) { type = type_id; MARK_UNUSED pos, q, sizeCollider, heightCollider, bUseCapsule; }
Vec3 pos;
quaternionf q;
Vec3 sizeCollider;
float heightCollider;
Vec3 dirUnproj;
float unproj;
int bUseCapsule;
};
////////// vehicle entity statuses
struct pe_status_vehicle
: pe_status
{
enum entype
{
type_id = ePE_status_vehicle
};
pe_status_vehicle() { type = type_id; }
float steer; // current steering angle
float pedal; // current engine pedal
int bHandBrake; // nonzero if handbrake is on
float footbrake; // nonzero if footbrake is pressed (range 0..1)
Vec3 vel;
int bWheelContact; // nonzero if at least one wheel touches ground
int iCurGear;
float engineRPM;
float clutch;
float drivingTorque;
int nActiveColliders; // number of non-static contacting entities
};
struct pe_status_wheel
: pe_status
{
enum entype
{
type_id = ePE_status_wheel
};
pe_status_wheel() { type = type_id; iWheel = 0; MARK_UNUSED partid; }
int iWheel;
int partid;
int bContact; // nonzero if wheel touches ground
Vec3 ptContact; // point where wheel touches ground
Vec3 normContact; // contact normal
float w; // rotation speed
int bSlip;
Vec3 velSlip; // slip velocity
int contactSurfaceIdx;
float friction; // current friction applied
float suspLen; // current suspension spring length
float suspLenFull; // relaxed suspension spring length
float suspLen0; // initial suspension spring length
float r; // wheel radius
float torque; // driving torque
float steer; // current streeing angle
IPhysicalEntity* pCollider;
};
struct pe_status_vehicle_abilities
: pe_status
{
enum entype
{
type_id = ePE_status_vehicle_abilities
};
pe_status_vehicle_abilities() { type = type_id; MARK_UNUSED steer; }
float steer; // should be set to requested steering angle
Vec3 rotPivot; // returns turning circle center
float maxVelocity; // calculates maximum velocity of forward movement along a plane (steer is ignored)
};
////////// articulated entity statuses
struct pe_status_joint
: pe_status
{
enum entype
{
type_id = ePE_status_joint
};
pe_status_joint() { type = type_id; MARK_UNUSED partid, idChildBody; }
int idChildBody; // requested joint is identified by child body id
int partid; // ..or, alternatively, by any of parts that belong to it
unsigned int flags; // joint flags
Ang3 q; // current joint angles (controlled by physics)
Ang3 qext; // external angles (from animation)
Ang3 dq; // current joint angular velocities
quaternionf quat0; // orientation of child inside parent that corresponds to 0 angles
};
////////// rope entity statuses
struct pe_status_rope
: pe_status
{
enum entype
{
type_id = ePE_status_rope
};
pe_status_rope()
: pContactEnts(0)
{
type = type_id;
pPoints = pVelocities = pVtx = pContactNorms = 0;
nCollStat = nCollDyn = bTargetPoseActive = bStrained = 0;
stiffnessAnim = timeLastActive = 0;
nVtx = 0;
lock = 0;
}
int nSegments;
Vec3* pPoints; // expects the caller to provide an array of nSegments+1, if 0, no points are returned
Vec3* pVelocities; // expects the caller to provide an array of nSegments+1, if 0, no velocities are returned
int nCollStat, nCollDyn; // number of rope contacts with static and dynamic objects
int bTargetPoseActive; // current traget pose mode (0, 1, or 2)
float stiffnessAnim; // current target pose stiffness
int bStrained; // whether the rope is strained, either along a line or wrapped around objects
strided_pointer<IPhysicalEntity*> pContactEnts; // returns a pointer to internal data, the caller doesn't need to provide it
int nVtx; // current number of vertices, used for ropes with dynamic subdivision
Vec3* pVtx; // expects the caller to provide the array
Vec3* pContactNorms; // normals for points (not vertices), expects a pointer from the caller
float timeLastActive; // physics time when the rope was last active (not asleep)
Vec3 posHost; // host (the entity part it's attached to) position that corresponds to the returned state
quaternionf qHost; // host's orientation
int lock; // for subdivided ropes: +1 to leave read-locked, -1 to release from a previously read-locked state; 0 - local locking only
};
////////// soft entity statuses
enum ESSVFlags
{
eSSV_LockPos = 1, // locks vertices (soft entity won't be able to update them until released)
eSSV_UnlockPos = 2 // release the vertices
};
struct pe_status_softvtx
: pe_status
{
enum entype
{
type_id = ePE_status_softvtx
};
pe_status_softvtx()
: pVtx(0)
, pNormals(0) { type = type_id; pVtxMap = 0; flags = 0; }
int nVtx;
strided_pointer<Vec3> pVtx; // a pointer to an internal data; doesn't need to be filled
strided_pointer<Vec3> pNormals; // a pointer to an internal data; doesn't need to be filled
int* pVtxMap; // mapping table mesh vertex->simulated vertex (can be 0)
IGeometry* pMesh; // phys mesh that reflects the simulated data
int flags; // see ESSVFlags
quaternionf qHost; // host's orientation
Vec3 posHost; // host (the entity part it's attached to) position that corresponds to the returned state
Vec3 pos; // entity position that corresponds to the returned state
quaternionf q; // entity's orientation
};
////////// waterman statuses
struct SWaterTileBase
{
int bActive;
float* ph; // heights
Vec3* pvel; // velocities
};
struct pe_status_waterman
: pe_status
{
enum entype
{
type_id = ePE_status_waterman
};
pe_status_waterman() { type = type_id; }
int bActive;
Matrix33 R;
Vec3 origin;
int nTiles, nCells; // number of tiles and cells in one dimension
SWaterTileBase** pTiles; // nTiles^2 entries
};
////////////////////////// Geometry structures /////////////////////
////////// common geometries
enum geom_flags
{
// collisions between parts are checked if (part0->flagsCollider & part1->flags) !=0
geom_colltype0 = 0x0001, geom_colltype1 = 0x0002, geom_colltype2 = 0x0004, geom_colltype3 = 0x0008, geom_colltype4 = 0x0010,
geom_colltype5 = 0x0020, geom_colltype6 = 0x0040, geom_colltype7 = 0x0080, geom_colltype8 = 0x0100, geom_colltype9 = 0x0200,
geom_colltype10 = 0x0400, geom_colltype11 = 0x0800, geom_colltype12 = 0x1000, geom_colltype13 = 0x2000, geom_colltype14 = 0x4000,
geom_colltype_ray = 0x8000, // special colltype used by raytracing by default
geom_floats = 0x10000, // colltype required to apply buoyancy
geom_proxy = 0x20000, // only used in AddGeometry to specify that this geometry should go to pPhysGeomProxy
geom_structure_changes = 0x40000, // part is breaking/deforming
geom_can_modify = 0x80000, // geometry is cloned and is used in this entity only
geom_squashy = 0x100000, // part has 'soft' collisions (used for tree foliage proxy)
geom_log_interactions = 0x200000, // part will post EventPhysBBoxOverlap whenever something happens inside its bbox
geom_monitor_contacts = 0x400000, // part needs collision callback from the solver (used internally)
geom_manually_breakable = 0x800000, // part is breakable outside the physics
geom_no_coll_response = 0x1000000, // collisions are detected and reported, but not processed
geom_mat_substitutor = 0x2000000, // geometry is used to change other collision's material id if the collision point is inside it
geom_break_approximation = 0x4000000, // applies capsule approximation after breaking (used for tree trunks)
geom_no_particle_impulse = 0x8000000, // phys particles don't apply impulses to this part; should be used in flagsCollider
geom_destroyed_on_break = 0x2000000, // should be used in flagsCollider
// mnemonic group names
geom_colltype_player = geom_colltype1, geom_colltype_explosion = geom_colltype2,
geom_colltype_vehicle = geom_colltype3, geom_colltype_foliage = geom_colltype4, geom_colltype_debris = geom_colltype5,
geom_colltype_foliage_proxy = geom_colltype13, geom_colltype_obstruct = geom_colltype14,
geom_colltype_solid = 0x0FFF & ~geom_colltype_explosion, geom_collides = 0xFFFF
};
struct pe_geomparams
{
enum entype
{
type_id = ePE_geomparams
};
pe_geomparams()
{
type = type_id;
density = mass = 0;
pos.Set(0, 0, 0);
q.SetIdentity();
bRecalcBBox = 1;
flags = geom_colltype_solid | geom_colltype_ray | geom_floats | geom_colltype_explosion;
flagsCollider = geom_colltype0;
pMtx3x4 = 0;
pMtx3x3 = 0;
scale = 1.0f;
pLattice = 0;
pMatMapping = 0;
nMats = 0;
MARK_UNUSED surface_idx, minContactDist, idmatBreakable;
}
int type;
float density; // 0 if mass is used
float mass; // 0 if density is used
Vec3 pos; // offset from object's geometrical pivot
quaternionf q; // orientation relative to object
float scale;
Matrix34* pMtx3x4; // optional full transform matrix
Matrix33* pMtx3x3; // optional 3x3 orintation+scale matrix
int surface_idx; // surface identifier (used if corresponding CGeometry does not contain materials)
unsigned int flags, flagsCollider;
float minContactDist; // contacts closer then this threshold are merged
int idmatBreakable; // index for procedural (boolean) breakability
ITetrLattice* pLattice; // optional tetrahedral lattice (for lattice breaking and soft bodies)
int* pMatMapping; // mapping of mat ids from geometry to final mat ids
int nMats;
int bRecalcBBox; // recalculate all bbox info after the part is added
VALIDATORS_START
VALIDATOR_RANGE(density, -1E8, 1E8)
VALIDATOR_RANGE(mass, -1E8, 1E8)
VALIDATOR(pos)
VALIDATOR_NORM_MSG(q, "(perhaps non-uniform scaling was used in the asset?)", pt)
VALIDATORS_END
};
////////// articulated entity geometries
struct pe_articgeomparams
: pe_geomparams
{
enum entype
{
type_id = ePE_articgeomparams
};
pe_articgeomparams() { type = type_id; idbody = 0; }
pe_articgeomparams(pe_geomparams& src)
{
type = type_id;
density = src.density;
mass = src.mass;
pos = src.pos;
q = src.q;
scale = src.scale;
surface_idx = src.surface_idx;
pLattice = src.pLattice;
pMatMapping = src.pMatMapping;
nMats = src.nMats;
pMtx3x4 = src.pMtx3x4;
pMtx3x3 = src.pMtx3x3;
flags = src.flags;
flagsCollider = src.flagsCollider;
idbody = 0;
idmatBreakable = src.idmatBreakable;
bRecalcBBox = src.bRecalcBBox;
if (!is_unused(src.minContactDist))
{
minContactDist = src.minContactDist;
}
else
{
MARK_UNUSED minContactDist;
}
}
int idbody; // id of the subbody this geometry is attached to, the 1st add geometry specifies frame CS of this subbody
};
////////// vehicle entity geometries
const int NMAXWHEELS = 30;
struct pe_cargeomparams
: pe_geomparams
{
enum entype
{
type_id = ePE_cargeomparams
};
pe_cargeomparams()
: pe_geomparams() { type = type_id; MARK_UNUSED bDriving, minFriction, maxFriction, bRayCast, kLatFriction; bCanBrake = 1; bCanSteer = 1; kStiffnessWeight = 1.f; }
pe_cargeomparams(pe_geomparams& src)
{
type = type_id;
density = src.density;
mass = src.mass;
pos = src.pos;
q = src.q;
surface_idx = src.surface_idx;
idmatBreakable = src.idmatBreakable;
pLattice = src.pLattice;
pMatMapping = src.pMatMapping;
nMats = src.nMats;
pMtx3x4 = src.pMtx3x4;
pMtx3x3 = src.pMtx3x3;
flags = src.flags;
flagsCollider = src.flagsCollider;
MARK_UNUSED bDriving, minFriction, maxFriction, bRayCast;
bCanBrake = 1, bCanSteer = 1;
kStiffnessWeight = 1.f;
}
int bDriving; // whether wheel is driving, -1 - geometry os not a wheel
int iAxle; // wheel axle, currently not used
int bCanBrake; // whether the wheel is locked during handbrakes
int bRayCast; // whether the wheel use simple raycasting instead of geometry sweep check
int bCanSteer; // wheel the wheel can steer
Vec3 pivot; // upper suspension point in vehicle CS
float lenMax; // relaxed suspension length
float lenInitial; // current suspension length (assumed to be length in rest state)
float kStiffness; // suspension stiffness, if 0 - calculate from lenMax, lenInitial, and vehicle mass and geometry
float kStiffnessWeight; // When autocalculating stiffness use this weight for this wheel. Note weights for wheels in front of the centre of mass do not influence the weights of wheels behind the centre of mass
float kDamping; // suspension damping, if <0 - calculate as -kdamping*(approximate zero oscillations damping)
float minFriction, maxFriction; // additional friction limits for tire friction
float kLatFriction; // coefficient for lateral friction
};
///////////////// tetrahedra lattice params ////////////////////////
struct pe_tetrlattice_params
: pe_params
{
enum entype
{
type_id = ePE_tetrlattice_params
};
pe_tetrlattice_params()
{
type = type_id;
MARK_UNUSED nMaxCracks, maxForcePush, maxForcePull, maxForceShift, maxTorqueTwist, maxTorqueBend, crackWeaken, density;
}
int nMaxCracks; // maximum cracks per update
float maxForcePush, maxForcePull, maxForceShift; // linear force limits
float maxTorqueTwist, maxTorqueBend; // angular force limits
float crackWeaken; // weakens faces neighbouring a newly generated crack (0..1)
float density; // also affects all force limits
};
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// IGeometry Interface ////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
struct geom_world_data // geometry orientation for Intersect() requests
{
geom_world_data()
{
v.Set(0, 0, 0);
w.Set(0, 0, 0);
offset.Set(0, 0, 0);
R.SetIdentity();
centerOfMass.Set(0, 0, 0);
scale = 1.0f;
iStartNode = 0;
}
Vec3 offset;
Matrix33 R;
float scale;
Vec3 v, w; // used to give hints about unprojection direction
Vec3 centerOfMass; // w is rotation around this point
int iStartNode; // for warm-starting (checks collisions in this node first)
};
struct intersection_params
{
intersection_params()
{
iUnprojectionMode = 0;
vrel_min = 1E-6f;
time_interval = 100.0f;
maxSurfaceGapAngle = 1.0f * float(g_PI / 180);
pGlobalContacts = 0;
minAxisDist = 0;
bSweepTest = false;
centerOfRotation.Set(0, 0, 0);
axisContactNormal.Set(0, 0, 1);
unprojectionPlaneNormal.Set(0, 0, 0);
axisOfRotation.Set(0, 0, 0);
bKeepPrevContacts = false;
bStopAtFirstTri = false;
ptOutsidePivot[0].Set(1E11f, 1E11f, 1E11f);
ptOutsidePivot[1].Set(1E11f, 1E11f, 1E11f);
maxUnproj = 1E10f;
bNoAreaContacts = false;
bNoBorder = false;
bNoIntersection = 0;
bExactBorder = 0;
bThreadSafe = bThreadSafeMesh = 0;
}
int iUnprojectionMode; // 0-angular, 1-rotational
Vec3 centerOfRotation; // for mode 1 only
Vec3 axisOfRotation; // if left 0, will be set based on collision area normal
float time_interval; // used to set unprojection limits
float vrel_min; // if local relative velocity in contact area is above this, unprojects along its derection; otherwise along area normal
float maxSurfaceGapAngle; // theshold for generating area contacts
float minAxisDist; // disables rotational unprojection if contact point is closer than this to the axis
Vec3 unprojectionPlaneNormal; // restrict linear unprojection to this plane
Vec3 axisContactNormal; // a mild hint about possible contact normal
float maxUnproj; // unprojections longer than this are discarded
Vec3 ptOutsidePivot[2]; // discard contacts that are not facing outward wrt this point
bool bSweepTest; // requests a linear sweep test along v*time_interval (v from geom_world_data)
bool bKeepPrevContacts; // append results to existing contact buffer
bool bStopAtFirstTri; // stop after the first collision is detected
bool bNoAreaContacts; // don't try to detect contact areas
bool bNoBorder; // don't trace contact border
int bExactBorder; // always tries to return a consequtive border (useful for boolean ops)
int bNoIntersection; // don't find all intersection points (only applies to primitive-primitive collisions)
int bBothConvex; // (output) both operands were convex
int bThreadSafe; // set if it's known that no other thread will contend for the internal intersection data (only used in PrimitiveWorldIntersection now)
int bThreadSafeMesh; // set if it's known that no other thread will try to modify the colliding geometry
geom_contact* pGlobalContacts; // pointer to thread's global contact buffer
};
struct phys_geometry
{
IGeometry* pGeom;
Vec3 Ibody; // tensor of inertia in body frame
quaternionf q; // body frame
Vec3 origin;
float V; // volume
int nRefCount;
int surface_idx; // used for primitives and meshes without per-face ids
int* pMatMapping; // mat mapping; can later be overridden inside entity part
int nMats;
PhysicsForeignData pForeignData; // any external pointer to be associated with phys geometry
};
struct bop_newvtx
{
int idx; // vertex index in the resulting A phys mesh
int iBvtx; // -1 if intersection vertex, >=0 if B vertex
int idxTri[2]; // intersecting triangles' foreign indices
};
struct bop_newtri
{
int idxNew; // a newly generated foreign index (can be remapped later)
int iop; // triangle source 0=A, 1=B
int idxOrg; // original (triangulated) triangle's foreign index
int iVtx[3]; // for each vertex, existing vertex index if >=0, -(new vertex index+1) if <0
float areaOrg; // original triangle's area
Vec3 area[3]; // areas of compementary triangles for each vertex (divide by original tri area to get barycentric coords)
};
struct bop_vtxweld
{
void set(int _ivtxDst, int _ivtxWelded) { ivtxDst = _ivtxDst; ivtxWelded = _ivtxWelded; }
int ivtxDst : 16; // ivtxWelded is getting replaced with ivtxDst
int ivtxWelded : 16;
};
struct bop_TJfix
{
void set(int _iACJ, int _iAC, int _iABC, int _iCA, int _iTJvtx) { iACJ = _iACJ; iAC = _iAC; iABC = _iABC; iCA = _iCA; iTJvtx = _iTJvtx; }
// A _____J____ C (ACJ is a thin triangle on top of ABC; J is 'the junction vertex')
// \ . / in ABC: set A->Jnew
// \ . / in ACJ: set J->Jnew, A -> A from original ABC, C -> B from original ABC
// \/
// B
int iABC; // big triangle's foreign idx
int iACJ; // small triangle's foreign idx
int iCA; // CA edge number in ABC
int iAC; // AC edge number in ACJ
int iTJvtx; // J vertex index
};
struct bop_meshupdate_thunk
{
bop_meshupdate_thunk() { prevRef = nextRef = this; }
virtual ~bop_meshupdate_thunk() { prevRef->nextRef = nextRef; nextRef->prevRef = prevRef; prevRef = nextRef = this; }
bop_meshupdate_thunk* prevRef, * nextRef;
};
struct bop_meshupdate
: bop_meshupdate_thunk
{
bop_meshupdate() { Reset(); }
virtual ~bop_meshupdate();
void Reset()
{
pRemovedVtx = 0;
pRemovedTri = 0;
pNewVtx = 0;
pNewTri = 0;
pWeldedVtx = 0;
pTJFixes = 0;
pMovedBoxes = 0;
nRemovedVtx = nRemovedTri = nNewVtx = nNewTri = nWeldedVtx = nTJFixes = nMovedBoxes = 0;
next = 0;
pMesh[0] = pMesh[1] = 0;
relScale = 1.0f;
}
IGeometry* pMesh[2]; // 0-dst (A), 1-src (B)
int* pRemovedVtx;
int nRemovedVtx;
int* pRemovedTri;
int nRemovedTri;
bop_newvtx* pNewVtx;
int nNewVtx;
bop_newtri* pNewTri;
int nNewTri;
bop_vtxweld* pWeldedVtx;
int nWeldedVtx;
bop_TJfix* pTJFixes;
int nTJFixes;
bop_meshupdate* next;
primitives::box* pMovedBoxes;
int nMovedBoxes;
float relScale;
};
struct trinfo
{
trinfo& operator=(trinfo& src) { ibuddy[0] = src.ibuddy[0]; ibuddy[1] = src.ibuddy[1]; ibuddy[2] = src.ibuddy[2]; return *this; }
index_t ibuddy[3];
};
struct mesh_island // mesh island is a connected group of trinagles
{
int itri; // first triangle
int nTris; // trinagle count
int iParent; // outer island is V<0
int iChild; // first islands inside it with V<0
int iNext; // maintains a linked list of iChild's inside iParent
float V; // can be negative (means it represents an inner surface)
Vec3 center; // geometrical center
int bProcessed; // for internal use
};
struct tri2isle // maintains a linked triangle list inside an island
{
unsigned int inext : 16;
unsigned int isle : 15;
unsigned int bFree : 1;
};
struct mesh_data
: primitives::primitive
{
index_t* pIndices;
char* pMats;
int* pForeignIdx; // an int associated with each face
strided_pointer<Vec3> pVertices;
Vec3* pNormals;
int* pVtxMap; // original vertex index->merged vertex index
trinfo* pTopology; // neighbours for each triangle's edge
int nTris, nVertices;
mesh_island* pIslands;
int nIslands;
tri2isle* pTri2Island;
int flags;
};
const int BOP_NEWIDX0 = 0x8000000;
enum geomtypes
{
GEOM_TRIMESH = primitives::triangle::type, GEOM_HEIGHTFIELD = primitives::heightfield::type, GEOM_CYLINDER = primitives::cylinder::type,
GEOM_CAPSULE = primitives::capsule::type, GEOM_RAY = primitives::ray::type, GEOM_SPHERE = primitives::sphere::type,
GEOM_BOX = primitives::box::type, GEOM_VOXELGRID = primitives::voxelgrid::type
};
enum foreigntypes
{
DATA_OWNED_OBJECT = 1, DATA_MESHUPDATE = -1, DATA_UNUSED = -2
};
enum meshflags
{
// mesh_shared_... flags mean that the mesh will not attempt to free the corresponding array upon deletion
mesh_shared_vtx = 1, mesh_shared_idx = 2, mesh_shared_mats = 4, mesh_shared_foreign_idx = 8, mesh_shared_normals = 0x10,
// bounding volume flags (if several are specified in CreateMesh(), the best fitting one will be used)
mesh_OBB = 0x20, mesh_AABB = 0x40, mesh_SingleBB = 0x80, mesh_AABB_rotated = 0x40000, mesh_VoxelGrid = 0x80000,
// mesh_multicontact is a hint on how many contacts per node to expect; 0-one contact, 2-no limit, 1-balanced
mesh_multicontact0 = 0x100, mesh_multicontact1 = 0x200, mesh_multicontact2 = 0x400,
// mesh_approx flags are used in CreateMesh to specify which primitive approximations to try
mesh_approx_cylinder = 0x800, mesh_approx_box = 0x1000, mesh_approx_sphere = 0x2000, mesh_approx_capsule = 0x200000,
mesh_keep_vtxmap = 0x8000, // keeps vertex map after adjacent vertices were merged
mesh_keep_vtxmap_for_saving = 0x10000, // deletes vertex map after loading
mesh_no_vtx_merge = 0x20000, // does not attempt to merge adjacent vertices
mesh_always_static = 0x100000, // simplifies phys mass properties calculation if by just setting them to 0
mesh_full_serialization = 0x400000, // mesh will save all data to stream unconditionally
mesh_transient = 0x800000, // all mesh allocations will go to a flushable pool
mesh_no_booleans = 0x1000000, // disables boolean operations on the mesh
mesh_AABB_plane_optimise = 0x4000, // aabb generation is faster since it assumes the tri's are in a plane and distributed uniformly
mesh_no_filter = 0x2000000 // doesn't attempt to filter away degenerate triangles
};
enum meshAuxData
{
mesh_data_materials = 1, mesh_data_foreign_idx = 2, mesh_data_vtxmap = 4
}; // used in DestroyAuxiliaryMeshData
struct IOwnedObject
{
// <interfuscator:shuffle>
virtual ~IOwnedObject(){}
virtual int Release() = 0;
// </interfuscator:shuffle>
};
struct SOcclusionCubeMap;
struct IGeometry
{
struct SBoxificationParams
{
SBoxificationParams() { minFaceArea = sqr(0.4f); distFilter = 0.2f; voxResolution = 100; maxFaceTiltAngle = DEG2RAD(10); minLayerFilling = 0.5f; maxLayerReusage = 0.8f; maxVoxIslandConnections = 0.5f; }
float minFaceArea; // ignore patches smaller than this in the box growing process
float distFilter; // smooth away details smaller than this (in terms of linear size)
int voxResolution; // resolution of the grid in the longest direction
float maxFaceTiltAngle; // tolerance for patch alignment with box faces
float minLayerFilling; // stop growing boxes once layer fill percentage falls below this
float maxLayerReusage; // stop growing a box if it goes through already used cells (> than this percentage)
float maxVoxIslandConnections; // ignore isolated voxel islands that have more than this amount of connections to the used ones
};
// <interfuscator:shuffle>
virtual ~IGeometry(){}
virtual int GetType() = 0; // see enum geomtypes
virtual int AddRef() = 0;
virtual void Release() = 0;
virtual void Lock(int bWrite = 1) = 0; // locks the geometry for reading or writing
virtual void Unlock(int bWrite = 1) = 0; // bWrite should match the preceding Lock
virtual void GetBBox(primitives::box* pbox) = 0; // possibly oriented bbox (depends on BV tree type)
virtual int CalcPhysicalProperties(phys_geometry* pgeom) = 0; // O(num_triangles) for meshes, unless mesh_always_static is set
virtual int PointInsideStatus(const Vec3& pt) = 0; // for meshes, will create an auxiliary hashgrid for acceleration
// IntersectLocked - the main function for geomtries. pdata1,pdata2,pparams can be 0 - defaults will be assumed.
// returns a pointer to an internal thread-specific contact buffer, locked with the lock argument
virtual int IntersectLocked(IGeometry* pCollider, geom_world_data* pdata1, geom_world_data* pdata2, intersection_params* pparams, geom_contact*& pcontacts, WriteLockCond& lock) = 0;
virtual int IntersectLocked(IGeometry* pCollider, geom_world_data* pdata1, geom_world_data* pdata2, intersection_params* pparams, geom_contact*& pcontacts, WriteLockCond& lock, int iCaller) = 0;
// Intersect - same as Intersect, but doesn't lock pcontacts
virtual int Intersect(IGeometry* pCollider, geom_world_data* pdata1, geom_world_data* pdata2, intersection_params* pparams, geom_contact*& pcontacts) = 0;
// FindClosestPoint - for non-convex meshes only does local search, doesn't guarantee global minimum
// iFeature's format: (feature type: 2-face, 1-edge, 0-vertex)<<9 | feature index
// if ptdst0 and ptdst1 are different, searches for a closest point on a line segment
// ptres[0] is the closest point on the geometry, ptres[1] - on the test line segment
virtual int FindClosestPoint(geom_world_data* pgwd, int& iPrim, int& iFeature, const Vec3& ptdst0, const Vec3& ptdst1, Vec3* ptres, int nMaxIters = 10) = 0;
// CalcVolumetricPressure: a fairly correct computation of volumetric pressure with inverse-quadratic falloff (ex: explosions)
// for a surface fragment dS, impulse is: k*dS*cos(surface_normal,direction to epicenter) / max(rmin, distance to epicenter)^2
// returns integral impulse and angular impulse
virtual void CalcVolumetricPressure(geom_world_data* gwd, const Vec3& epicenter, float k, float rmin, const Vec3& centerOfMass, Vec3& P, Vec3& L) = 0;
// CalculateBuoyancy: computes the submerged volume (return value) and the mass center of the submerged part
virtual float CalculateBuoyancy(const primitives::plane* pplane, const geom_world_data* pgwd, Vec3& submergedMassCenter) = 0;
// CalculateMediumResistance: computes medium resistance integral of the surface; self flow of the medium should be baked into pgwd
// for a surface fragment dS with normal n and velocity v impulse is: -n*max(0,n*v) (can be scaled by the medium resistance coeff. later)
virtual void CalculateMediumResistance(const primitives::plane* pplane, const geom_world_data* pgwd, Vec3& dPres, Vec3& dLres) = 0;
// DrawWireframe: draws physics helpers; iLevel>0 will draaw a level in the bounding volume tree
virtual void DrawWireframe(IPhysRenderer* pRenderer, geom_world_data* gwd, int iLevel, int idxColor) = 0;
virtual int GetPrimitiveId(int iPrim, int iFeature) = 0; // get material id for a primitive (iFeature is ignored currently)
// GetPrimitive: expects a valid pprim pointer, type depends on GetType; meshes return primitives::triangle
virtual int GetPrimitive(int iPrim, primitives::primitive* pprim) = 0;
virtual int GetForeignIdx(int iPrim) = 0; // only works for meshes
virtual Vec3 GetNormal(int iPrim, const Vec3& pt) = 0; // only implemented for meshes currently; pt is ignored
virtual int GetFeature(int iPrim, int iFeature, Vec3* pt) = 0; // returns vertices of face, edge, or vertex; only for boxes and meshes currently
virtual int IsConvex(float tolerance) = 0;
// PrepareForRayTest: creates an auxiliary hash structure for short rays test acceleration
virtual void PrepareForRayTest(float raylen) = 0; // raylen - 'expected' ray length to optimize the hash for
// BuildOcclusionCubemap: cubemap projection-based occlusion (used for explosions); pGrids are 6 [nRes^2] arrays
// iMode: 0 - update cubemap in pGrid0; 1 - build cubemap in pGrid1, grow edges by nGrow cells, and compare with pGrid0
// all geometry closer than rmin is ignored (to avoid large projection scale); same if farther than rmax
virtual float BuildOcclusionCubemap(geom_world_data* pgwd, int iMode, SOcclusionCubeMap* cubemap0, SOcclusionCubeMap* cubemap1, int nGrow) = 0;
virtual void GetMemoryStatistics(ICrySizer* pSizer) = 0;
virtual void Save(CMemStream& stm) = 0;
virtual void Load(CMemStream& stm) = 0;
// Load: meshes can avoid storing vertex, index, and mat id data, in this case same arrays should be provided during loading
virtual void Load(CMemStream& stm, strided_pointer<const Vec3> pVertices, strided_pointer<unsigned short> pIndices, char* pIds) = 0;
virtual int GetPrimitiveCount() = 0;
virtual const primitives::primitive* GetData() = 0; // returns an pointer to an internal structure; for meshes returns mesh_data
virtual void SetData(const primitives::primitive*) = 0; // not supported by meshes
virtual float GetVolume() = 0;
virtual Vec3 GetCenter() = 0;
// Subtract: performs boolean subtraction; if bLogUpdates==1, will create bop_meshupdate inside the mesh
virtual int Subtract(IGeometry* pGeom, geom_world_data* pdata1, geom_world_data* pdata2, int bLogUpdates = 1) = 0;
virtual int GetSubtractionsCount() = 0; // number of Subtract()s the mesh has survived so far
// GetForeignData: returns a pointer associated with the geometry
// special: GetForeignData(DATA_MESHUPDATE) returns the internal bop_meshupdate list (does not interfere with the main foreign pointer)
virtual PhysicsForeignData GetForeignData(int iForeignData = 0) = 0;
virtual int GetiForeignData() = 0; // foreign data type
virtual void SetForeignData(PhysicsForeignData pForeignData, int iForeignData) = 0;
virtual int GetErrorCount() = 0; // for meshes, the number of edges that don't belong to exactly 2 triangles
virtual void DestroyAuxilaryMeshData(int idata) = 0; // see meshAuxData enum
virtual void RemapForeignIdx(int* pCurForeignIdx, int* pNewForeignIdx, int nTris) = 0; // used in rendermesh-physics sync after boolean ops
virtual void AppendVertices(Vec3* pVtx, int* pVtxMap, int nVtx) = 0; // used in rendermesh-physics sync after boolean ops
virtual float GetExtent(EGeomForm eForm) const = 0;
virtual void GetRandomPos(PosNorm& ran, EGeomForm eForm) const = 0;
virtual void CompactMemory() = 0; // used only by non-breakable meshes to compact non-shared vertices into same contingous block of memory
// Boxify: attempts to build a set of boxes covering the geometry's volume (only supported by trimeshes)
virtual int Boxify(primitives::box* pboxes, int nMaxBoxes, const SBoxificationParams& params) = 0;
// Sanity check the geometry. i.e. its tree doesn't have an excessive depth. returns 0 if fails
virtual int SanityCheck() = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// IGeometryManager Interface /////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
struct SMeshBVParams {};
struct SBVTreeParams
: SMeshBVParams
{
int nMinTrisPerNode; // if a split creates a node with <nMinTris triangles, another split is attempted
int nMaxTrisPerNode; // nodes are split until they have more triangles than this
float favorAABB; // when several BV trees are requested in CreateMesh, it selects the one with the smallest volume; favorAABB scales AABB's volume down
};
struct SVoxGridParams
: SMeshBVParams // voxel grid is a regular 3d grid collision test acceleration structure
{
Vec3 origin;
Vec3 step;
Vec3i size;
};
struct ITetrLattice
{
// <interfuscator:shuffle>
virtual ~ITetrLattice(){}
virtual int SetParams(const pe_params*) = 0; // only accepts pe_tetrlattice_params
virtual int GetParams(pe_params*) = 0;
virtual void DrawWireframe(IPhysRenderer* pRenderer, geom_world_data* gwd, int idxColor) = 0;
virtual IGeometry* CreateSkinMesh(int nMaxTrisPerBVNode = 8) = 0; // builds triangle mesh for exterior faces
virtual int CheckPoint(const Vec3& pt, int* idx, float* w) = 0; // check if a point is inside any tetrahedron, fills barycentric weights[4]
virtual void Release() = 0;
// </interfuscator:shuffle>
};
struct IBreakableGrid2d
{
// <interfuscator:shuffle>
virtual ~IBreakableGrid2d(){}
// BreakIntoChunks: emulates fracure in the grid around pt with dimensions r x ry
// ptout receives a pointer to a vertex array
// return value is an allocated array of indices, 3 per triangle, -1 marks contour end, -2 array end
// maxPatchTris tells to unite broken trianges into patches of up to this size; 0 means broken triangles are discarded
// jointhresh (0..1) affects the way triangles unite into patches
// seed bootsraps the RNG if >=0
// hole edges are filtered to removes corners sharper than filterAng (except those that are formed by several joined triangles)
virtual int* BreakIntoChunks(const vector2df& pt, float r, vector2df*& ptout, int maxPatchTris, float jointhresh, int seed = -1, float filterAng = 0.0f, float ry = 0.0f) = 0;
virtual primitives::grid* GetGridData() = 0;
virtual bool IsEmpty() = 0;
virtual void Release() = 0;
virtual float GetFracture() = 0; // destroyed percentage so far
virtual void GetMemoryStatistics(ICrySizer* pSizer) const = 0;
// </interfuscator:shuffle>
};
struct IGeomManager
{
// <interfuscator:shuffle>
virtual ~IGeomManager(){}
virtual void InitGeoman() = 0;
virtual void ShutDownGeoman() = 0;
// CreateMesh - depending on flags (see enum meshflags) can create either a mesh or a primitive that approximates
// approx_tolerance is the approximation tolerance in relative units
// pMats are per-face material ids (which can later be mapped via pMatMapping)
// pForeignIdx store any user data per face (internally indices might be sorted when building BV structure, pForegnIdx will reflect that)
virtual IGeometry* CreateMesh(strided_pointer<const Vec3> pVertices, strided_pointer<unsigned short> pIndices, char* pMats, int* pForeignIdx, int nTris, int flags, float approx_tolerance = 0.05f, int nMinTrisPerNode = 2, int nMaxTrisPerNode = 4, float favorAABB = 1.0f) = 0;
virtual IGeometry* CreateMesh(strided_pointer<const Vec3> pVertices, strided_pointer<unsigned short> pIndices, char* pMats, int* pForeignIdx, int nTris, int flags, float approx_tolerance, SMeshBVParams* pParams) = 0; // this version can take SVoxGridParams in pParams, if mesh_VoxelGrid is set
virtual IGeometry* CreatePrimitive(int type, const primitives::primitive* pprim) = 0; // used to create primitives explicitly
virtual void DestroyGeometry(IGeometry* pGeom) = 0; // just calls Release() on pGeom
// RegisterGeometry: creates a phys_geometry structure for IGeometry, computes mass properties
// phys_geometries are managed in pools internally; the new structure has nRefCount 1
// defSurfaceIdx will be used (until overwritten in entity part) if the geometry doesn't have per-face materials
virtual phys_geometry* RegisterGeometry(IGeometry* pGeom, int defSurfaceIdx = 0, int* pMatMapping = 0, int nMats = 0) = 0;
virtual int AddRefGeometry(phys_geometry* pgeom) = 0;
virtual int UnregisterGeometry(phys_geometry* pgeom) = 0; // decreases nRefCount, frees the pool slot if <=0
virtual void SetGeomMatMapping(phys_geometry* pgeom, int* pMatMapping, int nMats) = 0;
virtual void SaveGeometry(CMemStream& stm, IGeometry* pGeom) = 0;
virtual IGeometry* LoadGeometry(CMemStream& stm, strided_pointer<const Vec3> pVertices, strided_pointer<unsigned short> pIndices, char* pMats) = 0;
virtual void SavePhysGeometry(CMemStream& stm, phys_geometry* pgeom) = 0;
virtual phys_geometry* LoadPhysGeometry(CMemStream& stm, strided_pointer<const Vec3> pVertices, strided_pointer<unsigned short> pIndices, char* pIds) = 0;
virtual IGeometry* CloneGeometry(IGeometry* pGeom) = 0;
virtual ITetrLattice* CreateTetrLattice(const Vec3* pt, int npt, const int* pTets, int nTets) = 0;
// RegisterCrack: cracks are used for ITertLattice-induced breaking to subtract a shape whenever a tetrahedral face breaks
// pVtx specify 3 control vertices; when applying, they are affinely stretched to match the broken face's corners
// idmat is breakability index
virtual int RegisterCrack(IGeometry* pGeom, Vec3* pVtx, int idmat) = 0;
virtual void UnregisterCrack(int id) = 0;
virtual void UnregisterAllCracks(void (* OnRemoveGeom)(IGeometry* pGeom) = 0) = 0;
// GetCrackGeom - creates a stretched crack based on the three corner vertices (pt[3])
// pgwd receives it world transformation
virtual IGeometry* GetCrackGeom(const Vec3* pt, int idmat, geom_world_data* pgwd) = 0;
// GenerateBreakebleGrid - creates a perturbed regular grid of points
// ptsrc's bbox is split into a nCells grid (with an additional border)
// vertices are randomly perturbed up to 0.4 cell size (seed can bootstrap the randomizer)
// ptsrc is "painted" into the grid, snapping the closest grid vertices to ptsrc (but no new ones are created at this stage)
// bStatic is ignored currently
virtual IBreakableGrid2d* GenerateBreakableGrid(vector2df* ptsrc, int npt, const vector2di& nCells, int bStatic = 1, int seed = -1) = 0;
virtual void ReleaseGeomsImmediately(bool bReleaseImmediately) = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
////////////////////////////// IPhysUtils Interface /////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
typedef void* (* qhullmalloc)(size_t);
struct IPhysUtils
{
// <interfuscator:shuffle>
virtual ~IPhysUtils(){}
// CoverPolygonWithCircles - attempts to fits circles to roughly cover a polygon (can used to generate round spalshes over an area)
// bConsecutive is false, uses convex hull of the points
// center is a pre-calculated geometrical center of pt's
// outputs data into centers and radii arrays, which use global buffers; returns the number of circles
virtual int CoverPolygonWithCircles(strided_pointer<vector2df> pt, int npt, bool bConsecutive, const vector2df& center, vector2df*& centers, float*& radii, float minCircleRadius) = 0;
virtual int qhull(strided_pointer<Vec3> pts, int npts, index_t*& pTris, qhullmalloc qmalloc = 0) = 0;
virtual void DeletePointer(void* pdata) = 0; // should be used to free data allocated in physics
virtual int TriangulatePoly(vector2df* pVtx, int nVtx, int* pTris, int szTriBuf) = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// IPhysicalEntity Interface //////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
enum snapshot_flags
{
ssf_compensate_time_diff = 1, ssf_checksum_only = 2, ssf_no_update = 4
};
struct IPhysicalEntity
{
// <interfuscator:shuffle>
virtual ~IPhysicalEntity(){}
virtual pe_type GetType() const = 0; // returns pe_type
virtual int AddRef() = 0;
virtual int Release() = 0;
// SetParams - changes parameters; can be queued and executed later if the physics is busy (unless bThreadSafe is flagged)
// returns !0 if successful
virtual int SetParams(const pe_params* params, int bThreadSafe = 0) = 0;
virtual int GetParams(pe_params* params) const = 0; // uses the same structures as SetParams; returns !0 if successful
virtual int GetStatus(pe_status* status) const = 0; // generally returns >0 if successful, but some pe_status'es have special meaning
virtual int Action(const pe_action*, int bThreadSafe = 0) = 0; // like SetParams, can get queued
// AddGeometry - add a new entity part, containing pgeom; request can get queued
// params can be specialized depending on the entity type
// id is a requested geometry id (expected to be unique), if -1 - assign automatically
// returns geometry id (0..some number), -1 means error
virtual int AddGeometry(phys_geometry* pgeom, pe_geomparams* params, int id = -1, int bThreadSafe = 0) = 0;
virtual void RemoveGeometry(int id, int bThreadSafe = 0) = 0; // returns !0 if successful; can get queued
virtual PhysicsForeignData GetForeignData(int itype = 0) const = 0; // returns entity's pForeignData if itype matches iForeignData, 0 otherwise
virtual int GetiForeignData() const = 0; // returns entity's iForegnData
virtual int GetStateSnapshot(class CStream& stm, float time_back = 0, int flags = 0) = 0; // obsolete, was used in Far Cry
virtual int GetStateSnapshot(TSerialize ser, float time_back = 0, int flags = 0) = 0;
virtual int SetStateFromSnapshot(class CStream& stm, int flags = 0) = 0; // obsolete
virtual int PostSetStateFromSnapshot() = 0; // obsolete
virtual unsigned int GetStateChecksum() = 0; // obsolete
virtual void SetNetworkAuthority(int authoritive = -1, int paused = -1) = 0; // -1 dont change, 0 - set to false, 1 - set to true
virtual int SetStateFromSnapshot(TSerialize ser, int flags = 0) = 0;
virtual int SetStateFromTypedSnapshot(TSerialize ser, int type, int flags = 0) = 0;
virtual int GetStateSnapshotTxt(char* txtbuf, int szbuf, float time_back = 0) = 0; // packs state into ASCII text
virtual void SetStateFromSnapshotTxt(const char* txtbuf, int szbuf) = 0;
// DoStep: evolves entity in time. Normally this is called from PhysicalWorld::TimeStep
virtual int DoStep(float time_interval) = 0;
virtual int DoStep(float time_interval, int iCaller) = 0;
virtual void StartStep(float time_interval) = 0; // must be called before DoStep
virtual void StepBack(float time_interval) = 0;
#if ENABLE_CRY_PHYSICS
virtual IPhysicalWorld* GetWorld() const = 0; // returns physical world this entity belongs to
#endif // ENABLE_CRY_PHYSICS
virtual void GetMemoryStatistics(ICrySizer* pSizer) const = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
//////////////////////////// IPhysicsEventClient Interface //////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
struct IPhysicsEventClient // obsolete, replaced with event system (EventPhys...)
{ // <interfuscator:shuffle>
virtual ~IPhysicsEventClient(){}
virtual void OnBBoxOverlap(IPhysicalEntity* pEntity, PhysicsForeignData pForeignData, int iForeignData, IPhysicalEntity* pCollider, void* pColliderForeignData, int iColliderForeignData) = 0;
virtual void OnStateChange(IPhysicalEntity* pEntity, PhysicsForeignData pForeignData, int iForeignData, int iOldSimClass, int iNewSimClass) = 0;
virtual void OnCollision(IPhysicalEntity* pEntity, PhysicsForeignData pForeignData, int iForeignData, coll_history_item* pCollision) = 0;
virtual int OnImpulse(IPhysicalEntity* pEntity, PhysicsForeignData pForeignData, int iForeignData, pe_action_impulse* impulse) = 0;
virtual void OnPostStep(IPhysicalEntity* pEntity, PhysicsForeignData pForeignData, int iForeignData, float dt) = 0;
// </interfuscator:shuffle>
};
/////////////////////////////////////////////////////////////////////////////////////
///////////////////////////// IPhysicalWorld Interface //////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////
enum draw_helper_flags
{
pe_helper_collisions = 1, pe_helper_geometry = 2, pe_helper_bbox = 4, pe_helper_lattice = 8
};
enum surface_flags
{
sf_pierceable_mask = 0x0F, sf_max_pierceable = 0x0F, sf_important = 0x200, sf_manually_breakable = 0x400, sf_matbreakable_bit = 16
};
#define sf_pierceability(i) (i)
#define sf_matbreakable(i) (((i) + 1) << sf_matbreakable_bit)
enum rwi_flags // see RayWorldIntersection
{
rwi_ignore_terrain_holes = 0x20, rwi_ignore_noncolliding = 0x40, rwi_ignore_back_faces = 0x80, rwi_ignore_solid_back_faces = 0x100,
rwi_pierceability_mask = 0x0F, rwi_pierceability0 = 0, rwi_stop_at_pierceable = 0x0F,
rwi_separate_important_hits = sf_important, // among pierceble hits, materials with sf_important will have priority
rwi_colltype_bit = 16, // used to manually specify collision geometry types (default is geom_colltype_ray)
rwi_colltype_any = 0x400, // if several colltype flag are specified, switches between requiring all or any of them in a geometry
rwi_queue = 0x800, // queues the RWI request, when done it'll generate EventPhysRWIResult
rwi_force_pierceable_noncoll = 0x1000, // non-colliding geometries will be treated as pierceable regardless of the actual material
rwi_update_last_hit = 0x4000, // update phitLast with the current hit results (should be set if the last hit should be reused for a "warm" start)
rwi_any_hit = 0x8000 // returns the first found hit for meshes, not necessarily the closets
};
#define rwi_pierceability(pty) (pty)
#define rwi_colltype_all(colltypes) ((colltypes) << rwi_colltype_bit)
#define rwi_colltype_any(colltypes) ((colltypes) << rwi_colltype_bit | rwi_colltype_any)
enum entity_query_flags // see GetEntitiesInBox and RayWorldIntersection
{
ent_static = 1, ent_sleeping_rigid = 2, ent_rigid = 4, ent_living = 8, ent_independent = 16, ent_deleted = 128, ent_terrain = 0x100,
ent_all = ent_static | ent_sleeping_rigid | ent_rigid | ent_living | ent_independent | ent_terrain,
ent_flagged_only = pef_update, ent_skip_flagged = pef_update * 2, // "flagged" meas has pef_update set
ent_areas = 32, ent_triggers = 64,
ent_ignore_noncolliding = 0x10000,
ent_sort_by_mass = 0x20000, // sort by mass in ascending order
ent_allocate_list = 0x40000, // if not set, the function will return an internal pointer
ent_addref_results = 0x100000, // will call AddRef on each entity in the list (expecting the caller call Release)
ent_water = 0x200, // can only be used in RayWorldIntersection
ent_no_ondemand_activation = 0x80000, // can only be used in RayWorldIntersection
ent_delayed_deformations = 0x80000 // queues procedural breakage requests; can only be used in SimulateExplosion
};
enum phys_locks
{
PLOCK_WORLD_STEP = 1, PLOCK_CALLER0, PLOCK_CALLER1, PLOCK_QUEUE, PLOCK_AREAS
};
struct phys_profile_info
{
IPhysicalEntity* pEntity;
int nTicks, nCalls;
int nTicksLast, nCallsLast;
int nTicksAvg;
float nCallsAvg;
int nTicksPeak, nCallsPeak, peakAge;
int nTicksStep;
int id;
const char* pName;
};
struct phys_job_info
{
int jobType;
int nInvocations;
int nFallbacks;
int64 nTicks, nLatency, nLatencyAbs;
int64 nTicksPeak, nLatencyPeak, nLatencyAbsPeak, peakAge;
const char* pName;
};
struct SolverSettings
{
int nMaxStackSizeMC; // def 8
float maxMassRatioMC; // def 50
int nMaxMCiters; // def 1400
int nMinMCiters; // def 4
int nMaxMCitersHopeless; // def 400
float accuracyMC; // def 0.005
float accuracyLCPCG; // def 0.005
int nMaxContacts; // def 150
int nMaxPlaneContacts; // def 7
int nMaxPlaneContactsDistress; // def 4
int nMaxLCPCGsubiters; // def 120
int nMaxLCPCGsubitersFinal; // def 250
int nMaxLCPCGmicroiters;
int nMaxLCPCGmicroitersFinal;
int nMaxLCPCGiters; // def 5
float minLCPCGimprovement; // def 0.1
int nMaxLCPCGFruitlessIters; // def 4
float accuracyLCPCGnoimprovement; // def 0.05
float minSeparationSpeed; // def 0.02
float maxvCG;
float maxwCG;
float maxvUnproj;
int bCGUnprojVel;
float maxMCMassRatio;
float maxMCVel;
int maxLCPCGContacts;
};
enum entity_out_of_bounds_flags
{
raycast_out_of_bounds = 1, // Affects ray casts. NB, ray casting out of bounds entities can cause performance issues
get_entities_out_of_bounds = 2, // Affects GetEntitiesAround.
};
struct PhysicsVars
: SolverSettings
{
int bFlyMode;
int iCollisionMode;
int bSingleStepMode;
int bDoStep;
float fixedTimestep;
float timeGranularity;
float maxWorldStep;
int iDrawHelpers;
int iOutOfBounds;
float maxContactGap;
float maxContactGapPlayer;
float minBounceSpeed;
int bProhibitUnprojection;
int bUseDistanceContacts;
float unprojVelScale;
float maxUnprojVel;
float maxUnprojVelRope;
int bEnforceContacts;
int nMaxSubsteps;
int nMaxSurfaces;
Vec3 gravity;
int nGroupDamping;
float groupDamping;
int nMaxSubstepsLargeGroup;
int nBodiesLargeGroup;
int bBreakOnValidation;
int bLogActiveObjects;
int bMultiplayer;
int bProfileEntities;
int bProfileFunx;
int bProfileGroups;
int nGEBMaxCells;
int nMaxEntityCells;
int nMaxAreaCells;
float maxVel;
float maxVelPlayers;
float maxVelBones;
float maxContactGapSimple;
float penaltyScale;
int bSkipRedundantColldet;
int bLimitSimpleSolverEnergy;
int nMaxEntityContacts;
int bLogLatticeTension;
int nMaxLatticeIters;
int bLogStructureChanges;
float tickBreakable;
float approxCapsLen;
int nMaxApproxCaps;
int bPlayersCanBreak;
float lastTimeStep;
int bMultithreaded;
float breakImpulseScale;
float rtimeGranularity;
float massLimitDebris;
int flagsColliderDebris;
int flagsANDDebris;
int maxRopeColliderSize;
int maxSplashesPerObj;
float splashDist0, minSplashForce0, minSplashVel0;
float splashDist1, minSplashForce1, minSplashVel1;
int bDebugExplosions;
float jointGravityStep;
float jointDmgAccum;
float jointDmgAccumThresh;
float timeScalePlayers;
float threadLag;
int numThreads;
int physCPU;
int physWorkerCPU;
Vec3 helperOffset;
int64 ticksPerSecond;
// net-synchronization related
#if USE_IMPROVED_RIGID_ENTITY_SYNCHRONISATION
float netInterpTime;
float netExtrapMaxTime;
int netSequenceFrequency;
int netDebugDraw;
#else
float netMinSnapDist;
float netVelSnapMul;
float netMinSnapDot;
float netAngSnapMul;
float netSmoothTime;
#endif
int bEntGridUseOBB;
int nStartupOverloadChecks;
float breakageMinAxisInertia; // For procedural breaking, each axis must have a minium inertia compared to the axis with the largest inertia (0.01-1.00)
int bForceSyncPhysics;
};
struct ray_hit
{
float dist;
IPhysicalEntity* pCollider;
int ipart;
int partid;
short surface_idx;
short idmatOrg; // original material index, not mapped with material mapping
int foreignIdx;
int iNode; // BV tree node that had the intersection; can be used for "warm start" next time
Vec3 pt;
Vec3 n; // surface normal
int bTerrain; // global terrain hit
int iPrim; // hit triangle index
ray_hit* next; // reserved for internal use, do not change
};
struct ray_hit_cached // used in conjunction with rwi_reuse_last_hit
{
ray_hit_cached() { pCollider = 0; ipart = 0; }
ray_hit_cached(const ray_hit& hit) { pCollider = hit.pCollider; ipart = hit.ipart; iNode = hit.iNode; }
ray_hit_cached& operator=(const ray_hit& hit) { pCollider = hit.pCollider; ipart = hit.ipart; iNode = hit.iNode; return *this; }
IPhysicalEntity* pCollider;
int ipart;
int iNode;
};
#ifndef PWI_NAME_TAG
#define PWI_NAME_TAG "PrimitiveWorldIntersection"
#endif
#ifndef RWI_NAME_TAG
#define RWI_NAME_TAG "RayWorldIntersection"
#endif
struct pe_explosion // see SimulateExplosion
{
pe_explosion() { nOccRes = 0; nGrow = 0; rminOcc = 0.1f; holeSize = 0; explDir.Set(0, 0, 1); iholeType = 0; forceDeformEntities = false; }
Vec3 epicenter; // epicenter for the occlusion computation
Vec3 epicenterImp; // epicenter for impulse computation
// the impulse a surface fragment with area dS and normal n gets is: dS*k*n*max(0,n*dir_to_epicenter)/max(rmin, dist_to_epicenter)^2
// k is selected in such way that at impulsivePressureAtR = k/r^2
float rmin, rmax, r;
float impulsivePressureAtR;
int nOccRes; // resolution of the occlusion map (0 disables)
int nGrow; // grow occlusion projections by this amount of cells to allow explosion to reach around corners a bit
float rminOcc; // ignores geometry closer than this for occlusion computations
float holeSize; // explosion shape for iholeType will be scaled by this holeSize / shape's declared size
Vec3 explDir; // hit direction, for aligning the explosion boolean shape
int iholeType; // breakability index for the explosion (<0 disables)
bool forceDeformEntities; // force deformation even if breakImpulseScale is zero
// filled as results
IPhysicalEntity** pAffectedEnts;
float* pAffectedEntsExposure; // 0..1 exposure, computed from the occlusion map
int nAffectedEnts;
};
// Physics events can be logged or immediate. The former are posted to the event queue and the client handler is called
// during PumpLoggedEvents function. The latter are call client handlers immediately when they happen, which is likely
// to be inside the physics thread, so the handler must be thread-safe.
// In most cases, in order to generate events the entity must have the corresponding flag set
// Important Note: Please keep event ids contigous in respect to being stereo or mono events
struct EventPhys
{
EventPhys* next;
int idval;
};
struct EventPhysStereo
: EventPhys // base for two-entity events, ids 0-2
{
IPhysicalEntity* pEntity[2];
PhysicsForeignData pForeignData[2];
int iForeignData[2];
};
struct EventPhysMono
: EventPhys // base for one-entity events, ids 3-16
{
IPhysicalEntity* pEntity;
PhysicsForeignData pForeignData;
int iForeignData;
};
struct EventPhysBBoxOverlap
: EventPhysStereo // generated by triggers and parts with geom_log_interactions
{
enum entype
{
id = 0, flagsCall = 0, flagsLog = 0
};
EventPhysBBoxOverlap() { idval = id; }
};
enum EventPhysCollisionState
{
EPC_DEFERRED_INITIAL, EPC_DEFERRED_REQUEUE, EPC_DEFERRED_FINISHED
};
struct EventPhysCollision
: EventPhysStereo
{
enum entype
{
id = 2, flagsCall = pef_monitor_collisions, flagsLog = pef_log_collisions
};
EventPhysCollision() { idval = id; pEntContact = 0; iPrim[0] = iPrim[1] = -1; deferredState = EPC_DEFERRED_INITIAL; fDecalPlacementTestMaxSize = 1000.f; }
int idCollider; // in addition to pEntity[1]
Vec3 pt; // contact point in world coordinates
Vec3 n; // contact normal
Vec3 vloc[2]; // velocities at the contact point
float mass[2];
int partid[2];
short idmat[2];
short iPrim[2];
float penetration; // contact's penetration depth
float normImpulse; // impulse applied by the solver to resolve the collision
float radius; // some characteristic size of the contact area
void* pEntContact; // reserved for internal use
char deferredState; // EventPhysCollisionState
char deferredResult; // stores the result returned by the deferred event
float fDecalPlacementTestMaxSize; // maximum allowed size of decals caused by this collision
};
struct EventPhysStateChange
: EventPhysMono // triggered by simclass changes, even those caused by SetParams
{
enum entype
{
id = 8, flagsCall = pef_monitor_state_changes, flagsLog = pef_log_state_changes
};
EventPhysStateChange() { idval = id; }
int iSimClass[2];
float timeIdle; // how long the entity stayed without external activation (such as impulses)
Vec3 BBoxOld[2];
Vec3 BBoxNew[2];
};
struct EventPhysEnvChange
: EventPhysMono // called when something around the entityy breaks
{
enum entype
{
id = 3, flagsCall = pef_monitor_env_changes, flagsLog = pef_log_env_changes
};
enum encode
{
EntStructureChange = 0
};
EventPhysEnvChange() { idval = id; }
int iCode;
IPhysicalEntity* pentSrc; // entity that broke
IPhysicalEntity* pentNew; // new entity that broke off the original one
};
struct EventPhysPostStep
: EventPhysMono // entity has just completed its step
{
enum entype
{
id = 4, flagsCall = pef_monitor_poststep, flagsLog = pef_log_poststep
};
EventPhysPostStep() { idval = id; }
float dt;
Vec3 pos;
quaternionf q;
int idStep; // world's internal step count
};
struct EventPhysUpdateMesh
: EventPhysMono // physics mesh changed
{
enum entype
{
id = 5, flagsCall = 1, flagsLog = 2
};
enum reason
{
ReasonExplosion, ReasonFracture, ReasonRequest, ReasonDeform
};
EventPhysUpdateMesh() { idval = id; idx = -1; pMesh = 0; }
int partid;
int bInvalid;
int iReason; // see enum reason
IGeometry* pMesh; // ->GetForeignData(DATA_MESHUPDATE) returns a list of bop_meshupdates
bop_meshupdate* pLastUpdate; // the last mesh update for at moment when the event was generated
Matrix34 mtxSkelToMesh; // skeleton's frame -> mesh's frame transform
IGeometry* pMeshSkel; // for deformable bodies
int idx; // used for event deferring by listeners
};
struct EventPhysCreateEntityPart
: EventPhysMono // a part broke off an existing entity
{
enum entype
{
id = 6, flagsCall = 1, flagsLog = 2
};
enum reason
{
ReasonMeshSplit, ReasonJointsBroken
};
EventPhysCreateEntityPart() { idval = id; idx = -1; }
IPhysicalEntity* pEntNew; // new physical entity (has type PE_RIGID)
int partidSrc; // original part id
int partidNew; // part id assigned to it in the new entity
int nTotParts; // total number of parts that broke off during this update (each will have its own event)
int bInvalid; // generated mesh was invalid (degenerate or flipped)
int iReason;
Vec3 breakImpulse; // impulse that initiated the breaking
Vec3 breakAngImpulse;
Vec3 v; // initial vel of ejected product
Vec3 w; // initial ang vel of ejected product
float breakSize; // if caused by an explosion, the explosion's rmin
float cutRadius; // if updated mesh was successfully approximated with capsules, this is their cross section at the point of breakage
Vec3 cutPtLoc[2]; // the cut's center in both entities' frames
Vec3 cutDirLoc[2]; // the cut area's normal
IGeometry* pMeshNew; // new mesh if was caused by boolean breaking, 0 if by joint breaking (i.e. no new mesh was created)
bop_meshupdate* pLastUpdate; // last meshupdate for the moment the event was reported
int idx; // used for event deferring by listeners
};
struct EventPhysRemoveEntityParts
: EventPhysMono
{
enum entype
{
id = 7, flagsCall = 1, flagsLog = 2
};
EventPhysRemoveEntityParts() { idval = id; idOffs = 0; }
unsigned int partIds[4]; // remove parts with ids corresponding to the set bits in partIds[], +idOffs
int idOffs;
float massOrg; // entity's mass before the parts were removed
};
struct EventPhysRevealEntityPart
: EventPhysMono
{
enum entype
{
id = 13, flagsCall = 1, flagsLog = 2
};
EventPhysRevealEntityPart() { idval = id; }
int partId; // id of a part that was hidden due to hierarchical breakability, but should be revealed now
};
struct EventPhysJointBroken
: EventPhysStereo
{
enum entype
{
id = 1, flagsCall = 1, flagsLog = 2
};
EventPhysJointBroken() { idval = id; }
int idJoint;
int bJoint; // structural joint if 1, dynamics constraint if 0
int partidEpicenter; // the "seed" part during the update
Vec3 pt; // joint's position in the entity frame
Vec3 n; // joint's z axis
int partid[2];
int partmat[2]; // material id from the parts' first primitive
IPhysicalEntity* pNewEntity[2]; // only set for broken constraints
};
struct EventPhysRWIResult
: EventPhysMono
{
enum entype
{
id = 9, flagsCall = 0, flagsLog = 0
};
EventPhysRWIResult() { idval = id; }
int (* OnEvent)(const EventPhysRWIResult*);
ray_hit* pHits;
int nHits, nMaxHits;
int bHitsFromPool; // 1 if hits reside in the internal physics hits pool
};
struct EventPhysPWIResult
: EventPhysMono
{
enum entype
{
id = 10, flagsCall = 0, flagsLog = 0
};
EventPhysPWIResult() { idval = id; }
int (* OnEvent)(const EventPhysPWIResult*);
float dist;
Vec3 pt;
Vec3 n;
int idxMat;
int partId;
};
struct EventPhysArea
: EventPhysMono // for callback phys areas
{
enum entype
{
id = 11, flagsCall = 0, flagsLog = 0
};
EventPhysArea() { idval = id; }
Vec3 pt; // entity's center
Vec3 ptref; // for splines - closest point on spline to pt; for normal areas - area's world position
Vec3 dirref; // for splines, calculated force direction
pe_params_buoyancy pb; // can be filled by the caller
Vec3 gravity; // can be filled by the caller
IPhysicalEntity* pent; // the entity that entered the area and caused this event
};
struct EventPhysAreaChange
: EventPhysMono
{
enum entype
{
id = 12, flagsCall = 0, flagsLog = 0
};
EventPhysAreaChange() { idval = id; pContainer = 0; }
Vec3 boxAffected[2];
quaternion q;
Vec3 pos;
float depth;
IPhysicalEntity* pContainer;
quaternion qContainer;
Vec3 posContainer;
};
struct EventPhysEntityDeleted
: EventPhysMono
{
enum entype
{
id = 14, flagsCall = 0, flagsLog = 0
};
EventPhysEntityDeleted() { idval = id; }
int mode;
};
struct EventPhysPostPump
: EventPhys
{
enum entype
{
id = 15, flagsCall = 0, flagsLog = 0
};
EventPhysPostPump() { idval = id; }
};
const int EVENT_TYPES_NUM = 16;
// Physical entity iterator interface. This interface is used to traverse trough all the physical entities in an physical world. In a way,
// this iterator works a lot like a stl iterator.
struct IPhysicalEntityIt
{
// <interfuscator:shuffle>
virtual ~IPhysicalEntityIt(){}
virtual void AddRef() = 0;
virtual void Release() = 0; // Deletes this iterator and frees any memory it might have allocated.
virtual bool IsEnd() = 0; // Check whether current iterator position is the end position.
virtual IPhysicalEntity* Next() = 0; // returns the entity that the iterator points to before it goes to the next
virtual IPhysicalEntity* This() = 0; // returns the entity that the iterator points to
virtual void MoveFirst() = 0; // positions the iterator at the begining of the entity list
// </interfuscator:shuffle>
};
#if ENABLE_CRY_PHYSICS
//-------------------------------------------------------------------------
struct IPhysicalWorld
{
// RayWorldIntersection - steps through the entity grid and raytraces entities
// traces a finite ray from org along dir, obtypes has uses enum entity_query_flags
// flags - see enum rwi_flags
// results are returned in hits. hits[0] is the solid hit, rest are pierceable (negative hit distance means no hit)
// a hit is solid if ray's pierceability (set in flags) is >= material's piercebility (set in SetSurfaceParameters)
// OnEvent - optional personal callback to be called *instead* of the global one
// returns the total amount of hits detected (solid and pierceable)
// iCaller specifies which set of global (thread) variables to use; 0..MAX_PHYS_THREADS-1 are reserved for the physics own threads
// collclass is the collision filter for ignoring entities
struct SRWIParams
{
SRWIParams() { memset(this, 0, sizeof(*this)); objtypes = ent_all; flags = rwi_stop_at_pierceable; }
const SRWIParams& Init(const Vec3& _org, const Vec3& _dir, int _objtypes, unsigned int _flags, const SCollisionClass& _collclass, ray_hit* _hits, int _nMaxHits,
IPhysicalEntity** _pSkipEnts = 0, int _nSkipEnts = 0, PhysicsForeignData _pForeignData = 0, int _iForeignData = 0, ray_hit_cached* _phitLast = 0)
{
memset(this, 0, sizeof(*this));
objtypes = ent_all;
flags = rwi_stop_at_pierceable;
org = _org;
dir = _dir;
objtypes = _objtypes;
flags = _flags;
collclass = _collclass;
hits = _hits;
nMaxHits = _nMaxHits;
pForeignData = _pForeignData;
iForeignData = _iForeignData;
phitLast = _phitLast;
pSkipEnts = _pSkipEnts;
nSkipEnts = _nSkipEnts;
return *this;
}
PhysicsForeignData pForeignData;
int iForeignData;
int (* OnEvent)(const EventPhysRWIResult*);
Vec3 org;
Vec3 dir;
int objtypes;
unsigned int flags;
ray_hit* hits;
int nMaxHits;
ray_hit_cached* phitLast;
int nSkipEnts;
IPhysicalEntity** pSkipEnts;
SCollisionClass collclass;
};
// PrimitiveWorldIntersection - similar to RayWorldIntersection, but does a primitive sweep (or overlap) check
// unlike RWI, it doesn't trace enitity cells along the path, but checks all of them in the swept volume's bounding box,
// so long PWIs are not recommended
// ppcontact - pointer to the pointer to the resulting contacts array, since it uses shared data it gets locked with lockContacts
// geomFlagsAll - flags that must all be present in an entity part
// geomFlagsAny - flags at least one of which must be present in an entity part
// pip - custom intersection parameters, overrides the sweepDir setting if any.
// if not specified, the function performs a simple true/false overlap check if sweepDir is 0, and a sweep check otherwise
// if specified and pip->bThreadSafe==false, lockContacts will keep the lock while in scope
// OnEvent - optional personal callback to be called *instead* of the global one
// returns distance to the first hit for sweep checks and the number of hits for intersection checks (as float)
// special note: if specified, **ppcontact has the collider entity id in iPrim[0], partid in iPrim[1], matid in id[1]
// special note #2: if nSkipEnts<0, pSkipEnts is used as a fixed list of entities to only test collisions against (the world is ignored)
// special note #3: if applicable, contacts stored in ppcontact will have their iNode[0] filled with the index to the feature's primitive.
// collclass is the collision filter for ignoring entities
struct SPWIParams
{
SPWIParams()
{
memset(this, 0, sizeof(*this));
entTypes = ent_all;
geomFlagsAny = geom_colltype0 | geom_colltype_player;
lockContacts.prw = &lockContacts.iActive;
}
const SPWIParams& Init (int _itype, const primitives::primitive* _pprim, const Vec3& _sweepDir = Vec3(ZERO), int _entTypes = ent_all,
geom_contact** _ppcontact = 0, int _geomFlagsAll = 0, int _geomFlagsAny = geom_colltype0 | geom_colltype_player, const SCollisionClass& _collclass = SCollisionClass(0, 0),
intersection_params* _pip = 0, PhysicsForeignData _pForeignData = 0, int _iForeignData = 0, IPhysicalEntity** _pSkipEnts = 0, int _nSkipEnts = 0)
{
memset(this, 0, sizeof(*this));
entTypes = ent_all;
geomFlagsAny = geom_colltype0 | geom_colltype_player;
lockContacts.prw = &lockContacts.iActive;
itype = _itype;
pprim = _pprim;
sweepDir = _sweepDir;
entTypes = _entTypes;
ppcontact = _ppcontact;
geomFlagsAll = _geomFlagsAll;
geomFlagsAny = _geomFlagsAny;
collclass = _collclass;
pip = _pip;
pForeignData = _pForeignData;
iForeignData = _iForeignData;
pSkipEnts = _pSkipEnts;
nSkipEnts = _nSkipEnts;
return *this;
}
PhysicsForeignData pForeignData;
int iForeignData;
int (* OnEvent)(const EventPhysPWIResult*);
int itype;
const primitives::primitive* pprim;
Vec3 sweepDir;
int entTypes;
geom_contact** ppcontact;
int geomFlagsAll;
int geomFlagsAny;
intersection_params* pip;
int nSkipEnts;
IPhysicalEntity** pSkipEnts;
SCollisionClass collclass;
WriteLockCond lockContacts;
};
// <interfuscator:shuffle>
virtual ~IPhysicalWorld(){}
virtual void Init() = 0;
virtual void Shutdown(int bDeleteGeometries = 1) = 0;
virtual void Release() = 0; // destroys the world
virtual IGeomManager* GetGeomManager() = 0;
virtual IPhysUtils* GetPhysUtils() = 0;
// SetupEntityGrid: initializes entity hash grid for broad-phase collision detection and raytracing
// entity grid partitions the space along x and axes; grid's axisz can be aligned with any world axis (0-x,1-y,2-
// log2PODscale sets how many grid cells comprise one on-demand physicalization sector (on_demand_sector = 1<<log2PODscale)
// bCyclic==0 : entities that are outside the grid are all registered in one "exterior" cell
// bCyclic==1 : the grid is infinitely repeated, projected world coordinates only use lower bits to access grid cells
virtual void SetupEntityGrid(int axisz, Vec3 org, int nx, int ny, float stepx, float stepy, int log2PODscale = 0, int bCyclic = 0) = 0;
// Clean up memory pools after level was unloaded.
// should only be called when all outside references to physics where deleted.
virtual void Cleanup() = 0;
// RegisterBBoxInPODGrid marks affected sectors as needing on-demand physicalization via IPhysicsStreamer->CreatePhysicalEntitiesInBox
virtual void RegisterBBoxInPODGrid(const Vec3* BBox) = 0;
virtual void UnregisterBBoxInPODGrid(const Vec3* BBox) = 0;
virtual void DeactivateOnDemandGrid() = 0; // deactivates sector-based on-demand physicalization
// AddRefEntInPODGrid: makes sure the entity gets an on-demand AddRef for each on-demand sector it touches
// (needed when manually creating entities outside on-deman callback)
virtual int AddRefEntInPODGrid(IPhysicalEntity* pent, const Vec3* BBox = 0) = 0;
// SetHeightfieldData - sets the global heightfield data. Uses callbacks to get height
virtual IPhysicalEntity* SetHeightfieldData(const primitives::heightfield* phf, int* pMatMapping = 0, int nMats = 0) = 0;
virtual IPhysicalEntity* GetHeightfieldData(primitives::heightfield* phf) = 0;
virtual void SetHeightfieldMatMapping(int* pMatMapping, int nMats) = 0;
virtual PhysicsVars* GetPhysVars() = 0; // returns a writable structure
// CreatePhysicalEntity - creates an entity with specified type, sets foreign data and optionally initializes if some pe_params
// if id is left <0, the physics will assign one (note: internally there's a id->ptr array map, so keep ids wihin some sane range)
// returns a valid entity pointer even if the physics thread is busy during the call
virtual IPhysicalEntity* CreatePhysicalEntity(pe_type type, pe_params* params = 0, PhysicsForeignData pForeignData = 0, int iforeigndata = 0, int id = -1, IGeneralMemoryHeap* pHeap = NULL) = 0;
// CreatePhysicalEntity - this version is used when creating an a temporary entity (lifeTime) on demand for a placeholder
virtual IPhysicalEntity* CreatePhysicalEntity(pe_type type, float lifeTime, pe_params* params = 0, PhysicsForeignData pForeignData = 0, int iForeignData = 0, int id = -1, IPhysicalEntity* pHostPlaceholder = 0, IGeneralMemoryHeap* pHeap = NULL) = 0;
// CreatePhysicalPlaceholder - placeholder is a lightweight structure that requests creation of a full entity
// when needed via IPhysicsStreamer->CreatePhysicalEntity
virtual IPhysicalEntity* CreatePhysicalPlaceholder(pe_type type, pe_params* params = 0, PhysicsForeignData pForeignData = 0, int iForeignData = 0, int id = -1) = 0;
// DestroyPhysicalEntity - moves the entity to the to-be-destroyed list (mode 0), destroys areas and placeholders
// mode 1-suspend the entity (unregister from all physics structures, but don't delete), 2-restore from suspended state
// mode & 4 - doesn't delete the entity if it is still referenced and returns 0
// even if this flag is not set, referenced entities (nRefCount>0) will not be physically deleted until freed
// request can get queued if the physics thread is busy, unless bThreadSafe is set
virtual int DestroyPhysicalEntity(IPhysicalEntity* pent, int mode = 0, int bThreadSafe = 0) = 0;
virtual int SetPhysicalEntityId(IPhysicalEntity* pent, int id, int bReplace = 1, int bThreadSafe = 0) = 0;
virtual int GetPhysicalEntityId(IPhysicalEntity* pent) = 0;
virtual IPhysicalEntity* GetPhysicalEntityById(int id) = 0;
virtual int IsPlaceholder(const IPhysicalEntity* pent) = 0;
virtual phys_job_info& GetJobProfileInst(int ijob) = 0;
// SetSurfaceParameters: sets parameters for surface_idx (0..511 currently)
// bounciness - restitution coefficient (for pair of surfaces k = sum of their coefficients, clamped to [0..1]
// friction - friction coefficient (for pair of surfaces k = sum of their coefficients, clamped to [0..inf)
// flags - see surface_flags enum
virtual int SetSurfaceParameters(int surface_idx, float bounciness, float friction, unsigned int flags = 0) = 0;
virtual int GetSurfaceParameters(int surface_idx, float& bounciness, float& friction, unsigned int& flags) = 0;
virtual int SetSurfaceParameters(int surface_idx, float bounciness, float friction, float damage_reduction, float ric_angle, float ric_dam_reduction, float ric_vel_reduction, unsigned int flags = 0) = 0;
virtual int GetSurfaceParameters(int surface_idx, float& bounciness, float& friction, float& damage_reduction, float& ric_angle, float& ric_dam_reduction, float& ric_vel_reduction, unsigned int& flags) = 0;
virtual volatile threadID& IdThread() = 0;
virtual volatile threadID& IdPODThread() = 0;
// TimeStep - the main world's function
// flags - entity types to update (ent_..; ent_deleted to purge deletion physics-on-demand state monitoring)
virtual void TimeStep(float time_interval, int flags = ent_all | ent_deleted) = 0;
virtual float GetPhysicsTime() = 0;
virtual int GetiPhysicsTime() = 0; // physics time, quantized with PhysVars->timeGranularity
virtual void SetPhysicsTime(float time) = 0;
virtual void SetiPhysicsTime(int itime) = 0;
virtual void SetSnapshotTime(float time_snapshot, int iType = 0) = 0; // time corresponding to the current snapshot
virtual void SetiSnapshotTime(int itime_snapshot, int iType = 0) = 0;
// GetEntitiesInBox - uses entity grid to query entites in bbox (objtypes - see enum entity_query_flags)
// unless ent_allocate_list is set, returns pre-alocated internal list for iCaller==MAX_PHYS_THREADS
// otherwise, tries to use supplied pList up to szListPrealloc, allocates a new one if the size's not enough
// returns the number of entities
virtual int GetEntitiesInBox(Vec3 ptmin, Vec3 ptmax, IPhysicalEntity**& pList, int objtypes, int szListPrealloc = 0) = 0;
virtual int GetMaxThreads() = 0;
virtual int RayWorldIntersection(const SRWIParams& rp, const char* pNameTag = RWI_NAME_TAG, int iCaller = GetMaxPhysThreads()) = 0;
// Traces ray requests (rwi calls with rwi_queue set); logs and calls EventPhysRWIResult for each
// returns the number of rays traced
virtual int TracePendingRays(int bDoActualTracing = 1) = 0;
virtual void ResetDynamicEntities() = 0; // Freezes (resets velocities of) all physical, living, and detached entities
// DestroyDynamicEntities - immediately destroys all physical, living, and detached entities; flushes the deleted entities
// All subsequent calls to DestroyPhysicalEntity for non-static entities are ignored until the next
// non-static entity is created
virtual void DestroyDynamicEntities() = 0;
virtual void PurgeDeletedEntities() = 0; // Forces immediate physical deletion of all entities marked as deleted
virtual int GetEntityCount(int iEntType) = 0; // iEntType is of pe_type
virtual int ReserveEntityCount(int nExtraEnts) = 0; // can prevent excessive internal lists re-allocations
virtual IPhysicalEntityIt* GetEntitiesIterator() = 0;
virtual void SimulateExplosion(pe_explosion* pexpl, IPhysicalEntity** pSkipEnts = 0, int nSkipEnts = 0, int iTypes = ent_rigid | ent_sleeping_rigid | ent_living | ent_independent, int iCaller = GetMaxPhysThreads()) = 0;
// RasterizeEntities - builds a depth map from physical gometries in a box specified by grid; only updates area affected by offsBBox +/- sizeBBox
// depth is z values, scaled and clamped so that the grid box's -size.z..+size.z is mapped to 0..255
virtual void RasterizeEntities(const primitives::grid3d& grid, uchar* rbuf, int objtypes, float massThreshold, const Vec3& offsBBox, const Vec3& sizeBBox, int flags) = 0;
// DeformPhysicalEntity - applies boolean breaking for entity parts that have >=0 breakability index
// r is used to scale the corresponding explosion (boolean) shape
virtual int DeformPhysicalEntity(IPhysicalEntity* pent, const Vec3& ptHit, const Vec3& dirHit, float r, int flags = 0) = 0;
// UpdateDeformingEntities - normally this happens automatically during TimeStep; can be called manually for ex. during loading
virtual void UpdateDeformingEntities(float time_interval = 0.01f) = 0; // normally this happens during TimeStep
// CalculateExplosionExposure - uses occlusion grid from the last SimulateExplosion to calculate exposure
virtual float CalculateExplosionExposure(pe_explosion* pexpl, IPhysicalEntity* pient) = 0;
// IsAffectedByExplosion - returns fraction of pent (0..1) that was exposed to the last explosion
virtual float IsAffectedByExplosion(IPhysicalEntity* pent, Vec3* impulse = 0) = 0;
// AddExplosionShape - registers a boolean carving shape for breakable meashes
// size is the shape's 'characteristic' size; during the actual carving the caller provides a desired size,
// and the shape is scaled by desired_size/this_size.
// idmat is the breakability index this shape gets assigned to. if there are several shapes for one index,
// the ones with the size closest to the requested are selected, and among those one is selected randomly based on relative probability
// returns shape id, which can be used to unregister the shape later
virtual int AddExplosionShape(IGeometry* pGeom, float size, int idmat, float probability = 1.0f) = 0;
virtual void RemoveExplosionShape(int id) = 0;
virtual void RemoveAllExplosionShapes(void (* OnRemoveGeom)(IGeometry* pGeom) = 0) = 0;
virtual void DrawPhysicsHelperInformation(IPhysRenderer* pRenderer, int iCaller = GetMaxPhysThreads()) = 0;
virtual void DrawEntityHelperInformation(IPhysRenderer* pRenderer, int iEntityId, int iDrawHelpers) = 0;
// CollideEntityWithBeam - does a sphere sweep test against an entity
virtual int CollideEntityWithBeam(IPhysicalEntity* _pent, Vec3 org, Vec3 dir, float r, ray_hit* phit) = 0;
// CollideEntityWithPrimitive - collides entity with a single primitive; does a sweep check if dir is non-0
virtual int CollideEntityWithPrimitive(IPhysicalEntity* _pent, int itype, primitives::primitive* pprim, Vec3 dir, ray_hit* phit, intersection_params* pip = 0) = 0;
virtual int RayTraceEntity(IPhysicalEntity* pient, Vec3 origin, Vec3 dir, ray_hit* pHit, pe_params_pos* pp = 0, unsigned int geomFlagsAny = geom_colltype0 | geom_colltype_player) = 0; // like RWI, but for one entity
virtual float PrimitiveWorldIntersection(const SPWIParams& pp, WriteLockCond* pLockContacts = 0, const char* pNameTag = PWI_NAME_TAG) = 0;
virtual void GetMemoryStatistics(ICrySizer* pSizer) = 0;
virtual IPhysicsStreamer* GetPhysicsStreamer() = 0;
virtual void SetPhysicsStreamer(IPhysicsStreamer* pStreamer) = 0; // sets the callbacks for on-demand creation
virtual void SetPhysicsEventClient(IPhysicsEventClient* pEventClient) = 0; // obsolete
virtual float GetLastEntityUpdateTime(IPhysicalEntity* pent) = 0; // simulation class-based, not actually per-entity
virtual int GetEntityProfileInfo(phys_profile_info*& pList) = 0;
virtual int GetFuncProfileInfo(phys_profile_info*& pList) = 0;
virtual int GetGroupProfileInfo(phys_profile_info*& pList) = 0;
virtual int GetJobProfileInfo(phys_job_info*& pList) = 0;
// AddEventClient - adds a phyisics event listener
// bLogged==1 for a logged event version, 0 for immediate
// listeners are called in the order of decreasing priorities
// if a listener returns 0, further event processing stops
virtual void AddEventClient(int type, int (* func)(const EventPhys*), int bLogged, float priority = 1.0f) = 0;
virtual int RemoveEventClient(int type, int (* func)(const EventPhys*), int bLogged) = 0;
virtual void PumpLoggedEvents() = 0; // calls event clients for logged events
virtual uint32 GetPumpLoggedEventsTicks() = 0;
virtual void ClearLoggedEvents() = 0;
virtual IPhysicalEntity* AddGlobalArea() = 0; // adds a global phys area or returns an existing one
// AddArea - adds a 2d-contour area. Computes the best fitting plane for the points and projects them on it
// zmin and zmax are the dimensions along this plane's normal
// if set, pTessIdx is the surface's triangulation (3 idx per tri), used if the points are not close enough to the plane
// pFlows is per-vertex (0..npt-1) water flow vectors
virtual IPhysicalEntity* AddArea(Vec3* pt, int npt, float zmin, float zmax, const Vec3& pos = Vec3(0, 0, 0), const quaternionf& q = quaternionf(IDENTITY), float scale = 1.0f, const Vec3& normal = Vec3(ZERO), int* pTessIdx = 0, int nTessTris = 0, Vec3* pFlows = 0) = 0;
// AddArea - creates a general geometry area. Typically, primitives work best, but can be a mesh or a heightfield
// In the latter case, it chages water plane in buoyancy params based on local height perturbation (used for waves)
virtual IPhysicalEntity* AddArea(IGeometry* pGeom, const Vec3& pos, const quaternionf& q, float scale) = 0;
// AddArea - this adds a 3d-spline area
virtual IPhysicalEntity* AddArea(Vec3* pt, int npt, float r, const Vec3& pos = Vec3(0, 0, 0), const quaternionf& q = quaternionf(IDENTITY), float scale = 1) = 0;
// GetNextArea: iterates through all registered areas, if prevarea==0 returns the global area
virtual IPhysicalEntity* GetNextArea(IPhysicalEntity* pPrevArea = 0) = 0;
virtual int CheckAreas(const Vec3& ptc, Vec3& gravity, pe_params_buoyancy* pb, int nMaxBuoys = 1, int iMedium = -1, const Vec3& vec = Vec3(ZERO), IPhysicalEntity* pent = 0, int iCaller = GetMaxPhysThreads()) = 0; // checks areas for a given point (ptc)
virtual void SortThunks() = 0;
virtual void SetWaterMat(int imat) = 0; // material to use for water hits in RWI with ent_water
virtual int GetWaterMat() = 0;
virtual int SetWaterManagerParams(pe_params* params) = 0; // pe_params_waterman; creates water manager if none is present and nExtraTiles is set
virtual int GetWaterManagerParams(pe_params* params) = 0;
virtual int GetWatermanStatus(pe_status* status) = 0; // pe_status_waterman
virtual void DestroyWaterManager() = 0;
virtual volatile int* GetInternalLock(int idx) = 0; // returns one of phys_lock locks
virtual int SerializeWorld(const char* fname, int bSave) = 0; // saves/loads the world state (without geometries) in a text file
virtual int SerializeGeometries(const char* fname, int bSave) = 0;
virtual void SerializeGarbageTypedSnapshot(TSerialize ser, int iSnapshotType, int flags) = 0;
virtual void SavePhysicalEntityPtr(TSerialize ser, IPhysicalEntity* pent) = 0;
virtual IPhysicalEntity* LoadPhysicalEntityPtr(TSerialize ser) = 0;
virtual void GetEntityMassAndCom(IPhysicalEntity* pIEnt, float& mass, Vec3& com) = 0;
virtual EventPhys* AddDeferredEvent(int type, EventPhys* event) = 0;
// </interfuscator:shuffle>
inline int RayWorldIntersection(const Vec3& org, const Vec3& dir, int objtypes, unsigned int flags, ray_hit* hits, int nMaxHits,
IPhysicalEntity** pSkipEnts = 0, int nSkipEnts = 0, PhysicsForeignData pForeignData = 0, int iForeignData = 0,
const char* pNameTag = RWI_NAME_TAG, ray_hit_cached* phitLast = 0, int iCaller = GetMaxPhysThreads())
{
SRWIParams rp;
rp.org = org;
rp.dir = dir;
rp.objtypes = objtypes;
rp.flags = flags;
rp.hits = hits;
rp.nMaxHits = nMaxHits;
rp.pForeignData = pForeignData;
rp.iForeignData = iForeignData;
rp.phitLast = phitLast;
rp.pSkipEnts = pSkipEnts;
rp.nSkipEnts = nSkipEnts;
return RayWorldIntersection(rp, pNameTag, iCaller);
}
int RayWorldIntersection(const Vec3& org, const Vec3& dir, int objtypes, unsigned int flags, ray_hit* hits, int nMaxHits,
IPhysicalEntity* pSkipEnt, IPhysicalEntity* pSkipEntAux = 0, PhysicsForeignData pForeignData = 0, int iForeignData = 0)
{
IPhysicalEntity* pSkipEnts[2];
int nSkipEnts = 0;
if (pSkipEnt)
{
pSkipEnts[nSkipEnts++] = pSkipEnt;
}
if (pSkipEntAux)
{
pSkipEnts[nSkipEnts++] = pSkipEntAux;
}
return RayWorldIntersection(org, dir, objtypes, flags, hits, nMaxHits, pSkipEnts, nSkipEnts, pForeignData, iForeignData);
}
void SimulateExplosion(Vec3 epicenter, Vec3 epicenterImp, float rmin, float rmax, float r, float impulsivePressureAtR,
int nOccRes = 0, int nGrow = 0, float rminOcc = 0.1f, IPhysicalEntity** pSkipEnts = 0, int nSkipEnts = 0,
int iTypes = ent_rigid | ent_sleeping_rigid | ent_living | ent_independent)
{
pe_explosion expl;
expl.epicenter = epicenter;
expl.epicenterImp = epicenterImp;
expl.rmin = rmin;
expl.rmax = rmax;
expl.r = r;
expl.impulsivePressureAtR = impulsivePressureAtR;
expl.nOccRes = nOccRes;
expl.nGrow = nGrow;
expl.rminOcc = rminOcc;
SimulateExplosion(&expl, pSkipEnts, nSkipEnts, iTypes);
}
float PrimitiveWorldIntersection(int itype, const primitives::primitive* pprim, const Vec3& sweepDir = Vec3(ZERO), int entTypes = ent_all,
geom_contact** ppcontact = 0, int geomFlagsAll = 0, int geomFlagsAny = geom_colltype0 | geom_colltype_player, intersection_params* pip = 0,
PhysicsForeignData pForeignData = PhysicsForeignData(), int iForeignData = 0, IPhysicalEntity** pSkipEnts = 0, int nSkipEnts = 0, WriteLockCond* pLockContacts = 0, const char* pNameTag = PWI_NAME_TAG)
{
SPWIParams pp;
pp.itype = itype;
pp.pprim = pprim;
pp.sweepDir = sweepDir;
pp.entTypes = entTypes;
pp.ppcontact = ppcontact;
pp.geomFlagsAll = geomFlagsAll;
pp.geomFlagsAny = geomFlagsAny;
pp.pip = pip;
pp.pForeignData = pForeignData;
pp.iForeignData = iForeignData;
pp.pSkipEnts = pSkipEnts;
pp.nSkipEnts = nSkipEnts;
return PrimitiveWorldIntersection(pp, pLockContacts, pNameTag);
}
protected:
static int GetMaxPhysThreads()
{
#if ENABLE_CRY_PHYSICS
CRY_ASSERT(gEnv && gEnv->pPhysicalWorld);
return gEnv->pPhysicalWorld->GetMaxThreads();
#else
return 1;
#endif // ENABLE_CRY_PHYSICS
}
};
#endif // ENABLE_CRY_PHYSICS
#endif // CRYINCLUDE_CRYCOMMON_PHYSINTERFACE_H